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559757 - Festo

1. EFE ti y AZ LSE PZ TP AP USE Positions increasing in size positive travel 3 sey if 7 BIKA 1 Working stroke AZ Axis zero point sensor measuring system 2 Offset axis zero point a SZ zero point 3 Offset project zero point b PZ Project zero point 4 Offset upper software end position d USE Upper software end position 5 Offset lower software end position e LSE Lower software end position 6 Working stroke TP Target position actual position 7 Distance between slide and additional AP slide KR f 8 Distance between slide and additional slide KR g 1 User specifications provided these cannot be recognised e g cylinder and measuring system length with the DGCI 2 User specifications for additional options Section B 2 5 Tab B 7 Dimension reference system for linear drives o Offset target actual position c 202 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Dimension reference system for semi rotary drive DSMI
2. ecord table PNU401 PNU402 PNU403 PNU404 PNU405 PNU406 PNU407 PNU408 PNU410 PNU411 PNU412 Homing RCB1 RCB2 Specifi Reference Preselec speeq Acceler Delay Payload Tolerance K ramp cation value tion ation PNU1134 Payload A A 1 PNU403 nn NU521 04 Global default values PNU 600 PNU 601 PNU 602 PNU 603 Speed position Speed force Acceleration Deceleration PNU 605 PNU 606 PNU 607 PNU 608 Payload Position tolerance Force tolerance Force ramp PNU521 02 PNU521 03 PNU521 01 y y y Direct operating position Direct operating force ogging PNU540 PNU541 PNU542 PNU544 PNU545 PNU550 PNU551 PNU552 PNU554 PNU531 PNU532 PNU533 PNU536 Speed Acceler Dela ayload Tol Kram ayload Tol Speed Speed Acceler Dela Payload p ation y y lolerance p y olerance Sp p ation y y Fig 5 1 Effect of the global default values If for example the same velocity is to be used for each record in an application it is not necessary to enter the same value in the position list each time Instead the record table refers to the default value In order to use values other than the default values in an individual record you only need to specify the values for the record parameter in this one record Benefits Simplifies parameterisation The record and direct operating parameters are by default defined so that the glob
3. 6 5 4 4 5 1 7 0 1 7 0 t 4 9 10 1 Target value 6 Control error 2 Setpoint value 7 Motion complete SPOS MC 3 Actual value 8 Following error SPOS DEV 4 Position tolerance window 9 Following error active 5 Following error tolerance window 10 Exit tolerance window Explanation 1 3 Progression of setpoint value and actual value 4 6 Enlarged illustration of the control fault and the two tolerance windows 7 The MC signal determines which tolerance is used Fig 3 9 Following error or tolerance monitoring Festo P BE CPX CMAX CONTROL EN de 1505a English 61 3 Drive functions Overview of parameters involved gt Section C 2 Parameters involved Description PNU Position control Target value target position 300 02 Setpoint value position 1 Actual value actual position 300 01 Current position deviation 300 03 Following error tolerance fixed 11 mm 0 43 in 11 Position tolerance 606 411 xx or 5452 Force control Target value target force 301 02 Setpoint value force 1 Actual value actual force 301 01 Current deviation force 301 03 Force tolerance 607 411 xx or 5522 M 1 No parameter defined but available in trace 2 Depending on the parameterisation the default value is used gt Section 5 3 Tab 3 10
4. 2 Actual position Effect Cause Remedy Stability problem higher frequency swinging around the setpoint position G 7 Incorrect load configured e Correct configuration Gain factor set too high e Correct the parameter i Cushioning factor set too e Correct the parameter eenen low Filter factor set too high e Reduce filter factor z smooth acceleration speed 2 signal but continuous swinging Y Very noisy acceleration sig e Increase filter factor nal with high amplitude Minimum load not reached e Increase base load Too small tolerance demanded Increase tolerance Festo P BE CPX CMAX CONTROL EN de 1505a English 219 B Basic principles of the CMAX Effect Effect Cause Remedy Mechanical resonance inthe Increase mechanical stabil machine or machine areas in ity Stiffen metal sheets which the axis is mounted which tend to vibrate e Reduce amplification gain and acceleration ramps 1 Setpoint position 2 Actual position 3 Speed Cause eee Overswing no or minimum standstills before MC Remedy a O 2 Drop in the static supply pressure in operation below the permitted tolerance limit Load too high or configured load too low Overload setpoint accelera tion too high Filter factor set too hi
5. Param PNU 1143 Index 3 Max Index 4 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 Defines whether or not a clamping unit is installed The behaviour of the CMAX depends on the clamping unit At a start the clamping units needs to be released for example otherwise the CMAX will report an error DGCI If an integrated clamping unit is used order option 1H PN the cylinder length is greater than the nominal length That must be taken into account when specifying the cylinder length in PNU 1100 gt Appendix B 2 5 Value Meaning 0 Not present 1 Yes PNU 522 FHPP settings determines what effect the control bit CCON BRAKE has O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Through piston rod Through piston rod Param PNU 1143 Index 4 Max Index 4 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 Defines whether the piston rod of a piston drive should be double ended through or single ended A through piston rod is customarily used for operating a clamping unit The controller takes into ac count the resulting effective piston surface Value Meaning 0 Piston rod at one end 1 Through piston rod O The parameter value cannot be changed Writing permissible
6. o o XO OO NID Speed tolerance window for standstill Fig 3 8 Movement monitoring Description PNU Speed tolerance window for rest fixed 4 mm s 0 16 ft s 4 s Switch off time Taus fixed 30 ms Tab 3 9 Parameters involved in movement monitoring Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Following error or tolerance monitoring SPOS DEV The bit SPOS DEV Deviation following error indicates that the control error i e setpoint actual value deviation has exceeded a certain value The permissible deviation depends on the movement status of the drive Before reaching motion complete SPOS MC 0 During position control following error exiting the following error tolerance window of 11 mm 0 43 in 119 During force control no monitoring SPOS DEV 0 After reaching motion complete SPOS MC 1 exit tolerance window force or position The toler ance window equals the target value the currently parameterised tolerance for the force or posi tioning command The following illustration shows the principle of following error or tolerance monitoring The designa tion in the illustration refers to position control
7. Identification status Identification status Param PNU 1171 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write Current status according to the identification carried out last Bit Value Description 0 0 Identification has not yet been executed 1 Identification has been executed at least once 1 0 Static identification results not available 1 Static identification carried out successfully 2 0 Dynamic identification results are not available 1 Dynamic identification carried out successfully k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out a a ea a aa TY Identified average values Identified average values Param PNU 1172 Index 1 Max Index 6 Class array Data type int32 Values Specification 0 Minimum Maximum Average values for the free profile determined during identification Index Value Travel direction Acceleration Positive 2 Deceleration Positive 3 Reserved 4 Acceleration Negative 5 Deceleration Negative 6 Reserved k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode wit
8. Deceleration Duration of creeping phase gt 1 Creeping speed slow travel 2 Maximum speed 3 Acceleration Fig 3 11 Sequence chart for jog mode wm Special operating statuses Before referencing jogging is only possible at reference speed PNU 1132 Ifthe drive is outside the software end positions jogging can be used to move it into the allowed range Ifthe drive is outside of the software end positions and is not in commissioning mode the drive stops if it is to be moved further out by jogging Error E33 is reported Ifthe software end positions are deactivated the drive moves to the hardware end positions 76 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions In commissioning mode the software end positions can be passed Here the drive first stops at the software end positions Jogging must be restarted at the end position Through the rising edge at CPOS JOGx the drive moves at creeping speed to the hardware end positions As a result for ex ample software end positions or the project zero point can be taught Warning W35 is signaled when the software end positions are passed CPOS JOGN has priority If JOGP and JOGN are set at the same time travel is in the negative direction Timeout during jogging The timeout during jogging is not caught independent of the operating mode If the axis is clamped and is not movi
9. Tab 4 4 Reset types Acknowledging warnings Warnings do not have to be acknowledged With rising edge at CPOS START new positioning command or CCON RESET provided the cause has been eliminated SCON WARN 0 is set 100 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling 4 2 3 Illustration of CMAX error numbers in the CPX terminal The CMAX faults and warnings are arranged in groups The first digit of the fault and warning number specifies the group The second digit points out the specific message The CMAX reports to the CPX node only the group of the message The groups of the CMAX are the assigned to the group of numbers 100 to 108 of the CPX terminal gt CPX system description error numbers The last digit of the dia gnostic message specifies the group e Specification of the group in the diagnostic message of the CPX terminal is not sufficient l for detailed evaluation Evaluate error and warning numbers via the I O data PNU 220 224 FCT plug in or the display Allocation of CPX error numbers and groups of the CMAX CPX fault CPX fault text MMI configuration software Group gt Section 4 2 4 100 Configuration error 0 Configuration error 101 Execution error 1 Execution error 102 Record error 2 Positioning record error 103 Control error 3 Control error 104 System error A 4 System error A 105 System error B 5 System
10. 3 Reserved must be 0 Speed monitoring deactiv For force control ated 0 Activate speed limit 1 Deactivate speed limit 5 Stroke monitoring deactiv For force control ated 0 Activate stroke monitoring 1 Deactivate stroke monitoring 6 Fast stop Regulation for setting MC upon reaching target value quality class gt Section 3 1 6 3 0 Exact stop 1 Fast stop F655 32 Reserved must be 0 1 Position control Setpoint value is relative to the last setpoint value with MC or to the actual value if MC is not present Force control Section 3 1 2 2 Speed and acceleration are chosen by the controller as appropriate to the identification so that the target position is reached as quickly as possible and without overswing 3 SPOS MC is only set when the movement command corresponding to the selected regulation is completed In the event of a fast stop the standstill monitoring is deactivated The parameter value cannot be changed Oo O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 251 C Parameter Record control byte 2 Record control byte 2 Param PNU 402 Index 1 64 Max Index 64 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 00
11. SA5 TA9 SA1 i Jog positive TA10 TAZ SA4 m e Homing is being SA6 r Ready Aas carried out Jog negative TA12 TA2 m SA2 TA5a TA5b S4 Movement 4 Operation enabled ready command active Fig 2 1 Finite state machine Notes on the operation enabled status Transitions T4 T6 and T7 are executed from every sub state SAx and automatically have a higher pri ority than any transition TAx Reaction to faults T7 Fault recognised has the highest priority and is marked with an asterisk 38 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 I O data and sequence control 2 3 1 Establishing the ready status T Internal conditions Actions of the user GEE aE el T1 Drive is switched on An error cannot be determined T2 Load voltage applied Enable drive 1 Master control with higher order controller CCON xxx0 xxx1 T3 Stop 1 CCON xxx0 xx11 T4 Stop 0 CCON xxx0 xx01 T5 Enable drive 0 CCON xxx0 xxx0 T6 Enable drive 0 CCON xxx0 xxx0 17 Fault identified T8 Reaction to fault complete drive stopped motion complete 1 T9 No more errors are present F2 Acknowledge error 0 1 CCON xxx0 Rxxx T10 No more errors are present F1 Acknowledge error 0 1 CCON xxx0 Rxx1 T11 Error is still present Acknowledge error 0 1
12. Faults Error description 0 Non permitted PNU 1 Parameter value cannot be changed 2 Lower or upper value limit exceeded 3 Invalid subindex 11 No master control FCT must accept device control in order to write this parameter This error can only be generated via the service or network interface 12 The password entered is wrong 17 Request cannot be carried out due to operating status Please check operating mode stop and enable signals 101 Request ID is not supported 102 Parameter cannot be read password 103 The system of measurement has not been configured yet Access to the parameter is not possible 104 The cylinder type has not been configured yet Access to the parameter is not possible 105 The system of measurement units has already been configured and can no longer be changed without a data reset 106 Cylinder type cannot be changed since it does not match the system of measurement units 107 The value cannot be changed since identification data are present Please reset the identification data before writing the value SSSI EE EEE EEE ee E _ _ _E 148 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation Faults Error description 108 The parameter value does not match the recognised hardware Note The cylinder type must match the measuring system 109 Serial numbers can only be changed after the identification data has been re
13. LL PNU 1111 Max permissible upper SWEL PNU 1101 p PNU 1130 PNU 1101 i The cylinder projects over the end of the measuring sys tem Cylinder Displacement encoder Offset of axis zero point PNU 1130 gt 0 PNU 1130 PNU 1101 gt PNU 1111 gt Min permissible lower SWEL 0 L PNU 1111 a Max permissible upper SWEL PNU1111 PNU1130 7 PNU 1101 Gi The cylinder projects over the start of the measuring system Cylinder Measuring system Offset of axis zero point PNU 1130 lt 0 PNU 1130 PNU 1111 gt PNU 1101 5 Min permissible lower SWEL PNU 11301 PNU 11301 PNU 1111 Max permissible upper SWEL PNU1101 S PNU 1101 E The cylinder projects over the measuring system on both sides Cylinder Measuring system Offset of axis zero point PNU 1130 lt 0 PNU 1130 PNU 1111 lt PNU 1101 PNU 1111 PNU 1130 m q Integrated dis Layout placement encoders 5 Min permissible lower SWEL PNU 11301 Max permissible upper SWEL PNU 11301 PNU 1111 Description j PNU 1101 Cyli nder Measuring system Cylinder and measuring system fully cover each other DGCI DDLI Offset of axis zero point PNU 1130 0 DNCI DDPC Offset of axis zero point PNU 1130 lt 0 PNU 1111 PNU 1101 3 Min permissible lower SWEL 0 ja EN
14. CCON xxx0 Rxx1 Key R rising edge Rising edge F falling edge Falling edge x any Tab 2 4 Establish transitions to ready status Parameterisation operating mode The parameterisation operating mode is not used for carrying out movement commands but only for transferring parameters Transition T3 is not permissible The drive then cannot switch to the S4 status i Flow chart for programming the higher order controller gt Appendix A 4 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 39 2 I O data and sequence control 2 3 2 Starting movement commands Note Additionally CCON xxx0 xx11 is always a requirement TA Internal conditions Actions of the user TA1 Homing is present Start movement command 0 gt 1 CPOS 00x0 OORO TA2 Motion Complete 1 CPOS 00xx xxx0 The current record is completed The next record is not processed automatically TA5a Record mode CPOS 00xx xxx0 The current record is completed The next record A start is not necessary is processed automatically TA5b Record mode or direct mode CPOS 00xx xxRO TA7 Reference travel only with incremental displace Start homing 0 1 ment encoder CPOS 00x0 ORx0 TA8 Referencing finished TAQ Jog positive 0 l CPOS 00x0 Rxx0 TA10 Jog positive 1 p CPOS 00xx Fxx0 TA11 Jog negative 0 l CPOS OOxR xxx0 TA12 Jog negative 1 p CPOS OOxF x
15. Errors and warnings filter Filter errors ans warnings Param PNU 228 Index 2 Max Index 3 Class Struct Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0111 1111 Write 0000 0000 0000 0000 0000 0000 Oxxx XxXxX The filter allows certain errors and warnings to be excluded from the diagnostic memory records This makes sense for messages that are part of the normal operating cycle because they are inherent to the process load voltage errors or because they occur frequently for other reasons Assignment gt Section 4 4 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Error characteristics setting Error behaviour configuration Param PNU 228 Index 3 Max Index 3 Class Struct Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 1100 0000 Write 0000 0000 0000 0000 0000 000x XXX xxxx Some errors can also be reported as warnings This concerns in particular function monitoring such as maintaining the software end position Often the right correct reaction depends on the application in these cases Assignment gt Section 4 4 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculat
16. Note The CMAX always sets the switching output on the valve to O V directly when the task for activating the clamping unit is detected except if the drive is enabled at the same time see below The clamping unit brake then becomes active directly even if the drive is still moving or a force has built up e Check whether the clamping unit brake allows the operating status 1 oV Closed Switch on behaviour Since the clamping unit brake is low active by default it is closed at switch on as long as CCON BRAKE 1 is set If the clamping unit brake is configured to be high active this remains closed until the first Festo P BE CPX CMAX CONTROL EN de 1505a English 53 3 Drive functions trailing edge at CCON BRAKE or the first drive enable This prevents the clamping unit brake from being released unintentionally e g when all I O data of the controller are set to 0 initially at switch on Setting and releasing the clamping unit brake When the drive is disabled setting and releasing the clamping unit brake is transferred directly to the clamping unit brake without any further CMAX reaction If the drive is activated while the clamping unit brake is closed the CMAX goes over to force control with a force setpoint of 0 after enabling To safely release the clamping unit brake when an F2 error is present SCON FAULT 1 SCON EN ABLED 0 SCON READY 0 enabling must be reset CCON ENABLE 0 Ifthe
17. The PNU 140 does not contain data of a real time clock The number of operating days is l counted by the CMAX saved when switching off and re loaded when switching on 1 operating day consists of 24 60 60 1000 ms 86 400 000 ms Language Language Param PNU 154 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 Selection of the language in the specific parameter values etc transferred by the CMAX e g the error texts in PNU 2100 to 2189 Value Language 0 English 1 German O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Supported languages Supported languages Param PNU 155 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0011 Write Reading of the supported languages for transfer of specific parameter values Bit Language 0 English 1 German 2 Spanish 3 French 4 Italian 5 32 Reserved for expansion The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 238 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Axi
18. Measure e Check and correct the step enabling condition Check the program sequence in the controller After a stop or error the previous position must be ap proached again or the previous force command repeated 28 Step enabling condition was not reached F1 W R Step enabling condition was not reached Note Message can be parameterised alternatively as a warning W or error F1 Cause Step enabling was not executed MC was reached before the step enabling condi tion was fulfilled Measure e Check step enabling condition e Check the program sequence in the controller 106 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 3 Control error CPX error group 103 CPX MMI Control error No Message Malfunc Reset type tion level 30 _ Time out Target value not reached F1 R Timeout Target value not reached Note The drive did not reach the target tolerance on time MC monitoring Record chaining is cancelled Can for instance occur during positioning or jogging on a stop within the effective stroke Cause Obstacle in the travel range only position controller Measure e Remove obstacle or correct target position Cause Compressed air not sufficient Measure e Check supply pressure check tubing connection configure message 50 as an error enable drive with closed clamping unit only when there is sufficient supply pressure Cau
19. e If possible read diagnostic memory and save and archive the project e Switch controller off on and check whether error occurs again e Contact Support 73 Controller hardware faulty FS Poff Controller ha rdware faulty Cause Measure No communication possible with CMAX Error is only shown on the display e Exchange CMAX 74 No firmware No firmware FS Poff Cause Measure No firmware No communication possible via fieldbus e Firmware download with FCT 75 User data damaged F2 N User data damaged Cause Measure Inconsistent user data e Perform data reset and re commission the axis 76 Watchdog error possible data loss data reset required F2 F Watchdog error possible data loss data reset required Cause Measure Internal watchdog error e Check whether the CMAX is subjected to strong electromagnetic interfer ence and eliminate this if applicable Perform data reset and re commission the axis e Contact Support 118 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 8 Displacement encoder error CPX error group 108 CPX MMI Encoder error No Message Malfunc Reset type tion level 80 Displacement encoder not connected or communication is faulty F2 N Displacement encoder not connected or communication faulty Cause Displacement encoder sensor interface was
20. meters can only be adjusted within the specified tolerances For larger changes the identification data must first be deleted or an axis data reset carried out Important If a check against the reference configuration does not make sense the start l configuration PNU 1195 includes the values that were used in the last identification Parameter New value for PNU Comparison with Tolerance Cylinder Design 1100 Current value Length 1101 1195 1 5mm Diameter 1102 Current value Piston rod diameter 1103 Current value fz Integrated clamping unit only DGCI 1104 1 Current value z Displacement encoder Design 1110 Current value J Length 1111 1195 2 5 mm Serial number 1112 1195 6 Valve Design 1120 Current value 3 Serial number 1121 1195 7 Application parameter Mounting position 1140 1195 4 3 Operating pressure 1141 1195 5 1 bar Dual axis 1143 2 Current value Through piston rod 1143 4 Current value Tab A 5 e Urgent recommendation l After changes to the system e g the operating pressure the parameters of the CMAX should be adjusted and a new identification carried out 170 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 3 4 Data reset A data reset is used to reset some or all parameters of the CMAX to the factory settings That always makes sense if parts of the dri
21. old project Then select the desired firmware and click on download Restore saved data configure new project data After the firmware download re establish the linkage to the CMAX The saved data are transferred to the CMAX with Download project in the Configuration Assistant Note No peripheral equipment may be connected yet Festo P BE CPX CMAX CONTROL EN de 1505a English 195 A Notes on commissioning service and firmware Auto hardware detection The CMAX has detected the following hardware components Cylinder Unidentified Displacement encoder Unidentified Valve Unidentified The table shows the hardware detected by the CMAX You have to enter missing components if not all hardware components could be detected e cme Fig A 20 This completes the firmware download and transfer of the data 196 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX B Basic principles of the CMAX B 1 System of units of the CMAX B 1 1 Definition of the system of units tables The CMAX can either be operated in the metric international SI or the imperial inch system of meas urement units It supports linear movements and rotational movements Combined the result is 4 system of measurement unit tables for all physical and closed loop control technology variables that can be used in the CMAX Selection of system of Selection of movement drive g
22. English 209 B Basic principles of the CMAX B 2 5 Taking drive options of the DGCI into account in the dimension reference system In the DGCI various options can be configured that have effects on the software end positions the working stroke etc Recommendations Perform initial start up with the CMAX FCT plug in the plug in takes the selected options into account The optimal results in commissioning are achieved with CMAX firmware V2 2 and higher and plug in V2 2 and higher Option Description Clamping unit 1 channel design for holding loads No stroke reduction the drive is extended 1H PN by the length of the clamping unit Additional slide Additional slide for increasing the torques optionally right left or right and left KL KR KL KR Lubrication The lubrication adapter enables the guide to be permanently lubricated using adapter semi or fully automatic relubrication devices Not usable in combination with C protected recirculating ball bearing guide GP Protected recircu The protected guide cleans the guide rail and protects the recirculating ball lating ball bearing bearing guide with the aid of an additional wiper and a lubrication unit guide GP Oe as Tab B 13 Options for the DGCI Each option has effects either on the stroke or the cylinder length KR and KL The additional slides reduce the working stroke The software end positions should be set so the drive does
23. If problems still occur 1 Observe positioning behaviour Use the FCT plug in for this With the plug in the setpoint and actual values for path speed and acceleration can be recorded and graphically displayed i Detailed information gt Help for the CMAX plug in Compare the positioning behaviour or the graph created with the plug in to the following examples Optimising the positioning behaviour as described in the table of the corresponding example From top to bottom first check the most probable causes and their remedial measures 218 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Effect Cause Remedy eee Premature stop several times I 7 Identification not carried out e Carry out identification travel Adaptation is not yet com e Carry out some positioning pleted cycles adaptation Bad running behaviour of e Check if necessary perform cylinder guide stick slip maintenance or replace components Incorrect load e Correct load gt Swinging around the setpoint position with standstills Identification travel not car Carry out identification ried out travel Incorrect load configured e Correct configuration High running performance of e Carry out identification cylinder friction has again changed Amplification gain set too low Correct the parameter Setpoint position
24. PNU 133 Index 1 2 Max Index 2 Class Var Data type int32 Internal password for production and system tests O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out System time number of operating days System time count operating days Param PNU 140 Index 1 Max Index 2 _ Class Struct Data type int32 Values Specification Minimum Maximum Number of operating days since new status device data reset or a firmware download k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 237 C Parameter System time milliseconds of the day System time milliseconds of the day Param PNU 140 Index 2 Max Index 2 Class Struct Data type int32 Values Specification Minimum Maximum Number of milliseconds of the current operating day PNU 140 01 When switching on the last value before switching off is loaded The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out
25. When calculating for drives with an absolute encoding displacement encoder only pneumatic the axis zero point refers to the measuring system zero point sensor zero point a instead of a All other de rived variables are identical Special features with use of additional options gt Section B 2 5 Points of reference for incremental measuring systems Point of reference Calculation rule Axis zero point AZ REF a Project zero point PZ AZ b REF a b Lower software end position LSE AZ d REF a d Upper software end position USE AZ e REF a e Target actual position TP AP PZ c AZ b c REF a b c Tab B 11 Calculation rules for the measuring reference system with incremental measuring systems Note on incremental measuring systems The offset axis zero point must always be specified as a negative due to the definition of the axis zero point cylinder zero point Festo P BE CPX CMAX CONTROL EN de 1505a English 205 B Basic principles of the CMAX Special case digital measuring system MME external or with user defined drive e g for DGPI An additional offset axis zero point of 28 mm must always be considered in addition the internal measurement system length must always be 28 mm longer that the specification on the rating plate During parameterisation with the FCT plug in this is automatically calculated and transferred by the plug in Parameter Plug in CMAX plug in writes
26. int32 E R 400 2 3 Actual record number Struct int32 R 1 gt Tab C 4 226 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter 1 gt Tab C 4 Festo P BE CPX CMAX CONTROL EN de 1505a English PNU 1 Name DE Properties 1 PNU ind Max Class Type Unit RW 400 3 3 Record status byte Struct Bit array R 401 X 64 Record control byte 1 Array Bit array RW 402 X 64 Record control byte 2 Array Bit array RW 403 X 64 Record default values Array Bit array RW 404 X 64 Setpoint value record Array int32 Position angle force RW 405 X 64 Record preselected value Array int32 gt Section 3 3 3 RW 406 X 64 Speed record Array int32 Speed RW angular velocity 407 X 64 Acceleration record Array int32 Acceleration RW angular acceleration 408 X 64 Deceleration record Array int32 Acceleration RW angular acceleration 410 X 64 Payload record Array int32 Mass mass moment of RW inertia 411 X 64 Tolerance record Array int32 Position angle force RW 412 X 64 Force ramp record Array int32 Force ramp RW Project data gt Section C 2 6 500 1 1 Offset project zero point Var int32 Position angle RW 501 1 2 Lower software end position Var int32 Position angle RW 501 2 2 Upper software end position Var int32 Length swivel angle RW 507 1 1 Stop
27. mand the drive has been positioned immediately in front of the workpiece to be pressed i e is lt 1 mm in front of the press position The stop behaviour of the drive described from the force control perspective gt Section 3 1 4 During change of force control back to position control a stop target position actual position is carried out first and then positioning takes place from the standstill The target force may have the value 0 no force forceless With horizontal configuration the axis can then be freely moved through an external force only against the friction of the system This applies also for vertical configuration with correctly parameterised total load and completed static identification The total load is balanced out The CMAX also supports relative force commands gt Section 3 1 3 Force control outside the software end positions is not permitted and will lead to an error message Optimisation of the controller data may be necessary with force control gt Section B 5 3 Monitoring functions for force control With active force control if certain parameters are not observed e g the expected workpiece is not present for pressing and the switchover to position control has been deactivated Vreq 0 the drive can reach a very high speed and thereby travel unbraked into the end position To prevent this situ ation the CMAX has a speed and stroke monitoring function in the force contr
28. sioning step to be performed Possible return values Display 0 Wait for system of measurement Coo units 1 Wait for cylinder type C01 2 Wait for axis data C02 3 Wait for movement test C03 4 Axis configuration completed Dependent on the respective operating status k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 299 C Parameter Commissioning operation data reset Commissioning function data reset Param PNU 1192 Index 3 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 3 A data reset is used to reset some or all parameters of the CMAX to the factory settings That always makes sense if parts of the drive or system have changed and the configuration must be adjusted Various resets make sense depending on the extent of the change 0 No effect 1 Reserved 2 Delete identification data 3 Delete axis data and identification data Additional information gt A 3 3 Change reference configuration gt A 3 4 Data reset O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive K After writing contro
29. 1 4 9 6 o ee LS eee we 5 3 PZ 3 5 NJ Positions increasing in Ne size ae Ee AZ positive travel 1 Working stroke SZ Measuring system zero point 2 Offset axis zero point a AZ Axis zero point 3 Offset project zero point b PZ Project zero point 4 Offset upper software end position d USE Upper software end position 5 Offset lower software end position e LSE Lower software end position 6 Working stroke TP Target position actual position 9 Offset target actual position c AP 1 User specifications Tab B 8 Dimensional reference system DSMI Festo P BE CPX CMAX CONTROL EN de 1505a English 203 B B 2 Basic principles of the CMAX 2 Dimensional reference system with incremental displacement encoder Positions increasing in size positive travel piston rod moves outward 3 Dimensional reference system with incremental displacement encoder jaa 1 4 a oo of REF PZ AZ LSE TP AP USE 1 Working stroke SZ Measuring system zero point 2 Offset axis zero point AZ Axis zero point distance AZ REF a 3 Offset project zero point b PZ Project zero point 4 Off
30. 5 2 2 Access with higher order controller and FCT Simultaneous operation of the drive through the higher order controller and FCT can be locked This is done with the bits CCON LOCK FCT access blocked and SCON FCT FCT device control Prevent FCT operation CCON LOCK By setting the CCON LOCK the higher order controller can prevent the FCT from taking over the device control Then FCT cannot write parameters nor control the drive The controller should be programmed not to issue this release until the user carries out a correspond ing action This generally causes exit from automatic operation This means that the controller pro grammer can ensure that the controller always knows when it has control over the drive The lock is active if the CCON LOCK has logic 1 To permit access to components through various authorisation stages CCON Lock blocks further func tions in firmware design 2 2 and higher Access permitted Access not permitted Read diagnostic memory Change parameters Read current error or warning Carry out data reset Read actual and setpoint values Perform restart Perform trace Acknowledge error warning present Tab 5 4 Access with CCON LOCK 1 The following parameters can be modified despite CCON LOCK 1 PNU Parameter up to FW 1 9 from FW 2 2 116 01 33 FCT project identification Yes No 121 01 30 User s device name Yes
31. AmE onne ace N 4 Project Version test L Components Piee 11 0 tq Project was created ME Cmax cmax necessary with plug in 1 8 0 2 gt meta J Configuration G Application data 4 Measure Limits Position set table E Jog mode Direct mode LE Controller data q Diagnosis IO data Project data Project data Firmware Design 1 1 Y Trace configuration ES Trace data I The CMAX includes The project in the FCT includes Firmware design Information of the firmware of the CMAX to which Necessary plug in version for the project was loaded the available firmware Plug in version with which the components in the Project Data project were created when the project is opened the corresponding plug in version is automatically called up Project data Fig A 10 Relationship between project CMAX plug in example firmware 1 1 with plug in 1 8 0 The following are checked when the linkage is created 1 Does the plug in used have the necessary version for the firmware 2 Ifso the project data are compared 3 Ifnot the plug in is rejected A message is displayed in the Output window Note The firmware design itself will not be compared 186 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Ifthe plug in used in the project does not have the required v
32. CCON OPM1 SCON OPM1 During the switch over the status bytes AND 2 8 cannot be evaluated because they cannot be CCON OPM2 SCON OPM2 clearly assigned to an operating mode CCON STOP 1 o SCON READY 0 CCON OPM2 SCON OPM2 If necessary Reenable operation SCON READY 1 New operating mode active Fig A 6 Flow diagram for Switch over operating mode Festo P BE CPX CMAX CONTROL EN de 1505a English 179 A Notes on commissioning service and firmware A 5 Firmware designs A 5 1 Firmware Design 2 2 Firmware design 2 2 requires at least the plug in version 2 2 The following list shows the most important new and improved characteristics of the firmware Version 2 2 including the plug in 2 2 1 0 data The actual position and actual force can simultaneously be transferred into the input data of the controller This makes it possible to create force path diagrams or implement force path monitoring functions in the controller in real time This is parameterised in the FCT plug in on the Diagnostics I O Data page in the I O Data tab For fast and easy diagnostics the error number can be transferred in the input data as secondary actual value in byte 4 As a result an additional parameter application in case of error is no longer necessary This function is parameterised in the FCT plug in on the Diagnostics O Data page in the I O Data tab Ifthe CCON LOCK contro
33. Festo P BE CPX CMAX CONTROL EN de 1505a English 263 C Parameter C 2 7 Jog mode creeping speed Jog mode slow velocity Jog mode Param PNU 530 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 50 10 500 1 s 50 10 500 Imperial 0 01 ft s 15 3 164 1 s 50 10 500 Slow speed for jogging O The parameter value cannot be changed O After writing controller recalculation is carried out Jog mode maximum speed Jog mode fast velocity O Writing permissible only in commissioning parameterisation mode with blocked drive Param PNU 531 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 200 10 10 000 1 s 200 10 10 000 Imperial 0 01 ft s 65 3 3281 1 s 200 10 10 000 Maximum speed after expiration of the jogging slow speed period Only effective if use of the global default value default value for speed position control PNU 600 has been deactivated with PNU 521 01 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalcul
34. If the setpoint value is smaller than the limit value the CMAX will track the axis Default 1 1 E35 Software end position passed If warning The axis does not stop and continues to execute the positioning command does not apply to force control E50 Operating pressure is too low If warning The CMAX behaves as if there were sufficient pressure Positioning commands lead to error E30 or E31 9 E58 Start not allowed with operation enable 10 31 Reserved 0 SE AL LL LO ALL A GLE AAT IAA AA AAA ALAA ALAA Y A ATES 1 O The message is treated as an error 1 The message is treated as a warning Tab 4 20 Parameterisation of the diagnostic messages parameterisation of messages Festo P BE CPX CMAX CONTROL EN de 1505a English 133 4 Diagnostics and error handling 4 5 Diagnostics via standard functions of the CPX terminal Errors and warnings of the CMAX or the connected modules are reported to the bus nodes as CPX error messages The following sections contain the special features of the representation for the CPX specif ic diagnostics options Module I O data control and status bytes gt Section 2 2 Status bits gt Section 4 5 1 I O diagnostics interface gt Section 4 5 2 4 5 1 Status bits of the CPX terminal Tab 4 21 shows error messages of the CMAX in the status bits of the CPX terminal Bit Diagnostic information with Descripti
35. Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 bar 60 30 100 0 1 bar 60 30 100 Imperial 1 psi 85 44 145 1 psi 85 44 145 Supply pressure applied to the valve Oo Ea x The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 283 C Parameter Base load Basic load Param PNU 1142 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 50 5 200000 1kgcm 50 1 20 000 Imperial 1 lb 10 1 44 093 0 1 lb in2 200 2 68 343 Base load mass or mass moment of inertia present in all movement commands 7 Calculation of the total load 1 Enon 1 Base load PNU 1142 Moved base load including piston rod piston slide a as well as the components permanently installed on the slide This load must always be moved by the drive minimum load to be moved 2 Current payload PNU 605 410 If the drive also has to move workpieces of diffe
36. Read value change value Response identifier ResID Response identifier transfer value fault Parameter number PNU Parameter number for addressing a parameter Subindex IND Subindex for addressing an array component Parameter value Value Parameter value in the event of an error the error number as a response 8 SEE ee Tab 5 16 FPC components Festo P BE CPX CMAX CONTROL EN de 1505a English 147 5 Parameterisation 5 4 1 Task identifiers response identifiers and error numbers Description ReqID ResID ResID Task with response with error No job 0 0 0 Read parameter value 6 5 7 Change parameter value 8 5 7 eS T Tab 5 17 Request identifiers and response identifiers Rules There are the data types integer character char and bitfield Each parameter value is transmitted as a 32 bit value Astring is an array of characters that can only be transmitted individually via the cyclic channel The value NUL 0x00 is interpreted as the string end A higher order controller must always transmit the zero as the last character Simple variables have no subindex The transmitted subindex can have the values 0 and 1 The value 0 corresponds to not used It is recommended to set the subindex to 1 as if the parameter were an array with a component Values gt 1 are rejected with error 3
37. W R Handshake error Note Message can be parameterised alternatively as a warning W or error F1 Cause CPOS START set with operation enable Note If E58 is configured as warning W58 SPOS ACK 1 is set with operation enable Measure e Reset CPOS START before operation enable CPOS START 0 Cause CPOS HOME set with operation enable Note If E58 is configured as warning W58 SPOS ACK 1 is set with operation enable Measure e Reset CPOS HOME before operation enable CPOS HOME 0 Cause Rising edge at CPOS START or CPOS HOME or CPOS JOGP or CPOS JOGN al though SPOS ACK 1 positioning command is ignored Measure e New positioning command only with SPOS ACK 0 Cause CPOS JOGP set with operation enable Measure e Reset CPOS JOGP before operation enable CPOS JOGP 0 Cause CPOS JOGN set with operation enable Measure e Reset CPOS JOGN before operation enable CPOS JOGN 0 Cause Simultaneous start of multiple positioning commands Measure e Only start one positioning command Group 6 Valve error CPX error group 106 CPX MMI Error in valve 60 No Message Malfunc Reset type tion level Valve not connected or communication is faulty F2 N Valve not connected or communication faulty Cause When switching on only the displacement encoder sensor interface was found The valve was not detected Measure e Check cables to the valve e Replace val
38. is changed Changing process and diagnostic data does not cause a reset The next time the FCT connects with the device it checks the UUID after the name If this is identical to the UUID in the project synchronisation between the device and the project does not need to be carried out O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 235 C Parameter Manufacturer s device name Manufacturer device name Param PNU 120 Index 1 30 Max Index 30 Class array Data type char Values Specification CPX CMAX C1 1 Permissible characters 0x00 0x20 0x7F ZERO printable ASCII characters CMAX designation type Characters not used are filled with 0x00 ZERO The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out User s device name User device name Param PNU 121 Index 1 30 Max Index 30 Class array Data type char Values Specification CMAX0001 Permissible characters 0x00 0x20 0x7F ZERO printable ASCII characters Impermissible characters 7 l EI HR 4H 5 AOD plug in CMAX designation defined by the user
39. or CMAX internal with an active error of level F2 56 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 1 8 Motion Complete MC Motion complete SPOS MC defines whether a movement command is active Motion complete rules MC 0 is set at the start of a movement command before SPOS ACK 1 in case of movement command in record mode or direct mode position or force control jogging homing run identification and movement test MC 0 is not set for stop block drive MC 1 is set ifthe MC condition for the started movement command is met compare this with the list of movement commands when setting MC 0 ifthe drive has been stopped or blocked and speed 0 has been achieved MCis set for the first time after switch on status Drive blocked In the case of force control the breakaway force can result in the MC condition possibly being met already at the beginning of the movement command Here the criteria for the MC condition can be influenced via the parameters monitoring time tolerance etc e Depending on the cycle time of the controller SPOS MC 0 might not always be recog l nised e g during positioning with fast stop at the actual position MC is valid from the time SPOS ACK 1 for the started movement command even if no status change can be recognised in the controller Position control The Motion complete SPOS MC signal indicates
40. the controller is not activated If an identification is performed successfully the serial numbers are adopted so that the warning WO8 cylinder valve or sensor interface were exchanged is no longer issued the next time the device is switched on The piston rod diameter is not provided by the sensor interface The actual configuration always contains the value 0 However since this is a valid value for rodless drives the value 0 is not con sidered not recognised in the case of the piston rod diameter Therefore no check of setpoint and actual configuration is made after switch on Analysis data Analysis data Param PNU 1191 Index 1 Max Index 15 Class array Data type int32 Values Specification 0 Minimum Maximum Internal data for controller qualification 3 m m The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out 298 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Commissioning operation block download Commissioning function block download Param PNU 1192 Index 1 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 1 After writing a parameter controller initialisation is carried out During this a check is made whether certain parameters fit
41. 0 01 ft s 650 3 3 281 1 s 1 000 10 10 000 This value contains the globally preset speed This is used in all movement commands with position control where no individual speed is specified gt Section 5 3 PNU 403 521 Bit bit 0 00000001h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Default value speed limit force control Default value velocity limit force mode Param PNU 601 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 0 001 m s 50 0 500 Imperial 0 01 ft s 15 0 164 This value contains the globally preset speed This is used in all movement commands with force control where no individual speed is specified gt Section 5 3 PNU 403 521 Bit bit 1 0000 0002h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Default value acceleration Default value acceleration Param PNU 602 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit
42. 0000 0000 0000 0000 0000 0000 0000 Write The parameter includes detailed information about the diagnostic event entry in the diagnostic memory This information mainly serves to make diagnostics convenient using the FCT The evalu ation is complex and therefore not suitable for a controller program Description gt Section 4 3 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Reserved Reserved Param PNU 204 Index 1 Max Index 5 Class Struct Data type int32 Values Specification 1 Minimum Maximum Reserved Not used by the CMAX k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Reserved Reserved Param PNU 204 Index 2 Max Index 5 Class Struct Data type int32 Values Specification 2 Minimum Maximum Reserved Not used by the CMAX k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Clear memory Clear memory Param PNU 204 Index 3 Max Index 5 Class Struct Data type int32 Values Specification 0 Minim
43. 10 lb ft2 of inertia centimetre D 47 Pound force square lb in2 2 9264 kg m inch 6 Speed L 50 Metres per second m s 3 28084 ft s angular L 51 Feet per second ft s fps 0 3048 m s speed D 55 Degrees per second e s D 56 1000 degrees per 1000 s second 7 Accelera L 60 Metres per second m s2 3 28084 ft s2 tion squared angular L 61 Feet per second ft s2 0 3048 m s2 accelera squared tion D 65 Degrees per second 2 52 squared D 66 1000 degrees per 1000 s2 second squared 8 Force ramp L 70 Newton per second N s 0 22481 lbf s torque It 72 Pound force per lbf s 4 44822 N s ramp second D 75 Torque per second Nm s 0 73756 lbf ft s D 76 Pound force foot per lbf ft s 1 35582 Nm s second 9 Time A 80 Millisecond ms 81 Second s 10 Controller A 100 without factor 11 Diameter A 10 Millimetre mm 0 03937 in 12 Mounting A 15 Degree s angle 2 In FCT Display entry in mm and additional display in inches in parentheses Tab B 6 Measuring units with conversion Festo P BE CPX CMAX CONTROL EN de 1505a English 201 B Basic principles of the CMAX B 2 Dimension reference system for pneumatic drives B 2 1 Dimension reference system with absolute displacement encoder Dimension reference system for linear drives with absolute displacement encoder 1 o
44. 1194 X 12 System of measurement units Struct int32 R resolution 1195 X 5 Start configuration Struct int32 R 1198 1 1 Trace configuration maximum Struct int32 R supported version 1199 X 7 Manufacturing data Array int32 R Error texts gt Section C 2 17 2100 X 81 Error texts Array Char R 2189 1 gt Tab C 4 Tab C 5 Overview of CMAX parameters Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Representation of the parameter entries 1 Software end position Limit setpoint position Param PNU 501 Index 1 Max Index 2 Class Var Data type int32 2 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation 3 Metric 0 01mm O 0 1000000 0 1 0 0 100 000 Imperial 0 001 in 0 0 393 701 0 1 0 0 100 000 Permissible range for position setpoint values Starting with a target position outside of the software end 4 positions is not permissible and will lead to an error or warning If the software end positions are passed in the running process the system will issue a warning The offset to the axis zero point not to the project zero point is specified Specifying 0 for both software end positions deactivates the software end positions Index 1 Lower software end position Index 2 Upper software end position The c
45. 4 Firmware Design DIe os eie teed sees aed uee eta Ger ewe ceed ube heeds 183 A 5 5 Firmware Design 1 0 2 cncaaiid aes ae saers elec Saher mals 185 A 6 Relationship between project CMAX and plug in 2 cece eee eee eee eee 186 A 7 FAQs on the firmware and plug in versions 0 cece eee e cee eee eeee 188 A 8 Procedure for firmware update 6 0 kee cece ce eee cette eee eens 191 A 8 1 Overview of the necessary steps for the firmware download 191 A 8 2 Explanations for the individual steps 0 0 cece eee eee ee ee eee eee 191 B Basic principles of the CMAX cece cece eee e cence cece ee eeeeeeees 197 B 1 System ofiunits of the CMAX s cc 24 0 eee hete weet ce een ienee 197 B 1 1 Definition of the system of units tables 0 ce eee eee eee eee eee 197 B 1 2 Activation of the system of units table 2 0 eee eee 200 B 1 3 Reference table and conversion of the measuring units 200 B 2 Dimension reference system for pneumatic drives 0 cece eee eee eee eee 202 B 2 1 Dimension reference system with absolute displacement encoder 202 B 2 2 Dimensional reference system with incremental displacement encoder 204 B 2 3 Calculating specifications for the measuring reference system 205 B 2 4 Software end positions Hardware end positions 000 ee 207 B 2 5 Taking drive options of the DGCI into account in the dimens
46. 44h 01h If the control system uses a different byte sequence this must be taken into account correspondingly e g in the application program CPX parameter Analogue process value representation Some CPX bus nodes e g CPX FB13 FB33 FB34 and FB35 support the global system parameter Analogue process value presentation system table function number 4402 bit 7 Value 0 INTEL LSB MSB presetting Value 1 MOTOROLA MSB LSB MOTOROLA MSB LSB Big Endian Example 21 268 514g 01 44 88 22h Byte address 0 1 2 3 Bit no 76543210 76543210 76543210 76543210 Bin 00000001 01000100 10001000 00100010 Hex 01h 44h 88h 22h The CMAX evaluates this global system parameter and converts the byte sequence accordingly After changing the parameter wait for about 2 seconds until the CMAX conversion has been reliably ex ecuted The CMAX exchanges the byte sequence both in the cyclical I O data as well as acyclical data parameters Festo P BE CPX CMAX CONTROL EN de 1505a English 11 1 Configuration of the CPX terminal with the CMAX 1 3 CPX parameterisation 1 3 1 Fail state or idle mode Depending on your application and the bus node used check whether parameterisation of fail state or idle mode for the selected CMAX module has to be configured in the bus node The fail state or idle mode allows creation of defined I O statuses in the ev
47. 6 it must wait for SPOS ACK 0 Fig 3 13 7 Otherwise it may be that the time for CPOS START 0 is too short to be recognised by the CMAX Notes regarding force control If Force control is set as the control mode with a rising edge at CPOS START in RCB1 the CMAX inter prets the target specification as a force value It activates the force control and adjusts the value with the parameterised ramp Section 3 1 2 Festo P BE CPX CMAX CONTROL EN de 1505a English 83 3 Drive functions 3 3 2 Record structure A movement command in record mode is described by a record made up of parameters and setpoint values Every parameter or setpoint value is addressed by its own PNU Each record consists of the PNUs with the same subindex Tab 3 21 PNU Name Position control Force control 401 Record control byte 1 Setting for movement command RCB1 absolute relative position force control 402 Record control byte 2 Record control RCB2 Settings for conditional record sequencing 403 Default values Controls use of global default values 404 Setpoint value Position setpoint value Force setpoint value 405 Preselected value Preselected value for record sequencing corresponding to RCB2 406 Speed Speed 407 Acceleration Acceleration Not used 408 Deceleration Deceleration Not used 410 Payload Payload 411 Tolerance Position tolerance Force tolerance 412
48. As soon as the bit 0 is set by the controller the data are no longer overwritten In this way the FCT can consistently read the data After reading FCT writes a 0 into the status word as con firmation and the controller updates the values The status word index 1 may be written by the FCT without higher order con troller It is also not necessary to enter a password The parameter value cannot be changed except Index 1 O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out i a 294 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Status of movement test Status movement test Param PNU 1174 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write Current status of the movement test Bit Value Description 0 0 Movement test must be carried out 1 Movement test does not have to be carried out 1 0 Movement test was not carried out 1 Movement test was carried out 2 0 Result of the movement test is not clear 1 Result of the movement test is clear 3 0 Tubing connection error 1 Tubing connection OK 4 0 Movement test was not skipped 1 Movement test was skipped 5 0 No hardware exchange 1 Movement test has been reset after hardware exchange Info
49. B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Operating mode 1 2 Block FCT Acknow Release Enable Enable access ledge er brake opera drive ror tion CPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 TEACH JOGN JOGP HOM START Teach Jogneg Jog posit Start Start value ative ive homing move ment com mand Record Byte 3 Record number of the record to be started 1 64 number Byte 3 Reserved Reserved 0 Byte 4 Reserved Reserved 0 Byte 5 8 22 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control Assignment of the status bytes record select mode SCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Operating mode 1 2 FCT Load Fault Warning Opera Drive device voltage tionen enabled control abled SPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 REF STILL DEV MOV TEACH MC ACK Drive ref Standstill Following Axis is Acknow Motion Acknow erenced warning error moving ledge complete ledge teach start Record Feedback of last started record 1 64 number With record sequencing the actual record number always contains the record number Byte 3 currently being executed so it changes without a starting edge during record continu ation Second Depending
50. CCON ENABLE 0 Tab 2 1 Available functions in the operating modes i Description of the drive functions gt Chapter 3 16 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 2 Structure of the cyclical I O data in the operating modes Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON CPOS Control bytes dependent on operating modes data Input SCON SPOS Status bytes dependent on operating modes data Function Byte 1 remains in its Bytes 3 to 8 depend on the selected operating mode and transmit function in every op additional control and status bytes e g CDIR SDIR as well as erating mode Itin setpoint and actual values cludes controland Record number or setpoint position in the output data status information Feedback of actual position and record number in the input such as for enabling data and adjustment of Additional setpoint and actual values dependent on the oper the operating mode ating mode and regulation mode Byte 2 is identical With PNU 523 the content of bytes 3 to 8 can be partially for the record selec configured tion direct and com missioning operat ing modes Procedure First determine the operating mode in the control byte CCON gt Sections 2 2 1 and 2 2 2 This results in the assignment of the other control and status bytes Record mode Section 2 2 3 Direct mode Section 2 2 4 Comm
51. DGCI the following must be written Axis data Specification Parameter PNU 1104 01 0 not present DGCI options integrated clamping unit PNU 1104 02 0 not present DGCI options additional slide PNU 1104 03 0 not present DGCI options lubrication function PNU 1104 04 0 not present DGCI options protected recirculating ball bearing guide PNU 1104 05 0 mm DGCI options distance between slide and additional slide KR PNU 1104 06 0 mm DGCI options distance between slide and additional slide KL All the other parameters contain appropriate default values This data can but does not need to be overwritten The record table is not initialised m 64 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Switch off block download 10 Switch off block download write PNU 1192 01 0 When switching off block download the controller is parameterised for the first time If all the required parameters were written during axis data writing status C02 is exited From this time on for the first time the actual position can be read or any other function of the CMAX can be executed The CMAX now waits for the movement test to be executed A 2 3 Parameterisation without hardware Features The CMAX can be fully parameterised without hardware A 1 1 Connecting an axis is not required for this purpose Ifno axis is connected the CMAX
52. Force control is not required Parameter PNU Value Comment Speed 600 1000 1m s Do not use the maximum possible values Acceleration 602 1000 1m s2 from the identification data Brake ramp 603 1000 1 m s Payload 605 0 0 kg No payload in the normal status Tolerance 606 50 0 5 mm Tolerance 0 5 mm Tab 5 11 Example of global default values steps setting default values Festo P BE CPX CMAX CONTROL EN de 1505a English 145 5 Parameterisation Record table All blank fields in the record table do not need to be parameterised explicitly The record control bytes 1 2 can be used as preset Record RCB1 RCB2 Default Refe Pre Speed Accel Dece Pay Toler Force no Low word rence selec lera load ance ramp value tion tion Bit O Bit 2 Bit 3 Bit 5 Bit 6 Bit 8 0001h 0004h 0008h 0020h 0040h 0100h 1 C000 0000p 7500 2 C000 0020p 14550 120 3 C000 002Dp 20520 400 200 200 250 4 C000 0000p 2000 Tab 5 12 Example of global default values record table With this record table and the global default values the drive in fact performs the following movement Step Start Target Speed Accelera Decelera Payload Tolerance tion tion 1 20 0mm 75 0mm 1 0m s 1 0m s2 1 0m s2 0 0kg 0 5mm 2 75 0mm 145 5mm 1 0m s 1 0m s2 1 0m s2 12 0kg 0
53. Index 4 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 1 000 000 Sum of the movements of the drive since the last full metre was reached PNU 305 03 Records all the movements performed by the drive irrespective of control mode or enable Attention Specification is always in micrometres independent of the system of measurement units established k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Current speed Current velocity Param PNU 307 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 10 000 000 10 000 000 1 s 10 000 000 10 000 000 Imperial 0 01 ft s 3 280 840 3 280 840 1 s 10 000 000 10 000 000 Calculated actual speed k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 248 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Extended axis status Additional axis status Param PNU 308 Index 1 Max Index 1 Class Var Data type bit ar
54. Involved following error or tolerance monitoring parameters Note The following error tolerance is normally considerably larger than the position tolerance 62 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Standstill monitoring SPOS STILL The standstill warning bit indicates whether the drive has moved again since reaching motion complete SPOS STILL Description 0 No movement 1 Warning Drive has moved after MC The bit remains set Tab 3 11 Standstill monitoring statuses Standstill monitoring is activated as soon as SPOS MC 1 is set Standstill monitoring is only executed in the case of active position control and if valid reference information SPOS REF 1 is present In the case of homing configured fast stop and stop standstill monitoring is deactivated i e a stand still warning is not issued even if the drive is still moving after MC The standstill warning is set if at least one of the following two conditions is met The drive has left the speed tolerance window for rest 4 mm s 0 16 ft s 4 s longer than a filter time TF of 30 ms The filter time prevents the warning from being initiated due to noise etc The drive has left the standstill tolerance window The standstill tolerance window is the position upon reaching the MC condition position tolerance but at least 0 1 mm 40 004 in 0 1 The drive may leave the actual position tolerance w
55. MC is output gt Section 3 1 2 If the con troller switches to position control with reduced speed only after MC 1 MC is not reset to 0 Timeout PNU 1163 Speed tolerance for rest is not monitored e g the drive can move no standstill warning no starting timeout function is covered by pressure monitoring gt Error E50 3 1 9 Dynamically updated controller status bits MOV DEV and STILL The status byte SPOS includes three controller status bits Bit Description SPOS MOV Axis is moving SPOS DEV Following error outside of tolerance SPOS STILL Standstill warning Tab 3 8 Controller status bits Festo P BE CPX CMAX CONTROL EN de 1505a English 59 3 Drive functions Movement monitoring SPOS MOV The bit SPOS MOV indicates that the drive is moving The CMAX checks whether the speed signal leaves an established speed tolerance window for rest The internal status Drive in motion is additionally filtered with a switch off time to simplify the evaluation in a controller program 8 0 1 Target position 2 Setpoint position 3 Actual position 4 Actual speed 5 Parameters involved Overview of parameters involved 9 Motion complete SPOS MC Internal status Drive in motion Drive moves SPOS MOV Switch off time Tays
56. Max Index 7 Class array Data type int32 Values Specification 0 Minimum Maximum Internal parameter The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 303 C Parameter C 2 17 Param Error texts Error text E Errortext E PNU 2100 2189 Index 1 81 Max Index 81 Class array Data type char Values Specification Respective text of the error or warning Permissible characters 0x00 0x20 OxFF printable ASCII characters Impermissible characters 0x01 0x19 control character Reading error and warning texts The output language is determined with PNU 154 With undefined errors Unknown error Unknown Error is output The controller can read the texts by character up to the closing character 0x00 An error text can thus be a maximum of 80 characters long PNU Name Value for PNU 154 0 English 2100 Error text E00 No Error 2101 Error text E01 The nominal configuration deviates from actual configuration ee Error text E N 2189 Error text E89 Faulty data contents in the displacement encoder or sensor interface k The parameter value cannot be changed O Writing permissible o
57. O After writing controller recalculation is carried out a D ee eT Festo P BE CPX CMAX CONTROL EN de 1505a English 279 C Parameter Valve Valve Param PNU 1120 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 1 Maximum 5 The valve type is read from the valve The type is always recognised If the valve delivers no known type an error E04 is generated The valve is not commissioned in this case ID Valve type Not configured Reserved VPWP 4 VPWP 6 VPWP 8 5 VPWP 10 O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out BIWIN e o Valve serial number Valve serial number Param PNU 1121 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write Each valve has a unique serial number The serial number is important for identifying exchanged hardware gt Appendix A 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Valve 2 Valve 2 Param PNU 1125 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimu
58. O diagnostic interface Parameterisation cc ccc cece cece ec ceees Overview of parameterisation possibilities Access protection Password protection 0005 Access with higher order controller and FCT 5 2 1 5 2 2 5 2 3 5 2 4 5 4 1 5 4 2 Cyclic parameterisation in the parameterisation mode Example for parameterisation Flow diagram cc cece cece eee eee CPX module parameters 5 5 1 5 5 2 Notes on commissioning service and firmware Preparations and overview for commissioning Status dependent and operating mode dependent block Enable and stop with parameterisation Global default values Festo Parameter Channel FPC Task identifiers response identifiers and error numbers Special features of the system of measurement units 0 A 1 1 Checking the axis string 2 eee eee ce ec ee cee eee tee eeees A 1 2 Switching on the power supply switch on behaviour 000 Commissioning through the higher order controller cee eee ee eee eee eee A 2 1 COO Basic parameterisation 0 eee cece eee eee eee eee A 2 2 Step by step instructions for basic parameterisation 000 A 2 3 Parameterisation without hardware cece cece eee eee eee A 2 4 C03 MOVEMENELESE lt cfset A elegy E E E ch EEE a A 2 5 Homing and identification 0 2 eee ee eee cee eee
59. Pressure 30 Bar bar 1 5 Mass moment of inertia 45 Kilogramme square centimetre kg cm2 0 6 Angular velocity 56 Degree per second ls 0 7 Angular acceleration 66 Degree per second squared s2 0 8 Torque ramp 75 Newton metre per second Nm s 0 9 Time 80 Millisecond ms 0 10 Controller factor 100 without 2 11 Diameter 10 Millimetre mm 2 12 Mounting angle 15 Degree K 1 Tab B 3 System of units table semi rotary drive metric SI PNU 1192 06 value 3 198 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Unit PNU 1193 Resolution Index Physical variable Value Unit Symbol PNU 1194 1 Position 11 Inch in 3 2 Length 10 Millimetre mm 2 3 Force 22 Pound force lbf 0 4 Pressure 33 Psi psi 0 5 Mass 41 Pound lb 0 6 Velocity 51 Feet per second ft s 2 7 Acceleration 61 Feet per second squared ft s 2 8 Force ramp 72 Pound force per second bf s 0 9 Time 80 Milliseconds ms 0 10 Controller factor 100 without 2 11 Diameter 10 Millimetre mm 2 12 Mounting angle 11 Degrees s 1 Tab B 4 System of units table linear drive Imperial PNU 1192 06 value 2 Unit PNU 1193 Resolution Index Physical variable Value Unit Symbol PNU 1194 1 Angle 15 Degrees e 1 2 Swivel angle 15 Degrees 5 1 3 Torque 26 Pound force foot lbf ft 0 4 Pressur
60. Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 2 000 10 100000 1 s2 1 000 10 100 000 Imperial 0 01 ft s 650 3 32 808 1 s2 1 000 10 100 000 Acceleration in position control direct mode Section 3 4 In case of continuous setpoint specification tracking mode the setpoint values are calculated in ternally gt Section 3 4 2 Only effective if use of the global default value default value for acceleration PNU 602 has been deactivated with PNU 521 02 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out eet 266 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Direct mode position deceleration Direct mode position decelaration Param PNU 542 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s2 2 000 10 100000 1 s2 1 000 10 100 000 Imperial 0 01 ft s2 650 3 32 808 1 s2 1 000 10 100 000 Deceleration in position control direct mode gt Section 3 4 PNU 542 does not use continuous setpoint specification tracking mode gt Section 3 4 2 Only effective if use of the global d
61. Specifi Minimum Maximum cation cation Metric 0 001 m s2 2 000 10 100000 1 s2 1 000 10 100 000 Imperial 0 01 ft s 650 3 32 808 1 s2 1 000 10 100 000 This value contains the globally preset acceleration This is used in all movement commands with position control where no individual acceleration is specified gt Section 5 3 PNU 403 521 Bit bit 2 0000 0004h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 270 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Default value deceleration Default value decelaration Param PNU 603 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s2 2 000 10 100000 1 s2 1000 10 100 000 Imperial 0 01 ft s2 650 3 32 808 1 s2 1000 10 100 000 This value contains the globally preset deceleration This is used in all movement commands with position control where no individual deceleration is specified gt Section 5 3 PNU 403 521 Bit bit 3 0000 0008h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O Af
62. Sy S2 S2 braking path ment TE S3 S3 path with constant speed ITUN Sges total path Tab 3 1 Continuous mode Calculation of the phases in the free profile In the case of continuous setpoint specification an external position setpoint is tracked The setpoint values are specified by a higher order controller Continuous setpoint specification gt 3 4 2 is only possible in direct mode and mainly corresponds to that of the free profile Characteristics Speed acceleration and deceleration are limited to values specified by the user no automatic limitation The payload can be set at the start of continuous positioning mode 44 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 1 2 Force control Force control of the cylinder is done by controlling the pressure forces which act on the piston in both cylinder chambers It is not controlled directly a force sensor on the workpiece would be required for this The imprecision of the controlled force is therefore in the range of the static friction force of the drive The target values are specified as a force in the system of units used The force on the piston to be regulated is determined via the setpoint force mounting position base load and payload and the diameters of the piston and piston rod The force controller is parameterised automatically dependent on the set project data The control parameters can be optimis
63. The controller thereby takes the payload of the last movement command into account If the mass specifications are incorrect e g payload has changed there could be com pensating movements when the clamping unit brake is released For vertical axes with clamping unit note that mass variations of 30 compared to the configured mass load can result in unexpected movement when the clamping unit is released despite the automat ic weight compensation Remedy Parameterise changed payload before release of the clamping unit brake In the case of force control with non horizontal mounting position no compensation takes place 54 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Enable Drive CCON ENABLE Stop CCON STOP Open brake CCON BRAKE Output on the VPWP Status of brake 0 24V oV Open 4 clamping unit Closed Drive enabled SCON ENABLED Operation enabled SCON READY Start CPOS START 1 0 f e g 50 ms a KE E E Fig 3 6 Sequence open clamping unit brake The real time for opening the clamping unit brake is dependent on the mechanical inertia of the com ponent used Festo P BE CPX CMAX CONTROL EN de 1505a English 55 3 Drive functions An overview of different cases for opening and closing the brake is shown in Tab 3 5 Status action Sequence or status for Opening the clamping unit brake Closi
64. The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive kl After writing controller recalculation is carried out Displacement encoder type Displacement encoder Param PNU 1110 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 1 Maximum 4 The measurement system type is read if possible from the displacement encoder or sensor inter face If the displacement encoder or sensor interface delivers no known type an error E04 is repor ted The displacement encoder or sensor interface is not commissioned in this case ID Type 0 Unkown 1 Digital DGCI DDLI 2 Digital MME also for user defined axis DGPI 3 Potentiometer 4 Incremental O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out ese EEE 278 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Displacement encoder length Displacement encoder length Param PNU 1111 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 5 000 1 000 000 0 1 0 500 100 000 Imperial 0 01 mm 0 5 000 1 000 000 0 1
65. The successful movement test is reported through Motion Complete SPOS B2 MC 1 and 400 in the CMAX display Carry out identification recommended Commissioning operating mode is still active 1 Set byte 3 function 1 2 Identification is started with start CPOS START 1 In the CMAX display 7 identification active and the progress in are displayed 3 Successful identification is reported through Motion Complete SPOS MC 1 and 400 in the CMAX display End commissioning To switch to the operating mode for production record mode direct mode 1 Activate stop CCON STOP 0 2 Change the operating mode e g CCON OPM1 0 and CCON OPM2 0 record mode 3 Enable operation again with CCON STOP 1 The CMAX controller is ready again for the production operating mode Festo P BE CPX CMAX CONTROL EN de 1505a English 169 A Notes on commissioning service and firmware A 3 3 Change reference configuration The controller of the CMAX must recognize the design and size as well as some system parameters e g operating pressure in order to function correctly If there is a change in the drive or system the user should likewise adjust the corresponding parameters in the CMAX Some of these parameters influence identification gt Section 3 2 3 in such a way that when they are adapted identification must be carried out again After identification has been carried out these para
66. Value Value of the setpoint configuration Cylinder 1 Cylinder type PNU 1100 2 Tubing length PNU 1101 3 Diameter PNU 1102 4 Piston rod diameter PNU 1103 5 Length PNU 1101 6 9 Reserved Displacement encoder 10 Displacement encoder type PNU 1110 11 Length PNU 1111 12 Serial number PNU 1112 13 Resolution um 14 Sampling time us 15 Additional information gt Section B 2 5 16 Firmware version 17 19 Reserved Valve 20 Valve type PNU 1120 21 Serial number PNU 1121 22 Firmware version 23 Hardware Version 24 33 Reserved The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 297 Parameter Notes on PNU 1190 Behaviour on delivery or after resetting the axis or device data The recognised configuration is not automatically included in the setpoint configuration Instead the setpoint configuration is filled with 0 The setpoint configuration must be written compatible to the actual configuration Behaviour at standard start If the recognised hardware does not correspond to the setpoint con figuration this will trigger error handling A decision is made whether the change must lead to a warning or an error In certain cases
67. an error is reported the axis stops and the force command is cancelled The speed limit value must be significantly larger than the speed limit of the PNU 406 554 otherwise monitoring will lead to an error when the speed limit is reached The speed limit value should prefer ably be used as security when speed limiting PNU 406 554 was deactivated O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Jog mode default values Jog mode defaults Param PNU 521 Index 1 Max Index 4 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 1101 Write 0000 0000 0000 0000 0000 000x xxxx xxxx This parameter determines the use of the default values for jogging A set bit means that instead of the global setpoint values PNU 6xx the jog parameters PNU 53x are used gt Section 5 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 260 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Position default values Direct mode position defaults Param PNU 521 Index 2 Max Index 4 Class array Data type bit array Values Specification 0000 0000 0000 0
68. and limit values are adjusted The following characteristics of firmware design 1 1 have been improved in firmware 1 8 Ifthe payload has been changed in two immediately following force commands the transition involved increased valve activity Ifthe continuous setpoint mode was activated with the first positioning command after switch on this could lead to uncontrolled movement into the end position Ifthe current positioning command was interrupted by a new positioning command in rare cases this could cause the target position to be approached too fast Improvement of the trace function in particular the resolution of force signals A 5 4 Firmware Design 1 1 Firmware design 1 1 requires at least the plug in of version 1 1 0 Information on compatibility and the most important changes follows here New error message E47 The homing or identification may only be started when the Motion Complete is set MC 1 If not error E47 is produced This change makes the handshake between the higher order controller and CMAX more unique Improved handshake in the parameterisation operating mode for cyclical 1 0 data If the controller activates the parameterisation operating mode the CMAX no longer automatically sets the input data to 0 These changes make the handshake between controller and CMAX more unique Valve error in case of momentary interruption of the supply voltage corrected In case of a power supply unit that is too w
69. and size of the drive in order to be able to work correctly De fective specifications defective statements e g of the diameter would result in an unstable regula tion 3 To determine specific system characteristic values of the axes identification must be carried out for each axis during commissioning If components are exchanged the identification should be re peated The CMAX checks in a target actual comparison whether the target configuration agrees with the actual configuration error E01 and whether components were replaced warning W08 or error E01 166 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Comparison of design and size The design and size of the drive must be checked They must agree within the tolerance so that the controller can be correctly parameterised Parameter PNU of the reference PNU of the actual Tolerance configuration configuration Cylinder 1100 1190 1 Cylinder length 1101 1190 2 or 1195 5 5mm Cylinder diameter 1102 1190 3 Displacement encoder 1110 1190 10 Displacement encoder 1111 1190 11 5mm length Valve 1120 1190 20 E 1 Only for DGCI DDLI comparison with cylinder nominal length PNU 1195 5 and cylinder pipe length 1195 2 The setpoint value must agree with one of the two values Tab A 2 Parameter setpoint actual configuration and tolerances In case of impermissible deviat
70. are up to date in every future firmware version The language is parameterised in the plug in on the Controller page Identification characteristic values At the end of identification characteristic values are determined for achievable accelerations and de celerations Previously maximum values were determined here in which two strokes of 80 of the working stroke were executed in the autoprofile But the values actually achievable depend very strongly on the start and target position To determine realistic results average values for acceleration and deceleration are determined for V2 2 and higher Shorter strokes are used in the free profile for that purpose See gt 3 1 1 and gt 3 2 3 Further improvements of the firmware For homing the workpiece mass used can now be configured Plug in page Homing gt payload PNU 1134 The force ramp can be parameterised up to 100 000 N s Large but short stroke cylinders can reach a force ramp above 10 000 N s The standstill control can be switched off When CPOS JOGP CPOS JOGN is reset jog operation is ended with the configured delay and no longer with the stop delay The error E58 has been extended by further causes and so is formulated more generally as a hand shake error The concrete cause for E58 can be determined in the online tab Diagnostics Active Messages tab or by reading out the diagnostic memory Additional digital signals ar
71. be necessary Dynamic identification has no influence on force control 72 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Identification sequence The identification run consists of several steps 1 Static identification 2 Dynamic identification if configured 3 If dynamic identification has been carried out determination of average values for acceleration and deceleration in both directions for the free profile In static identification the axis first moves to the middle of the setpoint stroke and carries out smaller movements in both directions If the middle of the setpoint stroke cannot be approached due to the software end position the CMAX moves close to the software end position in question at the start of static identification For optimal execution of dynamic identification there should be as much free space as possible avail able for movement The axis moves in the entire traversing range effective stroke For drives with a cylinder length lt 100 mm dynamic identification is not executed Executing identification Requirement Reference information present SPOS REF 1 1 Set commissioning operating mode 2 Prepare identification Set commissioning operation 1 Parameter 1 0 Parameter 2 current payload in the system of measurement units 3 Start with rising edge at CPOS START 4 Wait for SPOS MC 1 5 The CMAX enters the identification result in the identification status PN
72. cancelled Byte 2 Reserved Byte 3 4 Duration of the function in 0 1 seconds 130 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling 4 4 Parameterisation of diagnostic messages PNU 228 permits parameterisation of diagnostic events PNU 228 Parameterisation of diagnostic events Index Description Default 1 Diagnostic events filter OxO000000F 2 Errors and warnings filter 0x0000007F 3 Messages 0x000000C0 Tab 4 17 Parameterisation of the diagnostic messages Diagnostic events filter The filter determines which diagnostic events are recorded PNU 228 01 allows you to exclude specific ess important events from the diagnostic memory records PNU 228 01 Diagnostic events filter Which events other than faults should be recorded Bit Description Default 0 Record warnings 1 1 Record configuration events data reset identification etc 1 2 Record reset commands 1 3 Record switch on processes 1 4 31 Reserved 0 0 Tab 4 18 Parameterisation of the diagnostic messages diagnostic events filter Errors and warnings filter This error and warnings filter allows you to exclude certain errors and warnings from being recorded in the diagnostic memory This makes sense for errors or warnings that are part of the normal operating cycle because they are inherent to the process load voltage errors or because they occur fr
73. commissioning parameter Data reset PNU 1192 3 3 Device data The CMAX is completely reset to the delivery status All parameters are deleted as with axis data reset In addition a password specified in the device and the diagnostic memory are deleted This function is only available at the diagnostic interface and can only be triggered by FCT After the reset it is no longer possible to communicate with the CMAX The display shows 3 flashing dashes The CPX terminal must be switched off and then back on again Note The FCT plug in V2 2 and higher automatically performs a restart of the CPX terminal Movement test The movement test must be reset before it can be carried out again This reset is required if a component has been replaced without the CMAX detecting it based through the serial numbers example cylinder DNCI has been replaced The movement test is reset by writing PNU 1192 07 1 Tab A 6 Types of data reset Festo P BE CPX CMAX CONTROL EN de 1505a English 171 A Notes on commissioning service and firmware When a data reset is mentioned in general it refers to an axis data reset A 3 5 Firmware update Updating the CMAX firmware can be performed through the FCT plug in CMAX via the service or net work interface of the bus node If no valid firmware is loaded on the module at the time of switching on the error E74 no firmware is indicated Bring the syst
74. control until a positioning command is started or a stop gt 3 1 4 carried out 46 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Further characteristics and notes The parameterised setpoint force ramp is the averaged value of an in reality sin shaped scattered ramp The maximum rise of this ramp is therefore twice as large as the specified average The value of the reduced speed vreq is established with the following parameters Application data Specifications for force control gt Speed vrea PNU 601 Record table gt Movement command gt Speed Vreq PNU 406 Direct mode gt Force control Speed vrea PNU 554 The duration of the phase 2 gt Fig 3 3 depends on how far the drive must travel after the start before it comes up against a sufficient counteracting force after the start of a force command if the drive comes up against a sufficient counteracting force and switching to position control does not take place there is no movement with reduced speed The change to the position control 2 can be deliberately suppressed deactivated if the value of the reduced speed is set to O In this case the force build up rises continuously with the setpoint force ramp until the target force is reached That is the best method to achieve a fast controlled force build up e g when pressing in workpieces The requirement is that prior to the force com
75. deleted 1 Record is initialised by user Not evaluated 0 Use the default values 0 29 Bit field controls acceptance of the default values gt Tab 5 9 1 Use the parameter from the record table or the data for the direct mode Tab 5 8 Flag for the parameter control Festo P BE CPX CMAX CONTROL EN de 1505a English 143 5 Parameterisation Parameters used depending on the bit status Bit Parameter Bit 0 Bit 1 Record Jogging Position Force Homing mode direct direct mode mode o Speed position 600 406 5310 540 1 Force speed 601 406 554 2 Acceleration 602 407 5320 541 3 Deceleration 603 408 5330 542 4 reserved 5 Payload 605 410 536 544 551 1134 6 Position tolerance 606 411 545 G 7 Force tolerance 607 411 Gi 552 E 8 Force ramp 608 412 z 550 9 29 reserved 1 FCT permits no default values 600 602 603 for jogging only the special values 531 532 and 533 gt Fig 5 1 Tab 5 9 Parameters used How is evaluation performed Evaluation is performed upon start When using the free profile the CMAX checks for each setpoint value parameter whether it should use the global default setting or the individual parameter Individual parameter values should be used if the corresponding bit is set to 1 in default values record PNU 403 or default values jogging and dir
76. e Adjust response delay parameter FCT or PNU 1144 51 Load voltage of the controller outside the tolerance range F2 F Controller load voltage outside tolerance range Cause Load voltage lt 20 V with enabled drive or overload on axis string Measure e Check load supply for valves Uvan 52 Operating voltage of the controller outside the tolerance range F2 F Controller operating voltage outside tolerance range Cause Operating voltage lt 18 V or overload on the axis string Measure e Check operating voltage supply for electronics sensors UEL sEN 53 Load voltage overload on the controller F2 F Load voltage overload on the controlle Cause Short circuit in the cables of the axis string between controller and valve or valve and sensor interface Measure e Check cables and modules on the axis string e g wire break replace defect ive cables Cause Overload on valve outputs Measure e Check and correct the circuitry for the outputs Cause Defect in the valve Measure e Check cables and valve systematically replace defective components Cause Defect in CMAX Measure e Check CMAX and exchange if defective 114 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 5 System error B CPX error group 105 CPX MMI System error B No Message Malfunc Reset type tion level 54 Operating voltage overload on the controller F2 F Oper
77. eH Speed Z Position Sequencing happens as soon as 160 F a the current actual position ex a m ceeds the preselected value in the 1 J F s direction of travel 2 e Z E ee Jaune IMC 2 3 Force The preselected value is inter a TT preted as the force value 1 150 Force j There is a switch when the current re actual force has exceeded the a a preselected value 2 w 0 The first command doesn t neces Speed 1 Ie sarily have to be a force com 2 AS 1 mand Example Slow positioning tT Tir td to block When the force sees Re eee seine ete threshold has been reached Imc j force control is switched to 2 Notes Exceeding means that the actual force is closer to the target force than the switch value In case of switching from a position command Besides the expected coun teracting force the force for accelerating the mass load and the friction of the system also determine the current force value and with this the switch ing position Therefore only a small degree of switching position reprodu cibility is to be expected in this case Only when the axis is positioned against a spring force for example and the force which occurs here is more than twice the frictional forces including the acceleration force does the switch result in more or less reproducible behaviour Festo P BE CPX CMAX CONTRO
78. ee ee eee 14 81 1 7 O datas sts areen eenaa ta oe talet athe 22 Record sequencing 000 85 Record structure cc cece eee e eee 84 REP earnen eae E a hr e Ea 4 25 31 36 Relative Aires erora E EE E ET 32 Relative commands 00 cece 51 Reset 4 chav asia ees si T E siete 20 171 Reset type ar anus cee sede eens 100 Response delay 6 cc eceeeceees 173 RSB eens aye 5k Geico tere es Arak Siete SA Oa RAS 26 S SCON i saa ict EEE E PEE E E NEE 19 SDIR io a eae a eats amp 32 SEVICE cose eee ee eee es 9 Setpoint specification 96 Software end position 207 306 Software status CMAX 00 eee 8 SPOS aces el Site send des EARR 25 31 36 Standstill control 0 ee eee eee 52 Standstill monitoring 6 63 START 334 4 0 35455 See Newa e ened 24 29 35 Start of a movement command 94 Start of a record eee eee eee eee 82 Start of continuous setpoint specification 96 Start record eee eee eee eee eee 177 Start up behaviour of the CPX terminal 12 Status bits t ereire testa nace C eae ees 134 ST L apt ctag rne ood eed 25 31 36 63 SUOP eireto ete S SArehe in ote 20 51 Switch off behaviour 006 172 Switch on behaviour 156 172 System of measurement units 197 T Target gro p siete ce ees een Ea 8 Target actual comparison 166 TEAC T
79. eee e cette eee e eee ee eeeees Summary of diagnostics options cee cee cece eee eee eens Faults and Warnings geene a e tere E E ha setts emer E EEE 4 2 1 Effect on the sequence control and axis malfunction step 4 2 2 Acknowledgement of faults and warnings reset type 04 4 2 3 Illustration of CMAX error numbers in the CPX terminal 22 4 2 4 Error and warning numbers eee eee eee cette teen teens Diagnostic parameters i coe Sok cane ele eed ee ste eee eee eee ee eee es 4 3 1 Latest diagnostic Status ispu cose ee woth EERE iene Sue Rete cs 4 3 2 Diagnostic Memory 6 eee eee cece eee eee e eee eee eens eeoeees 4 3 3 Error status and additional information 0 eee ee eee eee ee 4 3 4 Diagnostic code and additional information with reset switch on and COMFISUATION see eeren Seah ee sredecret tere bt sede bier ae weer aarti Parameterisation of diagnostic messages cece eee eee ee ee tere teens 41 41 41 45 51 51 52 52 53 57 59 65 66 66 69 72 75 76 78 81 82 84 85 92 94 96 Festo P BE CPX CMAX CONTROL EN de 1505a English Axis controller CPX CMAX 4 5 5 1 5 2 5 3 5 4 5 5 5 6 A 2 A 3 Diagnostics via standard functions of the CPX terminal 4 5 1 Status bits of the CPX terminal 4 5 2 I O diagnostic interface and diagnostic memory 4 5 3 Parameterisation via the I
80. error B 106 Error in valve 6 Error in valve 107 Controller error 7 Controller error 108 Encoder error 8 Displacement encoder error Tab 4 5 CPX error numbers and groups of the CMAX Festo P BE CPX CMAX CONTROL EN de 1505a English 101 4 4 2 4 Diagnostics and error handling Error and warning numbers Information on the malfunction level and the reset type gt Sections 4 2 1 and 4 2 2 FCT sup plies additional information on many diagnostic events gt FCT Internally the additional information is stored in the PNU 203 Section 4 3 3 102 Group 0 Configuration errors CPX error group 100 CPX MMI Configuration error No Message Malfunc Reset type tion level 01 The nominal configuration deviates from the actual configuration F2 N The nominal configuration deviates from actual configuration Note The movement test is reset to avoid tubing connection errors The CMAX has C03 status The movement test should then be run once more Cause Acomponent on the axis string does not correspond to the nominal configura tion displacement encoder or sensor interface type length cylinder type length diameter valve type Measure e Check component Replace defective or incorrect components e Adopt actual configuration download Cause The displacement encoder and valve have been exchanged and no longer match the targe
81. in A component in a project created with an old plug in cannot be updated to a new plug in But an upload from a connected CMAX is possible gt Following topic How do load an old project into a new CMAX This is possible if the old CMAX is available The old project must first be loaded into the old CMAX The create a component with the new plug in and upload the project data from the old CMAX into the project gt Topic How can load a project from an old CMAX into a new plug in Note If you would like to carry out a firmware update pay attention to the notes in gt Section A 8 Tip The project data from the old project can be saved with the function Export PNU table and then loaded into a new project with Import PNU table gt Online help for the plug in With these func tions no CMAX is necessary as a buffer Festo P BE CPX CMAX CONTROL EN de 1505a English 189 A Notes on commissioning service and firmware Can use an older plug in in a new project Festo generally recommends the use of the newest plug in version To use an older plug in version it can be selected when a new component is inserted into the project ba Componentselection Device description Device vendor Festo Device family CMAX Plugin version V01 08 00 FESTO Short description The CMAX is a modular positioning modul in the CPX system This software is a tool for the configuration start up and diagnosis
82. indicates an error after parameterisation The CMAX is still fully diagnostics capable and parameterisable Without hardware all parameterised data can be read Connecting an axis is not required Cylinder length The actual cylinder length cylinder pipe length is stored for the DGCI The CMAX accepts both effective and nominal lengths for nominal actual comparison The CMAX accepts a deviation of 5 00 mm between the projected length and the length stored in the drive without issuing an error or warning A 2 4 C03 Movement test After parameterisation a movement test should be executed to check the drive s control direction During this the system checks that the tubes are correctly connected After parameterisation the CMAX expects the movement test to be executed and indicates this by showing C03 on the display The movement test must either be executed or skipped not recommended i Information on performance of the movement test gt Section 3 2 1 A 2 5 Homing and identification After the successful movement test the following functions need to be executed Homing only for incremental displacement encoder gt Section 3 2 2 Identification gt Section 3 2 3 Festo P BE CPX CMAX CONTROL EN de 1505a English 165 A Notes on commissioning service and firmware A 3 Operation and service A 3 1 Target actual comparison The CMAX together with valve cylinder and displacement encoder forms a variable
83. is formulated directly in the I O data which are transmitted by the bus node e g via the fieldbus and started The setpoint values are thereby reserved in the higher order controller Typical applications The function is used in the following situations Selection free approach to positions within the effective stroke The target positions are unknown during designing or change frequently e g several different work piece positions Atraversing profile consisting of chaining records is not necessary The drive should follow a setpoint value continuously The setpoint positions should be reserved in the higher order controller for another reason Typical causes of error in applications No homing carried out Target position or target force cannot be reached or is outside the software end positions Timeout target position or target force is not reached Section 3 4 2 Regulating functions Tab 3 25 shows the supported regulating functions in direct mode Regulating function is supported Point to point PTP positioning Yes Positioning continuously tracking mode Yes Force controls PTP point to point Yes Continuous force control No On the fly setpoint value switching new movement command before MC Yes Tab 3 25 Supported controller functions 92 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Limitation of the setpoint values The main setpoint
84. low gain and good cushioning Reduce Noise or loud valve noises observe amplification too high Increase The positioning process is carried out quickly and accurately low valve Optimal 217 B Basic principles of the CMAX B 5 2 Optimise positioning behaviour During identification the positioning behaviour is automatically optimised If the quality of the posi tioning behaviour still does not meet the desired requirements at first proceed as follows Check parameterisation FCT Check controller settings Note Incorrect parameters can destroy the drive e Bevery careful when setting the parameters If fluctuations in pressure of over 1 bar occur before the proportional directional control valve install a compressed air reservoir gt CMAX system description Observe the gene ral installation instructions The following problems may typically occur during positioning Multiple premature stopping of the axis Swinging around the setpoint position Stability problem very frequent swinging around the setpoint position Overswinging Underswinging Before optimising the positioning behaviour of the axis Check whether the pneumatic axis is constructed in accordance with the regulations gt CMAX system description Check whether all axis and application data are set correctly Always carry out identification Then always perform several positioning cycles This guarantees that the adaptation is effective
85. non optimal control behaviour The reasons for poor con trol behaviour in small tolerance windows are long term effects and imprecisely identified values Adaptation affects position control not force control Deactivating adaptation Adaptation can be deactivated via the parameterisation That is normally not required in any configura tion Only in extremely rare cases does adaptation lead to a deterioration of positioning behaviour Important Not every deterioration in the positioning behaviour is due to faulty adaptation Wear or poor design can also cause for example positioning times to rise over time or even the frequency of the error message E30 to increase For this reason adaptation should only be deactivated in justified cases A faulty adaptation could be the reason for the following behaviour After commissioning the positioning behaviour deteriorates with time Positioning times become longer and the machine cycle becomes longer E30 errors occur more often After identification the behaviour is significantly better without any other changes having been made But then it slowly starts to worsen again until the next identification is performed A possible cause can be positioning against a non uniform disturbing force In these cases adaptation could be the cause of an increasing deterioration of the positioning beha viour If you think this is the case you should deactivate adaptation and then re run the iden
86. not detected at switch on Measure e Replace position measuring system sensor interface check the cables Cause Communication between CMAX and displacement encoder sensor interface is faulty Measure e Check cables of the axis string valve and displacement encoder sensor inter face systematically replace if defective 81 Hardware of the displacement encoder or sensor interface defective F2 N Hardware of the displacement encoder or sensor interface faulty Cause Hardware of the displacement encoder or sensor interface defective Measure e Replace displacement encoder sensor interface Cause Error during initialization of the displacement encoder sensor interface Measure e Replace displacement encoder sensor interface e Check compatibility of the displacement encoder sensor interface with the firmware version of the CMAX 82 Invalid measured values or displacement encoder error F2 F Invalid measured values or displacement encoder faulty Cause DGCI DDLI No magnet present Measure e Check magnet on the displacement encoder replace magnet holder if defect ive Cause DGCI DDLI Several magnets present Measure e Make sure that no external magnets are in close proximity to the displace ment encoder Cause DGCI DDLI Multiple pulses e g due to vibrations Measure e Check structure e Avoid vibration Cause DNCI Sensor error Measure e Replace sensor head in the DNCI Ca
87. not run into one of the stops 1H The clamping unit does not reduce the working stroke the drive is correspondingly longer The controller must be parameterised in such a way that it can work properly C and GP In the case of the standard slide the top section of the lubrication adapter and of the protected guide has space behind the fixed stops and does not reduce the stroke But the options must be taken into account with use of the additional slide i The options are stored in the CMAX with firmware V2 2 and higher PNU 1104 DGCI options 210 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Effect on parameters PNU Parameter Explanation 501 1 Lower software end If the software end positions are not correct the drive will position travel with high speed into one of the end positions That hap pens for the first time with the dynamic identification that uses 501 2 Upper software end 3 A iti the maximum working stroke The plug in supports the user in position determining the correct software end positions Di Tab B 14 Additional information in PNU 1190 15 Bit Order code Description Values 7 z Programmed 1 The additional information has been pro grammed if at least one other bit is equal to 0 0 The additional information has not been programmed production date of DGCI before mid 2015 6 Reserved 0 5 Reserved 0 4 C Lubrication 0 St
88. of day Array int32 R 203 X 100 Additional information Array Bit array R 204 1 5 Reserved Struct int32 R 204 2 5 Reserved Struct int32 R 204 3 5 Clear memory Struct int32 RW 204 4 5 Number of entries Struct int32 R 204 5 5 Number of unread entries Struct int32 RW 220 X 3 Active error messages Array Bit array R 221 X 3 Current warnings Array Bit array R 222 X 100 Time stamp operating day Array int32 R 224 1 1 Currently shown error display Var int32 z R 225 1 1 Active level Var int32 z R 226 1 1 Current warning to be dis Var int32 R played FCT 227 X 89 Error status FCT Array Bit array R 228 1 3 Diagnostic events filter Struct Bit array RW 228 2 3 Errors and warnings filter Struct Bit array RW 228 3 3 Fault configuration settings Struct Bit array RW Process data gt Section C 2 4 300 X 3 Position values Array int32 Position angle R 301 X 3 Force values Array int32 Force R 302 X 3 Pressure values Array int32 Pressure R 305 1 4 Count of positioning com Struct int32 R mands 305 2 4 Number of force commands Struct int32 R 305 3 4 Sum of stroke lengths Struct int32 E R 305 4 4 Sum of stroke lengths fraction Struct int32 R 307 1 1 Current speed Var int32 Speed R angular velocity 308 1 1 Extended axis status Var Bit array R 309 1 1 Valve setting value Var int32 R Record table gt Section C 2 5 400 1 3 Target record number Struct
89. of the CMAX and all attached components Componentname maximum length 29 Version v1 8 0 vj OK Cancel Fig A 15 Selection of the plug in version when adding a new component Can I load a project created with plug in 2 2 into a CMAX with firmware 1 1 This is possible without any problem Features not supported by the old firmware cannot be used How do I load the new firmware into a CMAX with older firmware Load new firmware file from the Support Portal gt www festo com sp Then continue as described in gt Section A 8 Can an old firmware be loaded into a new CMAX That is possible Load the old firmware file from the Support Portal gt www festo com sp Then contin ue as described in gt Section A 8 How can I load a project from an old CMAX into a new plug in Each plug in supports all previously published firmware designs In the project a component must be created with the new version When the linkage is activated the Hardware Synchronisation Assistant is automatically displayed with which the project data from the CMAX can be taken over into the project gt Section A 8 step 3 190 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 8 Procedure for firmware update This description refers to an upgrade of the firmware in an existing system The existing data of the CMAX used are taken over A 8 1 Overview of
90. of the controller 3 Current deviation When position control is active the current setpoint force 0 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 246 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Pressure values Pressure values Param PNU 302 Index 1 3 Max Index 3 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 bar 120 120 0 1bar 120 120 Imperial 1 psi 174 174 1 psi 174 174 Index Value 1 Pressure valve chamber 1 2 Pressure valve chamber 2 3 Reserved k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out EEEE Number of positioning commands Count of positioning commands Param PNU 305 Index 1 Max Index 4 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 147 483 647 Sum of all executed start commands of the position controller Jogging homing or identifications are not counted k The parameter value cannot be changed O Writing permissible only in commissioni
91. of the selected record when teaching in record se lect mode is not permissible Measure e Correct control mode correct record number Cause Change of operating mode during active teaching process CPOS TEACH 1 Measure e Do not change the operating mode during CPOS TEACH 1 112 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 4 System error A CPX error group 104 CPX MMI System error A No Message Malfunc Reset type tion level 45 Faulty commissioning operation or parameter F1 R Faulty commissioning function or parameter Cause Invalid function number when starting a commissioning operation in the commis sioning mode gt 1 0 data commissioning mode byte 3 Measure e Correct the function number Cause At least one parameter of the started commissioning operation had an invalid value 1 0 data commissioning mode byte 4 8 Measure e Check and correct parameter 1 and parameter 2 Cause Movement test was started when a movement test has already been successfully performed Measure e First reset movement test 46 Start during active teach command not permitted F1 R Start during active teach command not permitted Cause Commissioning mode Starting a commissioning operation during an active teaching process SPOS TEACH 1 is not permissible Measure e Do not perform Start during teaching first end teaching 47 _ Star
92. outside the set software end positions Measure e Check and correct setpoint position software end positions and project zero point Cause Setpoint position is outside the reachable hardware end positions Measure e Check and correct setpoint position and project zero point 35 Software end position passed W F1 F R Software end position passed Note The actual position has exceeded a software end position with active position control whereby a tolerance of 2 mm has been taken into account Message can be parameterised alternatively as a warning W or error F1 Cause The drive was pushed out of the valid range by an external force Measure e Prevent external force if possible Cause Controllers which are not optimally set can lead to considerable overshooting Measure e Optimize control check parametrisation perform identification again 108 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 3 Control error CPX error group 103 CPX MMI Control error No Message Malfunc Reset type tion level 36 Software end position reached during force control F1 R Software end position reached during force control Note The actual position has exceeded a software end position with active force con trol A tolerance of 2 mm has been taken into account here Cause No workpiece Measure e Check workpiece check workpiece position e Use record sequenci
93. parameterisation The metric or imperial sys tem of measurement is selected No parameter from PNU 300 onwards can be read or written as long as this index has the value 0 and the table for the system of measurement is not defined Writing Reading 0 Not permissible 0 Not configured 1 Metric SI 1 Metric SI 2 Imperial US 2 Imperial US Switching the system of measurement 1 to 2 or 2 to 1 is not possible A changeover requires per forming an axis data reset first PNU 1192 03 O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Commissioning function system of measurement units table Commissioning function system of measurement table Param PNU 1192 Index 6 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 4 The system of measurement units table corresponds to the selected table in accordance with gt Appendix B 1 The table contains the unit millimetre or inch used for every dimension and the scaling The system of measurement table is derived from the system of units and the cylinder type No parameter from PNU 300 onwards can be read or written as long as this index has the value 0 and the table for the system of measurement is not defined Read
94. permissible with semi rotary drives However the parameter is used for standstill control O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 291 C Parameter Force controller timeout Force control timeout Param PNU 1163 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 ms 2 000 0 100 000 Imperial 1 ms 2 000 0 100 000 Time within which the actual force must reach the tolerance window after the force ramp has reached the target value This means the time starts when setpoint value generation has elapsed If the time is set to 0 no monitoring is carried out O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive kl After writing controller recalculation is carried out Force controller monitoring time for exact stop Force control monitoring time for exact stop Param PNU 1164 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible
95. request Send parameter ae ee in the output data request value request IND 3 IND PNU and ReqID PNU 404 The CMAX sends No answer for as Q ReqID 8 long as it can provide the parameter ResID 0 response If the CMAX cannot process the re quest this is indicated by ResID 7 In this case the response value con ResID 0 tains the error number ResID 7 Error Error Handling Check PNU IND Value ResID 5 Step 3 nd Set in output data Send No request after evaluation quest Value 0 of the response IND 0 PNU O ReqID 0 End Fig 5 4 Parameterisation flow chart 154 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation 5 6 CPX module parameters Per CPX module 64 bytes are reserved for module parameters function no 4828 m 64 0 63 in the system table CPX module parameter of the CMAX Function no Contents Description 4828 m 64 0 Module parameter 0 Reserved standard module parameters not used 4828 m 64 Module parameters by the CMAX and not transmitted 4828 m 644 5 Module parameter 5 4828 m 64 6 Module configuration 1 Reserved 0 not used by the CMAX 4828 m 64 7 Module configuration 2 4828 m 64 8 Byte 8 Reserved 4828 m 64 Byte 4828 m 64 63 Byte 63 Tab 5 20 CPX module parameter of the CMAX The data format of the module is specified in CPX via the parameter Data format
96. start SDIR B7 B6 B5 B4 B3 B2 B1 BO Byte3 FAST XLIM VLIM CONT COM2 COM1_ REL 5 Fast stop Critical Critical Tracking Control Control Setpoint stroke speed mode mode2 mode1_ value re reached reached lative Second Depending on the parameterisation PNU 523 03 07 ary actu actual speed as a percentage of the base value PNU 600 or 540 alvalue current error number Byte 4 The secondary actual value for speed has a mathematical sign so positive and negative values can be displayed The entire value range is utilised i e the displayed speed lies in the range from 128 to 127 Higher speeds are limited to 128 or 127 Primary Depending on the parameterisation PNU 523 04 08 actual actual position in the established system of measurement units gt Appendix B 1 value actual force in the established system of measurement units gt Appendix B 1 Byte 5 8 combined actual force and actual position with adjusted scaling Tab 2 3 in Section 2 2 3 record mode 1 The status bits REL and FAST only change when the movement command is transferred starting edge All other status bits in the SDIR are updated dynamically 28 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control Control byte 2 CPOS direct mode Bit DE EN Description BO Reserved must be 0 With logic 1 a warning is signaled
97. status for FCT Param PNU 227 Index 1 89 Max Index 89 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write The bit coded error status makes it possible to indicate the exact status of a message The coding is identical to the coding of the additional information in PNU 203 Description gt Section 4 3 3 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 244 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Diagnostic events filter Filter diagnostic events Param PNU 228 Index 1 Max Index 3 Class Struct Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 1111 Write 0000 0000 0000 0000 0000 0000 0000 xxxx This setting can be used to define the scope of the records By default the CMAX records very large quantities of information Not all of it is equally important Certain information can be deliberately excluded from recording In this way only the most important events are included in the diagnostic memory Assignment gt Section 4 4 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out
98. target value thus refers to the actual position For stop and enable an internal target actual comparison is executed The relative target value then refers to this target value Force control Normally the target value is relative to the last target value for SPOS MC 1 or the actual value for SPOS MC 0 at the start of the movement command Exceptions For record sequencing the relative target value refers to the preselected value if the condition has the same control mode that is for the condition force Force commands following positioning commands Here the target force is set to 0 in the position ing control that is the relative target value refers to 0 for SPOS MC 1 Behaviour after stop and enable Here the target force is likewise set to 0 that is the relative target value refers to 0 3 1 4 Stop behaviour Position control With position control the The drive stops with the parameterised stop ramp the positioning command is aborted and the standstill monitoring is deactivated If the delay valid in the current movement command is greater than the parameterised stop ramp the delay of the current movement command results in a stop If stopping with the stop ramp or delay of the movement command is not possible normally only for continuous positioning or record sequencing setpoint position is set actual position Force control With force control the drive first switches to position control t
99. the controller is not enabled and error message E13 or E15 is output Festo P BE CPX CMAX CONTROL EN de 1505a English 67 3 Drive functions PNU 1174 Status of movement test Bit Description el 0 0 Movement test must be carried out 1 Movement test does not have to be carried out 1 0 Movement test has not been carried out 1 Movement test has been carried out 2 0 Result of the movement test is not clear 1 Result of the movement test is clear 3 0 Tubing connection error 1 Tubing OK 4 0 Movement test was not skipped 1 Movement test was skipped 5 31 Not relevant reserved gt E E E E E E E E E E Tab 3 13 Status of movement test The status of the movement test can be influenced by writing the commissioning operation parameter PNU 1192 07 1 Movement test is reset and must be carried out again 2 Movement test is set to does not have to be carried out and is skipped The parameter can only be written when the CMAX is in commissioning mode and there is no enable Typical causes of error in application If Bit 0 in the Movement test parameter PNU 1174 has the value 0 the CMAX can only execute a movement test Every other movement command e g identification jogging etc leads to an error Notes on
100. the necessary steps for the firmware download 1 The desired firmware file must be present It can be loaded from the support portal gt www festo com sp search term CPX CMAX C1 1 The firmware files are loaded in a packed file and must be unpacked before import into FCT Included with the firmware files is a read me file which includes information about the latest changes and about the required plug in 2 The required plug in must be installed on the PC It can also be loaded from the support portal Recommendation Always use the newest plug in After the download the setup must be executed e g Setup_CMAX_V1_8_0_11 exe 3 Bring the system into a safe status Reset to 0 all output data of the CMAX controller i e byte 1 8 The controller must not block access for the FCT Recommendation The controller should be switched into the stop status If possible physically disconnect the bus connection to the CPX ter minal i e pull out the bus cable at the CPX terminal 4 Create a new project in the FCT and add there a CMAX component with the new plug in 5 Make the connection to the CMAX with this component The Hardware Synchronisation wizard is shown The complete project can be read out there with the Upload Project button Save the project after it is read out 6 Opening the firmware download dialogue Menu component Firmware download 7 Import of the desired firmware file 8 Execute firmware download The
101. the teaching function as well as the commissioning operation use parameter 1 80 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 3 Record mode A record can be started in the Operation enabled status This function is usually used for selection free travel to records in the record table by the higher order controller processing a positioning profile by linking records known target positions that seldom change recipe change Regulating functions Tab 3 18 shows the supported controller functions in record mode Regulating function is supported Point to point PTP positioning Yes Positioning continuously tracking mode No Force controls PTP point to point Yes Continuous force control No On the fly setpoint value switching new movement command before MC Yes Tab 3 18 Supported controller functions Overview of parameters involved gt Section C 2 Parameters involved Description PNUD All parameters of the record data gt Section 3 3 2 Tab 3 20 401 412 Default values depending on PNU 403 600 608 Start FHPP CPOS START rising edge Start Jogging and referencing have priority Acknowledgement SPOS ACK rising edge Acknowledge start FHPP SPOS MC 0 Motion complete movement command active 1 Depending on the parameterisation instead of the record data in PNU 406 412 the global default values from PNU 600 608 a
102. this speed until it arrives at the workpiece and the speed reduces or the setpoint force is reached The speed 0 deactivates the switchover to position control gt Section 3 1 2 Presetting For position control PNU 403 bit O 0 global default value from parameter PNU 600 For force control PNU 403 bit 1 0 global default value from parameter PNU 601 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 254 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Acceleration record Record acceleration Param PNU 407 Index 1 64 Max Index 64 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s2 0 0 100000 1 s2 0 0 100 000 Imperial 0 01 ft s O 0 32 808 1 s2 0 0 100 000 Acceleration setpoint value for starting up depending on the control mode and travel profile PNU 401 Control mode position free profile Setpoint acceleration of the controller If dynamic identification was performed this value is reduced to a value that can be reached by the drive Control mode position automatic profile This parameter is ignored The acceleration is derived from the m
103. to run through the entire assistant An explanatory text can be assigned to the measurement data This permits a fast and simple docu mentation of the observed behaviour Improved user friendliness with use of the displacement encoder MME MTS and the drive DGPI The measuring system offset of 28 mm is now automatically taken into account by the plug in an addi tional offset correction of the axis zero point and of the cylinder and measuring system length is no longer required Further details gt B 2 3 A 5 2 Firmware Design 1 9 Firmware design 1 9 requires at least the plug in of version 1 8 0 Error E55 is suppressed With use of electronic safety relays to safely switch the load voltage on and off the self tests of these relays can trigger error E55 Drop in load voltage The output of the power supply unit is not sufficient This results in necessary but undesired error handling in the higher order controller In firmware design 1 9 error E55 is suppressed 182 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 5 3 Firmware Design 1 8 Firmware design 1 8 requires at least the plug in of version 1 8 0 Information on the most important changes follows here Support of further drives and adjustments of predefined measuring system lengths and limit values Supported are the new drives DDPC and DDLI as well as size 63 of the DSMI Additionally predefined measuring system lengths
104. value Speed or payload is specified as the secondary setpoint value depending on the configuration PNU 523 01 A percentage that affects the corresponding base value is specified in each secondary set point value base value speed PNU 600 540 or payload PNU 605 544 gt Tab 3 26 The secondary setpoint value is only transferred at the start rising edge at CPOS START changes without a new rising edge at POS START are ignored If the secondary setpoint value is configured as speed the payload is set at 100 of the base value Care must be taken here that 0 is not accidentally transmitted in the secondary setpoint value or the axis will travel very slowly If the secondary setpoint value is configured as payload the speed is set at 100 of the base value Start of continuous setpoint specification All setpoint values are transmitted with a rising edge at CPOS START The CMAX then internally calcu lates a path whose speed and acceleration are limited to the maximum values of the speed secondary setpoint value or PNU 600 540 and acceleration PNU 602 541 With continuous setpoint value specification the acceleration values are also used for deceleration other deceleration values PNU 603 542 are not considered e If concrete acceleration and deceleration are to be specified for point to point position l ing the normal movement command must therefore be used in direct mode Fig 3 15 shows the I O signals when a mov
105. values PNU 540 554 are used gt Section 5 3 2 The higher order controller transfers in the secondary setpoint value a percentage which is multiplied by the base value in order to get the final setpoint value 3 With continuous setpoint specification tracking mode deceleration is not taken into account but the specification for the acceler ation is also used for the deceleration Tab 3 26 Parameters involved in direct mode Festo P BE CPX CMAX CONTROL EN de 1505a English 93 3 Drive functions 3 4 1 Start of a movement command Primary setpoint value In the primary setpoint value a position or force setpoint value is specified depending on the selected control mode The setpoint value may be absolute or relative Secondary setpoint value Speed force ramp or payload is specified as the secondary setpoint value depending on the configura tion PNU 523 01 05 A percentage that affects the corresponding base value is specified in each secondary setpoint value gt Tab 3 26 The secondary setpoint value is only transferred at the start rising edge at CPOS START changes without a new rising edge at POS START are ignored If the secondary setpoint value is configured as speed or force ramp the payload is set at 100 of the base value Care must be taken here that 0 is not accidentally transmitted in the secondary setpoint value or the axis will travel very slowly If the secondary setpoint value is configu
106. ver sions which remain available e Inform service personnel and programmers about the plug in and firmware design used Label the CMAX correspondingly and if needed enclose the information on the firmware design included 8 Festo P BE CPX CMAX CONTROL EN de 1505a English Axis controller CPX CMAX Service Consult the regional Festo contact if you have technical problems Documentation for the CPX terminal General basic information about the mode of operation mounting installation and com missioning of CPX terminals gt CPX system description P BE CPX SYS gt www festo com sp search term CPX Information about additional electronic mod ules from CPX gt Description on the respective electronics module Overview of the struc ture of user documentation for the CPX terminal gt CPX system description Documentation for Axis controller CPX CMAX Type Title Order code Contents System Axis controller P BE CPX CMAX SYS Mounting description CPX CMAX Installation description of Commissioning electronics Diagnostics Communica FHPP for the P BE CPX CMAX CONTROL Control tion profile CPX CMAX axis Programming description controller Diagnostics of a CMAX with the used bus node Software Help Help for the Festo Configuration Tool FCT with CMAX plug in Configuration and commissioning of the CMAX axis controller with the FCT Operating Op
107. with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 265 C Parameter C 2 8 Direct mode position control Direct mode position speed Direct mode position velocity Param PNU 540 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 2 000 10 10 000 1 s 1 000 10 10 000 Imperial 0 01 ft s 650 3 3 281 1 s 1 000 10 10 000 Base value of speed in position control direct mode The controller transmits a percentage value in the output data which is multiplied by the base value to determine the final setpoint speed In case of continuous setpoint specification tracking mode the setpoint values are calculated in ternally gt Section 3 4 2 Only effective if use of the global default value default value for speed position control PNU 600 has been deactivated with PNU 521 02 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Direct mode position acceleration Direct mode position acceleration Param PNU 541 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit
108. with blocked drive O After writing controller recalculation is carried out 262 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Param PNU 523 Index 1 FHPP Setpoint and actual values FHPP Setpoint and actual values Max Index 8 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 Determination of the setpoint and actual values in the cyclical I O data for the various controller modes gt Section 2 2 Presetting for each index is the value 0 Note The setpoint values have no effect on the commissioning operations jogging and homing Index Setpoint actual Operating Value The setpoint actual value is accepted value mode Position control 1 Secondary Direct mode 0 Speed as a percentage of PNU 540 600 setpoint value 1 Payload as a percentage of PNU 544 605 2 Primary setpoint Direct mode 0 Setpoint position angle in the system of meas value urement units gt B 1 3 Secondary actual Recordmode 0 Record status byte PNU 400 03 value Direct mode Speed as a percentage of PNU 540 600 Commissioning Progress in percentage teaching goal Record mode 1 Current error number4 direct mode commissioning 4 Primary actual Record mode 0 Actual position angle in the system of meas value direct mode urement units commissioning 1 Actual
109. 0 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Position controller amplification gain gt Appendix B 5 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive amp After writing controller recalculation is carried out Position controller cushioning factor Position control damping factor Param PNU 1151 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 000 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Position controller cushioning factor gt Appendix B 5 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out Position controller filter factor Position control filter factor Param PNU 1152 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 000 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Position control filter factor gt Appendix B 5 O The parameter value cannot be changed O Wri
110. 0 Not configured 1 Metric linear gt Appendix B 1 1 Tab B 2 2 Imperial linear gt Appendix B 1 1 Tab B 4 3 Metric rotative gt Appendix B 1 1 Tab B 3 4 Imperial rotative gt Appendix B 1 1 Tab B 5 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out DE ENa Festo P BE CPX CMAX CONTROL EN de 1505a English 301 C Parameter Commissioning function movement test status Commissioning function movement test status Param PNU 1192 Index 7 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 Define status of the movement test Write 1 Movement test is reset and must be carried out again 2 Movement test is set to does not have to be carried out and is skipped Read 0 Movement test does not have to be carried out 1 Movement test must be carried out Note PNU 1174 01 contains the bit coded status of the movement test with the details skipped executed etc This parameter 1192 07 is designed as a possibility for resetting and skipping the movement test and modifies the PNU 1174 01 during writing O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive amp After writing controll
111. 0 0000 Write Record status byte RSB includes a feedback code that is transferred to the input data According to FHPP only bits O 7 are defined Bits 8 31 are always 0 Description of the bits gt Section 2 2 3 The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 250 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Record control byte 1 Record control byte 1 Param PNU 401 Index 1 64 Max Index 64 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write 0000 0000 0000 0000 0000 0000 Oxxx Oxxx The record control byte 1 RCB1 controls the most important settings for the movement command It corresponds to the CDIR in direct mode gt Section 2 2 4 Bit Name Description 0 Setpoint value relative 0 Setpoint value is absolute for position control with REL respect to the project zero point 1 Setpoint value is relative to the last setpoint actual value 1 Control mode 1 0 Position control COM1 1 Force control 2 Control mode 2 For position control only COM1 0 COM2 0 Free profile Speed and acceleration are freely specified 1 Automatic profile speed and acceleration are spe cified by the controller2
112. 0 000x 000x 0000 This parameter determines use of the default value for the payload in homing A set bit means that instead of the global default value PNU 605 the parameter for homing PNU 1134 is used gt Section 5 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out eee Festo P BE CPX CMAX CONTROL EN de 1505a English 261 C Parameter Reserved Reserved Param PNU 522 Index 1 Max Index 2 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 0 Reserved O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out FHPP Control status bits level CCON BRAKE FHPP Control Statusbits CCON BRAKE level Param PNU 522 Index 2 Max Index 2 _ Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 1 Effect of clamping unit brake Value Function 0 Clamping unit brake opens switching output at the valve at 24 V with CCON BRAKE 1 1 Clamping unit brake opens switching output at the valve at 24 V with CCON BRAKE 0 O The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode
113. 0 500 100 000 Length of the displacement encoder For linear drives with integrated or factory installed displacement encoders the cylinder length and displacement encoder length must agree In the DGCI the displacement encoder length is stored in the displacement encoder Special case of digital measuring system MME external or with user defined drive e g for DGPI The internal dimension encoder length must always be 28 mm longer than specified on the rating plate also an additional offset axis zero point of 28 mm in PNU 1130 must be taken into account During parameterisation with the FCT plug in this is automatically calculated correctly and transmit ted by the plug in gt Appendix B 2 3 O The parameter value cannot be changed amp Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Displacement encoder serial number Displacement encoder serial number Param PNU 1112 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write Each displacement encoder or sensor interface has a unique serial number The serial number can be used to identify exchanged hardware gt Appendix A 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive
114. 0 Within the max positioning range Cylinder diameter 1102 16mm 320 mm Piston rod diameter 1103 Rodless linear drive 0 Cylinder rod drive less than cylinder diameter 1 Max travel range stroke between the hardware end positions The hardware end positions describe the range where cylinder and displacement encoder overlap i e where the piston can actually move 214 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX B 4 Taking the load into account For optimal position and force control the controller of the CMAX needs the specifications concerning the moving masses to be as precise as possible This must be taken into account by means of special parameters Tab B 18 Parameterisation of the loads T 1 Base load PNU 1142 Payloads including piston rod piston slide as well as the components permanently installed on the slide This load must always be moved by the drive minimum load to be moved The load of the piston rod etc can be taken from the catalogue information gt www festo com sp 2 Payload PNU 605 410 536 544 551 1134 gt Section 5 3 If the drive also has to move workpieces of different weights this variable share must be defined as payload The CMAX calculates the sum of both load data for every positioning process The respective load present is determined by specifying the changing payload PNU 605 is the global default val
115. 00 Write 0000 0000 0000 0000 0000 0000 xxxx xxxx Record control byte 2 RCB2 controls conditional record chaining Bit Description 0 6 Sequencing condition for automatic record chaining decimal value 0 no step enabling condition 2 position 3 force 4 standstill 5 time 11 stroke 12 MC 13 stroke after force 14 position with force 7 1 Disable record sequencing in case a condition was defined only for debugging purposes not for normal control purposes Values not stated are impermissible Description Section 3 3 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Record default values Record defaults Param PNU 403 Index 1 64 Max Index 64 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write xx00 0000 0000 0000 O0O0X XXXX XXXX XXXX The parameter controls blocking of the record and acceptance of the default values Bit Description 0 12 0 used value in the record parameter PNU 406 ff 1 used global default values corresponding to PNU 600 612 Information on the global default values gt Section 5 3 30 0 Record is not initialised or deleted 1 Record initialised by user Records not initialised can contain data but are not executed FC
116. 000 0000 0000 0000 0000 Write 0000 0000 0000 0000 0000 000x XXX xxxx This parameter determines the use of the default values for the positioning command in the direct mode A set bit means that instead of the global setpoint values PNU 6xx the jog parameters for position direct mode PNU 54x are used Section 5 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Force default values Direct mode force defaults Param PNU 521 Index 3 Max Index 4 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write 0000 0000 0000 0000 0000 000x XXX xxxx This parameter determines the use of the default values for the positioning command in the direct mode A set bit means that instead of the global setpoint values PNU 6xx the parameters for force direct mode PNU 55x are used Section 5 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Homing default values Direct mode homing defaults Param PNU 521 Index 4 Max Index 4 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write 0000 0000 0000 0000 000
117. 0000 0000 Write Active warning messages see active error messages PNU 220 The distinction allows the higher order controller to respond to errors and warnings specifically k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Time stamp day of operation Time stamp day of operation Param PNU 222 Index 1 100 Max Index 100 Class array Data type int32 Values Specification 0 Minimum Maximum Current day of operation since new status device data reset or a firmware download when the mes sage occurs This timestamp is not a real time clock The time is read from the device data PNU 140 01 when the message occurs k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Currently shown error on the display Current error on display Param PNU 224 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum Maximum Error number that is currently shown on the display This makes synchronisation between the display in the FCT and the CMAX possible The error occurring first is always displayed k The parameter value cannot be changed O Writing permissible only in commissioni
118. 07 HOM airnet cutee eayetame patted ais 24 29 35 HO MING sece rapa cad eye tte E ed ae e 69 305 Homing reference point 306 l VO data lt 5 Aes elmer ieee RRA DETRE 17 Composition of the cyclic 1 0 data 17 I O diagnostics interface 136 Diagnostic memory 0 134 Identification 0 cee eee ee ee 72 305 Identification data reset 2 171 Idle mode 2s 4 6 see cate teen ee sides 12 Incremental position measuring system 306 Individual value mode J WOSMODS seh sels E EE T a 76 Jog operation eee eee eee eee 306 JOGNisS bag tied Ea OE pee ees 24 29 35 JOG RSs saree neuere dnt abot ied 24 29 35 L FMILING 25 220 een hE 8 ie ee Sete erties Sales 65 LOCK a cee titidee dae Vii emndl ink cere dea ke 20 LISICO Sate eRe SEU E N eRe hao 306 LO SIG T s pens te wen Aros Siete Rid ites 306 M Malfunction step faults and warnings 99 MG EEE EE 25 31 36 57 Measuring reference system 202 Module diagnostics data Module code cece eee eee ee 137 Module error number 136 Number of the first faulty channel 136 Revision code cee cece eee 137 Motion Complete 04 57 MOV bs eens Ta a ty olare b4 6 25 31 36 60 Movement monitoring 4 60 Movement test 0 cece e ee ee eee ee 66 Movement test reset 0
119. 1 BO CCON OPM2 OPM1 LOCK RESET Brake STOP ENABLE Byte 1 x x x 0 x x 0 x ese Not relevant Byte 2 8 Recommendation Set to 0 CMAX feedback Check ready for operation status in the status byte SCON READY must be 0 Allocation of the status bytes prepare change of operating mode Bit B7 B6 B5 B4 B3 B2 B1 BO SCON OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Byte 1 x x 0 x x x 0 x Not relevant Byte 2 8 Switch to parameterisation operating mode Switching is permitted in the statuses Controller blocked or Drive enabled or Error Example Drive enabled status Allocation of the control bytes switch to parameterisation operating mode Bit B7 B6 B5 B4 B3 B2 B1 BO CCON OPM2 OPM1 LOCK RESET Brake STOP ENABLE Byte 1 1 1 x 0 x x 0 x ses Set to 0 Byte 2 8 CMAX feedback parameterisation operating mode SPOS OPM1 and OPM2 must be 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 151 5 Parameterisation Allocation of the status bytes switch to parameterisation operating mode Bit B7 B6 B5 B4 B3 B2 B1 BO SCON OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Byte 1 1 1 x x x x 0 x s 0 Byte 0 8 Carry out parameterisation 1st step Prepare parameterisation with No request Allocation of the control bytes
120. 2 1190 12 wos Yes Sensor interface 1122 1190 12 No2 Valve 1122 1190 21 Wo8 Yes Measuring system and valve See above See above E01 Yes 1 More precisely serial number of the integrated displacement encoder distinction from sensor interface through evaluation of the design 2 Differences are ignored because replacement does not influence the tubing connection movement test not necessary Tab A 3 Serial numbers nominal actual configuration If the user has replaced both the valve and the cylinder sensor interface the axis string may have been interchanged if several CMAX have been used And so in this case E01 would also be generated In case of an interchange to permit further work as quickly as possible and without use of the FCT the CMAX permits work at first without a new identification But the warning WO8 remains since the system characteristic values of the new components have not yet been determined The serial number of the start configuration is updated and the warning WO8 is acknowledged only when a new identification has also been made Serial number parameter PNU of the start PNU ofthe actual Error Carry out configuration configuration identification Cylinder DGCI or DDLIY 1195 6 1190 12 Wo8 Recommended Sensor interface 1195 6 1190 12 No2 Valve 1195 7 1190 21 Wo8 Recommended Measuring system and valve See above See above E01 Yes 1 More precisely serial n
121. 2 2 0 Noreaction PNU 227 1 R Delete error message s 2 F Delete error message if the cause has been eliminated 3 N Initialize the axis again 4 Poff Switch off CMAX Bit 15 12 Level Describes the reaction to the fault or warning PNU 203 gt 4 2 1 0 None PNU 227 1 Information ignore message 2 W Warning 5 F1 Fault 1 6 F2 Fault 2 15 FS system fault Bit 11 8 Information Describes what the details refer to PNU 203 gt Tab 4 16 Bit 7 0 Details Additional details on the cause of the message PNU 203 gt Tab 4 16 Tab 4 15 Allocation of the additional information for faults and warnings Festo P BE CPX CMAX CONTROL EN de 1505a English 125 4 Diagnostics and error handling Information and details on the messages PNU 203 Info bit 11 8 Details bit 7 0 Value Description Value Description 0 No information E 1 Cause of warning WO8 1 Not specified Cylinder valve or 2 Valve was exchanged sensor interface were 3 Cylinder was exchanged exchanged 4 Cylinder displacement encoder or sensor interface was replaced 2 Cause of fault E09 1 Not specified faulty parameter in the 2 A required parameter is not configured supply pressure project base load control parameter 3 The measuring system type does not match the cylinder type 4 The cylinder length does not match the cy
122. 32 4 byte integer value with sign 1 Note on strings The CMAX checks for all strings that a Char does not contain a control character values 0x01 Ox1F For the various string objects the plug in has different rules that further restrict reliability These rules are specified in the respective PNU Strings end in each case with 0x00 ASCII character zero Tab C 3 Data types for the CMAX Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 C 2 1 Description of the parameters Overview of parameters The overview in Tab C 5 shows the parameters of the CMAX Description of the columns Tab C 4 Detailed description of the parameters Sections C 2 2 to C 2 16 Tab C 4 Key on CMAX parameter overview Index Physical variable PNU Decimal parameter number Ind Subindex Array Struct decimal X all or several subindexes of the PNU Max Max index largest index array size structure size Class Parameter class Var Array Struct Type Value type int32 bitarray char Unit Physical unit gt PNU 1193 and Appendix B 1 RW Access R read only RW read and write W write only PNU 1 Name DE Properties 1 PNU Ind Max Class Type Unit RW Device data gt Section C 2 2 100 1 1 Hardware version of manufac Var int32 R turer 101 1 1 Firmware version of manu
123. 32 Mass mass moment of RW inertia 1140 1 1 Mounting position Var int32 Mounting angle RW 1141 1 1 Supply pressure Var int32 Pressure RW 1142 1 1 Base load Var int32 Mass mass moment of RW inertia 1 Tab C 4 Festo P BE CPX CMAX CONTROL EN de 1505a English 229 C Parameter PNU 1 Name DE Properties 1 PNU Ind Max Class Type Unit RW 1143 1 4 Payload loaded at power on Var int32 RW 1143 2 4 Dual axis design Var int32 RW 1143 3 4 Clamping unit present Var int32 E RW 1143 4 4 Through piston rod Var int32 RW 1144 1 1 Response delay E50 Var int32 RW Position controller gt Section C 2 13 1150 1 1 Pos amplification gain Var int32 Controller factor RW 1151 1 1 Pos cushioning factor Var int32 Controller factor RW 1152 1 1 Pos filter factor Var int32 Controller factor RW 1153 1 1 Pos timeout Var int32 Time RW 1154 1 1 Pos monitoring time exact Var int32 Time RW stop 1155 1 1 Deactivated standstill control Var in32 RW Force controller gt Section C 2 14 1160 1 1 Force amplification gain Var int32 Controller factor RW 1161 1 1 Force dynamic amplification Var int32 Controller factor RW 1162 1 1 Force filter factor Var int32 Controller factor RW 1163 1 1 Force timeout Var int32 Time RW 1164 1 1 Force monitoring time exact Var int32 Time RW stop Identific
124. 51 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 0 1 kg 0 0 200 000 Imperial 1 lb 0 0 44 093 Payload in force control direct mode Only effective if use of the global default value default value for payload PNU 605 has been deac tivated with PNU 521 03 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 268 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Direct mode force force tolerance Direct mode force tolerance force Param PNU 552 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N 10 1 1 000 Imperial 1 lbf 3 1 225 Tolerance window in force control direct mode Only effective if use of the global default value default value force tolerance PNU 607 has been deactivated with PNU 521 03 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Direct mode force speed limit Di
125. 5mm 3 145 5 mm 205 2 mm 0 4 m s 0 2 m s2 0 2 m s 25 0kg 0 5mm 4 205 2mm 20 0mm_ 1 0m s 1 0m s2 1 0m s2 0 0kg 0 5 mm Tab 5 13 Example of global default va 146 ues executed movements Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation 5 4 Festo Parameter Channel FPC The FPC is used for transmitting parameters The higher order controller sends a request to the CMAX consisting of a parameter number subindex value and task identifier The CMAX responds with the PNU subindex value and a response identifier This process takes several bus cycles After switch over into the parameterisation operating mode the FPC occupies the control and status bytes of the CMAX Section 2 2 6 FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte5 Byte6 Byte7 Bytes Task CPOS Subindex Parameter identifier Parameter value Answer SPOS Subindex Parameter identifier Parameter value Tab 5 14 Structure of FPC Parameter identifier Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 J jlo Task Request identifier Parameter number Answer Response identifier Parameter number e _ g _ O j e Tab 5 15 Structure of parameter identifier Component Abbreviation Description Parameter identifier ParlD 16 bit identifier consisting of ReqID ResID and parameter number Request identifier ReqID Request identifier task identifier
126. 76 5 0 description 128 n 10 d 7 1 0 0 0 Error in l channel 1 0 255 9 Error number FN CPX error number Section 4 2 3 90 99 n 10 d 8 0 255 10 Following channels Always 0 for the CMAX 0 0 63 n 10 d 9 1 d diagnostic event NB 0 39 most current diagnostic event 0 Tab 4 22 Diagnostic memory data of the CMAX i Notes on diagnostics with the I O diagnostics interface gt CPX system description Example of diagnostic memory entry for error E50 Diagnostic memory data Value Byte Designation Description Dec Hex 1 Days day Error was reported 22 66 ms after the power supply Oa 00h 2 Hours h was switched on bit 7 in byte 5 is set if this is the Od OOh 3 Minutes m first entry since Power ON Od OOh 4 Seconds s 224 16h 5 Milliseconds 10 ms 1944 C2h 6 Module code Module code of the CMAX 176 176q BO 7 Module position Pos In this case the CMAX is CPX module No 2 2d 02h 8 Channel number Bit 7 6 5 0 Description 128q 80h 1 0 0 0 Error on axis 1 9 Error number FN CPX error number 105 1054 69h 10 Following channels Always 0 for the CMAX Od OOh ee ee Tab 4 23 Example of diagnostic memory entry Festo P BE CPX CMAX CONTROL EN de 1505a English 135 4 Diagnostics and error handling Diagnostic data of the module I O diagnostic interface The specific representation of module diagnostic data error messages of t
127. 92 02 Switch on block download write PNU 1192 01 1 During block download the controller is not recalculated The paramet ers are only checked for limit values during writing Dependencies between parameters are not checked This function permits loading para meters in any order Example for dependent parameters The software end positions depend on the cylinder length Each parameter from the drive configuration group also homing with the DNCI must be appropriately initialised All written parameters must match the recognised parameters The following data must be written Festo P BE CPX CMAX CONTROL EN de 1505a English 163 gt Notes on commissioning service and firmware Setpoint Actual Parameter configuration configuration PNU 1100 PNU 1190 01 Cylinders PNU 1101 PNU 1190 03 Cylinder diameter PNU 1102 PNU 1190 05 Cylinder length nominal length PNU 1103 PNU 1190 04 Piston rod diameter PNU 1110 PNU 1190 10 Displacement encoder PNU 1111 PNU 1190 11 Displacement encoder length PNU 1120 PNU 1190 20 Valve The following parameters should be written Application data Specification Parameter PNU 1140 0 Installation position PNU 1141 6 bar Supply pressure PNU 1142 5kg Base load With the DNCI DDPC the following should also be written Axis data Parameter PNU 1130 Offset axis zero point PNU 1131 Homing speed PNU 1132 Homing method For
128. A sg eee eo os Stes fad 24 25 29 31 35 36 Teaching aieo nse neh wee he eas 78 Tolerance monitoring 48 61 Tracking mode ee eee eee eee eee 96 Vv VEFSIONS see nI Ena bahia p ea e He 8 VEM tee innr en a a E 26 30 32 Ww WARN one erpa nse A DENE EIENEN 21 Warming Snie 9 it ete kena at lecture dL ERN 99 102 X KUM Shek Gee tete e hak aN os 26 30 32 Festo P BE CPX CMAX CONTROL EN de 1505a English 309 Reproduction distribution or sale of this document or communica tion of its contents to others without express authorization is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG amp Co KG Postfach 73726 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de
129. AX It is therefore not possible to access the CMAX parameters in the usual way via the 1 0 diagnostic inter face or through any corresponding specific channels of the bus node but only through the service or network interface of the node with FCT or through the bus in the CMAX parameterisation operating mode gt Note For CPX terminals with the CMAX when replacing the complete CPX terminal or the CMAX module it is always necessary to carry out parameterisation and commissioning of the CMAX again since the parameters and data determined during commissioning are saved exclusively in the CMAX The internal CMAX parameters can be changed via the following access methods Festo Configuration Tool FCT with CMAX plug in cyclical fieldbus communication with the control and status data of the FHPP parameterisation operating mode gt Sections 2 2 6 and 5 5 acyclic Fieldbus communication e g PROFIBUS DPV1 Section 5 6 as well as in the Application Note gt www festo com sp 10 Festo P BE CPX CMAX CONTROL EN de 1505a English 1 Configuration of the CPX terminal with the CMAX 1 2 Data format Multi byte values are usually interpreted by CMAX in the byte sequence INTEL LSB MSB INTEL LSB MSB Little Endian Example 21 268 514g 01 44 88 22h Byte address 0 1 2 3 Bit no 76543210 76543210 76543210 76543210 Bin 00100010 10001000 01000100 00000001 Hex 22h 88h
130. B1 Start move Start With a rising edge the current setpoint data are accep START ment com Movement ted and a movement command started mand Command B2 Start homing Start Homing With a rising edge homing is started with the set para HOM meters Referencing is reset A fault is reported with an absolute measuring system B3 Jog positive Jog Positive The drive moves at the specified speed in the direction JOGP of larger actual values providing the bit is set B4 Jog negative Jog Negative The drive moves at the specified speed in the direction JOGN of smaller values providing the bit is set B5 Teach value Teach Value Reserved in direct mode TEACH With logic 1 an error is signaled B6 Reserved must be 0 With logic 1 a warning is signaled B7 Reserved must be 0 With logic 1 a warning is signaled Control byte 2 CPOS controls the positioning sequences as soon as the drive has been enabled Festo P BE CPX CMAX CONTROL EN de 1505a English 29 2 1 0 data and sequence control Control byte 3 CDIR direct mode Bit DE EN Description BO Setpoint value Set point 0 Setpoint value is absolute for position control REL relative Relative with respect to the project zero point 1 Setpoint value is relative to the last setpoint actual value B1 Control Control Mode 1 0 Position control COM1 mode 1 1 Force control B2 Control Control Mode 2 For position co
131. BE CPX CMAX CONTROL EN de 1505a English 259 C Parameter Max permitted force setpoint value Upper limit setpoint force Param PNU 512 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1N 0 0 100 000 Imperial 1 lbf 0 0 22 481 Largest permitted setpoint value for force control A larger setpoint value results in an error or warning If both the smallest PNU 511 and the largest PNU 512 permissible force setpoint value are set to zero the setpoint limits are ignored when executing a force command O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Critical speed with force control Critical velocity during force control Param PNU 514 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 200 10 500 1 s 200 10 500 Imperial 0 01 ft s 65 3 164 1 s 200 10 500 Max permitted speed after start of a force command This parameter is used for monitoring not to limit the speed If the actual speed exceeds the set value
132. CMAX gt plug in plug in reads Measuring system ML CMAX ML user length ML ML user 28 00 mm ML CMAX 28 00 mm Offset axis zero point AZ CMAX AZ user AZ AZ user 28 00 mm AZ CMAX 28 00 mm Example Parameter Value in the plug in displayed Value in the CMAX transferred Measuring system length 500 00 mm 528 00 mm Offset axis zero point 12 00 mm 40 00 mm Tab B 12 Calculation of digital measuring system MME external or with user defined drive e g for DGPI 206 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX B 2 4 Software end positions Hardware end positions The software end positions may only be set within certain limits depending on the projected hardware The parameters as shown in Fig B 1 will be taken into account 1 3 2 p a J 1 SZ CZ AZ LSE USE 4 5 6 7 8 1 Measurement system length PNU 1111 6 Lower software end position PNU 501 01 2 Cylinder length PNU 1101 7 Upper software end position PNU 501 02 3 Offset axis zero point PNU 1130 8 Upper hardware end position 4 Measurement system zero point maximum permissible upper software end 5 Lower ha
133. CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Additional information Module diagnostic data module code Function no 16 m 16 0 m module number 0 47 Description CPX module code Values 176 CPX CMAX C1 1 Tab 4 27 Module code Module diagnostic data revision code Function no 16 m 16 13 m module number 0 47 Description Version of the module corresponding to the rating plate Values 0 255 Tab 4 28 Revision code i After a firmware update the rating plate and the version no longer match Module diagnostic data serial number Function no 784 m 4 0 m module number 0 47 784 m 44 1 784 m 44 2 784 m 4 3 Description Specifies the serial number of the module 4 bytes uint32 Values 0 255 Tab 4 29 Serial number Festo P BE CPX CMAX CONTROL EN de 1505a English 137 5 Parameterisation 5 Parameterisation 5 1 Overview of parameterisation possibilities Access function Access via Detailed description Local FCT with CMAX plug in Help for the CMAX FCT plug in with PC e g during commissioning Higher order controller FPC in the module input and Section 5 4 via I O data output data Tab 5 1 Parameterisation possibilities 5 2 Access protection 5 2 1 Password protection The password protection prevents unauthorised controlling or modifying of parameters in a produci
134. D 8 0x08 PNU 404 0x0194 0001 1001 0100b 1 0 0 0 0 0 0 1 Param Value of the parameter to be transferred 2789 value OxO0000AE5 32 bit number Byte 5 8 Check feedback from the CMAX 1 If ResID 0 Parameter not yet processed Wait 2 If ResID 7 Error handling e g evaluate error number check PNU or value 3 If ResID 5 End waiting Allocation of the status bytes step 2 Bit B7 B6 B5 B4 B3 B2 B1 BO SCON OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Byte 1 1 1 x x x x 0 x Subindex Subindex of the transmitted parameter 3 0x0003 0000 0011b Byte 2 0 0 0 0 0 0 1 1 Param PNU 404 0x0194 0001 1001 0100b identifier 4 0 0 1 0 1 0 1 Byte 3 4 ResID 5 0x05 0101b PNU 404 0x0194 0001 1001 0100b 0 1 0 1 0 0 0 1 Param Value of the transferred parameter 2789 value 0x00000AE5 32 bit number Byte 5 8 3rd step Complete parameterisation with No request See step 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 153 5 Parameterisation 5 5 2 Flow diagram Step 1 First send No request to ensure Send Set in output data that the previous parameter request No request in 2 has been reliably terminated X PNU 0 Input data ReqID 0 ResID 0 OR PNU 0 OR IND 0 Input data ResID 0 AND PNU 0 AND IND 0 Step 2 Set the desired parameter
135. DSMI 6 DDPC 7 DDLI O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 273 C Parameter Cylinder length Cylinder length Param PNU 1101 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 5 000 202000 0 1 0 500 100 000 Imperial 0 01 mm 0 5 000 202000 0 1 0 500 100 000 The cylinder length is stored in the displacement encoder Standard cylinders are not longer than 2000 mm the range of values includes reserves for special applications The specified cylinder length may deviate from the nominal length by 5 00 mm in order to optimise the effective stroke In combination with the DGCI If an integrated clamping unit is used order option 1H PN the cylin der length is greater than the nominal length That must be taken into account when specifying the cylinder length gt Appendix B 2 5 O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Cylinder diameter Cylinder diameter
136. DY taes os e a CPOS HOM i a L SPOS ACK i Her O Da SCON FAULT Fig A 8 Incorrect sequence of control signals error The situation generates the error E58 CPOS START CPOS HOM is already or still set Note First reset CPOS START CPOS HOM then acknowledge the error 184 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware c Incorrect time sequence like b but configured as a warning CCON STOP gt R SCON READY i F CPOS START aay CPOS HOM SPOS ACK SCON WARN w Fig A 9 Error free sequence of control signals warning The situation generates the warning W58 With revocation of CPOS START HOM SPOS ACK is reset and a positioning command can be started The warning is deleted with the START edge Note After an error always ensure that CPOS START HOM are reset 0 before acknowledging the malfunction A 5 5 Firmware Design 1 0 Firmware design 1 0 is the first approved version and requires at least the plug in of version 1 0 1 This version is completely described in the descriptions for the CMAX with the version O908NH Festo P BE CPX CMAX CONTROL EN de 1505a English 185 A Notes on commissioning service and firmware A 6 Relationship between project CMAX and plug in al Festo Configuration Tool ersion test Project Component View Extra Help Firmware Design 1 1 FCT project A g S
137. EN de 1505a English 121 gt 4 3 2 Diagnostics and error handling Diagnostic memory The diagnostic memory contains the diagnostic messages of the last 100 events that occurred The memory is backed up in the event of a power failure If the buffer is full the oldest element will be over written When reading the newest entry is read first LIFO principle Number subindex Diagnostic memory entry Tab 4 8 Structure of the diagnostic memory Structure of an entry in the diagnostic memory 1 Newest last diagnostic message 2 Next to last diagnostic message 100 Oldest diagnostic message Determines meaning Timestamp y Days in Milliseconds of Event Diagnostic code Additional info operation the day Determines meaning PNU 222 PNU 202 PNU 200 PNU 201 PNU 203 int32 int32 int32 int32 int32 bit coded Number of daysin Number of milli Diagnostic event Diagnostic code Additional inform operation seconds of the day ation for FCT Tab 4 9 Structure of diagnostic memory entry Which entries are recorded in the diagnostic memory can be configured with PNU 228 l gt Section 4 4 122 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Parameter Description E _ _ _ SSSSSSE EE ee ee
138. FSINS vid Cede See ye oe SE oko eee CN EN oie ak ead A ER eRe nk eee S a Sia Seer Seed eS Rn ew Cis bo eh ee eee naan Ck Ceca eek ete Documentation for the CPX terminal 0 cc eee ee cee cee cee cee eee e eens Documentation for Axis controller CPX CMAX 2 cece eee ee eee ee eee e eee e eens 1 Configuration of the CPX terminal with the CMAX ccceccc eee ceeeeeceeee 1 1 Planning aspects regarding parameterisation of the CMAX ee eee eee eeee 1 1 1 Notes on the available CPX bus nodes cece cece cece eee eens 1 1 2 Parameters of the CMAX and parameters of the bus node 1 27 Dataformaten ie een a ea A ue N E E da E AE AE E aE See Eee ods E EE bate 143 GPX paramet risati m sareren orn yE ER i ice dace E EEE a E E NE lie 1 3 1 Fail state oridle mode cece ekaa eee OE E AON 1 3 2 Start up behaviour of the CPX terminal cece eee ee ee eee eee 1 4 Notes on commissioning via the higher order controller 2 cece eee eee 2 1 O data and sequence control cece cece cece eee eee eect eee eeeeees 21 Operating Modes sorserien ea etna Meee Love EEE A E 2 1 1 Record selection operating mode record mode 0 0 sees 2 1 2 Direct operating mode direct mode cece eee eee ee eee eee 2 1 3 Commissioning operating Mode cece eee eee ee ee eee teens 2 1 4 Parameterisation operating Mode 0 cee eee eee ee eee eee 2 1 5 Ov
139. Force ramp Not used Force ramp 1 Depending on PNU 403 default value record the global default values are used gt Tab 3 20 Parameters of a record ab 3 19 Record PNU no RCB1 RCB2 Specifi Set Presel Speed Accel Decel Pay Toler Force cation point ection eration eration load ance ramp value oe ee E ee ee ee r 1 401 01 402 01 403 01 404 01 405 01 406 01 407 01 408 01 410 01 411 01 412 01 2 401 02 402 02 403 02 404 02 405 02 406 02 407 02 408 02 410 02 411 02 412 02 64 401 64 402 64 403 64 404 64 405 64 406 64 407 64 408 64 410 64 411 64 412 64 Tab 3 21 Structure of the record table Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 3 3 Conditional record sequencing record chaining PNU 402 The record mode allows chaining several movement commands This means that with a rising edge at CPOS START several records are automatically executed one after the other This allows a travel profile to be defined such as switching to another speed after a position is reached To do this a decimal condition is set in RCB2 to define that the following record N 1 is automatically executed after the current record A numerical value is usually linked with the condition e g the se quencing position This value is defined in PNU 405 preselected value Motion Co
140. GCI DDLI the measuring system is calibrated and specification of an offset is not permitted Special case of digital measuring system MME external or with user defined drive e g for DGPI An additional offset axis zero point of 28 mm must always be considered in addition the internal measurement system length which must always be 28 mm longer than the specification on the rat ing plate must be specified in PNU 1111 During parameterisation with the FCT plug in this is automatically calculated correctly and transmit ted by the plug in gt Appendix B 2 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Homing method Homing method Param PNU 1131 Index 1 Max Index 1 Class Var Data type int32 Values Specification 17 Minimum 128 Maximum 127 Defines the method which the drive uses to carry out the homing section gt Section 3 2 2 Only the named values are permitted hex dec Description 23h 35 Current actual position as reference position EFh 17 Search for negative stop EEh 18 Search for positive stop O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Tl Festo P BE CPX CMAX CON
141. If at least one step enabling criterion has been con RC1 complete complete figured 0 The first step enabling criterion has not yet been achieved 1 The first continuation has been carried out B1 All records All Records If at least one step enabling criterion has been con RCC complete Complete figured and motion complete SPOS MC is present 0 Step enabling condition not met record sequen cing cancelled 1 Record sequencing was processed to the end B2 Control Control Feedback on control mode 1 COM1 mode 1 Mode 1 0 Position control active 1 Force control active B3 Error in record Record If at least one step enabling criterion has been RCE sequencing Sequencing configured Error 0 Noerrorin record sequencing 1 Record sequencing not carried out cancelled error reported B4 Criticalspeed Critical Only with force control VLIM reached velocity 0 Critical speed not reached reached 1 Critical speed V Limit reached error reported B5 Critical stroke Critical stroke Only with force control XLIM reached reached 0 Critical stroke not reached 1 Critical stroke reached X Limit error reported B6 Reserved B7 Reserved 1 Record sequencing The RSB status byte acknowledges the movement command in record mode If no other parameterisation was made with PNU523 03 07 the RSB record status byte is transferred as byte 4 in the record mode All bits are reset at the start and are updated dynami
142. L EN de 1505a English 87 3 Drive functions Defined step enabling conditions in the CMAX Value Condition Description 4 Standstill The preselected value is inter 0 Workpiece 4 preted as the time T1 1 7 X position 2 3 Sequencing The drive moves w 450 an a reaches an unknown _ SO an Bodil a 10 a 430 workpiece position 2 on ie a N tion s block and then comes to a stop i N ia 3 w UN ST When a standstill is reached the Drive is time T1 begins As soon as this moving 1 has elapsed the next record is LMC Co executed 4 3 4 If the drive did not move until 100 ms after the start of the re cord e g because it is already at the end point standstill is also detected and the time T1 is started Notes To avoid a timeout the configured timeout time is prolonged by the time T1 in this record Ifa standstill is detected after the time elapses switching continues even if the axis is moving again no monitoring time The axis can not only be stopped with an obstacle wanted or unwanted but also with a lack of pressure For switching from a force command Since the force ramp also determines the switching point of the force at a standstill only low reproducibility with regard to the position and force value can be e
143. MAX is enabled The CMAX still signals back the status enabled Ifa clamping unit is configured it must be released before beginning the movement test gt Note Especially with a vertical configuration releasing the clamping unit with the controller deactivated can lead to the drive dropping down directly after the start or also during the course of the movement test e Make sure that this does not pose a Safety risk e Recommendation for vertical operation Deliberately allow the drive to drop down to a stop or into the end position before starting the movement test With the rising edge at CPOS START the movement test is started when commissioning operation number 2 is registered The two parameters must have the value O here When another function ora positioning or force command is started error E14 is signaled The CMAX then starts an internal sequence where the valve control values are directly specified and a corresponding evaluation is carried out based on the reaction of the drive Finally the result is stored in the Status movement test parameter The end of the movement test is signaled with SPOS MC 1 If the tubing connection is correct the controller is enabled at the end of the movement test Here bit 0 in the movement test status is automatically set to 1 by the CMAX the CMAX display changes to 000 If the tubing connection is incorrect of if no clear result was determined Bit 0 0
144. No Message Malfunc Reset type tion level 44 Teaching not possible F1 R Teaching not possible Note Exact cause gt Diagnostic memory or additional information in PNU 203 Cause Teaching falling edge on CPOS TEACH is triggered unintentionally through dis connection or switching off the control Measure e Only activate CPOS TEACH 1 prepare teaching directly before the teaching process Always end teaching immediately Cause Teaching not possible in direct mode Measure e Change operating mode Cause Teaching not possible during active commissioning operation Measure e First end commissioning operation Cause In the commissioning mode the teaching target in parameter 1 is invalid Measure e Correct parameter 1 Cause Without reference teaching is not possible Measure e Perform homing prior to teaching Cause Lower software end position SWEP is larger the same as the upper SWEP when teaching the SWEP in the commissioning mode The SWEP is not adopted Measure e Teach upper SWEL first e Correct the teach position Cause Upper software end position SWEP is smaller the same as the lower SWEP when teaching the SWEP in the commissioning mode The SWEP is not adopted Measure e Teach lower SWEP first e Correct the teach position Cause Specified record number impermissible when teaching in record select mode Measure e Correct record number Cause Parameterised control mode
145. No 130 01 30 Password Yes Yes 133 01 02 System password Yes No 204 05 Number of unread entries Yes No 407 01 64 Acceleration record Yes No 408 01 64 Deceleration record Yes No 410 01 64 Payload record Yes No 1150 01 Position controller amplification gain Yes No 1151 01 Position controller cushioning factor Yes No 1152 01 Position controller filter factor Yes No 1160 01 Force controller amplification gain Yes No 1161 01 Force controller dynamic amplification Yes No 1162 01 Force control filter factor Yes No 1173 01 Limiting values status Yes Yes 1192 04 Commissioning operations password status Yes No Tab 5 5 For CCON LOCK 1 writeable parameters 140 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation Acknowledgment of master control with FCT SCON FCT SCON FCT indicates that the drive is controlled by the FCT and that no control over the drive is possible via the I O data The higher order controller can react by moving to stop or manual operation 5 2 3 Status dependent and operating mode dependent block This lock is designed to protect against operational errors during the operating phase It is not permiss ible to modify parameters during operation that affect the controller To do this you must change to commissioning mode or parameterisation when using the cyclical I O data This data is documented as commissioning data Each parameter also states which operating status is neede
146. Operation and Servic sien einn ean E En Woes de ee eed yews E E Ea E A gen A 3 1 Target actual comparison cece eee eee eee eee e teen ee eeeee A 3 2 Commissioning via the controller after replacement of components A 3 3 Change reference configuration 0 cece eee ee eee e eee eee A 3 4 Data reset sori cute kat Sie Aah ne See A AES ORS oe A 3 5 Fitmware Updates tected c side shea d gud teehee ead sie eletene gud A o and silo he teen il A 3 6 Switch on behaviour and power down ccc eee eee eee ee ee eee A 3 7 Optimisation of the response delay for error E50 2 eee eee eee Festo P BE CPX CMAX CONTROL EN de 1505a English 134 134 134 136 138 154 156 156 156 Axis controller CPX CMAX A 4 Programming flowcharts ocoes suse vg eines ee eee Leh eee Moen Lee ER 174 A 4 1 Establishing the ready status 0 0 cece eee cee ee eee 174 A 4 2 Startrecord cass cicbcond ape S EER piste 8 alent etal pee dane Salo el 177 A 4 3 Acknowledge erronei 425 5 bale 4 sca eek tial Ge Walk Aes E A ea a ee Male was 178 A 4 4 Switch over operating Mode ccc eee eee cee eee e eee eee enees 179 A S Firmware designs soree rerit ated aonr E E eee ete ee EE egret eee 180 A 5 1 Firmware Design 2 2urety eerren pen EEE E T EA eS 180 A 5 2 Firmware Design 1 9 0 6338 sidee cadets eae Cede a dad EE E LET ea 182 A 5 3 Firmware Design 1 8 6338s eee a diewis dae eee ITERE a 183 A 5
147. Param PNU 1102 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 1 600 32 000 0 01 mm 0 1 200 32 000 Imperial 0 01 mm 0 1 200 32 000 0 01 mm O 1 200 32 000 The cylinder diameter is stored in the displacement encoder If the cylinder diameter was recognised by CMAX e g during DGCI the value cannot be overwritten Dual axes can be configured through PNU 1143 2 double axis design Other diameters can only be projected via user specific cylinder types O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out 274 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Diameter of piston rod Piston rod diameter Param PNU 1103 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 0 32 000 0 01 mm O 0 32 000 Imperial 0 01 mm 0 0 32 000 0 01 mm O 0 32 000 The piston rod diameter cannot be recognised automatically However the Festo standard drives have a fixed allocation of cylinder diameters to piston rod diameter
148. T The password protection can be created with the CMAX FCT plug in with existing online connection with the menu command Component Password gt Help on the CMAX FCT plug in The password must then be entered when connecting with the FCT for the first time It then remains active until the project is closed in the FCT To change it first enter and delete the old password Then the new password can be entered and ac cepted Determination of a password with the higher order controller PNU 130 includes the password as string The parameter PNU 1192 04 controls the acceptance and delivers the current status To define a password for the CMAX 1 Write the password in PNU 130 e g PNU 130 My_password 2 Accept the password into the device data by setting PNU 1192 04 1 The password is implemented as a string in CMAX and consists of 8 bytes ASCII code 32 to 127 PNU 1192 04 Accept password Access Values Write 0 Delete a password 1 Accept password Read 0 No password set 1 Password set and access free 2 Password set and access blocked Tab 5 3 Password access control The password cannot be read or reset If you forget the password the CMAX can be completely reset This not only deletes the axis data but also the device data This reset can only be performed by FCT not via the controller Festo P BE CPX CMAX CONTROL EN de 1505a English 139 5 Parameterisation
149. T indicates these records as blank records no upload download or deviation during synchronisation 31 0 Record blocked inactive 1 Record enabled active Blocked or inactive records are not executed O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 252 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Setpoint value record Record setpoint value Param PNU 404 Index 1 64 Max Index 64 Class array Data type int32 Values Specification 0 Minimum 1 000 000 Maximum 1 000 000 Control mode position RCB1 COM1 0 Position setpoint value in unit position index 1 Control mode force RCB1 COM1 1 Force setpoint value in unit force index 3 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Record preselected value Record preselection value Param PNU 405 Index 1 64 Max Index 64 Class array Data type int32 Values Specification 0 Minimum 1 000 000 Maximum 1 000 000 Contains the value at which sequencing occurs The meaning depends on the condition in RCB2 PNU 402 Step criterion Ph
150. TROL EN de 1505a English 281 C Parameter Homing speed Homing velocity Param PNU 1132 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 50 10 200 1 s 50 10 200 Imperial 0 01 ft s 15 3 66 1 s 50 10 200 Speed at which the drive searches for the stop during homing O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out SS SSS SSS SSS SSS SSS SSS Homing timeout Homing timeout Param PNU 1133 Index 1 Max Index 1 Class Var Data type int32 Internal parameter O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out aa aa a Homing payload Homing payload Param PNU 1134 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 0 0 200000 1kgcm 0 0 20 000 Imperial 1 lb 0 0 44 093 0 1 lb in2 0 0 68 343 Consideration of a specific payload in homing Only effec
151. Terminal CPX Axis controller CPX CMAX FESTO Communication profile description FHPP for the CMAX axis controller Activation and diagnostics via the CPX node Type CPX CMAX C1 1 559757 de 1505a 8036965 Axis controller CPX CMAX Translation of the original instructions P BE CPX CMAX CONTROL EN Interbus DeviceNet PI PROFIBUS PROFINET CC Link and EtherNET IP are registered trademarks of the respective trademark owners in certain countries Identification of hazards and instructions on how to prevent them A Warning Hazards that can cause death or serious injuries A Caution Hazards that can cause minor injuries or serious material damage Other symbols Note gt Material damage or loss of function l Recommendations tips references to other documentation Essential or useful accessories EEE Information on environmentally sound usage Text designations e Activities that may be carried out in any order 1 Activities that should be carried out in the order stated General lists gt Result of an action References to more detailed information 2 Festo P BE CPX CMAX CONTROL EN de 1505a Axis controller CPX CMAX Table of Contents Axis controller CPX CMAX Notes on this documentation ce eee ec cece cece eee eee eee e eee eneee Target STOW Ps Seve iter tac E ARENS E lE E ook a Santa so Boreas oa g tay hed ave bande ac wns RRN VE
152. The name serves identification by FCT and is checked by the FCT when the connection to the device is established Example CMAX1_Slot3 Characters not used are filled with 0x00 ZERO The CMAX also contains an axis name PNU 180 ff along with the device name O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Manufacturer name Drive manufacturer Param PNU 122 Index 1 30 Max Index 30 Class array Data type char Values Specification Festo AG amp Co KG Permissible characters 0x00 0x20 0x7F ZERO printable ASCII characters Controller manufacturer s name Characters not used are filled with 0x00 ZERO The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out HTTP address of manufacturer HTTP drive catalog address Param PNU 123 Index 1 30 Max Index 30 Class array Data type char Values Specification www festo com Permissible characters 0x00 0x20 0x7F ZERO printable ASCII characters Internet address of the manufacturer Characters not used are filled with 0x00 ZERO k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with bloc
153. The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out ESSE Software end position Limit setpoint position Param PNU 501 Index 1 2 Max Index 2 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 0 1 000 000 0 1 0 0 100 000 Imperial 0 001 in 0 0 393 701 0 1 0 0 100 000 Permissible range for position setpoint values Starting with a target position outside of the software end positions is not permissible and will lead to an error or warning If the software end positions are passed in the running process the system will issue a warning The offset to the axis zero point not to the project zero point is specified Specifying 0 for both software end positions deactivates the software end positions Index 1 Lower software end position Index 2 Upper software end position The controller checks the software end positions for plausibility and generates an error in case of deviation Notes on calculation of the software end positions and a sample calculation for the maxim um values gt Appendix B 2 4 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive
154. This change over time must be taken into account in programming the application 18 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 2 2 CCON SCON structure CCON All the statuses which must be available in all operating modes are controlled with control byte 1 CCON Assignment of the CCON control byte byte 1 CCON B7 B6 B5 B4 B3 B2 B1 BO OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Operating Operating Block FCT Acknow Release Enable Enable mode 2 mode 1 access ledge brake operation drive error SCON The status byte 1 SCON signals the CMAX status in all operating modes Assignment of the SCON control byte byte 1 SCON B7 B6 B5 B4 B3 B2 B1 BO OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Operating Operating FCT Load Fault Warning Operation Drive mode 2 mode 1 device voltage enabled enabled control The operating mode is defined with CCON OPM1 and OPM2 and is acknowledged in SCON OPM1 and OPM2 i How the control bits work together can be found in the sequence control description gt Chapter 3 Flow charts for programming the higher order controller gt Appendix A 4 Festo P BE CPX CMAX CONTROL EN de 1505a English 19 2 I O data and sequence control Control byte 1 CCON Bit DE EN Description BO Enable drive Enable Drive 0 Bl
155. U 1171 PNU 1171 Identification status Bit Description 0 0 Identification was not yet executed 1 Identification was executed at least once 1 0 Static identification results are not available 1 Static identification executed successfully 2 0 Dynamic identification results are not available 1 Dynamic identification executed successfully Bod Not relevant reserved a e Tab 3 16 Identification status Notes Iflarge changes in the payload occur during operation identification should be carried out with the largest and smallest payload that occurs Ifthe identification run is interrupted while in progress static or dynamic identification data determ ined up to that point remain active Festo P BE CPX CMAX CONTROL EN de 1505a English 73 3 Drive functions Resetting identification The identification data can be reset manually with PNU 1192 03 Section C 2 16 The adaptation data are also reset Recommendation After exchanging components or changing parameters the drive configuration gt C 2 11 or application settings gt C 2 12 the identification data should be reset before carrying out a new identification run 74 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 2 4 Adaptation After successful identification the adaptation values are automatically determined during operation Adaptation is able to independently improve
156. UMITI Max permissible upper SWEL PNU 1101 PNU 1130 PNU 1101 l The measuring system projects over the cylinder on both sides Cylinder DSMI Offset of axis zero point PNU 1130 5 15 Measuring system PNU 1130 PNU 1101 lt PNU 1111 gt Min permissible lower SWEL 0 E PNU 1111 Max permissible upper SWEL PNU 1111 208 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Configuration using FCT As a specification the software end positions in FCT are deactivated The specification of PNU 501 01 PNU 501 02 0 will deactivate the software end positions However the CMAX limits setpoint spe cifications to the maximum or minimum permissible end positions With the DGCI DDLI the axis zero point cannot be edited Numerical example Layout PNU Description Value is PNU 1101 1130 Offset axis zero point 25 5 mm Cylinder 1111 Length of the measuring 280 mm Measuring system system PNU 1130 L PNU 1111 1101 Length of drive 350 mm The CMAX calculates the following limit values for the two end positions PNU Description Minimum Maximum 501 01 Lower hardware end position 25 5 mm lt Upper software end minimum lower software end position position 501 02 Upper hardware end position gt Lower software end 280 25 5 254 5 mm maximum upper software end position position Festo P BE CPX CMAX CONTROL EN de 1505a
157. a 10s exponent for example a value of 3 means 10 3 that is 3 decimal places Festo P BE CPX CMAX CONTROL EN de 1505a English 197 B Basic principles of the CMAX Example of acceleration gt Index 7 in Tab B 2 PNU 1193 07 contains the value 60 this stands for the unit metre per second squared m s2 PNU 1194 07 contains 3 for resolution this stands for 10 3 that is 3 decimal places A numerical value thus has the form XX xxx If for example the numerical value of 2550 is in PNU 541 acceleration in direct mode this is interpreted as 2 550 m s2 System of units tables Unit PNU 1193 Resolution Index Physical variable Value Unit Symbol PNU 1194 1 Position 10 Millimetre mm 2 2 Length 10 Millimetre mm 2 3 Force 20 Newton N 0 4 Pressure 30 Bar bar 1 5 Mass 40 Kilogramme kg 1 6 Speed 50 Metre per second m s 3 7 Acceleration 60 Metre per second squared m s2 3 8 Force ramp 70 Newton per second N s 0 9 Time 80 Millisecond ms 0 10 Controller factor 100 without 2 11 Diameter 10 Millimetre mm 2 12 Mounting angle 15 Degree 1 Tab B 2 System of units table linear drive metric SI PNU 1192 06 value 1 Unit PNU 1193 Resolution Index Physical variable Value Unit Symbol PNU 1194 1 Angle 15 Degree e 1 2 Swivel angle 15 Degree Q 1 3 Torque 25 Newton metre NM 0 4
158. ac tual position at the time the MC condition was reached for the force command 2 Notes The position in some cases is difficult to reproduce and the absolute posi tion is normally not known or visible because the position at the time the MC condition was met is not output The direction of the stroke must agree with the specified direction in which the force acts Otherwise a diagnostic message W27 E27 is output Ifthe stroke or speed monitoring is violated the current positioning record is ended and record switching does not occur The timeout time force control PNU 1163 begins to elapse when the MC condition is met for the force command If the stroke is not reached within the timeout time the current positioning record is ended no record sequen cing occurs SPOS MC and RSB RCE are set to 1 and a diagnostic message W28 E28 is output Ifthe timeout time for force control is deactivated set to 0 the drive waits indefinitely for the switching position to be reached SSS y 90 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Defined step enabling conditions in the CMAX Value Condition Description 14 Position Sequencing is only permissible in cad with force a force record E The preselected val
159. agnostics Diagnostic parameters diagnostic Section 4 3 memory 1 Only the groups o Tab 4 1 Diagnostics options 98 the CMAX are displayed in the CPX diagnostics Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling 4 2 Faults and warnings The CMAX permanently monitors the operating status and issues corresponding diagnostic messages in the event of deviations from the setpoint status Diagnostic messages for malfunctions are categorised as faults or warnings depending on the cause and effect and can be evaluated in detail and processed Malfunctions Effect Acknowledge Faults Red error LED is illuminated Required Events and statuses that jeo Error number E is shown on the display gt Section 4 2 2 pardize or prevent correct op SCON FAULT 1 is set eration of the CMAX Effect on the sequence control dependent on the malfunction step gt Section 4 2 1 Warnings SCON WARN 1 is set Not required Events and statuses that may The sequence control and the axis are not impair operation affected eee Tab 4 2 Faults and warnings e List of faults and warnings gt Section 4 2 4 l With FCT or PNU 228 03 some diagnostic messages can be classified optionally as warn ing or fault Section 4 2 4 shows the step assigned at the plant e g F2 Alternative steps that can be set are listed in brackets F2 W therefore means factory s
160. al default values are used instead of the parameters If the global default values are used for the parameters speed acceleration deceleration payload and tolerance this amounts to 5 x 64 320 parameters for 64 records that do not need to be entered Increased data transmission performance Since less data is transmitted the time required for parameterisation is reduced This affects serial connections such as with the FCT but also fieldbus connections 142 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation When is a global default value used For each parameter a flag defines whether the global default value is used If you want the value from the record or the special parameter to be used the flag needs to be set to 1 Otherwise the default value will be used The following parameters contain flags for global default values Positioning type PNU Index Parameter Record mode 403 nn record no Record default value Jogging 521 01 Jogging default value Direct operating position 521 02 Direct mode position default value Direct mode force 521 03 Direct mode force default value Homing 521 04 Homing default value Tab 5 7 Control of the global default values 1 Record is active Parameter control Bit PNU 403 record default values PNU 521 jog mode direct mode homing default values 31 0 Record is blocked Not evaluated 30 0 Record is not initialised or
161. alues determined during identification A typical travel profile is shown in Fig 3 2 Characteristics Speed acceleration deceleration and payload can be set separately for every position command Ifthe dynamic identification has been carried out automatic limitation of acceleration to feasible values Automatic limitation cannot be switched off If dynamic identification has not been carried out large divergence possible due to unachievable setpoint values The optimal acceleration and deceleration values must be determined by the user on the fly switching to a new position command possible Nominal Acceleration ji Velocity m s Nominal Position 1 f Position mm Time ms t 4 t I F i Y ya iw J gt AT ms Fig 3 2 Process of setpoint acceleration setpoint speed and setpoint position with the free profile Festo P BE CPX CMAX CONTROL EN de 1505a English 43 3 Drive functions Phase Calculation equation Description Acceleration t AA v programmed speed phase a4 a4 acceleration for acceleration ramp Bee acceleration for decelerati s 5 t a2 acceleration for deceleration ramp z approach time Braking phase paN t1 PPE 1t 2 a t2 braking time a 5 t3 time with constant speed Ba 1 approach path Consistent move S3 Sges
162. ameter can result in a record not being completed with MC and remaining permanently active for example ifthe drive comes to a halt before its setpoint position due to an obstacle if the drive does not reach its setpoint position depends on specified tolerance O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Position controller cushioning time for exact stop Position Control monitoring time for exact stop Param PNU 1154 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 1 ms 30 10 1 000 1ms 30 10 1 000 Imperial 1 ms 30 10 1 000 1ms 30 10 1 000 This is the duration in which the actual value must remain in the tolerance window without interrup tion before MC is generated Only effective with exact stop without function with fast stop gt Section 3 1 6 If the time is too short an overswing may lead to MC but the actual position may leave the tolerance again If the time is too long the positioning time is unnecessarily prolonged With larger drives we recommend selecting a longer time O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocke
163. ameterised or incorrect payload trans ferred to parameter 2 byte 5 8 in commissioning mode Measure e Check load and data Cause Too much mechanical play in the system Measure e Check system structure Cause Constructional design not stable enough Measure e Check system structure Cause Tubes used are too long Measure e Move valve closer to the drive Cause Compressed air not sufficiently stable Measure e Check compressed air supply 104 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 1 Execution error CPX error group 101 CPX MMI Execution error No Message 17 Identification was not yet executed Ww F Identification not yet executed Malfunc Reset type tion level Cause Identification was not executed before record start and direct mode Measure e Carry out identification 18 Clamping unit was activated despite operation enable Ww F Clamping unit was activated with operation enable Cause Operation enable was granted CCON STOP 1 although the clamping unit was not yet released or the clamping unit was closed without the operation enable having been blocked beforehand CCON STOP 0 Measure e Remove operation enable e Release clamping unit e Correct the sequence when changing from operation enable and clamping unit 19 Impermissib le change of operating mode F1 R Impermi
164. analogue value if used by the bus node Section 1 2 Festo P BE CPX CMAX CONTROL EN de 1505a English 155 A Notes on commissioning service and firmware A Notes on commissioning service and firmware A 1 Preparations and overview for commissioning A 1 1 Checking the axis string Prior to commissioning e Check the complete system structure especially the tubing connection of the drive and the electric al installation gt CMAX system description A 1 2 Switching on the power supply switch on behaviour A Warning High acceleration forces of the connected actuators Uncontrolled movements can cause collisions which can lead to serious injury e Switch on Always first switch on the operating voltage supply and then the compressed air supply e Switch off Prior to mounting installation and maintenance work switch off the compressed air and power supply simultaneously or in the following sequence 1 compressed air supply 2 operating voltage supply for electronics sensors 3 load voltage supply for outputs valves Perform work in the machine area only with the compressed air and voltage supply switched off and locked Delivery status switching on for the first time or after data reset of the axis or device data The connected components valve displacement encoder sensor interface are automatically searched for at the axis interface and the information included is read The recognized components are
165. andard 1 Central lubrication 3 GP Slide 0 Recirculating ball bearing guide 1 Protected recirculating ball bearing guide 2 1H PN Clamping unit 0 Not present 1 Present 1 KL Additional slide left 0 Not present 1 Present 0 KR Additional slide right 0 Not present 1 Present Tab B 15 Options in PNU 1190 15 Festo P BE CPX CMAX CONTROL EN de 1505a English 211 B Basic principles of the CMAX Calculation Working stroke LN order specification Working stroke Li Ls 4 gt Working stroke i KR gt H Working LS 2 EIAS y stroke _ ke KL m KR al RS Working stroke JH Fig B 2 Dimensions for calculation Piston diameter Slide length LS mm Extension LH mm Standard GP C 1H PN 18 99 0 120 0 25 118 5 144 0 145 0 71 0 32 145 7 173 0 172 0 70 5 40 195 4 231 0 223 0 158 0 63 280 0 z 308 4 7 Tab B 16 Slide length and extension of the stroke dependent on the piston diameter Option Lower software end position Upper software end position Cylinder length PNU 501 1 PNU 501 2 1H PN 0 LN LN LH KR LS L1 LN LN KL 0 LN LS L2 LN KL KR LS L1 LN LS L2 LN E ee 1 The nomi
166. approved for execution gt PNU 403 Measure e Check and enable positioning record 24 Step enabling condition is not permissible F1 R Step enabling condition is not permissible Cause The demanded step enabling condition is invalid Measure e Check and correct the step enabling condition Cause Step enabling parameterised in record 64 Measure e Remove step enabling condition in record 64 Cause The selected step enabling condition is not permissible when using a DSMI DSMI does not support force control Measure e Correct step enabling condition Cause The selected step enabling condition is only permissible in a record with force control Measure e Check and correct record 27 __ Step enabling condition cannot be reached during positioning task F1 W R Step enabling condition cannot be reached during positioning task Note Message can be parameterised alternatively as a warning W or error F1 Cause Step enabling position does not lie between the start position last setpoint or actual value at the time of the switch and the new setpoint position or both positions are the same Measure e Check and correct the step enabling condition Check the program sequence in the controller After a stop or error the previous position must be ap proached again Cause The switching force is not between the starting force last setpoint or actual value at the time of switching and the new force setpoint or both forces are the same
167. aracteristics Which errors should be treated as warnings Bit Description Default 1 0 E27 Step enabling condition cannot be reached during the positioning com 0 mand If warning Record is executed as if no record sequencing were parameterised Subsequent record is not executed error E28 is not reported 1 E28 Step enabling condition was not reached 0 If warning The CMAX stops in the record whose sequencing condition was not reached 2 3 Reserved 0 0 E32 Target force outside the force limits 0 If warning If exceeded the target force is restricted to the limit value by the CMAX 5 E33 Target position outside the software or hardware end positions 0 If warning If the target position is larger than the software end position the software end position or the hardware end position with deactivated soft ware end positions is approached i 5 1 0 The message is treated as an error 1 The message is treated as a warning 132 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling PNU 228 03 Setting error characteristics Which errors should be treated as warnings Bit 6 Description E34 Setpoint value of tracking mode outside of the limit values If warning The setpoint value position or force is taken over only up to the limit values The axis stops at the software end position or force limit Posi tioning is not cancelled
168. as Created with 4 iE Trace Data Wih phit EJ cmax cmaxoo2 Fig A 12 Display of the versions on the Controller page Festo P BE CPX CMAX CONTROL EN de 1505a English 187 A Notes on commissioning service and firmware A 7 FAQs on the firmware and plug in versions Where do find the information on the versions of my system A list of the newest versions of the installed plug ins can be displayed with the command Help Inform ation on installed plug ins Project Component View Extra Help 2 A B iB ZA ottine 1849 Dynamic Help Contents FCT general Contents of installed Plugins mooo B Project Station A Components Info about installed Plugins a Ugo About Controller TP Ais X Language emn y Configuration G Application Data 4 Measure Limits Record Table PI Jog Mode Direct Mode Device data Compatibilty CPX Node Manufacturer device name Manufacturer Revision CPX CMAX C1 1 Festo AG amp Co KG 8 Z Controller Data 7 Q Diagnosis 10 Dat Info about installed Plugins 3 Trace Configurat Component ean to Trace Data Festo CMAX 2 2 0 350 EJ cmax cmaxoo2 Festo CMMD AS 201 1 Festo CMMO ST 1 4 0 119 Festo CMMP AS 2 5 0 300 Festo CMMS AS 2 2 0 371 Festo CMMS ST 2 1 0 185 Festo CMXR 2 1 1 2 40 Festo EMCA 0 1 0 2168 Fig A 13 Information on installed plug ins Whe
169. ating voltage overload on the controller Cause Short circuit in the cables of the axis string between controller and valve or valve and sensor interface Measure e Check cables and modules on the axis string e g wire break replace defect ive cables Cause Defect in the CMAX controller Measure e Check CMAX replace if defective Cause Defect in the valve Measure e Check cables and valve systematically replace defective components Cause Defect in displacement encoder or sensor interface Measure e Check cables and displacement encoder or sensor interface systematically Replace defective components 56 Supply pressure too low for homing F1 R Supply pressure too low for homing Cause Insufficient working pressure was detected during homing Measure e Check and correct operating pressure e Check parameterisation of the operating pressure 57 Time out diagnostic interface FCT device control was deactivated W R Timeout diagnostic interface FCT device control was deactivated Cause Connection between PC and CPX node interrupted Measure e Check lines Cause Communication breakdown due to FCT Measure e Restore connection ee Festo P BE CPX CMAX CONTROL EN de 1505a English 115 Diagnostics and error handling Group 5 System error B CPX error group 105 CPX MMI System error B No Message Malfunc Reset type tion level 58 Handshake error F1
170. ation gt Section C 2 15 1170 1 1 Identification settings Var in32 E RW 1171 1 1 Identification status Var Bit array R 1172 X 6 Identified maximum values Struct int32 Speed R angular velocity accel eration angular acceleration 1173 1 14 Limiting values status Struct Bit array RW 1173 X 14 Limit values Struct int32 gt Section 3 1 10 R 1174 1 1 Status movement test Var Bit array R 1175 1 1 Block adaptation Var int32 RW 1176 X 16 Offset and hysteresis values of Array int32 R the drive System data gt Section C 2 16 1190 X 43 Hardware actual configuration Struct int32 R bit array 1191 X 15 Analysis data Array int32 E R 1192 1 7 Block download commission Struct int32 RW ing operation 1 gt Tab C 4 230 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter PNU 1 Name DE Properties 1 PNU Ind Max Class Type Unit RW 1192 2 7 Configuration status commis Struct int32 R sioning operation 1192 3 7 Commissioning operation Struct int32 RW Data reset 1192 4 7 Commissioning operation Struct int32 RW Password status 1192 5 7 System of measurement units Struct int32 RW commissioning operation 1192 6 7 System of units table commis Struct int32 R sioning operation 1192 7 7 Movement test commissioning Struct int32 RW operation 1193 X 12 System of measurement units Struct int32 R
171. ation is carried out Jog mode acceleration Jog mode acceleration deactivated with PNU 521 01 Param PNU 532 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s2 100 10 100000 1 s2 100 10 100 000 Imperial 0 01 ft s 30 3 32 808 1 s2 100 10 100 000 Jogging acceleration Only effective if use of the global default value default value for acceleration PNU 602 has been O The parameter value cannot be changed O After writing controller recalculation is carried out O Writing permissible only in commissioning parameterisation mode with blocked drive 264 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Jog mode deceleration Jog mode decelaration Param PNU 533 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 500 10 100000 1 s 500 10 100 000 Imperial 0 01 ft s 150 3 32 808 1 s2 500 10 100 000 Jogging deceleration Only effective if use of the global default value default value for deceleration PNU 603 has been deactivated with PNU 521 01 O The parameter value cannot be changed O Wr
172. aviour se nccawtnk come en eaees akeod eres nye a chs 3 1 5 Standstill Control six cece tureti oho en e etnies tenes uk 3 1 6 Quality classes 2 jace s Ss aca ee edades Ca elsmis sali ate tate TAA E a 3 1 7 Processing of the clamping unit or brake 6 eee ee eee ee eee 3 1 8 Motion Complete MOQ cece cece e cece eee e teen rerne 3 1 9 Dynamically updated controller status bits MOV DEV and STILL 3 1 10 Limitation of setpoint values 1 2 0 cee eee cece eee eens Commissioning operations srs soss seoseis etenei cee eee ee eee teenies 3 2 1 Movement test nosen ne aante na eE REEE ERER EA ees 3 2 2 HOMNE eenaa ste ea ARE E ORE Gra EA A O ER AA ER G 3 2 3 Identification mesia e Eae RE AELE E E E ESTA Se Bee aes BES 3 2 4 Adaptation soroen spe e E oa Gotha E Gare en EY 3 2 5 Jjog p rationm sorg isen a terres ed eee E E A eee oes te 3 2 6 Teaching sree nre N EE E teases EREE EE E ee R ord modevs2 secs Sa i tet T inh tw ARA oe EEATT ERE 3 3 1 Start ofaTtecord o oriee Tenen teed we ta eee PRE EA OAA edie E 3 3 2 Record structules nc0n eedeavcee iien ae E calves AEE a EN oaa S Ea 3 3 3 Conditional record sequencing record chaining PNU 402 Dir ctinode ccoe sat woo nn oe eco ee earn ek one ee ASEN REEK 3 4 1 Start of a movement command eee eee eee e ee eee 3 4 2 Continuous setpoint specification tracking mode 2eeeeee Diagnostics and error handling ccc cece cece
173. cally 26 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 2 4 1 0 data with direct mode 1 0 data direct mode Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON CPOS CDIR Second Primary setpoint value data ary set Setpoint position setpoint force point Input SCON SPOS SDIR Second Primary actual value data ary actu Actual position actual force al value Assignment of the control and status bytes direct mode Assignment of the control bytes direct mode CCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Operating mode 1 2 Block FCT Acknow Release Enable Enable ledge brake opera drive access error tion CPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 TEACH JOGN JOGP HOM START Teach Jog Jog Start Start value negative positive homing move ment command CDIR B7 B6 B5 B4 B3 B2 B1 BO Byte 3 FAST XLIM VLIM CONT COM2 COM1 REL 5 Fast stop Stroke Speed Tracking Control Control Setpoint monitor monitor mode mode2 mode1 value ing deac ing deac profile position relative tivated tivated force Second Dependent on the control mode position force and parameterisation PNU 523 01 05 aryset Position control Speed as percentage of the base value PNU 600 or 540 point Force control Force ramp as a percentag
174. ce in position control direct mode Only effective if use of the global default value default value position tolerance PNU 606 has been deactivated with PNU 521 02 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 267 C Parameter C 2 9 Force control in direct mode Direct mode force force ramp Direct mode force value force ramp Param PNU 550 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N s 1000 10 100 000 Imperial 1 lbf s 200 2 22 481 Base value for the force ramp in direct mode The controller transmits a percentage value in the out put data which is multiplied by the base value to determine the final setpoint ramp Only effective if use of the global default value default value for force ramp PNU 608 has been de activated with PNU 521 03 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Direct mode force payload Direct mode force payload Param PNU 5
175. correct tubing connection Standardised setpoint Pressur Exhaust Drive travels specification isation 100 1 4 2 3 in the direction of smaller actual values 0 Closed Closed not at all 100 1 2 4 5 in the direction of greater actual values 68 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 2 2 Homing For drives with incremental measuring systems homing is a prerequisite for a movement command Homing can be carried out in each supported operating mode except parameterisation The drive references with respect to a stop or as a special case the current position Reaching the stop is detected when the piston comes to a standstill Here the possibility that this standstill was caused by a lack of air pressure must be ruled out Since the axis zero point for pneumatic axes must fundamentally be placed at the cylinder zero point the drive does not automatically move to this zero point unlike electric drives for example i Description of homing methods gt Tab 3 15 General instructions for homing The axes lose their reference when switched off reset possibly when there are errors in the sensor interface or axis string when homing is started again Ifthe drive has a position measuring system with an absolute encoder homing is not possible Arising edge at the CPOS HOME input then results in an error No movement is initiated Homing sequence and paramet
176. cription BO Drive enabled Drive Enabled 0 Drive blocked controller not active ENABLED 1 Drive enabled B1 Operation Operation 0 Stop active Ready enabled Enabled 1 Operation enabled travel commands allowed Drive is READY B2 Warning Warning 0 Warning not present WARN 1 Warning present B3 Fault Fault 0 Nofault FAULT 1 Faultis present B4 Load voltage Load Voltage 0 No load voltage 24VL 1 Load voltage present 24 V Load Voltage B5 FCT device Device Control 0 Device control blocked over service or network FCT control FCT interface 1 Device control allowed over service or network interface FCT B6 Operating Operating Bit7 Bit6 Operating mode acknowledgement OPM1 mode 1 2 Mode 1 2 0 0 Record mode B7 0 1 Direct mode OPM2 1 0 Commissioning 1 1 Parameterisation Festo P BE CPX CMAX CONTROL EN de 1505a English 21 2 1 0 data and sequence control 2 2 3 1 0 data in record mode i Flow chart for programming the higher order controller gt Appendix A 4 2 1 0 data record mode Data Byte1 Byte2 Byte3 Byte4 Byte5 Byte Byte7 Bytes Output CCON CPOS Record Reserved Reserved data number Input SCON SPOS Record Second Primary actual value actual position data number ary actu actual force al value Assignment of the control and status bytes record select mode Assignment of the control bytes record select mode CCON
177. ctive force control With active force control the actual position relative to the start position must not change by more than the amount specified in this parameter In this way you can ensure that the axis will not perform an uncontrolled movement if force control is activated by mistake Workpiece missing for example Monitoring can be deactivated by setting the bits RCB1 XLIM or CDIR XLIM O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out a ee SSS es Min permitted force setpoint value Lower limit setpoint force Param PNU 511 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N 0 100000 O Imperial 1 lbf 0 22 481 0 Smallest permitted setpoint value for force control A smaller setpoint value results in an error or warning If both the smallest PNU 511 and the largest PNU 512 permissible force setpoint value are set to zero the setpoint limits are ignored when executing a force command O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Festo P
178. d 0 B1 Acknowledge Acknowledge 0 Ready for start ACK start Start 1 Start carried out B2 Motion com Motion 0 Movement command active MC plete Complete 1 Movement command completed also for error 2 B3 Acknowledge Acknowledge 0 Teach executed actual value transferred TEACH teach Teach 1 Ready for teaching B4 Drive moves Drive is Movement monitoring gt Section 3 1 9 MOV moving 0 Drive does not move 1 Drive moves B5 Following er Deviation Following error or tolerance monitoring DEV ror Warning gt Section 3 1 9 0 No following error within tolerance 1 Following error active tolerance exited B6 Standstill Standstill Standstill monitoring gt Section 3 1 9 STILL warning Warning 0 Standstill warning not active 1 Standstill warning active drive has moved after MC B7 Drive refer Drive is 0 Homing must be carried out REF enced referenced 1 Reference information available homing not necessary 1 When programming the handsha tion as we l since SPOS ACK is not set in the event of a e between CPOS START and SPOS ACK the faults present must always be taken into considera 2 MCis set after device is switched on status Drive blocked fault Festo P BE CPX CMAX CONTROL EN de 1505a English 25 2 1 0 data and sequence control Status byte 4 RSB record mode Bit DE EN Description BO 1st record 1st Record
179. d To write a commissioning parameter The commissioning or parameterisation operating mode must be active The drive must be locked CCON ENABLE 0 5 2 4 Enable and stop with parameterisation Parameterisation in the cyclical 1 0 data can only be performed if the CMAX is not in the Operation enabled status CCON ENABLE 0 Commissioning parameters require that the controller is locked when writing For transfer of parameters CCON STOP and CCON ENABLE must be set as described Operating mode Read CCON Write CCONY ENABLE STOP ENABLE STOP Record mode x x x x Direct mode x x X x Commissioning x x 0 x Parameterisation x 0 0 x2 x 02 1 x without effect on the parameterisation 2 For commissioning parameters CCON ENABLE 0 must be set while CCON STOP can have any status Tab 5 6 Effect of the parameter transfer to CCON Festo P BE CPX CMAX CONTROL EN de 1505a English 141 5 Parameterisation 5 3 Global default values Global default values can be used to globally specify positioning parameters speed acceleration tolerance The global default values then replace the individual parameters for a positioning com mand in record mode direct mode homing or jogging
180. d drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 289 C Parameter Deactivate standstill control Deactivate Standstill Control Param PNU 1155 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 This parameter determines whether or not standstill control is activated between the positioning positioning procedures Value Meaning 0 Standstill control is activated during standstill 1 Standstill control is never activated O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive K After writing controller recalculation is carried out 290 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 14 Force controller Force controller amplification gain Force control gain factor Param PNU 1160 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 000 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Force controller amplification gain gt Appendix B 5 3 1 Force control is not permissible with semi rotary drives However the parameter is used for s
181. delay Var int32 Acceleration RW angular acceleration 510 1 1 Permitted stroke with force Var int32 Position angle RW control 511 1 1 Min permitted force setpoint Var int32 Force RW value 512 1 1 Max permitted force setpoint Var int32 Force RW value 514 1 1 Permitted speed with force Var int32 Speed RW control angular velocity 521 1 4 Jog mode parameter control Array Bit array RW 521 2 4 Direct mode position paramet Array Bit array RW er control 521 3 4 Direct mode force parameter Array Bit array RW control 521 4 Homing default values Array Bit array RW 522 1 Reserved Struct int32 z RW 522 2 2 FHPP Control status bits Struct int32 RW level CCON BRAKE 523 X 8 FHPP Setpoint actual values Struct int32 z RW 227 C Parame ter PNU 1 Name DE Properties 1 PNU iInd Max Class Type Unit RW Jog operation gt Section C 2 7 530 1 1 Jog mode creeping speed Var int32 Speed RW angular velocity 531 J1 1 Jog mode maximum speed Var int32 Speed RW angular velocity 532 1 1 Jog mode acceleration Var int32 Acceleration RW angular acceleration 533 1 1 Jog mode deceleration Var int32 Acceleration RW angular acceleration 534 1 1 Jog mode time slow speed Var int32 Time RW 536 1 1 Jog mode payload Var int32 Mass mass moment of RW inertia Direct mode positi
182. download times are between 3 and 40 minutes depending on the bus node used 9 Make the connection to the CMAX after completion of the download The Configuration wizard is opened If the project was previously read out it can be transferred completely to the CMAX again with the Download Project button 10 Before further commissioning check whether new settings or parameters must be adjusted 11 Continue with commissioning Execute movement test homing for DNCI DDPC and identification A 8 2 Explanations for the individual steps Adding new CMAX component Create a new project and add a component with the new plug in Do not add the new component to the old project since this could cause a conflict of name with the existing component When adding select the desired version of the plug in The newest plug in version is used as standard gt Fig A 16 If the plug in version required for the new firmware cannot be selected the newest plug in must be installed first Festo P BE CPX CMAX CONTROL EN de 1505a English 191 A Notes on commissioning service and firmware a 7 ic fu Component ae Festo amp Qa CMMD AS ies M CMMO ST Device description T CMMP AS A Q CMMS AS CMMS ST amp CMXR C2 Device vendor Festo EMCA Device family CMAX Plugin version V02 02 00 Short description The CMAX is a modular positioning modul in the CPX system This software is a tool for the config
183. e 33 Pound per square inch psi 0 5 Moment of inertia 47 Pound force square inch lb in2 1 6 Angular velocity 56 Degrees per second ls 0 7 Angular acceleration 66 Degrees per second squared 2 52 0 8 Torque ramp 76 Pound force foot per second lbf ft s 0 9 Time 80 Milliseconds ms 0 10 Controller factor 100 without 2 11 Diameter 10 MillimetreD mm 2 12 Mounting angle 15 Degrees 1 Tab B 5 System of units table semi rotary drive Imperial PNU 1192 06 value 4 Festo P BE CPX CMAX CONTROL EN de 1505a English 199 B Basic principles of the CMAX B 1 2 Activation of the system of units table The CMAX does not have any system of measurement units set in the delivery status or after a data reset In this case the display shows the status C00 when switched on The system of measurement must first be defined This is done by writing the PNU 1192 05 with value 1 or 2 With the FCT this is done correspondingly through the Configuration Assistant Then the CMAX takes on the status C01 Configuration of the drive type in the C01 status determ ines whether the system of units is used for a linear or rotational movement gt Appendix A 1 2 Fig A 1 Only after these 2 steps have been completed are the remaining parameters set up correspondingly for example the actual configuration is scaled in the established measurement units specification values are set and access to the other parameters is a
184. e CPXC node Timer expired Fault o CMAX does not report Timer still running SCON FAULT 1 SCON FAULT 0 The operating pressure check requires up to 30 seconds to report ENABLED or FAULT depending on the set response lag E50 gt Description E50 SCON FAULT 0 SCON 24VL 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 175 A Notes on commissioning service and firmware Page a i SCON FAULT 1 SCON FAULT 0 SCON ENABLED 0 SCON ENABLED 1 Release clamping unit if present Resetting of the various control bits CPOS xxx 0 is necessary for a functioning handshake Recommendation Set byte CPOS 0 SCON FAULT 1 SCON FAULT 0 SCON READY 0 SCON READY 1 Fig A 3 Flow diagram for create readiness to operate 176 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 4 2 Start record Operation enabled SCON ENABLED 1 SCON READY 1 Waiting time 1buscycle oJ fieldbus is transmitted to the CMAX waiting time 1 control cycle Preparing the starting edge SCON ACK 1 SCON ACK 0 Starting edge SCON ACK 0 SCON ACK 1 Reset start in order to reduce the delay time the next time SCON ACK SCON ACK 0 SPOS MC 0 Waiting for MC is only required if reaching the target SPOS MC 1 Record carried out Fig A 4 Sequence diagram for start record F
185. e available in the diagnostic function Record Measurement Data The following error feedback signal status bit SPOS DEV has been optimised in some special situ ations Festo P BE CPX CMAX CONTROL EN de 1505a English 181 A Notes on commissioning service and firmware Plug in improvements The following points are supported by the plug in independently of the firmware design used Fast communication of the FCT plug in via the Ethernet interface of the bus node used Search func tion of the set IP address in the connected network If a user has a secure access to the Internet in his or her network a remote diagnosis through the Internet is possible If the recommended load limits of the drive are exceeded or fallen short of during configuration of the basic load and payload the plug in issues a corresponding warning Shift between short and long texts in the online tab I O Data That simplifies allocation of the terms used Example CCON BitO Drive enabled or ENABLE In some situations e g after a device data reset error E72 E73 E74 a restart of the entire CPX terminal is necessary The new reset function Restart CPX terminal permits a restart without switching off the supply voltage Menu Component Restart CPX terminal With the Upload Project button on the second page of the assistant for hardware comparison the CMAX project can be loaded into the FCT project without having
186. e control Control byte 2 CPOS record mode Bit DE EN Description BO Reserved must be 0 With logic 1 a warning is signaled B1 Start move Start The current record number is taken over and the record START ment com Movement started through a rising edge mand Command B2 Start homing Start Homing With a rising edge homing is started with the set para HOM meters Referencing is reset A fault is reported with an absolute measuring system B3 Jog positive Jog Positive The drive moves at the specified speed in the direction JOGP of larger actual values providing the bit is set B4 Jog negative Jog Negative The drive moves at the specified speed in the direction JOGN of smaller values providing the bit is set B5 Teach value Teach Value With a falling edge the current actual value is trans TEACH ferred to the nominal value register of the currently addressed record With a rising edge Prepare teaching transfer record number teach target B6 Reserved must be 0 With logic 1 a warning is signaled B7 Reserved must be 0 With logic 1 a warning is signaled Control byte 2 CPOS controls the positioning sequences as soon as the drive has been enabled 24 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control Status byte 2 SPOS record select mode Bit DE EN Description BO Reserve
187. e covers cylinder friction or unknown installation factors e g tubing connection external friction but the knowledge of which is important for the controller function e For a good identification result all parameters must be correctly set especially the mas l ter data base load payload supply pressure as well as the mechanical drive charac teristics especially the axis zero point offset e Repeat identification if one of these parameters changes during operation When does identification have to be carried out Identification is necessary during commissioning when changing the current configuration data or when replacing certain components gt Appendix A 3 1 If the CMAX detects a corresponding change when comparing the setpoint with the actual configuration a corresponding error message is gener ated and the controller is not activated The identification data do not necessary have to be reset for example after an error due to mixed up axis strings the identification data can continue to be used after the strings are changed back The CMAX signals a warning if identification should be carried out due to a change The CMAX signals an error if identification must be carried out due to a change The identification status parameter PNU 1171 contains information about the identification status Static and dynamic identification Static identification With static identification characteristics are a
188. e of the base value PNU 608 or 550 value Position force control Payload as a percentage of the base value PNU 605 or 544 or Byte 4 PNU 551 Value range 0 100 with no mathematical sign Impermissible setpoint values are lim ited With the secondary setpoint value payload 100 of the base value is always used for the speed or force ramp The setpoint value is transferred with a rising edge at CPOS START Primary Dependent on control mode position force setpoint Position control position in the established system of measurement units value gt Appendix B 1 Byte 5 8 Force control Force in the established system of measurement units gt Appendix B 1 The setpoint value is transferred with a rising edge at CPOS START In tracking mode the nominal position is transferred continuously after the start until the end of tracking mode Festo P BE CPX CMAX CONTROL EN de 1505a English 27 2 I O data and sequence control Assignment of the status bytes direct mode SCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Operating mode 1 2 FCT Load Fault Warning Opera Drive device voltage tion enabled control enabled SPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 REF STILL DEV MOV TEACH MC ACK Drive ref Standstill Following Drive Acknow Motion Acknow erenced warning error moves ledge complete ledge teach
189. e parameterised correspondingly in the plug in on the Diagnostics I O Data page in the Reaction to Messages tab 180 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Additionally the response delay of the E50 message has been improved The response delay can be adapted if required Plug in Diagnostics O data page Configure Messages tab Details gt A 3 7 Force control Optimisation and increase in the robustness of the force controller against interference from the applic ation These include Avoidance of unexpected backward movements of the drive related to the direction of force Avoidance of unintended movements in the case of fast interference forces while force control is being applied Improvement of the switch to force control when the axis is not yet at rest after a positioning com mand Support of DGCI characteristics The DGCI characteristics additional slide clamping unit and lubrication options have an effect on the working stroke or cylinder length These characteristics are taken into account in the configuration Further details gt B 2 5 Error texts The message texts for the error numbers are stored in the CMAX and can be read out via fieldbus to show them on an operating or display device The texts are available in German and English Advantage The message texts do not have to be maintained separately on the controller but
190. e print monitoring can be parameterised with the parameter response delay E50 PNU 1144 Para meterisation also applies if E50 has been parameterised as W50 The response monitoring E50 defines two monitoring times for the supply pressure the time for the first pressure rise of 100 mbar and the maximum time until the minimum pressure is reached For monitoring of the supply pressure the CMAX uses the pressure sensors of the VPWP These meas ure the pressures in ports 2 and 4 of the valve From these pressures it can be determined in normal operation whether the supply pressure port 1 is present After a long rest period or after the cylinder is vented through an additional circuit the following effect can occur After switch on the VPWP is at first in the middle position that is the valve is blocked The pressure in the ports 2 and 4 is at first built up only through leakage of the valve and as a res ult only slowly To ensure in this case that no error E50 is reported when CCON ENABLE is set after enable the CMAX first monitors the pressure rise and reaching of the minimum pressure The behaviour at enable is thus as follows 1 Before CCON ENABLE is set neither error nor warning is reported An existing message can be ac knowledged 2 If CCON ENABLE 1 is set and the chamber pressures are too small a pressure rise of 100 mbar 1 5 psi must be detected within the pressure rise time If a sufficiently large
191. e smaller force values become smaller sign 7 Position values become larger force values become larger sign 8 Moving total load The characteristic of gravitational force consideration can be used for weight compensation If the target force F 0 is set the drive stops weight compensated in the starting position at the start of the force command provided that the total load and mounting position are correctly configured and a stat ic identification has been carried out 50 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 1 3 Relative commands Relative commands are possible in record mode control bit RCB1 REL 1 and in the movement com mand in direct mode control bit CDIR REL 1 status bit SDIR REL 1 In the case of continuous set point value in direct mode a relative command is not allowed and leads to error E41 Position control Normally the target value is relative to the last target value for SPOS MC 1 or the actual value for SPOS MC 0 at the start of the movement command Exceptions For record sequencing the relative target value refers to the preselected value if the condition has the same control mode that is for the conditions position stroke stroke after force position after force Positioning commands following force commands during force control the target position is always adjusted to the actual position The relative
192. e specific slide length into account in calculating the software end positions In parameterisation via the controller the controller programmer must determine the software end positions Calculation gt Section B 2 5 Recommendation The calculation should be made through the plug in and the parameters taken over or exported from there Value Meaning 0 Recirculating ball bearing guide 1 Protected recirculating ball bearing guide GP O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out DGCI Distance between slide and additional slide KR DGCI Distance between slide and additional slide KR Param PNU 1104 Index 5 Max Index 6 Class Struct Data type int32 Linear drive Semi rotary drive Unit Specifi Minimum Maximum No additional slide is available with semi cation rotary drives Metric 0 01 mm 0 0 202 000 Imperial 0 001 mm O 0 759 528 In combination with the additional slide KR with the DGCI this value defines the distance between the standard slide and the additional slide KR With this value the plug in calculates the minimum permissible lower software end position which prevents the slide from running at high speed against the lower stop In parameterisation via the controller the controller program
193. eak or corrects too slowly a valve error red LED can occur under certain parameters without the CMAX reporting an error Positioning commands are not carried out Defective homing For large drives and or large loads in vertical mounting position the necessary monitoring times were not sufficient The robustness of the homing procedure has been increased Change in the handshake START ACK or HOME ACK with operation enable STOP The signals CPOS START bit B1 and CPOS HOM bit B2 must still be reset 0 when setting the oper ation enable CCON ENABLE in the status byte SCON If not the new error E58 or new warning W58 is generated configurable The following diagrams a to c show the various cases Festo P BE CPX CMAX CONTROL EN de 1505a English 183 A Notes on commissioning service and firmware gt Note The sequence corresponding to a must also be observed after an error Always set CPOS START 0 and CPOS HOM 0 before acknowledging the error a The error free time sequence of the control signals CCON ENABLE CPOS STOP CPOS START HOM CCON ENABLE SCON ENABLED iv l CCON STOP on SCON READY CPOS START CPOS HOM SPOS ACK SCON FAULT Fig A 7 Error free sequence of control signals b Incorrect time sequence CPOS START or CPOS HOM homing start reference travel is already set when CCON STOP is set CCON STOP 7 SCON REA
194. ect mode PNU 521 144 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation Example Two types of bulk goods are to be brought to a collection point and emptied there m Ww x A 2 A A 2 e slide uses the global default values to travel from the starting position 1 to the first loading position 2 1 Position 1 20 mm Wait 3 Position 3 145 50 mm Load 2 2 Position 2 75 mm Load 1 4 Position 4 205 20 mm Empty Fig 5 2 Example of different mass loads Step Exercise 1 Waiting in a waiting position to start collecting the bulk goods Upon start the empty 2 With increased mass load 12 kg the slide travels to the second load position 3 But acceleration and speed may correspond to the global default values 3 The full container 25 kg is moved to the unloading position 4 Here the slide needs to travel based on reduced speed and acceleration values due to the full container Tab 5 10 Example of global default valu To perform this task the following globa 4 From the unloading position 4 the values are not taken into account es the slide can return to the initial position 1 at full speed steps default values are defined first
195. ected components And so a CMAX can be installed in a machine pre parameterised as a spare part and placed in operation without a PC FCT If configuration is performed without components all the data needs to be entered After valve and displacement encoder or sensor interface have been connected the CMAX performs automatic hard ware recognition when switched on If the setpoint configuration agrees with the actual configuration the user can perform the movement test The serial numbers of the components are automatically taken over into the setpoint configuration Note After configuration the CMAX reports error E43 until a new hardware has been connected Configuration mode To indicate the status of configuration the display shows the status COO C03 can also be checked by reading out the PNU 1192 02 These statuses each label the next required action Festo P BE CPX CMAX CONTROL EN de 1505a English 157 A Notes on commissioning service and firmware Power on Search for axis at axis interface Valve and meas uring system OK PNU 1192 02 0 Valve and measuring system missing Axis not found Setpoint configuration Setpoint configuration Setpoint configura present still not present tion present faiting for syste of measurement units 3 Controller nt PNU 1192 02 4 ready Waiting for cylinder type Waiting for axis data Movement test Con
196. ection JOGP of larger actual values providing the bit is set B4 Jog negative Jog Negative The drive moves at the specified speed in the direction JOGN of smaller values providing the bit is set B5 Teach value Teach Actual With a falling edge the current actual value is trans TEACH Value ferred according to the teach function teach target in parameter 1 gt Section 3 2 6 With a rising edge Prepare teaching transfer teach target B6 Reserved must be 0 With logic 1 a warning is signaled B7 E Reserved must be 0 With logic 1 a warning is signaled Control byte 2 CPOS controls the movement commands as soon as the drive has been enabled Festo P BE CPX CMAX CONTROL EN de 1505a English 35 2 1 0 data and sequence control Status byte 2 SPOS commissioning mode Bit DE EN Description BO Reserved 0 B1 Acknowledge Acknowledge 0 Ready for start ACK start Start 1 Start carried out B2 Motion Motion 0 Movement command active MC complete Complete 1 Movement command completed also for error 2 B3 Acknowledge Acknowledge 0 Teach executed actual value transferred TEACH teach Teach 1 Ready for teaching B4 Drive moves Drive is Movement monitoring gt Section 3 1 9 MOV moving 0 Drive does not move 1 Drive moves B5 Following Deviation Following error or tolerance monitoring DEV error Warning gt Section 3 1 9 0 No following error with
197. ed During this test the drive is checked for mq correct tubing connection PNU 1192 02 3 The movement test can be skipped by writing the PNU 1192 07 2 not recommended Commissioning errors Fig A 1 only shows the most important paths in order to explain the principle If only one component is found that is displacement encoder sensor interface or valve error E60 or E80 is generated since it can be assumed that this is a defect Apart from that there are also other possible errors prior to or during commissioning e g insufficient operating voltage E52 memory error E7x drive enabled before reaching status C03 causes E05 i More information on the status display CMAX system description 160 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 2 Commissioning through the higher order controller A 2 1 C00 Basic parameterisation This section includes step for step instructions for basic parameterisation Fig A 2 shows an overview for the approach The description of the statuses COO to CO3 is required for understanding gt Appendix A 1 2 Fig A 1 CMAX in delivery status EE Activate parametrisation operating mode Set system of measurement units 1 Metric PNU 1192 05 1 2 2 Imperial F Bm mE Define drive type PNU 1100 00 1 7 l Block download ON PNU 1192 01 1 Load axis configuration All PNUs Bl
198. ed in individual cases gt Appendix B 5 3 Main features Target values and tolerance are specified as force Force values have a sign positive or negative The sign of the force setpoint value determines the direction of force control means force build up towards increasing position values means force build up towards decreasing position values monitoring of the software end positions and force limitations adjustable setpoint force ramp force increase per unit of time path speed monitoring during force control travel at reduced speed if the counteracting force is missing Given correctly specified total load and correctly configured mounting position the target force and the reported actual force describe the effective force on the workpiece see also below Influence of the total load on force control Friction forces in the drive system cylinder and guide are not considered Continuous setpoint tracking in force mode is not supported Force control sequence If Force control is set as the control mode with a rising edge at CPOS START in record mode or in direct mode the CMAX interprets the target value specification as a force value It activates the force control and adjusts the value with the set ramp Depending on the situation force control takes place in various phases gt Fig 3 3 Festo P BE CPX CMAX CONTROL EN de 1505a English 45 3 Drive
199. ee eee 171 N Notes on the documentation 8 o Operating mode 00 14 306 Commissioning eee 15 Direct mode iarere phic cites canoe es 14 FUNCHIONS seeren ree bh Rive one eden eee 16 Odata sevice b ORE Ceo AS See 17 Parameterisation 0 ee eee 15 Record selection e cee eeee 14 Switchover no ees eee ee che ven en 18 179 OPM1 OPM2 cece cence 20 21 Optimising the positioning behaviour 218 308 Festo P BE CPX CMAX CONTROL EN de 1505a English Axis controller CPX CMAX P Parameter cc cece eee cece eens 306 Parameter structure 2 000 223 Parameterisation 0 cece eee aee 15 SHC CliCr E E weg 150 2 1 O data iz oda fide jeer ead ards 37 Password protection 138 Plug in versions eee eee eens 8 188 PNU a vitea draka Erra eee ed Valdes 306 Position control 00 cee eee 41 306 Pressure control 0 cece e eee eee 306 Programming e eee eee eens 174 Project zero point 006 306 Q Quality classes 0 0 eee eee eee ee 52 R RCD 32 esere cies ea Reh eee A 26 ROC ois ie sa ae eaten reed aoe cae Sake TETE 26 RGEs sarees ces vied Wiebe es eda ies Saws 26 READY 22 oi5o 2 vives sock AT 21 RECOM 255 bade bee ded tea ere eae 306 Record chaining 02 eee eee 85 Record mode ccc cece
200. eee ee Timestamp Time of the diagnostic event since the delivery status reset device data or PNU 202 firmware download in milliseconds PNU 222 PNU 222 contains the number of days PNU 202 contains the number of milliseconds of the day The timestamp is not a real time clock The time is read from the device data PNU 140 when the message occurs The CMAX counts the period of operation The current time gt PNU 140 is saved during switch off and loaded again during switch on Diagnostic event Type of diagnostic message PNU 200 Not only errors and warnings are entered into the diagnostic memory but also switch on operations resets or configuration events The interpretation of the diagnostic code and the additional information depends on the type of these events Diagnostic code The diagnostic code includes detail on the diagnostic event For errors and PNU 201 warnings this is the exact number while for configuration events it is the function performed etc Additional information Detailed information on the diagnostic event The evaluation is complex PNU 203 and therefore suitable for a control program under limited conditions only Description gt Section 4 3 3 Tab 4 10 Parameters of the diagnostic memory Diagnostic events The diagnostic event determines the meaning of the diagnostic code and the additional information Diagnostic events PNU 200 Value No Descript
201. efault value default value for deceleration PNU 603 has been deactivated with PNU 521 02 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out SSS ESSE ESS _ t Direct mode payload position Direct mode position payload Param PNU 544 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 0 0 200000 1kgcm 0 0 20 000 Imperial 1 lb 0 0 44 093 0 1 lb in2 O 0 68 343 Payload in direct mode position control Only effective if use of the global default value default value for payload PNU 605 has been deac tivated with PNU 521 02 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Direct mode position tolerance Direct mode position tolerance Param PNU 545 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 100 10 1 000 0 1 10 1 100 Imperial 0 001 in 40 4 394 0 1 10 1 100 Toleran
202. em into a safe status before the firmware download Reset to 0 all controller output data for the CMAX i e byte 1 8 The controller must not block access for the FCT Recommendation The controller should be switched into the stop status If possible physically discon nect the bus connection to the CPX terminal i e pull out the bus cable at the CPX terminal Procedure for firmware update gt Section A 8 A 3 6 Switch on behaviour and power down If a failure of the operating voltage is detected all user data device and axis parameters identification and adaptation data are saved retentively After switch on a check is made whether the data backup of the CMAX was performed without errors the last time the system was switched off In the event of an error E76 power down error is issued If the CMAX reports E76 the last successfully saved data are present in the controller Parameters such as record list axis configuration etc can meanwhile have been changed by the user These changes are then lost Adaptation data and identification data are possibly invalid and must not be used Therefore error E76 cannot be acknowledged The user must execute an axis data reset and commission the axis again The data stored in the CMAX can be read beforehand with the plug in 172 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 3 7 Optimisation of the response delay for error E50 Th
203. ement command with continuous setpoint specification is started 96 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Continuous setpoint specification active Setpoint value output data Start CPOS START Start acknowledgment SPOS ACK Motion complete SPOS MC 1 Inthe output data of the controller set the desired setpoint position in the main setpoint value and the speed or payload in the secondary setpoint value 2 If SPOS ACK 0 and SPOS MC 1 is 1 the controller can start continuous setpoint value mode with the rising edge at CPOS START 2 The CMAX transfers the setpoint values currently present starts the movement command sets SPOS MC 0 and acknowledges the starting edge with SPOS ACK 1 3 As long as CPOS START 1 the setpoint value may be changed at any time The CMAX leads the position of the axis toward the setpoint value speed and acceleration are limited corresponding to the base values from Tab 3 26 4 With a falling edge at CPOS START 3 the setpoint tracking is ended 4 the drive stopped and setpoint position actual position is set Fig 3 15 Start of the movement command with continuous setpoint specification Festo P BE CPX CMAX CONTROL EN de 1505a English 97 4 Diagnostics and error handling 4 Diagnostics and error handl
204. ent of bus failure or activa tion of the idle mode of the CPX terminal These functions are not available for all bus nodes e Additional information on different CPX nodes in the respective Application Note in the l support portal gt www festo com sp 1 3 2 Start up behaviour of the CPX terminal The desired parameterisation of the CPX terminal can normally be carried out in the start up phase or after fieldbus interruptions by the bus controller or the scanner bus master providing this is supported by the fieldbus protocol used gt Note When exchanging a CMAX parameterisation is not automatically established over the bus node In this case a correct parameterisation of the CMAX must always be performed just as with initial start up gt Section 1 1 2 Follow the notes for exchanging components in the CMAX system description 12 Festo P BE CPX CMAX CONTROL EN de 1505a English 1 Configuration of the CPX terminal with the CMAX 1 4 Notes on commissioning via the higher order controller Fundamentally the CMAX can be completely commissioned through the higher order controller or the controller integrated into the CPX node But this always requires additional programming and suitable measures for monitoring the drive while the commissioning operation is being executed Recommendation Perform initial commissioning with the FCT Tab 1 1 shows an overview of the necessary functions with references to detailed in
205. equently for other reasons Attention Even if these messages are not entered in the diagnostic memory the respective error in the corresponding situation must be reported and acknowledged Festo P BE CPX CMAX CONTROL EN de 1505a English 131 4 Diagnostics and error handling PNU 228 02 Errors and warnings filter Should this error warning be entered in the diagnostic memory Bit Description Default 0 WO8 Cylinder valve or sensor interface were exchanged 1 1 E35 w35 Software end positions travelled over 1 2 W42 Reserved control bits set 1 3 E50 W50 Operating pressure is too low 1 4 E51 Load voltage of the controller outside of the tolerance range under 1 voltage 5 W57 Timeout diagnostic interface FCT device control has been deactivated 1 6 W68 Preliminary warning valve over temperature 73 31 Reserved 0 0 Tab 4 19 Parameterisation of the diagnostic messages messages filter Setting error characteristics Some errors can also be reported as warnings This concerns in particular function monitoring such as maintaining the software end positions The correct reaction in these cases often depends on the ap plication For messages where both reactions are possible the behaviour of the CMAX can be determined Not all messages can be parameterised individually but only selected ones for which parameterisation makes sense PNU 228 03 Setting error ch
206. er recalculation is carried out System of measurement units System of measurement units Param PNU 1193 Index 1 12 Max Index 12 Class Struct Data type int32 Values Specification 0 Minimum Maximum Determines physical units gt Appendix B 1 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out System of measurement units resolution System of measurement resolution Param PNU 1194 Index 1 12 Max Index 12 Class Struct Data type int32 Values Specification 0 Minimum Maximum Determines the scaling resolution or number of decimal places gt Appendix B 1 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 302 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Start configuration Start configuration Param PNU 1195 Index 1 5 Max Index 5 Class Struct Data type int32 Values Specification 0 Minimum Maximum The start configuration includes important configuration data at the time of identification After iden tification the current configuration may only be modified within certain limits If the setpoint config uration i
207. er value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 271 C Parameter Default value force tolerance Default value tolerance force mode Param PNU 607 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N 10 1 1 000 Imperial 1 lbf 3 1 225 This value contains the globally preset tolerance for force control This is used in all movement com mands with force control where no individual tolerance is specified gt Section 5 3 PNU 403 521 Bit bit 7 0000 0080h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Default value force ramp Default value force ramp Param PNU 608 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N s 1 000 10 100 000 Imperial 1 lbf s 200 2 22 481 This value contains the globally preset force ramp Th
208. erating instructions for the components used instructions Tab 2 Documentation for Axis controller CPX CMAX Electronic versions of the documentation for the CMAX axis controller as well as application l notes for use of various CPX nodes are available in the Internet gt www festo com sp search term CPX CMAX C1 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 1 Configuration of the CPX terminal with the CMAX 1 1 1 1 1 1 1 2 Configuration of the CPX terminal with the CMAX Planning aspects regarding parameterisation of the CMAX Notes on the available CPX bus nodes Observe the list of approved CPX bus nodes bus protocols and control blocks and the required revisions in the system description for the CMAX With the Festo Field Device Tools the firmware of many bus nodes can be checked and updated The Festo Field Device Tool is available in the support portal gt www festo com sp search term FFT Current information is available in the catalogue gt www festo com catalogue Observe the notes on the software status in the documentation for the bus node or control block General instructions on parameterisation of a bus node gt Description for the bus node used Parameters of the CMAX and parameters of the bus node The CMAX has a number of module specific parameters These internal CMAX parameters cannot be stored as CPX module parameters in the bus node but are saved exclusively in the CM
209. erisation The drive references with respect to a stop or the current actual position After the start of homing the CMAX carries out the following steps 1 Reset of the homing status to Homing not executed 2 Search for the reference point mechanical stop 3 After standstill and a waiting period the pressurized cylinder chamber must have a chamber pres sure measuring at least 2 3 of the set operating pressure 4 Determine the axis zero point cylinder zero point by setting the corresponding offset to the refer ence point gt Section B 1 5 After reaching the stop the CMAX sets the status SPOS REF 1 The end of homing is signaled afterwards with SPOS MC 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 69 3 Drive functions Overview of parameters involved gt Section C 2 12 Parameters involved Description PNU Offset axis zero point 1130 Homing method permitted 18 17 35 1131 Homing speed 1132 Homing payload 1134 Start FHPP CPOS HOM rising edge Start homing jogging has priority Acknowledgement SPOS ACK rising edge Acknowledge start FHPP SPOS MC 1 Movement completed SPOS REF 1 Drive referenced Tab 3 14 Parameters involved in homing i The setpoint values transmitted in the 1 0 data have no effect on homing e The axis zero point offset has a great influence on CMAX controller optimisation Even l small values a few mm must be specif
210. erisation operating mode in the CCON wait for acknow ledgement in the SCON E CCON STOP and CCON ENABLE must not be set B7 B6 B5 B4 B3 B2 B1 BO CCON OPM2 OPM1 LOCK RESET Brake STOP ENABLE Target il 1 X 0 x X 0 0 SCON OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Target 1 1 0 x 0 0 0 0 162 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Define system of measurement units gt L m Write cylinder type 6 LL aL Switch on block download 8 mq a Load axis data 9 Define the desired system of measurement units PNU 1192 05 1192 05 1 gt metric SI system metre kilogramme Newton 1192 05 2 gt imperial system inch pound pound force Writing the parameter results in setting the commissioning status C01 This can be checked by reading the PNU 1192 02 Write cylinder to the setpoint configuration PNU 1100 01 The cylinder type must match the value from the automatic hardware recognition The recognised value can be read from the actual configuration PNU1190 01 The cylinder type defines the system of measurement units used The CMAX now scales the length specifications from the actual configuration into the established system of measurement units Now all the paramet ers can be accessed Writing the parameter sets the commissioning status C02 This can be checked by reading the PNU 11
211. ersion that is does not fulfil the min imum request of the CMAX no linkage is created The plug in reports this with a Plug in version conflict and generates an entry in the Output window Fig A 11 The currently used plug in version is displayed in the status bar at the lower right Output ax GJ Device CMAX_1_0_0 COM1 Connecting to device 10 03 2010 15 35 30 Device CMAX_1_0_0 COM1 The firmware demands a newer PlugIn version Work is not possible with this PlugIn version 10 03 2010 15 35 30 E output Operate Movement test Identification Manual move Force mode Diagnosis Ready FCT 1 2 0 87 Cmax 1 0 0 1055 Fig A 11 Display of the plug in version used As soon as a linkage has been successfully created the plug in versions demanded by the CMAX are displayed on the Controller page in the Compatibility register gt Fig A 12 _ Project Component View Extra Help 2 g S B AAS Onine 169254176 E Project Station A 2l fal Components Modul position no La Language Emash d s X j Configuration G Application Data p Measure Limits Device data Compatibilty CPX Node H Record Table Hardware version PI Jog Mode Minimum plugin version Direct Mode Recommended plugin version LE Controller Data Bootloader version Q Diagnosis 10 Data FHPP version Trace Configuration z z
212. erview of the available functions in the operating modes 2 2 Structure of the cyclical I O data in the operating modes eee eee eee ee eee 2 2 1 Defining the operating mode with CCON ee eee eee eens 2 2 2 GCGON SCON StrUCtUIe sss eek hte old lee ceed atet Sista eee ake 8 2 2 3 I O data in record MOdE 0 55 see e ee sees se bee ER tre VER oS ewes 2 2 4 1 0 data with direct mode 1 0 ccc ccc cee cee cence eee n ee rnrn 2 2 5 I O data in commissioning mode cece cece eee e eens 2 2 6 I O data in parameterisation mode cece eee eee eee eens 23 Finite state machine FHPP estune cee eee eet e eee AER 2 3 1 Establishing the ready status 0 eee eee cece eee eee eens 2 3 2 Starting movement commands cee cece ee eee eee eee eeee eee Festo P BE CPX CMAX CONTROL EN de 1505a English 0 0 0 o o 10 10 10 10 11 12 12 12 o N Ann AARAA D PP j m BWWWWNN PB COO WAN WNN Axis controller CPX CMAX 3 1 3 2 3 3 3 4 4 1 4 2 4 3 4 4 Drive fUNCtIONS se ss enaena a ER EE aes TEREE ATEO E RRRS General functional description esssssssssesserersrrerserrrrrerrrerets 3 1 1 P sito control yieee tare a tates Ma S E EE AAEE ade 3 1 2 FOCE CONTON E ea e eie see eaten teeta E A teas BGs 3 1 3 Relativ commands 2 5 30 c vsudedog ce coach see acaeg Sok ere eon EE hoch eee aad 3 1 4 Stop beh
213. eserved functions are executed Para When executing a commissioning operation Reserved 0 meter 1 When teaching teach target gt Section 3 2 6 Byte 4 A zero 0 must be transferred in setpoint value bytes which are not used Para For Identification commissioning function only current payload in the established meter2 system of measurement units gt Appendix B 1 Byte 5 8 A zero 0 must be transferred in setpoint value bytes which are not used Festo P BE CPX CMAX CONTROL EN de 1505a English 33 2 1 0 data and sequence control 34 Assignment of the status bytes commissioning mode SCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Operating mode 1 2 FCT Load Fault Warning Opera Drive device voltage tion enabled control enabled SPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 REF STILL DEV MOV TEACH MC ACK Drive ref Standstill Following Drive Acknow Motion Acknow erenced warning error moves ledge complete ledge teach start Function Depending on the parameterisation PNU 523 03 07 Byte 3 Feedback on the commissioning function currently being executed For configuration of the secondary actual value as an error number progress display or teach target The commissioning function is then not acknowledged Second Depending on the parameterisation PNU 523 03 07 ary actu Progress disp
214. esto P BE CPX CMAX CONTROL EN de 1505a English o position is necessary for continuing with the process Im This action is mandatory This action is a recommendation and does not have to be performed For all fieldbuses that do not support consistent data transmission it is necessary to wait one bus cycle after entering the record number during which the record number on the Recommendation with most control systems the control cycle is longer than the bus cycle 177 A A 4 3 SPOS MC 0 Fig A 5 178 Error active Notes on commissioning service and firmware Acknowledge error m This action is mandatory o This action is a recommendation and does not have to be performed Wait until error response has ended Attention not in parameterisation operating mode spos mc 1 A Prior reset is ignored Resetting of the various control bits CPOS xxx 0 is necessary for a functioning handshake Recommendation Set byte CPOS 0 Use reset counter integer type in order to limit the maximum number of resets The CMAX always tries to reset all active errors Multiple acknowledgements are not necessary There may however be subsequent errors after acknowledging Cancel acknowledgement after more than 3 tries and perform extended diagnostics e g with the FCT Rising edge means that CCON RESET is pending for at least as long as is required for t
215. et position e g for teaching records Logic 0 Input or output provides O V also LOW FALSE or 0 signal Logic 1 Input or output provides 24 V also HIGH TRUE or 1 signal 0 Digital output From the point of view of the higher order controller the CMAX control in puts are module output data gt Section 2 2 OB Output byte Operating mode Type of CMAX control function or setpoint specification Parameters Different settings which are defined for the system operation and have to be saved in the CMAX PNU Parameter number each parameter has a number and subindex gt Chapter Notation PNU xxxx zz xxxx parameter number zz subindex Position control Control mode where a defined position is approached and stopped at under electronic control Pressure force control Control mode for which a defined force is built up via pressure control In the following the term force control is always used Project zero point PZ Measuring reference point for all positions in positioning commands project zero point The project zero point forms the basis for all absolute position specifications e g in the record table or in direct mode The point of refer ence for the project zero point is the axis zero point Record Positioning command defined in the record table consisting of target posi tion positioning mode speed acceleration Reference point REF Po
216. eter value data Response byte 1 7 of the FPC Section 5 4 Tab 5 14 Tab 5 19 FPC in the cyclic I O data Transmitted in the first byte is the control byte CCON which controls the operating mode and release of the drive The CMAX responds with the SCON status byte The CCON STOP bit must not be set since the CMAX cannot switch to operation enabled status in the parameterisation operating mode CCON STOP 1 leads to a warning Some parameters can be written only in the drive blocked status CCON ENABLE 0 150 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation 5 5 1 Example for parameterisation Programmers can use the following example as an orientation for implementation Example Parameter request Parameter response PLC output data PLC input data Write setpoint ReqiID 8 Write value ResID 5 Value has been transmitted position gt PNU 404 Setpoint value record table gt pnu 404 Setpoint value record table Record 3 27 89 mm IND 3 Record 3 IND 3 Record 3 Value 27 89 100 2789 Value 2789 Fig 5 3 Example of parameterisation Preparing for parameterisation Establish status for switching operating mode Switching is permitted in the statuses Controller blocked or Drive enabled or Error Example Drive enabled status Allocation of the control bytes prepare mode switch Bit B7 B6 B5 B4 B3 B2 B
217. etting step F2 alternative step W 4 2 1 Effect on the sequence control and axis malfunction step Dependent on the malfunction step faults and warnings have the following effect Malfunction step Effects on SCOND SPOS Sequence control Axis FAU WAR READ EN MC REF LT N Y ABLED W Warning None 1 F1 Fault 1 Transition to the Stop 1 0 1 l F2 Fault 2 fault status Drive blocked 1 0 0 1 l FS System fault System fully stopped x x x x x X 1 Status of status bits no effect 0 logic 0 1 logic 1 x no updating Tab 4 3 Malfunction steps F1 fault 1 The axis is stopped Stop behaviour gt Section 3 1 4 F2 fault 2 The drive is blocked controller inactive the drive moves using residual energy until it comes to rest If communication with the displacement encoder sensor interface fails the possibil ity exists that homing may be lost SPOS REF 0 FS system fault It may no longer be possible to update the I O data Switching off on required Festo P BE CPX CMAX CONTROL EN de 1505a English 99 4 Diagnostics and error handling 4 2 2 Acknowledgement of faults and warnings reset type Acknowledge fault Faults must be acknowledged with CCON RESET before a new positioning command can be started In most cases the cause of the fault must be eliminated 1 Rising edge at CCON RESET 2 Wait 3 s depe
218. fac Var int32 R turer 102 1 1 Version FHPP Var int32 R 103 X 30 Date produced Array Char R 104 X 2 Software versions Var int32 R 105 1 1 Boot loader version Var int32 z R 107 1 1 Variants code Var int32 7 R 108 X 30 Variants name Array Char R 114 1 1 Controller serial number Var Bit array R 116 X 33 FCT project identifier Array Char RW 120 X 30 Manufacturer s device name Array Char R 121 X 30 User s device name Array Char RW 122 X 30 _ Manufacturer name Array Char R 123 X 30 HTTP address of manufacturer Array Char R 124 X 30 Festo order number Array Char R 130 X 30 Password Array Char Ww 133 X 2 System password Var int32 E RW 140 1 2 System time operating days Struct int32 R display 140 2 2 System time milliseconds of Struct int32 R the day SSS ee SSS SS SSS eee 1 gt Tab C 4 Festo P BE CPX CMAX CONTROL EN de 1505a English 225 C Parameter PNU 1 Name DE Properties 1 PNU Ind Max Class Type Unit RW 154 1 1 Language Var int32 RW 155 1 1 Supported languages Var Bit array R 180 X 30 Axis Name Array Char RW Diagnostics gt Section C 2 3 200 X 100 Diagnostic event Array int32 E R 201 X 100 Diagnostic code Array int32 a R 202 X 100 Time stamp time
219. force in the system of measurement units 2 Actual force actual position scaled3 4 5 Force control 5 Secondary Direct mode 0 Force ramp in percentage of PNU 550 608 setpoint value 1 Payload as a percentage of PNU 551 605 6 Primary setpoint Direct mode 0 Setpoint force in system of units gt B 1 value 7 Secondary actual Record mode 0 Record status byte PNU 400 03 value Direct mode Speed as a percentage of PNU 540 600 Commissioning Progress in percentage teaching goal Record mode 1 Current error number direct mode commissioning 8 Primary actual Record mode 0 Actual position in the system of measurement value2 direct mode units commissioning 1 Actual force in the system of measurement units 2 Actual force actual position scaled4 gt 1 Secondary actual value must be configured identically for force and positioning control i e both 0 or 1 2 Main actual value Current force current position scaled value 2 must be configured identically for force and positioning control 3 Force torque values are not supported for semi rotary drives and must not be parameterised 4 Only available from FW 2 2 or higher 5 Resolution is adjusted depending on the cylinder diameter gt Section 2 2 3 Tab 2 3 The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out
220. formation which must be observed during commissioning tion data etc mode Function Description Topic Information Entire commis Preparations for commis Notes on commissioning gt AppendixA sioning sequence sioning and their step by service and firmware step execution During the entire Control and monitoring of Control and status bytes gt Chapter 2 commissioning CMAX z 7 Diagnostics gt Chapter 4 process Parameterisation Reading the detected actual Festo Parameter Channel gt Section 5 4 configuration writing the FPC Festo Parameter target configuration para Channel metrisation of the applica Parameterisation operating gt Section 5 5 Commissioning Execution of commissioning Commissioning mode gt Section 2 2 5 functions operations movement test identification teaching func Commissioning operations gt Section 3 2 tions Tab 1 1 Information on commissioning via the higher order controller i Also follow the instructions in the CMAX system description chapter Commissioning Festo P BE CPX CMAX CONTROL EN de 1505a English 13 2 1 O data and sequence control 2 1 O data and sequence control 2 1 Operating modes The CMAX recognises 4 operating modes These differ in content and structure from the cyclical 1 0 data of the CMAX 2 1 1 Record selection operating mode record mode The CMAX has 64 records which contain all t
221. functions Actual speed Reduced speed Vred Time Actual force gee Saye Bae Rel e ae 1 2 Start force build up with setpoint force ramp Travel at reduced speed vred After reaching the workpiece renewed force build up with setpoint force ramp Target force reached BPW Fig 3 3 Phases of the force control schematic representation 1 The force command is triggered with the rising edge at CPOS START The MC signal jumps to 0 the force build up with the parameterised force ramp begins phase 1 2 Without sufficient counteracting force the actual speed of the axis exceeds the value of the re duced speed vred the CMAX switches automatically into position control and the axis travels fur ther position controlled at reduced speed The axis is in phase 2 positioning travel with reduced speed Vred 3 If the workpiece or the end stops are reached the counteracting force rises The CMAX recognises this e g standstill switches automatically back to force control and continues the force build up with the force ramp Phase 3 is run through 4 If the actual force reaches the target force within the parameterised tolerance MC is set and the force command is ended The axis continues to press with the target force against the workpiece phase 4 It remains in force
222. ges suddenly when teaching the project zero point As long as CPOS TEACH 1 the CMAX does not accept any starting edge Therefore no function can be started during teaching Jogging is permissible however The acknowledgment of the teach target byte 3 or byte 4 of the input data see above is reset in the case of rising edge at CPOS TEACH rising edge at CPOS START change in the operating mode CCON OPM1 CCON OPM2 During teaching of the software end positions make sure that the upper software end position is always larger than the lower one If that is not the case error E44 is signaled and the taught value is not accepted Recommendation First teach the upper and then the lower software end position If no software end position has been taught yet the lower software end position can also be taught first The upper software end position is then automatically set to the upper hardware end position by the CMAX Typical errors and warnings during teaching No Type Cause W35 Actual position is out During teaching a software end position has been passed side of the software end position E44 Teaching not possible Teaching cannot be executed Reasons Section 4 2 4 causes for error E44 Additional information in the diagnostic memory gt Section 4 3 3 E46 Start during teaching Commissioning mode While CPOS TEACH 1 no commissioning is not allowed operation can be started Reason Both
223. gh Amplification gain set too high Cushioning factor set too low e Stabilize supply pressure or carry out new identification travel with lower supply pressure e Correct load e Reduce setpoint values in particular acceleration If necessary carry out dynam ic identification travel auto matic limiting e Correct parameter e Correct parameter e Correct parameter Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Effect Cause Remedy Underswing no or minimum standstills before MC i 5 Too much load configured e Reduce load A possibly causes over cush ioned controller Overload too high fast e Adjust setpoint values setpoint values if necessary carry out dynamic identification travel automatic limiting m Setpoint position Actual position N Festo P BE CPX CMAX CONTROL EN de 1505a English 221 wo Basic principles of the CMAX B 5 3 Controller factors for force control Force controller amplification gain PNU 1160 The amplification gain increases or reduces the controller amplification As a result the controller responds to deviations faster or more slowly The time until the static final value is reached can be optimised The amplification gain is used to influence path accuracy over the entire force command If this factor is increased too much
224. gnition 1190 05 Cylinder type measurement system type valve type 1190 11 1192 03 Read write Carry out data reset 1192 05 Read write System of measurement units 1192 06 Read System of measurement units table Tab A 1 Access to parameters in status COO Festo P BE CPX CMAX CONTROL EN de 1505a English 159 A Notes on commissioning service and firmware E The system of measurement units has been defined The CMAX waits for the cylinder type to be defined mE It is now defined whether the metric or imperial system of units is used PNU 1192 02 1 However the parameters can still not be scaled because a distinction between translatory linear drive and rotatory semi rotary drive needs to be made To do this the cylinder type PNU 1100 must be written The cylin der type defines the system of measurement units table actually used gt PNU 1192 06 The system of measurement units and the cylinder type have been success fully established The CMAX waits for the axis parameter to be written z The recognized hardware has been scaled Appropriate specification data PNU 1192 02 2 has been created in the system of measurement units There is access to all parameters so now the recognized cylinder length measuring system length etc can be read Now the axis configuration needs to be transmitted download Basic parameterisation has been completed The axis can now be used A movement test can be perform
225. h 103 4 Diagnostics and error handling Group 1 Execution error CPX error group 101 CPX MMI Execution error No Message Malfunc Reset type tion level 13 Wrong direction of movement during movement test F2 R Wrong direction of movement during movement test Cause Cylinder and valve are incorrectly connected Measure e Check and correct the tubing connection 14 Movement test not carried out F2 R Movement test not carried out Cause Positioning command without valid movement test Measure e Run movement test recommended or skip 15 Result of the movement test not clear F1 R Result of the movement test not clear Cause Drive jammed Measure e Check friction of the drive and guide e Check pressure build up with trace Cause Obstacle in the travel path Measure e Check travel path and software end positions Cause Working pressure insufficient to move the load Measure e Set sufficient working pressure and check the load Cause Cylinder not correctly designed Measure e Check size and correct Cause Valve defective Measure e Check pressure build up with trace Replace valve if defective Cause Faulty tubing connection Measure e Check tubing connection Cause Valves additional pneumatic circuit installed between the valve and cylinder are closed Measure e Open valves 16 Identification failed F1 R Identification failed Cause Incorrect base load and or payload par
226. h blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 293 C Parameter Limiting values Limit values Param PNU 1173 Index 1 Max Index 14 Class array Data type int32 Values Specification 0 Minimum Maximum Information about limiting in the positioning stroke last executed gt Section 3 1 10 Index Value 1 Status word 2 Start position actual value 3 Target position 4 Setpoint acceleration 5 Maximum value of acceleration 6 Setpoint deceleration 7 Maximum deceleration value 8 Setpoint speed 9 Maximum value speed 10 Setpoint force 11 Maximum force value 12 Force ramp setpoint value 13 Force ramp maximum value 14 Starting force Allocation of status word Index 1 Bit Status information 0 1 New values are now available 1 1 Acceleration has been limited 2 1 Deceleration has been limited 3 1 Speed has been limited 4 1 Force setpoint value has been limited 5 1 Force ramp has been limited 6 15 Reserved 16 23 For record mode Number of the record executed last 24 0 Record mode 1 Direct mode 25 0 Position setpoint value 1 Force setpoint value 26 0 Free profile 1 Automatic profile 27 31 Reserved 1 The status word is used as a handshake between CMAX and FCT
227. he CMAX occurs as shown in Tab 4 24 and Tab 4 25 Module diagnostic data type of error and location of the error Function no 2008 m 4 0 m module number 0 47 Description Describes where the relevant error occurred Values Bit 765 0 Description 1 0 000000 Error in channel 0 axis 1 Tab 4 24 Type of error and location where error arose Module diagnostic data module error number Function no 2008 m 4 1 m module number 0 47 Description Error number Values 100 108 CPX error number gt Example Tab 4 23 Note Error messages of the CMAX gt Section 4 2 3 Tab 4 25 Module error number 4 5 3 Parameterisation via the I O diagnostic interface In principle parameters can also be changed via the CPX bus nodes or CPX FEC specific functions such as acyclic services etc The CMAX parameters are accessed via the I O diagnostic interface gt Tab 4 26 i Information on the parameterisation gt Description of the CMAX communication profile Function number 2 Parameter entry 4828 m 64 0 5 Reserved standard module parameters not used by the CMAX 4828 m 64 6 Reserved for special module settings of the CMAX 4828 m 64 7 4828 m 64 8 11 Task control 4828 m 64 12 61 50 byte data depending on the task 4828 m 64 62 63 Reserved 1 m Module number Tab 4 26 1 0 diagnostics interface 136 Festo P BE
228. he CMAX to clearly recognise it This period depends on the bus node used and the bus cycle time Recom mendation time gt 10 msec Use timer in order to limit the maximum response time of the CMAX Depending on the error num ber various responses are triggered in the CMAX after reset New initialisation of the axis string takes the longest max 3 seconds CCON RESET 0 o SCON FAULT 1 An extended diagnosis is required e g with FCT Reset counter 3 Reset counter lt 3 Acknowledge error flow diagram Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 4 4 Switch over operating mode Old operating mode active im This action is mandatory Assumption o This action is a recommendation CCNON ENABLE 1 and does not have to be performed and CCON STOP 1 When switching between record mode and direct mode disable operation is not necessary This can be used to optimize the control function SCON READY 1 SCON READY 0 All operating mode dependent bytes are set to zero This prevents old target data from affecting the CMAX even if these have a completely different meaning in the new operating mode ccon SON Bit B6 CCON OPM1 Bit B6 SCON OPM1 Record mode CCON OPM1 SCON OPM1 Bit B7 CCON OPM2 Bit B7 SCON OPM2 1 o Commissioning 1 1 Parameterisation OR Wait for feedback from the switch over
229. he default value PNU 605 or the value from the indi vidual parameter PNU 410 536 544 or 551 1134 in the controller is used for the payload As soon as the first positioning process has occurred after switch on the parameter has no effect any more O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Dual axis design Dual axis design Param PNU 1143 Index 2 Max Index 4 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 Enables configuration of a dual axis With a dual axis two parallel cylinders are mechanically coupled and controlled jointly with a valve in order to generate greater force The second cylinder has its own measuring system When this option is set the larger effective piston surface is automatically calculated by the CMAX and does not need to be entered by the user Both cylinders must have the same diameter and the same stroke Value Meaning 0 Design as single axis 1 Design as dual axis O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 285 C Parameter Clamping unit present Clamping unit installed
230. he necessary information for a movement command A record must be parameterised in advance e g with FCT In record mode the record number is transferred to the output data of the higher order controller that the CMAX should execute with the next start The input data include the record number that was pro cessed last The CMAX does not include any user program Records cannot be processed automatically with a pro grammable logic The CMAX cannot be operated as stand alone without a higher order controller However it is possible to link various records and execute them one after the other with the help of a start command It is also possible to define a record sequencing before the target value position or force is reached In this way positioning profiles can be created without any effect by the inactive times which arise from the transfer in the fieldbus and the controller s cycle time Detailed information on the record mode gt Section 3 3 l Overview of the I O data gt Section 2 2 3 2 1 2 Direct operating mode direct mode In the direct mode movement commands travel to position or set force are formulated directly in the output data of the controller and transferred to the CMAX The typical application dynamically calcu lates the new target value for each movement command As a result for example adaptation to differ ent workpiece sizes can be achieved more easily In this operating mode the target value position or f
231. he setpoint status especially when there are fast modifications to the setpoint value The system should generally ensure low vibration behaviour at the setpoint value specification and an overswing free approach into the target position Modifying the factor for cushioning influences the transition behaviour of the system Behaviour of the axis Factor Bad positioning quality nominal position is approached only slowly Reduce underswing The drive tends towards instability tendency to vibrate during positioning Increase up to continuous vibration around the setpoint position heavy overswing The positioning process is carried out quickly and accurately Optimal ee E ee ee Ee ee ee SS SS Sees Tab B 20 Effect of position controller cushioning factor 216 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Position control filter factor PNU 1152 Speed and acceleration are derived from the positioning signal and filtered to improve the signal qual example due to electrical interference If filtering is too strong it may destabilize control ity Filtering of the signal can be influenced by the filter factor if the signal quality is poor in practice for noises Tab B 21 Effect of position controller filter factor Festo P BE CPX CMAX CONTROL EN de 1505a English Behaviour of the axis Factor The drive tends towards instability despite
232. hen brakes with maximum delay determined internally and then sets setpoint position actual position Festo P BE CPX CMAX CONTROL EN de 1505a English 51 3 Drive functions 3 1 5 Standstill control Standstill control starts with ending of a movement command MC There is a switch from position to force control to keep the drive safely at its standstill position Here the force currently applied to the piston is measured and is specified as a setpoint for the force control So in contrast to force control standstill control is not based on calculated values that are dependent on configured mass values but on force values measured at the end of the positioning process Mass changes that are not specified in the movement commands therefore do not affect the behaviour of the drive in the standstill position Due to pressure compensation operations the force for the setpoint specification is not measured directly after the standstill condition has been reached but 200 ms later or when the change in the actual force exceeds a certain value 25 of the frictional hysteresis The standstill condition has been reached if the tolerance has been reached once and the position error is within 120 of the permissible tolerance window and the speed is less than 4 mm s If the drive exits the tolerance window for the standstill condition while under standstill control which can be caused by external forces the position co
233. her order controller 13 O data 232 sactacwceeete Re Eana 33 Commissioning through the higher order Controller eiere deei oat sea bone S 161 Conditional record sequencing 85 CONT oiTa ATREA UE NTARE UIER E 30 32 Continuous mode 2 eee eee 44 Continuous setpoint specification 96 Controller factors Force control 22 eee eee eee 222 Position control 008 216 Festo P BE CPX CMAX CONTROL EN de 1505a English CPOS 3 xe cA sare Thies ens E 24 29 35 CPX bus node eee eee eee ee ee eee 10 CPX error numbers 0ee ee eeee 101 CPX modules secde penodi pennis 305 CPX parameterisation 12 CPX terminal wesc REEERE EERE E 305 CPX MMI diagnostic memory 134 Cushioning factor Definition 00 ee eee eee 216 Examples cee econ 219 220 D Data format crac cee ieee Ma iea ola Seek 11 Data reset cc cccece cc tec eeccscecneees 171 Default values eee eee eee eee 142 DEV occ sae Oaletes dards ecnnaated 25 31 36 61 Device data reset 0 eee eee 171 Diagnostic memory 122 134 Diagnostics Diagnostics options 98 MeSSaSeS oe ceatrtwuncetarelennecn eles 102 SOVENWIEW soi grad else Aika ewes uA 98 Direct MOdE oi eel AES eh ob ons 14 92 l O data sa 4rcc dore eho men meee 27 Displacement encoder Abs
234. ied as exactly as possible As offset the distance between the stop used reference point and the cylinder end position retracted piston rod must be measured and entered as a negative value When the piston rod is completely retracted cylinder end position the value 0 must be entered as offset gt Note If the offset is imprecisely entered the drive could end up vibrating strongly depending on the setting of the involved parameters e Always carry out identification again after the offset has been corrected Homing methods e The homing methods are oriented on CiA 402 device profile for electric drives l gt www can cia org 70 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Homing methods hex dec Description 23h 35 Current position The current position is taken as the reference position EFh 17 Negative stop aes Run at homing speed in negative direction to the stop This position is taken as the homing point EEh 18 Positive stop Run at reference speed in positive direction to the stop This position is taken as the homing point Tab 3 15 Overview of homing methods Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 2 3 Identification During identification mainly those path parameters are determined which are influenced by production fluctuations e g valv
235. imum 0 Maximum 1 Value Meaning In combination with DGCI and the use of additional slides The drive has been configured with central lubrication Central lubrication has an effect on the slide length and must therefore be taken into account in calculating the software end positions The plug in takes the specific slide length into account in calculating the software end positions In parameterisation via the controller the controller programmer must determine the software end positions Calculation gt Section B 2 5 Recommendation The calculation should be made through the plug in and the parameters taken over or exported from there Value Meaning 0 Standard 1 Lubrication adapter C O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out 276 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter DGCI Slide DGCI Slide Param PNU 1104 Index 4 Max Index 6 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 1 In combination with DGCI and additional slide The drive is equipped with a protected recirculating ball bearing guide The protected recirculating ball bearing guide has an effect on the slide length and must therefore be taken into account in calculating the software end positions The plug in takes th
236. in tolerance 1 Following error active tolerance exited B6 Standstill Standstill Standstill monitoring gt Section 3 1 9 STILL warning Warning 0 Standstill warning not active 1 Standstill warning active drive moved B7 Drive refer Drive is 0 Homing must be carried out Ref enced referenced 1 Reference information available homing not necessary 1 When programming the handsha tion as we since SPOS ACK mig e between CPOS START and SPOS ACK the faults present must always be taken into considera ht not be set in the event of a fault 2 MCis set after device is switched on status Drive blocked 36 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 2 6 1 O data in parameterisation mode 1 0 data parameterisation Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON Sub in Task identifier Parameter value data dex parameter number Input SCON Sub in Reply identifier Parameter value data dex parameter number Assignment of the control and status bytes parameterisation Assignment of the control bytes parameterisation CCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Operating mode 1 2 Block FCT Acknow Release Enable Enable access ledge brake operation drive error Sub i
237. indow target position position tolerance A standstill warning is not entered in the diagnostic memory The standstill warning bit is reset with the start of the next movement command or upon blocking of the controller Festo P BE CPX CMAX CONTROL EN de 1505a English 63 3 Drive functions Parameters involved 11 12 1 Target position 8 2 Setpoint position 9 3 Actual position 10 4 Position tolerance window 11 5 Standstill tolerance window 6 Actual speed 12 7 Speed tolerance window for standstill Fig 3 10 Standstill monitoring Overview of parameters involved gt Section C 2 Standstill monitoring active Motion complete SPOS MC Standstill warning SPOS STILL Position condition met standstill tolerance exited Speed condition met drive moved for 30 ms Description PNU Current target position 300 02 Actual position 300 01 Position tolerance 606 411 xx or 545 Standstill tolerance 0 5 position tolerance at least 0 1 mm 0 004 in 0 1 Start FHPP SPOS MC rising edge movement command completed Acknowledgement SPOS STILL 1 Standstill warning active drive has moved after MC FHPP 1 Depending on the parameterisation the defaul
238. ing 4 1 Summary of diagnostics options Access Diagnostics Brief description Detailed description function option Local LED display The LEDs directly display operating and CMAX system Display on the diagnostic information description device Fast on the spot diagnostics Display 7 The operating status and diagnostic in CMAX system segments display formation are shown on the display description Fast diagnostics with on site status and error detection CPX MMI CPX module diagnostics can be dis Description of the played on the CPX handheld terminal CPX MMI gt Section 4 2 3 Local FCT with CMAX Plain text display of all diagnostic in Help for the CMAX with PC e g plug in formation during startup and servicing FCT plug in during com Full access to the diagnostic function of missioning the CMAX CPX FMT The CPX FMT can be used to display the Help for the CPX FMT CPX module diagnostics gt Section 4 2 3 controller Through communica tion profile Higher order Module input and Inthe input data diagnostic informa Section 2 2 controller output data tion is permanently transferred e g over the bits SCON WARN and SCON FAULT I O data or actual values such as the current position CPX status bits The CPX module diagnostics are re Section 4 5 1 0 diagnostic in ported to the CPX node terface gt Section 4 2 3 Optimum integration into the CPX module concept Higher order FHPP di
239. ing This may be necessary for example if the control precision required can only be achieved by increasing the amplification gain and so the valve tends to hum 222 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter 0 Parameter C 1 General parameter structure of the CMAX The CMAX contains a parameter set with the following structure Group PNU Description Section Device data axis independent Device data 100 199 Device identification and device specific settings gt C 2 2 version numbers identifier words etc Axis data Diagnostics 200 299 Memory for diagnostic events error and warning gt C 2 3 numbers time stamp active messages Process Data 300 399 Current setpoint values and actual values status gt C 2 4 data Record table 400 499 For the record mode gt C 2 5 A record includes all the setpoint value paramet ers required for a positioning procedure Project data 500 529 Fundamental project settings project zero point gt C 2 6 setpoint value limits for position force speed Jog operation 530 539 Data for jogging gt C 2 7 Direct mode posi 540 549 Data for the direct mode with position control gt C 2 8 tion control Force control in 550 599 Data for direct mode with force control gt C 2 9 direct mode Global default 600 699 Describe global default values function in C 2 10 values gt Sect
240. int of reference for the incremental displacement encoder The reference point defines a known orientation or position within the travel path of the drive Software end position Programmable stroke limit point of reference axis zero point Upper software end position Max limit position in the positive direction increasing actual values Lower software end position Min limit position in the negative direction decreasing actual values Tab D 1 Terms and abbreviations 306 Festo P BE CPX CMAX CONTROL EN de 1505a English Axis controller CPX CMAX Index 2 DEN Lethe eet le Ete ARE OE ADEE OR wie 21 A Abbreviations product specific 305 ABS Fp eica nated ees hee ee ane ates 30 32 Absol t meene erener baton he neat es 32 Absolute position measuring system 305 ACK oss cet tas cease geese 25 31 36 Adaptation 2 0 eee 75 305 Amplification gain Definition 08 216 222 Examples peere ria esar EEE a 219 220 Automatic profile 000 42 Axis data reset 2 cece ee eee 171 AXIS SINE o orsi caslede ioe Caen ea be dale eat 305 B Brake segs eis eae nori ier E a weer S 20 53 c COON os end HA E TEDA TEE RETER ER 19 COIR e E ae Rae 30 Clamping unit 0000008 53 COME frei Bodeeieive ee eee S 26 30 32 COM obo ia eee ia ceo eed ee Shee 30 32 Commissioning 2 e ee eee 15 Hig
241. ion error E01 is generated In this case the setpoint configuration must be adapted to the actual configuration so that work can continue The setpoint configuration can only be changed after the current identification data have been deleted The CMAX does not take over the configuration automatically and also does not delete the identification data automatically After the setpoint configuration has been adapted the movement test and the identification must be carried out again Important l The CMAX checks only the parameters that are read out of the components during auto matic hardware detection If for example a DNCI cylinder is replaced the CMAX cannot detect it In this case the movement test and identification must still be performed by the user Festo P BE CPX CMAX CONTROL EN de 1505a English 167 A Notes on commissioning service and firmware Comparison of serial numbers If the valve cylinder or sensor interface have been replaced by a component of the same design and size this is determined by a change of serial numbers If a component has been replaced a movement test must be executed and it should be newly identified If the movement test is performed by the user the new serial number is taken over into the setpoint configuration Serial number parameter PNU of the PNU of the actual Error Execute move reference configuration ment test configuration Cylinder DGCI or DDLIY 112
242. ion referenc SYSTEM sa vii d ceccss nn ee ectery cnet deat Mane bat db Meao gee ceeded ota oes E 210 B 3 Drives and measuring SySteMS 5 02 cece cence cece tee eee wees bice etei 213 B 4 Taking the load into account 0 eee eee ce eee eee eee e tee ennee 215 B 5 Controller optimisation 0 ce ccc eee ee eee teen ees 216 B 5 1 Controller factors for position control eee eee eee eee eee eee 216 B 5 2 Optimise positioning behaviour 0 cee cee eee eee eee eee 218 B 5 3 Controller factors for force control 0 eee eee eee eee eens 222 6 Festo P BE CPX CMAX CONTROL EN de 1505a English Axis controller CPX CMAX c Parameter sesser erasan nenne Hei aie EER Rega WEES Seek wees Resa ORS ae C 1 General parameter structure of the CMAX 0 cee eee cece eee eee eens C 2 Description ofthe parameters 5 ccc cece cee cece cits cece eens ee beeenees C 2 1 Overview of parameters 0 0 5c ccc cece eee c ete e see EEKE A C 2 2 Devic data juices aa aE a ace toe see drei tert song ce Garton ae Sheth eee nes Oe C 2 3 Diagnostiese toe oen tak See th eA tat Da eee ew ee ated E l C 2 4 Proc ss datais lt 2citcnenecieh te ooe s ethene t bewces ot ueees eh tenets C 2 5 R cord table rpe se ose Seely eis cae ts ate canis dal Tied ee ei Soden s C 2 6 Project Data use 02 ita hater tol ee teed kena ede eee AERA C27 JOP MOdey wicks adi ola tees sles Oy Pea Esau eae ae E EAAS RRR C 2 8 Direct mode posit
243. ion 5 3 Drive 1100 1129 All axis specific parameters for pneumatic drives gt C 2 11 configuration cylinder length and diameter valve type Application 1130 1149 Application specific parameters axis zero point gt C 2 12 settings mounting position Position 1150 1159 Controller parameters for position control gt C 2 13 controller Force controller 1160 1169 Controller parameters for force control gt C 2 14 Identification 1170 1189 Identification adaptation C 2 15 System data 1190 1199 Actual configuration system of measurement gt C 2 16 units data reset Error texts 2100 2199 Texts of errors and warnings gt C 2 17 Tab C 1 Parameter structure Festo P BE CPX CMAX CONTROL EN de 1505a English 223 C Parameter Parameter classes Characteristic usage re er e Var Simple variable Contains only one value The subindex does not have a function Array Contains multiple simple variables that all have the same significance the same limits the same unit etc Example record table setpoint position PNU 404 The components in the array are addressed using the subindex Struct Record Tab C 2 Parameter classes for the CMAX Summary of several single variables with different limit values etc Data types Characteristic usage bit array 4 byte value whose individual bits have separate meanings char 8 bit ASCII characters as string component int
244. ion Diagnostic code PNU 201 Additional information PNU 203 0 Blank entry 1 Eee Errors Error number gt 4 2 4 Additional information error 3 R Reset Reset number gt 4 3 4 Additional reset information 5 W Warning Warning number gt 4 2 4 Additional warning information 7 P Switch on Switch on information Additional switch on informa gt 4 3 4 tion 8 C Configuration Configuration information Additional configuration inform gt 4 3 4 ation 1 Other values are reserved Tab 4 11 Values of the diagnostic events with assignment to diagnostic code and additional information Depending on the event the FCT can provide detailed information on the respective entry with the help of the additional information Festo P BE CPX CMAX CONTROL EN de 1505a English 123 4 Diagnostics and error handling Examples of diagnostic messages in the FCT Timestamp Event No Description E a a E a r EEE 2817d 17h 21 123s Reset R01 Reset successfully executed All messages have been deleted No more errors are present 2817d 16h 18 123s Errors E50 Operating pressure too low lt 1 5 bar Last command Execute record record number 64 2817d 03h 18 123s Switch on PO1 Project data available and loaded duration of initializa tion 1289 ms Number of switch ons since last diagnostic entry 219 117d 03h 18 1235 Configur C05 Static and dyn identification executed ation Duration 178
245. ion control ee ccc eee eee eee eens C 2 9 Force control in direct mode ce eee cee cette eee eeeee C 2 10 Global default values 0 eee cece eee eee eee cent eees C 2 11 Drive configuration 0 2 eee cee cece eee cette eee eeees 2 12 Application settingS siseses inisin tive cee eb eed bce eae ea Sea eee C2413 Position controller snc eee tack eerie nares een Ge ENS BOS C214 gt Force controller serres emes aae a eee bee eaeg tees eeee bee deck E2415 Identifications u s seertu eae hk deen toes eh hee tele eo N C 2 16 System datas 2 2 s shoes tit eest bil tate ete totes balk eet tele eee C217 EMOr texts ites eee te hated auld e darn ee ob E aoe ate Te tate adage een D GlOSSALY Sic fo ge tiie 6 see wre indegut an wise wre Sis die Gu doe is wi ere wre ie dwt Ge elas wieye nder sredi e aa eee wees E a E weed sesh eek dah wea es Festo P BE CPX CMAX CONTROL EN de 1505a English 223 223 225 225 233 240 246 250 258 264 266 268 270 273 281 288 291 293 297 304 305 307 Axis controller CPX CMAX Notes on this documentation This description includes the communication profile for the axis controller CPX CMAX C1 1 The profile is based on the Festo Handling and Positioning Profile in the following called FHPP for short In cluded is information on control diagnostics and parameterisation of the axis controller o e Always observe the safety instructions g
246. ion is carried out EE E Festo P BE CPX CMAX CONTROL EN de 1505a English 245 C Parameter C 2 4 Process data Position values Position values Param PNU 300 Index 1 3 Max Index 3 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 1 000 000 1 000 000 0 1 100 000 100 000 Imperial 0 001 in 393 701 393 701 0 1 100 000 100 000 Index _ Value 1 Current actual position of the controller 2 Current setpoint position of the controller 3 Current deviation When force control is active the current setpoint position is tracked to the actual position k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Force values Force values Param PNU 301 Index 1 3 Max Index 3 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 1 N 1 000 000 1 000 000 1 Nm 1000000 1 000 000 Imperial 1 lbf 224 809 224809 1lbfft 737 561 737 561 Index _ Value 1 Current actual force of the controller 2 Current setpoint force
247. is is used in all movement commands with force control where no individual force ramp is specified gt Section 5 3 PNU 403 521 Bit bit 8 0000 0100h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 272 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 11 Drive configuration The hardware configuration is important for calculating the controller The data is recognised automat ically as much as possible Data not recognised must be defined by the user e g based on the name plate If one of the following values was determined by the automatic hardware recognition only the value that was stored in the displacement encoder or valve can be written Writing any other value leads to a parameter error If no stored value was found for a parameter parametrising in the specified area is always possible e i For additional information gt Appendix B 1 Cylinder Cylinder Param PNU 1100 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 1 Maximum 7 The cylinder type is stored in the displacement encoder or sensor interface The following types are defined in the CMAX Value _ Type 0 Unkown 1 Rodless linear drive also for user defined axis DGPI 2 Piston rod drive 3 DGCI 4 DNCI 5
248. issioning gt Section 2 2 5 Parameterisation gt Section 2 2 6 Recommendation e During operation record or direct operating mode set the control bit CCON LOCK This lets the higher order controller ensure that the programmed sequence cannot be disrupted through accidental access with the FCT e Evaluate status bit SCON FCT Consider the missing control access in the program sequence of the controller Festo P BE CPX CMAX CONTROL EN de 1505a English 17 2 I O data and sequence control 2 2 1 Defining the operating mode with CCON The operating mode is determined through the control bytes CCON OPM1 and CCON OPM2 and is acknowledged in the status bytes SCON OPM1 and SCON OPM2 gt Tab 2 2 Operating mode CCON SCON Description OPM2 OPM1 Record mode 0 0 The higher order controller selects a record from a record table saved in the CMAX A record contains all the parameters which are specified for a movement command The record number is transferred to the cyclical I O data as setpoint and actual value Direct mode 0 1 The movement command is transferred directly to the cyclical 1 0 data The most important setpoint values position speed force are transferred here Supplementary parameters e g acceleration are defined by the parameterisation Commissioning 1 0 Commissioning operations e g identification can be ex ecuted A travel command positioning or force command is not
249. ital Digital Digital 100 00 7150055 VPWP 4 Valve serial number 368 368 Through piston rod No No Double axis No No Clamping unit No No The detected peripherals match the configuration in the device and can be loaded into the FCT project Upload project Help Fig A 18 Now save the project Downloading the firmware In the main menu of the FCT open the dialogue window for firmware download with Component Firm ware download All imported firmware files of the CMAX are displayed under Available firmware files If the new firmware is not yet among them use Import to add the firmware file from the previously used directory BIN file otherwise unpack before doing this 194 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Firmware Download Available Firmware Files Creation Date 03 03 2015 09 42 03 FCTCMAXFW_V0108_0013 bin 1 8 13 01 08 2013 12 29 21 FCTCMAXFW_V0101_0808 bin 1 1 808 07 01 2010 14 06 29 FCTCMAXFW_V0100_0779 bin 1 0 779 28 07 2009 14 34 29 Import Delete y Update The current firmware 2 2 3 5 will be replaced by version 2 2 3 8 Compatibility Plugin Version 22 Optimal Bootloader Version 1 0 70 Optimal Hardware Version 1 0 Optimal Fig A 19 gt Note The firmware download deleted all data on the CMAX A connection to the CMAX can no longer be established with an
250. iting permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out a e nS Jog mode creeping period Jog mode crawling time Param PNU 534 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 1 ms 3000 JO 1 000 000 1 ms 3000 O 1 000 000 Imperial 1 ms 3000 JO 1 000 000 1 ms 3000 O 1 000 000 Duration of the creeping phase O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out C a a Jog mode payload Jog mode payload Param PNU 536 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 0 0 200000 1kgcm2 0 0 20 000 Imperial 1 lb 0 0 44 093 0 1 lb in 0 0 68 343 Payload during jogging Only effective if use of the global default value default value for payload PNU 605 has been deac tivated with PNU 521 01 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode
251. iven in the system description for CMAX l gt Tab 2 The system description also contains information on mounting installation and diagnostics of the axis controller with the modules and components on the axis string Target group This documentation is intended exclusively for technicians trained in control and automation techno logy who have experience in installation commissioning programming and diagnostics of positioning systems Versions e This description refers to the following versions axis controller CPX CMAX C1 1 with firmware version V 2 2 gt Note Before using a newer firmware version e Check whether a newer version of the FCT plug in or user documentation is avail able gt www festo com sp search term CPX CMAX C1 1 Related firmware and plug in versions The CMAX firmware and the used plug in version must always be compatible status at the time of printing Firmware in the CMAX Compatible FCT plug in 2 2 gt Appendix A 5 1 2 2 x or higher 1 9 gt Appendix A 5 2 1 8 x or higher 1 8 gt Appendix A 5 3 1 8 x or higher 1 1 gt Appendix A 5 4 1 1 0 or higher 1 0 gt Appendix A 5 5 1 0 1 or higher Tab 1 Compatibility and version overview At a minimum use the recommended compatible FCT plug in for the firmware used Further explana tions gt Appendix A 6 e Recommendation Always install the newest plug in version this does not overwrite the older
252. k After writing controller recalculation is carried out ee ee eee enna eee a nee eee eee eee eee a aaa a 258 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Stop deceleration Stop deceleration Param PNU 507 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s2 10000 10 100000 1 s2 10000 10 100 000 Imperial 0 01 ft s 3000 3 32 808 1 s2 10000 10 100 000 Deceleration in the event of stop or error Deceleration of the stop ramp to be executed is he maxi mum of stop ramp deceleration PNU 507 Setpoint deceleration in the last movement command PNU 408 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Critical stroke with force control Critical stroke during force control Param PNU 510 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 5 000 100 1 000 000 0 1 100 10 100 000 Imperial 0 001 in 2000 39 393 701 0 1 100 10 100 000 Maximum permitted stroke with a
253. ked drive O After writing controller recalculation is carried out 236 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Festo order number Festo order number Param PNU 124 Index 1 30 Max Index 30 Class array Data type char Values Specification 548932 Permissible characters 0x00 0x30 0x39 ZERO numerals Impermissible characters Festo order number This number can be used to order an identical device Unused characters are filled with zero OOh 0 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Password Password Param PNU 130 Index 1 30 Max Index 30 Class array Data type char Values Specification Blank character string Permissible characters 0x00 0x21 0x7F ZERO printable ASCII characters without blanks Impermissible characters 7 1 EI HR AOD plug in Password for operating the CMAX via the PC interface On delivery no password is stored in the device gt Section 5 2 1 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out System password System password Param
254. l bit is set by the controller the FCT plug in has only read access on the CMAX Previously certain optimisation functions e g adapt controller parameters could still be performed As a result safety concepts of the system operator implemented on the controller are supported The status bits RSB RCE are now set with E27 as well The designations of some I O bits have been improved Plug in 1 8 or earlier Plug in 2 2 SCON OPEN SCON READY SCON FCT_MMI SCON FCT CDIR ABS CDIR REL SDIR ABS SDIR REL RCB1 ABS RCB1 REL Oa a a a a Tab A 7 New improved designation of control and status bits Monitoring of the supply pressure error E50 The error number E50 supply pressure too low is parameterised in the factory as a warning in V2 2 or higher With this setting too little pressure in the cylinder chambers does not result in an interruption of the process and a change to the error status A positioning task can be started despite the warning message This is especially advantageous for large scale cylinders since a longer waiting time after the operating pressure is switched on is not required If for some reason no operating pressure is present the mal function numbers E30 E31 or E56 report after the start of a positioning task that the expected move ment did not take place and signal that the drive is in a defective status If too little supply pressure should continue to be reported as an error E50 must b
255. lass Var Data type int32 Values Specification 0x0100 Minimum Maximum Coding of the CMAX hardware version The version number is BCD encoded the upper 16 bits are not used Format OxOOOOHHNN HH main version NN secondary version k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Firmware design of the manufacturer Manufacturer firmware version Param PNU 101 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0x0100 Minimum Maximum Coding of the CMAX firmware design The version number is encoded as BCD Format OxPPBBHHNN PP patch version BB build number output version HH main version NN secondary version Example 0x037050102 corresponds to the version V2 1 5 37 Note on compatibility In firmware design lt 2 2 the PNU is coded as follows Format OxBBBBHHNN BBBB build number output version HH main version NN secondary version Example 0x01230102 corresponds to the version V1 2 123 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out FHPP version Version FHPP Param PNU 102 Index 1 Max Index 1 Class Var Data type int32 Values S
256. lay or teach target al value When executing a commissioning operation The progress display in the status data Byte 4 shows to what degree the function has progressed for long operations Display in percent 0 to 100 Jumps e g from 24 to 60 can occur in the progress display If the function is aborted the progress counter is set to 255 OxFF When teaching teach target gt Section 3 2 6 current error number Primary Depending on the parameterisation PNU 523 04 08 actual Actual position in the established system of measurement units gt Appendix B 1 value Actual force in the established system of measurement units gt Appendix B 1 Byte 5 8 combined actual force and actual position with adjusted scaling gt Tab 2 3 in Section 2 2 3 record mode Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control Control byte 2 CPOS commissioning mode Bit DE EN Description BO Reserved must be 0 With logic 1 a warning is signaled B1 Start Start With a rising edge the current setpoint data are accep Start movement Movement ted and a movement command started command Command B2 Start homing Start Homing With a rising edge homing is started with the set para HOM meters Referencing is reset A fault is reported with an absolute measuring system B3 Jog positive Jog Positive The drive moves at the specified speed in the dir
257. linder type 5 The measuring system length does not match the cylin der type 6 The measuring system length must be the same as the cylinder length with this cylinder type 7 Offset axis zero point is not permissible for this cylinder must be 0 8 The offset axis zero point is defective Permitted range Cylinder length lt offset ANP lt 0 9 The cylinder diameter does not match the cylinder type 10 The piston rod diameter does not match the cylinder type 11 Two different valves were configured 12 The lower software end position is smaller than the lower hardware end position 13 The upper software end position is larger than the upper hardware end position 14 The lower software end position is larger than or the same size as the upper software end position 126 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Information and details on the messages PNU 203 Info bit 11 8 Details bit 7 0 Value Description Value Description 3 Cause of fault E44 1 Not specified teaching not possible 2 In direct operation it is not possible to teach no teach target present 3 Homing not executed Commissioning Unknown teach target specified in para meter 1 Record mode Invalid record number 0 or gt 64 6 Record mode Invalid control mode preset in the selected record 7 Commissioning Teaching lower software end position gt upper soft
258. ll result in an error message Via jog mode the drive is put into the desired position by positioning or manually by moving by hand in Drive blocked status Note The software end positions may be passed during jogging Outside of the software end posi tions the drive only moves at creeping speed Ww 4 Enter the teach target in the output data of the controller the function number byte 3 is ignored 1 0 data commissioning teach function Data Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Output CCON CPOS Function Para 0 data meter 1 teach target Input SCON SPOS Function Second Primary actual value data ary actual value teach target Teach target byte 4 Value Applies to PNU Is taught 3 500 01 Project zero point 4 501 01 Lower software end position 5 501 02 Upper software end position 5 Teaching is carried out via the handshake of the bits CPOS TEACH and SPOS TEACH Fig 3 12 Upon recognition the valid teach target is reported in byte 4 of the input data secondary actual value with the rising edge at CPOS TEACH If the secondary actual value is configured as current error number PNU 523 03 07 the teach target in byte 3 is reported instead of the function Festo P BE CPX CMAX CONTROL EN de 1505a English 79 3 Drive functions Notes The drive should be stopped during teaching The signaled actual position chan
259. ller recalculation is carried out Commissioning operation password status Commissioning function password status Param PNU 1192 Index 4 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 PNU 130 contains a password The parameter PNU 1192 04 controls the acceptance and delivers the current status Writing Reading 0 Deleting a password 0 No password set 1 Accept password 1 Password set and access free 2 Password set and access blocked After acceptance the password needs to be entered each time a connection is established via the diagnostic interface in order to change parameters Procedure 1 Write PNU 130 My_password 2 Write PNU 1192 04 1 for acceptance To change it first enter the old password and then delete it Then the new password can be entered and accepted O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 300 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Commissioning operation measurement system Commissioning function system of measurement Param PNU 1192 Index 5 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 The system of measurement must be defined prior to
260. llowed i The units thus defined are used for all numerical values also for the primary setpoints and actual values in the I O data You cannot switch back and forth between the different systems of units To change the system of units an axis data reset must be performed Then a new commissioning can be carried out with the new system of units B 1 3 Reference table and conversion of the measuring units Unit of measurement PNU 1193 Index Physical Drive Value Unit Symbol Conversion variable 1 Position L 10 Millimetre mm 0 03937 in angle L 11 Inch in 25 4mm D 15 Degree 2 2 Length L 10 Millimetre mm 0 03937 in ene D 15 Degree i angle 3 Force L 20 Newton N 0 22481 lbf torque L 22 Pound force lbf 4 44822 N D 25 Newton metre Nm 0 73756 lbf ft D 26 Pound force foot lbf ft 1 35582 Nm 4 Pressure A 30 Bar bar 100 000 Pa A 33 Pound per square inch psi 0 06895 bar 2 In FCT Display entry in mm and additional display in inches in parentheses 200 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX Unit of measurement PNU 1193 Index Physical Drive Value Unit Symbol Conversion variable 5 Mass L 40 Kilogramme kg 2 20462 lb mass L 41 Pound lb 0 45359 kg moments p 45 Kilogramme square kg cm2 23 73036
261. lut cro lee ecd be eee i eee ed 305 Incremental 2 eee eee eee 306 Driya ess as Gla OE pk DENE pets 305 Dynamic amplification 222 E ENABLE scenon re et A EA 20 ENABLED a aa ELENERI TAERA 21 EMOMS aa eae ERENER EAEE ERTES 102 Acknowledge error 2 08 178 Establishing the ready status 174 307 Axis controller CPX CMAX F Fail Statescs s orerar pease ca E a 12 FAST Stes gastonewiscetvetts e A a fs 30 32 FAULT es o oo ihe ie ed oe eae ees 21 FAUS wren gsccecee tne Geode edie Me artede snare Bele ew 99 CPX error messages 101 FCT eissece ren tise Shey TE EE eh tes es 21 Festo Configuration Tool FCT 305 Festo Handling and Positioning Profile 305 Festo Parameter Channel FPC 147 305 FHPP 2 rch ator artes Seca BR ieee 305 FHPP standard c cee ee cee eeee 17 Filter factor Definition 02 008 217 222 Examples cece eee 219 220 Finite state machine 0 ee eee 38 Firmware designs 6 8 180 Firmware update 000 172 Flow charts e onrars enana ENE EAA 174 Following error monitoring 61 Force control s preneseni rense ee ee ee 45 306 FUNCCIONS n tb Bocas bea ee dee das 305 G Global default values 0055 142 Groups faults and warnings 101 H Hardware end positions 2
262. m 1 Maximum 5 Reserved O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive amp After writing controller recalculation is carried out Valve 2 serial number Valve 2 serial number Param PNU 1126 Index 1 Max Index 1 Class Var Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Reserved O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 280 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 12 Application settings Offset axis zero point Offset axis zero point Param PNU 1130 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 1 000 000 1 000 000 0 1 100 100 000 100 000 Imperial 0 001 in 0 393 701 393701 0 1 100 100 000 100 000 The difference between the axis zero point AZ and the homing position REF or the difference between the axis zero point AZ and the measuring system zero point SZ gt Appendix B 2 The axis zero point must be placed on the cylinder zero point for servo pneumatic drives With the D
263. m parameterisation 08 Cylinder valve or sensor interface was replaced Ww F Cylinder valve or sensor interface was replaced Note The movement test is reset to avoid tubing connection errors The CMAX has C03 status The movement test should then be run once more Cause The serial number of a component on the axis string has changed drive displacement encoder valve Measure 1 Accept the serial number of the component 2 Run movement test recommendation 3 Carry out identification recommendation 09 Faulty parameter in the project F2 N Project contains incorrect parameters Cause Drive configuration is not supported by the firmware used Measure e Update firmware Cause Invalid values concerning axis parameters or hardware configuration e g soft ware end positions Measure e Determine check and correct the affected parameters with additional inform Group 1 Execution error CPX error group 101 CPX MMI Execution error ation diagnostics Active messages or diagnostic memory No Message Malfunc Reset type tion level 10 Homing not executed F1 R Homing not executed Cause Drive with incremental displacement encoder is not referenced Measure e Carry out homing 11 Homing not required F1 R Homing not required Cause Homing with absolute displacement encoder Measure e Do not carry out homing Festo P BE CPX CMAX CONTROL EN de 1505a Englis
264. mer must determine the software end positions Calculation gt Section B 2 5 Recommendation The calculation should be made through the plug in and the parameters taken over or exported from there O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 277 C Parameter DGCI Distance between slide and additional slide KL DGCI Distance between slide and additional slide KL Param PNU 1104 Index 6 Max Index 6 Class Struct Data type int32 Linear drive Semi rotary drive Unit Specifi Minimum Maximum No additional slide is available with semi cation rotary drives Metric 0 01 mm 0 0 202 000 Imperial 0 001 mm O 0 759 528 In combination with the additional slide KL with the DGCI this value defines the distance between the standard slide and the additional slide KL With this value the plug in calculates the minimum permissible upper software end position which prevents the slide from running at high speed against the upper stop In parameterisation via the controller the controller programmer must determine the software end positions Calculation gt Section B 2 5 Recommendation The calculation should be made through the plug in and the parameters taken over or exported from there O
265. mode with blocked drive k After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 275 C Parameter DGCI Additional slide DGCI Additional slide Param PNU 1104 Index 2 Max Index 6 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 3 With use of a DGCI An accompanying additional slide for increasing torques is available The addi tional slide reduces the effective stroke With the help of this parameter the plug in calculates the required software end positions so the drive does not run into the stop In parameterisation via the controller the controller programmer must determine the software end positions Calculation gt Section B 2 5 Recommendation The calculation should be made through the plug in and the parameters taken over or exported from there Value Meaning 0 No additional slide 1 Additional slide left KL 2 Additional slide right KR 3 Additional slides left and right KL KR O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive amp After writing controller recalculation is carried out DGCI Lubrication function DGCI Lubrication Param PNU 1104 Index 3 Max Index 6 Class Struct Data type int32 Values Specification 0 Min
266. modular system The controller is dependent on the design and size of the components as well as their individual charac teristics which are determined in the identification To avoid errors in operation with the CMAX the CMAX carries out automatic detection of the connected hardware and a comparison of target and actu al configuration The CMAX distinguishes 3 different configurations Nominal configuration The nominal configuration consists of the values for the drive configuration parametrised by the user Actual configuration PNU 1190 The actual configuration consists of the values for the hardware components ascertained during the automatic hardware recognition Start configuration PNU 1195 The start configuration includes important configuration data at the time of the last identification After the identification the current nominal configuration may only be modified within certain limits which are defined by the start configuration A comparison of the nominal and actual configuration takes place in the following situations after switch on after adjustment of specific parameters in particular of configuration after restart of the axis with error acknowledgment Why is the comparison carried out 1 The comparison should ensure that the correct axis is connected Up to 8 CMAX can be operated in a CPX terminal The connected axes must be uniquely assigned to the respective CMAX 2 The controller must know the design
267. mplete SPOS MC is only set after the last executed record If the MC condition is reached before the switching condition is met the record chain is interrupted and SPOS MC is set In this case bit 3 in the record status byte RSB RCE is set and an error is signaled Record sequencing in record 64 is not permissible and results in an error message when the record starts Sequencing can be suppressed by setting bit B7 In this case the CMAX executes the addressed record without an error message Sequencing is ignored however and the next record is not executed This function is not meant for normal operation debugging function with FCT Record control byte 2 PNU 402 BitO 6 Numerical value 0 128 Step enabling condition as a list gt Tab 3 24 Bit 7 0 Record sequencing bit 0 6 is not blocked specification 1 Record sequencing blocked Tab 3 22 Settings for conditional record sequencing Important signals for record sequencing Signal Description CPOS START Start of the first record of the record chaining SPOS MC Motion complete End of the record chain RSB RC1 First record executed First Record Chain executed After the first sequence bit 0 in the record status byte RSB is set RSB RCC All records executed Record Chain Complete All parameterised record sequences have been executed to the end To check for complete working off of record se quences an evaluation of RSB RCC at
268. n CPOS JOGP 32 Teach 33 Teach setpoint value in record table 34 Teach lower software end position 35 Teach upper software end position 36 Teach offset project zero point 7 Cause for fault E58 1 Detailed information not available handshake fault 2 2 CPOS START set with operation enable 3 CPOS HOME set with operation enable 4 Rising edge at CPOS START although SPOS ACK 1 5 Rising edge at CPOS HOM although SPOS ACK 1 6 Rising edge at CPOS JOGP although SPOS ACK 1 7 Rising edge at CPOS JOGN although SPOS ACK 1 8 CPOS JOGP set with operation enable 9 CPOS JOGN set with operation enable 10 Simultaneous start of multiple positioning commands Tab 4 16 Information and details for faults 128 Festo P BE CPX CMAX CONTROL EN de 1505a English gt Diagnostics and error handling 4 3 4 Diagnostic code and additional information with reset switch on and configuration The diagnostic memory contains other diagnostic events besides faults and warnings Diagnostic event 3 reset A reset command was executed with FCT or with the higher order controller Diagnostic code PNU 201 No Description Successful All messages have been deleted Not successful Not all messages could be deleted Restart of the axis has been performed Additional information PNU 203 Informa Description tion E E e a e e e p E p e E Byte 1 Number of resets so far Byte 2 Reserved Byte 3 4 Reset duration in milli
269. n NN secondary version k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Bootloader version Bootloader version Param PNU 105 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0x0100 Minimum Maximum Version of the bootloader installed In the event of a firmware update the bootloader is not overwritten Prior to a firmware download the system checks whether the firmware to be written is compatible with the bootloader k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Variant code Variant code Param PNU 107 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0x0001 Minimum Maximum Labelling for customer specific variants The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 234 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Variant name Variant name Param PNU 108 Index 1 30 Max Index 30 Class array Data type char Values Specifica
270. n adding a new component select the desired version gt Fig A 15 The plug in with which the CMAX component was produced in the project is displayed on the Control ler page in the Compatibility register gt Fig A 12 As soon as a linkage has been successfully created the firmware design of the CMAX is displayed on the Controller page in the Device data register the currently used plug in version is displayed in the status bar of the FCT window Fig A 14 188 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Project Component View Extra Help JAg S B ZAWS Onine 169254176 Project Station A fal Components a f Cmax CMAXO01 6 Hg Axis X Configuration G Application Data 4 Measure Limits H Record Table PRI Jog Mode Direct Mode EZ Controller Data qQ Diagnosis 10 Data hog Trace Configuration EX Trace Data 1 Cmax cmaxooz Modul position no Language English be Device data Compatibilty CPX Node Manufacturer device name CPX CMAX C1 1 Manufacturer Festo AG amp Co KG Revision 8 2 2 3 5 23 02 2015 10 15 01 94390770 548932 Firmware version Variable Table Limits FCT V1 2 13 CMAX V2 2 0 350 Fig A 14 Display of the firmware design and the plug in version used Can I open an old project with a new plug
271. n as the drive has stopped An error message is generated and SCON FAULLT is set Stroke and speed monitoring can be activated deactivated independently of each other for each movement command default activated The limits are global i e apply for aall movement com mands Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Ifnot blocked stroke and speed monitoring is activated every time a force command is started Stroke and speed monitoring is also active after MC until end of the force control i e delayed limit value violations are recognised The critical speed viim must always be parameterised clearly greater than the value of the reduced speed vred to avoid too early triggering of speed monitoring during the force command Recommendation Vlim 2 3 Vred Influence of the moving total load base load payload on force control In the force control mode the CMAX takes into account the effective gravitational force of the moved load on the drive Fig 3 5 shows the reference values of force control in a drive The mathematic rela tionships listed in Tab 3 2 apply The force depends on the cylinder data and the controlled pressure values in both cylinder chambers Additionally the actual force is corrected by the effective gravitation al force g m sin a Force during force control F p A pp A g m sina Py Pressure in cylinder chamber 1
272. nal length is stored in the reference configuration The controller automatically takes into account when the option PNU 1104 1 integrated clamping unit is set Tab B 17 Calculation of the software end positions and cylinder length working stroke 212 Festo P BE CPX CMAX CONTROL EN de 1505a English B Basic principles of the CMAX B 3 Drives and measuring systems The CMAX supports the following combinations of drive and measuring system types Selecting a differ ent combination is not possible in the FCT and will lead to an error in the CMAX Approved drives gt System description for the CMAX In addition user defined drives can be used on consultation with Festo Linear drive DGCI DDLI DNCI DDPC standard cylinder Parameter PNU Value Displacement encoder 1110 Permanently specified digital displacement encoder Cylinder length 1101 50mm 2000 mm Displacement encoder length 1111 Permanently specified cylinder length 5 mm Offset axis zero point 1130 Permanently specified 0 Cylinder diameter 1102 Selection for the DGCI 18 25 32 40 63 Selection for the DDLI 25 32 40 63 User defined 16 125 Piston rod diameter 1103 0 Parameter PNU Value Displacement encoder 1110 Permanently specified incremental displacement encoder Cylinder length 1101 50mm 2000 mm Measuring system length 1111 Permanently specified cylinder length 5 mm Off
273. ncoder in the electrical end position potentiometer only Measure e Move displacement encoder potentiometer from the end position 89 Faulty data content in the displacement encoder sensor interface F2 N Incorrect data content in the displacement encoder sensor interface Cause The displacement encoder sensor interface contains incorrect or contradictory data Measure e Switch the power supply off and then on again If the error is signaled again e Replace displacement encoder sensor interface e Check compatibility of the displacement encoder sensor interface with the firmware version of the CMAX 120 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling 4 3 Diagnostic parameters 4 3 1 Latest diagnostic status The CMAX offers various parameters for the current diagnostic messages PNU Brief description 220 Active error messages bit coded 221 Active warning messages bit coded 224 Currently indicated message Exx on the display 225 Currently active step 226 Current warning to be displayed in FCT 227 Error status bit coded for FCT Parameter Bee ET ee TTT SSS Tab 4 6 Diagnostic parameters Description Bit coded messages PNU 220 PNU 221 Each parameter is a bitfield consisting of three uint32 values and thus con tains 3x 32 bits 96 bit memory capacity Each of these bits in this array represents an error number If it is
274. nctions Auto profile single value mode point to point With the automatic profile a movement command is executed with the maximum speed acceleration and deceleration determined during identification Atypical travel profile dependent on cylinder length diameter load and determined identification data shows gt Fig 3 1 Requirement The dynamic identification has been carried out Otherwise the travel record will be executed with the defaults for the free profile and a warning message will be output Characteristics fastest and simplest type of point to point positioning no specification of speed or acceleration values payload adjustable separately for each movement command on the fly switching to a new movement command with free profile possible Nominal Acceleration Acceleration mis Velocity m s Nominal Position Position mm Time ms T 0 100 200 300 400 500 Y a Y2 Al j AT ms Fig 3 1 Process of setpoint acceleration setpoint speed and setpoint position with Auto Profile 42 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Free profile single value mode point to point A movement command for a free profile is executed with the specified speed acceleration and deceler ation If necessary there is a limitation imposed on the v
275. nd simultaneously Correspondingly feedback can be evaluated simultaneously When exchanging components the movement test is reset automatically if applicable The move ment test status should therefore be checked before switching on and if necessary the test should be re run automatically or guided by the user Setting the operating mode should be done in a separate module of the control at a central position gt Appendix A 4 4 If the CMAX reports a fault not all of the expected status signals can be reported depending on this fault Evaluation of SCON ENABLED or SCON OPEN for example should then be aborted Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware HF CMAX is OFF Start timer 3seconds o SPOS MC 0 m e SPOS MC 1 Yy Check commissioning status o SCON 24VL 0 SCON FAULT 1 L_ Page 2 Operating voltage OV mj This action is mandatory Load voltage valve 0V ol This action is a recommendation and does not have to be performed The output data should be initialized with 0 at the beginning to prevent control signals from the last operating phase from affecting the CMAX The CMAX initialises the axis string and the controller and queries the setting for the data format in the bus node Monitoring to detect a faulty module Time may vary depending on th
276. ndex Subindex of the parameter to be transferred Byte 2 Para Job identifier and parameter number meter Bit Table of Description identifi contents er byte 0 11 PNU Parameter number of the parameter to be transferred 3 4 12 15 ReqID Task identifier e g read write gt Section 5 4 1 Parameter Value of the parameter to be transferred value 32 bit number Byte 5 8 Assignment of the status bytes parameterisation SCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 FCT 24VL FAULT WARN READY ENABLED Operating mode 1 2 FCT Load Fault Warning Operation Drive device voltage enabled enabled control Sub index Subindex of the transferred parameter Byte 2 Parameter Reply identifier and parameter number identifier Bit Table of Description byte 3 4 contents 0 11 PNU Parameter number of the transferred parameter 12 15 ResID Response identifier gt Section 5 4 1 Parameter Value of the parameter to be transferred value 32 bit number Byte 5 8 Festo P BE CPX CMAX CONTROL EN de 1505a English 37 2 I O data and sequence control 2 3 Finite state machine FHPP Switched off From all T7 always has the statuses highest priority 17 S1 S5 Controller Reaction to la switched on faults n r T11 S2 S6 Drive blocked 4 19 Fault T2 T sf T10 T6 S3 Drive enabled g operation blocked stop rat T3
277. nding on the fault the CMAX requires a maximum of 3 seconds e g to initialize the axis 3 Check whether the fault has been eliminated If SCON FAULT 0 ok If SCON FAULT 1 Check error number eliminate cause Section 4 2 4 In principle the CMAX always tries to acknowledge all currently pending faults If several faults are active at the same time the behaviour is oriented on the most serious fault Section 4 2 1 If there are several faults pending and one fault can be deleted after a reset but not others one of the remaining faults is displayed after the reset The reactions of the CMAX to acknowledgement of various faults are divided into reset types gt Tab 4 4 Reset type Significance Action when acknowledging R Reset The fault status is exited F Reset if fixed The fault status is exited if the cause has already been eliminated example E51 active and load voltage has not been applied again N New initialisation and reset The CMAX newly initializes the components valve and sensor interface as well as the controller If no fault oc curs the fault status is exited The maximum time for a restart is 3 s After the restart homing must be performed again Poff Reset with power off The CMAX does not react to acknowledgement CCON RESET The CPX terminal with the CMAX must be switched off and back on again or a Restart CPX termin al must be performed in the FCT from V2 2
278. ng system The password only prevents write access reading is always possible There are 2 possibilities to modify parameters via the diagnostic interface with a PC with FCT via fieldbus through the operating higher order controller I O data in parameterisation mode You can assign a password for the diagnostic interface in the CMAX Modifications are always possible via fieldbus When starting up the device for the first time delivery status there is no password in the device Blocked are the modification of parameters and control of inputs start stop teaching and firmware download Permissible is the display of parameters project upload display of actual values setpoint values diagnostic data The following parameters can be modified despite password protection PNU Parameter Description of the reason 116 Project identifier Reserved for the FCT synchronisation status 130 Password Must be writeable 133 System password Reserved for the FCT reset CMAX in the event of Forgot password 204 05 Number of new Diagnostic memory display status value no parameter in the plug in entries 1173 01 Limit value status For display of the limit values status value no parameter in the plug in SSE SE ee i eee SS ee ae Tab 5 2 Parameters that can be written without password 138 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation Creating a password with FC
279. ng at all error E31 no movement after start is generated If the CMAX determines that the axis came to a standstill before reaching the target position or soft ware end position hardware end position e g due to a stop or obstacle error E30 target position cannot be reached is signaled Errors E31 or E30 can occur both during the creeping run as well as during the maximum speed phase This is because CMAX executed two positioning commands internally Since the drive can jog up to the hardware end position in commissioning mode in principle the timeout here is possible Jogging up to the hardware end position serves to teach the software end positions or the project zero point Reach ing the stop can very well be desired here Overview of parameters involved gt Section C 2 Parameters involved Description PNU 2 Jog mode creeping speed2 530 Jog mode maximum speed 531 Jog mode acceleration 532 Jog mode deceleration 533 Jog mode creeping period in ms 534 Jog mode payload 536 605 9 Start FHPP CPOS JOGP rising edge Jog positive direction of larger actual values CPOS JOGN rising edge Jog negative direction of smaller actual values Acknowledgement SPOS MOV 1 Drive moves FHPP SPOS MC 0 Movement command active 1 Depending on the parameterisation the global default value is used gt Section 5 3 2 The ratio of the speeds to one another is not limited PNU 531 can be less
280. ng for return travel or stop Cause Software end positions can be reached in the desired sequence Measure e Correct software end positions 37 Switch to Unassigned Profile Ww R Switch to Free Profile Cause It was attempted to switch from an active positioning command to a positioning command with Auto Profile In record select mode Record sequencing with switching condition not identical to after MC 12 or start of a new record before CPOS MC 1 In direct mode Start of a new positioning command before CPOS MC 1 The positioning command was not executed as configured in the Auto Profile but in the Unassigned Profile For speed acceleration and deceleration the default values PNU 600 602 603 are used Measure e Change subsequent command to Unassigned Profile parameterise accelera tions and speed Cause A positioning command is started with Auto Profile although no dynamic identi fication was performed yet The positioning command was not executed as configured in the Auto Profile but in the Unassigned Profile For speed acceleration and deceleration the default values PNU 600 602 603 are used Measure e Perform dynamic identification or use Unassigned Profile 38 Critical stroke XLIM reached with force control F1 R Critical stroke XLIM reached with force control Cause Parameterised stroke limit is exceeded with force control Measure e Check workpiece check critical s
281. ng parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 243 C Parameter Active fault level Current error level Param PNU 225 Max Index 1 Data type int32 Values Specification 0 Minimum Maximum With this FCT can display the current status of the CMAX corresponding to section 4 2 1 The most serious currently reported event is always responsible for the current level Index 1 Class Var Value Level Meaning 0 a a 2 WwW Warning 5 F1 Fault 1 6 F2 Fault 2 15 FS System fault k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Current warning to be displayed in FCT Current warning to display in FCT Param PNU 226 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum Maximum The PNU 226 contains the warning number the FCT is supposed to disp ay Warnings are not displayed on the CMAX display k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Error status for FCT Error
282. ng parameterisation mode with blocked drive O After writing controller recalculation is carried out Number of force commands Count of force commands Param PNU 305 Index 2 Max Index 4 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 147 483 647 Sum of all executed start commands of the force controller The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Sum of stroke lengths Cumulated stroke length Param PNU 305 Index 3 Max Index 4 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 2 147 483 647 Sum of the movements of the drive since the new status last data reset or firmware download Records all the movements performed by the drive irrespective of control mode or enable Attention Specification is always in metres independent of the system of measurement units established k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 247 C Parameter Sum of stroke lengths fraction Cumulated stroke length fraction Param PNU 305 Index 4 Max
283. ng the clamping unit brake Drive is blocked Output VPWP Pin 2 24V Output VPWP Pin 2 0V Activate drive simultaneously 1 Output VPWP Pin 2 24 V 1 Position control with set 2 Position control with point actua setpoint actual 2 SCON ENABLED 1 3 SCON ENABLED 1 3 Output VPWP pin 2 OV simultaneously force control with 0 force Drive is active Output VPWP pin 2 24V sim 1 Output VPWP pin 2 OV ultaneously switch from force simultaneously stop with control to position control with setpoint actual comparison stop and setpoint actual com 2 Force control with O force parison Block drive simultaneously Output VPWP pin 2 24V 1 Block drive block drive simultaneously SCON ENABLED 0 SCON ENABLED 0 2 Output VPWP Pin 2 O V Tab 3 5 Behaviour when opening and closing the clamping unit brake An overview of different cases of enabling and blocking of the drive is shown in Tab 3 6 Status action Sequence or status for Release of the drive Blocking of the drive Clamping unit brake is closed 1 Position control with Block drive setpoint actual SCON ENABLED 0 2 SCON ENABLED 1 3 Force control with O force Clamping unit brake is open 1 Position control with Block drive setpoint actual SCON ENABLED 0 2 SCON ENABLED 1 Tab 3 6 Behaviour when the drive is enabled and blocked i Block drive means either via the input data CCON ENABLE 0
284. nly in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 304 Festo P BE CPX CMAX CONTROL EN de 1505a English D Glossary D Glossary The following product specific terms and abbreviations are used in this manual Term abbreviation Significance OxA0 AOp Hexadecimal numbers are indicated by a prefixed Ox or by a subscript h Absolute position measuring system Displacement encoder with a fixed absolute assignment of measured value position angle and measured variable for digital or potentiometer CMAX Adaptation CMAX function for automatically improving non optimal control behaviour during operation Axis string Totality of all modules and cables which are connected to the CMAX via the axis interface Bus nodes Provide the connection to specific fieldbuses Transmit control signals to the connected modules and monitor their functioning here as CPX module CPX modules Collective term for the various modules which can be integrated into a CPX terminal CPX terminal Complete system consisting of CPX modules with or without pneumatics Drive In this description the term drive represents the terms linear drive DGCI DDLI DGP standard cylinder or positioning drive DNC DNCI DDPC DNCM or semi rotary drive DSMI Festo Configuration Tool FCT Software with standardi
285. no piston rod on measuring system zero point smaller position values blue connection P2 Pressure in cylinder chamber 2 piston rod if present at the measuring system end larger position values black connection A1 A2 The two piston surfaces of the cylinder The piston surfaces are calculated by the CMAX based on the cylinder type cylinder diameter and piston rod diameter g Acceleration due to gravity m Moving working load base load payload a Angle of the mounting position of the axis Tab 3 2 Definition of the force for force control The controlled force is the force at the piston minus the gravitational force of the moving total load Note The force arriving at the slide or the piston rod that is at the workpiece deviates from the controlled actual force by the amount of the friction forces The frictional force itself resists the direction of movement of the piston Its value is added or subtracted from the actual force correspondingly Festo P BE CPX CMAX CONTROL EN de 1505a English 49 3 Drive functions N Cylinder chamber 1 1 2 Cy w gt wn Chamber pressure py Piston surface Ay linder chamber 2 Chamber pressure p2 Piston surface Az Mounting position a Fig 3 5 Reference values for force control os 6 Position values becom
286. not automatically accepted as the setpoint configuration Without complete parameterisation of the axis data the controller cannot be activated Actual values are not updated in that case Standard run up The connected components valve and displacement encoder or sensor interface are automatically searched for at the axis interface and the information included is read The actual configuration found is compared to the setpoint configuration A deviations results in an error the controller is not activated This error can only be acknowledged after a parameterisation 0 1 Parameterisation executed Each parameter of the drive configuration area for DNCI also homing includes data that makes sense 156 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Recognisable parameters The CMAX automatically ascertains all the parameter values stored in the drive valve displacement encoder or sensor interface The FCT plug in can read these values from the CMAX they do not have to be entered in the FCT project The ascertained data cannot be overwritten Resetting the axis data An axis data reset gt Appendix A 3 4 puts the axis data of the CMAX into the delivery status In this status the CMAX contains no setpoint configuration Parameterisation is required to activate the con troller Configuration without hardware The CMAX can also be configured without conn
287. ns 3 1 7 Processing of the clamping unit or brake On the VPWP there is a digital output available for controlling a clamping unit or brake No clamping unit brake configured No clamping unit is configured in the factory settings PNU 1143 03 0 The digital output on the VPWP always delivers 0 V Clamping unit brake configured If a clamping unit is configured PNU 1143 03 1 the clamping unit is controlled exclusively by the control bit CCON BRAKE i e the clamping unit is always controlled only by the higher order controller the CMAX never switches the VPWP output by itself gt Note For the CMAX to have the correct control function the clamping unit or brake must always be switched with the following logic gt CMAX system description Pin 2 0V clamping unit brake closed Pin2 24V DC clamping unit brake open CCON BRAKE control logic In the factory setting the control logic is low active i e the clamping unit brake is closed for CCON BRAKE 0 The switching output on the VPWP delivers O V With PNU 522 02 the control logic can be inverted gt Tab 3 4 CCON BRAKE control logic Controller VPWP Clamping unit PNU 522 02 CCON BRAKE Outlet State Low active 0 oV Closed 0 Clamping unit brake active for 1 24V O CCON BRAKE 0 specification j De High active 0 24V Open 1 Clamping unit brake active for CCON BRAKE 1 CMPX compatible Tab 3 4 CCON BRAKE control logic
288. nto the desired position by positioning or manually by moving by hand in the Drive blocked status Teaching is carried out via the handshake of the bits CPOS TEACH and SPOS TEACH gt Fig 3 12 e Notes l The drive does not have to stand still for teaching However a speed of 1 m s means that the actual position changes by 1 mm every millisecond With the usual cycle times of the higher order controller fieldbus CMAX this results in inaccuracies of several millimetres even at a speed of only 0 1 m s Itis still possible to teach the setpoint value if a record is blocked Ifthe setpoint value of a non initialised record is taught a corresponding new record is initialised and assigned default values Here the position is always taught Only absolute setpoint values are taught During teaching bit RCB1 REL 0 is there fore set in record control byte 1 of the taught record Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Project zero point and software end position sequence These values can only be taught in commissioning mode The higher order controller must notify the CMAX of what is being taught in the setpoint parameter 1 byte 4 as teach target 1 Set commissioning operating mode CCON OPM2 1 CCON OPM1 0 2 The last commissioning operation e g identification must have been ended Teaching is not per mitted while a commissioning operation is active and wi
289. ntrol PNU 403 bit 3 0 global default value from parameter PNU 603 For force control O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Payload record Record payload Param PNU 410 Index 1 64 Max Index 64 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 0 0 200000 1kgcm2 0 0 20 000 Imperial 1 lb 0 0 44 093 0 1 lb in2 0 0 68 343 Current payload Deviations from the actual mass load worsen the positioning behaviour With changes of the mass load of approx 30 or more the current payload should be specified The total moving mass is the sum of base load PNU 1142 and payload For vertical installation the correct payload is absolutely essential in order to calculate the zero force of the force control An error in the specification can lead to a movement of the axis if the setpoint value is ON Presetting For position control PNU 403 bit 5 0 global default value from parameter PNU 605 For force control PNU 403 bit 5 0 global default value from parameter PNU 605 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked d
290. ntrol bytes CCON for control of enabling and operating mode of the CMAX always remains the same The seven other bytes are occupied by the Festo Parameter Channel FPC Parameterisation mode can be activated in the states Drive blocked or Drive enabled Accordingly the controller is then active or not Similarly an enable command might be present and so a vertical drive can be held in the current position A movement command cannot be started in this operating mode e Information on parameterisation gt Chapter 5 l Overview of the I O data gt Section 2 2 6 Festo P BE CPX CMAX CONTROL EN de 1505a English 15 2 I O data and sequence control 2 1 5 Overview of the available functions in the operating modes Function Operating mode Record Direct Commis Parame mode mode sioning terisation Parameterisation in the cyclical 1 0 data x Acyclical parameterisation of axis data x Acyclical parameterisation of setpoint values x x x Jogging x x x Teaching of setpoint values x Teaching of project zero point software end positions Homing x Point to point positioning x Positioning continuously tracking mode x Force controls point to point x On the fly setpoint value switching new movement x x command before MC Identification Movement test 1 Only permissible with CCON STOP 0 for some parameters also CCON ENABLE 0 2 Only permissible for
291. ntrol is reactivated until the switching condition for the standstill control has been reached again Attention When positioning the drive comes to a standstill within the static friction so the standstill force can also vary in the area of static friction The force which is displayed at standstill therefore var ies from stroke to stroke o The standstill control can be switched off with PNU 1155 Section C 2 13 l In principle the standstill control improves the standstill behaviour of the drive But in rare cases e g with leakage or external forces it can have an unfavourable effect on the positioning behaviour and can therefore be switched off 3 1 6 Quality classes The respective specific quality classes are used for positioning or force commands As a result condi tions are defined with which a positioning command is signaled as being completed Quality class Description Exact stop The movement command is completed when the drive is within the tolerance for the duration of the monitoring time in the case of position control it is nearly stopped final speed check Fast stop The movement command is completed as soon as the drive is within the toler ance Tab 3 3 Quality classes i Motion complete SPOS MC is only output if the record or movement command is com pleted according to the quality class Section 3 1 8 52 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functio
292. ntrol only COM1 0 COM2 mode 2 0 Free profile Speed and acceleration are freely specified 1 Auto profile Speed and acceleration are spe cified by the controller A fault is signaled for logic 1 with control mode force control B3 Tracking mode Tracking Mode For position control Activates tracking mode continu CONT ous setpoint value specification Continuous mode 0 Do not activate tracking mode 1 Activate tracking mode B4 Deactivate Deactivate For force control VLIM speed velocity 0 Activate monitoring of critical speed monitoring monitoring Velocity Limit 1 Deactivate monitoring of critical speed B5 Deactivate Deactivate For force control XLIM stroke stroke 0 Activate critical stroke monitoring X Limit monitoring monitoring 1 Deactivate critical stroke monitoring B6 Fast stop Fast Stop Regulation for setting MC upon reaching target value FAST quality class gt Section 3 1 6 3 0 Exact stop 1 Fast stop B7 Reserved must be 0 With logic 1 a warning is signaled 1 Position control Setpoint value is relative to the last setpoint value with MC or to the actual value if MC is not present Force control Section 3 1 2 2 Speed and acceleration are chosen by the controller as appropriate to the identification function so that the target position is reached as quickly as possible and without overswing 3 SPOS MC is only set when the movement command corresponding to the selected
293. number separately Therefore when querying the number must be specified as the index 124 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Allocation of the additional information for errors and warnings 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 43 2 4140 Internal diagnostic code e Informa tion Level Details Tab 4 14 Additional info The coding is the same for PNU 203 and 227 but it only contains the information that is useful and available for the respective parameter Area Name Description See eee EEE EE ee ee ee ee es Bit 31 22 Internal dia Internal diagnostic information only for service staff PNU 203 gnostic code Bit 21 A Required action PNU 227 0 Acknowledge The cause of the message is currently not active or is not being checked at the moment The message can be acknowledged 1 Eliminate The cause of the message is still active The cause must be resolved before the message can be acknowledged Note In the event of errors with reset type Poff bit 19 16 switching on off is always required independently of the status of bit 21 Bit 20 S Status of the error message PNU 227 0 The message is currently not active 1 The message is active Bit 19 16 Reset type Describes what happens in the event of a reset command PNU 203 gt 4
294. ock download OFF PNU 1192 01 0 CMAX waiting for movement test E Ll 1 Adata reset sets the axis data back to the delivery status while the device and diagnostic data are retained Fig A 2 Basic parameterisation Festo P BE CPX CMAX CONTROL EN de 1505a English 161 A Notes on commissioning service and firmware Commissioning operations PNU 1192 The Commissioning operations parameter controls important functions of commissioning Writing the parameter triggers complex actions in the controller which are essential for commissioning e gt Section C 2 16 l The function data reset PNU 1192 03 offers the possibility to reset the axis configura tion at any time Resetting deletes the axis data and the identification data So you will always need to repeat commissioning and identification after a reset A 2 2 Step by step instructions for basic parameterisation Switch on CMAX Status C00 becomes active 1 Check status read PNU 1192 02 gt setpoint 0 L 2 Recommendation Write device names PNU 121 Gg In principle the default value CMAX1 can be used but an individual name is recommended in case you intend to access the CMAX with FCT as well 3 Check version number of the firmware read PNU 101 Prior to parameterisation you should ensure that the CMAX is really compatible with the following project data Select parameterisation operating mode 4 Activate paramet
295. ock drive ENABLE 1 Enable drive the controller is activated close loop control activated B1 Enable Enable 0 Activate stop cancel stop travel command STOP operation Operation gt Section 3 1 4 1 Enable operation no stop Not permitted in parameterisation operating mode A warning is signaled in parameterisation mode if logic 1 is set B2 Release brake Open Brake 0 Activate clamping unit brake 0 V at output Brake VPWP 1 Release clamping unit brake 24 V at output VPWP gt Section 3 1 7 B3 Acknowledge Reset Fault With a rising edge an error message present is deleted RESET error and if successful the Error status is exited Flow chart for programming the higher order controller gt Appendix A 4 3 B4 Reserved must be 0 With logic 1 a warning is signaled B5 Block FCT Lock FCT Access to the service or network interface LOCK access Access 0 FCT can transfer device control to change para meters or control inputs 1 FCT may only observe transfer of device control FCT not possible B6 Operating Operating Bit7 Bit6 Selecting operating mode OPM1 mode 1 2 Mode 1 2 0 0 Record mode Section 2 2 3 B7 0 1 Direct mode Section 2 2 4 OPM2 1 0 Commissioning Section 2 2 5 1 1 Parameterisation gt Section 2 2 6 20 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control Status byte 1 SCON Bit DE EN Des
296. ol mode Their limits the critical speed and critical stroke can be parameterised and both monitoring functions activated or deactivated independently of each other Fig 3 4 shows the relationships Festo P BE CPX CMAX CONTROL EN de 1505a English 47 3 BPW e Drive functions A 1 2 3 4 5 Critical speed Vim 5 Example of limit violation during speed Critical stroke Xtim monitoring Target force F Example of limit violation during stroke mon itoring Fig 3 4 Monitoring function in force control schematic representation Notes regarding stroke and speed monitoring 48 At the start of the force command the critical stroke XLIM is counted from the current position of the axis The value is always positive PNU 510 If the critical stroke is exceeded RSB XLIM or SDIR XLIM critical stroke reached is set The drive is stopped and SPOS MC set as soon as the drive has stopped An error message is generated and SCON FAULLT is set The critical speed vlim is an absolute limit The value is always positive The selected value PNU 511 should be oriented on the allowed maximum impact energy of the stops in the end positions When the critical speed Viim of more than 12 ms is exceeded RSB VLIM or SDIR VLIM critical speed reached is set The drive is stopped and SPOS MC set as soo
297. on gt Section C 2 8 540 1 1 Direct mode position speed Var int32 Speed RW angular velocity 541 1 1 Direct mode position accelera Var int32 Acceleration RW tion angular acceleration 542 1 1 Direct mode position decelera Var int32 Acceleration RW tion angular acceleration 544 1 1 Direct mode payload position Var int32 Mass mass moment of RW inertia 545 1 1 Direct mode position toler Var int32 Position angle RW ance Direct mode force gt Section C 2 9 550 1 1 Direct mode force force ramp Var int32 Force ramp RW 551 1 1 Direct mode force payload Var int32 Load RW 552 1 1 Direct mode force force Var int32 Force RW tolerance 554 1 1 Direct mode force speed Var int32 speed RW limiting Global default values gt Section C 2 10 600 1 1 Default value speed position Var int32 Speed RW control angular velocity 601 1 1 Default value speed force Var int32 speed RW control 602 1 1 Default value acceleration Var int32 Acceleration RW angular acceleration 603 1 1 Default value deceleration Var int32 Acceleration RW angular acceleration 1 gt Tab C 4 228 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter PNU 2 Name DE Properties 1 PNU Ind Max Class Type Unit RW 605 1 1 Default value payload Var int32 Mass mass moment of RW inertia 606 1 1 Defaul
298. on CMAX cause of error logic 1 0 Error at valve Module type in 1 Error at output which anerrorhas 2 Error at input occurred 3 Error at analogue module Bit 3 is set for all errors of the CMAX technology module Undervoltage Error type Short circuit overload Wire break Other error NID oO A Tab 4 21 Overview of status bits 4 5 2 1 0 diagnostic interface and diagnostic memory A range of different diagnostics information is accessible via the I O diagnostics interface and the dia gnostic memory of the CPX terminal Diagnostic memory data CPX MMI and I O diagnostics interface The representation of diagnostic messages of the CMAX in the diagnostic memory of the CPX terminal occurs as shown in Tab 4 22 134 Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Diagnostic memory data 10 bytes per entry max 40 entries Function no 1 Byte Designation Description Value 3488 n 1 Days day Time specification of the reported er 0 255 n 10 d 0 2 Hours h ror measured from the point when 0 23 3 Minutes m the power supply is switched on 0 59 4 Seconds s CPX standard 0 59 5 Milliseconds 10 ms 0 999 128 227 6 Module code Module code of the CMAX 176 0 255 n 10 d 5 7 Module position Pos Module number of the CPX module 0 47 n 10 d 6 that signaled the error 8 Channel number Bit
299. on is carried out I S N Diagnostic code Diagnostic code Param PNU 201 Index 1 100 Max Index 100 Class array Data type int32 Values Specification 0 Minimum Maximum The diagnostic code includes detail on the diagnostic event For errors and warnings this is the exact number for configuration events the function performed etc gt Section 4 3 2 The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Time stamp time of day Time stamp time of day Param PNU 202 Index 1 100 Max Index 100 Class array Data type int32 Values Specification 0 Minimum Maximum Time of the current operating day in milliseconds at the time of the message This timestamp is not a real time clock The time is read from the device data PNU 140 02 when the message occurs k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out ener eee eee 240 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Additional information Additional information Param PNU 203 Index 1 100 Max Index 100 Class array Data type bit array Values Specification 0000
300. on the parameterisation PNU 523 03 07 ary actu RSB see below for assignment alvalue current error number Byte 4 Assignment of record status byte RSB B7 B6 B5 B4 B3 B2 B1 BO XLIM VLIM RCE COM1 RCC RC1 S Critical Critical Faultin Control Allre 1st re stroke speed record mode1 cords cord reached reached continu complete complete ation Primary Depending on the parameterisation PNU 523 04 08 actual Actual position in the established system of measurement units gt Appendix B 1 value Actual force in the established system of measurement units gt Appendix B 1 Byte 5 8 Combined actual force and actual position with adjusted scaling gt Tab 2 3 Force control and display of force torque values is not supported for semi rotary drives System of Cylinder diamet Assignment of status bytes 5 8 range of values units er Byte 5 Byte 6 Byte 7 Byte 8 Metric SI eff lt 160 mm Actual force N Actual position 0 1 mm 32 768 N 32 767 N 3 276 8 mm 3 276 7 mm eff gt 160 mm Actual force 10 N Actual position 0 1 mm 327 680 N 322 670 N 3 276 8 mm 3 226 7 mm Imperial Independent of Actual force lbf Actual position 0 01 in the diameter 32 768 lbf 32 767 lbf 327 68 in 327 67 in Tab 2 3 Assignment of primary actual value Combined actual force and actual position Festo P BE CPX CMAX CONTROL EN de 1505a English 23 2 I O data and sequenc
301. only in commissioning parameterisation mode with blocked drive kK After writing controller recalculation is carried out 286 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Response delay E50 Response delay Param PNU 1144 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 The response delay for E50 defines the maximum time that the CMAX waits during pressure transfer before it reports an E50 error in case of too little pressure gt A 3 7 Value Maximum time for 1st pressure Maximum time to reach the minimum pressure rise of 100 mbar 0 0 1 s specification 1 05 1 0 55 2 05 2 1 05s 5 05 3 5 05 20 0 s 4 10 0s 40 0 s 5 20 05 100 0 s 6 30 05 300 0 s O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out a Se Festo P BE CPX CMAX CONTROL EN de 1505a English 287 C Parameter C 2 13 Position controller Position controller amplification gain Position control gain factor Param PNU 1150 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 00
302. ontroller checks the software end positions for plausibility and generates an error in case of deviation 5 O The parameter value cannot be changed O writing permissible only in commissioning parameterisation mode with blocked drive E After writing controller recalculation is carried out 1 Name of the parameter 2 PNU parameter number with index maximum index of the PNU class and data type 3 Parameter values For integer parameters int32 the range of values specification minimum maximum is specified for integer parameters with physical unit for each system of measurement units gt Appendix B 1 definition of system of units used With bit fields bit array the default value is specified bit wise It is also specified which bit can assume which value 0 1 or x any during writing With bit fields the CMAX checks the status of the individual bits not a value range Strings char are specified with their default values and the permissible characters during writing 4 Description of the parameter if present for the individual subindices 5 Information about access restrictions and effects on the controller Fig C 1 Representation of the parameter entries 232 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 2 Device data Hardware version of the manufacturer Manufacturer hardware version Param PNU 100 Index 1 Max Index 1 C
303. ontroller recalculation is carried out Active errors Current errors O Writing permissible only in commissioning parameterisation mode with blocked drive Param PNU 220 Index 1 3 Max Index 3 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 0000 0000 Write set the corresponding error message is active Active error messages Each parameter is a bit field consisting of three uint32 values and thus con tains 3x 32 bits 96 bits of memory capacity Each bit in this array represents a fault number If it is Example PNU 220 01 0x00000001 Bit O set E01 active PNU 220 02 0x00000040 Bit 38 32 6 set E39 active PNU 220 03 0x00030000 Bit 80 32 32 16 set E81 active Bit 81 32 32 17 set E82 active This representation is designed for evaluation by a higher order controller Bit coding can be used directly to approach an MMI Error numbers gt Section 4 2 4 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 242 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Active warnings Current warnings Param PNU 221 Index 1 3 Max Index 3 Class array Data type bit array Values Specification 0000 0000 0000 0000 0000 0000
304. orce and alternatively the speed the moved payload or the force ramp can be changed dynamically for each new movement command The setpoint values are managed completely in the controller or calculated and sent directly to the CMAX Detailed information on the record mode Section 3 4 l Overview of the I O data gt Section 2 2 4 14 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 1 3 Commissioning operating mode The commissioning operating mode is used to place the CMAX into operation carrying out identifica tion runs for example etc The following functions are permitted Parameterisation of all axis data with the FCT or via the controller with the help of the FPC Festo Parameter Channel Jogging teaching referencing Movement test identification other commissioning operations Movement commands record mode direct mode are not permissible This operating mode mainly serves to establish a clear separation between the commissioning operation and normal operation movement commands in the record or direct mode to minimise the risk of operational errors od Information on the commissioning operations gt Section 3 2 l Overview of the I O data gt Section 2 2 5 2 1 4 Parameterisation operating mode In parameterisation mode parameters which are actually meant to control the CMAX can be transferred in the cyclical I O data of the FHPP Allocation of the first co
305. ous setpoint adjustment with force control not possible Measure e CDIR CONT must be set to 0 41 Positioning mode relative not permissible in tracking mode F1 R Positioning mode Relative not permissible in tracking mode Cause Relative bit CDIR REL 1 set in tracking mode Measure e Continuous setpoint specification may only occur absolutely 42 Reserved control bits set W F Reserved control bits set Cause Reserved bit set in CCON CPOS or CDIR Measure e Check and correct CCON CPOS and CDIR Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 4 System error A CPX error group 104 CPX MMI System error A No Message Malfunc Reset type tion level 43 Valve and displacement encoder not connected or communication F2 N is faulty Valve and displacement encoder not connected or communication faulty Cause Neither a valve nor a displacement encoder were found during initialization Measure e Check installation Cause Communication to the valve and displacement encoder is faulty Measure e Check cables and components Cause Communication faulty e g due to impermissible or damaged components on the axis string Measure e Check installation replace components Festo P BE CPX CMAX CONTROL EN de 1505a English 111 4 Diagnostics and error handling Group 4 System error A CPX error group 104 CPX MMI System error A
306. out the movement test in the following cases e During commissioning after parameterisation After parameterisation the CMAX expects the movement test to be executed and indicates this by showing C03 on the display e When components are exchanged or the tubing connection has been disconnected and reconnected Special cases Ifthe movement test is to be skipped not recommended the status of the movement test must be set accordingly The movement test status is automatically reset by the CMAX in the event of faults E01 and E08 Ifa movement test is to be carried out at a later time e g after replacing hardware the status of the movement test might have to be reset manually 66 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Carrying out the movement test The movement test must be carried out without activating the controller The valve is only controlled here The valve control value is then calculated independently of any deviation Instead a chamber of the cylinder is deliberately pressurized until the drive moves Based on the position change the de cision is made whether it moved in the correct direction 4 To carry out the movement test it must be enabled CCON ENABLE 1 CCON STOP 1 The Status movement test parameter PNU 1174 contains a flag with bit O for the executed move ment test If Bit O has the value 0 the drive remains blocked controller inactive even if the C
307. ovement profile determined during identification Control mode force This parameter is ignored Presetting For position control PNU 403 bit 2 0 global default value from parameter PNU 602 For force control O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 255 C Parameter Deceleration record Record decelaration Param PNU 408 Index 1 64 Max Index 64 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 0 0 100000 1 s2 0 0 100 000 Imperial 0 01 ft s O 0 32 808 1 s2 0 0 100 000 Deceleration setpoint value for braking depending on the control mode and travel profile PNU 401 Control mode position free profile Setpoint deceleration of the controller for axis braking If dynamic identification was performed this value is reduced to a value that can be reached by the drive Control mode position automatic profile This parameter is ignored The deceleration is derived from the movement profile determined during identification Control mode force This parameter is ignored Presetting For position co
308. pecification 0x0110 Minimum Maximum Coding of the implemented FHPP version The FHPP version is changed in the event of fundamental adjustments of the FHPP definition Format OxOOOOHHNN HH main version NN secondary version k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 233 C Parameter Date created Build date Param PNU 103 Index 1 30 Max Index 30 Class array Data type char Values Specification Permissible characters 0x00 0x20 0xFF zero printable expandable ASCII characters Date of creation of the firmware The date is implemented as a string Format DD MM YYYY hh mm ss Example 03 07 2008 12 40 44 The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Software versions Software versions Param PNU 104 Index 1 2 Max Index 2 Class Var Data type int32 Values Specification 0x0100 Minimum Maximum Software versions of the Plugin for firmware operation Index Contains 1 Minimal version 2 Recommended version Format BCD OOOOHHNN HH main versio
309. possible Parameterisa 1 1 A parameter is transferred in the I O data according to the FPC tion protocol A travel command positioning or force command is not possible Tab 2 2 Overview of CMAX operating modes Switching the operating mode Switching the operating mode to Commissioning or Parameterisation is only allowed in the status Drive blocked CCON ENABLE 0 or Drive enabled CCON STOP 0 Switching between record mode and direct mode is additionally permitted for the status Ready if MC is present SPOS MC 1 The operating mode can also be switched if there is an Error status During switching of the operating mode the meaning of the setpoint and actual values in bytes 2 8 in the higher order controller and the CMAX do not agree And so at every switchover the feedback of the switchover must be awaited before the next command can be executed This also applies for switching between direct mode and record mode Recommendation During switchover of the operating mode always set all setpoint value bytes 2 8 to 0 to avoid faulty setpoint values in the next travel command i Flow chart for programming the higher order controller gt Appendix A 4 4 Note on time behaviour The switchover between record and direct mode is made in the CPX system CPX node and CMAX typic ally within 5 to 10 msec Added to this are the bus transmission time and the cycle time of the control ler
310. pressure rise is not present an error or warning is reported 3 Ifa pressure rise is detected the controller is enabled and SCON ENABLED is set even if the defined minimum pressure is not yet present After that the minimum pressure must have been reached in at least one cylinder chamber within the maximum time No E50 is reported until this time has passed If no error is reported a positioning command can be started right after step 2 At a start if no suffi cient supply pressure is present within this monitoring time error E30 E31 can result Standard parameterisation is sufficient in most cases to avoid false E50 messages For very large drives an adjustment can make sense The parameter can be adjusted in the FCT on the page I O data Festo P BE CPX CMAX CONTROL EN de 1505a English 173 A Notes on commissioning service and firmware A 4 Programming flow charts The following sections include flow charts for CMAX control via I O for typical applications A 4 1 Establishing the ready status Requirements Valve operating voltage and load voltage OFF Fieldbus master is ready for communication so communication is established as soon as the CPX terminal is switched on If this is not the case additional time must be allowed for change of the byte order after establishment of communication Notes 174 All enabling bits CCON ENABLE CCON STOP CCON BRAKE can be set right from the beginning a
311. rameterisation mode with blocked drive Festo P BE CPX CMAX CONTROL EN de 1505a English 249 C Parameter C 2 5 Record table i Information on structure of the record table gt Section 3 3 2 Setpoint record number Requested record no Param PNU 400 Index 1 Max Index 3 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 64 The record number that was accepted wi th the last starting edge If no record was started yet the value will be O no permissible record number The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Actual record number Actual record no PNU 400 Values Specification 0 The number of the record executed last If no record was executed yet the value will be 0 This is no permissible record number The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Index 2 Param Max Index 3 Minimum 0 Class Struct Data type int32 Maximum 64 Record status byte Record status byte Param PNU 400 Index 3 Max Index 3 Class Struct Data type bit array Values Specification 0000 0000 0000 0000 0000 0000 000
312. ray Values Specification Write Additional status information of the controller These are also valid in parameterisation mode if SPOS is not available Bit Status information Status bit 0 Referenced SPOS REF 1 Motion Complete SPOS MC 2 Drive in motion SPOS MOV 3 Following error tolerance error SPOS DEV 4 n tolerance 5 Standstill warning SPOS STILL 6 Supply pressure in tolerance 7 11 Reserved 12 Position control is active 13 Standstill control is active 14 Force control is active 15 16 Reserved k The parameter value cannot be changed O After writing controller recalculation is carried out Valve setpoint specification Valve output value O Writing permissible only in commissioning parameterisation mode with blocked drive Param PNU 309 Index 1 Max Index Class Var Data type int32 1 Values Specification 2047 Minimum 0 Maximum 4095 Internal setpoint specification for the valve Value Standardised Pressurisation Exhaust Drive travels value 4095 100 1 4 2 3 in the direction of smaller actual values 2047 0 Closed closed not at all 0 100 1 2 4 5 in the direction of greater actual values k The parameter value cannot be changed O After writing controller recalculation is carried out O Writing permissible only in commissioning pa
313. rdware end position position minimum permissible lower software end position Fig B 1 Parameters for software end positions example of linear drive with absolute measuring system Absolute position measuring system The limits result from the length of the displacement encoder and of the cylinder as well as the mount ing offset between them The mounting offset is given based on the offset of the measuring system zero point to the axis zero point Special features with use of additional options gt Section B 2 5 Integrated incremental displacement encoder The limits result from the cylinder length The maximum permissible limit values are referred to as hardware end positions If the user sets both software end positions to 0 in order to deactivate them all setpoint specifications are limited to the hardware end positions If position control is active the set tolerance is taken into account so that minor overswings when starting up the software end positions do not lead to an error Festo P BE CPX CMAX CONTROL EN de 1505a English 207 B Basic principles of the CMAX Case distinction for external displacement encoder Layout Description PNU 1101 PNU 1130 Cylinder Displacement encoder The measuring system projects over the cylinder on both sides Offset axis zero point PNU 1130 gt 0 PNU 1130 PNU 1101 lt PNU 1111 gt Min permissible lower SWEL 0
314. re are communication malfunctions with the valve or the measurement system it might not be possible to actuate the clamping unit brake Typically these are the errors E43 E6x and E8x If users want to be able to control the clamping unit brake in these situations too they must actuate it through an independent channel and not with the CMAX After the clamping unit brake is opened a waiting time of 50 msec takes place which the clamping unit brake requires for mechanical opening During this waiting period SCON READY 0 even when operation enable is requested CCON STOP 1 A start is possible only after that gt Fig 3 6 If the controller is in the Operation enabled status SCON READY 1 closing the clamping unit brake has the same effect as resetting CCON STOP The Operation enabled status is exited with a stop and SCON READY 0 is set When standstill is reached force control is activated with a force setpoint of 0 It is not possible to close the clamping unit brake and simultaneously remain in the Operation en abled status If operation enable is requested CCON STOP 1 while the clamping unit brake is closed the warning W18 is output To prevent the warning operation enable must be blocked CCON STOP 0 while the clamping unit brake is being closed and the clamping unit brake must be opened during granting of the operation enable In position control standstill monitoring is active gt Note
315. re used gt Section 5 3 Tab 3 19 Parameters involved record mode Festo P BE CPX CMAX CONTROL EN de 1505a English 81 3 Setpoint record number output data Start CPOS START Start acknowledg ment SPOS ACK 2 Motion complete SPOS MC Actual record Drive functions 3 3 1 Start of a record 1 number input data tmin at least 1 bus cycle waiting time Recommendation 1 control cycle Not required with use of consistent data transmission 1 Set the desired record number in the output data of the controller Until the start the CMAX con 82 tinues to reply with the number of the record last processed SCON FAULT must be 0 during the entire sequence If SPOS ACK acknowledge start 0 the controller can initiate execution of the record with a rising edge at CPOS START The CMAX accepts the record number and starts the movement command i e the setpoint curve In the controller input data the actual record number is set to the current record and SPOS MC is reset With the rising edge at SPOS ACK the CMAX signals that the controller output data have been accepted and the movement command is active The controller recognises the acknowledgement SPOS ACK 1 in its input data and resets CPOS START in its output data CMAX acknowledges the resetting of CPOS START by resetting SPOS ACK After the controller has identified SPOS ACK 0 new
316. rect mode force velocity limit Param PNU 554 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 0 001 m s 50 0 500 Imperial 0 01 ft s 15 0 164 Maximum speed at which the drive travels If the actual speed exceeds this value the force control switches to positioning and continues at this speed until it arrives at the workpiece standstill is re cognised or the setpoint force is reached Specification of 0 deactivates the switchover to position control Section 3 1 2 Only effective if use of the global default value default value for speed position control PNU 601 has been deactivated with PNU 521 03 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Ze Festo P BE CPX CMAX CONTROL EN de 1505a English 269 C Parameter C 2 10 Global default values Default value speed position control Default value velocity position mode Param PNU 600 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 2 000 10 10 000 1 s 1 000 10 10 000 Imperial
317. red as payload the speed or force ramp is set at 100 of the base value Start of a movement command Fig 3 14 shows the I O signals when a movement command is started 94 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Setpoint values output data Start CPOS START B1 Drive functions ik Acknowledge start SPOS ACK B1 0 1 Motion complete SPOS MC B2 o 4 mo i 3 4 tmin tmin at least 1 bus cycle waiting time Recommendation 1 control cycle Not required with use of consistent data transmission The desired setpoint value position force and the positioning condition absolute relative speed or force ramp etc are set in the output data of the controller SCON FAULT must be 0 during the entire sequence With the rising edge at CPOS START the CMAX transfers the setpoint values currently present starts the movement command sets SPOS MC 0 and acknowledges the starting edge with SPOS ACK 1 After resetting CPOS START and the acknowledgement SPOS ACK 0 a new setpoint value can be started at any time There is no need to wait for MC The CMAX internally calculates the necessary steps to execute the new movement command If a change of direction is required for example the drive is first braked until speed 0 is reached Only then is the new setpoint position transferred to the controller No error message is gener ated Once the last se
318. regulation is completed In the event of a fast stop the standstill monitoring is deactivated CDIR control byte 3 CDIR is a special control byte for the direct mode 30 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 I O data and sequence control Status byte 2 SPOS direct mode Bit DE EN Description BO Reserved 0 B1 Acknowledge Acknowledge 0 Ready for start ACK start Start 1 Start carried out B2 Motion Motion 0 Movement command active MC complete Complete 1 Movement command completed also for error 2 B3 Acknowledge Acknowledge Reserved 0 TEACH teach Teach B4 Drive moves Drive is Movement monitoring gt Section 3 1 9 MOV moving 0 Drive does not move 1 Drive moves B5 Following Deviation Following error or tolerance monitoring DEV error Warning gt Section 3 1 9 0 No following error within tolerance 1 Following error active tolerance exited B6 Standstill Standstill Standstill monitoring gt Section 3 1 9 STILL warning Warning 0 Standstill warning not active 1 Standstill warning active drive has moved after MC B7 Drive Drive is 0 Homing must be carried out Ref referenced referenced 1 Reference information available homing not necessary 1 When programming the handshake between CPOS START and SPOS ACK the faults present must always be taken into considera tion as well since SPOS ACK might not be set in the even
319. rent weights this variable share must be defined as pay oad The CMAX calculates the sum of base load and current payload for every positioning process The respective total load present is determined by specifying the changing payload PNU 605 is the glob al default value During jogging PNU 536 direct drive PNU 544 or 551 and homing PNU 1134 the payload can also be specified individually in each record PNU 410 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 284 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Payload loaded at power on Payload at power on Param PNU 1143 Index 1 Max Index 4 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 When the controller is released drive released the last valid payload is always used Usually no workpiece is loaded during the first enable after switch on so CMAX only takes into account only the base load PNU 1142 This parameter defines whether the payload should also be taken into ac count at switch on Value Meaning 0 Workpiece not loaded when switching on The workpiece is only loaded during operation 1 The workpiece is in the loader during power on Note With every positioning command either t
320. rive O After writing controller recalculation is carried out 256 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Tolerance record Record tolerance Param PNU 411 Index 1 64 Max Index 64 Class array Data type int32 Values Linear drive position control Semi rotary drive position control Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 0 1 000 0 1 0 0 100 Imperial 0 001 in 0 0 394 0 1 0 0 100 Linear drive force control Semi rotary drive force control Unit Specific Minimum Maximum Force control is not permissible with semi ation rotary drives Metric 1 N 0 0 1 000 Imperial 1 lbf 0 0 225 Specification of the tolerance to be used with this record Control mode position RCB1 COM1 0 Position tolerance in unit position index 1 Control mode position RCB1 COM1 1 Force tolerance in unit force index 3 Presetting For position control PNU 403 bit 6 0 global default value from parameter PNU 606 For force control PNU 403 bit 7 0 global default value from parameter PNU 607 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Force ramp record Record force ramp Param PNU 412 Inde
321. rmation on fale movement test gt Section 3 2 1 As long as the movement test has to be carried out bit 0 0 the controller is not enabled With SCON ENABLED 1 movement enable is available only for the movement test the valve is only oper ated if it is controlled With a starting edge for a movement command other than the movement test the error E14 Movement test not executed is issued FCT indicates the status Movement test in the Extended data frame The LED turns green when the parameter value has the status xxx0 1111p If the hardware was exchanged the movement test is automatically reset by the CMAX This is not reversible Example Exchange valve and change it back again With PNU 1192 07 the movement test can be skipped or the status reset The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 295 C Parameter Block adaptation Disable adaptation Param PNU 1175 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 This parameter is used to deactivate adaptation This is practically not required in any configuration only in extremely rare cases does adaptation worsen the positioning behaviour In most case adapta tion is u
322. roup 3 Control error CPX error group 103 CPX MMI Control error No Message Malfunc Reset type tion level 32 Target force outside the force limits F1 W R Target force outside the force limits Note Message can be parameterised alternatively as a warning W or error F1 Cause Target force outside the set force limits Measure e Correct target force or force limit Cause The target force is larger than the maximum force that can be reached the max imum attainable target force determined by the CMAX may deviate from the theoretical value calculated by the FCT Measure e Correct target force increase supply pressure reduce moving load in vertical structure use larger drive 33 Target position outside the software or hardware end positions F1 W R Target position outside the software or hardware end positions Note Message can be parameterised alternatively as an error F1 or warning W Cause Target position is outside the set software end positions Measure e Check and correct target position software end positions and project zero point Cause Target position is outside the reachable hardware end positions Measure e Check and correct target position and project zero point 34 Setpoint value in tracking mode outside the limit values W F1 F R Setpoint value in tracking mode outside the limit values Note Message can be parameterised alternatively as a warning W or error F1 Cause Setpoint position is
323. s Identification was successful Tab 4 12 Examples of diagnostic events PNU 204 Administration of the diagnostic memory Index Description 1 2 Reserved 3 Writing of 1 diagnostic memory is deleted Reading always delivers the value 0 Deleting is usually not required ring buffer when the memory is full the new entry over writes the oldest 4 Number of valid entries Writing is not permitted 5 Number of unread entries With every new entry into the diagnostic memory the value is increased by 1 Can be set to 0 in the PNU e a a a E a _L _ _ _ EEEEx sSS Tab 4 13 Administration of the diagnostic memory 4 3 3 Error status and additional information This additional information is designed mainly for diagnostics performed by FCT The additional inform ation supplements the error number by adding helpful information such as the record number With active messages it also indicates whether the error can be acknowledged and whether the cause is still active The coding is the same for the parameters PNU 203 Additional information for messages in the diagnostic memory Index 1 100 correspond ing to the entry number PNU 227 Coding of the current status of a message Index 1 89 corresponding to the error or warning number Since several errors or warnings may be pending simultaneously the information of the PNU 227 needs to be available for every
324. s This allocation is stored in the FCT With other drives and special applications the piston rod diameter can be parametrised as required by using the user defined type O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out SSS ESSE EES a SSS DGCI Integrated clamping unit DCGI Integrated clamping unit Param PNU 1104 Index 1 Max Index 6 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 1 With use of a DGCI The drive is equipped with the integrated clamping unit 1H PN This option must also be set for option 1143 3 clamping unit used The drive is extended by the length of the clamping unit no stroke reduction takes place The drive must be familiar with the complete cylinder length so that the controller can work correctly But the parameter cylinder length PNU 1101 includes only the nominal length The CMAX adds for the con troller the stroke extension to the cylinder length which is dependent on the diameter Drive option with use of the DGCI gt Section B 2 5 Value Meaning 0 The clamping unit used is not an integrated clamping unit 1 The clamping unit used is the integrated clamping unit 1H PN parameter 1143 1 1 otherwise error E05 O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation
325. s name Axis name Param PNU 180 Index 1 30 Max Index 30 Class array Data type char Values Specification Axis X Permissible characters 0x00 0x20 0xFF ZERO printable expandable ASCII characters Impermissible characters plug in lt gt DEL 0x3C 0x3E 0x5C 0x7F Name of the axis the drive on the axis interface X O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 239 C Parameter C 2 3 Diagnostics The diagnostic memory and diagnostic parameters are described in detail in the l sections 4 3 and 4 3 Diagnostic event Diagnostic event Param PNU 200 Index 1 100 Max Index 100 Class array Data type int32 Values Specification 0 Minimum Maximum Type of diagnostic message gt Section 4 3 2 Not only errors and warnings are entered into the diagnostic memory of the CMAX but also switch on operations resets or configuration events The interpretation of the diagnostic code and the addi tional information depends on the type of these events The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculati
326. s to be changed outside of these limits the identification data must first be deleted After adjustment of the setpoint configuration a new identification must be carried out Exchange of a component is recognised through the new serial number The CMAX then generates warning WO8 Identification must be executed The new serial number is then transferred automati cally Index _ Value Setpoint configuration Tolerance 1 Cylinder length PNU 1101 5 00 mm 2 Displacement encoder length PNU 1111 5 00 mm 3 Reserved 4 Mounting position PNU 1140 3 5 Supply pressure PNU 1141 1 bar 6 Serial number of displacement en PNU 1112 coder 7 Serial number of valve PNU 1121 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Trace configuration maximum supported version Trace configuration max supported version Param PNU 1198 Index 1 Max Index 1 Class Var Data type int32 Values Specification 4 Minimum Maximum Parameter for the FCT k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Production parameters Manfacturing data Param PNU 1199 Index 1 7
327. scertained which have an effect on the control behaviour of the system during positioning as well as on standstill control and the 0 force in the force control These include among others static friction of the drive and the valve characteristics in the mid position range small signal behaviour of the valve hysteresis Dynamic identification With dynamic identification the acceleration ability and deceleration ability of the drive system is as certained The determined maximum values limit the setpoint acceleration and deceleration in position ing tasks to achievable values This avoids following errors and the resultant overshooting of the target position In the automatic profile the CMAX always uses the determined maximum acceleration Dynamic identification must be carried out for axes which should move with automatic profile The dynamic part of the identification can be deactivated This is important for cases where the struc ture cannot withstand dynamic stress No maximum values for acceleration of the system are determ ined without the dynamic identification having been carried out For position commands with automat ic profile a warning W37 is then output and the movement command executed with free profile and the parameterised default values PNU 600 602 603 To avoid overshooting users in this case must optimise the accelerations themselves For different positioning strokes different acceleration values might
328. se Very strong friction or irregular friction only position controller Measure e Increase control amplification Cause Mechanical play only position controller Measure e Check installation load stability guides check play repeat identification Cause System not optimally configured Measure e Check configuration valve payload base load mounting position supply pressure increase time out increase tolerance Cause Modified system behaviour only position controller Measure e Repeat identification 31 No movement after start F1 R No movement after start Note Time out The drive has moved less than 11 mm within the time out period Cause Pressure could not be built up Measure e Check supply pressure Cause Drive jammed or sluggish Measure e Check guide and mechanical structure Cause Working pressure insufficient to move the entire load Measure e Set sufficient working pressure and check configuration of the load Cause Valve defective Measure e Check pressure build up with trace replace valve if defective Cause Faulty tubing connection Measure e Check tubing connection Cause Valves additional pneumatic circuit installed between the valve and cylinder are closed Measure e Open valves Festo P BE CPX CMAX CONTROL EN de 1505a English 107 4 Diagnostics and error handling G
329. seconds after restart of the axis 1 Resets executed one after another are combined into one entry Diagnostic event 7 switch on The CMAX has been switched on Diagnostic code PNU 201 No Description Normal start project data fully loaded Start in configuration mode COO no project present Start in configuration mode C01 project incomplete Start in configuration mode C02 project incomplete WIRIWIN Re Start in configuration mode C03 Movement test must be carried out Additional information PNU 203 Informa Description tion Byte 1 Number of switch on processes since the last message Byte 2 Reserved Byte 3 4 Duty cycle in milliseconds 1 Switch on procedures executed one after another are combined into one entry Festo P BE CPX CMAX CONTROL EN de 1505a English 12 Ke 4 Diagnostics and error handling Diagnostic event 8 configuration A configuration commissioning operation was executed Diagnostic code PNU 201 No Description 1 Firmware was updated 2 Data reset All user and controller data was deleted 3 Movement test was carried out 4 Identification was executed static 5 Identification was executed static and dynamic 6 Identification was reset identification data were deleted Additional information PNU 203 Informa Description tion Byte 1 1 Successfully carried out 2 Execution
330. sed project and data management for supported device types The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plug ins Festo Handling and Positioning Profile FHPP Device and communication profile for position controllers from Festo Festo Parameter Channel FPC FHPP specific parameter access Functions Special functions in the different operation modes e g jog operation hom ing Homing Homing defines the homing position and thereby the origin of the measuring reference system of the axis Digital input From the point of view of the higher order controller the CMAX status inputs are module input data gt Section 2 2 I Os Digital inputs and outputs Identification System function where specific characteristics of the connected axis can be determined by means of an identification run e g the break away forces friction behaviour dynamics maximum accelerations and speeds etc Festo P BE CPX CMAX CONTROL EN de 1505a English 305 D Glossary Term abbreviation Incremental displace ment encoder Significance A displacement encoder in which the measurement variable refers to a refer ence point and is determined by counting equally large measurement steps increments Jog operation Manual travel in a positive or negative direction Function for setting positions by approaching the targ
331. seful Adaptation improves the absolute precision reachable by the drive Worsening of the positioning behaviour is not always caused by faulty adaptation gt Section 3 2 4 Values 0 Adaptation is performed 1 Adaptation is blocked O The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out Offset and hysteresis values of the drive Offset and hysteresis values of the drive Param PNU 1176 Index 1 Max Index 16 Class array Data type int32 Values Specification 0 Minimum Maximum Internal parameter k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 296 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter C 2 16 System data Hardware actual configuration Actual hardware configuration Param PNU 1190 Index 1 Max Index 33 Class Struct Data type int32 bit array Values Specification 0 Minimum Maximum Hardware configuration found at switch on actual configuration Value 0 means that the parameter could not be recognised automatically For comparison the corresponding PNUs of the setpoint configuration are listed here as well Index
332. set Tab 5 18 Error numbers for parameter transmission 5 4 2 Special features of the system of measurement units The following special rules apply to accessing the system of measurement units For de tailed information on the system of measurement units gt Appendix B 1 The system of measurement units cannot be switched over at will To change the sys tem of measurement units the axis data must be reset After defining the system of measurement units metric imperial the cylinder type must be transmitted This defines the movement type translationally rotationally Only when the system of measurement units has been defined can PNUs be accessed that are larger than PNU 300 exceptions PNU 1100 1190 Festo P BE CPX CMAX CONTROL EN de 1505a English 149 5 Parameterisation 5 5 Cyclic parameterisation in the parameterisation mode In the parameterisation mode the FPC can be used to transmit one parameter at a time in the cyclic 1 0 data The PLC enters the order in the output data and waits until the CMAX has entered a response in the input data This process takes several bus cycles FPC in the cyclic I O data gt 1 0 allocation in Section 2 2 6 Byte1 Byte2 Byte3 Byte4 Byte5 Byte Byte7 Byte8 Output CCON Subindex Parameter identifier Parameter value data Order byte 1 7 of the FPC gt Section 5 4 Tab 5 14 Input SCON Subindex Parameter identifier Param
333. set the corresponding error message is active Example PNU 220 01 0x00000001 Bit O set E01 active PNU 220 02 0x00000040 Bit 38 32 6 set E39 active PNU 220 03 0x00030000 Bit 80 32 32 16 set E81 active Bit 81 32 32 17 set E82 active This representation is optimized for evaluation by a higher order controller since this bit coding can be used directly to activate an MMI PNU 220 contains current errors PNU 221 contains current warnings Message on the dis The PNU 224 contains the error number currently being shown on the dis play play This makes synchronisation between the display in the FCT and the PNU 224 CMAX possible The message that occurred first is always displayed PNU 226 The PNU 226 contains the warning number the FCT is supposed to display The warning is not shown on the CMAX display Active level With this FCT can display the current status of the CMAX corresponding to PNU 225 the level of the error or warning gt Section 4 2 1 The most serious cur rently reported error is always responsible for the current level Bit coded error status The bit coded error status allows the FCT to indicate the exact status of an PNU 227 active error message The coding is identical to the coding of the additional information in PNU 203 Description gt Section 4 3 3 Tab 4 7 Parameters of the diagnostic memory Festo P BE CPX CMAX CONTROL
334. set axis zero point 1130 Selectable within the cylinder length Cylinder diameter 1102 Selection for the DNCI 32 40 50 63 Selection for the DDPC 80 100 User defined 16 320 Piston rod diameter 1103 Allocation for the DNCI 12 16 20 20 Allocation for the DDPC 22 6 22 6 User defined less than cylinder diameter SE E SS SSS eee eS SS SS 1 Corresponding to the sequence of the cylinder diameters Festo P BE CPX CMAX CONTROL EN de 1505a English 213 B Basic principles of the CMAX DSMI semi rotary drive Parameter PNU Value Displacement encoder 1110 Permanently specified potentiometer Cylinder length 1101 270 275 Measuring system length 1111 285 295 Offset axis zero point 1130 Selectable within 5 15 Cylinder diameter 1102 Selection 25 40 630 Piston rod diameter 1103 0 S EEEE EEeE E E E EE E _ __ LE ___ _ aL AD 1 In the CMAX drives with other diameters will lead to errors here Rodless linear drive piston rod drive Parameter PNU Value Displacement encoder 1110 Selectable 1 potentiometer 2 digital dis placement encoder Cylinder length 1101 50mm 2000 mm Measuring system length 1111 50mm 10 000 mm Offset axis zero point 113
335. set upper software end position d USE Upper software end position 5 Offset lower software end position e LSE Lower software end position 6 Working stroke TP Target position actual position 9 Offset target actual position c AP 1 User specifications Tab B 9 Dimension reference system for pneumatic drives with incremental displacement encoder 204 example of homing negative stop Festo P BE CPX CMAX CONTROL EN de 1505a English wo Basic principles of the CMAX B 2 3 Calculating specifications for the measuring reference system Axis zero point and cylinder zero point i The axis zero point must always be on the cylinder zero point for servo pneumatic linear drives The cylinder zero point is the mechanical stop of the drive in a negative direction This is necessary because the controller requires the absolute piston position within the cylinder This means that the offset axis zero point vector a or a must always be spe cified Points of reference for absolute measuring systems Point of reference Calculation rule Axis zero point AZ SZ a Project zero point PZ AZ b SZ a b Lower software end position LSE AZ d SZ a d Upper software end position USE AZ e SZ a e Target actual position TP AP PZ c AZ b c SZ a b c Tab B 10 Calculating rules for the dimension reference system with absolute measuring systems Note on absolute displacement encoders
336. setpoint values may be written to its output data The CMAX ignores this until the next start When the record or record chain has been concluded SPOS MC is set Fig 3 13 Record start process Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Notes As soon as the controller detects the rising edge at SPOS ACK it can assume that MC is valid From the point of view of the controller the falling edge at MC can occur at the same time as the rising edge at ACK 3 and 4 then cannot be distinguished In the event of error messages the movement command might not be acknowledged with SPOS ACK depending on the error For this reason the SCON FAULT bit must always also be evalu ated Typical causes of error in applications Homing has not been carried out Selection of an invalid record number or a record that has not been initialised The setpoint value is outside of the software end positions Error in the record parameters e g invalid step enabling condition gt Section 3 3 3 Subsequent record with active record sequencing not initialised If the next record is configured with an automatic profile only the condition MC or none are per missible Otherwise a warning W37 is signaled and the free profile is used The CMAX does not react to the rising edge at CPOS START It must be checked whether SPOS ACK was really reset After the controller sets CPOS START 0 Fig 3 13
337. ssible change of operation mode Cause Change between record select mode and direct mode with active positioning command SPOS MC 0 Measure e Only perform the shift after positioning command is completed SPOS MC 1 Cause Change between record select mode or direct mode and commissioning or para meterisation during active operation enable CCON STOP 1 Measure e Only perform the shift without operation enable Group 2 Position set errors CPX error group 102 CPX MMI Record error Set CCON STOP 0 and wait for SCON READY 0 and SPOS MC 1 No Message 21 Invalid record number F1 R Invalid record number Malfunc Reset type tion level Cause At start an invalid record number was pending 0 or gt 64 Measure e Check record numbers and correct first transfer record number then starting edge 22 Record is not configured F1 R Record is not configured Cause Measure Retrieved record was not configured and contains no valid positioning data e Check record and parameterise Festo P BE CPX CMAX CONTROL EN de 1505a English 105 4 Diagnostics an d error handling Group 2 Position set errors CPX error group 102 CPX MMI Record error No Message Malfunc Reset type tion level 23 Record is blocked F1 R Record is locked Cause The retrieved record is not
338. starting edge All other status bits in the SDIR are updated dynamically 32 Festo P BE CPX CMAX CONTROL EN de 1505a English 2 1 0 data and sequence control 2 2 5 1 0 data in commissioning mode 1 0 data commissioning Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON CPOS Function Parame Parameter 2 data ter1 e g current payload Input SCON SPOS Function Second Primary actual value data ary actu actual position actual force al value Assignment of the control and status bytes commissioning Assignment of the control bytes commissioning CCON B7 B6 B5 B4 B3 B2 B1 BO Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Operating mode 1 2 Block FCT Acknow Release Stop Enable access ledge brake drive error CPOS B7 B6 B5 B4 B3 B2 B1 BO Byte 2 TEACH JOGN JOGP HOM START Teach Jog Jog Start Start value negative positive homing movement command Function The function number selects the commissioning function to be started in Commissioning byte 3 operating mode The functions are executed with a rising edge at CPOS START Value Function Description Param 1 Param 2 0 Reserved Not permissible 1 Identification Execute identification travel 0 Payload 2 Movement test Execute movement test 0 0 3 255 Reserved Not permissible The CMAX reports an error when r
339. starts after Re 7 reaching the target value i e 200 50 when the MC condition is met a z Switching occurs after this wait 40 Zi ing time 2 elapses Therefore the axis as a rule is at a standstill for a moment during po sitioning but not necessarily dur ing force control Note SPOS MC is also not set to 1 for this step enabling condition while the re cord is being processed but only when the CMAX has executed the last chained record eS OOS OS SS SS SSS 150 200 MC Festo P BE CPX CMAX CONTROL EN de 1505a English 89 3 Drive functions Defined step enabling conditions in the CMAX Value Condition Description 13 Stroke after Sequencing is only permissible in 20 Target 120 force a force record ae force ue 180 90 The preselected value is inter i s ie preted as the stroke 1 position e orce 70 difference with sign a it After reaching the MC condition 20 et et w for the force command 2 monit arget N it A N R position i oring of the actual position is star 2 1 ted Sequencing 3 occurs as 5 so 20 a o aoo 350 w0 a MC soon as the stroke 1 set in the preselected value has been Monitoring passed active 2 The stroke specified in the preselected value refers to the
340. step 1 Bit B7 B6 B5 B4 B3 B2 B1 BO CCON OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Byte 1 1 1 x 0 x x 0 x Subindex Subindex of the parameter to be transmitted 0 Byte 2 0 0 o 0 o 0 o 0 Param PNU 0 identifier 9 o 0 o 0 o 0 o Byte 3 4 ReqiD 0 PNU n r 0000 0000 0000b 0 0 0 0 0 0 0 0 Param Value of the parameter to be transmitted 0 value Byte 5 8 Waiting for feedback from CMAX No request Allocation of the status bytes step 1 Bit B7 B6 B5 B4 B3 B2 B1 BO SCON OPM2 OPM1 FCT 24VL FAULT WARN Ready ENABLED Byte 1 1 1 x x x x 0 x Subindex Subindex of the parameter to be transmitted not relevant Byte 2 0 0 0 0 0 0 o 0 Param PNU not relevant identifier 0 0 0 0 0 0 0 0 Byte 3 4 ResID 0 0000b PNU 0 0 0 0 0 0 0 0 0 Param Value of the transmitted parameter not relevant value Byte 5 8 152 Festo P BE CPX CMAX CONTROL EN de 1505a English 5 Parameterisation 2nd step Transmission of the parameter Allocation of the control bytes step 2 Bit B7 B6 B5 B4 B3 B2 B1 BO CCON OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE Byte 1 1 1 x 0 x x 0 x Subindex Subindex of the parameter to be transmitted 3 0x03 Byte 2 0 0 0 0 0 0 1 1 Param PNU 404 0x0194 0001 1001 0100b identifier 4 0 0 1 0 1 0 1 Byte 3 4 ReqI
341. t System of units table measurement units Metric SI Linear motion gt Tab B 2 linear drive cylinder Rotation gt Tab B 3 semi rotary drive Imperial Linear motion gt Tab B 4 linear drive cylinder Rotation gt Tab B 5 semi rotary drive Tab B 1 Possible system of units tables Only one of the possible system of units tables is valid and this is automatically determined through selection of the system of units and type of motion when a project is created and during download of the project data gt Appendix B 1 2 The system of units table actually used in the CMAX is stored in PNU 1192 06 and can be interrogated Asystem of units table always consists of 2 partial tables one for the unit and one for the resolution scaling Both can be interrogated in the CMAX PNU 1193 table for the units PNU 1194 table for resolution scaling With the system of units table the 12 physical system variables are defined with regards to their unit and resolution e g gt Tab B 2 Depending on the selected system of units SI or Imperial and the type of motion linear or rotation movement the unit can take on different values e g a position or angle value index 1 in Tab B 2 to Tab B 5 and so can take the unit millimetre inch or degree The resolution scaling of a physical variable describes the number of decimal places and consequently the precision used The resolution is specified as
342. t configuration or the serial numbers have changed Measure e Check the axis configuration Check to make sure 2 axis strings have not been interchanged 02 Unknown valve F2 N Unknown valve Cause Connected valve is not supported Measure e Exchange valve or e update firmware 03 Unknown cylinder F2 N Unknown cylinder Cause Connected cylinder or sensor interface is not supported Measure e Replace cylinder or sensor interface e Update firmware 04 Unknown displacement encoder or unknown sensor interface F2 N Unknown displacement encoder or unknown sensor interface Cause Connected displacement encoder or sensor interface is not supported Measure e Replace displacement encoder or sensor interface e Update firmware Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics and error handling Group 0 Configuration errors CPX error group 100 CPX MMI Configuration error No Message Malfunc Reset type tion level 05 Project not loaded completely or block download active F2 R Project not loaded completely or block download active Cause Drive cannot be enabled because the target configuration is not yet complete configuration status COO C01 or C02 Measure e Complete the nominal configuration e g download project again Cause Drive cannot be enabled because the block download is still active Measure e End block download Check and correct the control progra
343. t during active positioning command not permitted F1 R Start during active positioning command not permitted Cause Starting the tracking mode during an active positioning command is not permis sible Measure e End the active positioning command and wait for Motion Compete SPOS MC 1 Cause Rising edge at CPOS START not permitted during homing run jogging commissioning operation Measure e Active positioning command must be completed or stopped SPOS MC 1 Cause Rising edge at CPOS HOME not permitted during homing run jogging commissioning operation Positioning command Measure e Active positioning command must be completed or stopped SPOS MC 1 Cause Rising edge at CPOS JOGN or CPOS JOGP during active positioning command Measure e Active positioning command must be completed or stopped SPOS MC 1 Festo P BE CPX CMAX CONTROL EN de 1505a English 113 4 Diagnostics and error handling Group 5 System error B CPX error group 105 CPX MMI System error B No Message Malfunc Reset type tion level 50 Supply pressure is too low W F2 F Supply pressure is too low Note Message can be parameterised alternatively as a warning W or error F2 Cause Pressure in both cylinder chambers is too low or rises too slowly The response delay for pressure monitoring can be optimised with FCT or PNU 1144 Measure e Check compressed air supply
344. t of a fault 2 MCis set after device is switched on status Drive blocked Festo P BE CPX CMAX CONTROL EN de 1505a English 31 2 I O data and sequence control Status byte 3 SDIR direct mode Bit DE EN Description BO Relative Relative 0 Setpoint value is absolute REL 1 Setpoint value is relative to the last setpoint value B1 Control Control Mode 1 Control mode acknowledgment COM1 mode 1 0 Position control active 1 Force control active B2 Control Control Mode 2 Control mode acknowledgment only with position COM2 mode 1 control COM1 0 0 Free profile 1 Auto profile B3 Tracking mode Tracking mode Feedback on tracking mode continuous setpoint value CONT specification Continuous mode 0 Tracking mode not active 1 Tracking mode active B4 Criticalspeed Critical Only with force control VLIM reached velocity 0 Critical speed not reached reached 1 Critical speed reached error reported V Limit B5 Critical stroke Critical stroke Only with force control XLIM reached reached 0 Critical stroke not reached X Limit 1 Critical stroke reached error reported B6 Fast stop Fast stop 0 Exact stop is active FAST 1 Fast stop is active error signaled B7 Reserved 0 The SDIR status byte is the acknowledgement of the movement command in direct mode The status bits REL and FAST only change when the movement command is transferred
345. t value is used gt Section 5 3 Tab 3 12 Parameters involved in standstill monitoring 64 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 1 10 Limitation of setpoint values In order to position quickly without overshooting upon reaching the position or force setpoint value CMAX limits setpoint values for accelerations and deceleration which are too high During dynamic identification it is determined what maximum acceleration values allow for overshoot free positioning These values can lie below the physically achievable accelerations and decelerations depending on the mass load starting and target positions etc The setpoint values specified by the user for the speed and acceleration are limited to the maximum values determined independently by the CMAX during positioning The CMAX generates a data record during a movement command which compares the user setpoints with the maximum values determined by the controller In the FCT the used values can be displayed in the Limitation tab If dynamic identification is not carried out the permissible limit values for the setpoint values must be determined by the user By using these determined limits as setpoint values overshoot free positioning is guaranteed Position control If a setpoint curve is generated based on acceleration setpoints which the drive cannot follow this can lead to overshooting at the target position With dynamic identification
346. t value position Var int32 Position angle RW tolerance 607 1 1 Default value force tolerance Var int32 Force RW 608 1 1 Default value force ramp Var int32 Force ramp RW Drive configuration gt Section C 2 11 1100 1 1 Cylinder Var int32 RW 1101 1 1 Cylinder length Var int32 Length swivel angle RW 1102 1 1 Cylinder diameter Var int32 Diameter RW 1103 1 1 Piston rod diameter Var int32 Diameter RW 1104 1 6 DGCI Integrated clamping Struct int32 RW unit 1104 2 6 DGCI Additional slide Struct int32 RW 1104 3 6 DGCI Lubrication function Struct int32 RW 1104 4 6 DGCI Slide Struct int32 RW 1104 5 6 DGCI Distance between slide Struct int32 Length swivel angle RW and additional slide KR 1104 6 6 DGCI Distance between slide Struct int32 Length swivel angle RW and additional slide KL 1110 1 1 Displacement encoder type Var int32 RW 1111 1 1 Displacement encoder length Var int32 Length swivel angle RW 1112 1 1 Displacement encoder serial Var Bit array RW number 1120 1 1 Valve Var int32 RW 1121 1 1 Valve serial number Var Bit array RW 1125 1 1 Valve 2 Var int32 z RW 1126 1 1 Valve 2 serial number Var Bit array RW Application settings gt Section C 2 12 1130 1 1 Offset axis zero point Var int32 Position angle RW 1131 1 1 Homing method Var int32 RW 1132 1 1 Homing velocity Var int32 Speed RW angular velocity 1133 1 1 Homing timeout Var int32 Time RW 1134 1 1 Homing payload Var int
347. tandstill control O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Force controller dynamic amplification Force control dynamic gain Param PNU 1161 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 000 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Force controller dynamic amplification gt Appendix B 5 3 1 Force control is not permissible with semi rotary drives However the parameter is used for standstill control O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out RE a a e D a a bi a a Force control filter factor Force control filter factor Param PNU 1162 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 100 10 1 000 0 01 100 10 1 000 Imperial 0 01 100 10 1 000 0 01 100 10 1 000 Force control filter factor gt Appendix B 5 3 1 Force control is not
348. te For the quality class Fast stop MC is set as soon as the actual position has reached the tolerance window position The monitoring time is not waited and the speed condition is not taken into considera tion That means that the axis might still be moving when MC occurs It is possible that the tolerance could be exited again Due to the fast stop the positioning time is shortened accordingly time to MO This is suitable for positions which do not require high precision 10 10 8 9 i sPos mc 1 Position target value 6 Start of the setpoint value curve 2 Setpoint value actual value of position 7 End of the setpoint value curve 3 Position tolerance window 8 1st timeout start timeout 4 Setpoint value actual value of speed 9 2nd timeout positioning timeout 5 Speed tolerance window for standstill 10 Monitoring time Fig 3 7 Motion complete position control 58 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Force control In the case of force control the MC conditions correspond to those of position control and correspond ingly refer to the force setpoint value and force tolerance Special features Inthe phase of position control with reduced speed no
349. ter writing controller recalculation is carried out EE a Default value payload Default value payload Param PNU 605 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 kg 0 0 200000 1kgcm 0 0 20 000 Imperial 1 lb 0 0 44 093 0 1 lb in2 O 0 68 343 This value contains the globally preset payload This is used in all movement commands where no individual payload is specified gt Section 5 3 PNU 403 521 Bit bit 5 0000 0020h O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Default value position tolerance Default value tolerance position mode Param PNU 606 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 100 10 1 000 0 1 10 1 100 Imperial 0 001 in 40 4 394 0 1 10 1 100 This value contains the globally preset tolerance for position control This is used in all movement commands with position control where no individual tolerance is specified gt Section 5 3 PNU 403 521 Bit bit 6 0000 0040h O The paramet
350. than or equal to PNU 530 Tab 3 17 Parameters involved in jog mode i The setpoint values transmitted in the O data have no effect on jogging Festo P BE CPX CMAX CONTROL EN de 1505a English 77 3 Drive functions 3 2 6 Teaching The following values can be taught Teach value CPOS TEACH Acknowledge setpoint values in the record table record operation project zero point and software end positions commissioning 1 1 1 1 4 1 1 1 i ment SPOS TEACH 1 j f 2 3 f i 4 1 Higher order controller Prepare teaching 3 Higher order controller Teach now transfer transfer record number teach target actual value 2 CMAX Ready for teaching 4 CMAX Value transferred Fig 3 12 Handshake during teaching Sequence of setpoint value in the record table Position or force values can be taught The existing setpoint values are overwritten here The type is determined by the control mode in record control byte 1 RCB1 COM1 RCB1 COM2 1 78 Set record mode CCON OPM2 0 CCON OPM1 0 The record number controller output data byte 3 must be set on the record which is to be taught The record number is transferred with the rising edge to CPOS TEACH Ifa force value is to be taught the control mode must be set to force in record control byte 1 RCB1 COM1 1 RCB1 COM2 0 Via jog mode the drive is brought i
351. the end of positioning is recommended with SPOS MC 1 RSB RCE Error in record sequencing Record Chain Error A record sequencing has been para meterised which could not be executed Tab 3 23 Signals for conditional record sequencing Festo P BE CPX CMAX CONTROL EN de 1505a English 85 3 Drive functions Special case Switching between force and position If there is record sequencing with switching from force control to position control the drive first stops This is necessary so that the forces which were built up before can be relieved Only afterwards is the new target position approached Limitation Switching to a record with automatic profile Record sequencing to a record with an automatic profile is only possible with the step l enabling condition 12 MC If record sequencing takes place to a record with automatic profile with a condition other than MC a warning W37 is signaled during execution and the free profile is used In that case the default values PNU 600 602 603 are used for speed acceleration and deceleration 86 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Defined step enabling conditions in the CMAX Value Condition Description 0 No sequencing 1 Reserved 2 Position The preselected value is inter ee E preted as the position value 1
352. the maximum attainable velo city as well as the acceleration ability and deceleration ability of the drive system are ascertained With positioning the aim is to facilitate overswing free positioning behaviour i Examples gt online help for the FCT plug in CMAX online tab Limitation Limits Force control The target force and force ramp are limited during force control Analogously to position control the start and target values are displayed on the FCT The target value is always the target force The starting value is the last setpoint value If the position control was active the last setpoint value is always 0 N The starting and target positions are also valid but are not displayed by the FCT The actual position is used in this case Parameter for limiting values The parameter for limiting values PNU 1173 contains a structure with the values required for display When the CMAX has determined values it sets the New values are present bit in the status word Festo P BE CPX CMAX CONTROL EN de 1505a English 65 3 Drive functions 3 2 Commissioning operations 3 2 1 Movement test The movement test is for detecting defects in the tubing connection Recommendation Execute movement test without payload gt Note If the tubing connections of the VPWP get mixed up the control direction is reversed When activating the controller the drive would move at maximum speed into the end position Carry
353. the valve starts to hum This occurs especially with a static force setpoint and with standstill control Behaviour of the axis Factor Force builds up too slowly the static accuracy is reached only hesitantly Increase Overswing occurs during force build up The valve tends to hum Reduce The force value follows the setpoint value with few deviations Optimal Dynamic amplification force controller PNU 1161 Dynamic amplification is only effective in the area of the force ramp in other words when the force setpoint changes It can be used to influence the path accuracy during the force ramp A modification does not affect the static accuracy Behaviour of the axis Factor During force build up the actual value cannot follow the setpoint value Increase During force build up the actual value runs ahead of the setpoint value Reduce The force build up is performed fast and accurately Optimal Force control filter factor PNU 1162 Derived signals e g force ramp from the pressure signal are filtered to improve the signal quality If filtering is too strong or too weak it may destabilise control The filter factor can be used to influence the signal noise that originating from the pressure sensors affects the force value When increasing the factor the filter becomes faster and consequently the noise louder At the same time the phase shift decreases The filter factor is reduced to suppress valve humm
354. tification If the positioning behaviour no longer changes after this adaptation was probably the cause and should remain deactivated Festo P BE CPX CMAX CONTROL EN de 1505a English 75 3 Drive functions 3 2 5 Jog operation In the Operation enabled status the drive can be traversed by jogging in the positive negative direc tions This function is usually used for Moving to teach positions Running the drive out of the way e g after a system malfunction Manual travel as a normal operating mode manually operated feed Process 1 With a rising edge on one of the signals Jog positive Jog negative CPOS JOGP CPOS JOGN the drive slowly starts to move creeping phase Due to the slow speed a position can be travelled to very accurately 2 Ifthe signal remains set for longer than the configured creeping period the speed is increased until the configured maximum speed is reached In this way large strokes can be traversed quickly 3 Ifthe signal changes to 0 the drive will be braked with the maximum set deceleration 4 The drive stops automatically if it reaches a software end position The software end position is not passed the travel for stopping is taken into account in accordance with the set ramp Here too jog operation is only exited again after CPOS JOGx 0 A Speed 5 CPOS JOGP or 1 4 CPOS JOGN Jog positive negative o
355. ting permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out bea a e a a EE _ _ S ss 288 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Position controller timeout Position control timeout Param PNU 1153 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 1 ms 2000 JO 100000 1ms 2000 0 100 000 Imperial 1 ms 2000 JO 100000 1ms 2000 0 100 000 The positioning timeout defines the time in which the actual position must reach the target value The absolute positioning time depends on stroke setpoint acceleration and setpoint speed There fore the monitoring time cannot monitor the duration of the entire movement command Instead the behaviour at the start and end of the setpoint curve is monitored After the start of the setpoint curve the axis must have moved by at least 11 mm within the timeout time or the CMAX reports error E31 no movement after start After the end of the setpoint curve the actual position must have reached the target position window and with exact compliance with the speed condition or the CMAX reports error E30 timeout target value not reached Note Deactivating the positioning timeout par
356. tion Standard firmware Permissible characters 0x00 0x20 0xFF zero printable expandable ASCII characters Name or description of a customer specific firmware variant The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out i eee Controller serial number Controller serial number Param PNU 114 Index 1 Max Index 1 Class Var Data type bit array Values Specification Write CMAX serial number CPX module serial number 8 digits Example 37 12 34 56 k The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out FCT project identification FCT project identifier Param PNU 116 Index 1 33 Max Index 33 Class array Data type char Values Specification o Permissible characters 0x30 0x39 0x41 0x46 0 9 A F Reset value 0x00 UUID Universally Unique Identifier for identification of the FCT project FCT generates a UUID after a project download and writes this into the device as the last parameter The UUID is saved in the project not visible In the CMAX the UUID is reset to 0 as soon as any parameter in the configuration area PNUs gt 400
357. tive if use of the global default value default value for deceleration PNU 605 has been deactivated with PNU 521 04 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out 282 Festo P BE CPX CMAX CONTROL EN de 1505a English 0 Mounting position Mounting orientation Parameter Param PNU 1140 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 1 0 900 900 0 1 0 900 900 Imperial 0 1 0 900 900 0 1 0 900 900 Mounting position of the drive Linear drives piston rod drives A specification of 90 to 0 1 means that the measurement system zero point is on top and the drive moves downward towards larger positions With values from 0 1 to 90 the measurement system zero point is underneath and the drive moves to the top Semi rotary drives 0 Shaft points upwards 90 Shaft points in a horizontal direction Supply pressure Supply pressure The parameter value cannot be changed Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out Param PNU 1141 Index 1 Max
358. together e g whether the lower software end position is smaller than the up per software end position If an error is detected an error message is generated and the CMAX changes to error status Activating block download can temporarily deactivate these tests The controller only checks the data when the block download has finished Writing Reading 1 Start block download 1 Block download active 0 End block download 0 Block download not active The controller is only recalculated after writing block download 0 end block download The con troller should be deactivated during block download While block download is active start cannot be executed Activating the block download is ended at the latest when switching off the CMAX In this case controller recalculation is carried next time the CMAX is switched on O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out Commissioning operation configuration status Commissioning Function configuration status Param PNU 1192 Index 2 Max Index 7 Class Struct Data type int32 Values Specification 0 Minimum 0 Maximum 4 When commissioning a certain number of parameters must be transmitted in a certain order This parameter provides information about the status of parameterisation and about the next commis
359. tpoint value position force is reached SPOS MC 1 is set Fig 3 14 Start of the movement command od The sequence of the other control and status bits behaves correspondingly to the record I mode gt Section 3 3 1 Fig 3 13 Notes As soon as the controller detects the rising edge at SPOS ACK it can assume that MC is valid From the point of view of the controller the falling edge at SPOS MC can occur at the same time with the rising edge at SPOS ACK In the event of error messages the movement command might not be acknowledged with SPOS ACK For this reason the SCON FAULT bit must always also be evaluated Festo P BE CPX CMAX CONTROL EN de 1505a English 95 3 Drive functions 3 4 2 Continuous setpoint specification tracking mode With the continuous setpoint specification the controller can transfer new setpoint values to the CMAX at any time Tracking mode is permitted only for position control the setpoint values can only be spe cified as absolute values CDIR REL 0 Primary setpoint value In the primary setpoint value beginning with the start new setpoint positions can be specified as long as CPOS START 1 is set for example regularly every 10 milliseconds or at irregular intervals like 10 ms 30 ms 2 s 10 ms 30 ms 20 ms 15 ms 10 ms etc The setpoint values can be abso lutely any both with regard to the stroke length as well as the direction of movement Secondary setpoint
360. troke parameters or deactivate stroke mon itoring Festo P BE CPX CMAX CONTROL EN de 1505a English 109 Diagnostics and error handling Group 3 Control error CPX error group 103 CPX MMI Control error 39 No Message Malfunc Reset type tion level Critical speed VLIM reached with force control F1 R Critical velocity VLIM reached with force control Cause Critical speed has been exceeded with force control Measure e Check workpiece check critical speed parameters or deactivate speed monit oring Cause The reduced speed parameter of the force record is too large compared to the parameter for critical speed Measure e The parameters for reduced speed and critical speed are co ordinated Cause In the event of record sequencing to force control the actual speed of the drive is too high at the time of switching Measure e Reduce the speed of the previous record correct the critical speed deactiv Group 4 System error A CPX error group 104 CPX MMI System error A ate speed monitoring No Message Malfunc Reset type tion level 40 Impermissible control mode with force control F1 R Impermissible control mode with force control Cause Force control set for DSMI Measure e DSMI cannot execute force control commands Cause Impermissible control mode set in the RCB1 or CDIR Measure e Correct RCB1 or CDIR Cause Continu
361. troller ready a Initial start up executed CMAX ready for operation 2 Error Chapter 4 Fig A 1 Switch on behaviour 158 Errors PNU 1192 02 0 mE PNU 1192 02 1 PNU 1192 02 4 L PNU 1192 02 2 PNU 1192 02 3 PNU 1192 02 4 3 Status when switching on for the first time in delivery status or after data reset Wait for initial start up Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware Description of statuses Valve and displacement encoder are searched for This process takes max 3 seconds EE PNU 1192 02 0 The CMAX has not found a setpoint configuration The system of measure ment units has not yet been defined The user must first define the system of measurement units As long as no PNU 1192 02 0 system of measurement units has been configured access to the axis para meters is restricted since the CMAX does not know in what way the paramet ers need to be scaled You only have access to diagnostic data and to data required to define the system of measurement units The system of measurement units is defined with PNU 1192 05 The following data can be accessed in this status PNU IND Access Description 1xx Read write Device data define device names version numbers 2Xxx Diagnostic data read current message 1190 01 Read From hardware reco
362. ue During jogging PNU 536 direct drive PNU 544 or 551 and homing PNU 1134 the payload can also be specified individually in each record PNU 410 Payload loaded at switch on PNU 1143 01 When the controller is released drive released the last valid payload is always used Usually no workpiece is loaded during the first enable after switch on so CMAX only takes into ac count only the base load PNU 1142 This parameter defines whether the workpiece should also be taken into account during switch on O Workpiece not loaded during switch on The workpiece is only loaded during operation 1 The workpiece is in the loader during switch on eee ee ee ee ee ee Ee ee EE TE p Tab B 18 Parameters for the load i Observe note on load when opening the clamping unit brake gt Section 3 1 7 Example for use gt Section 5 3 Festo P BE CPX CMAX CONTROL EN de 1505a English 215 B Basic principles of the CMAX B 5 Controller optimisation gt Note Before optimisation using the data of the position controller the mechanical configura tion must be checked gt CMAX system description P BE CPX CMAX SYS From the drive configuration and the application settings the CMAX determines the internal controller parameters amplification cushioning and filter factor These determine the dynamic response speed as well as the transition behavio
363. ue is inter 160 Switching preted as the position value 1 aime position Sequencing occurs as soon as the 1 50 current actual position reaches or ie exceeds the preselected value in a Target Target Pols Posi ie dependently of whether the MC force Position tion _ condition for the force command z hie sie ease E has already been met case 3 continuous signals or not case 2 3 2 dashed signals Notes The direction of the switching position with respect to the starting position must agree with the specified direction of the acting force Otherwise a diagnostic message W27 E27 is output Ifthe stroke or speed monitoring is violated the current positioning record is ended and record switching does not occur The timeout time force control PNU 1163 begins to elapse again when the MC condition is met for the force command If the switching position is not reached within the timeout time the current positioning record is ended no record sequencing occurs SPOS MC and RSB RCE are set to 1 and a dia gnostic message W28 E28 is output Ifthe timeout time for force control is deactivated set to 0 the drive might wait indefinitely for the record sequencing 15 Reserved 128 Tab 3 24 Step enabling conditions Festo P BE CPX CMAX CONTROL EN de 1505a English 91 3 Drive functions 3 4 Direct mode In the Operation enabled status in direct mode a movement command
364. um 0 Maximum 1 Writing of 1 The entire diagnostic memory is deleted Reading always delivers the value 0 Deleting is usually not required since the memory is organised as a ring buffer If the memory is full the new entry overwrites the oldest O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 241 C Parameter Number of entries Number of entries Param PNU 204 Index 4 Max Index 5 Class Struct Data type int32 Values Specification 0 Minimum Maximum Number of assigned entries in the diagnostic memory The parameter value cannot be changed O After writing controller recalculation is carried out Number of unread entries Number of unread entries PNU 204 Index 5 Param Max Index 5 O Writing permissible only in commissioning parameterisation mode with blocked drive Class Struct Data type int32 Values Minimum Specification 0 Maximum sages Every new entry increments the value Number of new entries since switching on FCT deletes the value after reading the diagnostic mes This parameter can be written by FCT without password and master control O The parameter value cannot be changed O After writing c
365. umber of the integrated displacement encoder distinction from sensor interface through evaluation of the design 2 Differences are ignored because replacement does not influence drive parameters such as friction identification not necessary Tab A 4 Serial numbers start actual configuration Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A 3 2 Commissioning via the controller after replacement of components Example In a commissioned CMAX system the defective proportional valve VPWP 6 is replaced with a new proportional valve VPWP 6 FCT should not be used and so the the movement test and the identi fication are carried out via the controller Replace valve 1 Switch off 24 V power supply and compressed air 2 Replace VPWP 6 and completely connect it electrically and pneumatically 3 Switch on 24 V power supply and compressed air correspondingly gt A 1 2 In the CMAX display C03 is shown and the warning W8 cylinder valve displacement encoder or sensor interface were replaced is output Execute movement test 1 Activate commissioning operating mode CCON OPM2 bit 7 1 set all other signals to 0 2 Set byte 3 function 2 3 Enable operation CCON STOP 1 and drive CCON ENABLE 1 4 The movement test is started with start CPOS START 1 In the CMAX display 8 movement test active and the progress in are displayed 5
366. ur cushioning of the control The goal is to guarantee fast overswing free positioning with low following error The controller data ascertained by the CMAX are usually already the optimum values The real pneu matic axes used however do not always correspond to the axes used as a basis for the control process ideal axes The control parameters can be influenced by entering factors to take account of possible deviations With the parameters PNU 1150 1152 position controller and 1160 1162 force controller the internal parameters can be increased values gt 1 or reduced values lt 1 B 5 1 Controller factors for position control Position controller amplification gain PNU 1150 The amplification gain influences the sensitivity with which the positioning control loop responds to changes in the measured variables position speed acceleration Behaviour of the axis Factor Heer eee E E a e E ET The drive tends towards instability tendency to vibrate during positioning Reduce up to continuous vibration around the setpoint position Bad positioning accuracy or high following error as well as long positioning Increase time The positioning process is carried out quickly and accurately Optimal Tab B 19 Effect of position controller amplification gain Position controller cushioning factor PNU 1151 Cushioning is a measure for the transition behaviour of the system from the actual to t
367. uration start up and diagnosis of the CMAX and all attached components Componentname maximum length 29 Version v220 Cancel Fig A 16 Saving the CMAX data Activate the equipment linkage to save the existing data After that select the module position and synchronise the device names in case of deviation The Hardware Synchronisation Wizard is then dis played gt Fig A 17 s If that is not the case and the Configuration Assistant is displayed no old data are present l in the CMAX Continue immediately with download of the firmware 192 Festo P BE CPX CMAX CONTROL EN de 1505a English A Notes on commissioning service and firmware A Differences a The detected peripherals don t fit the configuration in the device or the FCT project cre 9 j C r i EA Click Next to continue Help lt Back Fig A 17 Click on Continue The comparison of the current configurations is displayed on the next page With the Upload Project button all project data are transferred from the CMAX into the new component Festo P BE CPX CMAX CONTROL EN de 1505a English 193 A Notes on commissioning service and firmware Comparison Detected peripherals actual configuration configuration in Device nominal configuration and configuration in FCT Detected peripherals actual configuration DGCI 18 00 100 00 Displacement encoder Dig
368. use Potentiometer Operating voltage drop below 12 V Measure e Check operating voltage check cables for short circuit and corrosion 84 Reference position of the displacement encoder lost F2 N Reference position of the displacement encoder lost Cause Although the drive has set the status Referenced the displacement encoder sensor interface reports the status Not referenced Measure e Reference again SSS ss _ SSSSSSs Festo P BE CPX CMAX CONTROL EN de 1505a English 119 4 Diagnostics and error handling Group 8 Displacement encoder error CPX error group 108 CPX MMI Encoder error No Message Malfunc Reset type tion level 85 Operating voltage of displacement encoder sensor interface out F2 F side the tolerance range Operating voltage of displacement encoder sensor interface outside tolerance Cause Operating voltage of the displacement encoder too low Measure e Check power supply e Check lines on the axis string 87 Defective displacement encoder cable or potentiometer in electric F2 N al end position Defective displacement encoder cable or potentiometer in electrical end position Cause Defective displacement encoder cable Measure e Check power supply e Check lines on the axis string e Switching off on may be required e If this occurs repeatedly replace the displacement encoder or sensor interface Cause Displacement e
369. value is limited to software or hardware end positions or the set force limitation or the calculated maximum achievable force If the permitted limits are violated an error is signaled The secondary setpoint value is limited to 0 100 and to the maximum permissible range of val ues of the corresponding base parameter gt Tab 3 26 If the permitted limits are violated for the secondary setpoint value an error is signaled Note If the secondary setpoint value is configured as speed or force ramp the movement l command is executed with a minimum speed or force ramp if 0 is accidentally specified Overview of parameters involved gt Section C 2 Parameters involved Description PNUD Position control Base speed 600 540 Direct mode acceleration 602 541 Direct mode deceleration 603 542 Payload 605 544 Tolerance 606 545 Force control Base value force ramp 608 550 Payload 605 551 Force tolerance 607 552 Speed limit for force control 601 554 Start FHPP CPOS START rising edge Start CDIR REL absolute relative setpoint value CDIR COM1 CDIR COM2 control mode Section 2 2 4 CDIR CONT continuous tracking Jogging and referencing have priority Acknowledgement SPOS MC 0 Motion complete movement command active FHPP SPOS ACK rising edge Acknowledge start 1 Depending on the parameterisation the default values from PNU 600 608 or the base
370. ve Cause Communication between CMAX and valve was interrupted Measure e Check cables of the axis string valve and displacement encoder systematic ally replace defective components Festo P BE CPX CMAX CONTROL EN de 1505a English 4 Diagnostics an Group 6 Valve error CPX error group 106 CPX MMI Error in valve d error handling 61 No Message Valve hardware faulty F2 N Valve hardware faulty Malfunc Reset type tion level Cause Measure The valve reports a hardware error e Replace valve Cause Measure Fault in initialization of the valve e Replace valve e Check compatibility of valve and firmware version of the CMAX 62 Valve over temperature F2 F Valve over te mperature Cause Measure The valve reports over temperature ambient temperature too high e Provide sufficient cooling 63 Valve jamme Valve jammed d F2 F Cause Measure The valve piston does not move as expected e Replace valve e Also check the air quality 5 p filter and dry air 64 Load voltage of the valve outside the tolerance range F2 F Valve load voltage outside tolerance range Cause Measure The valve reports insufficient load voltage Either the cable between the CMAX and the valve is faulty or the valve e Check lines on the axis string e Check valve replace if defective 65 Operating voltage of the val
371. ve or system have changed and the configuration must be adjusted Various resets make sense depending on the extent of the change gt Tab A 6 Reset Description Identification An identification data reset makes sense if only some changes have to be per data formed but which require deletion of the identification data gt 3 2 3 After the configuration is adapted identification must be performed again The identification data and the adaptation data are reset Allthe other data is retained The data reset is triggered by writing the commissioning parameter Data reset PNU 1192 03 2 Axis data An axis data reset always makes sense if large parts of the reference configura tion have to be reset e g because the CMAX must be used together with anoth er axis It also makes sense to perform a data reset before commissioning through a higher order controller in order to obtain a defined initial status The measuring system is reset Allapplication parameters drive configuration record table project data etc of an axis are reset to the delivery status The identification data adaptation data and maintenance data of an axis are reset The diagnostic memory is retained and contains the entry data reset Device data such as device name operating time are retained A password is not deleted The CMAX changes into the configuration mode COO The data reset is triggered by writing the
372. ve outside the tolerance range F2 F Valve operati ng voltage outside tolerance range Cause Measure The valve reports insufficient operating voltage Either the cable between the CMAX and the valve is faulty or the valve e Check lines on the axis string e Check valve replace if defective 66 Overload at digital output of valve F2 F Overload at digital output of valve Cause Measure The valve reports an overload on the digital output e Check and correct the circuitry 67 Overload at 24 V supply output of valve F2 F Overload at 24 V supply output of valve Cause Measure The valve reports an overload on the voltage output e Check and correct the circuitry Festo P BE CPX CMAX CONTROL EN de 1505a English 117 4 Diagnostics and error handling Group 6 Valve error CPX error group 106 CPX MMI Error in valve No Message 68 Preliminary warning valve over temperature Ww F Preliminary warning valve over temperature Malfunc Reset type tion level Cause Measure Group 7 Controlle The valve reports a high operating temperature Ambient temperature too high e Provide sufficient cooling r error CPX error group 107 CPX MMI Controller error No Message Malfunc Reset type tion level 72 System software error FS Poff System software error Cause Measure Internal software error firmware
373. ware end position not permissible 8 Commissioning Teaching upper software end position lt lower software end position not permissible 9 Commissioning Teaching is not permissible while a com missioning operation is being executed 10 Change of operating mode while teaching is active CPOS TEACH 1 4 Record number nn In the event of a general fault in record mode the num ber of the last record started is entered Value range nn 0 to 255 5 Commissioning nn 1 Identification function 2 Movement test Fa I Festo P BE CPX CMAX CONTROL EN de 1505a English 127 4 Diagnostics and error handling Information and details on the messages PNU 203 Info bit 11 8 Details bit 7 0 Value Description Value Description 6 Drive function in which 1 Switch on the fault occurred 2 Enable drive 3 Disable drive 4 Enable operation 5 Disable operation stop 10 Direct mode start 11 Direct mode start positioning command 12 Direct mode start force command 13 Direct mode start continuous positioning command 14 Direct mode start continuous force command 20 Start homing 21 Start homing method 35 current actual position 22 Start homing mode method 17 positive against block 23 Start homing method 18 negative against block 30 Jog mode in negative direction CPOS JOGN 31 Jog mode in positive directio
374. whether the last started movement command has been ended It is made up of several logical conditions gt Tab 3 7 and Fig 3 7 Condition Description Permanent entryin The actual position reaches the position tolerance window and does not exit it tolerance window again during the set monitoring time The monitoring time PNU 1154 can be for position parameterised in expert mode with the FCT controller data gt position control ler The position tolerance window corresponds to the target position the currently set position tolerance Permanent entry in The actual speed reaches the speed tolerance window for rest and does not tolerance window exit it again during the set monitoring time The monitoring time is the same as for speed for the position PNU 1154 The tolerance window is equivalent to 4 mm s 20 16 ft s 4 s Starting timeout After the start of the setpoint curve the axis must move at least 11 mm error E31 0 43 in 11 within the timeout time PNU 1153 Otherwise the CMAX sig nals a starting timeout Festo P BE CPX CMAX CONTROL EN de 1505a English 57 3 Drive functions Condition Description Positioning timeout At the end of the setpoint curve the position and speed conditions must be error E30 met If one of the conditions is not met by the expiration of the timeout PNU 1153 the CMAX signals a positioning timeout Tab 3 7 Conditions for motion comple
375. with semi cation rotary drives Metric 1 ms 100 10 1 000 Imperial 1 ms 100 10 1 000 This is the duration in which the actual value must remain in the tolerance window without interrup tion before MC is generated Only effective with exact stop without function with fast stop gt Section 3 1 6 If the time is too short an overswing may lead to MC but the actual force may leave the tolerance again If the time is too long the positioning time is unnecessarily prolonged With larger drives we recommend selecting a longer time O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive After writing controller recalculation is carried out See ill 292 Festo P BE CPX CMAX CONTROL EN de 1505a English C Parameter Identification C 2 15 Identification settings Identification settings Param PNU 1170 Index 1 Max Index 1 Class Var Data type int32 Values Specification 0 Minimum 0 Maximum 1 The parameter allows you to make certain settings that concern identification 0 In identification high acceleration is permissible 1 Only perform the static identification low acceleration O The parameter value cannot be changed B Writing permissible only in commissioning parameterisation mode with blocked drive k After writing controller recalculation is carried out
376. x 1 Max Index 64 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Force control is not permissible with semi cation rotary drives Metric 1 N s 0 0 100 000 Imperial 1 lbf s 0 0 22 481 The force ramp permits setting the increasing speed of the force The controller generates a sin2 shaped rise in the setpoint force for optimising the control behaviour Section 3 1 2 Presetting For position control For force control PNU 403 bit 8 0 global default value from parameter PNU 608 O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 257 C Parameter C 2 6 Project Data i General description of the measuring reference system gt Appendix B 2 Offset project zero point Offset project zero point Param PNU 500 Index 1 Max Index 1 Class Var Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 01 mm 0 1 000 000 1 000 000 0 1 0 100 000 100 000 Imperial 0 001 in 0 393 701 393701 0 1 0 100 000 100 000 Reference point for position values in the application gt Appendix B 2 O
377. xpected 5 Time The preselected value is inter aa ae preted as the time T1 1 fal Speed HEE pamon si The time T1 begins from the start J 7 s of the record al J y i The next record is switched to 100 50 once the time has elapsed 2 I l M x MC must not have been reached 0 Z Zs 2 yet al Py 3 aso ago aso ao aso Oa MC 1 2 88 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions Defined step enabling conditions in the CMAX Value Condition Description 6 Reserved 10 11 Stroke The preselected value is inter xo Target posi 120 preted as the stroke 1 position tion Speed o difference with sign The stroke 1 A 80 refers to the last target position oa i A not the actual position reached w V font during the last positioning sA t al The switch 2 occurs after reach a ing the specified stroke 20 A 10 If the current record has already a SOS 0 e a0 o o been started by means of chain IMC o ing the preselected value refers 2 to the switching position If the record is started without MC the preselected value refers to the starting position 12 MC The preselected value includesa 220 Position 12 waiting time T1 1 in milli can ia seconds 160 80 The waiting time
378. xx0 Key R rising edge Rising edge F falling edge Falling edge x any TA3 TA4 and TA6 are reserved for future extensions Tab 2 5 Transitions when starting movement commands i Flow chart for programming the higher order controller gt Appendix A 4 2 40 Festo P BE CPX CMAX CONTROL EN de 1505a English 3 Drive functions 3 Drive functions 3 1 General functional description 3 1 1 Position control The basis for control of the pneumatic axes is a model control path stored in the CMAX This model assumes a pneumatic axis which is constructed in accordance with regulations e g with regard to the compressed air provided the valve cylinder combination used the permitted mass load tubing sizes and lengths etc The basic parameters of this control path are the axis and application data internal data determined through the identification gt 3 2 3 and adaptation gt 3 2 4 General characteristics The following generally applies for position control Setpoint values are filtered low pass to smoothen jump like changes Following error monitoring signal if following error is greater than the monitoring window Monitoring of software end positions end position limitation and error message Relative commands Section 3 1 3 Stop behaviour gt Section 3 1 4 Festo P BE CPX CMAX CONTROL EN de 1505a English 41 3 Drive fu
379. ysical variable gt Appendix B 1 2 Position Position angle 3 Force Force 4 Standstill Time 5 Time Time 11 Stroke Position angle 12 MC Time 13 Stroke after force Position 14 Position at force Position O The parameter value cannot be changed O Writing permissible only in commissioning parameterisation mode with blocked drive O After writing controller recalculation is carried out Festo P BE CPX CMAX CONTROL EN de 1505a English 253 C Parameter Speed record Record velocity Param PNU 406 Index 1 64 Max Index 64 Class array Data type int32 Values Linear drive Semi rotary drive Unit Specifi Minimum Maximum Unit Specifi Minimum Maximum cation cation Metric 0 001 m s 0 0 10 000 1 s 0 0 10 000 Imperial 0 01 ft s 0 0 3 281 1 s 0 0 10 000 Speed setpoint value depends on the control mode and travel profile PNU 401 Control mode position free profile Maximum speed at which the drive is to be moved Depending on the setpoint stroke and the para meterised accelerations this speed may not be reached Control mode position automatic profile Parameter is ignored The maximum speed is derived from the movement profile determined during identification Control mode force Maximum speed at which the drive travels If the actual speed reaches this value the force control switches to positioning and continues at

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