Motor controller CMMP-AS
Manual
CAM editor
GSPF-CAM-MC-ML
Manual
752540
en 1105a
2 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Edition ____________________________________________________ en 1105a
Designation ___________________________________ P.BE-CMMP-CAM-SW-EN
Festo AG & Co KG., D-73726 Esslingen, Germany, 2011
Internet: http://www.festo.com
E-mail: service_international@festo.com
The reproduction, distribution and utilisation of this document as well as the
communication of its contents to others without explicit authorisation is prohibited.
Offenders will be held liable for compensation of damages. All rights reserved, in particular
the right to file patent, utility model or registered design applications.
3 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Index of revisions
Author:
SC-PD / chme
Name of manual:
P.BE-CMMP-CAM-SW-EN
File name:
File saved at:
Consec. no.
Description
Index of revisions
Date of amendment
001
Creation in German
1007NH
12.07.2010
002
Edit and translation
1105a
15.03.2011
752540g1.pdf
Trademarks
SIMATIC-S7 are registered trademarks of the respective trademark owners in certain
countries.
4 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Table of contents
Contents
1. General remarks .................................................................................................... 9
1.1 Scope of delivery ................................................................................................. 9
1.2 Use for intended purpose .................................................................................... 9
1.3 Documentation overview CMMP-AS ................................................................... 10
1.4 Terms related to the cam disc ............................................................................ 11
2. Hardware components ........................................................................................ 12
2.1 Motor controller ................................................................................................. 12
2.2 Motors and encoders ......................................................................................... 12
2.3 Higher-order controller (PLC) ............................................................................. 12
2.4 Connections X10/X11 and connecting cables ..................................................... 13
2.4.1 Output X11 ......................................................................................... 13
2.4.2 Input X10 ........................................................................................... 13
2.4.3 Connecting cable between master and slave ...................................... 14
2.4.4 Topology of the connections between master and slave(s) ................. 14
3. Parametrisation software .................................................................................... 15
3.1 Festo Configuration Tool (FCT) ........................................................................... 15
3.2 FCT plug-in CMMP-AS ........................................................................................ 16
4. Concepts of the cam disc ..................................................................................... 17
4.1 Fundamentals .................................................................................................... 17
4.2 Characteristics of the cam disc function ............................................................. 18
4.3 Physical master ................................................................................................. 19
4.4 Virtual master .................................................................................................... 20
4.5 Master-slave constellations ............................................................................... 21
4.5.1 CMMP-AS as physical master with 3 slaves ......................................... 21
4.5.2 CMMP-AS as virtual master with one slave ......................................... 22
4.6 Modulo positioning............................................................................................ 23
4.6.1 Modulo positioning with physical master ........................................... 23
4.6.2 Modulo positioning with virtual master .............................................. 24
4.7 Electronic gear unit between physical master and slave ..................................... 25
4.8 Basic parameters for a cam disc ......................................................................... 27
5 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Table of contents
4.9 Displacement plan editor ................................................................................... 28
4.9.1 General remarks ................................................................................. 28
4.9.2 Displacement plan editor <-> conventional curve creation ................... 29
4.9.3 Rasterisation of the curve ................................................................... 29
4.9.4 Endless and finite cam discs ............................................................... 31
4.9.5 Creating a curve and selecting a motion law ....................................... 33
4.9.6 Fundamentals on selection of the motion laws ................................... 39
4.9.7 Additional basic logic functions .......................................................... 41
4.9.8 Further optimisations ......................................................................... 45
4.10 Cam switch ........................................................................................................ 48
4.10.1 General remarks ................................................................................. 48
4.10.2 Setting digital outputs ........................................................................ 50
4.11 Activating cam discs .......................................................................................... 51
4.12 Position comparison between master and slave ................................................. 53
4.12.1 With physical master .......................................................................... 53
4.12.2 For the virtual master ......................................................................... 53
4.12.3 CAM-IN ............................................................................................... 54
5. Commissioning examples ................................................................................... 55
5.1 Requirements .................................................................................................... 55
5.2 Example 1: Physical master with a slave ............................................................ 56
5.3 Example 2: Virtual master .................................................................................. 63
6. Control via FHPP .................................................................................................. 66
6.1 Overview of parametrisation: physical master with slave (FNUM=1/2) .............. 67
6.1.1 Control of the physical masters .......................................................... 67
6.1.2 Control of the slave (FNUM=1/2) ........................................................ 67
6.2 Overview of parametrisation: virtual master (FNUM=3) ..................................... 68
6.3 Configuration of the I/O data ............................................................................. 69
6.4 Overview: assignment of the control bytes and status bytes .............................. 70
6.4.1 Control bytes ...................................................................................... 70
6.4.2 Status bytes ....................................................................................... 71
6.5 Description of the control bytes ......................................................................... 72
6.5.1 Control byte 1 CCON ........................................................................... 72
6.5.2 Control byte 2 CPOS ........................................................................... 72
6.5.3 Control byte 3 CDIR (only for direct operation) .................................... 73
6.6 Description of the status bytes .......................................................................... 74
6.6.1 Status byte 1 SCON ............................................................................ 74
6.6.2 Status byte 2 SPOS ............................................................................ 74
6.6.3 Status byte 3 SDIR (only for direct operation) ..................................... 75
6 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Table of contents
6.7 Record selection ................................................................................................ 76
6.7.1 Record control byte 1 (RCB1, PNU 401) .............................................. 76
6.7.2 Record status byte RSB ...................................................................... 77
6.8 Description of the parameters (PNU 700 … 720) ................................................. 78
6.9 Examples for the control and status bytes in FHPP ............................................. 81
6.9.1 Record selection – synchronisation on input X10 (FNUM=1) ............... 82
6.9.2 Record selection - synchronisation on input X10 with cam
disc function (FNUM=2) ...................................................................... 83
6.9.3 Record selection – synchronisation on virtual master with
cam disc function (FNUM=3) .............................................................. 84
6.9.4 Direct operation – synchronisation on input X10 (FNUM=1) ................ 85
6.9.5 Direct operation – synchronisation on input X10 with
cam disc (FNUM=2) ............................................................................ 86
6.9.6 Direct operation – synchronisation on virtual master with
cam disc function (FNUM=3) .............................................................. 88
7. Finite state machine FHPP incl. cam disc ............................................................ 90
7 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Table of contents
8 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
1. General remarks
Number
Item
1
CD with type designation “GSPF-CAM-MC-ML” with following contents:
- special functions for cam disc function in FCT
- this document (P.BE-CMMP-CAM-SW-…)
Warning
Electric axes can move suddenly with high force and at high speed.
Collisions can result in serious injuries.
Observe the safety instructions in the documentation of the
controller as well as the commissioning instructions described
there.
This documentation considers only the special aspects of the cam
disc.
1. General remarks
1.1 Scope of delivery
Table 1.1 Scope of delivery
1.2 Use for intended purpose
This document describes the cam disc function of the motor controller CMMP-AS. It may be
used only in combination with the complete documentation of this controller. The safety
instructions in the documentation of all components used must be observed completely.
9 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
1. General remarks
Document
Contents
P.BE-CMMP-AS-3A-HW-
Hardware manual: Assembly and installation of a CMMP-AS-3A-…
P.BE-CMMP-AS-11A-HW-…
Hardware manual: Assembly and installation of a CMMP-AS-11A-…
P.BE−CMM−FHPP−SW−…
General fieldbus description: Control of a CMMP-AS via FHPP
P.BE-CMMP-CO-SW-…
CANopen description: Connection of a CMMP-AS to a CANopen network
P.BE-CMMP-FHPP-DN-SW-…
DeviceNet description: Connection of a CMMP-AS to a DeviceNet network
P.BE-CMMP-FHPP-PB-SW-…
Profibus description: Connection of a CMMP-AS to a Profibus network
P.BE-CMMX-EC-SW-…
EtherCAT for the motor controller CMMP-AS
P.BE-CMMP-AS-PB-S7-CAM...
For use of the CMMP-AS in combination with a SIMATIC-S7 controller, there
are special function blocks with its own help file.
Help on FCT software
The FCT framework and the plug-in CMMP-AS each have their own
integrated help files which describe the interface of the parametrisation
software.
Help on the displacement
plan editor (in German and
English)
The displacement plan editor has its own complex help file with information
on operation of the editor and on the motion laws.
Note
This overview does not claim to be complete. Depending on the
components and versions used, additional documentation must be
considered.
1.3 Documentation overview CMMP-AS
Table 1.2 Documentation overview
10 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
1. General remarks
Term
Explanation / reference
Cam disc , cam
The motion sequence of a slave dependent on the positions of a master. Cam
disc and cam are used synonymously. See section 4.1 Fundamentals.
Master, master encoder,
master drive
See section 4.1 Fundamentals.
Physical master
See section 4.3 Physical master.
Virtual master
See section 4.4 Virtual master.
Master setpoint value,
master setpoint
position, time angle, X
value of the cam disc
The specification for the slave on the X-axis of the cam disc The actual position
of the master can deviate from this, see section 4.12 Position comparison
between master and slave and section 4.7 Electronic gear unit between
physical master and slave.
Revolutions, degrees or millimetres are used as units for the X-axis of the cam
disc.
Master period
Length of the X-axis of a cam disc. For mechanical cam discs, the period was
usually specified with 0°…360°. See section 4.8 Basic parameters for a cam
disc.
Master start position
See section 4.8 Basic parameters for a cam disc.
Cam, trip cam
See section 4.10 Cam switch.
CAM-IN
See section 4.12.3 CAM-IN.
Modulo
See section 4.6 Modulo positioning.
Slave, subsequent drive
See section 4.1 Fundamentals.
Setpoint value position
slave, Y-value of the
cam disc
The position at which a slave with active cam disc should stand, dependent on
a master position. Units: Revolutions, degrees or millimetres.
Data points, nodes, grid
points, design points
There are 2 types of data points (also called nodes): the design points that the
user creates in the displacement plan editor by mouse click and the grid points
that are automatically created during rasterisation of the curve. See section
4.9.3 Rasterisation of the curve.
Motion law
Mathematical formula used to calculate a course of the curve. See section
4.9.5.
Dwell
Standstill of a slave drive, see section 4.9.5.
Straight line
Section with constant speed, see section 4.9.7.
Jerk
The jerk is the third derivative of the path by time. It represents the change in
acceleration dependent on the time.
Ping
The ping is the fourth derivative of the path by time. It represents the change
in the jerk dependent on the time.
1.4 Terms related to the cam disc
Table 1.3 Terms
11 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
2. Hardware components
2. Hardware components
2.1 Motor controller
The motor controllers of the CMMP-AS series are intelligent AC servo converters with
extensive parametrisation possibilities and expansion options. This allows flexible use in a
wide range of different applications.
Further information on the CMMP-AS can be found in the documentation shown in
section 1.3.
2.2 Motors and encoders
For optimal operation of the cam disc, we recommend motors of the series EMMS-AS.
These servo motors are permanently excited, electrodynamic and brushless.
These motors have integrated digital absolute-value encoders (alternatively: “single turn”
and “multi-turn”).
2.3 Higher-order controller (PLC)
For control of a cam disc application via fieldbus, use the fieldbus protocol FHPP. The
required parameters can be found here in chapter 6 Control via FHPP.
Detailed information on connection and operation of the fieldbus networks can be taken
from the corresponding manuals of the CMMP-AS (see documentation overview,
section 1.3).
Suitable for control of a cam disc application via fieldbus are the CECX motion controllers
from Festo, for example.
12 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
2. Hardware components
The precise specification and pin allocation can be found in the
hardware description according to section 1.3, documentation
overview.
The precise specification and pin allocation can be found in the
hardware description according to section 1.3, documentation
overview.
2.4 Connections X10/X11 and connecting cables
In the case of the “physical master” (see section 4.3), the encoder signals are transmitted
over the X10 and X11 inputs or outputs.
2.4.1 Output X11
The output X11 delivers an increment-generator signal with the following characteristics:
– TTL (transistor-transistor logic)
– 6 tracks (A, B and zero pulse, each also inverted)
– RS 422
2.4.2 Input X10
At the input X10, besides another CMMP-AS, many additional, commercially available
encoders can be connected, such as encoders corresponding to the industry standard
ROD426 from Heidenhain or encoders with single-ended TTL outputs as well as “opencollector” outputs.
Alternatively, the A and B track signals from the device are interpreted as pulse direction
signals, allowing the controller to be controlled from stepper motor control cards.
13 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
2. Hardware components
Note
To avoid problems due to electromagnetic interference (EMC), the
individual wires should be twisted in pairs and screened. For
transmission rates over 200 kbit/s, the cables should be equipped
with a terminating resistor.
Also observe the relationship between transmission rate and
maximum cable length.
Pin 5 is optional for cam disc operation (X11 -> X10) and does not
have to be connected. This pin is only used to supply external
encoders.
2.4.3 Connecting cable between master and slave
– Plug: Sub-D, 9-pin
– Cable: straight, not cross-over
– Transmission takes place standard according to RS422.
2.4.4 Topology of the connections between master and slave(s)
A bus topology is recommended when connecting several slaves.
14 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
3. Parametrisation software
Administrator rights are required for installation.
3. Parametrisation software
3.1 Festo Configuration Tool (FCT)
In order to use the cam disc function, you need the Festo Configuration Tool (FCT). The
Festo Configuration Tool is the software platform for configuring and commissioning
different components from Festo.
The FCT comprises:
– A framework as program start and entry point with uniform project and data
management for all supported types of devices.
– one plug-in each for the special requirements of a component with the necessary
descriptions and dialogues.
Included in the scope of delivery of the CMMP-AS is a CD with the FCT framework. If it has
not yet been done: Install the FCT framework on your computer (system requirements: see
CD wrapper).
15 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
3. Parametrisation software
If the FCT project was opened while installing the cam disc function,
you must close it first. The cam disc function is available starting
with the next opening of the FCT projects.
The FCT framework and the plug-in CMMP-AS each have their own
help files.
3.2 FCT plug-in CMMP-AS
The cam disc function is available starting with the plug-in version 1.3. This, and also the
higher plug-in versions, can be installed parallel to an existing, older version of this plugin. The old version continues to exist.
If no plug-in CMMP-AS version 1.3 (or higher) is installed:
– Install it from the newest FCT installation CD or
– download it from the “download area”: www.festo.com
The following figure shows selection of the plug-in version when adding a component to a
new or existing FCT project:
As soon as the FCT with the plug-in CMMP-AS is installed on your computer, you can also
install the cam disc function with help from the CD “GSPF-CAM-MC-ML”. Observe the
instructions for installation on the CD wrapper.
16 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4. Concepts of the cam disc
4.1 Fundamentals
The term “electronic cam disc” designates applications in which an input angle or an input
position is depicted through a function on an angle setpoint value or a setpoint position. A
cam disc is thus a fixed allocation of the positions of a master and a slave.
Master and slave are designated as “master encoder” and “subsequent drive”. The master
encoder does not necessarily have to be a physical master (see section 4.3), it can also be
a virtual master (see section 4.4). A master-slave relationship is normally depicted in a 2-D
assignment graph. The horizontal X-axis includes the position of the master, and the
vertical Y-axis the position of the slave. And so a statement can be made at any time about
the relationship between the two drives.
X: Path master Y: Path slave
17 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
A displaced cam disc has an effect on the connected cam controller!
4.2 Characteristics of the cam disc function
The cam disc function implemented in the device family CMMP-AS has the following
characteristics:
– High flexibility of the system. A conversion of the mechanical system for different
requirements of the curve shapes is no longer necessary.
– User-friendly displacement plan editor. All limits for position, speed and acceleration
are immediately displayed in the editor.
– Up to 16 cam discs with up to a total of 2048 data points can be managed. The data
points can be distributed on the cam discs in any way desired.
– Four cam controllers are coupled on every cam disc (see section 4.10).
– The cam disc can be displaced by a certain amount (offset):
18 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.3 Physical master
A “physical” master is a master present as hardware, e.g.
– a CMMP-AS, which emits an emulated encoder signal at the X11 output, or
– an increment generator (e.g. from an assembly line drive).
Example: The master/encoder reports a movement fro 1 => 4. The slave moves
correspondingly on a curve from 4 => 1.
To configure a CMMP-AS as a physical master in FCT:
A master does not have to be specially configured as such. It is enough to correctly
parametrise the encoder emulation at the X11 output and there connect an additional
CMMP-AS as slave.
In case of the slave, in contrast, it must be specified that it uses the signals at the X10
input as master signals by making the following setting in FCT on the “Cam Disc” page:
If the “physical master” is activated for the slave, additional specifications on the encoder
can be made. This does not apply if the master is a CMMP-AS, since the standard settings
are already oriented on this. See also section 2.4 Connections X10/X11 and connecting
cables.
19 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The virtual master is controlled by record selection or direct
operation. In the case of direct operation, only the positioning
mode is possible. Force mode and speed-regulated operation are
not possible.
4.4 Virtual master
A “virtual” master runs as software on a CMMP-AS that was configured accordingly. As a
result, this CMMP-AS is simultaneously master and slave.
The master carries out positioning jobs (e.g. positioning records from the positioning
record table) only “virtually”, i.e. it calculates positioning runs to target positions using the
parametrised accelerations and speeds. The virtual execution of a positioning job lasts
exactly as long as if the connected drive would actually perform the positioning job. But
the drive travels the path according to the active cam disc.
Example:
1. When the cam disc is activated, the virtual master is at position “0”
(= parametrised master start position). The connected drive (slave) then performs a
CAM-IN movement (see section 4.12.3) to position 4.
2. If only one positioning job containing “4” as the target position is started, the virtual
master “travels” from position 0 to position 4.
3. But the drive (slave) connected to this CMMP-AS travels the path according to the
active cam disc, and so in the figure a curve from position 4 to position 1.
It therefore is a “stand-alone” cam disc application, since the CMMP-AS here is master and
slave in one.
The “virtual master” is activated in the FCT plug-in:
20 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
With three slave drives, a maximum three-dimensional movement
in the X-, Y- and Z-direction can be implemented. The speed of the
movements (cycle rate) depends on the speed of the master.
4.5 Master-slave constellations
In the following, options for how several CMMP-AS can work together in one cam disc
application are shown as examples.
4.5.1 CMMP-AS as physical master with 3 slaves
Master: In the master, no cam disc is active, that is, the axis connected to it performs
exactly the positioning jobs that are specified by record selection or direct operation.
Slaves: In the FCT, a “physical master” was selected and a separate cam disc created for
each slave. As a result, each slave runs its own “curve”, dependent on the master position.
21 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The setpoint values should preferably be used.
The actual values should only be used for coupled systems or when
it is important that collisions should not occur in the case of
deviations between the setpoint and the actual position (e.g.
following error).
4.5.2 CMMP-AS as virtual master with one slave
Slaves can also be connected to a CMMP-AS that was configured as a virtual master.
In FCT, it can be set whether at X11
– the signal of the virtual master or
– the actual values of the slave movement or
– the setpoint values of the slave movement are output.
22 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The range limits should agree with the specifications for the cam
disc definition (see section 4.8; same length of the master period).
The upper limit of the travel range is never being taken; upon
reaching the upper range limit, the slave controller automatically
switches to the lower range limit.
4.6 Modulo positioning
Modulo positioning can be used, for example, when the master encoder signal comes from
a rotary drive or a belt. If positioning goes above or below the limits of the modulo range, a
new modulo segment begins seamlessly.
4.6.1 Modulo positioning with physical master
With a physical master, after activation of the modulo function, only the upper and lower
area limit have to be specified.
23 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Note
The time for virtual execution of a positioning record is exactly the
same as if no cam disc were active.
Warning
In the case of the modulo setting “shortest distance”:
Do not specify a target position outside the defined modulo range!
In the case of target positions outside the modulo range,
positioning is executed as a normal, absolute positioning job.
The upper range limit does not belong to the valid range. In this
case, enter the lower range limit as target position.
4.6.2 Modulo positioning with virtual master
At the start of a positioning record from the positioning record table, the virtual master
simulates travel to the target position using the values for speed and acceleration
parametrised in the positioning record. The connected axis travels the path according to
the active cam disc.
The direction of travel through the curve is determined by the settings on the “Cam Disc”
page, tab “Master”: shortest distance, direction always positive/negative or direction from
position set.
24 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Translation has an impact on the X-axis of the cam disc in the slave,
i.e. on the master setpoint value.
4.7 Electronic gear unit between physical master and slave
The electronic gear unit simulates a mechanical gear unit between
– the movement of the physical master and
– control of the slave.
The cam disc in the slave is neither compressed nor stretched. Only the control of the slave
is “translated”.
Example:
The physical master travels from its position 0 to position 2. In FCT, a transmission ratio of
1:2 was parametrised for the slave
(input speed:output speed).
Setting for the slave in FCT:
25 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Warning
Since the X-axis of the cam disc in this example is run through twice
as fast, the resulting speeds of the slave drive are also twice as
high (correspondingly also acceleration and jerk).
And so it can make more sense to modify the cam disc of the slave
so that the transmission ratio between master and slave is 1:1.
Without translation (i.e. at 1:1), the slave would stop according to the following cam disc:
But with the translation 1:2, a master movement is simulated that is twice as wide: The
slave assumes that the master traveled from position 0 to position 4 and so travels
according to its cam disc from position 1 to 3.
For the slave, “4,000” is displayed in FCT in this case as “setpoint value master”, although
the master is at “2” according to its own measuring reference system:
Comment: The effect of the electronic gear unit corresponds to a change in the
parametrised number of increments of the encoder: Assuming that the master sends 1024
increments per revolution, but only 512 increments are parametrised for the slave, the
slave will assume with every revolution of the master that the master made two
revolutions (if 1:1 is entered as the transmission ratio).
26 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The basic parameters are explained in detail in the online help of
the FCT plug-in (menu “Help / Dynamic Help”).
1
2
3 4 5
6
7
8
5
6 2 3
4
4.8 Basic parameters for a cam disc
Overview:
1 Reference value for dynamic calculations
7 Limit value for speed
8 Limit value for acceleration
27 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9 Displacement plan editor
4.9.1 General remarks
Individual path curves can be drawn with the displacement plan editor. Together with the
time in which a curve should be completely run through, the result is a certain dynamic
response for the movements of the slave.
In the following example, it was parametrised that the X-axis of the cam disc should cover
5 revolutions of the master (= period [R] ). Based on the specification that these 5
revolutions are performed in 2000 ms, certain speeds and accelerations result for the
slave. The editor shows these values below the path diagram in their own diagrams.
In calculating the dynamic values, the editor takes into account the parametrised limit
values of the drive and, if certain speeds/accelerations are exceeded, the editor reports
“conditions violated”. The master would then have to run through the cam disc more
slowly to reduce the accelerations/speeds of the slave.
28 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9.2 Displacement plan editor <-> conventional curve creation
The function of the electronic cam disc is normally depicted by creating a value table with
the points that the drive should travel to in succession. The value table must be filled out
by hand. The question whether the acceleration and jerk values that occur will overload
the drive can only be clarified through complex individual calculations.
The Festo displacement plan editor, in contrast, makes it possible to set only central
design points by mouse-click. The remaining course of the curve is recommended by the
program. The speeds and acceleration values that occur are displayed immediately.
4.9.3 Rasterisation of the curve
The Festo displacement plan editor generates a completely smooth curve. The curve is
rasterised when closing the displacement plan editor so it can be saved and processed in
the controller. The number of sections of this grid corresponds to the “number of points”
specified when defining the curve in FCT.
Since the design points generated by mouse-click do not always lie exactly on the grid,
rough rasterisation produces only an imprecise approximation to the course of the curve of
the displacement plan editor. To keep this deviation low, using the largest possible
number of data points (=grid points) is recommended.
The following figure shows on the left a roughly rasterised curve with only 10 data points
(=grid points). The curve on the right, in contrast, has a markedly more precise course,
thanks to 200 grid points.
29 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
For curves with high dynamic response and high requirements for
positioning accuracy, the number of data points used should be as
large as possible. A maximum of 2048 points is possible (as sum of
all 16 curves).
Note on terminology:
There are 2 types of data points (also called nodes):
– the design points, which the user generates by mouse-click in the displacement plan
editor,
– the grid points automatically generated during rasterisation of the curve.
30 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9.4 Endless and finite cam discs
Most mechanical cam discs can be endless, i.e. cyclically run through: after one revolution,
the cam disc is at the start again and can be run through again in the same direction (or in
the opposite direction as well). Together with a module positioning, an endless cam disc
must always be used.
The displacement plan editor tries to connect the end of a curve with the beginning
(identical Y-values in the diagram):
If a cam disc in the operation should execute less than a complete revolution and then
return, it can be created as finite (acyclical): Beginning and end of the Y-path on the cam
disc are far apart; a certain marginal area cannot be run through; the cam disc might even
have a stop.
To keep the displacement plan editor from trying to connect the beginning and end to each
other, the end points of the curve must lie precisely on the end points of the master
period. Otherwise, the displacement plan editor would try to connect beginning and end
together, but the jumps in speed, acceleration and jerk could in practice not be run or only
with strongly reduced speed. In such situations, the displacement plan editor reports when
closing that the process shows a jerk at 0/360.
31 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The curve overall is considered defective (“conditions violated”), see the following figure:
With the following curve, the first and last design point are placed directly on the end
positions of the master period:
32 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The displacement plan editor has its own help file. There you will
find detailed information on operation of the editor and on the
motion laws. Only the first steps are presented here.
4.9.5 Creating a curve and selecting a motion law
1) Start the displacement plan editor with the button “Edit Selected Cam Disc No. x”.
2) Insert a “dwell”
Click on the button to insert a dwell. A dwell is a movement standstill. During this time, a
gripper could open or close, for example.
Now run with the mouse pointer over the path diagram. The current mouse pointer
position is displayed in the header. Click twice in the diagram, somewhat off-set next to
each other. The result is approximately the following figure:
Repeat the process and insert a dwell again further to the right and up in the path diagram.
The editor automatically connects the two dwell sections with curves. The result is
approximately the following curve:
33 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Tip: If you wish to insert a dwell that starts at the end of the cam disc and continues at the
beginning, you must first set the rear point.
3) Moving of design points/sections
If you wish to move the dwell sections: Click again on a design point that you set, move the
mouse pointer somewhat away from this position and then click again. The dwell will now
be at another position. Alternatively, you can also click on the design points with the right
mouse key and in the related dialog type in the desired X-value (“time angle”) and the
desired Y-value (“path coordinate”).
4) Deletion of data points
If you wish to delete a dwell: Click on the symbol for the wastebasket and then on a design
point. The dwell is deleted completely.
In the same way, you can also delete every other design point.
34 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
5) Sections
In the following example, the uniform distribution of points results in a symmetrical curve
with 4 sections: two dwell phases (<II> and <IV>), a phase in which the drive travels in a
positive direction (<I>), and a phase in which the drive travels in a negative direction (<III>):
35 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
6) Selecting a different motion law
The movement editor automatically connects the dwell sections with curves, whereby in
this example the motion law no. 6 (“Modified Sine”) was used for calculation of the curve
(depending on the standard setting: adjustable through the dialog of the button in the
menu bar “Edit parameters of displacement plan”). The course of the first and third section
are identical at first (except for the direction of movement).
The curve suggested by the editor represents a good compromise for many applications.
But you can optimise the suggested curve further by choosing a different motion law, for
example. You can select a different motion law for every section of a curve: With the right
mouse button, click in the third section (travel in a negative direction). The related dialog
window is opened. Enter “34” as the motion law (= polynomial 7th order) and click on
“OK”.
36 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
7) Effects of the motion laws
The comparison between the first and third section shows what effects the various motion
laws have on the course of the curve: With the 7th-order polynomial, the rise of the
acceleration (lowest red curve in the following figure) is slower/flatter than with the
modified sine.
37 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Through the menu command “Output/individual movement diagram”, you can also view
the related jerk (yellow line): The jerk course is markedly more harmonious with the 7thorder polynomial.
38 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9.6 Fundamentals on selection of the motion laws
Which motion law and thus which curve course is optimal for any given application cannot
be answered across-the-board.
Often used motion laws are:
– Modified sine (motion law no. 6): Traditionally widely used, feasible compromise for
many applications.
– 5th degree polynomial (motion law no. 4): Contained in VDI Guideline 2143,
traditionally widely used, feasible compromise for many applications.
– 7th degree polynomial (motion law no. 34): Not contained in the VDI guideline. Offers
gentle jerk with simultaneously high maximum acceleration values. Permits starting
earlier with the movement and ending it later, and thus increasing the cycle times (see
section 4.9.8).
– 11th degree polynomial (motion law no. 11): The acceleration curve has a “cover”.
Low vibration, harmonic, generally usable.
– 15th degree polynomial (motion law no. 50): Similar to the 7th degree polynomial,
but with even less jerk.
In the case of a gentle, i.e. vibration-capable design, e.g. for a toothed belt axis, an
acceleration course that is as round and harmonic as possible with low and constant jerk
values should be attempted. A steep acceleration rise with high jerk values results in
vibrations and resonance. Otherwise, relatively long stabilising times must be planned at
the end of a movement until the moving mass or tool no longer oscillates.
If positioning should be energy-saving, which also has a positive effect on the
temperature rise of the motors and controllers, the motion laws no. 48 or 49 can be used.
But these have relatively high jerk values, which could have negative effects on vibration
tendency and the load of the mechanical system.
39 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The characteristics of all 55 motion laws with their specific
advantages and disadvantages are explained individually in the
displacement plan editor help.
40 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9.7 Additional basic logic functions
A) Fit straight lines for synchronous operation
A straight line is a section with constant speed (i.e. acceleration = 0). Such sections can be
used for synchronous processing tasks.
There are two options for fitting lines:
Click on a section with the right mouse button and, in the dialog, enter the percentage
straight-line share for this section. The percentage refers to the length of the section. The
straight line is inserted in the middle.
The following course results:
41 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
More options are offered by the special straight-line function
Using the button in the menu bar, insert a section with constant speed (works exactly like
insertion of a dwell, see section 4.9.5).
In the dialog windows of the two data points of the straight-line section, you can, for
example, determine that the jerk at the start or end of the segment should
“= 0”:
You can also enter the lead or speed in the dialog window of the straight-line section.
42 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Use only as many additional data points as you absolutely need.
The fewer data points used, the more harmonic the motion
sequence will be!
B) Fit additional data points
If it is important for a movement that the slave drive should be located at a specific
position at a specific time, additional data points can be added to the motion sequence for
this purpose.
C) Insert section with a table of supporting points
With this function, you must first define a range by clicking twice in the path diagram. Then
you can add a curve from a stored value table to this section. In various dialogs, you have
the option to edit the imported data, adjust the size of the curve and smooth it.
43 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
D) Use of reference lines (insert, move, delete)
Through the buttons in the menu bar, you can insert vertical and horizontal lines that work
as magnetic catch lines.
Inserting: Click on the desired button. A dialog opens, in which you can enter the positions
of one or more lines.
Moving: Click on the reference line to be moved. Then, at the lower edge of the
displacement plan editor, an entry field appears in which you enter the new position of the
line. Alternatively, you can click again on the button and adjust the positions in the related
dialog.
Deleting: To delete a reference line, use the wastebasket button from the menu bar or the
relevant reference line button again with the related dialog.
44 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.9.8 Further optimisations
A) Shifting times at which a movement begins or ends
In the case of low-jerk movements with gentle acceleration starts, only a very small path,
which is uncritical in relation to the dwell phase, is traveled at the start of the movement.
Example: If the dwell serves to let a gripper open or close completely, a minimum change
of location at the start of the movement should not hinder the safe opening or closing of
the gripper. The start of the movement can be moved forward or the end of the movement
can occur later. This permits a gentler and more harmonic motion sequence with
simultaneously higher cycle rate.
In the following example, in the right figure, the start of the movement was moved forward
and the end of the movement was moved backward. A markedly flatter acceleration curve
results, even though the drive practically stands still in the area of the previous dwell.
45 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
B) Shifting of speed and acceleration values of data points
At data points, there is the option to change curves directly by shifting the speed and
acceleration values. The following example has a disadvantageous jump in acceleration at
the right data point (left figure). If you click on the acceleration point with the mouse and
move it downward somewhat, the result is the smoothed acceleration curve in the right
figure:
Tip: With the button “Edit parameters of displacement plan” in the dialog for basic
settings, you can activate an online drag mode through the setting “Drag mode with
maximized course with svaj diagram?” (only recommended for fast computers).
46 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Sections always go from 0…1. A value of 0.5 represents the centre
of the section, a value of 0.25 precisely the limit of the front
quarter. Enter the values with a point as decimal separator.
C) Different acceleration / braking
It might be that a drive can accelerate very strongly, but braking must be very gentle. This
can be achieved by shifting the centre point of a section, for example.
In the following example, the centre point of the section was shifted forward. As a result,
less time remains for acceleration and more time for braking.
You can set this in the related section dialog using the “inflection point parameter”:
47 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
The start and end of cams can only be on grid data points. If there
are high requirements for the switching precision of cams, a large
number of grid data points must be specified. See section 4.9.3
Rasterisation of the curve.
4.10 Cam switch
4.10.1 General remarks
The term “cam switch” describes assignment of a logical level to position or angle
information. The term comes from the trip cam, attached to a shaft, that actuated switch
contacts at certain positions. A similar function can be used in the case of an electronic
cam switch. See the following sketch:
Each cam disc has 4 cam switches, each of which can have several cams. The cams are
actuated dependent on the master position.
The cams can be inserted using the right mouse button and then made larger/smaller by
dragging with the mouse. Dragging to size 0 deletes a cam.
48 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Interrogation via FHPP: You can read the status of the cams
(actuated/not actuated) out of the PNU 311/02.
See FHPP description according to section 1.3 Documentation
overview CMMP-AS.
In the following example, cam switch no. 1 has two cams: The first cam is actuated when
the X-position lies between 1 and 2, the second cam when the X-position lies between 3
and 4.
The cams can either be interrogated via FHPP or mapped onto digital outputs.
49 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.10.2 Setting digital outputs
Make the following settings in FCT if a digital output should be set dependent on the cam
actuation:
On the “Application Data” page in the “Operating Mode Settings” tab: Activate “Position
Trigger”.
On the “Position Trigger” page: Assign the desired cam switch (here no.1) to a position
trigger (here: #1).
On the “Digital Outputs” page: Assign Position Trigger #1 to a digital output (here:
DOUT2).
50 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
Note
A cam disc should only be activated when the master is at rest!
If the master moves during activation, this can result in setpoint
jumps and following errors.
Note
Multiple assignment of digital inputs should be avoided.
Functions/signals with high priority can prevent activation of a
curve.
4.11 Activating cam discs
During commissioning, you can activate cam discs via FCT.
In operation, you can activate cam discs via Fieldbus/FHPP or Digital Inputs.
To activate via Digital Inputs, do the following:
On the “Digital Inputs” page in the “CAM” tab: For the previously created curves, select
one digital input each from the selection menu. In the following figure, cam disc no. 1 is
activated when the digital input DIN3 is set.
In the “Assignments” tab, you can then establish possible double assignments of the
digital inputs:
51 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
For activation of cam discs via fieldbus: See chapter 6.
Significance of the colours:
Grey: The input is not assigned.
Green: The input is assigned once.
Yellow: The input is assigned twice.
Red: The input is assigned at least three times.
52 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
4.12 Position comparison between master and slave
4.12.1 With physical master
Only incremental signals are transmitted via the master-slave connection. A position
comparison between master and slave must therefore be carried out after switch-on. This
can occur as follows:
– The master travels at the beginning to its defined start position (e.g. X=0).
– For the slave, it was specified in FCT that the master setpoint value should be set to
“0” when a cam disc is activated. And so, after activation of the cam disc in the slave,
both the real position of the master and the specified position for the slave are at
position 0.
The slave might execute a CAM-IN movement (see section 4.12.3).
4.12.2 For the virtual master
During activation of a cam disc, the master position is set to X=0 or to the parametrised
start value for this cam disc.
The connected axis travels with the defined CAM-IN values to the Y-position assigned to
this start position according to the cam disc.
Example:
The drive is at position X=5. When the cam disc is activated, the position is set to X=4,
since this was specified in the cam disc as the starting value (= master start position, see
section 4.8).
Subsequently, the connected axis moves with CAM-IN velocity to Y=1.
After completion of the CAM-IN movement, positioning records from the positioning record
table can be executed “virtually”. The connected axis travels the path according to the
active cam disc.
53 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
4. Concepts of the cam disc
If the drive moves when a cam disc is deactivated, braking takes
place with the deceleration (brake ramp) that was set with the
CAM-IN parameters.
If the drive leaves the defined master period of the cam disc, the
drive is also braked (brake ramp not parametrisable).
Note
A cam disc should only be activated when the master is at rest!
If the master moves during activation, this can result in setpoint
jumps and following errors.
4.12.3 CAM-IN
A CAM-IN movement is always executed when, during activation of a cam disc, the slave
axis is not at the Y-value at which it should be according to its cam disc and according to
the X-value of the control through the master.
For the CAM-IN movement, the settings are used that can be made in FCT on the “Cam
Discs” page in the “CAM-IN” tab:
To indicate that the drive is in a CAM-IN movement, this signal can be mapped via FCT onto
digital outputs (“Digital Outputs” page). In this way, it can also be signaled that the drive
has reached the curve starting point (CAM-IN movement completed).
For the virtual master:
If a positioning record is started during a CAM-IN movement, the CAM-IN movement is run
to the end. The started positioning record is then executed without the need for a new
START signal.
For a combination of physical master and a slave:
54 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Warning
Electric axes can move suddenly with high force and at high speed.
Collisions can result in serious injuries.
Observe the safety instructions in the documentation of the
controller as well as the commissioning instructions described
there.
This documentation considers only the special aspects of the cam
disc.
5. Commissioning examples
5.1 Requirements
The following step-by-step examples show how controllers of type CMMP-AS can be
parametrised for a cam disc application.
A requirement for verification of these examples is that the controllers, motors and axes
are set up completely, wired and provided with electricity. In addition, basic
commissioning must have taken place. The controllers must be ready to accept
positioning jobs.
55 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Warning
Electric axes can move suddenly with high force and at high speed.
Collisions can result in serious injuries.
Observe the safety instructions in the documentation of the
controller as well as the commissioning instructions described
there.
This documentation considers only the special aspects of the cam
disc.
5.2 Example 1: Physical master with a slave
Step 1
Insert two CMMP-AS into your FCT project (menu “Component / Add”). Call them “master”
and “slave”, for example.
Execute all parameter settings as well as commissioning as would be necessary without a
cam disc.
56 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Step 2
For the master: On the “Application Data” page in the “Operating Mode Settings” tab,
activate the option “Encoder Emulation X11”.
On the “Encoder Emulation” page: Check the settings and adjust them if necessary.
57 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
The position comparison between master and slave is described in
section 4.12.
The modulo function is described in section 4.6.
Under “Encoder Data (X10) ”, you can parametrise an “electronic
gear unit”, see section 4.7.
Step 3
For the slave:
On the “Application Data” page: Activate the “Cam Disc” option.
On the “Cam Disc” page in the “Master” tab: Activate the “Physical Master (X10) ” option.
Also specify whether the master's travel is rotative or linear. The option “Reset Master
Setpoint … ” causes the slave to assume that the master is at position 0 when the cam disc
is activated.
58 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
The basic parameters are explained in section 4.8.
The first steps in creating a curve in the displacement plan editor
are explained in section 4.9.5.
Step 4
Change to the Cam Switch and enter the basic parameters for a cam disc.
Then click on “Edit Selected Cam Disc No. x”.
In the displacement plan editor: Create a curve.
After creation of the curve: Click on the “X” in the upper right to close the displacement
plan editor.
59 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Insertion of cams and display of the cam actuation using digital
outputs is described in section 4.10.
The CAM-IN movement is described in section 4.12.3.
Step 5
In FCT, the course of the curve is displayed in the Cam Switch. Insert cams if needed.
Step 6
Change to the “CAM-IN” tab and enter appropriate values.
60 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Step 7
For both master and slave:
Establish an online connection and execute a download to the controller. Using the “Store”
button, store the project in the devices and restart the controllers: “Component/Restart
Controller” (especially for CANopen applications, since a CAN reset is usually sent here
before a start).
Then set the FCT device control (“FCT” and “Enable”).
For the master: Execute homing (if necessary) and run the master to position “0”.
For the slave:
Execute homing (if necessary).
Change into “Project Output, Cam Disc”.
Activate a cam disc by selecting it in the “Choice” menu.
If you selected the option “Reset master setpoint when activating a cam disc” in the
“Master” tab, the master specification is set to “0”.
The slave travels with the CAM-IN parameters to its start position, in the example to “2.5”.
61 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Step 8
In the master, enter a positioning record, e.g. for travel from position 0 to 5, and execute
the positioning record.
The slave will travel from position 2.5 to 7.5 according to the cam disc displayed under
step 5.
62 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Warning
Electric axes can move suddenly with high force and at high speed.
Collisions can result in serious injuries.
Observe the safety instructions in the documentation of the
controller as well as the commissioning instructions described
there.
This documentation considers only the special aspects of the cam
disc.
5.3 Example 2: Virtual master
Step 1
Insert a CMMP-AS in your FCT project.
Parametrise it completely and execute commissioning, as is necessary even without the
cam disc function.
Step 2
On the “Application Data” page in the “Operating Mode Settings” tab: Activate the “Cam
Disc” option.
63 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
The modulo function is described in section 4.6.
Step 3
On the “Cam Disc” page in the “Master” tab: Activate the “Virtual Master” option.
If necessary: Activate modulo positioning and specify the area limits.
Steps 4 … 6
Steps 4 to 6 correspond to those for parameter setting in section 5.2 Example 1: Physical
master with a slave.
Create a curve with cams as described there.
Step 7
Establish an online connection and execute a download to the controller. Using the “Store”
button, store the project in the device and restart the controller: “Component/Restart
Controller” (especially for CANopen applications, since a CAN reset is usually sent here
before a start).
Then set the FCT device control (“FCT” and “Enable”).
Execute homing (if necessary).
64 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
5. Commissioning examples
Change into the “Project Output, Cam Disc”.
Activate a cam disc by selecting it in the “Choice” menu.
When the cam disc is activated, the master position is set to the value specified in the cam
disc definition in the “Cam” tab. The connected drive travels to its start position with the
CAM-IN parameters.
Step 8
Enter a positioning record on the “Positioning Record Table” page and execute the
positioning record.
The connected drive travels the curve depicted under step 5.
65 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
The function number FNUM is transferred in the record control byte
1 (RCB1) or FHPP control byte 3 CDIR, see the following sections.
6. Control via FHPP
The CMMP-AS has the option to manage 16 cam discs with 4 assigned cam switches each.
This chapter describes how this function can be used with the help of FHPP.
The CMMP-AS offers the option to implement the following applications over FHPP:
1. Synchronisation onto external input, slave mode (pure synchronisation)
=> function number FNUM=1
2. Synchronisation onto external input with cam disc (i.e. physical master with slave)
=> function number FNUM=2
3. Virtual master with cam disc
=> function number FNUM=3
66 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Examples for configuration of the controller: see sections 6.9.1 and
6.9.2.
Examples for configuration of the controller: see section 6.9.4 and
6.9.5.
6.1 Overview of parametrisation: physical master with
slave (FNUM=1/2)
6.1.1 Control of the physical masters
In controlling the physical master, no cam-disc specific special features need to be
observed (standard FHPP: record selection or direct operation).
6.1.2 Control of the slave (FNUM=1/2)
The slave can be controller via fieldbus either by record selection or direct operation.
For record selection:
1. You pass on the desired record number over the FHPP control byte 3.
2. In the record control byte 1 (RCB1), you determine whether a positioning record
should be executed as a normal positioning record or whether the drive should run
down a cam disc instead. This happens through an entry in the subindices of PNU 401:
Set bit 7 (FUNC) to “1” and choose the desired function via bit 3 and 4 (FNUM).
3. Parametrise the cam disc number individually for every record over the subindices of
PNU 419. If no cam disc number is stored in PNU 419, the controller uses the cam disc
number according to PNU 700.
4. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.
With direct operation:
1. You determine in the FHPP control byte 3 CDIR that the slave synchronises on X10: Set
bit 7 (FUNC) to “1” and choose the desired function via bit 3 and 4 (FNUM).
2. You pass on the desired cam disc number via PNU 700.
(The cam disc number can also be mapped in FHPP+).
3. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.
67 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Examples for configuration of the controller: see section 6.9.3.
Examples for configuration of the controller: see section 6.9.6.
6.2 Overview of parametrisation: virtual master (FNUM=3)
Control of a virtual master can be through record selection or direct operation.
For record selection:
1. You pass on the desired record number over the FHPP control byte 3.
2. RCB1: In “record status byte 1”, it can be established for each record in the
positioning record table individually whether it should be executed as a normal
positioning record or the drive should run down a cam disc instead. This takes place
using the subindices of PNU 401: Set bit 7 FUNC=1 and bit 3/4 FNUM=3 so that the
record is executed as a virtual master with cam disc.
Observe: The abs/rel-bit is valid here for the master and not for the slave!
The PNUs 402 … 4xx also apply for the master. If record chaining is desired, the RCB2
must also be parametrised.
3. Cam disc number: A cam disc is assigned either by storing a cam disc number in PNU
419 for the preselected positioning record or by storing a cam disc number in PNU 700
that then applies as standard for all positioning records for which no other
determination was made.
4. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.
The start applies both for the virtual master and the connected drive (slave).
With direct operation:
1. In the FHPP control byte 3 CDIR: The virtual master is selected with FUNC=1 and
FNUM=3. The bit CDIR.B0 establishes whether the position setpoint values should be
interpreted absolutely or relatively. CDIR.B1 and B2 must be at 0 (always position
control).
2. The virtual master is active as soon as a rising edge occurs at CPOS.B1 START.
68 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
FHPP - record selection
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Output
data
CCON
CPOS
Record no.
–
–
Input data
SCON
SPOS
Record no.
RSB
Actual position
FHPP - direct operation
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Output
data
CCON
CPOS
CDIR
Setpoint
value 1
Setpoint value 2
Input data
SCON
SPOS
SDIR
Actual
value 1
Actual value 2
6.3 Configuration of the I/O data
For record selection:
With direct operation:
69 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
CCON
B7
B6
B5
B4
B3
B2
B1
B0
OPM2
OPM1
LOCK
RESET
BRAKE
STOP
ENABLE
Operating mode
selection
Block MMI
access
–
Reset fault
Release
brake
Stop
Enable drive
CPOS
B7
B6
B5
B4
B3
B2
B1
B0
CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
–
Delete
remaining
path
Teach
value
Jog
negative
Jog
positive
Start
homing
Start
positioning
job
Halt
CDIR *)
B7
B6
B5
B4
B3
B2
B1
B0
FUNC
FGRP
FNUM
COM2
COM1
ABS
Execute
function
Function group
Function number
Control mode
(position, force …)
Absolut
e/Relati
ve
*) only for direct operation. In the case of record selection, the record number is transferred in
control byte 3. The function of CDIR then takes over PNU 401 + subindex.
6.4 Overview: assignment of the control bytes and status
bytes
6.4.1 Control bytes
70 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
SCON
B7
B6
B5
B4
B3
B2
B1
B0
OPM2
OPM1
FCT/MMI
VLOAD
FAULT
WARN
OPEN
ENABLED
Operating mode
acknowledgement
Higher-order
controller
with FCT/MMI
Load
voltage
applied
Malfunction
Warning
Operation
enabled
Drive
enabled
SPOS
B7
B6
B5
B4
B3
B2
B1
B0
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
Drive
referenced
Dwell
monitoring
Following
error
Axis moves
Confirmation
of teaching
or sampling
Motion
complete
Acknow-
ledge start
Halt
SDIR *)
B7
B6
B5
B4
B3
B2
B1
B0
FUNC
FGRP
FNUM
COM2
COM1
ABS
Funct. being
executed
Function group
acknowledgment
Function number
acknowledgment
Control mode
acknowledgment
Absolute /
relative
*) only for direct operation. In the case of record selection, the record number is transferred in
status byte 3. The RSB (record status byte) is then transferred in status byte 4.
6.4.2 Status bytes
71 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit
DE
EN
Description
B0
ENABLE
Antrieb (Regler)
freigeben
Enable
Drive
= 1: Enable drive (controller)
= 0: Disable drive (controller)
B1
STOP
Stopp
STOP
= 1: Enable drive
= 0: STOP active (Emergency ramp. Cancel positioning job)
…
B6+ B7
OPM1
OPM2
Betriebsartenwahl
Select
Operating
Mode
= 00: Record selection (standard)
= 01: Direct operation
= 10: Reserved
= 11: Reserved
Bit
DE
EN
Description
B0
HALT
Halt
HALT
= 1: Halt is not active
= 0: Halt activated. (Braking ramp. Does not cancel positioning
job).
B1
START
Start
Fahrauftrag
Start
Positioning
Task
When the cam disc function has been selected via the FUNC
bits, the cam disc mode is started with a rising START edge.
The START bit can then be reset again without ending the cam
disc mode.
This applies correspondingly for pure synchronisation as well
(for FNUM=1).
…
6.5 Description of the control bytes
6.5.1 Control byte 1 CCON
All statuses that must be available in all operating modes are controlled with CCON.
6.5.2 Control byte 2 CPOS
CPOS controls the positioning sequences as soon as the drive is enabled.
72 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit
DE
EN
Description
B0
ABS
Absolut/
Relativ
Absolute/ Relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to the last setpoint
B1
COM1
Regelmodus
Control Mode
= 00: Position control
= 01: Pressure/force control
= 10: Rotational speed / velocity
= 11: Reserved
B2
COM2
B3 - B4
FNUM
Funktionsnummer
Function Number
B3 – B4 are interpreted together as a number.
Value
Significance
0
Reserved
1
Synchronisation on external input
2
Synchronisation on external input with cam disc
function (i.e. slave with physical master)
3
Synchronisation on virtual master with cam disc
function
B5 - B6
FGRP
Funktionsgruppe
Function Group
B5 – B6 are interpreted together as a number.
Value
Significance
0
Synchronisation with/without cam disc
1
Reserved
2
Reserved
3
Reserved
B7
FUNC
Funktion
ausführen
Execute
FUNCtion
= 0: Normal job
= 1: Execute function (bit 3…6)
6.5.3 Control byte 3 CDIR (only for direct operation)
Control byte 3 in direct operation describes the type of positioning task more precisely.
For the function numbers 1 and 2 (pure synchronisation or synchronisation with cam disc),
the bits B0 … B2 are not relevant (always position control).
73 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit
DE
EN
Description
B0
ENABLED
Regler
freigegeben
Drive Enabled
= 0: Drive blocked, controller not active
= 1: Drive (controller) enabled.
B1
OPEN
Betrieb
freigegeben
Operation
Enabled
= 0: Stop active
= 1: Operation enabled, positioning possible
…
B6
OPM1
Rückmeldung
Betriebsart
Display
Operating Mode
= 00: Record selection (standard)
= 01: Direct operation
= 10: Reserved
= 11: Reserved
B7
OPM2
Bit
DE
EN
Description
B0
HALT
Halt
HALT
= 0: Halt is active
= 1: Halt is not active, drive can be moved
B1
ACK
Bestätigung
Start
ACKnowledge
Start
= 0: Ready for start (homing, jog)
= 1: Start executed (homing, jog)
…
6.6 Description of the status bytes
6.6.1 Status byte 1 SCON
6.6.2 Status byte 2 SPOS
74 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit
DE
EN
Description
B0
ABS
Absolut/
Relativ
Absolute/
Relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to the last setpoint
B1
COM1
Rückmeldung
Regelmodus
Control Mode
= 00: Position control
= 01: Pressure/force control
= 10: Rotational speed / velocity
= 11: Reserved
B2
COM2
B3 - B4
FNUM
Rückmeldung
Funktionsnummer
Function
Number
B3 - B4 are interpreted together as a number.
Value
Significance
0
CAM-IN/OUT / change active
1
Synchronisation on external input
2
Synchronisation on external input with cam disc
function (i.e. slave with physical master)
3
Synchronisation on virtual master with cam disc
function
B5 - B6
FGRP
Rückmeldung
Funktionsgruppe
Function Group
B5 – B6 are interpreted together as a number.
Value
Significance
0
Synchronisation with/without cam disc
1
Reserved
2
Reserved
3
Reserved
B7
FUNC
Funktion
Function
= 0: Normal job
= 1: Function is executed (bit 3…6)
6.6.3 Status byte 3 SDIR (only for direct operation)
75 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit 0
ABS
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to the last setpoint/switch-further value
Bit
1..2
COM1
COM2
= 00: Position control
= 01: Force control/torque control
= 10: Rotational speed/velocity control
= 11: Reserved
Bit
3..4
FNUM
B3 – B4 are interpreted together as a number.
Value
Significance
0
Reserved
1
Synchronisation on external input
2
Synchronisation on external input with cam disc function
3
Synchronisation on virtual master with cam disc function
Bit
5..6
FGRP
B5 – B6 are interpreted together as a number.
Value
Significance
0
Synchronisation with/without cam disc
1
Reserved
2
Reserved
3
Reserved
Bit 7
FUNC
= 0: Normal job
= 1: Function / execute macro ( FGRP / FNUM )
6.7 Record selection
6.7.1 Record control byte 1 (RCB1, PNU 401)
The record control byte 1 (RCB1) is transferred into PNU 401. Every positioning record has
its own subindex: The record control byte of positioning record 1 is in PNU 401/01, that of
positioning record 2 in PNU 401/02, etc.
For FNUM=1 or 2, bit 0 … 2 are without significance (always position control).
For FNUM =3, bit 0 applies for the virtual master, bit 1 and 2 are without significance
(always position control).
76 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Bit
DE
EN
Description
Bit 0
RC1
1.Satzweiterschaltung
durchgeführt
1st Record
Chaining Done
= 0: A step criterion was not configured/achieved
= 1: The first step criterion was achieved
Bit 1
RCC
Satzweiterschal
tung ausgeführt
Record Chaining
Complete
Valid, as soon as MC present.
= 0: Record chaining interrupted. At least one step condition
was not achieved.
= 1: Record chain was processed to the end.
Bit 2
– – Reserved
Bit
3..4
FNUM
Rückmeldung
Funktionsnummer
Function
Number
B3 – B4 are interpreted together as a number.
Value
Significance
0
CAM-IN/OUT / change active
1
Synchronisation on external input
2
Synchronisation on external input with cam disc
function
3
Synchronisation on virtual master with cam disc
function
Bit
5..6
FGRP
Rückmeldung
Funktionsgruppe
Function Group
B5 – B6 are interpreted together as a number.
Value
Significance
0
Synchronisation with/without cam disc
1
Reserved
2
Reserved
3
Reserved
Bit 7
FUNC
Funktion
Function
= 0: Normal job
= 1: Function is executed (bit 0..6 = function number)
6.7.2 Record status byte RSB
For record selection, the record status byte of the active positioning record is transferred in
the FHPP status byte 4.
Bit 0 and 1 are of significance only for virtual master (FNUM=3) if record chaining was
parametrised.
77 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Allocation
Name
Access
PNU
IND
Type
Cam disc
Cam disc number
rw
700
--
uint8
Master start position virtual master
rw
701
--
int32
Synchronisation
(input X10)
Input configuration
rw
710
--
uint32
Gear ratio
rw
711
1..2
uint32
Encoder
emulation
(output X11)
Output configuration
rw
720
--
uint32
FHPP
700
--
Optional
uint8
Name DE/EN
Kurvenscheibennummer
CamID (cam disc number)
Description
The cam disc is selected with this parameter.
Value range 1 ... 16
Read/write
rw
FHPP
701
--
Optional
int32
Name DE/EN
Masterstartposition
Description
For virtual master, establishes the start position of the master.
Read/write
rw
6.8 Description of the parameters (PNU 700 … 720)
78 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
FHPP
710
--
Optional
uint32
Name DE/EN
Eingangskonfiguration Synchronisation
Input Config Sync.
Description
For CMMP-AS:
Bit
Function
Values
0
Ignore zero pulse
Bit 0 = 1: without zero pulse
bit 0 = 0: with zero pulse
1
Reserved
–
2
Switch off A/B track
Bit 2 = 1: without A/B track
bit 2 = 0: with A/B track
…
...
... Read/write
rw
FHPP
711
1..2
Optional
uint32
Name DE/EN
Getriebefaktor Synchronisation
Gear Sync.
Description
Gear ratio with synchronisation on external input (slave mode)
SI
Description
1
Motorumdrehungen (Antrieb)
Motor revolutions
2
Spindelumdrehungen (Abtrieb)
Shaft revolutions
Read/write
rw
79 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
FHPP
720
--
Optional
uint32
Name DE/EN
Ausgangskonfiguration
Encoderemulation
Output Config Encoder Emulation
Description
For CMMP-AS:
Bit
Function
Values
0
Switch off A/B track
Bit 0 = 1: without A/B track
bit 0 = 0: with A/B track
1
Suppress zero pulse
Bit 1 = 1: without zero pulse
bit 1 = 0: with zero pulse
2
Reversal of direction of
rotation
Bit 2 = 1: with reversal of direction
bit 2 = 0: without reversal of direction
…
...
...
Read/write
rw
80 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
6.9 Examples for the control and status bytes in FHPP
On the following pages you will find typical examples of control and status bytes of the
cam disc function:
6.9.1 Record selection - synchronisation on input X10 (FNUM=1)
6.9.2 Record selection - synchronisation on input X10 with cam disc function
(FNUM=2)
6.9.3 Record selection - synchronisation on virtual master with cam disc function
(FNUM=3)
6.9.4 Direct operation - synchronisation on input X10 (FNUM=1)
6.9.5 Direct operation - synchronisation on input X10 with cam disc function
(FNUM=2)
6.9.6 Direct operation - synchronisation on virtual master with cam disc function
(FNUM=3)
81 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Basic status
(Device control
HMI = off)
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 0 0 x 1 1 SCON
0 0 0 1 0
0
1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
1 Select record no.
2 Parametrise RCB1
PNU 401
RCB1
FUNC 1 FGRP 0 FGRP 0 FNUM 0 FNUM 1 COM2 0 COM1 0 ABS x PNU401
RSB
FUNC 1 FGRP 0 FGRP 0 FNUM 0 FNUM 1 COM2 0 COM1 0 ABS
x
3 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 x x x 1 1 SCON
0 0 0 x x x 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x x x x x
x F 1
SPOS
x x x 1 x
0 1 1
4 Stop
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 x x 0
x 0 1
SCON
0 0 0 1 0
0 0 1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive
An intermediate stop is not possible. Setting of the HALT bit results
in stopping (HALT = STOP).
6.9.1 Record selection – synchronisation on input X10 (FNUM=1)
In the case of pure synchronisation (without cam disc) on input X10, the following settings
are necessary for the slave:
Tab. 6.9.1: Record selection – synchronisation on input X10
Description
1. Preselect record number in FHPP control byte 3.
2. Parametrise RCB1 (PNU 401) of the preselected record (FUNC and FNUM=1); all other
record parameters are then ignored.
3. Start: A rising edge at START activates synchronisation. After that, the controller
synchronises on the input X10.
4. Stop: takes place through removal of the STOP bit. The status of the START bit is not
relevant thereby. To restart, first the bit SCON.B1 OPEN is required and then a new
START edge.
82 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Basic status
(Device control
HMI = off)
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 0 0 x 1 1 SCON
0 0 0 1 0
0
1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
1 Select record no.
2 Parametrise RCB1
PNU 401
RCB1
FUNC 1 FGRP 0 FGRP 0 FNUM 1 FNUM 0 COM2 0 COM1 0 ABS x PNU401
RSB
FUNC 1 FGRP 0 FGRP 0 FNUM 1 FNUM 0 COM2 0 COM1 0 ABS
x
3 Select cam disc no.
4 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 x x x 1 1 SCON
0 0 0 x x x 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x x x x x
x F 1
SPOS
x x x 1 x
0 1 1
5 Parametrise cam
disc number
PNU
419
X X X X X X X X
Changing of the cam
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 x x 0 x 1 1 SCON
0 0 0 1 0
0
1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0
0 F 1
SPOS
0 0 0 1 0 0 1 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive
STOP takes place through removal of the STOP bit. The status of the
START bit is not relevant thereby. To restart, first the bit SCON.B1
OPEN is required and then a new START edge. An intermediate stop
is not possible. Setting of the HALT bit results in stopping
(HALT = STOP).
6.9.2 Record selection - synchronisation on input X10 with cam
disc function (FNUM=2)
In parametrisation of the slave, the following steps are required:
Tab. 6.9.2: Record selection – synchronisation on input X10 with cam disc function
Description
1. Preselect record number in FHPP control byte 3.
2. Parametrise RCB1 (PNU 401) of the preselected record (FNUM=2); all other record
parameters are ignored as a result.
3. Parametrise cam disc number for the preselected record. There are 2 options:
- Write number in PNU 419.
- If PNU 419 = 0, the cam disc number is taken from PNU 700.
4. A rising edge at START activates the cam disc function.
Note: The master should be at rest when a cam disc is being activated.
5. Optional change to another cam disc or another positioning record:
START bit must first be at 0. With a new rising edge at START, the new cam disc
number is taken over.
83 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Basic status
(Device control
HMI = off)
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 0 0 x 1 1 SCON
0 0 0 1 0
0
1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
1 Select record no.
2 Parametrise RCB1
PNU 401
RCB1
FUNC 1 FGRP 0 FGRP 0 FNUM 1 FNUM 1 COM2 0 COM1 0 ABS X PNU401
RSB
FUNC 1 FGRP 0 FGRP 0 FNUM 1 FNUM 1 COM2 0 COM1 0 ABS
X
3 Select cam disc no.
4 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 0 x x x 1 1 SCON
0 0 0 x x x 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x x x x x
x F 1
SPOS
x x x 1 x
0 1 1
5 Parametrise cam
disc number
PNU
419
X X X X X X X X
Changing of the cam
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 0 x x 0 x 1 1 SCON
0 0 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0
0 F 1
SPOS
0 0 0 1 0
0 1 1
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive
STOP takes place through removal of the STOP bit. The status of the
START bit is not relevant thereby. To restart, first the bit SCON.B1
OPEN is required and then a new START edge.
There is an option to force an intermediate stop during movement
through removal of the HALT bit. The HALT bit stops the virtual
master. A new positive start edge is needed for starting.
6.9.3 Record selection – synchronisation on virtual master with
cam disc function (FNUM=3)
Tab. 6.9.3: Record selection – synchronisation on virtual master with cam disc function
Description
1. Preselect record number in FHPP control byte 3.
2. Parametrise RCB1 (PNU 401) of the preselected record: Set FNUM=3.
Observe: The abs/rel-bit is valid here for the master and not for the slave.
The PNUs 402 … 4xx also apply for the master.
If record chaining is desired, the RCB2 must also be parametrised.
3. Parametrise cam disc number for the preselected record. There are 2 options:
- Write number in PNU 419.
- If PNU 419 = 0, the cam disc number is taken from PNU 700.
4. Start: With a rising edge at the START bit, the positioning record is executed. Start
here applies simultaneously for both the master and the slave.
5. Optional change to another cam disc or another positioning record:
START bit must first be at 0. With a new rising edge at START, the new cam disc
number is taken over.
84 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
1 Position and speed
(control bytes 4 and
5...8)
Byte 4
RVelocity
Byte 4
RVelocity
Speed
–
Speed
Speed of the slave (0...100
%)
Byte 5...8
position
Byte 5...8
position
Setpo
int
pos.
–
Act.
pos.
Actual position of the slave
(increments)
2 In CDIR:
select FUNC
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
CDIR 1 0 0 0 1 0
0 S SDIR 1 0 0 0 1 0
0
S
3 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0
0 F 1
SPOS
1 0 0 1 0
0 1 1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive;
S: Positioning condition: 0= absolute; 1 = relative
The drive stops with removal of the STOP bit. The status of the
START bit is not relevant thereby. For restarting, the status bit
SCON.B1 OPEN must be set. Then the START bit can be set again.
An intermediate stop is not possible. Setting of the HALT bit results
in stopping (HALT = STOP).
6.9.4 Direct operation – synchronisation on input X10 (FNUM=1)
In the case of pure synchronisation (without cam disc) on input X10, the following settings
are necessary for the slave:
Tab. 6.9.4: Direct operation – synchronisation on input X10
Description
1. Setpoint speed and setpoint position have no significance, due to synchronisation on
input X10.
2. In CDIR: Selection of the function via the FUNC bits, here FNUM=1.
3. Start: A rising edge at START activates synchronisation. After that, the controller
synchronises on the input X10.
85 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
1 Position and speed
(control bytes 4 and
5...8)
Byte 4
RVelocity
Byte 4
RVelocity
Speed
–
Speed
Speed of the slave
(0...100 %)
Byte 5...8
position
Byte 5...8
position
Setpoint
pos.
–
Act.
pos.
Actual position of the slave
(increments)
2 In CDIR:
select FUNC
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
CDIR 1 0
0 1 0 0 0 S SDIR 1 0
0 1 0 0 0 S 3 Parametrisation
4 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0
0 F 1
SPOS
1 0 0 1 0
0 1 1
5 New parameter set
6 Transfer of new
parameters
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 F 1 SPOS
1 0 0 1 0
0 1 1
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive;
S: Positioning condition: 0= absolute; 1 = relative
6.9.5 Direct operation – synchronisation on input X10 with cam
disc (FNUM=2)
In parametrisation of the slave, the following steps are required:
Tab. 6.9.5: Direct operation – synchronisation on input X10 with cam disc function
Description
1. Setpoint speed and setpoint position have no significance, due to synchronisation on
input X10.
2. In CDIR: Selection of the function via the FUNC bits, here FNUM=2.
3. Parametrisation: Set PNU 700 … 720 to the desired values (cam number, encoder
etc.).
4. With a rising edge of START, the controller synchronises on the input X10. In direct
operation, the gear ratio and other relevant data are also transferred with a rising
edge. Changed values of these data are only transferred with a new edge change
(0 -> 1).
Note: The master should be at rest when a cam disc is activated.
5. During movement, the parameters 700 … 720 can be newly written. This does not
result in an immediate reaction. These become effective only when the conditions
described under point 6 are fulfilled.
6. The new parameters are transferred with a new rising edge at the START input.
Previously, the START bit must be set to 0. With a rising edge, the new cam is
transferred immediately.
Note: The master should be at rest when a cam disc is activated.
86 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
The drive stops with removal of the STOP bit. The status of the
START bit is not relevant thereby. For restarting, the status bit
SCON.B1 OPEN must be set. Then the START bit can be set again.
An intermediate stop is not possible. Setting of the HALT bit results
in stopping (HALT = STOP).
87 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
Step/
Description
Control bytes
Status bytes
Byte
B7
B6
B5
B4
B3
B2
B1
B0
Byte
B7
B6
B5
B4
B3
B2
B1
B0
1 Preselect position
and speed
(control bytes 4 and
5...8)
Byte 4
RVelocity
Byte 4
RVelocity
Speed
Speed (0...100 %)
Speed
Speed of the slave
(0...100 %)
Byte 5...8
position
Byte 5...8
position
Setpoint
pos.
Nominal position (increments)
Act.
pos.
Actual position of the slave
(increments)
2 in CDIR:
select FUNC
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 0 1 SPOS
0 0 0 0 0 1 0
1
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
Byte 3
FUNC
FGRP
FGRP
FNUM
FNUM
COM2
COM1
ABS
CDIR 1 0
0
1
1
0
0 S SDIR 1 0
0
1
1
0
0 S 3 Parametrisation
4 Start
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0
0 F 1
SPOS
1 0 0 1 0
0 1 1
5 New
parameter set
6 Transfer of new
parameters
Byte 1
OPM2
OPM1
LOCK – RESET
BREAK
STOP
ENABL
Byte 1
OPM2
OPM1
LOCK
24VL
FAULT
WARN
OPEN
ENABL
CCON
0 1 x x 0 x 1 1 SCON
0 1 0 1 0 0 1
1
Byte 2 – CLEAR
TEACH
JOGN
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
CPOS
x 0 0 0 0 0 F 1 SPOS
1 0 0 1 0
0 1 1
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive;
S: Positioning condition: 0= absolute; 1 = relative
6.9.6 Direct operation – synchronisation on virtual master with
cam disc function (FNUM=3)
Tab. 6.9.6: Direct operation – synchronisation on virtual master with cam disc function
Description
1. Setpoint position and setpoint speed apply for the virtual master.
The setpoint position is transferred in increments in bytes 5...8 of the output data. The
setpoint speed is transferred in % in byte 4 (0 = no speed; 100 = maximum speed).
The values in the status bytes apply for the connected drive (slave).
2. CDIR: Selection of the function via the bit combination of FUNC bits, here FNUM=3.
3. Parametrisation: Set PNU 540 - 546 to the desired values. These values apply both for
the virtual master and for the slave. Exception: The end positions apply only for the
slave.
Set PNU 700 … 720 to the desired values as well. The parameters 711 and 720 have no
function.
4. The rising edge of the START bit applies simultaneously both for the virtual master and
the Slave. In direct operation, the gear ratio and other relevant data are also
transferred with a rising edge. Changes values of these data are only transferred with a
new edge change (0 -> 1).
5. During the movement, all relevant parameters can be rewritten. This does not result in
an immediate reaction. These become effective only when the conditions described
under point 6 are fulfilled.
6. The new parameters are transferred with a new rising edge at the START input.
Previously, the START bit must be set to 0. With a rising edge, the new cam is
transferred immediately.
88 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6. Control via FHPP
The drive stops with removal of the STOP bit. The status of the
START bit is not relevant thereby. For restarting, the status bit
SCON.B1 OPEN must be set. Then the START bit can be set again.
This is different with the intermediate stop. Here there is the option
to force an intermediate stop during movement through removal of
the HALT bit. The HALT bit stops the virtual master. A new positive
start edge is needed for starting.
89 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
7. Finite state machine FHPP incl. cam disc
7. Finite state machine FHPP incl. cam disc
90 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
7. Finite state machine FHPP incl. cam disc
TA
Description
Occurrence with
Secondary condition
Record selection
Direct mode
TA 13
Preselect cam
disc
Change in the record
number
–
Old record: FUNC=0
New record: FUNC=1
–
Rising edge at FUNC
–
Rising edge at STOP or ENABLE
FUNC=1
TA
14, 19
Deactivate cam
disc
Change in the record
number
–
Old record: FUNC=1
New record: FUNC=0
–
Falling edge at FUNC
–
STOP or removal of ENABLE
–
TA 15
Activate cam
disc
Rising edge at START
Drive is in TA 13.
TA 16
Change cam
disc
Rising edge at START
–
Changed cam disc number
in PNU 419 or PNU 700.
FUNC=1
Change in the record
number and rising edge
at START
– – Rising edge at START
automatically starts
the virtual master.
PNU 700 was changed.
FUNC=1.
TA 17
Intermediate
stop
HALT = 0
Only for virtual master.
TA 18
End
intermediate
stop
HALT = 1
91 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
Loading...