Festo EXCM-30 -PF, EXCM-40 -PF Series Series Manual

Planar surface gantry with
controller

EXCM-30/-40-...-PF

Description

Commissioning

8059530

1603

[8059532]

EXCM-30/-40-...-PF

Translation of the original instructions
EXCM-30/-40-...-PF-EN

®

CANopen

is a registered trademark of its respective trademark holder in certain countries.

Identification of hazards and instructions on how to prevent them:

Danger

Immediate dangers which can lead to death or serious injuries

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries

Other symbols:

Note

Material damage or loss of function

Recommendations, tips, references to other documentation

Essential or useful accessories

Information on environmentally sound usage

Text designations:
 Activities that may be carried out in any order

1. Activities that should be carried out in the order stated
– General lists
è Result of an action/References to more detailed information

2 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

EXCM-30/-40-...-PF

Table of Contents – EXCM-30/-40-...-PF

1 Requirements for product use 6...............................................

1.1 Target group 6.............................................................

1.2 Intended use 6.............................................................

1.3 Foreseeable misuse 7.......................................................

1.4 Instructions on this documentation 7...........................................

1.5 Applicable documents 7.....................................................

1.6 Range of application and certifications 8........................................

1.7 Obligations of the machine manufacturer 8......................................

2 Overview 9................................................................

2.1 General characteristics 9.....................................................

2.2 System overview 9..........................................................

2.3 Function and application 10....................................................

2.4 Monitoring functions of the controller 10.........................................

2.5 Switch-off functions of the controller 11..........................................

2.5.1 External stop ESTOP 11...............................................

2.5.2 Safety function Safe Torque Off - STO 12.................................

2.6 Drive functions 12...........................................................

2.6.1 Jogging 12.........................................................

2.6.2 Homing 12.........................................................

2.6.3 Brake 13..........................................................

2.7 Operating modes of the controller 15............................................

2.7.1 Direct operation 15..................................................

2.7.2 Record selection 15..................................................

2.8 Measurement system 16......................................................

2.8.1 Basic concepts 16...................................................

2.8.2 Selection of the coordinate system 17...................................

2.8.3 Dimension reference points 18.........................................

2.9 General structure of the controller 19............................................

2.9.1 Interfaces 19.......................................................

2.9.2 LED display components 20...........................................

2.9.3 7-segment display 22................................................

2.10 Emergency stop concept 23....................................................

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 3

EXCM-30/-40-...-PF

3 Electrical installation 24......................................................

3.1 General instructions 24.......................................................

3.2 Connections and interfaces 25.................................................

3.2.1 Power supply [X1] 26.................................................

3.2.2 Functional earth 26..................................................

3.2.3 I/O interface [X2] 27.................................................

3.2.4 CANopen interface [X3] 27............................................

3.2.5 Switch-off functions interface [X4] 28....................................

3.2.6 Ethernet interface [X5] 29.............................................

3.2.7 Encoder connection 29...............................................

3.2.8 Motor connection 29.................................................

4 Commissioning with the FCT 30................................................

4.1 Safety instructions 30........................................................

4.2 Network connection via Ethernet 31.............................................

4.2.1 Connection to PC/laptop 31...........................................

4.2.2 Network settings 31.................................................

4.2.3 Safety in the network 32..............................................

4.2.4 Timeout 32........................................................

4.3 The Festo Configuration Tool (FCT) 33............................................

4.3.1 General information 33...............................................

4.3.2 Installation of the FCT 33..............................................

4.3.3 Starting the FCT 33..................................................

4.3.4 Create new project 33................................................

4.4 Configuration 34............................................................

4.4.1 Create new drive configuration/change drive configuration 34................

4.4.2 Gantry 35..........................................................

4.4.3 Controller 35.......................................................

4.5 Settings of the operating parameters 35.........................................

4.5.1 Record Table 35.....................................................

4.5.2 Teaching 36........................................................

4.5.3 Enable device control via FCT 36........................................

4.5.4 Controller identification 36............................................

4.5.5 Firmware update 37.................................................

5 Operation 38...............................................................

5.1 Instructions for operation 38...................................................

5.2 Communication principle, general 39............................................

5.2.1 Overview of the control and status bytes 39..............................

5.2.2 Description of the control bytes CCON/CPOS 40...........................

5.2.3 Description of the status bytes SCON/SPOS 42............................

5.2.4 Start of positioning 44...............................................

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EXCM-30/-40-...-PF

5.3 Control via I/O interface 45....................................................

5.3.1 General 45.........................................................

5.3.2 Communication 45..................................................

5.3.3 Examples 46.......................................................

5.4 Controller via CANopen interface 48.............................................

5.4.1 General 48.........................................................

5.4.2 Communication 48..................................................

5.4.3 Examples 49.......................................................

5.5 Control via Ethernet (CVE) 51...................................................

5.5.1 General 51.........................................................

5.5.2 Communication 51..................................................

5.5.3 CVE protocol 52.....................................................

5.5.4 Examples 58.......................................................

6 Diagnostics 61..............................................................

6.1 Diagnostic memory 61........................................................

6.2 Error messages 61...........................................................

6.3 Malfunctions: causes and remedy 63............................................

6.3.1 Error responses 63..................................................

6.3.2 Table of error messages 63............................................

6.3.3 Problems with the Ethernet connection 73................................

6.3.4 Other problems and remedies 73.......................................

A Technical appendix 74........................................................

A.1 CMXH 74...................................................................

A.1.1 General product characteristics 74......................................

A.1.2 Operating and environmental conditions 74...............................

A.1.3 Product conformity and certifications 74.................................

A.1.4 Electrical characteristics 75...........................................

A.2 System characteristics 75.....................................................

B CANopen 76................................................................

B.1 CANopen object overview 76...................................................

C Control via Ethernet (CVE) 79..................................................

C.1 CVE object overview 79.......................................................

D Glossary 82................................................................

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 5

1 Requirements for product use

1 Requirements for product use

1.1 Target group

 Provide this documentation to the following persons:

– Design engineer
– Machine manufacturer
– Installer

– Commissioner
Only qualified personnel may perform mounting, installation, commissioning, maintenance and disas
sembly of the product. Qualified personnel must be familiar with:
– Mounting and operation of mechatronic systems
– Installation and operation of electrical control systems
– Installation and operation of pneumatic systems
– Regulations for accident prevention and occupational safety
– Documentation and mode of operation of the product

1.2 Intended use

This product is a handling system. The handling system executes positioning tasks within machines or
automated systems with a higher-order controller. The controller CMXH is used exclusively for control
of planar surface gantries with a circulating toothed belt of type EXCM-30/-40-…-SB/-ST.
Only use the product as follows:
– in perfect technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined by the technical data

Note

In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.

6 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

1 Requirements for product use

1.3 Foreseeable misuse

Never use the product as follows:
– with unauthorised modifications or alterations to the product
– in an invalid mounting position
– with load limits exceeded
– without a risk assessment of the complete system
– without a safety concept for the complete system

1.4 Instructions on this documentation

This document solely describes commissioning of the planar surface gantry EXCM-30/40 with the re
lated controller CMXH and refers to the following versions of the software:

CMXH firmware version

V1.2 or later

Tab. 1.1 Software versions

Required CMXH plug-in

V2.0 or later

1.5 Applicable documents

The complete description of the system, comprising controller and gantry, includes the following docu
ments:

Designation Contents

Assembly instructions
CMXH
Description
EXCM-30/-40

Description
EXCM-30/-40-...-PF-...

Help system
for the FCT plug-in CMXH
Description
CMXH

Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH

Notes on mechanical installation of the CMXH

Description of the mechanical installation of the planar surface gantry
EXCM-30/-40

Commissioning of the planar surface gantry EXCM-30/-40 with the CMXH
controller

Help system in the FCT for support of commissioning and
parameterisation of the CMXH controller
Use of the STO safety function (Safe torque off)

All available documents for the product è www.festo.com/pk.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 7

1 Requirements for product use

1.6 Range of application and certifications

Standards and test values that the product complies with and fulfills (è A Technical appendix).

Version status

ENISO13849-1:2008-06/AC:2009-03
EN 50178:1997-10
EN 60068-2-6:2008-02
EN 60068-2-27:2009-05
EN 60204-1:2006-06
EN 61800-5-2:2007-10
EN62061:2005-04

Tab. 1.3 Standards specified in the document

Certificates and the declaration of conformity for this product (è www.festo.com).

1.7 Obligations of the machine manufacturer

The product is an incomplete machine. Commissioning of the product is prohibited until it has been
established that the machinery in which the product will be installed is in compliance with the provi
sions of EU Machinery Directive.

Take the following into consideration for the destination:
– regulations and standards
– regulations of the testing organisations and insurers
– national specifications

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2Overview

2Overview

2.1 General characteristics

– FCT-compatible: configuration, parameterisation and backup via Festo Configuration Tool (FCT)
– Energy-optimised operation and low heat development
– Separation between load and logic voltage
– LED-display components for representation of device and communication status
– 7-segment display for representation of equipment statuses, errors and warnings

2.2 System overview

1

2

3

4

1 Higher-order control level: PLC/IPC
2 Parameterisation and commissioning level:

Festo Configuration Tool (FCT)

Fig. 2.1 System overview

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 9

3 Controller level
4 Drive level: planar surface gantry

2Overview

2.3 Function and application

The controller controls two servo motors, which drive an H-shaped rotating toothed belt. The toothed
belt moves a slide, whose position is calculated by the controller from the encoder signals of the mo
tors.
The motors are not directly assigned to an axis (X- or Y-axis) of the planar surface gantry. Instead, the
movement of the slide towards an axis is achieved through the interaction of the two motors, which is
controlled by the controller (è Fig. 2.2 Operational principle).

Operational principle

Motor 1

X-axis

Motor 2

Fig. 2.2 Operational principle

Motor 1

Y-axis

Motor 2

2.4 Monitoring functions of the controller

The controller has numerous monitoring functions, such as:
– monitoring of logic and load voltage
– current monitoring/I²t monitoring
– software end-position detection
– standstill and following error monitoring
– short circuit detection

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2Overview

2.5 Switch-off functions of the controller

The drive can be switched off through the switch-off functions Safe Torque Off (STO) and External Stop
(ESTOP).

Logic voltage Driver supply

+24 V

STO2

Activation/shut-down of the driver supply

STO1

GND

DIAG1

DIAG2

ESTOP

Driver supply

monitoring

Driver supply

acknowledgment contact

μP

Fig. 2.3 Switch-off functions - block diagram

2.5.1 External stop ESTOP

If the External Stop - ESTOP switch-off function is requested, the motors are decelerated with the quick
stop braking ramp (Quick Stop) until they are at rest. After standstill is reached, the brake control is
activated and the output stage switched off.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 11

PWM driver

step

IGBT output stage

2Overview

2.5.2 Safety function Safe Torque Off - STO

The safety function STO (“Safe Torque Off”) is described in detail in the document
“CMXH description STO” and may only be used in the manner described there.
(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH)

The safety function enables two-channel shut-down of the voltage supply to the motors connected to
the CMXH and therefore a safely switched-off torque (Safe Torque Off, STO) via the connection [X4].

Two channels are achieved through the inputs STO1 and STO2. The power supply to the motor is se
curely interrupted through shut-down of the output stage. At the same time, the brake control is activ
ated.

2.6 Drive functions

2.6.1 Jogging

During jogging, the slide of the planar surface gantry moves as long as a corresponding signal is
present. Jogging can always take place only in one direction, either in the direction of the X-axis or in
the direction of the Y-axis, whereby differentiation is made between creeping run and normal run. The
CANopen or Ethernet interface can be used as a control interface, but the I/O interface cannot.
This function is normally used to run the slide manually into a defined basic position.

As long as a valid reference point has not been reached, the software end positions are
deactivated and the slide can also be positioned behind the software end positions
through jogging.

2.6.2 Homing

In homing, the reference point of the dimension system is determined. The reference point is the abso
lute reference point for the axis zero point. Orders can only be started if homing has been completed
successfully (exception: jogging).

Note

The reference point is saved temporarily in the controller. When there is an open circuit
in the logic power supply, the homing point is lost.

Homing can be started through selection of record 0 or through the control byte CPOS
(è 5.2.2 Description of the control bytes CCON/CPOS) and always takes places to the stop at the
origin of the selected coordinate system (è 2.8.2 Selection of the coordinate system). The stop is
detected by a motor standstill in combination with a sharp rise in the motor current. After the fixed
stop is reached, a movement to zero is automatically performed in order to reach a permanently
defined and unchangeable minimum distance from the mechanical stop.

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2Overview

2.6.3 Brake

If the motors are equipped with a brake, they are controlled as follows:

Automatic activation of the brake

The motor controller automatically controls the brake through release of the drive:
– The brake is opened when the drive is enabled.
– The brake is closed when the drive is blocked (either through a pilot signal or an error with error

response “Output stage off”).
Through the mechanical inertia of the brake, opening and closing take a certain length of time. The
behaviour of the controller when the drive is enabled is adjusted to the mechanical inertia of the brake
through the switch-on and switch-off delay.

Switch-on delay

When enable is being set (ENABLE), the switch-on delay time (150 ms) starts to run and the position
controller of the controller takes over control of the connected planar surface gantry. The brake opens
simultaneously. The controller accepts positioning jobs only after the switch-on delay has expired.

Switch-off delay

When the enable signal is removed, the time set for the switch-off delay starts to run (150 ms). The
brake closes during this time. The position controller holds the drive in position. The position control
ler and the output stage are only switched off after expiration of the switch-off delay.

Note

When the output stage is switched off, such as through blocking of the drive, or when
the power supply is interrupted during movement, there is no deceleration of the drive
via a braking ramp. The holding brake is closed immediately. This results in increased
wear and can lead to damage to the motors if it occurs repeatedly.
– Avoid immediate blocking of the drive during movement
– Before blocking the drive, make sure that the drive is stopped, such as by resetting

STOP (control byte CCON bit 1) or by triggering an external stop (input ESTOP at [X4])

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2Overview

Manual releasing of the brake

Warning

Unexpected movement of the product. Risk of impact and crushing injuries.
 Before manual release of the brake, make sure that the axes are in a stable end

position or secure axes against unexpected movements.

The brake can be manually released when the drive is blocked (either through a pilot signal or an error
with error response “Output stage off”).
This is possible in the following ways:
– through a hardware input (è 3.2.5 Switch-off functions interface [X4])
– through a control bit in the CCON control word

(è 5.2.2 Description of the control bytes CCON/CPOS)
– through the FCT
In the case of a blocked drive, if the command to release is issued over at least one of these signals,
the brake is released.

Note

The signal to release the brake always has priority. If a voltage of +24 V is applied to
the RB input (release brake), the brake is released permanently. In case of error (for
errors with error response “Output stage off”), the brake remains released, as the
signal for releasing the brake is present:
– Leave the signal at “brake active” (0 V at the input RB).
– Release the brake only in a concrete case of need

14 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

2Overview

2.7 Operating modes of the controller

2.7.1 Direct operation

The CANopen or Ethernet interface can be used as a control interface. The X-Y position and travel
speed are transmitted by the higher-order controller/PC. The target position is linearly approached by
the current actual position.
Other possible functions are:
– Jogging
– Homing

2.7.2 Record selection

The I/O, CANopen or Ethernet interface can be used as a control interface. Records consist of record
type, target position X and Y, speed, acceleration and jerk. They are saved in the controller in a record
table with record number (è 4.5.1 Record Table). A maximum of 31 records can be configured by the
user. Record 0 is reserved for homing. In operation, the higher-order controller/PC then selects indi
vidual records by transferring a record number (record selection). The target position is linearly ap
proached by the current actual position.
Other possible functions are:
– Jogging
– Homing run

– If positioning is begun, it is always continued to the end in all operating modes.
– A new positioning job is ignored before the end of a started positioning.
– Records can only be parameterised via the Festo Configuration Tool (FCT)

(è 4.5.1 Record Table).

– Coordinate transformation is performed in the CMXH controller.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 15

2Overview

2.8 Measurement system

2.8.1 Basic concepts

Homing

During homing, the position of the axis zero point AZ is determined.

Stop point BZ (block zero point)

A fixed point in the origin of the selected coordinate system, which is travelled to in homing.

Movement to zero

After the stop point BZ is reached, the drive is travelled at a defined distance in order to reach the axis
zero point AZ.

Axis zero point AZ

It is shifted by a defined distance from the stop point BZ in the origin of the selected coordinate sys
tem. This distance is determined dependent on the size of the planar surface gantry in the direction of
the X- and Y-axis (è Tab. 2.1 Explanation of dimension reference points).

Project zero point (PZ)

A point to which the actual position and the absolute target positions refer. The project zero point is
shifted by a defined distance from the axis zero point AZ.

Software end positions SLN (Software Limit Negative)/SLP (Software Limit Positive)

Limit the effective stroke in the direction of the X- or Y-axis. If the target position of a positioning job is
outside the software end positions, the positioning job is not executed and a malfunction is reported.
The software end positions are shifted by a defined distance from the axis zero point AZ.

Working stroke

The distance of the software end positions in the direction of the X- or Y-axis. Maximum stroke by
which the planar surface gantry can travel in the corresponding direction.

Increments

The controller works in the range of the drive controller with encoder increments (EINC). In contrast,
so-called interface increments (SINC) are used at all user interfaces and in the field of internal data
management.

1 mm = 1000 SINC
1 EINC L 19 μm

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2Overview

2.8.2 Selection of the coordinate system

The following 4 selection options are available for establishing the axis zero point:

Selection 1 Selection 2

Fig. 2.4 Axis zero point at corner point 1 (default) Fig. 2.5 Axis zero point at corner point 2

Selection 3 Selection 4

Fig. 2.6 Axis zero point at corner point 3 Fig. 2.7 Axis zero point at corner point 4

Establishment of the axis zero point is performed exclusively through the Festo Configur
ation Tool (FCT) (è 4.4 Configuration).

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 17

2Overview

2.8.3 Dimension reference points

Dimension reference points (example for axis zero point at corner point 1)

Fig. 2.8 Dimension reference points

Explanation

Calculation

BZ (Block Zero) stop point
AZ (Axis Zero Point) axis zero point = BZ + a
PZ (Project Zero Point) project zero point = AZ + b
SLN (Software Limit Negative) software end position negative = AZ + d
SLP (Software Limit Positive) software end position positive = AZ + f
TP/AP (Target Pos./Actual Pos.) target position/actual position = PZ + c = AZ + b + c
a Offset BZ to AZ (fixed) EXCM-30: 1.4 mm

EXCM-40: 2.0 mm
b Offset AZ to PZ
c Offset PZ to TP/AP
d Offset AZ to SLN
e Working stroke
f Offset AZ to SLP

Tab. 2.1 Explanation of dimension reference points

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2Overview

2.9 General structure of the controller

aA

1

aJ

9

8

7

6

5

1 Mounting slots
2 Connection side to the planar surface gantry
3 Mounting slots
4 Functional earth connection
5 Voltage supply [X1] connection
6 I/O interface [X2]

Fig. 2.9 General structure

2.9.1 Interfaces

The controller has three interfaces in order to communicate with a higher-order controller:
– I/O interface
– CANopen interface
– Ethernet interface
The active control interface is established via the Festo Configuration Tool (FCT) (è 4.4 Configuration).

7 Switch-off functions interface [X4]
8 Ethernet interface [X5]
9 7-segment display
aJ LED indicators
aA CANopen interface [X3]

2

3

4

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 19

2Overview

2.9.2 LED display components

Equipment and function statuses of the controller are displayed over the three LED display compon
ents.
The behaviour and the colour of the LEDs differ dependent on the type of status display.

23

4

1

1 7-segment display
2 COM (green/yellow/red)

1) Static and dynamic behaviour

2) Only static behaviour (on/off)

1)

3 Device (green/red)
4 Power (green)

1)

2)

Fig. 2.10 Display components

Power

The LED indicator “Power” is illuminated only when the load voltage is present and simultaneously
(STO1 = 1) and (STO2 = 1).

Device

The operational readiness of the controller and existing malfunctions (errors/warnings) are signaled
through the “Device” LED display (è Tab. 2.2 LED indicator - device).

LED (green/red) Status Meaning

Illuminated green Ready for operation

(controlled status)

Flashes green (– – – …)

ON
OFF

Not ready for operation
(uncontrolled status)

Illuminated red Error is present

Flashes red (–– –– –– …)

ON
OFF

Warning is present or controller identi
fication is active
(è 4.5.4 Controller identification)

Tab. 2.2 LED indicator - device

20 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

2Overview

COM

The LED display “COM” displays an active communication through a green-flashing display compon
ent. The interface assignment is shown through the flashing behaviour of the LED indicator.
A CANopen-specific message is signaled through a yellow or red LED display component.

COM - I/O operation
LED

Status Meaning

(green/yellow/red)

Flashes green (– – – …)

ON
OFF

Communication active.

Tab. 2.3 LED indicator COM - I/O operation

COM - CANopen operation
LED

Status Meaning

(green/yellow/red)

Illuminated green Normal operating status.

Communication through SDOs and
PDOs possible (operational).

Flashes green (· · · · …)

ON
OFF

Normal status after switch-on.
Communication only possible through
SDOs (pre-operational).

Lights up yellow No bus cable connected, or no bus

parameters configured.

Illuminated red No bus connection (bus OFF).

Flashes red (· · · …)

ON
OFF

Flashes red (·· ·· ·· …)

ON
OFF

Telegrams cannot be received or sent
(Warning Limit).

Time exceeded for communication
monitoring (node guarding).

Tab. 2.4 LED indicator COM - CANopen operation

COM - CVE operation
LED

Status Meaning

(green/yellow/red)

Flashes green (– · – · …)

ON
OFF

Communication active.

Tab. 2.5 LED indicator COM - CVE operation

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 21

2Overview

2.9.3 7-segment display

Operating mode, record number and malfunctions are displayed over the single-digit 7-segment dis
play. Four characters are displayed in succession; after that a time delay follows.

Fig. 2.11 7-segment display, example I/O operation, record number 3

Display

Operating mode/event Priority

BLE Bootloader error 1
E0xx (xx = error number1)) System error
E1xx (xx = error number1)) Error motor 1
E2xx (xx = error number1)) Error motor 2
A0xx (xx = error number1)) Warning

2)

P000 Homing
P070 Jog positive (X-axis)
P071 Jog negative (X-axis)
P072 Jog positive (Y-axis)
P073 Jog negative (Y-axis)
P1xx (xx = record number) I/O operation
P2xx (xx = record number)

CANopen operation

P200 (00 = direct mode)
P3xx (xx = record number)
P300 (00 = direct mode)

Change alternates

CVE operation or
control via FCT

Download firmware active
between vertical and
horizontal segments.

Flashing point Controller identification active

(è 4.5.4 Controller identification)

1) hexadecimal

2) Is displayed 2x, one after the other

Tab. 2.6 Messages of the 7-segment display

2

3
4

--

Messages with a higher priority interrupt messages with a lower priority. As malfunctions
can occur faster than they can be displayed on the 7-segment display, it may be the case
that not all malfunctions are displayed.
 Read the diagnostic memory (è 6.1 Diagnostic memory) in order to have all the re

corded messages displayed.

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2Overview

2.10 Emergency stop concept

Note

 As part of your emergency stop concept, check which measures are required for

your machine/system in case of an emergency stop.

 Observe the contents of this documentation on the switch-off functions

(è 2.5 Switch-off functions of the controller).

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 23

3 Commissioning

3 Electrical installation

3.1 General instructions

Note

A prerequisite for installation is completed mounting of the planar surface gantry EX
CM-30/-40 and of the controller CMXH. Mounting is described in separate documents
(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH).

Caution

Unexpected movement of the product.
Risk of impact and crushing injuries.
 Before working on the product, switch off the power supply and secure it against

being switched on again.

Note
Damage to the product from incorrect handling.

 Never unplug or plug in a product when powered!
 Observe the handling specifications for electrostatically sensitive devices.

Note

To ensure compliance with the IP protection class (if required):
 Note that the specified IP degree of protection is only achieved if all pins are as

signed.

Observe the tightening torques in the documentation of the cables and plugs used.

24 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

3 Commissioning

3.2 Connections and interfaces

6

5

4

3

2

1

1 Functional earth
2 Power supply [X1]
3 I/O interface [X2]

Fig. 3.1 Connections on the front

7

6

5

4

3

1 Encoder motor 1
2 Screening motor 1
3 Voltage supply motor 1
4 Reserved [X6]

Fig. 3.2 Connections on the back cover

4 Switch-off functions interface [X4]
5 Ethernet interface [X5]
6 CANopen interface [X3]

1

2

5 Voltage supply motor 2
6 Screening motor 2
7 Encoder motor 2

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 25

3 Commissioning

3.2.1 Power supply [X1]

Connection

Pin Function

1 GND 0 V Reference potential for

2 Load voltage +24 V ±10 %

3 GND 0 V Reference potential for

1

4

4 Logic voltage +24 V ±15 % Power supply for the

Tab. 3.1 Voltage supply [X1] connection

Requirements to be met by the power supply

Note

 Observe technical data of the power supply (è A.1.4 Electrical characteristics).
 The maximum length of the individual cables should not exceed 30 m.

Warning

 Use for the electrical power supply only PELV circuits in accordance with EN 60204-1

(Protective Extra-Low Voltage, PELV). Also take into account the general require
ments for PELV circuits in accordance with EN60204-1.

 Use only power sources which guarantee reliable electrical isolation of the operating

voltage in accordance with EN 60204-1.

or
+48 V ±10 %

load voltage
Power supply of the
power output stages of
the motors

logic voltage

control electronics and
brakes

3.2.2 Functional earth

The threaded bolts next to the power supply [X1] of the controller serves to connect the functional
earth (galvanically separated from the reference potentials) to comply with EMC security.

Connection Function

Functional earth

Tab. 3.2 Functional earth connection

Note

 Connect the functional earth connection with low impedance to the earth potential

to avoid electromagnetic interferences.

26 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

3 Commissioning

3.2.3 I/O interface [X2]

Communication with a higher-order controller (PLC/IPC) takes place through the I/O interface.

Note

The switching logic of the I/O interface is executed as PNP, based on IEC61131-2 for
PLC.

Connection

Pin Function

1 RDYEN Output Ready for enable
2 DIN1 Input Record selection
3 DIN2
4 DIN3
5 DIN4
6 DIN5
7 24 V logic Output Logic voltage +24 V

5

1

8 Start Input Start record or homing
9 ENABLE Input Enable drive and

10
15

6

10 RESET Input Acknowledge error
11 ENABLED Output Drive and operation are

11

12 FAULT Output Error present
13 ACK Output Acknowledgment for

14 MC Output Motion complete
15 GND24 Logic voltage reference

Tab. 3.3 Connection, I/O interface [X2]

3.2.4 CANopen interface [X3]

Connection X3 Pin Function

1 – Not used
2 CAN-L Low signal

1

5

3 0 V (GND) Reference potential
4 – Not used
5 Screening Screened connection
6 – Not used

96

7 CAN-H High signal
8 – Not used
9 – Not used

Tab. 3.4 Connection, CANopen interface [X3] to the controller

Records 1-…31
(Record 0 = homing)

operation

enabled

start signal

potential

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3 Commissioning

3.2.5 Switch-off functions interface [X4]

The safety function STO (“Safe Torque Off”) is described in detail in the document “CMXH
description STO” and may only be used in the manner described there.
(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH)

To establish ready status, the circuitry of the control inputs STO1/STO2 and ESTOP with +24 V at [X4]
are required. If the safety function STO is not needed, a suitable circuitry of the control inputs
STO1/STO2 is required for operation of the controller.

Connection X4

Pin Function

Top row 16 24 V logic Output Logic voltage +24 V

15 ESTOP

1)

Input External stop

With 0 V: trigger braking ramp

2)

14 RB

Input With +24 V: release brake

With 0 V: Brake control via the control

3)

16 9

word CCON
13 – Reserved
12 –
11 –
10 –
9 –

Bottom row 1 24 V logic Output Logic voltage +24 V

2 STO1 Input Safe Torque Off function:

3 STO2 Input

With 0 V: Safely switch off supply

voltage to the motors
4 – Reserved
5 FAULT

81

6 DIAG1 Potential-free diagnostic contacts

7 DIAG2

4)

Output With +24 V: Fault is present

(Low impedance if the STO function

has been activated)
8 0 V GND GND (reference potential)

1) At rest, the output stage is switched off and any motor brakes present are closed.

2) Detailed information about the brake function (è 2.6.3 Brake)

3) If no controller has master control, the brake remains in its last status when 0 V is applied.

4) The output is high impedance. To signal errors, a low impedance consumer should be used

Tab. 3.5 Switch-off functions interface [X4]

Note

The signal to release the brake always has priority. If a voltage of +24 V is applied to the
RB input (release brake), the brake is released permanently. In case of error (for errors
with error response “Output stage off”), the brake remains released, as the signal for
releasing the brake is present:
– Leave the signal at “brake active” (0 V at the input RB).
– Manually release the brake only in a concrete case of need

28 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

3 Commissioning

3.2.6 Ethernet interface [X5]

The Ethernet interface can thereby be used both for control via the FCT and also for operation via the
function “Control via Ethernet” (CVE).

Note

 Use a network cable of category 5 or better.

3.2.7 Encoder connection

An incremental encoder with signals in accordance with RS422 can be connected to the encoder port.

Connection Pin Function

1 A Encoder signal A+
2 B Encoder signal B+,
3 N Encoder signal zero pulse N+
4 GND Reference potential

1

5

5 Vcc +5 V ±10 % supply of the encoder.

Max. 100 mA, not secure against short
circuit.

96

6 A/ Encoder signal A–
7 B/ Encoder signal B–
8 N/ Encoder signal zero pulse N–
9 – Reserved

Tab. 3.6 Encoder connection

3.2.8 Motor connection

1)

Port

Pin Function

1 A Connection of the motor strings
2 A/

Interface at the controller

3 B
4 B/

16

5 BR+ Connection of the holding brake.

Short-circuit- and overload-protected.

6 BR–

BR– = GND,
BR+ is switched (+24 V)

1) Next to the motor connections is an M4 threaded pin to connect the screening of the motor cable through a cable lug

Tab. 3.7 Motor connection

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4 Commissioning with the FCT

4 Commissioning with the FCT

Note

A prerequisite for commissioning is completed installation of the planar surface gantry
EXCM-30/-40 and of the controller CMXH (è 3 Electrical installation).

4.1 Safety instructions

Caution

Unexpected movement of the product.
Risk of impact and crushing injuries.
 Make sure that an ENABLE signal is not present at the control interfaces when the

controller is switched on.
 Parameterise the entire system completely before you activate the output stage.
 Make sure that nobody can grasp into the sphere of influence of the planar surface

gantry as well as other connected actuators – e.g. through protective guards – and

no items are located in the travel range as long as the system is connected to energy

sources.

Note

The controller does not execute direct tasks or records if a valid reference point is not
present (exception, jogging).
 Always carry out homing after every switch-on or failure of the logic voltage, in order

to anchor the dimension system to the reference point.

Note

Damage to components when the permissible impact pulse is exceeded.
 Operate the planar surface gantry only with the maximum permissible load

(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH).

Note

Interruption of ongoing tasks due to inadequate load voltage.
 Make sure that the tolerance of the load voltage at the input of the controller is

complied with under full load (è A.1.4 Electrical characteristics).

30 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

4 Commissioning with the FCT

4.2 Network connection via Ethernet

4.2.1 Connection to PC/laptop

For communication between the controller and the FCT to take place, you must connect the controller
to your PC/laptop via the Ethernet interface. Use a commercially available network cable for this pur
pose (plug connector RJ-45). The cable type (straight or crossed connection) is recognised automatic
ally.

Note

At delivery, the controller has an active DHCP server.
The controller cannot be connected to a network immediately at initial start-up, since it
can lead to network malfunctions if two active DHCP servers are present in one network.

The DHCP server of the controller is intended for creating a direct connection between the controller
and an individual PC/laptop. It is not intended to supply larger networks with IP addresses.
It assigns IP addresses in a range of 192.168.178.110 … 192.168.178.209 and the subnet mask

255.255.255.0. A gateway is not assigned.

If the DHCP client on your PC/laptop is active (usually standard setting), then the DHCP
server of the controller assigns your PC/laptop an IP address at initial start-up, and you
can access the controller.
If you cannot build up a connection to the controller
è 6.3.3 Problems with the Ethernet connection.

Fig. 4.1 Connection to PC/laptop

4.2.2 Network settings

Network settings upon delivery

Parameter Val u e

IP 192.168.178.1
DHCP server Active
Port (FCT) 7508
Port (CVE) 49700
Subnet mask 255.255.255.0
Gateway 0.0.0.0 (none)

Tab. 4.1 Network settings upon delivery

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4 Commissioning with the FCT

Display or change the network settings of the controller

The network settings can be made via the FCT as needed.
In the FCT plug-in via the “Controller” page [Set network settings].
– or –
Through a network scan via the FCT.

1. Menu [Component] [FCT interface] [“Search…” button].

2. Select one of the found devices from the context menu [Network].

3. To change the network settings, select one of the following options:
– [DHCP server active] The controller has valid network settings at delivery

(èTab. 4.1 Network settings upon delivery)

– [Obtain IP address automatically]

The controller obtains its IP address from a DHCP server in your network.

– [Use the following IP address]

You can assign the controller a fixed IP address manually.

After a change to the network settings in the controller, it has to be restarted in order for
the changes to become active.

4.2.3 Safety in the network

Note

When the controller is connected to existing networks (e.g. to the Internet):
Unauthorised or inadvertent access to the controller could cause it to behave in an
unforeseen way.
 Use the controller only in subnetworks that are protected against unauthorised

access from outside, e.g. through use of safety network components (special gate
ways/firewalls).

 Use a password to make unauthorised or inadvertent access to the controller more

difficult (in the FCT: Menu [Component] [Online] [Password]).

4.2.4 Timeout

The controller recognises if the connection to the FCT software has been interrupted and then behaves
as parameterised in the FCT on the “Error management” page (malfunction number 0x32).
The typical timeout is 1 s, but can be longer in slow networks, since the timeout is adjusted dynamically
to the transmission rate.

32 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

4 Commissioning with the FCT

4.3 The Festo Configuration Tool (FCT)

4.3.1 General information

The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different
components and devices from Festo. Each device type is managed through its own plug-in. Detailed
information on working with projects and adding a component to a project can be found in the Help on
the FCT.
 Select it in the Menu [Help] [General contents of FCT].

FCT plug-in

An FCT plug-in supports the device-specific performance of all necessary steps for commissioning of a
device. The plug-ins are managed and started from the FCT. The necessary parameters can be determ
ined offline, i.e. without connecting the device to the PC or laptop. This makes it possible to prepare
commissioning in the office, for example.
Further information on the FCT plug-in CMXH can be found in the plug-in Help:
 Select in the Menu [Help] [Contents of installed plug-ins] [Festo] [CMXH].

In order to use the entire Help or parts of it independently of a PC, you can also print
these out.

1. Click in the Help window on the “Print” button.

2. Select the desired topics in the “Print topics” dialogue.

4.3.2 Installation of the FCT

For commissioning, both the FCT framework and the FCT plug-in of the controller must be installed. Down
load the current CMXH plug-in from the Support portal (è www.festo.com/sp). Search term “CMXH”.
Set-up of the FCT is always included in set-up of the plug-in. If needed, the FCT is automatically in
stalled with it.

Note

Check whether an updated FCT plug-in is present (è www.festo.com).

4.3.3 Starting the FCT

After installation of the FCT software on your PC, you can start it in two ways.
 Double-click on the FCT icon on the desktop.
 Select the entry [Festo Software] [Festo Configuration Tool] in the start menu from the list of programs.

4.3.4 Create new project

After you have installed and started the FCT, you can create a new project as follows.

1. Select in the [Project] menu the entry [New].

2. In the dialogue “New Project - Project Characteristics”, assign a name and title to your project. You
can optionally also write a project description.

3. Confirm your inputs with the “OK” button.

4. In the [Component Selection] dialogue, select the component “CMXH” via the project tree.

5. Assign a component name

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 33

4 Commissioning with the FCT

6. In the dropdown menu, choose the desired version of the plug-in next to the “OK” button.

7. Confirm your inputs with the “OK” button.

4.4 Configuration

For commissioning the controller with the planar surface gantry, specifications and settings are re
quired for the components involved. The corresponding register and parameter pages are selected in
the work space of the FCT.

The following points merely describe the minimum required settings to operate a planar
surface gantry with the controller.
 For information on further settings, use the plug-in Help via the menu [Help] [Contents

of installed plug-ins] [Festo] [CMXH].

4.4.1 Create new drive configuration/change drive configuration

The button “Create new drive configuration” only appears when no drive has been configured yet. Oth
erwise, the existing drive configuration can be changed in this menu.

1. Select on the parameter page [Configuration] [Create new drive configuration] or [Configuration]
[Change].

Configure/change controller

2. Select the load voltage (DC link voltage) of the controller

3. Select the control interface. If the control interface has been changed, a restart of the CMXH is re
quired.

4. Selecting [Continue] brings you to configuration of the planar surface gantry.

Configure/change planar surface gantry

5. Select the size of the planar surface gantry used.

6. Specify the stroke of the working space in the direction of the X- and Y-axis.

7. Make specifications for the motor brake and motor position.

8. Selecting [Continue] brings you to the configuration result
Check the specifications and confirm the result with [End]

Then navigate with the buttons [Continue] and [Back] through the individual parameter
pages and execute the settings for the individual topics. In the View [Workplace], you can
directly select a page in the displayed tree.

34 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

4 Commissioning with the FCT

4.4.2 Gantry

1. Enter all required values.

Dimension system

2. Choose a coordinate system by determining the position of the axis zero point
(è 2.8 Measurement system).

3. Specify the project zero point and the SW end positions (positive/negative) of both axes
(è 2.8 Measurement system).

Homing

4. Enter all required speed and acceleration values.

4.4.3 Controller

1. Select in the [Project] [Component] menu the entry [Controller].
Here, the firmware version and network settings of the connected CMXH are visible in the online
mode. The network settings can be adjusted as needed (è 4.2.2 Network settings).

Fieldbus

This page is only visible if CANopen or SCE have been selected as the control interface.

Control interface CANopen:
 Select the bit rate
 Specify the node number (range of values 1 … 127, default: 1)
Control via Ethernet (CVE) control interface:
 Determine the port, if necessary (range of values 1 … 65535, default: 49700)

4.5 Settings of the operating parameters

4.5.1 Record Table

The parameters of positioning jobs are created via the FCT and saved in a record table in the form of
records. A record table consists of a maximum of 31 records.
The records are selected individually in the “Record selection” operating mode using the record num
ber.
Each record consists of the following parameters:
– Record type: Positioning absolute (PA), relative to the setpoint position (PRN) or relative to the

actual position (PRA)

– Target position X and target position Y
– Speed, acceleration and jerk
– Comments (optional)

Records are parameterised exclusively via the Festo Configuration Tool (FCT).

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 35

4 Commissioning with the FCT

4.5.2 Teaching

In the referenced status, the current position can be taken over through the FCT:

1. Display “Dimension system” or “Record table” parameter page

2. The slide is brought to the desired position (e.g. by jogging or by hand).

3. Through actuation of the “Accept as…” button in the online tab “Manually travel”, the current posi
tion is taken over into the record table as a software end position or project zero point.

4.5.3 Enable device control via FCT

To control the controller through the FCT, you must activate the device control via FCT.
 Activate the “FCT” check box in the project output in the “Device Control” frame.

Caution

Setting the “FCT” check box interrupts control through the control interfaces, which can
result in malfunctions in the process or damage to the system. The interfaces have only
read access to the controller.

 Also set the “Enable” check box to enable the drive.
To deactivate the device control through the FCT, the check in the check box must be removed. Then the
interface set in the FCT Project takes over control again. For CVE, the device control must be actively
requested by the control/PC.

4.5.4 Controller identification

For identification of a specific controller from a group of several controllers:

1. Select in the menu [Component] [FCT Interface].

2. In the dialogue “FCT Interface”, actuate the “Search...” button.

3. In the dialogue that appears, select a controller with the right mouse button.

4. Select the entry [Identification] [On].
– The red LED display component “Device” (è 2.9.2 LED display components) and the point of the

7-segment display (è Fig. 4.2 Controller identification) of the identified controller flash.

5. Then switch the controller identification back off [Identification] [Off].

1

1 Point for controller identification

Fig. 4.2 Controller identification

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4 Commissioning with the FCT

4.5.5 Firmware update

Note

Before using a newer firmware version:
 Check whether a newer corresponding version of the FCT plug-in or user documenta

tion is available è www.festo.com/sp.

Proceed as follows for a firmware update:

1. Install the latest plug-in recommended for the firmware
(è 1.4 Instructions on this documentation).

2. Create new component with this plug-in version.

3. Create connection to the controller with the old firmware.

4. Read and back up the project.

5. Perform a firmware download

6. Create a connection and perform a project download.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 37

5 Operation

5 Operation

5.1 Instructions for operation

Safety

Caution

The safety instructions for commissioning also apply during ongoing operation.
 Observe the safety instructions in the chapter Commissioning with the FCT

(è 4.1 Safety instructions).

Caution

Unexpected movements of the planar surface gantry after the controller is enabled.
 Make sure that no persons or items are in the travel range of the planar surface

gantry when the controller is enabled.

Password protection

Note

Protection against unauthorised or unintended overwriting of parameters.
 Set up a password through the FCT (è Plug-in Help).
At delivery, protection through a password is not active.

Maintenance and care

Note

The controller is maintenance-free.
 But observe the maintenance information of the planar surface gantry as well as

possible additional components

Disposal and environment

Note

Environmentally friendly disposal
 Observe the local regulations for environmentally-friendly disposal of electronic

components.

38 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

5.2 Communication principle, general

Communication between a higher-order controller and the controller takes place in all operating modes
through the FHPP protocol (Festo Handling and Positioning Profile) with cyclical data exchange of
8 bytes of output and 8 bytes of input data each.

5.2.1 Overview of the control and status bytes

The function assignment of the control and status bytes (byte 3 … 8) is dependent on the
operating mode.

Record selection mode

Control word Output word 1 Output word 2 Output word 3

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Output data
(control bytes)

Tab. 5.1 Record selection mode, control byte overview

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Input data
(status bytes)

Tab. 5.2 Record selection mode, status byte overview

CCON CPOS Record no. Reserved =0

Status word Input word 1 Input word 2 Input word 3

SCON SPOS Record no. Error num

ber

Actual
X-position

Actual
Y position

Direct mode

Control word Output word 1 Output word 2 Output word 3

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Output data
(control bytes)

Tab. 5.3 Direct mode, control byte overview

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Input data
(status bytes)

Tab. 5.4 Direct mode, status byte overview

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 39

CCON CPOS Speed Setpoint

X position

Status word Input word 1 Input word 2 Input word 3

SCON SPOS Reserved

= 0

Error num
ber

Actual
X-position

Setpoint
Y position

Actual
Y position

5 Operation

5.2.2 Description of the control bytes CCON/CPOS

All necessary statuses were controlled with the control byte CCON.

Control byte 1 (CCON)
Bit Function Description

0 Enable drive ENABLE = 0

1 Stop Stop = 0

Drive blocked

= 1

Enable drive
Stop active (stop with the permissible ramp and
cancel positioning task).

= 1

Enable operation

2 Release brake BRAKE = 0

= 1

Brake active
Release brake,
only effective when drive is blocked (ENABLED = 0)
and brake active (RB = 0 at interface X4)

3 Acknowledge

malfunction

RESET With a rising edge, an error message present is deleted and, if

successful, the malfunction status is exited.
4 Reserved = 0 Reserved
5 Axis selection AXSEL

6 Operating mode

OPM = 0

selection

Only effective during jogging

= 0

X-axis selected for jogging

= 1

Y-axis selected for jogging
Record selection mode

= 1

Direct mode

7 Reserved = 0 Reserved

Tab. 5.5 Control byte CCON

40 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

The CPOS control byte controls the positioning sequences after the drive is enabled.

Control byte 2 (CPOS)
Bit Function Description

0 Positioning

Relative

REL = 0

= 1

Positioning absolute
Positioning relative to the last setpoint value
Only effective in direct mode

1 Start positioning

task

START With a rising edge, the current setpoint values are accepted

and positioning started.
2 Start homing HOME A rising edge starts homing with the preset parameters.
3 Jog positive JOGP As long as the bit is set, the drive travels with configured

speed in the direction of larger actual values of the axis

selected in AXSEL.
4 Jog negative JOGN As long as the bit is set, the drive travels with configured

speed in the direction of smaller actual values of the axis

selected in AXSEL.
5 Reserved = 0 Reserved
6 Reserved = 0 Reserved
7 Reserved = 0 Reserved

Tab. 5.6 Control byte CPOS

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 41

5 Operation

5.2.3 Description of the status bytes SCON/SPOS

The status byte SCON provides feedback about the drive statuses.

Status byte 1 (SCON)
Bit Function Description

0 Drive

enabled

1 Operation

enabled

2 War ning WARN = 0

3 Error FAULT = 0

4 Ready for enable RDYEN = 0

5 Drive control by

FCT

ENABLED = 0

= 1

OPEN = 0

= 1

= 1

= 1

= 1

FCT = 0

= 1

Drive blocked, output stage switched off
Drive enabled
Stop active
Operation enabled, positioning possible
No warning
Warning is present
No error
Error is present, error response active
Not ready for enable
Ready for enable
FCT not active, device control through control
interface possible
FCT active, device control through control interface
not possible

6 Feedback

Operating mode

OPM = 0

= 1

Record selection mode (standard)
Direct mode

7 Reserved = 0 Reserved

Tab. 5.7 Status byte SCON

42 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

The status byte SPOS provides feedback about the positioning sequences.

Status byte 2 (SPOS)
Bit Function Description

0 Reserved = 0 Reserved
1 Acknowledge

start

ACK = 0

= 1

Ready for start
(positioning task or referencing)
Start executed
(positioning task or referencing)

2 Motion complete MC = 0

Positioning task active

= 1

Positioning task completed (possibly with error)
3 Reserved = 0 Reserved
4 Drive is moving MOV = 0

Speed of the axis  limit value

= 1

Speed of the axis  limit value
5 Reserved = 0 Reserved
6 Reserved = 0 Reserved
7 Drive referenced REF = 0

Homing must be executed

= 1

Homing not necessary,

reference information present

Tab. 5.8 Status byte SPOS

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 43

5 Operation

5.2.4 Start of positioning

Setpoint
values

MC

START

ACK

1

2

2

3

4

4

5

6

1 Setpoint values preselected

– With control over I/O interface through creation of signals DIN1 … DIN5 (record number)
– With control over CANopen interface and control via Ethernet through creation of the setpoint

values byte 3 … byte 8 (dependent on the operating mode, record number or speed, as well as
positioning absolute or relative to the setpoint position)

2 Requirements for START:

MC=1
ACK=0

3 Start signal through control: START=1
4 Response of the CMXH to rising edge of START 3:

ACK=1
MC=0

5 Response of the control to 4: START=0
6 Response of the CMXH to 5: ACK=0
7 Positioning task completed: MC=1

Fig. 5.1 Timing diagram

7

44 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

5.3 Control via I/O interface

5.3.1 General

If the controller is activated via the I/O interface [X2], only the record selection operating mode is avail
able. The operating modes of direct mode and jogging are not possible.
Record 0 is reserved for homing. The records 1 … 31 configured with the FCT are selected as desired by
the higher-order controller via the binary coded inputs DIN1 … DIN5.
The other inputs and outputs serve to start the selected record or to output status messages, for ex
ample.

5.3.2 Communication

Communication takes place via the I/O interface [X2].

Note

Make sure to use PNP I/Os

Pin Function Description

1 Output:

Ready for enable
2 Input 1 (value 1) DIN1 Record selection, records 0 … 31
3 Input 2 (value 2) DIN2
4 Input 3 (value 4) DIN3
5 Input 4 (value 8) DIN4
6 Input 5 (value 16) DIN5
7 Output +24 V 24 V logic Logic voltage +24 V
8 Input: start record START Start record or homing run though rising edge
9 Input:

enable drive
10 Input: acknowledge error RESET Acknowledge error through rising edge
11 Output:

drive enabled
12 Output: error FAULT = 0

13 Output: acknowledge start ACK = 0

14 Output: motion complete MC = 0

15 0 V GND24 Logic voltage reference potential

Tab. 5.9 Description of the input and output interface [X2]

RDYEN = 0

= 1

(Record 0 = homing)
The inputs are evaluated together.

ENABLE = 0

= 1

ENABLED = 0

= 1

= 1

= 1

= 1

Not ready for enable
Ready for enable

Block drive and operation
Enable drive and operation

Drive and operation blocked
Drive and operation enabled
No error
Error is present
Ready for start
Start carried out
Positioning task active
Positioning task completed
(possibly with error)

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5 Operation

5.3.3 Examples

Note

If a malfunction occurs during the process (è 6 Diagnostics).

Enable operation

Requirements:
– The I/O interface is selected as control interface

(è 4.4.1 Create new drive configuration/change drive configuration).
– No error is present.
– The signals STO1=1, STO2=1 and ESTOP=1 must be present at the inputs of the interface for

switch-off functions [X4] (è 3.2.5 Switch-off functions interface [X4]).

1. As soon as the controller is ready, RDYEN=1 and MC=1 are present.

2. Enable the drive and operation by applying the signal ENABLE=1.

– After the drive is enabled, the signal ENABLED=1 is applied.
The operation is enabled.

Carrying out homing

Homing is executed by selecting and starting record number 0.
Requirements:
– The position of the axis zero point AZ was correctly parameterised via the FCT.
– The drive is enabled with ENABLED=1, and no error is present, FAULT=0.
– START=0 must be applied.
– ACK=0 and MC=1 must be applied.

1. Select homing (record number 0) by applying the signal DIN1 … DIN5=0 to all five binary-coded

inputs (pin 2 … pin 6).

2. Apply the signal START=1 to start homing.

– The selected record number (record number 0 = homing) is taken over and started through a

rising edge at START.
– The signal ACK = 1 is applied as soon as homing has been started.
– As soon as the reference position is reached, the signal MC=1 is applied.

46 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

Start of a record (record selection mode)

Requirements:

– The drive is enabled with ENABLED=1, and no error is present, FAULT=0.

– Homing has been executed successfully.

– START=0 must be applied.

– ACK=0 and MC=1 must be applied.

1. Select a record by applying signals to the binary coded inputs (pin 2 … 6) corresponding to the de
sired record number.
– Example for the selection of record number 6:

 DIN1=0, DIN2=1, DIN3=1, DIN4=0, DIN5=0

2. Apply the signal START=1 to start the selected record.
– The selected record number is taken over through a rising edge at START and the record is started.
– The signal ACK=1 is applied as soon as the record has been started.
– As soon as the target position is reached, the signal MC=1 is applied.

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5 Operation

5.4 Controller via CANopen interface

5.4.1 General

The controller can be actuated via the CANopen interface from a higher-order controller in the two op
erating modes record selection and direct mode. It is possible to start and jog both homing and posi
tioning jobs.

5.4.2 Communication

In a CANopen network, the CMXH controller behaves as a slave with cyclical data exchange. In each
case, 8 bytes of control data and 8 byte of status data are thereby exchanged between the higher-order
controller (PLC/IPC) and the controller. The data exchange takes place in the form of telegrams,
whereby process data objects (PDO) and service data objects (SDO) are differentiated. Control data are
transferred via transmit PDOs and status data via receive PDOs. The SDOs can be used to access ob
jects defined in the appendix.

In the direct mode operating mode, the desired acceleration and jerk value is paramet
erised directly in the object directory through a service data object. You can find an over
view of all CANopen objects in the appendix (è B.1 CANopen object overview).

Transmit PDOs
Index Su

3000h 0 Control word uint16 1 … 2 è 5.2.2
3001h 0 Record selection mode: record number

3002h 0 Target position X (only in direct mode) int16 5 … 6 Unit [0.1 mm]
3003h 0 Target position Y (only in direct mode) int16 7 … 8 Unit [0.1 mm]

1) Record 0 = homing

Tab. 5.10 Transmit PDOs

Designation Type Control

bindex

Direct mode: speed

uint16 3

byte

3 … 4

Explanation

Record 0 … 31
Unit [mm/s]

1)

Receive PDOs
Index Su

Designation Type Status

bindex

Explanation

byte

3020h 0 Status word uint16 1 … 2 è 5.2.3
3021h 0 Record selection: record and malfunction

number

uint16

3 … 44255: no malfunction

Direct mode: error number
3022h 0 Actual position X int16 5 … 6 Unit [0.1 mm]
3023h 0 Actual position Y int16 7 … 8 Unit [0.1 mm]

Tab. 5.11 Receive PDOs

Note

 Use the EDS file for configuration in a CANopen network.
You can find a current EDS file on the Festo Internet page (è www.festo.com).

48 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

5.4.3 Examples

Note

If a malfunction occurs during the process (è 6 Diagnostics).

Enable operation

Requirements:
– The CANopen interface is selected as control interface

(è 4.4.1 Create new drive configuration/change drive configuration).
– No error is present.
– The signals STO1=1, STO2=1 and ESTOP=1 must be present at the inputs of the interface for

switch-off functions [X4] (è 3.2.5 Switch-off functions interface [X4]).

1. As soon as the controller is ready, SCON.RDYEN=1 and SPOS.MC=1 are set.

– CPOS.START=0 and CPOS.HOM=0 must be set.

2. Enable the drive by setting CCON.ENABLE=1.

– As soon as this status has been reached, SCON.ENABLED=1 is set.

3. Enable operation by setting CCON.STOP=1.

– As soon as this status has been reached, SCON.OPEN=1 is set.

The operation is enabled (controlled status).

Execute homing

Requirements:
– The position of the axis zero point AZ was correctly parameterised via the FCT.
– Operation is enabled, SCON.OPEN=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CPOS.HOM=1.

– With detection of the rising edge at CPOS.HOM, homing is started

2. Set CPOS.HOM=0 as soon as SPOS.ACK=1 has the value 1.

– As soon as the reference position is reached, SPOS.MC=1 and SPOS.REF=1 are set.

Homing is completed.

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5 Operation

Start of a record (record selection mode)

Requirements:
– Operation is enabled, SCON.OPEN=1.
– Homing has been executed successfully, SPOS.REF=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CCON.OPM=0.
– The record selection operating mode is selected.

2. Write the desired record number in the control byte 3 of the output data.

3. Set CPOS.START=1.
– With detection of the rising edge at CPOS.START, the pending record number is taken over and

the selected record is started.
– While the record is being executed, SPOS.MC=0.
– As soon as the record has been concluded, SPOS.MC=1.

4. Set CPOS.START=0 as soon as SPOS.ACK = 1.

Start of a direct application (direct mode)

Requirements:
– Operation is enabled, SCON.OPEN=1.
– Homing has been executed successfully, SPOS.REF=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CCON.OPM=1.
– The “direct mode” operating mode is selected.

2. Define the parameters of the direct application.
 Write the desired speed to the control bytes 3 and 4 of the output data.
 Write the target position in the X-direction to the control bytes 5 and 6 of the output data.
 Write the target position in the Y-direction to the control bytes 7 and 8 of the output data.

3. Set whether positioning should take place absolutely or relative to the setpoint position.
Positioning absolute:
 Set CPOS.REL=0.
Positioning relative:
 Set CPOS.REL=1.

4. Set CPOS.START=1.
– With detection of the rising edge at CPOS.START, the direct application is taken over and started.
– While the direct application is being executed, SPOS.MC=0.
– As soon as the direct application has been concluded, SPOS.MC=1.

5. Set CPOS.START=0 as soon as SPOS.ACK=1.

50 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

5.5 Control via Ethernet (CVE)

Note

The CVE interface is not real-time capable. Control of the controller through Ethernet
requires a risk estimation by the user:
 Only use the CVE function in applications in which the lack of real-time capability

cannot pose risks.

5.5.1 General

With the function “Control via Ethernet” (CVE), the controller can be controlled via the Ethernet inter
face. The controller is pre-parameterised for this purpose with the Festo Configuration Tool (FCT). It is
possible to start and jog both homing and positioning jobs through CVE.
The controller can be actuated through the CVE interface in the record selection and direct mode oper
ating modes.

5.5.2 Communication

The basis for CVE communication is TCP/IP data transfer. The controller acts as the server in this setup,
while the PC application acts as the client, i.e. the PC application always sends a request to the control
ler, which sends back a response (client-server principle).
The TCP connection is typically built up once and then remains in place as long as communication with
the controller is required.
The TCP port used can be set via the FCT. The port number 49700 is set at the factory.

Communication with the controller takes place via the CVE protocol. This must be imple
mented in the PC application. Knowledge of programming TCP/IP applications is required
for this purpose.

CVE communication takes place via the CVE protocol (è 5.5.3 CVE protocol), whereby control data are
written to CVE objects and status data are read out of CVE objects.
In the record selection mode, a record parameterised via the FCT is selected through CVE objects and
started.
In the direct mode, the target position in the direction of the X- and Y-axis as well as the speed, acceler
ation and jerk values are written directly to CVE objects. The information on whether positioning should
take place absolutely or relative to the last setpoint position as well as the start of the direct applica
tion is also realised by writing to CVE objects.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 51

5 Operation

5.5.3 CVE protocol

Access to the data of the controller is through CVE objects. A CVE object always has a unique index that
enables identification of the object.

Note

A series of CVE objects is listed in the appendix (è C.1 CVE object overview).
In the following, the notation xxx.y (object index.object subindex) is used for CVE ob
jects.

Caution

Personal injury and material damage
Inadvertent writing to non-documented objects can result in unforeseeable behaviour of
the planar surface gantry.
 Use only objects listed in the appendix (è C.1 CVE object overview).

Each CVE object has one of the following listed data types (è Tab. 5.12 Data types).
The byte sequence is Little Endian, that is, the lowest-value byte first.

Data types

Val u e Type Bytes Description Range of values

0x00 – – Unknown data type –
0x01 – – – –
0x02 UINT32 4 32 bit unsigned integer 0 … 4294967295
0x03 UINT16 2 16 bit unsigned integer 0 … 65535
0x04 UINT08 1 8 bit unsigned integer 0 … 255
0x05 – – – –
0x06 SINT32 4 32 bit signed integer – 2147483647 … 2147483647
0x07 SINT16 2 16 bit signed integer – 32767 … +32767
0x08 SINT08 1 8 bit signed integer – 127 … +127

Tab. 5.12 Data types

Read object

To read a CVE object, a request corresponding to Tab. 5.13 must be sent to the controller. This sends
back a response corresponding to Tab. 5.14.

Write object

To write a CVE object, a request corresponding to Tab. 5.15 must be sent to the controller. This sends
back a response Tab. 5.16.

52 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

Request “Read CVE object”

Function Data type Description

Byte

0x00 Service ID UINT08 0x10 = Read CVE object from controller
0x01

Message ID UINT32 Message ID freely assignable by the application.
0x02
0x03
0x04

It is always sent back unchanged in the response. This
enables a clear assignment of the request and
response. The message ID can be used but is not
mandatory.

0x05

Data length UINT32 Always 4 for this request.
0x06
0x07
0x08
0x09 Acknowledge UINT08 In the request, this field always remains empty

(initialise with 0).

0x0A

Reserved UINT32 Position holder (initialise with 0).
0x0B
0x0C
0x0D
0x0E

Object index UINT16 Index of the CVE object to be read.
0x0F
0x10 Object subindex UINT08 Subindex of the CVE object to be read.
0x11 Reserved UINT08 Position holder (initialise with 0).

Tab. 5.13 Request “Read CVE object”

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5 Operation

Response “Read CVE object”

Function Data type Description

Byte

0x00 Service ID UINT08 0x10 = Read CVE object from controller
0x01

Message ID UINT32 Message ID included in the request.
0x02
0x03
0x04
0x05

Data length UINT32 The data length is dependent on the data type of the
0x06
0x07
0x08

read CVE object. The following applies:
Data length = 4 bytes + data type length
Example for UINT32:
Data length = 4 bytes + 4 bytes = 8 bytes

0x09 Acknowledge UINT08 0 if everything is ok. All other values mean that the

object could not be read. A listing of possible causes of
error è Tab. 5.17 Confirmation (acknowledge).

0x0A

Reserved UINT32 Position holder
0x0B
0x0C
0x0D
0x0E

Object index UINT16 Index of the read CVE object.
0x0F
0x10 Object subindex UINT08 Subindex of the read CVE object.
0x11 Data type UINT08 Data type of the read CVE object.
0x12 Data byte 1 Corresponding

… Data byte K

to data type of
the CVE object

Value of the read CVE object.

Tab. 5.14 Response “Read CVE object”

54 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

Request “Write CVE object”

Function Data type Description

Byte

0x00 Service ID UINT08 0x11 = Write CVE object to the controller.
0x01

Message ID UINT32 Message ID freely assignable by the application.
0x02
0x03
0x04

It is always sent back unchanged in the response. This
enables a clear assignment of the request and
response. The message ID can be used but is not
mandatory.

0x05

Data length UINT32 The data length depends on the data type of the CVE
0x06
0x07
0x08

object to be written. The following applies:
Data length = 4 bytes + data type length
Example for SINT08:
Data length = 4 bytes + 1 byte = 5 bytes

0x09 Acknowledge UINT08 In the request, this field always remains empty

(initialise with 0).

0x0A

Reserved UINT32 Position holder (initialise with 0).
0x0B
0x0C
0x0D
0x0E

Object index UINT16 Index of the CVE object to be written.
0x0F
0x10 Object subindex UINT08 Subindex of the CVE object to be written.
0x11 Data type UINT08 Data type of the CVE object to be written.
0x12 Data byte 1 Corresponding

… Data byte K

to data type of
the CVE object

Val ue

Tab. 5.15 Request “Write CVE object”

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 55

5 Operation

Response “Write CVE object”

Function Data type Description

Byte

0x00 Service ID UINT08 0x11 = Write CVE object to the controller.
0x01

Message ID UINT32 Message ID included in the request.
0x02
0x03
0x04
0x05

Data length UINT32 Always 4 for this response.
0x06
0x07
0x08
0x09 Acknowledge UINT08 0 if everything is ok. All other values mean that the

object could not be written. A listing of possible causes
of error è Tab. 5.17 Confirmation (acknowledge).

0x0A

Reserved UINT32 Position holder
0x0B
0x0C
0x0D
0x0E

Object index UINT16 Index of the written CVE object.
0x0F
0x10 Object subindex UINT08 Subindex of the written CVE object.
0x11 Data type UINT08 Data type of the written CVE object.

If an attempt has been made to write an object with an
invalid data type, the correct data type is returned.

Tab. 5.16 Response “Write CVE object”

56 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

Confirmation (acknowledge)

Description Remedy

Byte

0x00 Everything OK. –
0x01 Service is not supported. Check the service ID of the request.
0x03 User data length of the request is invalid. Check the structure of the request.
0xA0 Range of values of another CVE object violated. Correct range of values.
0xA2 Invalid object index. Correct the object index.
0xA4 The CVE object cannot be read. –
0xA5 The CVE object cannot be written. –
0xA6 The CVE object cannot be written if the drive is

Block drive, set CCON.ENABLE=0.

enabled: SCON.ENABLED=1.

0xA7 The CVE object must not be written without master

control.

0xA9 The CVE object cannot be written, as the value is

Setting and enabling the control inter
face in the FCT.
Correct the value.

lower than the minimum value.

0xAA The CVE object cannot be written, as the value is

Correct the value.

greater than the maximum value.

0xAB The CVE object cannot be written, as the value is

Correct the value.

not within the valid value set.

0xAC The CVE object cannot be written, as the specified

Correct the data type.

data type is incorrect.

0xAD The CVE object cannot be written, as it is password

Remove password protection via FCT.

protected.

0xE0 Control interface is blocked through FCT. Enabling the control interface in the FCT.

Tab. 5.17 Confirmation (acknowledge)

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5 Operation

5.5.4 Examples

Note

If a malfunction occurs during the process (è 6 Diagnostics).

Takeover of master control through CVE

Requirements:
– The CVE interface is selected as control interface

(è 4.4.1 Create new drive configuration/change drive configuration).

As soon as the controller is ready, SPOS.MC=1 is set.
After the FCT device control is deactivated, the CVE control interface does not automatically receive
back master control but must actively take it back itself.

1. Establish an Ethernet connection with the controller.

2. Write the value 2 to the CVE object 3.0.

– The CVE interface has the master control.

Enable operation

Requirements:
– No error is present.
– The signals STO1=1, STO2=1 and ESTOP=1 must be present at the inputs of the interface for

switch-off functions [X4] (è 3.2.5 Switch-off functions interface [X4]).

1. As soon as the controller is ready, SCON.RDYEN=1 and SPOS.MC=1 are set.

2. CPOS.START=0 and CPOS.HOM=0 must be set.

3. Enable the drive by setting CCON.ENABLE=1.

– As soon as this status has been reached, SCON.ENABLED=1 is set.

4. Enable operation by setting CCON.STOP=1.

– As soon as this status has been reached, SCON.OPEN=1 is set.

The operation is enabled (controlled status).

58 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5 Operation

Execute homing

Requirements:
– The position of the axis zero point AZ was correctly parameterised via the FCT.
– Operation is enabled, SCON.OPEN=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CPOS.HOM=1.
– With detection of the rising edge at CPOS.HOM, homing is started.

2. Set CPOS.HOM=0 as soon as SPOS.ACK=1.
– As soon as the reference position is reached, SPOS.MC=1 and SPOS.REF=1 are set.

Start of a record (record selection mode)

Requirements:
– Operation is enabled, SCON.OPEN=1.
– Homing has been executed successfully, SPOS.REF=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CCON.OPM=0.
– The record selection operating mode is selected.

2. Write the desired record number to the CVE object 240.1.

3. Set CPOS.START=1.
– With detection of the rising edge at CPOS.START, the pending record number is taken over and

the selected record is started.
– As long as the record is being executed, SPOS.MC=0.
– As soon as the record has been concluded, SPOS.MC=1.

4. Set CPOS.START=0 as soon as SPOS.ACK=1.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 59

5 Operation

Start of a direct application (direct mode)

Requirements:
– Operation is enabled, SCON.OPEN=1
– Homing has been executed successfully, SPOS.REF=1.
– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set
– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CCON.OPM=1.
– The direct mode operating mode is selected.

2. Set the desired parameters (target position in X- and Y-direction as well as speed) of the direct ap
plication.
 Write the target position in the X-direction to the CVE object 305.0.
 Write the target position in the Y-direction to the CVE object 305.1.
 Write the speed to the CVE object 240.1.

3. Set whether positioning should take place absolutely or relative to the setpoint position.
Positioning absolute:
 In the control byte, set CPOS.REL=0.
Positioning relative:
 In the control byte, set CPOS.REL=1.

4. In the control byte, set CPOS.START=1.
– With detection of the rising edge at CPOS.START, the direct application is taken over and started.
– While the direct application is being executed, SPOS.MC=0.
– As soon as the direct application has been concluded, SPOS.MC=1.

5. Set CPOS.START=0 as soon as SPOS.ACK=1.

60 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

6 Diagnostics

6.1 Diagnostic memory

A maximum of 200 error messages are stored securely against power failure in the ring buffer of the
diagnostic memory.
The diagnostic memory can be read and erased via the Festo Configuration Tool (FCT). Erasing gener
ates a “switch-on event” (malfunction 0x3D). The malfunction counter is not reset thereby.

6.2 Error messages

Malfunctions are subdivided into errors, warnings and information. Error messages of the controller
that can be parameterised can be defined in the FCT (parameter-side error management) as error, warn
ing or information.

Messages with a higher priority interrupt messages with a lower priority. As malfunctions
can occur and be acknowledged faster than they can be displayed on the 7-segment dis
play, it may be the case that not all malfunctions are displayed. Read the diagnostic
memory (è 6.1 Diagnostic memory) in order to view all messages.

Error (high priority)

An error always has an error response as a result (è 6.3.1 Error responses). The error response to
some errors can be parameterised via the FCT (parameter-side error management). Error messages
interrupt messages with a lower priority and must be acknowledged. Errors cannot be acknowledged
until their cause has been remedied.

Warning (medium priority)

Warnings have no influence on the drive behaviour and do not have to be acknowledged. But the cause
of the warning should be eliminated so it will not result in an error.
Warnings have a lower priority than errors and are not displayed if they occur when an error is already
displayed. Otherwise, they are displayed twice in succession. Warnings do not have to be acknow
ledged.

Information (low priority)

If an error message has been parameterised as “information”, it is not displayed on the 7-segments
display. But dependent on the parameterisation, it is stored in the diagnostic memory
(è 6.1 Diagnostic memory).

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6 Diagnostics

Error messages can be represented simultaneously via different display components in the form of LED
indicators and the 7-segments display.

Note

 In the representation of the 7-segment display, note the following:

– Four characters are displayed in succession; after that, a space follows.
– Malfunction numbers are represented hexadecimally

(è 6.3.2 Table of error messages).

General error messages

LED display 7-segment display Malfunction Priority

Error in the firmware update:

1

Switch the device off and on again.

System error + malfunction number 2

Error motor 1 + malfunction number

Error motor 2 + malfunction number

Warning + malfunction number

1) Displayed only 2x, one after the other

1)

3

Tab. 6.1 General error messages

CANopen-specific error messages

LED display Malfunction Priority

No bus cable connected or no parameters configured. 4

Bus OFF

Warning Limit or Node Guarding

Tab. 6.2 CANopen-specific error messages

62 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

6.3 Malfunctions: causes and remedy

6.3.1 Error responses

The following responses to errors are intended. For each error, the error messages table specifies
which response is set at the factory (printed in bold face) and which additional responses can be para
meterised.

Code letters and description of the error responses

A Free run-out Switch off output stage, no braking ramp.
B QS deceleration + output stage off Fast stop braking ramp (quick stop), then switch off

output stage.

C Positioning job deceleration + output

stage off

D Terminate positioning job + output stage

off

E QS deceleration + output stage on Fast stop braking ramp (quick stop), then output

F Positioning job deceleration + output

stage on

G Terminate positioning job + output stageonExecute positioning job to the end (until MC = 1),

Tab. 6.3 Error responses

6.3.2 Table of error messages

You can parameterise the error messages via the Festo Configuration Tool (FCT) on the
page “Parameterise error management”.

Braking ramp (of the current positioning job), then
switch off output stage.
Execute positioning job to the end (until MC = 1),
then switch off output stage.

stage remains switched on.
Braking ramp (of the current positioning job), then
output stage remains switched on.

then output stage remains switched on.

Explanations for table of error messages:

Can be parameterised as:
F/W/I = fault/warning/information (è 6.2 Error messages).

Specifies the parameterisation options for an error message. The factory setting is printed in bold
(here, fault).
If a parameterisation option is not available, this is indicated by dashes, e.g. “F/-/-” if the error mes
sage is treated exclusively as a fault.

Diagnostic memory

Always/optional: Specifies whether an entry is generally made in the diagnostic memory or whether an
entry can be parameterised via the FCT.

Software reset

Restart of the controller, either by switching off and back on or via the FCT in the menu [Components /
Online / Restart controller].

Error response(s)

A list of the error responses (è 6.3.1 Error responses). The factory setting of the error responses is
always printed in bold.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 63

6 Diagnostics

Hex Dec Error name Type of error/diagnostic memory

01 1 Software error Can be parameterised as: F/-/-

Diagnostic memory: always
An internal firmware error has been detected.
 Contact Festo Service.
– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

02 2 Default parameter file invalid Can be parameterised as: F/-/-

Diagnostic memory: always
An error has been detected when examining the default parameter file. The file is damaged.
 Reload the default parameter file into the device via a firmware update. If the error is still present,

it means the memory may be faulty and the device needs to be replaced.

– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

04 4 Non-permitted hardware Can be parameterised as: F/-/-

Diagnostic memory: always
The internal hardware identification is faulty.
 The controller must be replaced: Replace the controller.
– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

05 5 Zero angle determination Can be parameterised as: F/-/-

Diagnostic memory: always
The rotor position could not be clearly identified. The commutation point is invalid.
 The drive is blocked or the movement space is too small: Ensure free mobility by moving the

planar surface gantry by hand into a medium position.
 No load voltage present: Provide the load voltage supply.
 The “Safe Torque Off ” function is active: Check for correct wiring of the safety devices

(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH)

For correct wiring: eliminate the cause, if necessary.
 Encoder cables: Correct connections.
 Encoder or encoder cable is defective: Replace the encoder or the encoder cable.
 Impermissibly high load: Reduce load.
 The controller parameters are incorrectly set: Set controller parameters correctly.
– Acknowledgement option: Can be acknowledged if drive enable is not applied. If the malfunction

is not remedied, it occurs again when the drive is enabled.

Parameterisable error response(s): A
06 6 Encoder Can be parameterised as: F/-/-

Diagnostic memory: always
An error has occurred during evaluation of the encoder; the position values might be incorrect.
 Execute a software reset with commutation angle search and homing.
– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

64 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

0B 11 Parameter file invalid Can be parameterised as: F/-/-

Diagnostic memory: always
No valid parameter set stored.
 The default parameter set is loaded automatically. Enter a valid parameter set in the device. If the

error is still present, the hardware may be defective.

– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): A

0C 12 Firmware update execution error Can be parameterised as: F/-/-

Diagnostic memory: optional
The firmware update has not been properly executed/completed.
 Check the Ethernet connection between the controller and PC and run the firmware update again.

The previous firmware version remains active until successful completion of the firmware update.
If this error is still present, the hardware may be defective.

– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

0D 13 Overcurrent Can be parameterised as: F/-/-

Diagnostic memory: always
Short circuit in the motor, lines or brake chopper. Output stage defective.
Incorrect parameterisation of the current regulator.
 Check parameterisation of the current regulator. An incorrectly parameterised current regulator

can generate currents up to the short-circuit limit; as a rule this is clearly noticeable through high
frequency whistling.

 If the error message occurs immediately when load voltage is applied:

short circuit in the output stage. The device must be replaced immediately.

 If the error message does not occur until the drive is enabled:

– Disconnect the motor plug directly at the controller; if the error still occurs:

Replace controller.

– If the error only occurs when the motor cable is connected:

Check motor and cable for short circuits.

– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

0E 14 I2t malfunction motor Can be parameterised as: F/-/-

Diagnostic memory: always
The I²t limit for the motor is reached. The motor or the drive system may be insufficient for the re
quired task.
 Check design of the drive system and mechanical system for sluggishness.
 Reduce load/dynamics, longer breaks.
– Acknowledgement option: Error can be acknowledged.

Definable error response(s): B, C

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 65

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

11 17 Software limit positive Can be parameterised as: F/-/-

Diagnostic memory: optional
The position setpoint has reached or exceeded the respective software end position while jogging.
The error is triggered only once and cannot be triggered again until after the drive has returned to the
permissible area. After the error occurs, jogging can no longer take place in a positive direction.
 Travel the respective axis of the planar surface gantry in a negative direction by jogging.
– Acknowledgement option: Error can be acknowledged.

Definable error response(s): A, B, C, E, F

12 18 Software limit negative Can be parameterised as: F/-/-

Diagnostic memory: optional
The position setpoint has reached or exceeded the respective software end position while jogging.
The error is triggered only once and cannot be triggered again until after the drive has returned to the
permissible area. After the error occurs, jogging can no longer take place in a negative direction.
 Travel the respective axis of the planar surface gantry in a positive direction by jogging.
– Acknowledgement option: Error can be acknowledged.

Definable error response(s): A, B, C, E, F

17 23 Logic voltage exceeded Can be parameterised as: F/-/-

Diagnostic memory: optional
The logic voltage monitor has detected an overvoltage. Either due to an internal defect or excessively
high logic voltage.
 Check logic voltage directly at the device.
 If the error is still present after a reset has been made, it means there is an internal defect and the

device has to be replaced.

– Acknowledgement option: Error can be acknowledged.

Definable error response(s): A, B

18 24 Logic voltage too low Can be parameterised as: F/-/-

Diagnostic memory: optional
The logic voltage monitor has detected an undervoltage. This is either due to an internal defect or an
overload/short circuit caused by connected peripherals.
 Separate device from the entire peripheral equipment and check whether the error is still present

after reset. If it is, it means there is an internal defect and the device has to be replaced.

– Acknowledgement option: Cannot be acknowledged, software reset required.

Parameterisable error response(s): A

66 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

19 25 Temperature LM-CPU Can be parameterised as: F/-/-

Diagnostic memory: optional
The monitor has detected a CPU temperature outside the permissible range.
 Check whether the ambient temperature is within the permissible range for the controller. If the

error is still present, it means there is an internal defect and the device must be replaced.
 The error can only be acknowledged if the temperature is within the permissible range.
– Acknowledgement option: Error can be acknowledged.

Definable error response(s): A, B
1A 26 Intermediate circuit voltage exceeded Can be parameterised as: F/-/-

Diagnostic memory: always
Load voltage not within the permissible range.
Internal braking resistor is overloaded; too much braking energy, which cannot be dissipated quickly
enough.
Internal braking resistor defective or internal defect.
 Check parameterisation of the load voltage.
 Check load voltage; measure load voltage directly at the controller input.
 In the event of a defective internal braking resistor: Replace the controller.
– Acknowledgement option: Error can be acknowledged.

Definable error response(s): A, B

1B 27 Intermediate circuit voltage too low Can be parameterised as: F/W/-

Diagnostic memory: optional
Load voltage too low or incorrectly parameterised.
 Check parameterisation of the load voltage.
 Voltage drop under load: power supply unit too weak, supply line too long, cross section too

small?
 Measure load voltage (directly at the controller input).
 If you intentionally want to operate the device with a lower voltage, parameterise this malfunction

as a warning or information.
– If parameterisation as a warning: The warning disappears when the load voltage is back in the

permissible range.
– If parameterisation as an error: The error can be acknowledged.

Parameterisable error response(s): A
1C 28 CAN Node Guarding, FB has master control Can be parameterised as: F/-/-

Diagnostic memory: always
A wire break has occurred, or the CAN-Master has failed.
 Check the CAN cable for a wire break: Repair or replace the CAN cable.
 Check the function of the CAN-Master.
– Acknowledgement option: Error can be acknowledged.

Parameterisable error response(s): B, C, E, F

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 67

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

1D 29 CAN bus communication stopped by master,

FB has master control

Can be parameterised as: F/-/-
Diagnostic memory: always

The CAN-Master sent “Node Stop” to the controller.
 Check the system and the function of the CAN-Master.
 Send “Node Start” to the controller.
– Acknowledgement option: Error can be acknowledged.

Parameterisable error response(s): B, C, E, F

25 37 Path calculation Can be parameterised as: F/-/-

Diagnostic memory: optional
The positioning target cannot be reached through the positioning or edge condition options.
 Check the parameterisation of the affected records.
 Check parameterisation of the MC window.
 Make sure that the drive is at rest before the start of positioning.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): A

26 38 CAN fieldbus parameters missing Can be parameterised as: F/-/-

Diagnostic memory: always
One or more CAN bus parameters are not correct.
 Check the CAN bus parameters.
– Acknowledgement option: Error can be acknowledged.

Parameterisable error response(s): B

27 39 Save parameters Can be parameterised as: F/-/-

Diagnostic memory: optional
Error when writing to the internal flash memory.
 Execute the last operation again. If the error remains, it means the hardware may be defective.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): G

28 40 Homing required Can be parameterised as: F/-/-

Diagnostic memory: optional
A valid reference travel has not yet been conducted.
The reference point is no longer valid (e.g. through logic voltage failure or because the axis zero point
has been changed).
 Perform a homing run or repeat the last homing process if it was not completed successfully.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Definable error response(s): B, C, D, E, F, G

68 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

29 41 Target position behind negative software limit Can be parameterised as: F/-/-

Diagnostic memory: optional
The start of a positioning process was suppressed as the target is past the relevant software limit
switch.
 Check the target data.
 Check positioning area.
 Check record type (absolute/relative)
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): B, C, E, F

2A 42 Target position behind positive software limit Can be parameterised as: F/-/-

Diagnostic memory: optional
The start of a positioning process was suppressed as the target is past the relevant software limit
switch.
 Check the target data.
 Check positioning area.
 Check record type (absolute/relative)
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): B, C, E, F

2B 43 Firmware update, invalid firmware Can be parameterised as: F/W/-

Diagnostic memory: optional
The firmware update process could not be performed. The firmware version is incompatible with the
hardware used.
 Ascertain the version of your hardware. You can ascertain the compatible firmware versions and

download the appropriate firmware from the Festo website.

– For parameterisation as an error: The error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): A

– If parameterisation as a warning: The warning disappears when a new firmware download is started.
2C 44 Incorrect record number Can be parameterised as: F/W/I

Diagnostic memory: optional
An attempt was made to start a record with a record number greater than 31.
 Select a new record with a valid record number
– For parameterisation as an error: The error can only be acknowledged after the cause is eliminated.

Parameterisable error response(s): G

– If parameterisation as a warning: The warning disappears when a record with a valid record num

ber is started.

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 69

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

2D 45 I2t warning motor Can be parameterised as: -/W/I

Diagnostic memory: optional
The I²t integral is up to 80 % full.
 You can parameterise this message as a warning or suppress it completely as information.
– If parameterisation as a warning: The warning disappears when the I²t integral falls below 80 %.
2F 47 Following error Can be parameterised as: F/W/I

Diagnostic memory: optional
The following error has become too large.
 Increase error window.
 Acceleration, speed, jerk or load too great? Mechanics stiff?
 Motor overloaded (current limitation from I²t monitoring active?)
– For parameterisation as an error: The error can be acknowledged.

Parameterisable error response(s): B, C, E, F

– If parameterisation as a warning: The warning disappears when the following error is back in the

permissible range.

30 48 External stop Can be parameterised as: F/-/-

Diagnostic memory: always
The switch-off function “External stop” at the interface for switch-off functions [X4] is active and the
current positioning task has been interrupted.
 Deactivate the “External stop” function: Apply a voltage +24 V at pin 15 of the interface for

switch-off functions [X4].

– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): B

31 49 CVE connection Can be parameterised as: F/-/-

Diagnostic memory: optional
A connection error has occurred during “Control via Ethernet” (CVE).
 Check the connection: plug disconnected, cable lengths observed, shielded cable used, screening

connected?

– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Definable error response(s): B, C, D, E, F, G

32 50 FCT connection Can be parameterised as: F/W/I

Diagnostic memory: optional
Connection to the FCT has been interrupted.
 Check the connection and perform a reset if necessary.
– If parameterisation as a warning: The warning disappears when the connection to the FCT has

been established again.

– For parameterisation as an error: The error can only be acknowledged after the cause is eliminated.

Definable error response(s): B, C, D, E, F, G

70 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

34 52 Safe Torque Off (STO)

(Safe Torque Off (STO))

Can be parameterised as: F/-/-

Diagnostic memory: optional
Observe the separate documentation for the STO function
(è Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH).
The “Safe Torque Off ” function has been requested.
 Deactivate the “Safe Torque Off” function: Apply a voltage +24 V at pin 2 and pin 3 of the inter

face for switch-off functions [X4].

– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): A

35 53 CAN Node Guarding, warning,

FB does not have master control

Can be parameterised as: -/W/I

Diagnostic memory: optional

A wire break has occurred, or the CAN-Master has failed.
 Check the CAN cable for a wire break: Repair or replace the CAN cable.
 Check the function of the CAN-Master.

36 54 CAN bus communication stopped by master,

warning, FB does not have master control

Can be parameterised as: -/W/-

Diagnostic memory: optional

The CAN-Master sent “Node Stop” to the controller.
 Check the system and the function of the CAN-Master.
 Send “Node Start” to the controller.
37 55 Standstill monitoring Can be parameterised as: -/W/I

Diagnostic memory: optional
The actual position is outside the downtime window. Parameterisation of the window may be too
narrow.
 Check parameterisation of the standstill window.
– If parameterisation as a warning: The warning disappears when the actual position is back within

the standstill window.

38 56 Parameter file access Can be parameterised as: F/-/-

Diagnostic memory: optional
During a parameter file procedure, all other reading and writing routines for the parameter file are
blocked.
 Wait until the process is complete. The time between two parameter file downloads should not

fall below 3 seconds.

– Acknowledgement option: Error can be acknowledged.

Parameterisable error response(s): G

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 71

6 Diagnostics

Hex Type of error/diagnostic memoryError nameDec

3A 58 Homing Timeout Can be parameterised as: F/-/-

Diagnostic memory: optional
Error during homing. The stop was not found within a specified time.
 Check the drive for a mechanical defect (e.g. torn toothed belt).
 Increase the search speed.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): B, C, E, F

3D 61 Start-up event Can be parameterised as: -/-/I

Diagnostic memory: always
The controller has been switched on or was switched on for longer than 48 days. This event also oc
curs when deleting the diagnostic memory. The start-up event does not occur if the preceding entry in
the diagnostic memory has already been a start-up event.
 This event is only used for improved documentation of the malfunctions.
3E 62 Diagnostic memory Can be parameterised as: F/-/-

Diagnostic memory: always
An error has occurred when writing or reading from the diagnostic memory.
 Acknowledge the error. If the error is still present, it means a memory module is probably defect

ive or an incorrect entry has been stored.
 Erase the diagnostic memory. If the error still occurs, the controller must be replaced.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): G
3F 63 Record invalid Can be parameterised as: F/-/-

Diagnostic memory: optional
The started record is invalid. The record data are not plausible or the record type is invalid.
 Check the parameters of the record.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): B, C, D, E, F, G

41 65 System reset Can be parameterised as: F/-/-

Diagnostic memory: always
An internal firmware error has been detected.
 Contact Festo Service.
– Acknowledgement option: Error can only be acknowledged after eliminating the cause.

Parameterisable error response(s): A

Tab. 6.4 Table of error messages

72 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

6 Diagnostics

6.3.3 Problems with the Ethernet connection

No connection possible to the controller

The network settings of the controller at delivery can be found at
è 4.2.2 Network settings.

– It may mean the DHCP client on your computer has been deactivated.

 Check your TCP/IP settings.
 Make sure that the IP address is automatically obtained.

– The controller might not be reachable in your network.

 Check the network settings of your computer. Contact your network administrator, if necessary.
 Carry out a network scan via the FCT (è 4.2.2 Network settings).

6.3.4 Other problems and remedies

Problem Cause and remedy

The 7-segment display
does not light up

No logic voltage, or too little, is present.
 Check the logic voltage.

 Observe the data in the appendix (è A.1.4 Electrical characteristics).
The controller does not
work at all

Short circuit, line interrupt or incorrect pin allocation.

 Check all lines and connections as well as the pin allocation.

 Observe the instructions in the assembly instructions for the cables

and plugs used.
Burned-through internal fuse: internal short circuit.
 Replace the controller.

The controller does not
achieve the specified
performance data

Incorrect control signals of the higher-order controller (signals/levels).
 Check the control program; pay attention to the timing diagram

(è 5.2.4 Start of positioning).
Incorrect controller setting.
 Observe the information in the online Help section of the FCT plug-in

for the correct settings of the controller parameters.
Error in the power supply.
 Observe the tolerances of the data in the appendix

(è A.1.4 Electrical characteristics).

Tab. 6.5 Other problems and remedies

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 73

A Technical appendix

A Technical appendix

A.1 CMXH

A.1.1 General product characteristics

Characteristic

Type of mounting with H-rail clip on H-rail

Weight [kg] 0.7
Supported kinematic systems Planar surface gantry EXCM-30

Dimensions (è www.festo.com/catalogue)

A.1.2 Operating and environmental conditions

Characteristic Specification/value

Ambient temperature [°C] 0 … +50
Storage temperature [°C] –25 … +75
Relative air humidity (at 25 °C) [%] 0 … 90 (non-condensing)
Degree of protection IP20 (with full pin allocation)
Corrosion resistance class (CRC) 1
Degree of contamination in accordance with EN 50178 2
Permissible setup altitude (above sea level) [m] 2000
Vibration resistance
In accordance with EN 60068-2-6
Shock resistance
In accordance with EN 60068-2-27

Specification/value

with screws in the mounting slots

Planar surface gantry EXCM-40

With wall mounting: severity level 2
With H-rail mounting: severity level 1
With wall mounting: severity level 2
With H-rail mounting: severity level 1

A.1.3 Product conformity and certifications

Product conformity and certifications

CE marking
(see declaration of conformity è www.festo.com)
Approvals RCM (Regulatory Compliance Mark)

1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas,

actions to suppress interference may have to be taken.

74 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

In accordance with EU EMC Directive

A Technical appendix

A.1.4 Electrical characteristics

Characteristic

Load supply

1)

Nominal voltage [V] 24 ±10 % or 48 ±10 %

CMXH

Nominal current [A] 10
Maximum current [A] 12

Logic supply

1)

Nominal voltage [V] 24 ±15 %
Maximum current without brake

[A] 0.2
(without power supply to the
digital outputs)
Maximum current with brake

[A] 0.9
(without power supply to the
digital outputs)
Mains buffering time [ms] 10

Digital outputs Maximum current per output [A] 0.1
Coding of the digital inputs and outputs PNP
Protection against electric shock
(Protection against direct and indirect contact in

By means of PELV circuit

(Protected Extra Low Voltage)
accordance with EN 60204-1)
Protection class III
Encoder resolution Starting at 500 pulses/revolution,

through the internal electronic multi

plication result in 2000 pulses/revolu

tion (encoder resolution L19 μm)

1) The inputs have no protection against overvoltage

2) Use of a brake reduces the mains buffering time. Ensure the required mains buffering time through suitable measures (e.g. clocked

power supply unit or buffer module).

A.2 System characteristics

System characteristics of the product combination of planar surface gantry and controller
(è www.festo.com/catalogue).

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 75

B CANopen

B CANopen

B.1 CANopen object overview

Index Su

1000h 0 Device type UINT32 ro Value = 301
1001h 0 Error register UINT8 ro Error register

1003h 0 Predefined error field UINT32 rw/ro

1008h 0 Manufacturer device

1009h 0 Manufacturer hard

100Ah 0 Manufacturer soft

100Ch 0 Guard time UINT16 rw Monitoring time
100Dh 0 Life time factor UINT8 rw Factor for monitoring time
1014h 0 COB-ID emergency ob

1015h 0 Inhibit time EMCY UINT16 rw Inhibit time for emergency message

Designation Type Attr. Explanation

bindex

Bit 0: General error
Bit 1: Excess current motor (I²t)
Bit 2: Voltage monitoring error
Bit 3: Overtemperature motor
Bit 4: Communication error
Bit 5: Device-specific
Bit 6: Reserved (fixed at 0)
Bit 7: Manufacturer-specific

1 Standard error field UINT32 ro Last saved error.
2 UINT32 ro
3 UINT32 ro
4 UINT32 ro
5 UINT32 ro
6 UINT32 ro
7 UINT32 ro
8 UINT32 ro

String ro Type designation of the controller

name

String ro Hardware version

ware version

String ro Firmware version

ware version

UINT32 rw COB-ID of the emergency object

ject

Error numbers from 16-bit code.
Lower 2 bytes (LSB) = error code
Upper 2 bytes (MSB) = 0

“CMXH-ST2-C5-7-DIOP”

(Format “Vxx.yy”)

(Format “Vxx.yy.bb.pp”)

Specification: 128 + Node-ID

Specification: 0

76 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

B CANopen

Index ExplanationAttr.TypeDesignationSu

bindex

1018h 0 Identity object Record ro

1 Vendor ID UINT32 ro Supplier identifier
2 Part number UINT32 ro Participant: 3605478d/0x003703E6
3 Reserved UINT32 ro 0x00000000
4 Reserved UINT32 ro 0x00000000

1400h 0 Receive PDO commu

Record ro

nication parameter
1 COB-ID of PDO1 UINT32 rw Specification: 0x200 + Node-ID
2 Transmission type UINT8 rw Specification: 0xFF
3 Inhibit time UINT16 ro Inhibit time (not for RPD0)
4 Compatibility entry UINT32 ro 0x00000000
5 Event timer UINT16 ro Specification: 0x0000

1600h 0 Receive PDO mapping

Record ro

parameter
1 Control word UINT32 ro 0x30000008
2 Record number or

UINT32 ro 0x30010008

speed
3 Target position X UINT32 ro 0x30020008
4 Target position Y UINT32 ro 0x30030008

1800h 0 Transmit PDO commu

Record ro

nication parameter
1 COB-ID of PDO1 UINT32 rw Specification: 0x180 + Node-ID
2 Transmission type UINT8 rw Specification: 0xFF
3 Inhibit time UINT16 ro 0x00
4 Compatibility entry UINT32 ro 0x00000000
5 Event timer UINT16 ro Specification: 0x0000

1A00h 0 Transmit PDO map

Record ro

ping parameter
1 Status word UINT32 ro 0x30200008
2 Error number UINT32 ro 0x30210008
3 Actual position X UINT32 ro 0x30022008
4 Actual position Y UINT32 ro 0x30230008

2066h 0 Version number UINT16 ro
2072h 0 Serial number of the

String ro

controller

20FDh 0 User’s device name String rw
21F4h 0 Project zero point X1)INT32 rw Distance from the axis zero point to the

21F5h 0 Project zero point Y1)INT32 rw

project zero point; default: 0
Unit: [SINC] (1 mm = 1000 SINC)

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 77

B CANopen

Index ExplanationAttr.TypeDesignationSu

bindex

21F6h 0 Max. permissible

speed

UINT32 rw General system limitation

Specification: 0
Unit: [SINC/s] (1 mm = 1000 SINC)

21F7h 0 Maximum permitted

acceleration

21F8h 0 Current acceleration

for direct mode

UINT32 rw General system limitation; default: 0

Unit: [SINC/s²] (1 mm = 1000 SINC)

UINT32 rw Condition: not > max. permissible accel

eration; default: 0
Unit: [SINC/s²] (1 mm = 1000 SINC)

21F9h 0 Max. following error

for direct mode

21FAh 0 Path jerk for direct op

eration

2200h 0 Positive SW end posi

tion X

2201h 0 Negative SW end posi

tion X

2202h 0 Positive SW end posi

tion Y

2203h 0 Negative SW end posi

tion Y

UINT32 rw

Unit: [SINC] (1 mm = 1000 SINC)

UINT32 rw Unit: [(SINC/s3)/10]

(1 mm = 1000 SINC)

INT32 rw Positive SW end position X; default: 0

Unit: [SINC] (1 mm = 1000 SINC)

INT32 rw Negative SW end position X; default: 0

Unit: [SINC] (1 mm = 1000 SINC)

INT32 rw Positive SW end position Y; default: 0

Unit: [SINC] (1 mm = 1000 SINC)

INT32 rw Negative SW end position Y; default: 0

Unit: [SINC] (1 mm = 1000 SINC)

3000h 0 Control word UINT16 rw Byte 1: control byte CCON (è 5.2.2)

Byte 2: control byte CPOS (è 5.2.2)

3001h 0 Target record number

or path speed

UINT16 rw Dependent on the operating mode:

Record selection: target record
number 0 … 31

Direct mode: speed [mm/s]
3002h 0 Target position X-axis INT16 rw Unit [0.1 mm]
3003h 0 Target position Y-axis INT16 rw Unit [0.1 mm]
3020h 0 Status word UINT16 ro Byte 1: status byte SCON (è 5.2.3)

Byte 2: status byte SPOS (è 5.2.3)
3021h 0 Actual record number

or error number

UINT16 ro Dependent on the operating mode:

Record selection: record and error

number

Direct mode: error number

(Error number 0xFF = no error)
3022h 0 Actual position X-axis INT16 ro Unit [0.1 mm]
3023h 0 Actual position Y-axis INT16 ro Unit [0.1 mm]

1) When setting the project zero point (PZ), consider the resulting range of setpoint and actual values.

The sum of project zero point (PZ) and stroke must be less than 3276.8 mm (è Tab. 2.1 Explanation of dimension reference points)

Tab. B.1 CANopen object overview

78 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

B Control via Ethernet (CVE)

C Control via Ethernet (CVE)

C.1 CVE object overview

Explanation of read and write access

Code

R The object is readable.
W1 The object can be written if the drive is blocked (ENABLED=0)

W2 The object can be written if the drive is enabled (ENABLED=1)

W3 The object can also be written by an interface that does not currently have master control.
Admin The object is protected by the administrator password.

Tab. C.1 Access rights

Detailed descriptions of the CVE objects

Index 3 Subindex 0 Master control

System UINT08 R/W1/W2/W3/­Master control determines which interface may control the controller.
To activate the CVE interface, the value 2 must be written to the CVE object.
0x00: I/O
0x01: FCT (Festo Configuration Tool)
0x02: CVE (Control via Ethernet)
0x04: CANopen
Values: 0 … 255 Default: 0

Meaning

(è 5.2.3 Description of the status bytes SCON/SPOS).

(è 5.2.3 Description of the status bytes SCON/SPOS).

Index 239 Subindex 0 Status word

FHPP UINT16 R/-/-/-/­Status word (è 5.2.3 Description of the status bytes SCON/SPOS)
Byte 1: status byte SCON
Byte 2: status byte SPOS
Values: 0 … 65535 Default: 0

Index 239 Subindex 1 Error number

FHPP UINT16 R/-/-/-/­Error number
In record selection mode, the current record number is in the high byte.
In direct mode, the high byte = 0.
Values: 0 … 255 Default: 255 (255 is not an error, values are in the low byte)

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 79

B Control via Ethernet (CVE)

Index 240 Subindex 0 Control word

FHPP UINT16 R/W1/W2/-/­Control word (è 5.2.2 Description of the control bytes CCON/CPOS)
Byte 1: control byte CCON
Byte 2: control byte CPOS
Values: 0 … 65535 Default: 0

Index 240 Subindex 1 Dependent on the operating mode

FHPP UINT16 R/W1/W2/-/-

Record number preselection (in record selection mode)

Number of the preselected record. At the control interface, a new record can be preselected while an
old one is still active.
Record 0 (homing)
Record 1 … 31 (normal records)
Values: 0 … 31 Default: 0

Speed (in direct mode)

Speed for a direct application.
Unit: [mm/s]
Values: 0 … 65535 Default: 0

Index 303 Subindex 0 Actual position X

FHPP SINT32 R/-/-/-/­The current actual position in the direction of the X-axis.
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

Index 303 Subindex 1 Actual position Y

FHPP SINT32 R/-/-/-/­The current actual position in the direction of the Y-axis.
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

Index 304 Subindex 0 Setpoint position X

FHPP SINT32 R/-/-/-/­The current setpoint position X is calculated by the controller.
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

80 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

B Control via Ethernet (CVE)

Index 304 Subindex 1 Setpoint position Y

FHPP SINT32 R/-/-/-/­The current setpoint position Y is calculated by the controller.
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

Index 305 Subindex 0 Target position X (only in direct mode)

FHPP SINT32 R/W1/W2/-/­Specification of the target position X is dependent on the value of bit 0 (REL) in the control byte CPOS
(absolute or relative to the last setpoint position).
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

Index 305 Subindex 1 Target position Y (only in direct mode)

FHPP SINT32 R/W1/W2/-/­Specification of the target position Y is dependent on the value of bit 0 (REL) in the control byte CPOS
(absolute or relative to the last setpoint position).
Unit: [SINC] (1 mm = 1000 SINC)
Values: –2147483648 … 2147483647 Default: 0

Index 311 Subindex 0 Acceleration (only in direct mode)

FHPP SINT32 R/W1/W2/-/­Acceleration for a direct application. If a new acceleration value is not written, the value last used is
taken.
Unit: [SINC/s²] (1 mm = 1000 SINC)
Values: –2147483647 … 2147483647 Default: 0

Index 318 Subindex 0 Path jerk (only in Germany)

FHPP SINT32 R/W1/W2/-/­Maximum jerk during acceleration and deceleration.
Unit: [(SINC/s3)/10] (1 mm = 1000 SINC)
Value 0: maximum jerk, no return limit active
Values: –2147483648 … 2147483647 Default: 0

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 81

D Glossary

D Glossary

Term/abbreviation Description

Acknowledge “Acknowledge an error”: the user confirms that he has noted the error.

The device then leaves the error status if the cause of the error has been
eliminated.

EMC Electromagnetic compatibility
FCT Parameterisation and commissioning software

(FCT = Festo Configuration Tool)

FHPP Communication protocol for data exchange

(FHPP = Festo Handling and Positioning Profile)

Following error Calculated deviation during execution of a record between the target

position (in accordance with previously calculated course of the path)
and the actual position.

Homing Positioning job to determine the reference point.

I/O Input/output
Jog mode The drive moves as long as a corresponding signal is present.
Load voltage Power supply of the controller power electronics and thus of the motors.
Logic voltage Power supply of the evaluation and control logic of the controller, brake

and digital outputs.

MC (Motion Complete) Target position reached.
PLC/IPC Programmable logic controller/industrial PC.
Record Record of parameters defined in the record table, comprising record type,

target position X and Y, speed, acceleration and jerk.

Software end position Limitation of the working stroke.
Working stroke Maximum stroke, distance of the software end positions.

Tab. D.1 Product-specific terms and abbreviations

82 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

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Festo AG & Co. KG
Postfach
73726 Esslingen
Germany

Phone:
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Fax:
[phone]

E-mail:
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Internet:
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Original: de