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Manual - Festo

1. Value Meaning Permitted with 0x1000 Device type Device control identifier 0x1018 Identity object Vendor ID product code revision serial no 0x1100 EtherCAT fixed station ad Fixed address assigned to the slave during initialisa dress tion by the master 0x1600 1 RxPDO Mapping Identifier of the 1st receive 0x1601 2 RxPDO Mapping Identifier of the 2nd receive 0x1602 3 RxPDO Mapping Identifier of the 3rd receive 0x1603 4 RxPDO Mapping Identifier of the 4th receive 0x1A00 1 TxPDO Mapping Identifier of the 1st transmit 0x1A01 2 TxPDO Mapping Identifier of the 2nd transmit 0x1A02 3 TxPDO Mapping Identifier ofthe 3rd transmit 0x1A003 4 TxPDO Mapping Identifier of the 4th transmit 0x1C00 Sync Manager Communica Object for configuring the individual Sync channels tion Type SDO or PDO Transfer 0x1C10 Sync Manager PDO Map Assignment of the Sync channel 0 to a PDO SDO ping for Sync Channel O Channel 0 is always reserved for the Mailbox Receive SDO Transfer 0x1C11 Sync Manager PDO Map Assignment of the Sync channel 1 to a PDO SDO ping for Sync Channel 1 Channel 1 is always reserved for Mailbox Send SDO Transfer 0x1C12 Sync Manager PDO Map Assignment of the Sync channel 2 to a PDO ping for Sync Channel 2 Channel 2 is reserved for Receive PDOs 0x1C13 Sync Manager PDO Map Assignment of the Sync channel 3 to a PDO ping for Sync Channel 3 Channel3 is reserved for Transmit PDOs
2. Tab 5 6 New and revised communication objects Festo P BE CMMX EC SW EN en 0912NH 5 9 5 CANopen over EtherCAT CoE 5 10 The subsequent chapters describe the objects 0x1C00 and 0x1C10 to 0x1C13 in more detail as they are only defined and implemented under the EtherCAT CoE protocol and there fore are not documented in the CANopen manual for the CMMP AS motor controller The CMMP AS motor controller with the EtherCAT interface supports four Receive PDOs RxPDO and four Transmit PDOs TxPDO Objects 0x1008 0x1009 and 0x100A are not supported by CMMP AS as plain text strings cannot be read from the motor controller Object 1100h EtherCAT fixed station address This object allocates a unique address to the slave during the initialisation phase The object has the following meaning Index 1011h Name EtherCAT fixed station address Object code V Data Type uint16 Access ro PDO Mapping no Value Range O FFFFh Default Value 0 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Object 1COOh Sync Manager Communication Type This object allows the transfer type for the various channels of the EtherCAT Sync Manager to be read As the CMMP AS only supports the first four Sync channels under the EtherCAT CoE protocol the following objects are read only That means that the configuration of the Sync Manager for CMMP AS is fixed The objects have th
3. 4 Receive PDO 1 2 SYNCchannel3 Transmit PDO 1 2 0 0 0 Fig 5 5 Sample mapping of the SDOs and PDOs to the Sync channels All objects are sent via so called Sync channels The data from these channels is automatically linked to the EtherCAT data flow and transmitted The EtherCAT implementation in the CMMP AS motor controller supports four such Sync chan nels For this reason additional mapping of the SDOs and PDOs to the Sync channels is required compared with CANopen This is implemented via the so called Sync Manager objects ob jects 0x1C00 and 0x1C10 to 0x1C13 see Chapter 5 1 2 These objects are described in more detail below 5 6 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE The CMMP AS has four individual Sync channels These Sync channels are permanently allocated to the individual transfer types and cannot be changed by the user The allocation is as follows Sync channel 0 Mailbox telegram protocol for incoming SDOs Master gt Slave Sync channel 1 Mailbox telegram protocol for outgoing SDOs Master lt Slave Sync channel 2 Process data telegram protocol for incom ing PDOs Master gt Slave Object 0x1C12 must be ob served Syncchannel3 Process data telegram protocol for out going PDOs Master lt Slave Object 0x1C13 must be observed The parametrisation of the individual PDOs is set via objects 0x1600 to 0x1603 Receive PDOs and 0x1A00 to
4. Servo controller EMMS AS Servo motor with NEBM Motor and encoder cable CAMC EC EtherCAT module 24V DC power supply unit Cable for the power supply Components depend on the application Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning 6 3 Important note Ensure that the target system PLC contains at least Version 2 10 Build 1328 Otherwise the automatic down load of the PDO configuration will not function To find the most up to date version for your PLC please con tact the Beckhoff technical support team or search this inter net site ftp ftp beckhoff com Software embPC Control Festo P BE CMMX EC SW EN en 0912NH 6 5 6 Commissioning 6 4 Step by step Connect the servo motor EMMS AS via the motor enco der cable NEBM to the servo controller CMMP AS as described in the corresponding manuals Insert the EtherCAT module CAMC EC in the Ext 2 slot of the CMMP AS as shown in the corresponding description 6 4 1 Configuration using FCT c Comporerk DA Festo CMAx Qh CMMP AS Qh CHMS AS Qh CMMS ST b CMxR Wb CHMXX QV MTR DCI QU SFC DC Wa SFCLAC Fig 6 12 FCT 1 This section only describes the steps which directly concern the EtherCAT fieldbus Start FCT and create a new project If you also have older versions of CMMP AS on your computer ensure that you select Version V 1 2 0 for the new project inixi Device description Device vendor Festo
5. Device family CMmP 4S 4 B FESTO Plugin version v01 02 00 J Short description Servo Controller for all Festo Servomotors and Direct Drives Power range from 0 5 to 6 0 KVA In 4 sizes Integrated Position Controller Componeriname maximum lengh 24 evee rocco 1 CEREREM _ eo Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning Under Option Slot 2 on the Configuration page select CAMC EC EtherCAT TM Festo Configuration Tool Example CMMP AS with CAMC EC Fig 6 13 FCT 2 The EtherCAT control interface is automatically selected on the Application data page and this selection cannot be changed You can set the required data profile CANopen DS402 or Festo FHPP on the FieldBus page You can also activate the Factor Group in the second tab on the FieldBus page This converts the position speed and acceleration values to nor mal units If this option is not activated all values are speci fied or read in increments E Festo Configuration Tool Example CMMP AS with CAMC EC E cmmp as Devicet 4 j Configuration Controller E 4E 1 0 Configuration Analogue Outputs dBus Fig 6 14 FCT 3 Festo P BE CMMX EC SW EN en 0912NH 6 7 6 Commissioning When all parameters required for the application have been set start a download This transmits the data from FCT to CMMP AS Then run Save to save the data just transferred permanently in the device Shut down
6. transmitted via CAN lower value byte first Festo P BE CMMX EC SW EN en 0912NH 5 25 5 CANopen over EtherCAT CoE 5 26 FHPP with EtherCAT The FHPP data is distributed to two process data objects for EtherCAT communication The CoE protocol is also used for transmission Supported process data Fixed data mapping of the objects FHPP data e e i n nae a a TxPDO 1 FHPP standard 8 byte control data TxPDO 2 FPC parameter channel Request to read write FHPP parameter values RxPDO 1 FHPP standard 8 byte status data RxPDO 2 FPC parameter channel Transmission of requested FHPP parameter values Refer to the following manual for a detailed description of the FHPP data profile Festo Handling and Positioning Profile P BE CMM FHPP SW Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 3 Communication finite state machine As in almost all fieldbus interfaces for motor controllers the connected slave in this case the CMMP AS motor controller must first be initialised by the master before it can be used by the master in an application For this purpose a finite state machine is required for communication to specify a fixed sequence of actions for this initialisation process A finite state machine is also defined for the EtherCAT inter face Changes between the individual statuses of the finite state machine may only occur between specific statuses and are alw
7. 2 2 EtherCAT The EtherCAT fieldbus system means Ethernet for Controller and Automation Technology and was developed by Beckhof Industrie It is managed by the international EtherCAT Tech nology Group ETG organisation and supports and is de signed as an open technology which is standardised by the International Electrotechnical Commission IEC EtherCAT is a fieldbus system based on Ethernet which sets new speed standards and can be handled like a fieldbus thanks to flexible topology line tree star and simple con figuration The EtherCAT protocol is transported with a specially stan dardised Ethernet type directly in the Ethernet frame in accordance with IEEE802 3 The slaves can broadcast multi cast and communicate laterally For EtherCAT the data exchange is based on a pure hardware machine Therefore special hardware is used on the slave side which processes the Ethernet telegram in accordance with the EtherCAT protocol These hardware protocol inter preters are either provided as ASICs Application Specific Integrated Circuit or FPGAs Field Programmable Gate Array with corresponding software The table below gives an overview of the ASIC and FPGA ver sions which can be implemented in the hardware Function ESC10 ESC20 ASIC FMMU 2 4 28 Sync Manager 4 6 28 DPRAM 4 kBytes 4 kBytes 4 kBytes AL Event Mask register x x Process Data Interfaces PDI 8 16 bit uC Interface x x x
8. 32 bit digital x x x Festo P BE CMMX EC SW EN en 0912NH 2 5 2 Overview Function ESC10 ESC20 ASIC SPI x xX Distributed Clocks x x Tab 2 2 Function overview of the EtherCAT slave controller The master is generally a pure software solution which does not require special hardware That means that in most cases a standard Ethernet connection is sufficient for the master The EtherCAT fieldbus system only defines a new protocol for the transmission layer It does not define a separate user or device protocol Instead EtherCAT can transmit various tried and tested user and device protocols via the EtherCAT proto col tunnelling 2 6 Festo P BE CMMX EC SW EN en 0912NH 2 Overview EtherCAT supports the following user and device protocols CANopen over EtherCAT CoE supported by CMMP AS Yes either with CiA301 402 objects or the Festo FHPP data profile Servodrive profile to IEC 61491 over EtherCAT SoE corresponds with the SERCOS 2 protocol No File Access over EtherCAT FoE No Ethernet over EtherCAT EoE No Tab 2 3 User and device protocols The CMMP AS motor controller with CAMC EC interface sup ports the CoE protocol CANopen over EtherCAT using FPGA ESC20 This tunnels the CANopen communication objects via the EtherCAT telegram In electronic data processing tunnelling means transmitting data from one network protocol in this case the CANo
9. Commissioning Contents 6 COMMISSIONING rns srana ex mnm pene eee ea kale eee 6 17 6 1 Introductio umi cima rr rre eme Rec re er ETE a Fe 6 2 Requirements isis eer ret soutien RR RR e rv E Rae ea 6 6 3 Important note cu eec neret Rr ire 6 5 6 4 Step DY Step icio kenia d pale be E KR DR E ES 6 6 6 4 1 Configuration using FCT eee eee eee ee eens 6 4 6 5 Configuration on a Beckhoff PLC o ooooooococooooccooooommmmm r os 6 97 6 5 1 Configuration of process data eee eee eee eee eee 61 6 2 Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning 6 1 Introduction This section is intended to provide examples for CMMP AS configuration for operation on a Beckhoff PLC in an EtherCAT network The following components were used for sample parametrisa tion CMMP AS C2 3A Servo controller CAMC EC EtherCAT module for the CMMP AS EMMS AS 55 S TS Servo motor Beckhoff CX1020 0113 Beckhoff PLC Beckhoff CX1100 0004 Beckhoff power supply unit for PLC Beckhoff EK1110 Beckhoff EtherCAT extension module Ethernet CAT5e patch cable Festo P BE CMMX EC SW EN en 0912NH 6 3 6 Commissioning 6 2 6 4 Requirements PC with Windows 2000 XP Vista Installed FCT framework Version 1 1 5 120 Installed FCT plug in for CMMP AS Version 1 2 0 5xx Installed Beckhoff TwinCAT tested with TwinCAT v2 10 0 Build 1340 XML description file for the CMMP AS CMMP AS
10. EtherCAT error mes sages Error message Meaning Measures 62 0 EtherCAT General bus error Switch on the EtherCAT master Check the cabling 62 1 EtherCAT ESC chip not detected Hardware fault Contact the technical support team 62 2 EtherCAT protocol error not CoE Incorrect protocol CAN bus cabling fault 62 3 EtherCAT protocol error RPDO SM2 Check the RPDO configuration of the length not ok CMMP and the controller 62 4 EtherCAT protocol error TPDO SM3 Check the TPDO configuration of the length not ok CMMP and the controller 62 5 EtherCAT Synchronoustransmission Checkthe configuration of the master notok Synchronous transfer is unstable 63 0 No EtherCAT ESC20 chip available Hardware fault Please contact the technical support team 63 1 Faulty data on the EtherCAT bus Check cabling Festo P BE CMMX EC SW EN en 0912NH 7 3 7 Service functions and error messages Errormessage Meaning Measures 63 2 TPDO data not read The data was sent faster than the mo tor controller could process it Reduce the cycle time on the EtherCAT bus 63 3 When the EtherCAT was started no hardware SYNC Distributed Clocks was found The firmware now synchro nises on the EtherCAT frame If necessary check whether the ma ster supports the Distributed Clocks property If not Ensure that the EtherCAT frames are not interrupted by other frames if the interpolated positi
11. Meaning Adaptable Vendor This node contains the name and the ID of the manufacturer No ofthe device to which this description file belongs It also contains the binary code of a bitmap with the manufacturer s logo Description This sub item contains the actual device description including Partial the configuration and initialisation Group This node contains the assignment of the device to a device No group These groups are specified and may not be changed by the user Devices This sub item contains the actual description of the device Partial The following table describes only the subnodes of the Description node required for the parametrisation of the CMMP AS motor controller under CoE All other nodes are fixed and may not be changed by the user Node name Meaning Adaptable RxPDO Fixed This node contains the PDO Mapping and the assignment of Yes the PDO to the Sync Manager for Receive PDOs TxPDO Fixed This node contains the PDO Mapping and the assignment of Yes the PDO to the Sync Manager for Transmit PDOs Mailbox This node allows commands which are transmitted to the Yes slave via SDO transfers by the master during the phase tran sition from Pre Operational to Operational to be defined OOo a 5 40 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE As only the nodes from the table above are important for users to adapt the device description file they are described in detail in the following
12. Nc Configuration PLC Configuration Hi Cam a eiuo c 1 9 rc EB Paste y 68 Me BA Paste with Links Alt Ctrl 1 Fig 6 16 TwinCAT 2 Now start the PLC in config mode Untitled TwinCAT System Manager CX 01D7CB File Edit Actions View Options Help m D ESHER X BS Mb Diao GB SYSTEM Configuration BB Nc Configuration A PLC Configuration ME Cam Configuration amp Bl 1 0 Configuration Version Target Pic Settings Target 7 um TwinCAT System Manager Fig 6 17 Config mode 1 6 10 Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning When the PLC has started in Config mode right click I O Devi ces to search for all devices connected to the PLC e g field bus masters Untitled TwinCAT System Manager CX 01D7CB File Edit Actions View Options Help D a A X DBR Bm SYSTEM Configuration Number Device ABl Nc Configuration Bill PLC Configuration E Cam Configuration 1 0 Configuration z9 B Mappings S Append Device IE Import Device paste Ctrl BA Paste with Links Alt Ctrl Fig 6 18 Config mode 2 After the scan is completed an overview of all found devices is displayed 7 new 1 0 devices found 8 xj Device 2 EtherCAT PCI Tcl8255x1 ADevice 3 01500M310 Slot OA 0x04000 wiDevice 4 CX1500 M510 Slot OA 006000 Device 5 C 1500 M520 Slot 0 4 00800011 Device 6 01100
13. Ox1A03 Transmit PDOs The PDOs are parametrisation as described in the CANopen manual The Sync channels can only ever be set and the PDOs only configured in the Pre Operational status EtherCAT does not allow the slaves to parameterise them selves The device description files are available for this pur pose They prescribe the entire parametrisation including PDO parametrisation which is used by the master during initialisation All changes to the parametrisation should therefore not be made by hand but in the device description files For this purpose important sections of the device description files are described in more detail in Chapter 5 8 Festo P BE CMMX EC SW EN en 0912NH 5 7 5 CANopen over EtherCAT CoE The Sync channels described here are NOT the same as the Sync telegrams familiar from CANopen CANopen Sync tele grams can still be transmitted as SDOs via the SDO interface implemented under CoE but do not directly influence the Sync channels described above 5 1 2 New and revised CANopen communication objects under CoE 5 8 The following table contains an overview of the indices and subindices used for CANopen compatible communication objects which are inserted in the range from 0x1000h to Ox1FFFh for the EtherCAT fieldbus system They primarily replace the communication parameters in accordance with CiA 301 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE
14. as per CiA 402 and 301 FHPP manual P BE CMM FHPP SW Description of the implemented FHPP data profile Product manual P BE CMMP AS Description of the technical data and de vice function as well as information on the installation and operation of the CMMP AS motor controller XII Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Information about the version The information provided in this manual refers to the follow ing hardware and firmware versions of the CMMP AS motor controller and the following version of the FCT Festo Con figuration Tool parametrization software Firmware Hardware Parametrization Remarks software 3 5 1501 3 from V 1 0 from V 1 2 Ee The CMMP AS motor controller has FLASH program memory which permits the operating software Firmware of the CMMP AS motor controller to be updated after delivery and installation in the machine The CMMP AS motor controller operating software is continuously developed and extended by the manufacturer to meet the widest possible range of customer requirements Festo P BE CMMX EC SW EN en 0912NH XIII Contents and general safety instructions Terms and abbreviations Term abbreviation Meaning ASIC Application Specific Integrated Circuit CiA CAN in Automation CoE CANopen over EtherCAT DS Draft Standard ETG EtherCAT Technology Group EtherCAT Ethernet
15. channel 0 As Sync channel 0 is always allocated to the mailbox telegram protocol the user cannot change this object The object therefore always has the following values Index 1C10h Mm Name Sync Manager Channel 0 Mailbox Receive Object Code Array Data Type uint8 Sub Index 00h o Description Number of assigned PDOs Access ro PDO Mapping no Value Range 0 no PDO assigned to this channel Default Value 0 no PDO assigned to this channel The name Number of assigned PDOs assigned by the EtherCAT specification for Subindex 0 of these objects is confusing here as Sync Manager channels 0 and 1 are always allocated to the mailbox telegram SDOs are always trans mitted in this telegram type under EtherCAT CoE Subindex 0 of these two objects is therefore unused Festo P BE CMMX EC SW EN en 0912NH 5 13 5 CANopen over EtherCAT CoE Object 1C11h Sync Manager Channel 1 Mailbox Send This object allows a PDO to be configured for Sync channel 1 As Sync channel 1 is always allocated to the mailbox telegram protocol the user cannot change this object The object therefore always has the following values Index 1C11h Name Sync Manager Channel 1 Mailbox Send Object Code Array Data Type uint8 Sub Index 00h a Description Number of assigned PDOs Access ro PDO Mapping no Value Range 0 no PDO assigned to this channel Default Value 0 no PDO assigned
16. for Controller and Automation Technology ESC EtherCAT Slave Controller FCT Festo Configuration Tool FHPP Festo handling and positioning profile FPGA Field Programmable Gate Array FW Firmware IEC International Electrotechnical Commission PDI Process Data Interface Tab 0 1 Index of terms and abbreviations XIV Festo P BE CMMX EC SW EN en 0912NH Safety instructions for electric drives and controllers Chapter 1 Festo P BE CMMX EC SW EN en 0912NH 1 1 1 Safety instructions for electric drives and controllers Contents 1 Safety instructions for electric drives and controllers 1 1 General Information cece cece cee eee eee teen ee eens 1 2 Hazards due to improper USO eee eect eee eee eens 1 3 Safety iristr CtlOns 5 sciscs cee pace cae rre mee heck se i ee ng 1 3 1 General safety instructions 00 cece eee ee eee 1 3 2 Safety instructions for assembly and maintenance 1 3 3 Protection against touching electric components 1 3 4 Protection by low voltage PELV against electric shock 1 3 5 Protection against dangerous movements 1 3 6 Protection against touching hot components 1 3 7 Protection when handling and assembling 1 2 Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers 1 1 General Information Festo AG amp Co KG is not liable for
17. further A A pa P s 5 20 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Identifier 0x608C Name velocity_dimension_index Meaning Specifies the unit for displaying the velo city values in the controller The object is only available as a data container The firmware is not evaluated further 0x608D acceleration_notation_index Specifies the number of decimal places for displaying the acceleration values in the controller The object is only availa ble as a data container The firmware is not evaluated further 0x608E acceleration_dimension_index Specifies the unit for displaying the ac celeration values in the controller The objectis only available as a data contai ner The firmware is not evaluated further Festo P BE CMMX EC SW EN en 0912NH 5 21 5 CANopen over EtherCAT CoE 5 2 FHPP profile The FHPP profile can be used as an alternative to the DS301 402 profile All FHPP objects listed in the FHPP manual for type CMM motor controllers can be used 5 22 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Brief introduction to FHPP Festo has developed an optimised data profile especially tailored to the target applications for handling and position ing tasks the Festo Handling and Positionin
18. greater detail Node name Meaning Adaptable RxPDO This node describes the properties of the Receive PDO di No Fixed 1 rectly and its assignment to the Sync Manager The Fixed 1 Sm 2 entry indicates that the object mapping cannot be changed The Sm 2 entry indicates that the PDO is to be allocated to Sync channel 2 of the Sync Manager Index This entry contains the object number of the PDO The first Yes Receive PDO under object number 0x1600 is configured here Name The name indicates that this PDO is a Receive PDO outputs No ora Transmit PDO inputs This value must always be set to Output for a Receive PDO Entry Each Entry node contains a CANopen object to be mappedto Yes the PDO An Entry node contains the index and subindex of the CANopen object to be mapped as well as their name and data type 5 42 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE The sequence and mapping of the individual CANopen ob jects for the PDO correspond to the sequence in which they are specified via the Entry entries in the device description file The individual sub items of an Entry node are specified in the following table Node name Meaning Adaptable Index This entry specifies the index of the CANopen object to be Yes mapped to the PDO Subindex This entry specifies the subindex of the CANopen object to be Yes mapped BitLen This entr
19. j A d AA Mandatory Header Standard CANopen Emergency Frame Optional Fig 5 11 Emergency Frame Telegram structure Mailbox Header CoE Header ErrorCode ErrorCode Data Data optional Data for mailbox communication length address and type Identifier of the CoE service Error Code of the CANopen EMERGENCY Message Error Code of the CANopen EMERGENCY Message Data content of the CANopen EMERGENCY Message Additional optional data As only the standard CANopen emergency frames are supported in the CoE implementation for the CMMP AS motor controller the Data optional field is not supported As the Emergency Messages received and sent via CoE are simply forwarded to the CANopen protocol implemented in the motor controller all error messages can be looked up in the CANopen manual for the CMMP motor controller Festo P BE CMMX EC SW EN en 0912NH 5 37 5 CANopen over EtherCAT CoE 5 8 Adaptation of the XML device description file 5 38 As already mentioned in the2 5 XML description file sec tion every device is described in a device description file under EtherCAT This file can be used for simple connection of the EtherCAT devices to an EtherCAT controller This file con tains the complete parametrisation of the slave including the parametrisation of the Sync Manager and the PDOs For this reason the configuration of the slave can be changed using this file Festo has created a device descrip
20. switches to the Operational status Operational In this status both acyclic and cyclic communication are active Masters and slaves exchange target and actual value data In this status the CMMP AS can be enabled and travel via the CoE protocol Only transitions in accordance witlrFig 5 7 are permitted between the individual status of the communication finite state machine Operational Fig 5 7 Communication finite state machine 5 28 The transitions are described individually in the following table Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Status transition IP Status Start of acyclic communication mailbox telegram protocol PI Stop of acyclic communication mailbox telegram protocol PS Start Inputs Update Start of cyclic communication process data telegram protocol Slave sends actual values to master The slave ignores setpoint values from the master and uses internal default values SP Stop Input Update Stop of cyclic communication process data telegram protocol The slave no longer sends actual values to the master SO Start Output Update The slave evaluates up to date setpoint specifications from the master OS Stop Output Update The slave ignores setpoint values from the master and uses internal default values OP Stop Output Update Stop Input Update Stop of cyclic communication process data tele
21. technical safety standards Training in first aid The following instructions must be read before initial commis sioning of the system to prevent bodily injuries and or dam age to property These safety instructions must be observed at all times Do not try to install or commission the motor controller before you have carefully read through all safety instructions for electric drives and controllers in this documentation You must read through these safety instructions and all other user instructions before working with the motor controller If you do not have any user instructions for the motor con troller please contact your relevant sales representative Request that the operating instructions are sent immediately to the responsible person in order that the motor controller can be operated correctly and safely These safety instructions must also be provided if the motor controller is sold lent and or passed on to third parties For safety and guarantee reasons the motor controller may not be opened by the user The prerequisite for excellent functioning of the motor con troller is professional project planning Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers A Festo P BE CMMX EC SW EN en 0912NH Warning Incorrect handling of the motor controller and failure to observe the specified warning instructions as well as im proper manipulation of the safety devices c
22. the power supply to the logic unit 24V and then reactivate it to reboot the system 6 8 Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning 6 5 Configuration on a Beckhoff PLC This point only describes the hardware connection of the CMMP to the Beckhoff PLC l e an application program with TwinCAT PLC Control must already have been created be fore all of these steps are performed Before you start copy the XML device description file Festo CMMP AS Vx xml to the TwinCAT software installa tion folder This is generally C TwinCAT lo EtherCAT Start the TwinCAT System Manager and create a new configu ration Under SYSTEM Configuration click the Choose Target to select the PLC which is the EtherCAT master Untitled TwinCAT System Manager CX_O1D7CB File Edit Actions View Options Help jn usas Be S S ce a tx esl SYSTEM Configuration BBP Nc Configuration Bil PLC Configuration S Cam Configuration Version Local Version Target Boot Settings Target Cx Settings EHA 1 0 Conficuration PRES TwinCAT System Manager Choose Target oe 8 Mappi B Local 10 8 49 621 1 54 CX_OID7CB 5 1 100 100 1 1 Cancel Fig 6 15 TwinCAT 1 Festo P BE CMMX EC SW EN en 0912NH 6 9 6 Commissioning Right click the PLC Configuration item to read the applica tion program File Edit Actions Yiew Options Help Ose E i BOR MG SYSTEM Configuration BB
23. to 0x1A03 In the current implementation the data of the objects below is not evaluated further by the firmware of the motor con troller The CANopen configuration of the PDOs is used for evaluation under EtherCAT Index 1C13h Name Sync Manager Channel 3 Process Data Input Object Code Array Data Type uint8 Sub Index 00h ESS _ gt _____ _ gt oz Ro o q q c Description Number of assigned PDOs Access rw PDO Mapping no Value Range 0 no PDO assigned to this channel 1 one PDO assigned to this channel 2 two PDOs assigned to this channel 3 three PDOs assigned to this channel 4 four PDOs assigned to this channel Default Value 0 no PDO assigned to this channel Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Sub Index 01h Description PDO Mapping object Number of assigned TxPDO Access rw PDO Mapping no Value Range 0x1A00 first Transmit PDO Default Value 0x1A00 first Transmit PDO Sub Index 02h Description PDO Mapping object Number of assigned TxPDO Access rw PDO Mapping no Value Range 0x1A01 first Transmit PDO Default Value 0x1A01 first Transmit PDO Sub Index 03h Description PDO Mapping object Number of assigned TxPDO Access rw PDO Mapping no Value Range 0x1A02 first Transmit PDO Default Value 0x1A02 first Transmit PDO Festo BE C
24. to be download ed automatically PDO Assignment activated PDO Configura tion activated v PDO Assignment Download 4 V PDO Configuration Fig 6 25 PDO assignment 2 Festo P BE CMMX EC SW EN en 0912NH 6 15 6 Commissioning Link the activated variables to the variables from the pre viously integrated PLC programme El Qf Inputs O Statuswort Mode Of Operation display Position Actual Value Qf Error Register QT Inputs Q1 Velocity_Actual_Value Following Error Actual Value amp Outputs Controlword Mode Of Operation Target Position Homing Method amp Outputs Profile Velocity Target Velocity Fig 6 26 Variable assignment 6 16 Festo P BE CMMX EC SW EN en 0912NH Service functions and error messages Chapter 7 Festo P BE CMMX EC SW EN en 0912NH 7 1 7 Service functions and error messages Contents 7 Service functions and error messages eee 7 7 1 Operating mode and error messages sse eee 7 Y 7 2 7 1 1 Error messages Festo P BE CMMX EC SW EN en 0912NH 7 Service functions and error messages 7 1 Operating mode and error messages 7 1 1 Error messages When an error occurs the CMMP AS motor controller dis plays an error message in the parametrisation software See the user manual for further details on other error messa ges The table below summarises the specific
25. to this channel 5 14 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Object 1C12h Sync Manager Channel 2 Process Data Output This object allows a PDO to be configured for Sync channel 2 Sync channel 2 is permanently assigned for the reception of Receive PDOs Master Slave In this object the number of PDOs allocated to this Sync channel must be set under sub index 0 The object number of the PDO to be allocated to the channel is subsequently entered in subindices 1 to 4 Only the object numbers of the previously configured Receive PDOs can be used for this object 1600h to 1603h In the current implementation the data of the objects below is not evaluated further by the firmware of the motor con troller The CANopen configuration of the PDOs is used for evalu ation under EtherCAT Index 1C12h oe ee A _ _ A A AgL Name Sync Manager Channel 2 Process Data Out put Object Code Array Data Type uint8 Festo P BE CMMX EC SW EN en 0912NH 5 15 5 CANopen over EtherCAT CoE 5 16 Sub Index 00h Description Number of assigned PDOs Access rw PDO Mapping no Value Range 0 no PDO assigned to this channel 1 one PDO assigned to this channel 2 two PDOs assigned to this channel 3 three PDOs assigned to this channel 4 four PDOs assigned to this channel Default Value 0 no PDO assigned to this channel Su
26. x264860d3 RevisionNo X20000 gt CMMP AS Type Name LcID 1033 gt CMMP AS lt Name gt Name LcID 1031 gt CMMP AS lt Name gt If the EtherCAT protocol is used the communication partner for the used device can be parametrised completely via the XML description file For example it includes parametrisation of the process data objects for cyclic data exchange when CoE is used This data is read during the initialisation phase of the EtherCAT master generally a PLC or CNC and used for the initialisation and cyclic communication with the slave device Festo P BE CMMX EC SW EN en 0912NH Assembly Chapter 3 Festo P BE CMMX EC SW EN en 0912NH 3 1 3 Assembly Contents 3 Assembly in ile REUS 3 3 1 Installing the EtherCAT interface in the controller ooo 3 3 2 Festo P BE CMMX EC SW EN en 0912NH 3 Assembly 3 1 Installing the EtherCAT interface in the controller Warning A Non compliance with the instructions in Chapter 1 Safety instructions for electric drives and controllers can result in material damage injury electric shock or in extreme cases even to fatalities Warning The drive controller must be disconnected from all current carrying cables before connecting the module Use a suitable Phillips screwdriver to remove the front cover over option slot Ext2 of the CMMP motor controller The EtherCAT technology module is now placed in the option slot Ext2 so t
27. C50000 1m 90PCLC500010 2m 90PCLC500020G 5m 90PCLC500050G L tze EtherCAT cable 0 5m 192000 1m 19201 5m 19204 Tab 4 5 EtherCAT cable 4 4 Festo P BE CMMX EC SW EN en 0912NH 4 Installation A Caution Errors due to unsuitable bus cable As very high baud rates can occur we recommend that you use only the standardised cables and plug connectors In some cases they have additional diagnostics options and allow the fieldbus interface to be analysed rapidly in the event of errors When setting up the EtherCAT network you must follow the advice in the relevant literature or the following infor mation and instructions in order to maintain a stable trouble free system The system is not cabled properly EtherCAT bus malfunctions can occur during operation These can cause the CMMP motor controller to shut off with an error for safety reasons 4 1 4 Pin layout for X1 and X2 4 1 5 Bustermination Festo P BE CMMX EC SW EN en 0912NH Fig 4 4 Pin layout for X1 and X2 No external bus terminations are required The EtherCAT technology module monitors its two ports and terminates the bus independently loop back function 4 5 4 Installation 4 6 Festo P BE CMMX EC SW EN en 0912NH CANopen over EtherCAT CoE Chapter 5 Festo P BE CMMX EC SW EN en 0912NH 5 1 5 CANopen over EtherCAT CoE Contents 5 CANopen over EtherCAT CoE cece cece cece cece nnn 5 1 CANopen communication inte
28. DO Frame Telegram structure Process Data Process Data optional Data content of the PDO Process Data Object Optional data content of additional PDOs To transmit a PDO via the EtherCAT CoE protocol the transmit and receive PDOs must also be allocated to a transfer channel of the Sync Manager in addition to the PDO configuration PDO Mapping see Chapter 6 1 1 Configuring the communi cation interface The data of PDOs for the CMMP AS motor controller is exchanged exclusively via the EtherCAT process data telegram protocol The transfer of CANopen process data PDOs via acyclic com munication mailbox telegram protocol is not supported by the CMMP AS motor controller As all data exchanged via the EtherCAT CoE protocol is for warded internally to the CANopen implementation in the CMMP AS motor controller the PDO mapping is also imple mented as described in the CMMP AS motor controller CANopen manual The figure below depicts this process Festo P BE CMMX EC SW EN en 0912NH 5 33 5 CANopen over EtherCAT CoE Object Dictionary pzzm omn emmmn Mapping Object Object B Object F Application Object Jazzzn jom gt euuunuun PDO Length 32 bit Y eit i PDO1 Object A ObjectB A Fig 5 10 PDO mapping 5 34 The simple forwarding of the data received via CoE to the CANopen protocol implemented in CMMP AS means that the Transmission Typ
29. Device 7 NOV DP RAM Fig 6 19 Overview of found devices Festo P BE CMMX EC SW EN en 0912NH 6 11 6 Commissioning The next dialog box prompts you to search for participants connected to the devices previously found Click Yes to con firm and the connected CMMP AS unit s should appear un der the EtherCAT device Untitled TwinCAT System Manager File Edit Actions View Options Help JOdG WESS sae SYSTEM Configuration BB nic Configuration H E PLC Configuration ME Cam Configuration BA 1 0 Configuration BY 1 0 Devices m E E Device 1 RT Ethernet Device 1 Image amp f Inputs Ql Outputs Device 2 EtherCAT amp Device 2 Image Device 2 Image Info n E H InfoData Term 1 CX1100 0004 p E rom Drive 3 CMMP AS Fig 6 20 CMMP AS under EtherCAT 6 12 Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning 6 5 1 Configuration of process data Festo FHPP From the list select the CMMP AS which is to be operated via the FHPP profile then go to the Process Data tab STEM Conti SYSTEN Configuration Gene EteCAT DC Procees Dats Startup CoE Onine Onine c V Device L RT Ethernet Fe Device 1 tmage Y eus 2 Outputs b Device 2 EtherCAT POO Assignment Ox1C1 2b lo ls a Y Ius b 2 zl index Sue Name Type S E Term 1 1100 0004 0x00 Z SOD USINT O ICHHP 4 W SPOS USINT n m 4 3002 2 SDI
30. EtherCAT for motor controllers CMMP AS Description EtherCAT CMMP AS Description 570 924 en 0912NH 749 128 Contents and general safety instructions Original x scere tU ee valet ses y eer eres de Edito Midas en 0912NH Designation o oooooooooo P BE CMMX EC SW EN Order NOs en te ee re ERR A hy 570 924 Festo AG amp Co KG D 73726 Esslingen 2009 Internet http www festo com E Mail service internationalQfesto com The copying distribution and utilisation of this document as well as the communication of its contents to others without express authorization is prohibited Offenders shall be liable for damages All rights are reserved in particular the right to carry out patent registered design or ornamental design registration Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Adobe and Reader are registered trade marks of Adobe Systems Incorporated in the USA and or other countries Beckhoff and EtherCAT are trademarks of the respective owners in certain countries Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Contents Intended use 2c iecentc ene mU TEES ER RR A ID ERO e UU Ri De wade VI Safety InstructloliS a Sos eu cid has eid Seg Ro wig e RE bp P Ea KDE URN NU ee P Ree VII Target group iceneke de Rr ker teed sews RR REG RR RACER RU RR l Sun Scope Of delivery uscite etre ce erae aee ne Sad ane ka dh ae Ge So ane ak I
31. H 4 Installation 4 1 Pin allocation and cable specifications 4 1 1 Design of plug connectors X1 and X2 RJA5 sockets X1 RJ45 socket at top Uplink to master or a previous station of a series connection e g multiple motor controllers X1 RJ45 socket at bottom Uplink to master end of a series connection or connection of additional downstream stations 4 1 2 Allocation of the plug connectors X1 and X2 PIN Specification 1 Receiver signal RX Wire pair 3 2 Receiver signal RX Wire pair 3 3 Transmission signal TX Wire pair 2 4 Wire pair 1 5 Wire pair 1 6 Transmission signal TX Wire pair 2 7 Wire pair 4 8 Wire pair 4 Tab 4 4 Allocation of the plug connectors X1 and X2 Festo P BE CMMX EC SW EN en 0912NH 4 3 4 Installation 4 1 3 Type and layout of cable Shielded twisted pair STP Cat 5 cables must be used for cab ling Star and line topologies are supported The network structure must conform to the 5 4 3 rule No more than 10 hubs can be cabled in series The EtherCAT technology module contains a hub The total cable length is restricted to 100 m The cable names stated refer to cables made by LAPP and L tze They have proven themselves in practice and are suc cessfully in use in many applications However comparable cables by other manufacturers can also be used Cable length Order number LAPP EtherCAT cable 0 5m 90PCL
32. MMX EC SW EN en 0912NH 5 19 5 CANopen over EtherCAT CoE Sub Index 04h Description PDO Mapping object Number of assigned TxPDO Access rw PDO Mapping no Value Range 0x1A03 first Transmit PDO Default Value 0x1A03 first Transmit PDO 5 1 3 Unsupported CANopen communication objects under CoE When connecting the CMMP AS under CANopen over EtherCAT some CANopen objects which are available under a direct connection of the CMMP AS via CANopen are not supported These objects are listed in the table below Identifier Name Meaning 0x1008 Manufacturer device name string Device name object is not available 0x1009 Manufacturer hardware version string HW version object is not available Ox100A Manufacturer software version string SW version object is not available 0x6089 position notation index Specifies the number of decimal places for displaying the position values in the controller The object is only available as a data container The firmware is not evaluated further 0x608A position dimension index Specifies the unit for displaying the posi tion values in the controller The object is only available as a data container The firmware is not evaluated further 0x608B velocity notation index Specifies the number of decimal places for displaying the velocity values in the controller The object is only available as a data container The firmware is not evaluated
33. R REC NR USINT BS Device 6 OX 100 RESJACT_VAL1 USINT alle Device 6 Image Acte an mer mrs sn n mn routs Dowriosd Losd PDO info hom device GI Outputs FF POO Assignment E 49 Device 7 NOVJOP RAM I poo M Sync Una Assignment GB Marengs DERE Fig 6 21 Process data In the default settings of the XML device description file mo dule 0x0001 is activated in the PDO assignment for the out put channel and module 0x0010 is activated in the PDO as signment for the input channel of the Sync Manager These modules 0x0001 and 0x0010 allow the CMMP AS to be ope rated via FHPP If you also want to use FPC Festo Parameter Channel to al low further parameters to be adjusted for subsequent opera tion you must also activate the 0x0002 module in the output channel and 0x0010 module in the input channel of the Sync Manager Leave the settings in the Download field as they are PDO Assignment activated PDO Configuration deactivated Festo P BE CMMX EC SW EN en 0912NH 6 13 6 Commissioning Link the activated variables to the variables from the pre viously integrated PLC programme Ease Drive 3 CMMP AS QT Inputs Q1 SCON O sPos Of SDIR REC NR Qf RES ACT_VAL1 OT RES DEM VAL2 B1 O RES DEM_VAL2_B2 Q1 RES DEM_VAL2_B3 O RES DEM_VAL2_B4 amp Outputs CCON cros CDIR REC_NR RES DEM VALI RES DEM VAL2 B1 RES DEM_VAL2_B2 RES DEM_VAL2_B3 RES DEM_VAL2_B4 Fig 6 22 Variable assi
34. Service Channel SDO PDO AT Access Ethernet Mapping MDT FoE EoE so CoE i CoE SoE Mailbox Process Data EtherCAT Slave Controller Physical Layer Fig 2 1 2 8 Multiprotocol capable EtherCAT fieldbus system The2 3 EtherCAT protocol section describes the EtherCAT protocol in more detail Festo P BE CMMX EC SW EN en 0912NH 2 Overview The following error detections and diagnostic functions are available to the EtherCAT fieldbus system Broken cable or missing response Incorrect reaction in flow all slaves have not answered Redundant normal operation second Ethernet port Wire redundancy Master redundancy with hot standby Device replacement in running network Hot connect of wire segments For simple interconnection of an EtherCAT compliant device such as the CMMP AS motor controller an XML Extended Markup Language file is generated for each of these devices This XML file describes the device to be addressed and its features in detail and is provided by the manufacturer The existing XML file for the CMMP AS is described in the 45 XML description file chapter Festo P BE CMMX EC SW EN en 0912NH 2 9 2 Overview 2 3 EtherCAT protocol 48 bit 48 bit The EtherCAT protocol is optimised for process data and is transmitted via the Ethernet A separate EtherType 88A4h was defined for the EtherCAT protocol This means that EtherCAT data can be transpo
35. W EN en 0912NH 5 3 5 CANopen over EtherCAT CoE 5 1 1 This Sync Manager and the necessary configuration steps for operating the CMMP AS under EtherCAT CoE are described in the5 1 1 Configuring the communication interface Chapter The additional objects are described in the 5 1 2 New and revised CANopen communication objects under CoE chapter Also some CANopen objects of the CMMP AS which are available under a normal CANopen connection are not sup ported via a CoE connection over EtherCAT The 5 1 3 Unsup ported CANopen communication objects under CoE contains a list of CANopen objects not supported under CoE Configuring the communication interface As already described in Chapter 1 the EtherCAT protocol uses two different transfer types to transmit the device and user protocols e g the CANopen over EtherCAT protocol CoE used by CMMP AS The two transfer types are the mailbox telegram protocol for noncyclic data and the process data telegram protocol for transmitting cyclic data These two transfer types are used for the different CANopen transfer types for the CoE protocol They are used as follows Mailboxtelegram protocol This transfer type is used to transmit the Service Data Objects SDOs defined under CANopen They are trans mitted to EtherCAT in SDO frames They are described in more detail in the 5 4 SDO frame chapter Process data telegram protocol This transfer type is used to transm
36. an lead to da mage to property bodily injury electric shock or in ex treme cases to death 1 5 1 Safety instructions for electric drives and controllers 1 2 Hazards due to improper use Warning High electric voltage and high operating current Danger of death or serious bodily injury due to electric shock Warning High electric voltage due to incorrect connection Danger of death or bodily injury due to electric shock Warning Surfaces of the device housing may be hot Danger of injury Danger of burning Warning Dangerous movements gt P b ip Danger of death serious bodily injury or damage to pro perty due to unintentional movement of the motors 1 6 Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers 1 3 Safety instructions 1 3 1 AN General safety instructions Warning The motor controller complies with protection class IP20 as well as with contamination class 1 Ensure that the working environment also complies with this protection contamination class Warning Use only accessories and spare parts which are approved by the manufacturer Warning The motor controllers must be connected to the mains network in accordance with EN standards and VDE regula tions so that they can be disconnected with suitable un coupling devices e g master switch fuse circuit breaker The motor controller can be fused with a 300 mA all current sensiti
37. ays initiated by the master Slaves may not implement status changes independently The individual statuses and the permitted status changes are described in the following tables and figures Status Description Power ON The device was switched on It initialises itself and switches directly to the Init status Init In this status the EtherCAT fieldbus is synchronised by the master This includes setting up the asynchronous communication between master and slave mailbox telegram protocol There is no direct communication bet ween the master and slave yet The configuration starts saved values are loaded When all devices are connected to the bus and configured the status switches to Pre Operational Pre Operational In this status asynchronous communication between the master and slave is active The master uses this status to set up possible cyclic communica tion via PDOs and use acyclic communication for parametrisation If this status runs without errors the master switches to the Safe Operational status Festo P BE CMMX EC SW EN en 0912NH 5 27 5 CANopen over EtherCAT CoE Status Safe Operational Description This status is used to set the devices connected to the EtherCAT bus toa safe status The slave sends up to date actual values to the master but ignores new setpoint values from the master and uses safe default values instead If this status runs without errors the master
38. b Index 01h Description PDO Mapping object Number of assigned RxPDO Access rw PDO Mapping no Value Range 0x1600 first Receive PDO Default Value 0x1600 first Receive PDO Sub Index 02h Description PDO Mapping object Number of assigned RxPDO Access rw PDO Mapping no Value Range 0x1601 first Receive PDO Default Value 0x1601 first Receive PDO Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Sub Index 03h Description PDO Mapping object Number of assigned RxPDO Access rw PDO Mapping no Value Range 0x1602 first Receive PDO Default Value 0x1602 first Receive PDO Sub Index 04h Description PDO Mapping object Number of assigned RxPDO Access rw PDO Mapping no Value Range 0x1603 first Receive PDO Default Value 0x1603 first Receive PDO Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Object 1C13h Sync Manager Channel 3 Process Data Input This object allows a PDO to be configured for Sync channel 3 Sync channel 3 is permanently assigned for sending Transmit PDOs Master lt Slave In this object the number of PDOs assigned to this Sync channel must be set under subindex 0 The object number of the PDO to be allocated to the channel is subsequently entered in subindices 1 to 4 Only the object numbers of the previously configured Transmit PDOs can be used for this 0x1A00
39. chapters The remaining content of the device description file is fixed and may not be changed by the user Caution A If changes are made to nodes and content other than the RxPDO TxPDO and Mailbox nodes in the device descrip tion file error free operation of the device can no longer be guaranteed 5 8 2 Receive PDO configuration in the RXPDO node The RxPDO node is used to specify the mapping for the Receive PDOs and their assignment to a channel of the Sync Manager A typical entry in the device description file for the CMMP AS motor controller can be as follows lt RxPDO Fixed 1 Sm 2 gt lt Index x1600 lt Index lt Name gt Outputs lt Name gt lt Entry gt lt Index x6040 lt Index gt lt SubIndex 0 lt SubIndex gt lt BitLen gt 16 lt BitLen gt Name Controlword Name DataType UINT DataType Entry Entry lt Index x6060 lt Index lt SubIndex0 lt SubIndex gt lt BitLen gt 8 lt BitLen gt Name Mode Of Operation Name DataType USINT DataType Entry lt RxPDO gt Festo P BE CMMX EC SW EN en 0912NH 5 41 5 CANopen over EtherCAT CoE As the example above shows the entire mapping of the Re ceive PDO is described in detail in such entries The first large block specifies the object number of the PDO and its type This is followed by a list of all CANopen objects which are to be mapped to the PDO The table below describes the individual entries in
40. connections and terminals from 0 to 50 V providing they have protective low voltage PELV Protective Extra Low Voltage Connect only voltages and circuits with safe separation from dangerous voltages Such separation is achieved e g via isolating transformers reliable optocouplers or standalone battery operation Festo P BE CMMX EC SW EN en 0912NH 1 15 1 Safety instructions for electric drives and controllers 1 3 5 Protection against dangerous movements Dangerous movements can be caused by incorrect control of connected motors The causes can be varied Unsafe or faulty circuitry or cabling Faults in operating the components Faults in the measured value and signal generators Defective or non EMC compliant components Errors in the software in the higher level control system These faults can occur immediately after the device is switched on or after an indeterminate period of operation The monitoring functions in the drive components largely exclude the possibility of incorrect operation of the connected drives With regard to the protection of human beings es pecially the danger of bodily injury and or material damage one must not rely on this fact alone Until the fitted monitor ing functions become effective an incorrect drive movement must be expected the extent of which depends on the type of control and on the operating state Warning Dangerous movements Danger of injury or death serious bodil
41. ctable modules and cables may only be used as follows Festo P BE CMMX EC SW EN en 0912NH As intended Only in an industrial environment In perfect technical condition In original status without unauthorized modifications only the conversions or modifications described in the documentation supplied with the product are permitted Observe the safety instructions and use all the compo nents and modules as described in the documentation Observe the standards specified in the relevant chapters as well as the regulations of the trade associations the German Technical Control Board T V the VDE condi tions or relevant national regulations Note the maximum limits of all additional components e g sensors actuators VII Contents and general safety instructions Safety instructions When commissioning and programming positioning systems the safety regulations in this manual as well as those in the operating instructions for the other components used must be observed The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system Access to the possible danger area must be prevented by suitable measures such as shutting them off and warning signs Warning A Electric axes move with high force and at high speed Collisions can lead to serious injuries and damage to com ponents Make sure that nobody can reach into the sphere of in fluence of the axes or other conne
42. cted actuators and that no items are within the positioning range while the system is connected to energy sources Warning Errors in the parametrization can cause injuries and da mage to property Enable the controller only if the axis system has been correctly installed and parametrized VIII Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Target group Service Scope of delivery This manual is intended exclusively for technicians trained in control and automation technology who have experience in installing commissioning programming and diagnosing posi tioning systems Please consult your local Festo Service department or write to the following e mail address if you have any technical problems service_international festo com The master configures each slave via an XML file EtherCAT Device Description This XML file can be downloaded from the internet at www festo com Festo P BE CMMX EC SW EN en 0912NH IX Contents and general safety instructions Important user instructions A LA Danger categories This description contains instructions on the possible dangers which can occur ifthe product is not used correctly These instructions are marked Warning Caution etc printed on a shaded background and marked additionally with a picto gram A distinction is made between the following danger wamings Warning means that failure to observe this instruction ma
43. damage caused by failure to observe the warning instructions in these operating instruc tions Note gt Prior to commissioning you must read all safety instruc tions for electric drives and controllers If the documentation is not clearly understood in this lan guage please inform the supplier The faultless and reliable operation of the motor controller depends on its correct transport storage mounting and in stallation as well as on careful operation and maintenance Note gt Only trained and qualified personnel should be allowed to handle the electrical systems Trained and qualified personnel For the purpose of this manual and the warning instructions on the product itself technicians working with this product must be adequately familiar with the setting up mounting commissioning and operation of the product as well as with all warnings and precautionary measures in accordance with the operating instructions in this product manual and must be sufficiently qualified for this task Training and instructions on or authorization to switch on and switch off devices systems in accordance with techni cal safety standards and to earth and mark them ap propriately in accordance with the application require ments Festo P BE CMMX EC SW E N en 0912NH 1 3 1 Safety instructions for electric drives and controllers 1 4 Training or instructions in using and maintaining suitable safety equipment in accordance with
44. death or considerable damage to property Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers The following precautionary measures also apply without claim to completeness VDE 0100 Regulations for setting up high voltage systems up to 1 000 volts EN 60204 Electrical Equipment of Machines EN 50178 Equipping high voltage systems with electronic devices Festo P BE CMMX EC SW EN en 0912NH 1 9 1 Safety instructions for electric drives and controllers 1 3 2 Safety instructions for assembly and maintenance When assembling and maintaining the system the relevant DIN VDE EN and IEC regulations as well as all national and local safety and accident prevention regulations must always be observed The system manufacturer or the user is respon sible for ensuring that these regulations are observed Warning A The operation maintenance and or commissioning of the motor controller may only be carried out by trained quali fied personnel and with electrical appliances suited for this work Avoiding accidents bodily injury and or material damage Warning A The motor holding brake supplied as standard or an exter nal motor holding brake controlled by the drive controller alone are not suitable for protecting human beings Provide additional support to protect vertical axes from falling or slipping down when the motor is switched off as follows mechanical locking of the
45. description file is in the XML format as is often used for in ternet and web applications and contains information on the following features of the EtherCAT slave devices Information on the device manufacturer Name type and version number of the device Type and version number of the protocol to be used for this device e g CANopen over Ethernet Parametrisation of the device and configuration of the process data EXAMPLE of an XML description file for the CMMP xml version 1 0 encoding UTF 8 gt lt EtherCATInfo Version 0 2 gt lt Vendor gt lt Id gt x1D lt Id gt lt Name gt Festo AG lt Name lt ImageData16x14 424DE60000000000000076000000 28000000100000000E00000001000400000000007000 0000C40A0000C40A00000000000000000000BA79230 0CE962900CC944300DCAD4900D2A36600E2B96900E3 CO7EOOEEDO9800F3D7AEO0F3EOBFOOF7EBCAOOF7EED 800F7EFOOFFF5EDOOFFFFF7OOFFFFFFOOECFDCCCCBDE BECBDB6F9445448D4B647A4F7223126C09225A3E67 B8585B085A3A3A66AA875C276E3A146448625C276E3 B006206005C076E3A3A58B84ABCO76D1A2856772767 16371A033136233315333B013113307214507D99A99 9AS8CO9ABSCFEEEEEEEEFEEEEEFFFFFFFFFFFFFFFFF lt ImageData16x14 gt Vendor Descriptions Festo P BE CMMX EC SW E N en 0912NH 2 13 2 Overview 2 14 lt Groups gt Group SortOrder 1 gt lt Type gt Festo E Drivesc Type Name Lcld 1033 Festo E Drives lt Name Groups Devices Device Physics YY Type ProductCode
46. e differ ent characteristics are listed below No direct transition from Pre Operational after Power On No Stopped status direct transition to the INIT status Additional status Safe Operational The following table compares the different statuses EtherCAT State CANopen NMT State Power ON Power On initialisation Init Stopped Safe Operational Operational Operational mI GI A CU GA c c e m aaa Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 4 SDO Frame 6 bytes All data of an SDO transfer are transmitted via SDO frames in CoE These frames have the following structure 2 bytes 1 byte 2 bytes 1 byte 4bytes 1 n bytes Mailbox Header CoE Header SDO Control Byte index Subindex Data Data NN Data Mandatory Header Standard CANopen SDO Frame Optional Fig 5 8 SDO Frame Telegram structure Mailbox Header CoE Header SDO Control Byte Index Subindex Subindex Data optional Data for mail box communication length address and type Identifier of the CoE service Identifier for a read or write command Main index of the CANopen communication object Subindex of the CANopen communication object Subindex of the CANopen communication object Additional optional data This option is not supported by the CMMP AS motor controller as only standard CANopen ob jects can be addressed The maximum size of these objects is 32 bits In order t
47. e following meaning Index 1C00h Name Sync Manager Communication Type Object Code Array Data Type uint8 Sub Index Description 01h Communication Type Sync Channel 0 Sub Index 00h AAA AA an Description Number of Used Sync Manager Channels Access ro PDO Mapping no Value Range 4 Default Value 4 Access ro PDO Mapping no Value Range 2 Mailbox Transmit Master gt Slave Default Value 2 Mailbox Transmit Master gt Slave Festo P BE CMMX EC SW EN en 0912NH 5 11 5 CANopen over EtherCAT CoE Sub Index 02h pp KK mo o ou DD Description Communication Type Sync Channel 1 Access ro PDO Mapping no Value Range 2 Mailbox Transmit Master lt Slave Default Value 2 Mailbox Transmit Master lt Slave Sub Index 03h a QQ EEE gg PE yn PS Description Communication Type Sync Channel 2 Access ro PDO Mapping no Value Range 0 Unused 3 Process Data Output RxPDO Master gt Slave Default Value 3 Sub Index 04h O CQo o o qq Description Communication Type Sync Channel 3 Access ro PDO Mapping no Value Range 0 Unused 4 Process Data Input TxPDO Master lt Slave Default Value 4 5 12 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Object 1C10h Sync Manager Channel 0 Mailbox Receive This object allows a PDO to be configured for Sync
48. ers A Warning Other work in the vicinity of the machine must only be car ried out when the AC or DC supply is switched off and lok ked Deactivated output stages or deactivated controller enable are not suitable locking conditions In the event of a fault this could lead to unintentional movement of the drive Warning Commission the device with a free running motor in order to avoid mechanical damage e g due to incorrect direc tion of rotation Warning Electronic devices are never fail proof The user is responsible for ensuring that his system is brought into a safe status if the electric device fails Warning The motor controller and in particular the brake resist ance external or internal can become extremely hot which can cause severe bodily burns on contact Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers 1 3 3 Protection against touching electric components This section concerns only devices and drive components with voltages over 50 V It is dangerous to touch components with voltages of more than 50 V as this can cause an electric shock When electric devices are operated certain compo nents in these devices always carry dangerous voltage Warning Dangerous voltage High voltage Danger of death or serious bodily injury due to electric shock The relevant DIN VDE EN and IEC regulations as well as all national and local safety and acc
49. es of the PDOs available for the CANopen protocol for the CMMP AS can be used in addition to CANopen object mapping for the PDOs to be parametrised The CMMP AS motor controller also supports the Sync Mes sage transmission type However the Sync Message does not have to be sent via EtherCAT It is used either for the arrival of the telegram or the hardware synchronisation pulse of the Distributed Clocks mechanism see below for data transfer The EtherCAT interface for CMMP AS supports synchronisa tion via the Distributed Clocks mechanism specified under EtherCAT by means of the use of FPGA module ESC20 The current regulator of the CMMP AS motor controller is syn chronised to this pulse and the PDOs configured accordingly are evaluated or sent Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Refer to the CANopen manual of the CMMP AS motor con troller for more details The CMMP AS motor controller with the EtherCAT interface supports the following functions Cyclic PDO frame telegram via the process data telegram protocol Synchronous PDO frame telegram via the process data telegram protocol The CMMP AS motor controller with the EtherCAT interface supports four Receive PDOs RxPDO and four Transmit PDOs TxPDO Festo P BE CMMX EC SW EN en 0912NH 5 35 5 CANopen over EtherCAT CoE 5 6 5 36 Error Control The EtherCAT CoE implementation for the CMMP AS motor co
50. etrisation software from version 1 2 0 xxx Festo supports the CoE protocol CANopen over EtherCAT in the CMMP with the Beckhoff FPGA ESC20 DS402 and FHPP are supported as data profiles The EtherCAT interface can only be operated in option slot Ext2 Other interface modules cannot then be operated in option slot Ext1 unless the CAMC D 8E8A module is used EtherCAT CAMC EC interface characteristics The EtherCAT interface has the following features Canbe mechanically fully integrated in the CMMP AS series motor controllers EtherCAT conforms to IEEE 802 3u 100Base TX at 100Mbps full duplex Starand line topology Plug connectors RJ45 Electrically isolated EtherCAT interface Communication cycle 1 ms for DS402 profile 2 ms for FHPP profile Max 127 slaves EtherCAT slave implementation based on the Beckhoff FPGA ESC20 Festo P BE CMMX EC SW E N en 0912NH 2 11 2 Overview Support of the Distributed Clocks feature for time syn chronous setpoint value transfer LED displays for ready status and link detect 2 12 Festo P BE CMMX EC SW EN en 0912NH 2 Overview 2 5 XML description file In order to connect EtherCAT slave devices simply to an EtherCAT master there must be a description file for every EtherCAT slave device This description file is comparable with the EDS files for the CANopen fieldbus system or the GSD files for Profibus In contrast to the latter the EtherCAT
51. g Profile FHPP The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo In addition it defines the following largely uniform settings for the user the operating modes 1 0 data structure parameter objects sequence control Fieldbus communication Record selection Direct mode Parametrisation T I 1 Entry Velocit Torque Free access to all 2 parameters read and 3 I write Fig 5 6 The FHPP principle Festo P BE CMMX EC SW EN en 0912NH 5 23 5 CANopen over EtherCAT CoE Control and status data Communication over the fieldbus is effected by way of 8 byte control and status data Functions and status messages re quired in operation can be written and read directly Record selection Saved positioning records can be processed in the Record Select mode For this purpose positioning records are parametrised with the Festo Configuration Tool or taught via FHPP during com missioning Direct mode In the Direct operating mode the important positioning data is transferred directly via the control bytes Target positions velocities and torques can be ascer tained and specified by the controller during run time depending on the operating status There are no limitations relating to the number of saved positioning records Parametrisation The contr
52. g form lt InitCmd gt lt Transition PS lt Transition gt lt Index x6060 lt Index gt lt SubIndex 0 lt SubIndex gt Data 03 Data Commenbvelocity mode lt Comment lt InitCmd gt In the example above status transition PS from Pre Oper ational to Safe Operational sets the operating mode in the CANopen object modes_of_operation to Speed adjust ment The individual subnodes have the following meaning Node name Meaning Adaptable Transition Name of the status transition at which the command isto be Yes run see Chapter 6 2 Communication finite state machine on this Index Index of the CANopen object to be written Yes Subindex Subindex of the CANopen object to be written Yes Data Data value to be written as a hexadecimal value Yes Comment Comment on this command Yes 5 44 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Caution A In a device description file for the CMMP AS motor control ler some entries in this section are pre assigned These entries must remain as they are and may not be changed by the user Festo P BE CMMX EC SW EN en 0912NH 5 45 5 CANopen over EtherCAT CoE 5 9 Synchronisation Distributed Clocks 5 46 Time synchronisation is implemented via so called Distrib uted Clocks in EtherCAT Each EtherCAT slave receives a real time clock which is synchronise in all slaves by the master during the initialisa
53. gnment CANopen DS402 From the list select the CMMP AS which is to be operated via the CANopen DS402 profile then go to the Process Data tab General EtherOAT DC Process Dats Startup CoE Onine Onine EP Device 1 RT Ethernet Fe Device 1 tmage amp S Ins Outputs E P Device 2 EtherCAT SPOS SDIR REC_NR 30 RES ACT_VALI j Gi Outputs a 160 Device 7 NOVJOP RAM Sync Und Asignar 5B Marengs Fig 6 23 Process data 6 14 Festo P BE CMMX EC SW EN en 0912NH 6 Commissioning As the modules for FHPP are automatically activated in the default settings of the XML device description file you must now make changes in the PDO assignment to enable the mo dules for DS402 operation To do so deactivate the 0x0001 module in the PDO assign ment of the output channel and the 0x0010 module in the input channel of the Sync Manager The 0x1600 and 0x1601 modules for the output channel and 0x1A00 and 0x1A01 modules for the input channel can now be activated This disables the modules for FHPP to prevent data inconsistency General EtheCAT DC Process General EtheCAT DC Process Sync Manager Sync Manager 0 16 MbxDut 1 16 Mbaln 16 Outputs 3 16 nout zj POO Assignment 0x1C12 0x1600 wiOxte0t Fig 6 24 PDO assignment 1 POO Assignment 0410135 0x1 ADO wjOx1AOT In addition it is also essential that you change the settings in the Download field to allow the PDO data
54. gram protocol The slave no longer sends actual values to the master and the master no longer sends setpoint values to the slave SI Stop Input Update Stop Mailbox Communication Stop of cyclic communication process data telegram protocol and stop of acyclic communication mailbox telegram protocol The slave no longer sends actual values to the master and the master no longer sends setpoint values to the slave Ol Stop Output Update Stop Input Update Stop Mailbox Communication Stop of cyclic communication process data telegram protocol and stop of acyclic communication mailbox telegram protocol The slave no longer sends actual values to the master and the master no longer sends setpoint values to the slave In the EtherCAT finite state machine the Bootstrap status is also specified in addition to the statuses listed here This status is intended for loading a new firmware to the slave when the EtherCAT protocol is running As the firmware is downloaded via the RS232 interface this status is not implemented for the CMMP AS Festo P BE CMMX EC SW EN en 0912NH 5 29 5 CANopen over EtherCAT CoE 5 3 1 5 30 Differences between the finite state machines of CANopen and When operating the CMMP AS via the EtherCAT CoE protocol the EtherCAT finite state machine is used instead of the CANopen NMT finite state machine This differs from the CANopen finite state machine in several aspects Thes
55. hat the printed circuit board slides into the guides on the sides of the optional slot Push the technology module in as far as possible Then screw the technology module to the motor controller housing using the Phillips screw Ensure that the front panel has conducting contact to the CMMP housing protective earth PE The following elements can be found on the front panel of the EtherCAT technology module LED 1 two colour LED for EtherCAT communication yellow Connection active on Port 1 red Run green LED 2 red for displaying Connection active on Port 2 Two RJ45 sockets Festo P BE CMMX EC SW EN en 0912NH 3 3 3 Assembly The following figure shows the position and numbering of the sockets LED 2 LED 1 X1 X2 Fig 3 3 Position of the elements on the front panel 3 4 Festo P BE CMMX EC SW EN en 0912NH Installation Chapter 4 Festo P BE CMMX EC SW EN en 0912NH 4 1 4 Installation Contents 4 Installation 5 2 eor ex URP ER n E eee we gps 4 4 1 Pin allocation and cable specifications cc eee eee eee eee ee T 4 1 1 Design of plug connectors X1andX2 seeees T 4 1 2 Allocation of the plug connectors X1 and X2 3 4 41 3 Typeandlayoutofcable 2 eee eee eee eee eee eee 4 47 4 1 4 PinlayoutforX1and X2 2 eee ce eee isas v AAS BustermitatiOn osos tae io i wag dod ues 4 7 4 2 Festo P BE CMMX EC SW EN en 0912N
56. he TxPDO node 5 8 4 Ilnitialisation commands via the Mailbox node 5 9 synchronisation Distributed Clocks cee e cece cee eee eeee IV Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions 6 1 6 2 6 3 6 4 6 5 7 1 COMMISSIONING sucio ter rrr et ve e ere ie cee babe eee t Introduction isses dae m ads Pee Res 6 Requirements seire areas ds d Wok Gin eve t em edo lo 647 Important Note temen aaa ri aa 6 O ede e eco iR p Rep a ctp e QURE na days anaes winnaar 6 6 4 1 Configuration using FCT cee eee cece eens 6 Configuration on a Beckhoff PLC cee cc eee eee eee ee 6 97 6 5 1 Configuration of process data eee eee eee eee eee 61 Service functions and error messages eee 7 Operating mode and error messages 02 cece eee ee eee eee 7 7 1 1 Error messages si d e e a ras 7 Technical Appendix 05 00 0005 eser Rr e rhe tees A Technicaldata nein er Ee Rhe rper ERR pa ac ABT Festo P BE CMMX EC SW EN en 0912NH V Contents and general safety instructions VI Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Intended use This manual is intended to help you work safely with the EtherCAT fieldbus system for the CMMP AS motor controller It may only be used in combination with the BE CMMP AS product manual The CMMP AS motor controller and the conne
57. ident prevention regulations must always be observed during operation The system manufacturer or the user is responsible for ensuring that the following regulations are observed Festo P BE CMMX EC SW EN en 0912NH Warning Before switching the device on fit the covers and protec tive screens so that the device cannot be touched For built in devices make sure that there is an external housing such as a control cabinet to ensure that the elec tric components cannot be touched Regulation VGB4 must be observed Warning Always connect the protective earth conductor of the elec trical equipment and the devices firmly to the supply net Work Due to the integrated network filter the leakage current is greater than 3 5 mA 1 Safety instructions for electric drives and controllers Warning Ensure that the minimum copper cross section is observed for the entire length of the protective earth conductor in accordance with standard EN 60617 Warning Before commissioning also for brief measuring and test purposes always connect the protective conductor to all electric devices or connect to an earth cable in accordance with the connection diagram Otherwise high voltages may occur on the housing These could cause an electric shock Warning Do not touch the electrical connection points of the compo nents when the device is switched on Warning Before touching electric components with voltages over 50 V disconnec
58. it the Process Data Objects PDOs defined under CANopen which are used to exchange cyclic data They are transmitted to EtherCAT in PDO frames They are described in more detail in the 3 PDO frame chapter Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE In general these two transfer types allow all PDOs and SDOs to be used exactly as they are defined for the CANopen proto col for CMMP AS Refer to the CANopen manual for the CMMP AS motor controller However parametrisation of PDOs and SDOs for sending ob jects via EtherCAT is different to the settings which must be made under CANopen In order to link the CANopen objects to be exchanged via PDO or SDO transfers between masters and slaves into the EtherCAT protocol a so called Sync Man ager is implemented under EtherCAT This Sync Manager is used to link the data of the PDOs and SDOs to be sent to the EtherCAT telegrams To accomplish this the Sync Manager provides multiple Sync channels which can each implement a CANopen data channel Receive SDO Transmit SDO Receive PDO or Transmit PDO on the EtherCAT telegram Festo P BE CMMX EC SW EN en 0912NH 5 5 5 CANopen over EtherCAT CoE The figure shows how the Sync Manager is linked to the sys tem e e e ESC10 SYNCchannelO 4 Receive SDO SYNCchannel1 4 Transmit SDO EtherCAT Bus SYNCchannel2 4
59. mportant user instructions LL ccc eee eee e eens X Motor controller CMMP AS documentation 0c cece eee cence ee XI Information about the version llle XII Terms and abbreviations 2 cno eres hte mme aa ete a RE RE ey es XY 1 Safety instructions for electric drives and controllers 1 11 General Informatica ur ERE ROBUR E idad 1 1 2 Hazards due to improper use eee cece ce eee rr 1 1 3 Safety instructions ssiec hh eher re RARE YU RR ees 1 1 3 1 Generalsafety instructions cece eee eee eee eee 1 1 3 2 Safety instructions for assembly and maintenance 1 1 1 3 3 Protection against touching electric components 13197 1 3 4 Protection by low voltage PELV against electric shock 1 157 1 3 5 Protection against dangerous movements 1167 1 3 6 Protection against touching hot components 1 1 1 3 7 Protection when handling and assembling 1187 2 Oe Wisin 2 2 1 CANOPEN s aa a 2 2 2 EtherCAT sed ace titi dades 2 87 2 3 Ether CAT protocols iue see eee hee m eee e ce aee a e e ele exe rc 2407 2 4 EtherCAT CAMC EC interface ccc ccc eee eee he 24F 2 5 XML descriptionTile voii De nne nte a e hte 2 157 3 Assembly ioocoricionianiciracor circa iess daria 3 3 1 Installing the EtherCAT interface in the controller o o o oooo 3 Festo P BE CMMX EC SW EN en 0912NH Hl Content
60. ndard DS301 of the CiA This primarily in volves objects for setting up communication between masters and slaves For the CANopen Motion Profile in accordance with CiA 402 most objects which can also be operated via the standard CANopen fieldbus are supported In general the following services and object groups are supported by the EtherCAT CoE implementation in the CMMP AS motor controller Service Data Object Used for normal parametrisation of the motor controller Process Data Object Fast exchange of process data e g actual speed possible Emergency Message Transmission of error messages The individual objects which can be addressed via the CoE protocol in the CMMP AS motor controller are internally for warded to the existing CANopen implementation and pro cessed there For this reason the individual CANopen objects are not listed again in this manual Please refer to the CANopen manual The individual CANopen communication objects are de scribed in the CMMP AS Motor Controller CANopen manual However some new CANopen objects are added under the CoE implementation under EtherCAT which are required for special connection via CoE This is the result of the revised communication interface between the EtherCAT protocol and the CANopen protocol A so called Sync Manager is used to control the transmission of PDOs and SDOs via the two EtherCAT transfer types mailbox and process data protocol Festo P BE CMMX EC S
61. ntroller monitors the following error statuses of the EtherCAT fieldbus FPGA is not ready when the system is started Abus error has occurred An error has occurred on the mailbox channel The follow ing errors are monitored in this case Anunknown service is requested Aprotocol other than CANopen over EtherCAT CoE is to be used Anunknown Sync Manager is addressed All of these errors are defined as corresponding error codes for the CMMP AS motor controller If one of the abovemen tioned errors occurs it is transmitted to the controller via a Standard Emergency Frame See also the 5 7 Emergency Frame chapter ant Service functions and error mes sages chapter The CMMP AS motor controller with the EtherCAT interface supports the following function Application Controller determines a defined error mess age number as a result of an event Error Control Frame Telegram from the controller Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 7 Emergency Frame 6 bytes The master and slaves exchange error messages via the EtherCAT CoE emergency frame The CoE emergency frames are used for direct transfer of the Emergency Messages defined under CANopen The CANopen telegrams are simply tunnelled through the CoE emergency frames as is the case for SDO and PDO transmission 2 bytes 2 bytes 1 byte 5 bytes 1 n bytes Mailbox Header CoE Header Error Registe E
62. o transmit a standard CANopen object via one of these SDO frames the actual CANopen SDO frame is pack aged in an EtherCAT SDO frame and transmitted Festo P BE CMMX EC SW EN en 0912NH 5 31 5 CANopen over EtherCAT CoE Standard CANopen SDO frames can be used for Initialisation of the SDO download Download of the SDO segment Initialisation of the SDO upload Upload of the SDO segment Abort of the SDO transfer SDO upload expedited request SDO upload expedited response SDO upload segmented request max 1 segment with 4 bytes of user data SDO upload segmented response max 1 segment with 4 bytes of user data All above mentioned transfer types are supported by the CMMP AS motor controller As the use ofthe CoE implementation of the CMMP AS only allows the standard CANopen objects to be addressed whose size is restricted to 32 bits 4 bytes only transfer types with a maximum data length of up to 32 bits 4 bytes are supported 5 32 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 5 PDO Frame Process Data Objects PDO are used for cyclic transmission of setpoint values and actual values between the masters and slaves They must be configured in the Pre Operational status by the master before the slave is operated They are then transmitted in PDO frames These PDO frames have the following structure 1 8 bytes 1 n bytes A ee Standard CANopen PDO Frame Optional Fig 5 9 P
63. oller can access all parameter values of the con troller via the fieldbus by means of the parameter channel A further 8 bytes of I O data are used for this purpose 5 24 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE Concept A PLC exchanges the following data with the FHPP 8 byte control and status data Control and status bytes Record number or setpoint position in the output data Feedback of actual position and record number in the input data Additional mode dependent setpoint and actual va lues If required an additional 8 bytes of input and 8 bytes of output data for FPC parametrisation The FHPP protocol stipulates 8 bytes of input data and 8 bytes of output data Of these the first byte is fixed the first two bytes in the FHPP operation modes Record Select and Direct mode It remains intact in each operation mode and controls the enabling of the controller and the FHPP oper ation modes The other bytes are dependent on the FHPP operation mode that was selected Additional control or status bytes and target and actual values can be transmitted here In the cyclic data a further 8 bytes of input data and 8 bytes of output data are permissible to transmit parameters accord ing to the FPC protocol If applicable observe the specification in the bus master for the representation of words and double words Intel Motorola E g in the little endian representation when
64. on mode is to be used Tab 7 7 Error messages 7 4 Festo P BE CMMX EC SW EN en 0912NH Technical Appendix Appendix A Festo P BE CMMX EC SW EN en 0912NH A 1 A Technical Appendix Contents A Technical Appendix iio e RR rte prex ia lead A A 1 CA ma E EC AGROLSIG E ABT A 2 Festo P BE CMMX EC SW EN en 0912NH A Technical Appendix A 1 Technical data Area Values Storage temperature range 25 C to 75 C Operating temperature range 0 C to 50 C Humidity 0 90 non condensing Installation height Up to 1000 m above sea level External dimensions LxWxH Approx 92x65x19 mm Festo P BE CMMX EC SW EN en 0912NH Weight Approx 55g Slot Option slot Ext2 only EtherCAT interface signal level 0 2 5 VDC EtherCAT interface differential voltage 1 9 2 1 VDC A 3
65. pen communication objects from the CiA402 and CiA301 proto col embedded in a different network protocol in this case the CoE EtherCAT protocol ig 2 1 shows the individual protocols of the multiprotocol capable fieldbus system EtherCAT in a diagram The CANopen over EtherCAT protocol CoE protocol used by the CMMP AS motor controller is particularly emphasized As can be seen inrfjg 2 1 the EtherCAT provides the Mailbox protocol for noncyclic communication and the Process Data protocol for exchanging cyclic data on the transmission layer Festo P BE CMMX EC SW EN en 0912NH 2 7 2 Overview These two protocols detect and process the CoE protocol The CANopen communication objects tunnelled in the EtherCAT protocol are transmitted to the CANopen application level implemented in the CMMP motor controller and internally processed in the motor controller as standard CANopen com munication objects The Mailbox telegram protocol is used for acyclic data trans mission e g for the SDO frame telegram for transmitting standard SDO CANopen communication objects The process data telegram protocol is used for cyclic data transmission e g for the PDO frame telegram for transmitting standard PDO telegrams File system HTTP SERCOS CANopen Process Data bootloader HIRSS Application Application TCP UD IDN Object File IP
66. rface eee cece ee eee eee 5 1 1 Configuring the communication interface oooooooo 5 1 2 New and revised CANopen communication objects under CoE 5 1 3 Unsupported CANopen communication objects under CoE 5 2 FHPP profile 5 e e rr ARA RAE REX GPS 5 3 Communication finite state machine 0c cece eee eee eee eens 5 3 1 Differences between the finite state machines of CANopen and dodi ida 5 4 SDO Fi ANG se ome ef bicho ed E venera d Ed hates 5 5 PDO Frame ii A IN RE AUR Ru o nce bn Rer Rede e d 5 6 Error Control vieiras reos 5 7 Emergency FraM exe oru ec uec es Quim qua ex tee Vr ee qoe gb eter ees 5 8 Adaptation of the XML device description file oooooooo 5 8 1 Fundamental structure of the device description file 5 8 2 Receive PDO configuration in the RxPDO node 5 8 3 Transmit PDO configuration in the TxPDO node 5 8 4 Ilnitialisation commands via the Mailbox node 5 9 synchronisation Distributed Clocks cscs cece eee ee ee eees 5 2 Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 1 SDO PDO EMCY CANopen communication interface As already described in Chapter 1 user protocols are tun nelled via EtherCAT For the CANopen over EtherCAT protocol CoE supported by the CMMP AS most objects for the com munication layer are supported by EtherCAT in accordance with CANopen sta
67. rrect handling Bodily injury caused by squeezing shearing cutting im pact The following safety measures apply here Warning Observe the general regulations on setting up and safety when handling and mounting Use suitable mounting and transport devices Take suitable measures to prevent clamping and crushing Use only suitable tools If specified use special tools Use lifting devices and tools in a correct manner If necessary use suitable protective equipment e g protective glasses safety shoes safety gloves Do not stand under hanging loads Wipe up spilt liquids on the floor to avoid slipping 1 18 Festo P BE CMMX EC SW EN en 0912NH Overview Chapter 2 Festo P BE CMMX EC SW EN en 0912NH 2 1 2 Overview Contents 2 OVEN VIOW KH 2 2 1 CANOPEN eoo di dd be Sabie EE n 2 7 2 2 EtHetCAT Loeb reb ertet EIER ER Pe EE des 2 8 2 3 EtherCAT protocol ette hnc mee om mE edere eren he 2407 2 4 EtherCAT CAMC EC interface lle n 2 17 2 5 XML description file cssserreh t e RR Re ca 237 2 2 Festo P BE CMMX EC SW EN en 0912NH 2 Overview 2 1 CANopen CANopen is a standard developed by the CAN in Automa tion association A number of device manufacturers are or ganised in this association This standard has largely replaced the current manufacturer specific CAN protocols As a result the end user has a non proprietary communication interface The following manual
68. rted directly in standard Ethernet frames This type of transmission is always selected when all bus stations are in the same Ethernet sub network For communication beyond the current sub network the UDP IP protocol can be used to transfer the EtherCAT data packets For this purpose the Ethernet header is simply re placed with the UDP IP header The EtherCAT user data is unaffected by this see image fig 2 2 An EtherCAT telegram can consist of multiple sub telegrams which can each operate a memory area of the logical image table up to 4 gigabytes in size The technical data sequence does not depend on the physical sequence of the Ethernet clamps in the network It can be addressed freely The slaves can broadcast multicast and communicate laterally with one another MTU Max 1514 bytes 16 bit 16 bit Destination Source EtherType with Ether Type 88A4h Ethernet H Or via UDP IP with UDP Port 88A4h Embedded in Standard Ethernet Frame 1 n EtherCAT Commands Fig 2 2 EtherCAT telegram structure 2 10 Festo P BE CMMX EC SW EN en 0912NH 2 Overview 2 4 EtherCAT CAMC EC interface The EtherCAT CAMC EC interface allows the CMMP motor con troller to be connected to the EtherCAT fieldbus system Communication via the EtherCAT interface IEEE 802 3u is implemented using the standard EtherCAT cabling and is possible from CMMP from firmware version 3 5 1501 3 x and the FCT param
69. s among others can be obtained from this association CiA Draft Standard 201 207 These documents cover the general principles and embed ding of CANopen into the OSI layered architecture The rele vant points of this book are presented in this CANopen man ual so procurement of DS201 207 is generally not necessary CiA Draft Standard 301 This book describes the fundamental design of the object directory of a CANopen device and access to it The state ments of DS201 207 are also made concrete The elements of the object directory needed for the CMMP motor controller families and the related access methods are described in this manual Procurement of DS301 is recommended but not ab solutely necessary CiA Draft Standard 402 deals with the specific implementation of CANopen in drive controllers Although all implemented objects are also briefly documented and described in this CANopen manual the user should have this book available Source CAN in Automation CiA International Headquarter Am Weichselgarten 26 D 91058 Erlangen Germany Tel 09131 601091 Fax 09131 601092 www can cia de Festo P BE CMMX EC SW EN en 0912NH 2 3 2 Overview 2 4 The CANopen implementation of the motor controller is based on the following standards 1 CiA Draft Standard 301 Version 4 02 13 February 2002 2 CiA Draft Standard Proposal 402 Version 2 0 26 July 2002 Festo P BE CMMX EC SW EN en 0912NH 2 Overview
70. s and general safety instructions 4 Installation 1 ccc cece ccc ccc cece cece nnn 4 1 Pin allocation and cable specifications 0 eee eee eee eee ee 4 1 1 Design of plug connectors X1andX2 eee cece eee eee 4 1 2 Allocation of the plug connectors X1 and X2 4 1 3 Type and layout of cable 2 eee eee ee cece eee eee 4 1 4 Pin layout for X1 and X2 ee ccc cece cee eens 41 5 BusterminatiOW 2 Lr eR RR nas 5 CANopen over EtherCAT CoE eeeeeeeeee nnn 5 1 CANopen communication interface eee ee eee eee eee eee 5 1 1 Configuring the communication interface oooooooo 5 1 2 New and revised CANopen communication objects under CoE 5 1 3 Unsupported CANopen communication objects under CoE 5 2 FHPP profile RM 5 3 Communication finite state machine ccc ccc ee eee eee ee eee 5 3 1 Differences between the finite state machines of CANopen and EtherCAl terrario 5 4 SDO Frame ze e ti abet aca ddan era baee 5 5 PDO Frame cesse met reme xe ne wR aM OS Ewe eS re es 5 6 Error Control viscosa t eR RES UP ERR RO Reb 5 7 Emergency Frame seacaid RU em mU aaah cease RR ERR e Uie qon e d 5 8 Adaptation of the XML device description file oo ooooo 5 8 1 Fundamental structure of the device description file 5 8 2 Receive PDO configuration in the RxPDO node 5 8 3 Transmit PDO configuration in t
71. t the device from the mains or voltage source e Protect the device against being switched on again Warning During installation note the amount of intermediate circuit voltage especially with regard to insulation and protective measures Make sure that the earthing the cross section size of the conductor and the corresponding short circuit protection are correct Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers Warning A The device has an intermediate fast discharge circuit in accordance with EN 60204 section 6 2 4 In certain device constellations particularly where several motor controllers are connected in parallel in the intermediate circuit or with a non connected braking resistance the fast discharge may not have any effect The motor controllers may carry dangerous voltage for up to 5 minutes after being Switched off capacitor residual charge 1 3 4 Protection by low voltage PELV against electric shock Voltages from 5 to 50 V on the connections and clamps of the motor controller are protective small voltages which can be touched without danger in accordance with the following standards international IEC 60364 4 41 European countries in the EU EN 50178 1998 Section 5 2 8 1 Warning High electric voltage due to incorrect connection Danger of bodily injury or death due to electric shock Devices electrical components and cables may only be con nected to
72. tion file for the CMMP AS motor controller It can be downloaded from the Festo home page Its contents will now be described in more detail to permit users to adapt the file to their application The available device description file supports both the DS402 profile and the FHPP via separately selectable modules Festo P BE CMMX EC SW EN en 0912NH 5 CANopen over EtherCAT CoE 5 8 1 Fundamental structure of the device description file The EtherCAT device description file is in the XML format This format has the advantage that it can be read and edited in a standard text editor XML files always describe a tree struc ture It defines the individual branches via nodes These nodes have start and end flags Each node can contain any number of sub nodes EXAMPLE Rough explanation of the fundamental structure of an XML file cap engine pistons 4c pistons valves8c valves lt power gt 78 kW lt power gt engine chassis lt interior interior chassis can The following brief rules must be observed for the structure of an XML file Each node must have a unique name Each node opens with node name and closes with lt node name Festo P BE CMMX EC SW EN en 0912NH 5 39 5 CANopen over EtherCAT CoE The device description file for the CMMP AS motor controller under EtherCAT CoE is divided into the following sub items Node name
73. tion phase The clocks in all slaves are then adjusted during operation This provides a uniform time base in the entire system with which the individual slaves can synchronise The Sync tele grams provided for this purpose under CANopen are unne cessary under CoE The FPGA ESC20 used in the CMMP AS motor controller sup ports Distributed Clocks This facilitates extremely precise time synchronisation The cycle time of the EtherCAT frame must match the cycle time tp of the controller internal inter polator exactly If necessary the interpolator time must be adjusted via the object in the device description file In the present implementation synchronous transfer of PDO data and synchronisation of the controller internal PLL to the synchronous data framework of the EtherCAT frame can be implemented even without Distributed Clocks For this pur pose the firmware uses the arrival of the EtherCAT frame as a time base The following restrictions apply The master must be able to send the EtherCAT frames with an extremely low jitter The cycle time of the EtherCAT frame must match the cycle time tp of the controller internal interpolator exactly The Ethernet must be available exclusively for the Ether CAT frame It may be necessary to synchronise other tele grams to the grid as they may not block the bus Festo P BE CMMX EC SW EN en 0912NH Commissioning Chapter 6 Festo P BE CMMX EC SW EN en 0912NH 6 1 6
74. ve quick acting circuit breaker RCD Residual Current protective Device Warning Gold contacts or contacts with high contact pressure should be used to connect the control contacts Festo P BE CMMX EC SW E N en 0912NH 1 7 1 Safety instructions for electric drives and controllers 1 8 Precautionary measures must be taken to prevent interfer ence to switching systems e g Connecting protective switches and relays with RC elements or diodes You must observe the safety regulations and directives of the country in which the device is to be used Warning The environmental conditions specified in the product do cumentation must be observed Safety critical applications are not permitted if unless ex plicitly approved by the manufacturer Instructions for EMC approved installations can be found in the product manual for the CMMP AS The manufacturer of the system or machine is responsible for ensuring that the limit values required by the national regula tions are observed Warning The technical specifications as well as the connection and installation conditions for the motor controller can be found in this product manual These specifications must be observed at all times Warning The general installation and safety regulations for working on high current systems e g DIN VDE EN IEC or other national and international regulations must be observed Failure to observe these regulations can lead to bodily injury
75. vertical axis external braking safety catch clamping device or sufficient counterbalance of the axis 1 10 Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers A Warning The external or internal brake resistance can cause dange rous intermediate circuit voltage during operation and up to approx 5 minutes after the motor controller is switched off If touched this can lead to fatal or serious injuries Before carrying out maintenance work make sure that the power supply is switched off and locked and that the intermediate circuit is discharged e Disconnect the electrical equipment from the power sup ply via the main switch and make sure that it cannot be switched on again Wait until the intermediate circuit is discharged in the following cases Maintenance work and commissioning Cleaning Extended service interruptions Warning Proceed carefully when mounting During mounting and subsequent operation of the drive ensure that that no drilling shavings metal dust or mounting parts screws nuts pieces of wire fall into the motor controller Also make sure that the external power supply of the control section 24 V is switched off Power to the power section must always be switched off be fore switching off the 24 V power supply to the control sec tion Festo P BE CMMX EC SW EN en 0912NH 1 11 1 Safety instructions for electric drives and controll
76. y injury or material damage 1 16 Festo P BE CMMX EC SW EN en 0912NH 1 Safety instructions for electric drives and controllers For the above mentioned reasons the protection of human beings must be ensured using of monitoring systems or by measures which are of higher order than the system These measures are incorporated depending on the specific find ings of a danger and fault analysis by the system manufac turer The safety regulations applicable to the system must be observed here as well Uncontrolled movements of the ma chine or other incorrect functions can occur as a result of switching off avoiding or failing to activate safety devices 1 3 6 Protection against touching hot components A A Warning Surfaces of the device housing may be hot Danger of injury Danger of burning Warning Danger of burning e Do not touch the surface of the housing in the vicinity of heat sources e After switching devices off leave them for 10 minutes to cool down before touching them If you touch hot parts of the device such as the housing which contains the heat sink and resistors you may burn yourself Festo P BE CMMX EC SW EN en 0912NH 1 17 1 Safety instructions for electric drives and controllers 1 3 7 Protection when handling and assembling Handling and assembling certain components in an unsuit able manner can cause injuries under unfavourable circum stances Warning Danger of injury as a result of inco
77. y result in serious personal injury or material damage Caution means that failure to observe this instruction may result in personal injury or material damage Note means that failure to observe this instruction may result in material damage Electrostatically sensitive devices Inappropriate handling can result in damage to components Festo P BE CMMX EC SW EN en 0912NH Contents and general safety instructions Identification of special information The following pictograms designate texts that contain special information Pictograms Information Recommendations tips and references to other sources of information Accessories Information on necessary or useful accessories Environment Information on the environmentally friendly use of the products Text designations Bullet points indicate activities that may be carried out in any sequence 1 Numerals denote activities which must be carried out in the numerical order specified Hyphens indicate general activities Festo P BE CMMX EC SW EN en 0912NH XI Contents and general safety instructions Motor controller CMMP AS documentation Name CANopen manual This manual is intended to help you work safely with the EtherCAT fieldbus system for the CMMP AS motor controller See the following manuals on the CMMP product family for further information Type code Contents P BE CMMP CO SW Description of the implemented CANopen protocol
78. y specifies the size of the object to be mapped in Yes bits This entry must always correspond with the type of the object to be mapped Permitted 8 bits 16 bits 32 bits Name This entry specifies the name of the object to be mapped asa Yes string Data Type This entry specifies the data type of the object to be mapped Yes See the CANopen manual for the CMMP motor controller for the data types of the individual CANopen objects 5 8 3 Transmit PDO configuration in the TXPDO node The TxPDO node is used to specify the mapping for the Trans mit PDOs and their assignment to a channel of the Sync Manager The configuration is the same as that for Receive PDOs as described in sectio5 8 2 Receive PDO configur ation in the RxPDO node except that the Name node of the PDO must be set to Inputs instead of Outputs Festo P BE CMMX EC SW EN en 0912NH 5 43 5 CANopen over EtherCAT CoE 5 8 4 Initialisation commands via the Mailbox node The Mailbox node in the device description file is used to describe CANopen objects via the master in the slave during the initialisation phase The commands and objects to be described there are specified via special entries These entries specify the phase transition at which this value is to be written Such entries contain the CANopen object number index and subindex as well as the data value to be written and a comment A typical entry has the followin

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