motor controller cmmp-as - festo usa · 2020. 3. 6. · 4.6 modulo positioning ... 4.9 displacement...

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Motor controller CMMP-AS

Manual

CAM editor GSPF-CAM-MC-ML

Manual 752540en 1105a

2 Festo.P.BE-CMMP-CAM-SW-EN en 1105a


Edition ____________________________________________________ en 1105a

Designation ___________________________________ P.BE-CMMP-CAM-SW-EN

Festo SE & Co KG., D-73726 Esslingen, Germany, 2011

Internet: http://www.festo.com

E-mail: [email protected]

The reproduction, distribution and utilisation of this document as well as the communication of its contents to others without explicit authorisation is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to file patent, utility model or registered design applications.

http://www.festo.com/


Index of revisions

Author: SC-PD / chme

Name of manual: P.BE-CMMP-CAM-SW-EN

File name: 752540g1.pdf

File saved at:

Consec. no. Description Index of revisions Date of amendment

001 Creation in German 1007NH 12.07.2010

002 Edit and translation 1105a 15.03.2011

Trademarks

SIMATIC-S7 are registered trademarks of the respective trademark owners in certain countries.

Table of contents


Contents

1. General remarks .................................................................................................... 9

1.1 Scope of delivery ................................................................................................. 9

1.2 Use for intended purpose .................................................................................... 9

1.3 Documentation overview CMMP-AS ................................................................... 10

1.4 Terms related to the cam disc ............................................................................ 11

2. Hardware components ........................................................................................ 12

2.1 Motor controller ................................................................................................. 12

2.2 Motors and encoders ......................................................................................... 12

2.3 Higher-order controller (PLC) ............................................................................. 12

2.4 Connections X10/X11 and connecting cables ..................................................... 13

2.4.1 Output X11 ......................................................................................... 13

2.4.2 Input X10 ........................................................................................... 13

2.4.3 Connecting cable between master and slave ...................................... 14

2.4.4 Topology of the connections between master and slave(s) ................. 14

3. Parametrisation software .................................................................................... 15

3.1 Festo Configuration Tool (FCT) ........................................................................... 15

3.2 FCT plug-in CMMP-AS ........................................................................................ 16

4. Concepts of the cam disc ..................................................................................... 17

4.1 Fundamentals .................................................................................................... 17

4.2 Characteristics of the cam disc function ............................................................. 18

4.3 Physical master ................................................................................................. 19

4.4 Virtual master .................................................................................................... 20

4.5 Master-slave constellations ............................................................................... 21

4.5.1 CMMP-AS as physical master with 3 slaves ......................................... 21

4.5.2 CMMP-AS as virtual master with one slave ......................................... 22

4.6 Modulo positioning............................................................................................ 23

4.6.1 Modulo positioning with physical master ........................................... 23

4.6.2 Modulo positioning with virtual master .............................................. 24

4.7 Electronic gear unit between physical master and slave ..................................... 25

4.8 Basic parameters for a cam disc ......................................................................... 27

Table of contents


4.9 Displacement plan editor ................................................................................... 28

4.9.1 General remarks ................................................................................. 28

4.9.2 Displacement plan editor <-> conventional curve creation ................... 29

4.9.3 Rasterisation of the curve ................................................................... 29

4.9.4 Endless and finite cam discs ............................................................... 31

4.9.5 Creating a curve and selecting a motion law ....................................... 33

4.9.6 Fundamentals on selection of the motion laws ................................... 39

4.9.7 Additional basic logic functions .......................................................... 41

4.9.8 Further optimisations ......................................................................... 45

4.10 Cam switch ........................................................................................................ 48

4.10.1 General remarks ................................................................................. 48

4.10.2 Setting digital outputs ........................................................................ 50

4.11 Activating cam discs .......................................................................................... 51

4.12 Position comparison between master and slave ................................................. 53

4.12.1 With physical master .......................................................................... 53

4.12.2 For the virtual master ......................................................................... 53

4.12.3 CAM-IN ............................................................................................... 54

5. Commissioning examples ................................................................................... 55

5.1 Requirements .................................................................................................... 55

5.2 Example 1: Physical master with a slave ............................................................ 56

5.3 Example 2: Virtual master .................................................................................. 63

6. Control via FHPP .................................................................................................. 66

6.1 Overview of parametrisation: physical master with slave (FNUM=1/2) .............. 67

6.1.1 Control of the physical masters .......................................................... 67

6.1.2 Control of the slave (FNUM=1/2) ........................................................ 67

6.2 Overview of parametrisation: virtual master (FNUM=3) ..................................... 68

6.3 Configuration of the I/O data ............................................................................. 69

6.4 Overview: assignment of the control bytes and status bytes .............................. 70

6.4.1 Control bytes ...................................................................................... 70

6.4.2 Status bytes ....................................................................................... 71

6.5 Description of the control bytes ......................................................................... 72

6.5.1 Control byte 1 CCON ........................................................................... 72

6.5.2 Control byte 2 CPOS ........................................................................... 72

6.5.3 Control byte 3 CDIR (only for direct operation) .................................... 73

6.6 Description of the status bytes .......................................................................... 74

6.6.1 Status byte 1 SCON ............................................................................ 74

6.6.2 Status byte 2 SPOS ............................................................................ 74

6.6.3 Status byte 3 SDIR (only for direct operation) ..................................... 75

Table of contents


6.7 Record selection ................................................................................................ 76

6.7.1 Record control byte 1 (RCB1, PNU 401) .............................................. 76

6.7.2 Record status byte RSB ...................................................................... 77

6.8 Description of the parameters (PNU 700 … 720) ................................................. 78

6.9 Examples for the control and status bytes in FHPP ............................................. 81

6.9.1 Record selection – synchronisation on input X10 (FNUM=1) ............... 82

6.9.2 Record selection - synchronisation on input X10 with cam disc function (FNUM=2) ...................................................................... 83

6.9.3 Record selection – synchronisation on virtual master with cam disc function (FNUM=3) .............................................................. 84

6.9.4 Direct operation – synchronisation on input X10 (FNUM=1) ................ 85

6.9.5 Direct operation – synchronisation on input X10 with cam disc (FNUM=2) ............................................................................ 86

6.9.6 Direct operation – synchronisation on virtual master with cam disc function (FNUM=3) .............................................................. 88

7. Finite state machine FHPP incl. cam disc ............................................................ 90

Table of contents


1. General remarks


1. General remarks

1.1 Scope of delivery

Number Item

1 CD with type designation “GSPF-CAM-MC-ML” with following contents:

- special functions for cam disc function in FCT

- this document (P.BE-CMMP-CAM-SW-…)

Table 1.1 Scope of delivery

1.2 Use for intended purpose

This document describes the cam disc function of the motor controller CMMP-AS. It may be used only in combination with the complete documentation of this controller. The safety instructions in the documentation of all components used must be observed completely.

Warning

Electric axes can move suddenly with high force and at high speed. Collisions can result in serious injuries.

Observe the safety instructions in the documentation of the controller as well as the commissioning instructions described

there.

This documentation considers only the special aspects of the cam disc.

1. General remarks


1.3 Documentation overview CMMP-AS

Document Contents

P.BE-CMMP-AS-3A-HW- Hardware manual: Assembly and installation of a CMMP-AS-3A-…

P.BE-CMMP-AS-11A-HW-… Hardware manual: Assembly and installation of a CMMP-AS-11A-…

P.BE−CMM−FHPP−SW−… General fieldbus description: Control of a CMMP-AS via FHPP

P.BE-CMMP-CO-SW-… CANopen description: Connection of a CMMP-AS to a CANopen network

P.BE-CMMP-FHPP-DN-SW-… DeviceNet description: Connection of a CMMP-AS to a DeviceNet network

P.BE-CMMP-FHPP-PB-SW-… Profibus description: Connection of a CMMP-AS to a Profibus network

P.BE-CMMX-EC-SW-… EtherCAT for the motor controller CMMP-AS

P.BE-CMMP-AS-PB-S7-CAM-

...

For use of the CMMP-AS in combination with a SIMATIC-S7 controller, there

are special function blocks with its own help file.

Help on FCT software The FCT framework and the plug-in CMMP-AS each have their own

integrated help files which describe the interface of the parametrisation

software.

Help on the displacement

plan editor (in German and

English)

The displacement plan editor has its own complex help file with information

on operation of the editor and on the motion laws.

Table 1.2 Documentation overview

Note

This overview does not claim to be complete. Depending on the components and versions used, additional documentation must be considered.

1. General remarks


1.4 Terms related to the cam disc

Term Explanation / reference

Cam disc , cam The motion sequence of a slave dependent on the positions of a master. Cam

disc and cam are used synonymously. See section 4.1 Fundamentals.

Master, master encoder,

master drive

See section 4.1 Fundamentals.

Physical master See section 4.3 Physical master.

Virtual master See section 4.4 Virtual master.

Master setpoint value,

master setpoint

position, time angle, X

value of the cam disc

The specification for the slave on the X-axis of the cam disc The actual position

of the master can deviate from this, see section 4.12 Position comparison

between master and slave and section 4.7 Electronic gear unit between

physical master and slave.

Revolutions, degrees or millimetres are used as units for the X-axis of the cam

disc.

Master period Length of the X-axis of a cam disc. For mechanical cam discs, the period was

usually specified with 0°…360°. See section 4.8 Basic parameters for a cam

disc.

Master start position See section 4.8 Basic parameters for a cam disc.

Cam, trip cam See section 4.10 Cam switch.

CAM-IN See section 4.12.3 CAM-IN.

Modulo See section 4.6 Modulo positioning.

Slave, subsequent drive See section 4.1 Fundamentals.

Setpoint value position

slave, Y-value of the

cam disc

The position at which a slave with active cam disc should stand, dependent on

a master position. Units: Revolutions, degrees or millimetres.

Data points, nodes, grid

points, design points

There are 2 types of data points (also called nodes): the design points that the

user creates in the displacement plan editor by mouse click and the grid points

that are automatically created during rasterisation of the curve. See section

4.9.3 Rasterisation of the curve.

Motion law Mathematical formula used to calculate a course of the curve. See section

4.9.5.

Dwell Standstill of a slave drive, see section 4.9.5.

Straight line Section with constant speed, see section 4.9.7.

Jerk The jerk is the third derivative of the path by time. It represents the change in

acceleration dependent on the time.

Ping The ping is the fourth derivative of the path by time. It represents the change

in the jerk dependent on the time.

Table 1.3 Terms

2. Hardware components



2.1 Motor controller

The motor controllers of the CMMP-AS series are intelligent AC servo converters with

extensive parametrisation possibilities and expansion options. This allows flexible use in a wide range of different applications.

Further information on the CMMP-AS can be found in the documentation shown in section 1.3.

2.2 Motors and encoders

For optimal operation of the cam disc, we recommend motors of the series EMMS-AS.

These servo motors are permanently excited, electrodynamic and brushless.

These motors have integrated digital absolute-value encoders (alternatively: “single turn” and “multi-turn”).

2.3 Higher-order controller (PLC)

For control of a cam disc application via fieldbus, use the fieldbus protocol FHPP. The

required parameters can be found here in chapter 6 Control via FHPP.

Detailed information on connection and operation of the fieldbus networks can be taken

from the corresponding manuals of the CMMP-AS (see documentation overview, section 1.3).

Suitable for control of a cam disc application via fieldbus are the CECX motion controllers

from Festo, for example.



2.4 Connections X10/X11 and connecting cables

In the case of the “physical master” (see section 4.3), the encoder signals are transmitted over the X10 and X11 inputs or outputs.

2.4.1 Output X11

The output X11 delivers an increment-generator signal with the following characteristics:

– TTL (transistor-transistor logic)

– 6 tracks (A, B and zero pulse, each also inverted)

– RS 422

The precise specification and pin allocation can be found in the hardware description according to section 1.3, documentation overview.

2.4.2 Input X10

At the input X10, besides another CMMP-AS, many additional, commercially available

encoders can be connected, such as encoders corresponding to the industry standard ROD426 from Heidenhain or encoders with single-ended TTL outputs as well as “open-collector” outputs.

Alternatively, the A and B track signals from the device are interpreted as pulse direction signals, allowing the controller to be controlled from stepper motor control cards.

The precise specification and pin allocation can be found in the hardware description according to section 1.3, documentation overview.



2.4.3 Connecting cable between master and slave

– Plug: Sub-D, 9-pin

– Cable: straight, not cross-over

– Transmission takes place standard according to RS422.

Note

To avoid problems due to electromagnetic interference (EMC), the individual wires should be twisted in pairs and screened. For transmission rates over 200 kbit/s, the cables should be equipped with a terminating resistor.

Also observe the relationship between transmission rate and maximum cable length.

Pin 5 is optional for cam disc operation (X11 -> X10) and does not have to be connected. This pin is only used to supply external encoders.

2.4.4 Topology of the connections between master and slave(s)

A bus topology is recommended when connecting several slaves.

3. Parametrisation software



3.1 Festo Configuration Tool (FCT)

In order to use the cam disc function, you need the Festo Configuration Tool (FCT). The Festo Configuration Tool is the software platform for configuring and commissioning different components from Festo.

The FCT comprises:

– A framework as program start and entry point with uniform project and data

management for all supported types of devices.

– one plug-in each for the special requirements of a component with the necessary

descriptions and dialogues.

Included in the scope of delivery of the CMMP-AS is a CD with the FCT framework. If it has not yet been done: Install the FCT framework on your computer (system requirements: see CD wrapper).

Administrator rights are required for installation.



3.2 FCT plug-in CMMP-AS

The cam disc function is available starting with the plug-in version 1.3. This, and also the

higher plug-in versions, can be installed parallel to an existing, older version of this plug-in. The old version continues to exist.

If no plug-in CMMP-AS version 1.3 (or higher) is installed:

– Install it from the newest FCT installation CD or

– download it from the “download area”: www.festo.com

The following figure shows selection of the plug-in version when adding a component to a new or existing FCT project:

As soon as the FCT with the plug-in CMMP-AS is installed on your computer, you can also install the cam disc function with help from the CD “GSPF-CAM-MC-ML”. Observe the instructions for installation on the CD wrapper.

If the FCT project was opened while installing the cam disc function, you must close it first. The cam disc function is available starting with the next opening of the FCT projects.

The FCT framework and the plug-in CMMP-AS each have their own help files.

http://www.festo.com/

4. Concepts of the cam disc



4.1 Fundamentals

The term “electronic cam disc” designates applications in which an input angle or an input position is depicted through a function on an angle setpoint value or a setpoint position. A cam disc is thus a fixed allocation of the positions of a master and a slave.

Master and slave are designated as “master encoder” and “subsequent drive”. The master encoder does not necessarily have to be a physical master (see section 4.3), it can also be a virtual master (see section 4.4). A master-slave relationship is normally depicted in a 2-D assignment graph. The horizontal X-axis includes the position of the master, and the vertical Y-axis the position of the slave. And so a statement can be made at any time about the relationship between the two drives.

X: Path master Y: Path slave



4.2 Characteristics of the cam disc function

The cam disc function implemented in the device family CMMP-AS has the following characteristics:

– High flexibility of the system. A conversion of the mechanical system for different requirements of the curve shapes is no longer necessary.

– User-friendly displacement plan editor. All limits for position, speed and acceleration are immediately displayed in the editor.

– Up to 16 cam discs with up to a total of 2048 data points can be managed. The data points can be distributed on the cam discs in any way desired.

– Four cam controllers are coupled on every cam disc (see section 4.10).

– The cam disc can be displaced by a certain amount (offset):

A displaced cam disc has an effect on the connected cam controller!



4.3 Physical master

A “physical” master is a master present as hardware, e.g.

– a CMMP-AS, which emits an emulated encoder signal at the X11 output, or

– an increment generator (e.g. from an assembly line drive).

Example: The master/encoder reports a movement fro 1 => 4. The slave moves correspondingly on a curve from 4 => 1.

To configure a CMMP-AS as a physical master in FCT:

A master does not have to be specially configured as such. It is enough to correctly

parametrise the encoder emulation at the X11 output and there connect an additional CMMP-AS as slave.

In case of the slave, in contrast, it must be specified that it uses the signals at the X10

input as master signals by making the following setting in FCT on the “Cam Disc” page:

If the “physical master” is activated for the slave, additional specifications on the encoder can be made. This does not apply if the master is a CMMP-AS, since the standard settings are already oriented on this. See also section 2.4 Connections X10/X11 and connecting

cables.



4.4 Virtual master

A “virtual” master runs as software on a CMMP-AS that was configured accordingly. As a result, this CMMP-AS is simultaneously master and slave.

The master carries out positioning jobs (e.g. positioning records from the positioning record table) only “virtually”, i.e. it calculates positioning runs to target positions using the parametrised accelerations and speeds. The virtual execution of a positioning job lasts exactly as long as if the connected drive would actually perform the positioning job. But the drive travels the path according to the active cam disc.

Example:

1. When the cam disc is activated, the virtual master is at position “0” (= parametrised master start position). The connected drive (slave) then performs a CAM-IN movement (see section 4.12.3) to position 4.

2. If only one positioning job containing “4” as the target position is started, the virtual master “travels” from position 0 to position 4.

3. But the drive (slave) connected to this CMMP-AS travels the path according to the active cam disc, and so in the figure a curve from position 4 to position 1.

It therefore is a “stand-alone” cam disc application, since the CMMP-AS here is master and slave in one.

The “virtual master” is activated in the FCT plug-in:

The virtual master is controlled by record selection or direct operation. In the case of direct operation, only the positioning mode is possible. Force mode and speed-regulated operation are not possible.



4.5 Master-slave constellations

In the following, options for how several CMMP-AS can work together in one cam disc application are shown as examples.

4.5.1 CMMP-AS as physical master with 3 slaves

Master: In the master, no cam disc is active, that is, the axis connected to it performs

exactly the positioning jobs that are specified by record selection or direct operation.

Slaves: In the FCT, a “physical master” was selected and a separate cam disc created for

each slave. As a result, each slave runs its own “curve”, dependent on the master position.

With three slave drives, a maximum three-dimensional movement in the X-, Y- and Z-direction can be implemented. The speed of the movements (cycle rate) depends on the speed of the master.



4.5.2 CMMP-AS as virtual master with one slave

Slaves can also be connected to a CMMP-AS that was configured as a virtual master.

In FCT, it can be set whether at X11

– the signal of the virtual master or

– the actual values of the slave movement or

– the setpoint values of the slave movement are output.

The setpoint values should preferably be used. The actual values should only be used for coupled systems or when it is important that collisions should not occur in the case of deviations between the setpoint and the actual position (e.g. following error).



4.6 Modulo positioning

Modulo positioning can be used, for example, when the master encoder signal comes from a rotary drive or a belt. If positioning goes above or below the limits of the modulo range, a new modulo segment begins seamlessly.

The range limits should agree with the specifications for the cam disc definition (see section 4.8; same length of the master period).

4.6.1 Modulo positioning with physical master

With a physical master, after activation of the modulo function, only the upper and lower area limit have to be specified.

The upper limit of the travel range is never being taken; upon reaching the upper range limit, the slave controller automatically switches to the lower range limit.



4.6.2 Modulo positioning with virtual master

At the start of a positioning record from the positioning record table, the virtual master simulates travel to the target position using the values for speed and acceleration parametrised in the positioning record. The connected axis travels the path according to the active cam disc.

Note

The time for virtual execution of a positioning record is exactly the same as if no cam disc were active.

The direction of travel through the curve is determined by the settings on the “Cam Disc”

page, tab “Master”: shortest distance, direction always positive/negative or direction from position set.

Warning

In the case of the modulo setting “shortest distance”: Do not specify a target position outside the defined modulo range! In the case of target positions outside the modulo range, positioning is executed as a normal, absolute positioning job.

The upper range limit does not belong to the valid range. In this case, enter the lower range limit as target position.



4.7 Electronic gear unit between physical master and slave

The electronic gear unit simulates a mechanical gear unit between

– the movement of the physical master and

– control of the slave.

The cam disc in the slave is neither compressed nor stretched. Only the control of the slave is “translated”.

Translation has an impact on the X-axis of the cam disc in the slave, i.e. on the master setpoint value.

Example:

The physical master travels from its position 0 to position 2. In FCT, a transmission ratio of 1:2 was parametrised for the slave (input speed:output speed).

Setting for the slave in FCT:



Without translation (i.e. at 1:1), the slave would stop according to the following cam disc:

But with the translation 1:2, a master movement is simulated that is twice as wide: The slave assumes that the master traveled from position 0 to position 4 and so travels

according to its cam disc from position 1 to 3.

For the slave, “4,000” is displayed in FCT in this case as “setpoint value master”, although

the master is at “2” according to its own measuring reference system:

Warning

Since the X-axis of the cam disc in this example is run through twice as fast, the resulting speeds of the slave drive are also twice as high (correspondingly also acceleration and jerk).

And so it can make more sense to modify the cam disc of the slave so that the transmission ratio between master and slave is 1:1.

Comment: The effect of the electronic gear unit corresponds to a change in the parametrised number of increments of the encoder: Assuming that the master sends 1024

increments per revolution, but only 512 increments are parametrised for the slave, the slave will assume with every revolution of the master that the master made two revolutions (if 1:1 is entered as the transmission ratio).



4.8 Basic parameters for a cam disc

Overview:

1 Reference value for dynamic calculations

7 Limit value for speed

8 Limit value for acceleration

The basic parameters are explained in detail in the online help of the FCT plug-in (menu “Help / Dynamic Help”).

1 2

3

4

5

6

7

8

5

6

2

3

4



4.9 Displacement plan editor

4.9.1 General remarks

Individual path curves can be drawn with the displacement plan editor. Together with the time in which a curve should be completely run through, the result is a certain dynamic response for the movements of the slave.

In the following example, it was parametrised that the X-axis of the cam disc should cover 5 revolutions of the master (= period [R] ). Based on the specification that these 5 revolutions are performed in 2000 ms, certain speeds and accelerations result for the slave. The editor shows these values below the path diagram in their own diagrams.

In calculating the dynamic values, the editor takes into account the parametrised limit

values of the drive and, if certain speeds/accelerations are exceeded, the editor reports “conditions violated”. The master would then have to run through the cam disc more slowly to reduce the accelerations/speeds of the slave.



4.9.2 Displacement plan editor <-> conventional curve creation

The function of the electronic cam disc is normally depicted by creating a value table with the points that the drive should travel to in succession. The value table must be filled out by hand. The question whether the acceleration and jerk values that occur will overload the drive can only be clarified through complex individual calculations.

The Festo displacement plan editor, in contrast, makes it possible to set only central design points by mouse-click. The remaining course of the curve is recommended by the program. The speeds and acceleration values that occur are displayed immediately.

4.9.3 Rasterisation of the curve

The Festo displacement plan editor generates a completely smooth curve. The curve is

rasterised when closing the displacement plan editor so it can be saved and processed in the controller. The number of sections of this grid corresponds to the “number of points” specified when defining the curve in FCT.

Since the design points generated by mouse-click do not always lie exactly on the grid, rough rasterisation produces only an imprecise approximation to the course of the curve of the displacement plan editor. To keep this deviation low, using the largest possible number of data points (=grid points) is recommended.

The following figure shows on the left a roughly rasterised curve with only 10 data points (=grid points). The curve on the right, in contrast, has a markedly more precise course, thanks to 200 grid points.



For curves with high dynamic response and high requirements for positioning accuracy, the number of data points used should be as large as possible. A maximum of 2048 points is possible (as sum of all 16 curves).

Note on terminology:

There are 2 types of data points (also called nodes):

– the design points, which the user generates by mouse-click in the displacement plan editor,

– the grid points automatically generated during rasterisation of the curve.



4.9.4 Endless and finite cam discs

Most mechanical cam discs can be endless, i.e. cyclically run through: after one revolution, the cam disc is at the start again and can be run through again in the same direction (or in the opposite direction as well). Together with a module positioning, an endless cam disc must always be used.

The displacement plan editor tries to connect the end of a curve with the beginning (identical Y-values in the diagram):

If a cam disc in the operation should execute less than a complete revolution and then

return, it can be created as finite (acyclical): Beginning and end of the Y-path on the cam disc are far apart; a certain marginal area cannot be run through; the cam disc might even have a stop.

To keep the displacement plan editor from trying to connect the beginning and end to each other, the end points of the curve must lie precisely on the end points of the master

period. Otherwise, the displacement plan editor would try to connect beginning and end

together, but the jumps in speed, acceleration and jerk could in practice not be run or only with strongly reduced speed. In such situations, the displacement plan editor reports when closing that the process shows a jerk at 0/360.



The curve overall is considered defective (“conditions violated”), see the following figure:

With the following curve, the first and last design point are placed directly on the end positions of the master period:



4.9.5 Creating a curve and selecting a motion law

The displacement plan editor has its own help file. There you will find detailed information on operation of the editor and on the motion laws. Only the first steps are presented here.

1) Start the displacement plan editor with the button “Edit Selected Cam Disc No. x”.

2) Insert a “dwell” Click on the button to insert a dwell. A dwell is a movement standstill. During this time, a gripper could open or close, for example. Now run with the mouse pointer over the path diagram. The current mouse pointer position is displayed in the header. Click twice in the diagram, somewhat off-set next to

each other. The result is approximately the following figure:

Repeat the process and insert a dwell again further to the right and up in the path diagram. The editor automatically connects the two dwell sections with curves. The result is approximately the following curve:



Tip: If you wish to insert a dwell that starts at the end of the cam disc and continues at the beginning, you must first set the rear point.

3) Moving of design points/sections If you wish to move the dwell sections: Click again on a design point that you set, move the mouse pointer somewhat away from this position and then click again. The dwell will now be at another position. Alternatively, you can also click on the design points with the right mouse key and in the related dialog type in the desired X-value (“time angle”) and the desired Y-value (“path coordinate”).

4) Deletion of data points

If you wish to delete a dwell: Click on the symbol for the wastebasket and then on a design point. The dwell is deleted completely. In the same way, you can also delete every other design point.



5) Sections

In the following example, the uniform distribution of points results in a symmetrical curve with 4 sections: two dwell phases (<II> and <IV>), a phase in which the drive travels in a positive direction (<I>), and a phase in which the drive travels in a negative direction (<III>):



6) Selecting a different motion law

The movement editor automatically connects the dwell sections with curves, whereby in this example the motion law no. 6 (“Modified Sine”) was used for calculation of the curve (depending on the standard setting: adjustable through the dialog of the button in the menu bar “Edit parameters of displacement plan”). The course of the first and third section are identical at first (except for the direction of movement).

The curve suggested by the editor represents a good compromise for many applications. But you can optimise the suggested curve further by choosing a different motion law, for example. You can select a different motion law for every section of a curve: With the right mouse button, click in the third section (travel in a negative direction). The related dialog window is opened. Enter “34” as the motion law (= polynomial 7th order) and click on “OK”.



7) Effects of the motion laws

The comparison between the first and third section shows what effects the various motion laws have on the course of the curve: With the 7th-order polynomial, the rise of the acceleration (lowest red curve in the following figure) is slower/flatter than with the modified sine.



Through the menu command “Output/individual movement diagram”, you can also view

the related jerk (yellow line): The jerk course is markedly more harmonious with the 7th-order polynomial.



4.9.6 Fundamentals on selection of the motion laws

Which motion law and thus which curve course is optimal for any given application cannot be answered across-the-board.

Often used motion laws are:

– Modified sine (motion law no. 6): Traditionally widely used, feasible compromise for

many applications.

– 5th degree polynomial (motion law no. 4): Contained in VDI Guideline 2143,

traditionally widely used, feasible compromise for many applications.

– 7th degree polynomial (motion law no. 34): Not contained in the VDI guideline. Offers

gentle jerk with simultaneously high maximum acceleration values. Permits starting earlier with the movement and ending it later, and thus increasing the cycle times (see section 4.9.8).

– 11th degree polynomial (motion law no. 11): The acceleration curve has a “cover”.

Low vibration, harmonic, generally usable.

– 15th degree polynomial (motion law no. 50): Similar to the 7th degree polynomial,

but with even less jerk.

In the case of a gentle, i.e. vibration-capable design, e.g. for a toothed belt axis, an

acceleration course that is as round and harmonic as possible with low and constant jerk values should be attempted. A steep acceleration rise with high jerk values results in

vibrations and resonance. Otherwise, relatively long stabilising times must be planned at the end of a movement until the moving mass or tool no longer oscillates.

If positioning should be energy-saving, which also has a positive effect on the

temperature rise of the motors and controllers, the motion laws no. 48 or 49 can be used. But these have relatively high jerk values, which could have negative effects on vibration tendency and the load of the mechanical system.



The characteristics of all 55 motion laws with their specific advantages and disadvantages are explained individually in the displacement plan editor help.



4.9.7 Additional basic logic functions

A) Fit straight lines for synchronous operation

A straight line is a section with constant speed (i.e. acceleration = 0). Such sections can be used for synchronous processing tasks.

There are two options for fitting lines:

Click on a section with the right mouse button and, in the dialog, enter the percentage straight-line share for this section. The percentage refers to the length of the section. The straight line is inserted in the middle.

The following course results:



More options are offered by the special straight-line function

Using the button in the menu bar, insert a section with constant speed (works exactly like insertion of a dwell, see section 4.9.5).

In the dialog windows of the two data points of the straight-line section, you can, for example, determine that the jerk at the start or end of the segment should “= 0”:

You can also enter the lead or speed in the dialog window of the straight-line section.



B) Fit additional data points

If it is important for a movement that the slave drive should be located at a specific position at a specific time, additional data points can be added to the motion sequence for this purpose.

Use only as many additional data points as you absolutely need. The fewer data points used, the more harmonic the motion sequence will be!

C) Insert section with a table of supporting points

With this function, you must first define a range by clicking twice in the path diagram. Then you can add a curve from a stored value table to this section. In various dialogs, you have the option to edit the imported data, adjust the size of the curve and smooth it.



D) Use of reference lines (insert, move, delete)

Through the buttons in the menu bar, you can insert vertical and horizontal lines that work as magnetic catch lines.

Inserting: Click on the desired button. A dialog opens, in which you can enter the positions

of one or more lines.

Moving: Click on the reference line to be moved. Then, at the lower edge of the

displacement plan editor, an entry field appears in which you enter the new position of the line. Alternatively, you can click again on the button and adjust the positions in the related dialog.

Deleting: To delete a reference line, use the wastebasket button from the menu bar or the

relevant reference line button again with the related dialog.



4.9.8 Further optimisations

A) Shifting times at which a movement begins or ends

In the case of low-jerk movements with gentle acceleration starts, only a very small path, which is uncritical in relation to the dwell phase, is traveled at the start of the movement. Example: If the dwell serves to let a gripper open or close completely, a minimum change of location at the start of the movement should not hinder the safe opening or closing of the gripper. The start of the movement can be moved forward or the end of the movement can occur later. This permits a gentler and more harmonic motion sequence with simultaneously higher cycle rate. In the following example, in the right figure, the start of the movement was moved forward

and the end of the movement was moved backward. A markedly flatter acceleration curve results, even though the drive practically stands still in the area of the previous dwell.



B) Shifting of speed and acceleration values of data points

At data points, there is the option to change curves directly by shifting the speed and acceleration values. The following example has a disadvantageous jump in acceleration at the right data point (left figure). If you click on the acceleration point with the mouse and move it downward somewhat, the result is the smoothed acceleration curve in the right figure:

Tip: With the button “Edit parameters of displacement plan” in the dialog for basic settings, you can activate an online drag mode through the setting “Drag mode with

maximized course with svaj diagram?” (only recommended for fast computers).



C) Different acceleration / braking

It might be that a drive can accelerate very strongly, but braking must be very gentle. This can be achieved by shifting the centre point of a section, for example.

In the following example, the centre point of the section was shifted forward. As a result, less time remains for acceleration and more time for braking.

You can set this in the related section dialog using the “inflection point parameter”:

Sections always go from 0…1. A value of 0.5 represents the centre of the section, a value of 0.25 precisely the limit of the front quarter. Enter the values with a point as decimal separator.



4.10 Cam switch

4.10.1 General remarks

The term “cam switch” describes assignment of a logical level to position or angle information. The term comes from the trip cam, attached to a shaft, that actuated switch contacts at certain positions. A similar function can be used in the case of an electronic cam switch. See the following sketch:

Each cam disc has 4 cam switches, each of which can have several cams. The cams are actuated dependent on the master position.

The cams can be inserted using the right mouse button and then made larger/smaller by dragging with the mouse. Dragging to size 0 deletes a cam.

The start and end of cams can only be on grid data points. If there

are high requirements for the switching precision of cams, a large number of grid data points must be specified. See section 4.9.3 Rasterisation of the curve.



In the following example, cam switch no. 1 has two cams: The first cam is actuated when

the X-position lies between 1 and 2, the second cam when the X-position lies between 3 and 4.

The cams can either be interrogated via FHPP or mapped onto digital outputs.

Interrogation via FHPP: You can read the status of the cams (actuated/not actuated) out of the PNU 311/02. See FHPP description according to section 1.3 Documentation overview CMMP-AS.



4.10.2 Setting digital outputs

Make the following settings in FCT if a digital output should be set dependent on the cam actuation:

On the “Application Data” page in the “Operating Mode Settings” tab: Activate “Position Trigger”.

On the “Position Trigger” page: Assign the desired cam switch (here no.1) to a position trigger (here: #1).

On the “Digital Outputs” page: Assign Position Trigger #1 to a digital output (here: DOUT2).



4.11 Activating cam discs

During commissioning, you can activate cam discs via FCT.

In operation, you can activate cam discs via Fieldbus/FHPP or Digital Inputs.

Note

A cam disc should only be activated when the master is at rest!

If the master moves during activation, this can result in setpoint jumps and following errors.

To activate via Digital Inputs, do the following:

On the “Digital Inputs” page in the “CAM” tab: For the previously created curves, select one digital input each from the selection menu. In the following figure, cam disc no. 1 is activated when the digital input DIN3 is set.

In the “Assignments” tab, you can then establish possible double assignments of the

digital inputs:

Note

Multiple assignment of digital inputs should be avoided. Functions/signals with high priority can prevent activation of a curve.



Significance of the colours:

Grey: The input is not assigned.

Green: The input is assigned once.

Yellow: The input is assigned twice.

Red: The input is assigned at least three times.

For activation of cam discs via fieldbus: See chapter 6.



4.12 Position comparison between master and slave

4.12.1 With physical master

Only incremental signals are transmitted via the master-slave connection. A position

comparison between master and slave must therefore be carried out after switch-on. This can occur as follows:

– The master travels at the beginning to its defined start position (e.g. X=0).

– For the slave, it was specified in FCT that the master setpoint value should be set to “0” when a cam disc is activated. And so, after activation of the cam disc in the slave, both the real position of the master and the specified position for the slave are at position 0.

The slave might execute a CAM-IN movement (see section 4.12.3).

4.12.2 For the virtual master

During activation of a cam disc, the master position is set to X=0 or to the parametrised start value for this cam disc.

The connected axis travels with the defined CAM-IN values to the Y-position assigned to this start position according to the cam disc.

Example:

The drive is at position X=5. When the cam disc is activated, the position is set to X=4, since this was specified in the cam disc as the starting value (= master start position, see section 4.8).

Subsequently, the connected axis moves with CAM-IN velocity to Y=1.

After completion of the CAM-IN movement, positioning records from the positioning record table can be executed “virtually”. The connected axis travels the path according to the active cam disc.



4.12.3 CAM-IN

A CAM-IN movement is always executed when, during activation of a cam disc, the slave axis is not at the Y-value at which it should be according to its cam disc and according to the X-value of the control through the master.

For the CAM-IN movement, the settings are used that can be made in FCT on the “Cam Discs” page in the “CAM-IN” tab:

To indicate that the drive is in a CAM-IN movement, this signal can be mapped via FCT onto digital outputs (“Digital Outputs” page). In this way, it can also be signaled that the drive has reached the curve starting point (CAM-IN movement completed).

If the drive moves when a cam disc is deactivated, braking takes place with the deceleration (brake ramp) that was set with the CAM-IN parameters.

If the drive leaves the defined master period of the cam disc, the drive is also braked (brake ramp not parametrisable).

For the virtual master:

If a positioning record is started during a CAM-IN movement, the CAM-IN movement is run to the end. The started positioning record is then executed without the need for a new START signal.

For a combination of physical master and a slave:

Note

A cam disc should only be activated when the master is at rest!

If the master moves during activation, this can result in setpoint jumps and following errors.

5. Commissioning examples



5.1 Requirements

Warning



there.

This documentation considers only the special aspects of the cam

disc.

The following step-by-step examples show how controllers of type CMMP-AS can be parametrised for a cam disc application.

A requirement for verification of these examples is that the controllers, motors and axes are set up completely, wired and provided with electricity. In addition, basic

commissioning must have taken place. The controllers must be ready to accept

positioning jobs.



5.2 Example 1: Physical master with a slave

Step 1

Insert two CMMP-AS into your FCT project (menu “Component / Add”). Call them “master” and “slave”, for example.

Execute all parameter settings as well as commissioning as would be necessary without a cam disc.

Warning



there.




Step 2

For the master: On the “Application Data” page in the “Operating Mode Settings” tab, activate the option “Encoder Emulation X11”.

On the “Encoder Emulation” page: Check the settings and adjust them if necessary.



Step 3

For the slave:

On the “Application Data” page: Activate the “Cam Disc” option.

On the “Cam Disc” page in the “Master” tab: Activate the “Physical Master (X10) ” option.

Also specify whether the master's travel is rotative or linear. The option “Reset Master Setpoint … ” causes the slave to assume that the master is at position 0 when the cam disc is activated.

The position comparison between master and slave is described in

section 4.12.

The modulo function is described in section 4.6.

Under “Encoder Data (X10) ”, you can parametrise an “electronic

gear unit”, see section 4.7.



Step 4

Change to the Cam Switch and enter the basic parameters for a cam disc.

The basic parameters are explained in section 4.8.

Then click on “Edit Selected Cam Disc No. x”.

In the displacement plan editor: Create a curve.

The first steps in creating a curve in the displacement plan editor are explained in section 4.9.5.

After creation of the curve: Click on the “X” in the upper right to close the displacement plan editor.



Step 5

In FCT, the course of the curve is displayed in the Cam Switch. Insert cams if needed.

Insertion of cams and display of the cam actuation using digital outputs is described in section 4.10.

Step 6

Change to the “CAM-IN” tab and enter appropriate values.

The CAM-IN movement is described in section 4.12.3.



Step 7

For both master and slave:

Establish an online connection and execute a download to the controller. Using the “Store” button, store the project in the devices and restart the controllers: “Component/Restart Controller” (especially for CANopen applications, since a CAN reset is usually sent here before a start).

Then set the FCT device control (“FCT” and “Enable”).

For the master: Execute homing (if necessary) and run the master to position “0”.

For the slave:

Execute homing (if necessary).

Change into “Project Output, Cam Disc”.

Activate a cam disc by selecting it in the “Choice” menu. If you selected the option “Reset master setpoint when activating a cam disc” in the “Master” tab, the master specification is set to “0”. The slave travels with the CAM-IN parameters to its start position, in the example to “2.5”.



Step 8

In the master, enter a positioning record, e.g. for travel from position 0 to 5, and execute the positioning record.

The slave will travel from position 2.5 to 7.5 according to the cam disc displayed under step 5.



5.3 Example 2: Virtual master

Step 1

Insert a CMMP-AS in your FCT project.

Parametrise it completely and execute commissioning, as is necessary even without the cam disc function.

Warning



there.


Step 2

On the “Application Data” page in the “Operating Mode Settings” tab: Activate the “Cam Disc” option.



Step 3

On the “Cam Disc” page in the “Master” tab: Activate the “Virtual Master” option.

If necessary: Activate modulo positioning and specify the area limits.

The modulo function is described in section 4.6.

Steps 4 … 6

Steps 4 to 6 correspond to those for parameter setting in section 5.2 Example 1: Physical master with a slave.

Create a curve with cams as described there.

Step 7

Establish an online connection and execute a download to the controller. Using the “Store”

button, store the project in the device and restart the controller: “Component/Restart Controller” (especially for CANopen applications, since a CAN reset is usually sent here before a start).

Then set the FCT device control (“FCT” and “Enable”).

Execute homing (if necessary).



Change into the “Project Output, Cam Disc”.

Activate a cam disc by selecting it in the “Choice” menu. When the cam disc is activated, the master position is set to the value specified in the cam

disc definition in the “Cam” tab. The connected drive travels to its start position with the CAM-IN parameters.

Step 8

Enter a positioning record on the “Positioning Record Table” page and execute the positioning record.

The connected drive travels the curve depicted under step 5.

6. Control via FHPP


6. Control via FHPP

The CMMP-AS has the option to manage 16 cam discs with 4 assigned cam switches each. This chapter describes how this function can be used with the help of FHPP.

The CMMP-AS offers the option to implement the following applications over FHPP:

1. Synchronisation onto external input, slave mode (pure synchronisation) => function number FNUM=1

2. Synchronisation onto external input with cam disc (i.e. physical master with slave) => function number FNUM=2

3. Virtual master with cam disc

=> function number FNUM=3

The function number FNUM is transferred in the record control byte 1 (RCB1) or FHPP control byte 3 CDIR, see the following sections.

6. Control via FHPP


6.1 Overview of parametrisation: physical master with slave (FNUM=1/2)

6.1.1 Control of the physical masters

In controlling the physical master, no cam-disc specific special features need to be observed (standard FHPP: record selection or direct operation).

6.1.2 Control of the slave (FNUM=1/2)

The slave can be controller via fieldbus either by record selection or direct operation.

For record selection:

1. You pass on the desired record number over the FHPP control byte 3. 2. In the record control byte 1 (RCB1), you determine whether a positioning record

should be executed as a normal positioning record or whether the drive should run down a cam disc instead. This happens through an entry in the subindices of PNU 401: Set bit 7 (FUNC) to “1” and choose the desired function via bit 3 and 4 (FNUM).

3. Parametrise the cam disc number individually for every record over the subindices of

PNU 419. If no cam disc number is stored in PNU 419, the controller uses the cam disc number according to PNU 700.

4. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.

Examples for configuration of the controller: see sections 6.9.1 and 6.9.2.

With direct operation:

1. You determine in the FHPP control byte 3 CDIR that the slave synchronises on X10: Set

bit 7 (FUNC) to “1” and choose the desired function via bit 3 and 4 (FNUM). 2. You pass on the desired cam disc number via PNU 700.

(The cam disc number can also be mapped in FHPP+). 3. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.

Examples for configuration of the controller: see section 6.9.4 and 6.9.5.

6. Control via FHPP


6.2 Overview of parametrisation: virtual master (FNUM=3)

Control of a virtual master can be through record selection or direct operation.


1. You pass on the desired record number over the FHPP control byte 3. 2. RCB1: In “record status byte 1”, it can be established for each record in the

positioning record table individually whether it should be executed as a normal positioning record or the drive should run down a cam disc instead. This takes place using the subindices of PNU 401: Set bit 7 FUNC=1 and bit 3/4 FNUM=3 so that the record is executed as a virtual master with cam disc. Observe: The abs/rel-bit is valid here for the master and not for the slave! The PNUs 402 … 4xx also apply for the master. If record chaining is desired, the RCB2 must also be parametrised.

3. Cam disc number: A cam disc is assigned either by storing a cam disc number in PNU

419 for the preselected positioning record or by storing a cam disc number in PNU 700 that then applies as standard for all positioning records for which no other determination was made.

4. Start: The cam disc mode is started through a rising edge at the START bit CPOS.B1.

The start applies both for the virtual master and the connected drive (slave).

Examples for configuration of the controller: see section 6.9.3.


1. In the FHPP control byte 3 CDIR: The virtual master is selected with FUNC=1 and

FNUM=3. The bit CDIR.B0 establishes whether the position setpoint values should be interpreted absolutely or relatively. CDIR.B1 and B2 must be at 0 (always position control).

2. The virtual master is active as soon as a rising edge occurs at CPOS.B1 START.

Examples for configuration of the controller: see section 6.9.6.

6. Control via FHPP


6.3 Configuration of the I/O data


FHPP - record selection

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

Output

data CCON CPOS Record no. – –

Input data SCON SPOS Record no. RSB Actual position


FHPP - direct operation

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

Output

data CCON CPOS CDIR

Setpoint

value 1 Setpoint value 2

Input data SCON SPOS SDIR Actual

value 1 Actual value 2

6. Control via FHPP


6.4 Overview: assignment of the control bytes and status bytes

6.4.1 Control bytes

CCON

B7 B6 B5 B4 B3 B2 B1 B0

OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE

Operating mode

selection

Block MMI

access – Reset fault

Release

brake Stop Enable drive

CPOS

B7 B6 B5 B4 B3 B2 B1 B0

CLEAR TEACH JOGN JOGP HOM START HALT

–

Delete

remaining

path

Teach

value

Jog

negative

Jog

positive

Start

homing

Start

positioning

job

Halt

CDIR *)

B7 B6 B5 B4 B3 B2 B1 B0

FUNC FGRP FNUM COM2 COM1 ABS

Execute

function Function group Function number

Control mode

(position, force …)

Absolut

e/Relati

ve

*) only for direct operation. In the case of record selection, the record number is transferred in

control byte 3. The function of CDIR then takes over PNU 401 + subindex.

6. Control via FHPP


6.4.2 Status bytes

SCON

B7 B6 B5 B4 B3 B2 B1 B0

OPM2 OPM1 FCT/MMI VLOAD FAULT WARN OPEN ENABLED

Operating mode

acknowledgement

Higher-order

controller

with FCT/MMI

Load

voltage

applied

Malfunction Warning Operation

enabled

Drive

enabled

SPOS

B7 B6 B5 B4 B3 B2 B1 B0

REF STILL DEV MOV TEACH MC ACK HALT

Drive

referenced

Dwell

monitoring

Following

error Axis moves

Confirmation

of teaching

or sampling

Motion

complete

Acknow-

ledge start Halt

SDIR *)

B7 B6 B5 B4 B3 B2 B1 B0

FUNC FGRP FNUM COM2 COM1 ABS

Funct. being

executed

Function group

acknowledgment

Function number

acknowledgment

Control mode

acknowledgment

Absolute /

relative

*) only for direct operation. In the case of record selection, the record number is transferred in

status byte 3. The RSB (record status byte) is then transferred in status byte 4.

6. Control via FHPP


6.5 Description of the control bytes

6.5.1 Control byte 1 CCON

All statuses that must be available in all operating modes are controlled with CCON.

Bit DE EN Description

B0

ENABLE

Antrieb (Regler)

freigeben

Enable

Drive

= 1: Enable drive (controller)

= 0: Disable drive (controller)

B1

STOP

Stopp STOP = 1: Enable drive

= 0: STOP active (Emergency ramp. Cancel positioning job)

…

B6+ B7

OPM1

OPM2

Betriebsartenwahl Select

Operating

Mode

= 00: Record selection (standard)

= 01: Direct operation

= 10: Reserved

= 11: Reserved

6.5.2 Control byte 2 CPOS

CPOS controls the positioning sequences as soon as the drive is enabled.


B0

HALT

Halt HALT = 1: Halt is not active

= 0: Halt activated. (Braking ramp. Does not cancel positioning

job).

B1

START

Start

Fahrauftrag

Start

Positioning

Task

When the cam disc function has been selected via the FUNC

bits, the cam disc mode is started with a rising START edge.

The START bit can then be reset again without ending the cam

disc mode.

This applies correspondingly for pure synchronisation as well

(for FNUM=1).

…

6. Control via FHPP


6.5.3 Control byte 3 CDIR (only for direct operation)

Control byte 3 in direct operation describes the type of positioning task more precisely.


B0

ABS

Absolut/

Relativ

Absolute/ Relative = 0: Setpoint value is absolute

= 1: Setpoint value is relative to the last setpoint

B1

COM1

Regelmodus

Control Mode = 00: Position control

= 01: Pressure/force control

= 10: Rotational speed / velocity

= 11: Reserved B2

COM2

B3 - B4

FNUM

Funktions-

nummer

Function Number B3 – B4 are interpreted together as a number.

Value Significance

0 Reserved

1 Synchronisation on external input

2 Synchronisation on external input with cam disc

function (i.e. slave with physical master)

3 Synchronisation on virtual master with cam disc

function

B5 - B6

FGRP

Funktions-

gruppe

Function Group B5 – B6 are interpreted together as a number.

Value Significance

0 Synchronisation with/without cam disc

1 Reserved

2 Reserved

3 Reserved

B7

FUNC

Funktion

ausführen

Execute

FUNCtion

= 0: Normal job

= 1: Execute function (bit 3…6)

For the function numbers 1 and 2 (pure synchronisation or synchronisation with cam disc), the bits B0 … B2 are not relevant (always position control).

6. Control via FHPP


6.6 Description of the status bytes

6.6.1 Status byte 1 SCON


B0

ENABLED

Regler

freigegeben

Drive Enabled = 0: Drive blocked, controller not active

= 1: Drive (controller) enabled.

B1

OPEN

Betrieb

freigegeben

Operation

Enabled

= 0: Stop active

= 1: Operation enabled, positioning possible

…

B6

OPM1

Rückmeldung

Betriebsart

Display

Operating Mode

= 00: Record selection (standard)

= 01: Direct operation

= 10: Reserved

= 11: Reserved B7

OPM2

6.6.2 Status byte 2 SPOS


B0

HALT

Halt HALT = 0: Halt is active

= 1: Halt is not active, drive can be moved

B1

ACK

Bestätigung

Start

ACKnowledge

Start

= 0: Ready for start (homing, jog)

= 1: Start executed (homing, jog)

…

6. Control via FHPP


6.6.3 Status byte 3 SDIR (only for direct operation)


B0

ABS

Absolut/

Relativ

Absolute/

Relative

= 0: Setpoint value is absolute

= 1: Setpoint value is relative to the last setpoint

B1

COM1

Rückmeldung

Regelmodus

Control Mode = 00: Position control

= 01: Pressure/force control

= 10: Rotational speed / velocity

= 11: Reserved B2

COM2

B3 - B4

FNUM

Rückmeldung

Funktions-

nummer

Function

Number

B3 - B4 are interpreted together as a number.

Value Significance

0 CAM-IN/OUT / change active



function (i.e. slave with physical master)


function

B5 - B6

FGRP

Rückmeldung

Funktions-

gruppe


Value Significance


1 Reserved

2 Reserved

3 Reserved

B7

FUNC

Funktion Function = 0: Normal job

= 1: Function is executed (bit 3…6)

6. Control via FHPP


6.7 Record selection

6.7.1 Record control byte 1 (RCB1, PNU 401)

The record control byte 1 (RCB1) is transferred into PNU 401. Every positioning record has its own subindex: The record control byte of positioning record 1 is in PNU 401/01, that of positioning record 2 in PNU 401/02, etc.

Bit 0

ABS

= 0: Setpoint value is absolute

= 1: Setpoint value is relative to the last setpoint/switch-further value

Bit

1..2

COM1

COM2

= 00: Position control

= 01: Force control/torque control

= 10: Rotational speed/velocity control

= 11: Reserved

Bit

3..4

FNUM

B3 – B4 are interpreted together as a number.

Value Significance

0 Reserved


2 Synchronisation on external input with cam disc function

3 Synchronisation on virtual master with cam disc function

Bit

5..6

FGRP


Value Significance


1 Reserved

2 Reserved

3 Reserved

Bit 7

FUNC

= 0: Normal job

= 1: Function / execute macro ( FGRP / FNUM )

For FNUM=1 or 2, bit 0 … 2 are without significance (always position control).

For FNUM =3, bit 0 applies for the virtual master, bit 1 and 2 are without significance (always position control).

6. Control via FHPP


6.7.2 Record status byte RSB

For record selection, the record status byte of the active positioning record is transferred in the FHPP status byte 4.


Bit 0

RC1

1.Satzweiter-

schaltung

durchgeführt

1st Record

Chaining Done

= 0: A step criterion was not configured/achieved

= 1: The first step criterion was achieved

Bit 1

RCC

Satzweiterschal

tung ausgeführt

Record Chaining

Complete

Valid, as soon as MC present.

= 0: Record chaining interrupted. At least one step condition

was not achieved.

= 1: Record chain was processed to the end.

Bit 2 – – Reserved

Bit

3..4

FNUM

Rückmeldung

Funktions-

nummer

Function

Number


Value Significance

0 CAM-IN/OUT / change active



function


function

Bit

5..6

FGRP

Rückmeldung

Funktions-

gruppe


Value Significance


1 Reserved

2 Reserved

3 Reserved

Bit 7

FUNC

Funktion Function = 0: Normal job

= 1: Function is executed (bit 0..6 = function number)

Bit 0 and 1 are of significance only for virtual master (FNUM=3) if record chaining was

parametrised.

6. Control via FHPP


6.8 Description of the parameters (PNU 700 … 720)

Allocation Name Access PNU IND Type

Cam disc Cam disc number rw 700 -- uint8

Master start position virtual master rw 701 -- int32

Synchronisation

(input X10)

Input configuration rw 710 -- uint32

Gear ratio rw 711 1..2 uint32

Encoder

emulation

(output X11)

Output configuration rw 720 -- uint32

FHPP 700 -- Optional uint8

Name DE/EN Kurvenscheibennummer CamID (cam disc number)

Description

The cam disc is selected with this parameter.

Value range 1 ... 16

Read/write rw

FHPP 701 -- Optional int32

Name DE/EN Masterstartposition

Description

For virtual master, establishes the start position of the master.

Read/write rw

6. Control via FHPP



Name DE/EN Eingangskonfiguration Synchronisation Input Config Sync.

Description

For CMMP-AS:

Bit Function Values

0 Ignore zero pulse Bit 0 = 1: without zero pulse

bit 0 = 0: with zero pulse

1 Reserved –

2 Switch off A/B track Bit 2 = 1: without A/B track

bit 2 = 0: with A/B track

… ... ...

Read/write rw

FHPP 711 1..2 Optional uint32

Name DE/EN Getriebefaktor Synchronisation Gear Sync.

Description

Gear ratio with synchronisation on external input (slave mode)

SI Description

1 Motorumdrehungen (Antrieb) Motor revolutions

2 Spindelumdrehungen (Abtrieb) Shaft revolutions

Read/write rw

6. Control via FHPP



Name DE/EN Ausgangskonfiguration

Encoderemulation

Output Config Encoder Emulation

Description

For CMMP-AS:

Bit Function Values

0 Switch off A/B track Bit 0 = 1: without A/B track

bit 0 = 0: with A/B track

1 Suppress zero pulse Bit 1 = 1: without zero pulse

bit 1 = 0: with zero pulse

2 Reversal of direction of

rotation

Bit 2 = 1: with reversal of direction

bit 2 = 0: without reversal of direction

… ... ...

Read/write rw

6. Control via FHPP


6.9 Examples for the control and status bytes in FHPP

On the following pages you will find typical examples of control and status bytes of the cam disc function:

6.9.1 Record selection - synchronisation on input X10 (FNUM=1)

6.9.2 Record selection - synchronisation on input X10 with cam disc function (FNUM=2)

6.9.3 Record selection - synchronisation on virtual master with cam disc function (FNUM=3)

6.9.4 Direct operation - synchronisation on input X10 (FNUM=1)

6.9.5 Direct operation - synchronisation on input X10 with cam disc function (FNUM=2)

6.9.6 Direct operation - synchronisation on virtual master with cam disc function (FNUM=3)

6. Control via FHPP


6.9.1 Record selection – synchronisation on input X10 (FNUM=1)

In the case of pure synchronisation (without cam disc) on input X10, the following settings are necessary for the slave:

Step/Description

Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0

Basic status (Device control HMI = off)

Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 0 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1

1 Select record no.

2 Parametrise RCB1 PNU 401

RCB1

FUNC

1 FGRP

0 FGRP

0 FNUM

0 FNUM

1 COM2

0 COM1

0 ABS

x PNU401

RSB FUNC

1 FGRP

0 FGRP

0 FNUM

0 FNUM

1 COM2

0 COM1

0 ABS

x

3 Start Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 0 x x x 1 1 SCON 0 0 0 x x x 1 1 Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS x x x x x x F 1 SPOS x x x 1 x 0 1 1 4 Stop


CCON 0 0 x x 0 x 0 1 SCON 0 0 0 1 0 0 0 1 Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive

Tab. 6.9.1: Record selection – synchronisation on input X10

Description

1. Preselect record number in FHPP control byte 3. 2. Parametrise RCB1 (PNU 401) of the preselected record (FUNC and FNUM=1); all other

record parameters are then ignored. 3. Start: A rising edge at START activates synchronisation. After that, the controller

synchronises on the input X10. 4. Stop: takes place through removal of the STOP bit. The status of the START bit is not

relevant thereby. To restart, first the bit SCON.B1 OPEN is required and then a new START edge.

An intermediate stop is not possible. Setting of the HALT bit results in stopping (HALT = STOP).

6. Control via FHPP


6.9.2 Record selection - synchronisation on input X10 with cam disc function (FNUM=2)

In parametrisation of the slave, the following steps are required:

Step/

Description


Basic status

(Device control

HMI = off)



CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1

1 Select record no.


RCB1

FUNC

1 FGRP

0 FGRP

0 FNUM

1 FNUM

0 COM2

0 COM1

0 ABS

x PNU401

RSB FUNC

1 FGRP

0 FGRP

0 FNUM

1 FNUM

0 COM2

0 COM1

0 ABS

x

3 Select cam disc no.



CPOS x x x x x x F 1 SPOS x x x 1 x 0 1 1

5 Parametrise cam

disc number

PNU 419

X X X X X X X X

Changing of the cam



CPOS x 0 0 0 0 0 F 1 SPOS 0 0 0 1 0 0 1 1

0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive

Tab. 6.9.2: Record selection – synchronisation on input X10 with cam disc function

Description

1. Preselect record number in FHPP control byte 3. 2. Parametrise RCB1 (PNU 401) of the preselected record (FNUM=2); all other record

parameters are ignored as a result. 3. Parametrise cam disc number for the preselected record. There are 2 options:

- Write number in PNU 419. - If PNU 419 = 0, the cam disc number is taken from PNU 700.

4. A rising edge at START activates the cam disc function.

Note: The master should be at rest when a cam disc is being activated. 5. Optional change to another cam disc or another positioning record:

START bit must first be at 0. With a new rising edge at START, the new cam disc number is taken over.

STOP takes place through removal of the STOP bit. The status of the

START bit is not relevant thereby. To restart, first the bit SCON.B1 OPEN is required and then a new START edge. An intermediate stop

is not possible. Setting of the HALT bit results in stopping (HALT = STOP).

6. Control via FHPP


6.9.3 Record selection – synchronisation on virtual master with cam disc function (FNUM=3)

Step/

Description


Basic status

(Device control

HMI = off)



CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1

1 Select record no.


RCB1

FUNC

1 FGRP

0 FGRP

0 FNUM

1 FNUM

1 COM2

0 COM1

0 ABS

X PNU401

RSB FUNC

1 FGRP

0 FGRP

0 FNUM

1 FNUM

1 COM2

0 COM1

0 ABS

X

3 Select cam disc no.



CPOS x x x x x x F 1 SPOS x x x 1 x 0 1 1

5 Parametrise cam

disc number

PNU 419

X X X X X X X X

Changing of the cam



CPOS x 0 0 0 0 0 F 1 SPOS 0 0 0 1 0 0 1 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive

Tab. 6.9.3: Record selection – synchronisation on virtual master with cam disc function

Description

1. Preselect record number in FHPP control byte 3. 2. Parametrise RCB1 (PNU 401) of the preselected record: Set FNUM=3.

Observe: The abs/rel-bit is valid here for the master and not for the slave. The PNUs 402 … 4xx also apply for the master. If record chaining is desired, the RCB2 must also be parametrised.

3. Parametrise cam disc number for the preselected record. There are 2 options:

- Write number in PNU 419. - If PNU 419 = 0, the cam disc number is taken from PNU 700.

4. Start: With a rising edge at the START bit, the positioning record is executed. Start

here applies simultaneously for both the master and the slave. 5. Optional change to another cam disc or another positioning record:

START bit must first be at 0. With a new rising edge at START, the new cam disc number is taken over.

STOP takes place through removal of the STOP bit. The status of the

START bit is not relevant thereby. To restart, first the bit SCON.B1 OPEN is required and then a new START edge.

There is an option to force an intermediate stop during movement

through removal of the HALT bit. The HALT bit stops the virtual master. A new positive start edge is needed for starting.

6. Control via FHPP


6.9.4 Direct operation – synchronisation on input X10 (FNUM=1)

In the case of pure synchronisation (without cam disc) on input X10, the following settings are necessary for the slave:

Step/Description


1 Position and speed

(control bytes 4 and

5...8)

Byte 4 RVelocity Byte 4 RVelocity

Speed – Speed Speed of the slave (0...100 %)

Byte 5...8 position Byte 5...8 position

Setpoint pos.

– Act. pos.

Actual position of the slave (increments)

2 In CDIR:

select FUNC



CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1 Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS

CDIR 1 0 0 0 1 0 0 S SDIR 1 0 0 0 1 0 0 S



CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive; S: Positioning condition: 0= absolute; 1 = relative

Tab. 6.9.4: Direct operation – synchronisation on input X10

Description

1. Setpoint speed and setpoint position have no significance, due to synchronisation on input X10.

2. In CDIR: Selection of the function via the FUNC bits, here FNUM=1.

3. Start: A rising edge at START activates synchronisation. After that, the controller

synchronises on the input X10.

The drive stops with removal of the STOP bit. The status of the START bit is not relevant thereby. For restarting, the status bit SCON.B1 OPEN must be set. Then the START bit can be set again.


6. Control via FHPP


6.9.5 Direct operation – synchronisation on input X10 with cam disc (FNUM=2)

In parametrisation of the slave, the following steps are required:

Step/

Description


1 Position and speed


5...8)


Speed – Speed Speed of the slave (0...100 %)


Set-point pos.

– Act. pos.


2 In CDIR: select FUNC




CDIR 1 0 0 1 0 0 0 S SDIR 1 0 0 1 0 0 0 S

3 Parametrisation



CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1

5 New parameter set

6 Transfer of new

parameters



CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive; S: Positioning condition: 0= absolute; 1 = relative

Tab. 6.9.5: Direct operation – synchronisation on input X10 with cam disc function

Description

1. Setpoint speed and setpoint position have no significance, due to synchronisation on input X10.

2. In CDIR: Selection of the function via the FUNC bits, here FNUM=2. 3. Parametrisation: Set PNU 700 … 720 to the desired values (cam number, encoder

etc.). 4. With a rising edge of START, the controller synchronises on the input X10. In direct

operation, the gear ratio and other relevant data are also transferred with a rising edge. Changed values of these data are only transferred with a new edge change (0 -> 1). Note: The master should be at rest when a cam disc is activated.

5. During movement, the parameters 700 … 720 can be newly written. This does not result in an immediate reaction. These become effective only when the conditions described under point 6 are fulfilled.

6. The new parameters are transferred with a new rising edge at the START input.

Previously, the START bit must be set to 0. With a rising edge, the new cam is transferred immediately. Note: The master should be at rest when a cam disc is activated.

6. Control via FHPP




6. Control via FHPP


6.9.6 Direct operation – synchronisation on virtual master with cam disc function (FNUM=3)

Step/

Description


1 Preselect position

and speed


5...8)


Speed Speed (0...100 %) Speed Speed of the slave (0...100 %)


Set-point pos.

Nominal position (increments) Act. pos.


2 in CDIR: select FUNC




CDIR 1 0 0 1 1 0 0 S SDIR 1 0 0 1 1 0 0 S

3 Parametrisation



CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1

5 New

parameter set

6 Transfer of new

parameters



CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive; S: Positioning condition: 0= absolute; 1 = relative

Tab. 6.9.6: Direct operation – synchronisation on virtual master with cam disc function

Description

1. Setpoint position and setpoint speed apply for the virtual master. The setpoint position is transferred in increments in bytes 5...8 of the output data. The

setpoint speed is transferred in % in byte 4 (0 = no speed; 100 = maximum speed). The values in the status bytes apply for the connected drive (slave).

2. CDIR: Selection of the function via the bit combination of FUNC bits, here FNUM=3. 3. Parametrisation: Set PNU 540 - 546 to the desired values. These values apply both for

the virtual master and for the slave. Exception: The end positions apply only for the slave. Set PNU 700 … 720 to the desired values as well. The parameters 711 and 720 have no function.

4. The rising edge of the START bit applies simultaneously both for the virtual master and the Slave. In direct operation, the gear ratio and other relevant data are also transferred with a rising edge. Changes values of these data are only transferred with a new edge change (0 -> 1).

5. During the movement, all relevant parameters can be rewritten. This does not result in

an immediate reaction. These become effective only when the conditions described under point 6 are fulfilled.

6. The new parameters are transferred with a new rising edge at the START input. Previously, the START bit must be set to 0. With a rising edge, the new cam is transferred immediately.

6. Control via FHPP



This is different with the intermediate stop. Here there is the option to force an intermediate stop during movement through removal of the HALT bit. The HALT bit stops the virtual master. A new positive start edge is needed for starting.

7. Finite state machine FHPP incl. cam disc





TA Description Occurrence with Secondary condition

Record selection Direct mode

TA 13 Preselect cam

disc

Change in the record

number

– Old record: FUNC=0

New record: FUNC=1

– Rising edge at FUNC –

Rising edge at STOP or ENABLE FUNC=1

TA

14, 19

Deactivate cam

disc

Change in the record

number

– Old record: FUNC=1

New record: FUNC=0

– Falling edge at FUNC –

STOP or removal of ENABLE –

TA 15 Activate cam

disc

Rising edge at START Drive is in TA 13.

TA 16 Change cam

disc

Rising edge at START – Changed cam disc number

in PNU 419 or PNU 700.

FUNC=1 Change in the record

number and rising edge

at START

–

– Rising edge at START

automatically starts

the virtual master.

PNU 700 was changed.

FUNC=1.

TA 17 Intermediate

stop

HALT = 0 Only for virtual master.

TA 18 End

intermediate

stop

HALT = 1

motor controller cmmp-as - festo usa · 2020. 3. 6. · 4.6 modulo positioning ... 4.9 displacement...

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