CPX CEC C1 to

CPX-CEC-C1 t CMMP-AS
CMMP AS MASTER/SLAVE
/
CONTROLLER: CPX-CEC-C1 to CMMP-AS Controller
CONTROLLER FIRMWARE: See “PLC
PLC Controller Information
Information” Page
CODESYS VERSION: CoDeSys V2.3.9.28 Build May 25 2011
FCT VERSION
VERSION: S “Servo
See “S
Servo Controller
C ll IInformation
Information”
f i ”PPage
FCT PLUGIN VERSION
VERSION: V1 4 2 5
V1.4.2.5
CONTROL METHOD
METHOD: CAN p n FHPP (F
CANopen ((Festo
st HHandling
ndling
gPPositioning
siti ning
g Pr
Profile)
fil ) tto M
Master,
st r, Sl
Slave is S
Synchronized
ynchr ni d to
t
Master via simulated encoder signalg from X11 to X10 Connector
Steven Proud
R i
Regional l Contact
C Center
C Product
P d Support
S A
Agent
El t i D
Electric Drives,
i ,S Servo P
Pneumatic
ti SSystems
y t & Vi
Vision
i
T l 905
Tel: 905-614-2761
614 2761
Steven Proud@ca Festo com
Steven.Proud@ca.Festo.com

Application Description:
Description
(CPX CEC C1) to communicate via CANopen (FHPP) to a controller (MASTER) while the 2nd controller
Configuration information for a main PLC (CPX-CEC-C1)
(SLAVE) is synchronized/geared to the controller Master via a hardwired encoder cable.
cable

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Attach e ts//Depe d
Attachments/Dependencies
de cies
• Festo CoDeSysy p
project
j file:
file
CPX-CEC-C1
CPX CEC C1_to_CMMP_AS_FHPP_CANopen_MasterSlave.pro
C to CMMP AS FHPP CAN CANopen M MasterSlave.pro
Sl
• Festo FCT (Festo Configuration Tool Software) project file:
DemoRm Bench CMMP-AS
CMMP AS to EMMS-AS-100-RMB
EMMS AS 100 RMB Slave Linear Ctrl Via IO Synch.V1.0.0.zip
Synch V1 0 0 zip
D
DemoRmR Bench
B h CMMP-AS
CMMP AS tto EMMS-AS-40-TMB
EMMS AS 40 TMB Master
M t LinearLi Ctrl
Ct l Via
Vi CANopen.V1.0.0.zip
CAN p V1 0 0 ip

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Ge e all Information
General I fo atio
Your Obligations With Respect to Using the attached Content:

Your right and ability to use the code contents are limited, subject to the terms and conditions as stated herein.

All use off available

il bl content
t t & Attachments
Att h t will
ill be
b att your
y sole
l risk.
i k
Y acknowledge
You k l dg that
th t FFesto
t has
h nott reviewed
i d or evaluated
l t d (nor
( is
i obligated
blig t d to
t do
d so)) the
th materials
t i l attached
tt h d and d expressly
p ly agree
g that
th t
Festo will have no obligation or liabilityy of anyy kind with respect
p to the use or utilityy of anyy such materials byy you
y or others.
others

You will not use the attached content for any purpose or in any manner that is unlawful or that violates any intellectual property right,
right
privacy right,
right or other right of Festo or any third party.
party

The
h copyright
h in the
h materiall attached
h d is h
held
ld b
by Steven Proud.
d
Y may not delete
You d l or alter
l or attempt to delete
d l or alter
l any attribution,
ib i llegall notice,
i trademark
d k or copyright
i h notice
i appearing
i on any
attached
tt h d content
t t and d such
h notices
ti or marks
k mustt b
be iincluded
l d d on anyy copy
py yyou make.k

Furthermore, you will not reproduce

Furthermore reproduce, redistribute or repost on other web sites materials from the attached unless expressly authorized to
do so by Steven Proud.
Proud

You must take your own precautions to ensure that whatever content you have been supplied from the attachments is free of computer
viruses or Trojan horses that may interfere with or damage the functionality of the operations of your or any third party computer system.
system

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S
System
Syste Layout
Layout S
Sync Encoder
E d Cable
C bl

Festo CPX Terminal CPX-CEC-C1 Module Settingsg Master Slave

Part#197330 IP Address: 192.168.2.203
192 168 2 203 X09 Supply
l Power
50E T07GCQST23 Z
50E-T07GCQST23-Z S b t
Subnet: 255.255.255.0
255 255 255 0
Gateway:
at ay: 192.168.2.1
9 . 68. . X09 Supply Power
X11 (Master)
( ) X10 (Slave)
X1 Connector
C t X1 Connector
I/O I/O
/

X04
CANopen X04
CANopen
CAN b
bus (CANopen/CAN
(CAN /CAN I/O)

Ethernet

Ethernett Switch
Eth S it h
IP Address: 192.168.2.1
Laptop Subnet: 255.255.255.0
255 255 255 0
IP Add
Address: 192.168.2.108
192 168 2 108
Subnet:
Sub et: 255.255.255.0
55. 55. 55.0
Gateway: 192.168.2.1
192 168 2 1

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PLC
C Controller
Co
C t olle
ll Information
I fo atio
PLC(LOGIC
( CONTROLLER):
CONTROLLER)) CPX-CEC-C1
CPX CEC C1
PLC CONTROLLER FW: V1 2 0 0 1038
V1.2.0.0.1038
CODESYS VERSION: CoDeSys V2.3.9.28
V2 3 9 28 Build May25 2011
CODESYS TARGET: V1 3 6
V1.3.6
Part# Type Code Description

T07 - CoDeSys Embedded Controller -

567347 CPX CEC C1
CPX-CEC-C1
CANopen

Features:
 CPX-CEC
CPX CEC (CoDeSys Embedded Controller)
 CPU Marvell PXA 255 / 400 Mhz : very fast,
fast very low power consumption!
 OS Linux
 CoDeSys pbF ((Provided By Festo)) V2.3 / 32 bit Full RTS kernel : IEC 61131
61131-3
3 standard
 32 MB SDRAM
 32 MB FlFlash
h
 Diagnostic
g p y (LED)
status display ( )
Therefore
Therefore: Interfaces
Interfaces:
 20 MB User Flash Memory  1 x Ethernet 100 BaseT
 8 MB max.
max Project memory  1 x CANopen Master
 32 KB backup RAM  1 x Handheld MMI
 1ms minimum cycle time

Software:
 CoDeSys pbF (Provided By Festo) V2.3
V2 3

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S o Controller
Servo
Se Co
C t olle
ll Information
I fo atio
MASTER
S SERVO CONTROLLER: CMMP AS x 2 Controllers
CMMP-AS
S
SERVOO CO
CONTROLLER
O FW: V3.5.1501.5.3
FCT VERSION
VERSION:
S : V1.2.1.3
V1.2.1.3
3
FCT PLUGIN VERSION
VERSION: V1 4 2 5
V1.4.2.5
CONTROL METHOD
METHOD: FHPP CANopen
p to Master ONLY

SLAVE

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FCT
C ((Festo
(Festo Co
C
Configuration
figu atio Tool
Tooll S
Software)
Soft a e))

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FCT
C ((Festo
(Festo Co
Configuration
C figu atio Tool)
Tool)
l) C
Create
eate Project
P oject
j
You can begin the creation of a project a couple of different ways – 2 have been shown below.
below Start up FCT (Festo Configuration Tool Software)
and chose one of the options
options.

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FCT
C ((Festo
(Festo Co
Configuration
C figu atio Tool)
Tool)
l) C
Create
eate Project
P oject
j
Next you will be prompted for a project name – Enter the desired for your project.
project Next,
Next select the controller type and provide a name and
revision for the FCT (Festo Configuration Tool Software) Plug
Plug-In
In. This Application FAQ(Frequently Asked Question) guide is for the CMMP
CMMP-ASAS,
so we will select this.

CMMP AS FAQ Master

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FCT
C ((Festo
(Festo Co
Configuration
C figu atio Tool)
Tool)
l) C
Create
eate Project
P oject
j
You can have more than 1 controller inside of your individual project to help organize the entire system.
system Simply Right Click on “Components”
Components
and then select “Add”
Add another to populate as many controllers as you like.
like

CMMP AS FAQ Master

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FCT
C ((F
(Festo
esto Co
C
Configuration
figu atio Tool
Tooll S
Software)
Soft a e)) Master
Maste Co
C figu atio
Configuration
The below settings were used for this sample project.
project

CMMP AS FAQ Master

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FCT
C - Application
Appllicatio D
Data
ata Master
Maste Ope
O ate Mode
Operate Mode
d
Set the control interface to “CANopen”
CANopen for communication to the main PLC CPX-CEC-C1.
CPX-CEC-C1 Also set the X11 encoder emulation checkbox
checkbox.

CMMP AS FAQ Master

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FCT
C - Axis
A is Master
Maste Homing
Ho i g
For this sample we are using the method of “Limit
Limit Switch
Switch”

CMMP AS FAQ Master

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FCT
C - Axis
A is Master
Maste Homing
Ho i g
Please make sure and turn OFF/Uncheck the 2 options below.
below

CMMP AS FAQ Master

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FCT
C - Axis
A is Master
Maste Motor
Moto
No settings are absolutely required here,
here but I was using automatic brake as shown
shown.

CMMP AS FAQ Master

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FCT
C - Axis
A is Master
Maste Co
C t olle
Controller
ll
My controller was supplied with 120Vac,
120Vac I lowered the under-voltage threshold but is not necessary due to the PFC (Power Factor Correction) .

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll Master
Maste I/O
/O C
Configuration
Co figu atio
I have decided to configure and use the 2 outputs as optional inputs as shown below

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll - I/O
/O C
Configuration
Co figu atio Master
Maste Digital
Digitall IInputs
puts
Configure the Inputs as shown or select more preferable ones

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll – FieldBus
Field
ldBus Master
Maste Ope
O atio P
Operation Parameters
a a ete s
The software is used to configure the slave Node ID as well as the baud rate (Bit Rate).
Rate)
Select Your network Baud Rate to match your existing network and set you unique node number.
number
Make sure you select the FHPP ((Festo Handling Positioning Profile).
)

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll – FieldBus
Field
ldBus Master
Maste Factor
Facto G
Group
oup
When using FHPP (Festo Handling Positioning Profile) it is recommended to use the “FactorFactor Group
Group” provided.
provided This is selected by means of a check
box as shown below.
below All data transferred via FHPP is represented as integer or double integer format(whole numbers).
numbers) Fine precision cannot be
achieved due to this and so the factor group is provided as a means to achieve more accuracy.
E
Examples:
l
U the
Use th exponent
p t off “10-1
1” as shown.
h If th
the A
Actual
t lp position
iti off th
the axis
i iis 123.678,
123 678, th
the PLC P
Position
iti d
data
t would
ld b
be seen as 1237
1237.
U the
Use th exponent
p t off “10 2” as shown.
-2 h If th
the A
Actual
t lp position
iti off th
the axis
i iis 123.678,
123 678, th
the PLC P
Position
iti d
data
t would
ld b
be seen as 12367
12367.
Use the exponent
p -3
3
of “10 ” as shown.
shown If the Actual position
p of the axis is 123.678,
123 678 the PLC Position data would be seen as 123678
123678.

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll – FieldBus
Field
ldBus Master
Maste FHPP+
FHPP Edi
Editor
d to – Data
Data From
F o PLC
C
FHPP (Festo Handling Positioning Profile) utilizes 8 Bytes of Input/Output Data.
Data
FPC(Festo Parameter Channel) utilizes 8 Bytes of Input/Output Data.
Data

Th totall utilization
The ili i on the
h Fi
Fieldbus
ldb will
ill then
h beb 16
6 Bytes
B off IInput/Output
/O D
Data.

The CMMP-AS
Th CMMP AS controller
o troll r h
hass the
th ability
bilityy to access
ss additional
dditio l data
d t from
fro the
th controller
o troll r which
hi h is th
then ““polled/streamed”
poll d/str
/ d” without
itho t using
si g the
th FPC ((Festo
(F sto
Parameter Channel) instruction calls.
calls This data is setupp within the “Edit” button shown below.
below

CMMP AS FAQ Master

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FCT
C – Co
C t olle
Controller
ll Master
Maste Encoder
E code
d E Emulation
ulat
l io
Shown below are some standard settings for emulating the Master axis position to the Slave
Slave. The “Actual
Actual position
position” has been selected here
here, but
“Setpoint”
Setpoint position reduces error by having the same signal generation to both the Master and the Encoder Simulation at the same time to reduce
dynamic tracking error.

CMMP AS FAQ Master

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FCT
C ((F
(Festo
esto Co
C
Configuration
figu atio TTool
ooll S
So
Software)
ft a e)) Sla
Sl e Co
Slave C figu atio
Configuration
The below settings were used for this sample project.
project

CMMP AS FAQ Master

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FCT
C - Application
Appllicatio D
Data
ata Sla
Sl e Ope
Slave O ate Mode
Operate Mode
d
Set the control interface to “Synchronization”
Synchronization for communication to the Master Servo Axis via the encoder simulation on the X10 connector.
connector

CMMP AS FAQ Master

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FCT
C - Axis
A is Sla
Sl e Homing
Slave Ho i g
For this sample we are using the method of “Limit
Limit Switch
Switch”

CMMP AS FAQ Master

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FCT
C - Axis
A is Sla
Sl e Homing
Slave Ho i g
Please make sure to check the box for “No
No Synchronization during homing
homing” as shown here.
here

CMMP AS FAQ Master

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FCT
C - Axis
A is Sla
Sl e Co
Slave C t olle
Controller
ll
My controller was supplied with 120Vac,
120Vac I lowered the under-voltage threshold but is not necessary due to the PFC (Power Factor Correction) .

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll - I/O
/O C
Configuration
Co figu atio Sla
Sl e Digital
Slave Digitall IInputs
puts
Configure the Inputs as shown or select more preferable ones

CMMP AS FAQ Master

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FCT
C - Co
C t olle
Controller
ll – FieldBus
Field
ldBus Sla
Sl e Sy
Slave S ch o i atio
Synchronization
Select the X10 as A/B Quad,
Quad make sure the Number of increments MATCHES the Master axis,
axis adjust the gearing to eliminate any error in position
and also assure that the Zero pulse is suppressed.
suppressed

CMMP AS FAQ Master

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FCT
C ((Festo
(Festo Co
Configuration
C figu atio Tool)
Tool)
l) O
Online
lli e Status
S
To select/configure your desired “Com
Com Port
Port”, follow the diagram below:

T g
To go online,
li , click
li k th
the red
d “C
“Connection”
ti ” as shown:
h

When you
y have entered the online mode the icon will change to green as shown here:
here

CMMP AS FAQ Master

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FCT
C ((Festo
(Festo Co
Configuration
C figu atio Tool)
Tool)
l) O
Online
lli e Status
S
FCT
C (F
((Festo
esto
t Configuration
C
Co figu attio TTool
ooll S
Software)
Softt a e)) Pl
Plug-In
lug I Version
Ve sio 1.3.0
1.3.0
3 0 introduced
i t oduced
d d New Ne FHPP+
FHPP editor
edditto and
a d diagnostic
d
diag osttic display.
d
display.
l Without
With
t outt this
tthis version
e sio or
o
high yyou will
higher ill NOT see th
the ffollowing
ll i g ONLINE status.
t t NOTE
NOTE: an easyy wayy to
t upgrade
pg d your
y Plug-in
Pl g i after
ft you
y h have bbeen using
i g an older
ld one,, iis tto
create a new component
p with the latest version and “UPLOAD” into the new project(only
p j ( y if a project
p j exists in the controller).
controller)

NOTE: If you
NOTE y don’t
d ’t see the
th bottom
b tt ttabs
ab a as shown
h below,
b l , yyou may
ay need
d
t activate
to ti t ththem as shown
h tto th
the lleft
ft “C
“Component”
p t” d
drop
pddown menu.

The FHPP Monitor

Th M it iis an excellent
ll t wayy to
t monitor
it the
th FHPP network
t k ttraffic
ffi sentt between
b t the
th controller
t ll
andd the
th PLC.
PLC Only
Only the
th premium
p i CMMP-AS
CMMP AS controller
t ll hhas thi
this ffunctionality.
ti lity

CMMP AS FAQ Master

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S
Status T
Tabs
abs at bottom
botto ooff FCT
C (F
((Festo
esto Co
Configuration
C figu atio Tool
Tooll Software)
S
Soft a e)) Project
P oject
j
Att th
the
t ebbotto
bottom
tt o
off th
tthe
epproject
oject
j t fil
file
le th
tthere
e e are
a e 2 useful
usefull status
t t screens
sc ee s for
fo monitoring
o itto i g a variety
a iety
t of
of set-points
sett poi ts
t aand
d conditions.
co d
diti
t o s.

CMMP AS FAQ Master

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C DeSys
Co
CoDeSys
S

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Project
P oject
j C
Creation
eatio
Open up the CoDeSys Software and select “New
New Project
Project”.
When prompted,
prompted select “CPX
CPX-CEC-C1
CEC C1 as a target Processor.
Processor

N select
Now l t th
the “T
“Target
g tSSetting”
tti g” defaults
d f lt as shown
h here.
h

Select a default “POU”

POU . I have chosen the standard
PLC PRG for now but will change this to suit the application
PLC_PRG
at a later time
time.

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 C
CAN Master
CAN-Master
Maste Sett
S i gs
Settings
O the
On h “R“Resources”
Resources” tab,b S
Select
l theh “PLC
PLC Configuration”.
Configuration
C fi i ”. Ri Right
h Cli
Clickk on the
h CPX
CPX-
CEC PLC andd append
pp d theth “CANopen-Master”
“CAN p M t ” sub-element.
b l t
CoDeSysy inserts all LIBRARIES required
q to ensure operation
p of the CAN network.
network
CoDeSys generates a list of implicit Global Variables for the CAN network along
with the constants and instances of Function Blocks for CAN .

Clickk on
Cli o the
th
t “CANopen-Master”
“CANop Mastt ” sub-element
sub l t and
a d select
s l t the
th
t CAN Parameters
Pa a t s Tab.
Tab.
M dify th
Modify the configuration
fig ti to t match
t h what
h t is
i shown
h h
here.

CPX CEC C1 or CECX-X-C1

CPX-CEC-C1 CECX X C1 Controller Settings
Feature Setting
CAN-Master
CAN Master (For CMMx
CMMx-xxxx Controllers):
- Baud rate 1000000
- Com.
Com Cycle period (μsec) 10000
- Sync.
S Window
Wi d llengthth (μsec)
( ) 5000

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Co
C t olle
Controller
ll EDS
S Files
Filles
Download the latest EDS files for your
yo
y r controllers at the followin
following
g address
address: R n the “e
Run “exe”
e” file to unzip
n ip
p the EDS Files
Files.
https://www
https://www.festo.com/net/enus_us/SupportPortal/default.aspx?q=CMMP-as&tab=5&s=t
p festo com/net/enus us/SupportPortal/default
pp aspx?q
p q CMMP as&tab 5&s t
Copy the unzipped “required”
required files into the
CoDeSys Target directory c:\Program
Files\Festo\CoDeSys
V2 3\Targets\Festo\CPX-CEC\IOCONFIG\
V2.3\Targets\Festo\CPX CEC\IOCONFIG\

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Co
C t olle
Controller
ll EDS
S Files
Filles
Right Click on the “CANopen
CANopen Master
Master” sub
sub-element
element and add all of the required controllers.
controllers Make sure to select the FHPP type EDS Files.
Files The
addresses
dd will
ill be
b automatically
i ll assigned
i dbbased
d on the
h entire
i configuration
fi i and d hardware
h d within
i hi the
h project.
j

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Co
C t olle
Controller
ll C CAN P
Parameters
a a ete s
Click on EACH “Controller”
Controller and select the
CAN Parameters tab
tab.
Modify the Node to match the controller
hardware configuration(CMMS
configuration(CMMS-xx)
xx) or
software configuration(CMMP
configuration(CMMP-AS).
( AS).
)
C fi
Configure the
h remaining
i i parameters as
shown
h h
here.

To allow for better debug of your project at a

l
later time,
i you can also
l ““comment”
comment” allll off the
h
i di id l fieldbus
individual fi ldb I/O
/ points.
p i t

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Co
C t olle
Controller
ll S Se
Send/Receive
d/R
d/ ecei e PDO
O Mapping
Mappi g
The PDO mapping must be changed to assure proper communication
communication. Configure the “Transmission
Transmission Type
Type” parameters as shown here.
here

CPX CEC C1 or CECX-X-C1

CPX-CEC-C1 CECX X C1 Controller Settings
Feature Setting
CMMx-xx
CMMx xx (EDS file):
PDO Mapping  Cyclic-Synchronous
Send / Receive – PDO-Mapping Cyclic Synchronous
Properties  Transmission Type

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Libraries
Lib a ies
When you append the “CANopen-Master”
CANopen-Master sub-element
sub-element, CoDeSys inserts all LIBRARIES required to ensure operation of the CAN network.
network CoDeSys
generates a list of implicit Global Variables for the CAN network along with the constants and instances of Function Blocks for CAN .

To ensure correct operation of the CANopen network , the following CoDeSys

libraries are used:

•3S
3S CanDriver.Lib
3S_CanDriver.Lib
C Di Lib
P f
Perform the
th bbasic
i CAN controller
t ll ffunctions
ti
•3S_CanOpenManager.lib
•3S CanOpenManager lib
Basic functions and services for CANopen
•3S
3S_CanOpenMaster.lib
CanOpenMaster lib
Functions and services for the CANopen Master
•EDS
EDS fil
files ffor each
h slave
l
Form p
part of the user's CANopen
p network

NOTE:
C
CoDeSys
S also
l offers
ff 3S
3S_CanOpenNetVar.lib
S C
CanOpenNetVar.lib
O lib and
d 3S_CanOpenDevice.lib
3S
S C
CanOpenDevice.lib
O i lib libraries,
lib i although
lh h these
h cannot currently
l bbe used
d on the
h FED
FED-CEC.
C C
CEC.
CMMP AS FAQ Master
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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Library
Lib
b a y Sett
S i gs
Settings
Download the latest CoDeSys Festo Motion Function Block Library at the following address: Run the “exe”
exe file to unzip the EDS Files
Files.
https://www festo com/net/enus us/SupportPortal/default aspx?q=CMMP-as&tab=5&s=t
https://www.festo.com/net/enus_us/SupportPortal/default.aspx?q CMMP as&tab 5&s t
Copy the unzipped “required”
required files into the
C D S Target
CoDeSys T directory
di c:\Program
\P
Fil \\F t \\C D Sy
Files\Festo\CoDeSys
V2 3\T g t \F t \CPX CEC\Lib y\
V2.3\Targets\Festo\CPX-CEC\Library\

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Library
Lib
b a y Sett
S i gs
Settings
On the “Resources”
Resources tab,
tab Select the “Library
Library Manager
Manager”.

Right
g Click in the Libraryy window and select “Additional Library…”
Libraryy ”

S l
Select the
h File
il you placed
l d iin the
h di
directory iin the
h earlier
li step to b
bring
i the
h
lb
library into your project for
f use.
use

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Library
Lib
b a y Sett
S i gs
Settings
The Library and all of the internal Function Blocks are now available for use within the project.
project

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Task
Task Configuration
Co
C figu atio
To ensure that all CAN-bus devices are operational you need to have a POU with the following CANopen Initialize code:

On th
O the “R
“Resources”” ttab,
b, S
Select
l t the
th “Task
“T k Configuration”
C fig ti ” and d then
th g go tto “S
“System
y t E
Events”.
t ”
Click the “Start” event and then click on the right
g side and p
press the F2 function key
key.
y Select your
y initialize routine for the CAN-Bus.
CAN Bus

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Programming
P og a i g
Prior to rrunning
nning the axes,
a es, check the CAN
CAN-Bus
B s comm
communication
nication is ok for both the Master and Nodes
Nodes. A sample
p is shown below

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Programming
P og a i g
Add the
th function
f ti block
bl k to
t your
y p
program
g iin th
the d
desired
i d POU . I h have shown
h an example
pl off structured
t t d text
t t to
t th
the lleft
ft and
d CFC to
t the
th right.
ight WhWhen yyou
add the code and press
p “F2” to pop
p p up
p the “Input
p Assistant”
Assistant”, the blocks are in the Libraryy yyou added earlier as shown in the middle p picture below.
below

CMMP AS FAQ Master

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C DeSys
CoDeSys
Co S C CPX C
CPX-CEC-C1
CEC
CCC1 Visualization
Visualli atio Programming
P og a i g
Adding
Addin g some HMI controls can be veryy easy,
easyy, if yyo
you simply
p y want to use
se a b
built
ilt in vis
visualization
ali ation from the FHPP Libraryy yo
you
y previo
p
previously
slyy brought
bro ght into
yyour p
project.
project To do this,
this select “visualization
visualization at the top,
top
p drag the control to the desired size,
size select the appropriate
pp p control (controller specific),
specific)
p
then select the tag you assigned the function block in the PLC project – DONE! In order to use this, this you need to make sure you don
don’tt have PLC
code in project fighting your HMI requests.
requests

NOTE: Using
NOTE U i g the
th built
b ilt in
i controls
t l are a quick
q i k andd easyy
way
ay to
t deter
determine
ine if p
project
r jject settings
g are cconfigured
nfigured
g and
workinggp
properly
p y without writing g much code at all.
all

CMMP AS FAQ Master

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FHPP MOTOR
O O CO
CONTROLLER
O CMM
CMM..
C .. ((Festo
(Festo Handling
Ha dl
dli g and
a d Position
Positio Profile)
P ofille))
The ffollowing
The ollo
ll i g reference
efe e ce information
i fo attio was
as ta
taken
t ke from
f o tthe
the FFesto
esto
t “FHPP for
fo the
tthe Motor
Moto
t CoController
C t olle
ll CMM
C
CMM…”
…” docu
d
document#
e tt# 555696g
555696
555696g1
1

CMMP AS FAQ Master

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Definitions
fi i i
T
Term/abbreviation
/ bb i ti M
Meaning
i g

FFesto
t Handling
H dli g and
d Positioning
P iti i g
Profile (FHPP) Uniform fieldbus data profile
p for position
p controllers
Parameter access as per
p the "Festo
Festo Handling and Positioning Profile
Profile"
Festo Parameter Channel (FPC) (I/O messaging
messaging, optionally additional 88−byte
byte I/O)
Defines the sequence control as per the "Festo
Festo Handling and Positioning Profile
Profile"
FHPP standard (I/O messaging
messaging, 8−byte I/O)

CMMP AS FAQ Master

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O
Overview
i
Festo has developed
p an optimised
p data p
profile especially
p y tailored to the tar
target
get applications
pp for handlin
handlingg and positioning
positionin
p g tasks,
tasks, the Festo Handlin
Handlingg
and Positioning Profile (FHPP)
(FHPP)". The FHPP enables uniform control and p programming for the various fieldbus systems
y and controllers from Festo.
Festo

In addition,
addition it defines the following so that they are largely uniform for the user:
 The operating modes
 I/O data structure
 Parameter objects
bj
 Seque
S
Sequence ce control
co t oll

C t l and
Control d St
Status
t d data
t (FHPP StStandard)
d d)
C
Communication
i ti over ththe fi
fieldbus
ldb iis effected
ff t d b
byy
wayy off 8−byte
8 byt control
t l andd status
t t d data.
t FFunctions
ti
and status messages required
q in operation
p can
be written and read directly.
directly

Parametrisation (FPC)
The control system can access all parameter
values
l off the
h controller
ll via the
h ffieldbus
ldb b by means
off the
h parameter channel.
h l A further
f h 8b bytes off I/O
d t are used
data d for
f this
thi purpose.
p p

CMMP AS FAQ Master

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Version
i Information
f i
Most information for this doc
document
ment is referenced from the Festo document
doc ment # 555696g1.pdf
555696g1 pdf
p (P((P.BE−CMM−FHPP−SW−EN
BE CMM FHPP SW EN en 1006a))

For older versions:

You may need to use the corresponding older version of the above standard FHPP document.
document

Controller
ll Firmware
i Description
i i
CMMP AS ...
CMMP−AS− Version 3.5.1501.4.1
3 5 1501 4 1 and higher Servo motor controller Premium
CMMS−AS−
CMMS AS ... Version 1.3.0.1.15
1 3 0 1 15 and higher Servo motor controller Standard
CMMS−ST−
CMMS ST ... Version 1.3.0.1.14
1 3 0 1 14 and higher Stepper motor controller

CMMP AS FAQ Master

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FHPP Operation
O i Modes
d

i ld Bus Communication
Field C i i

Position Set Selection Direct Position Mode Parameter Channel

1
Control Velocity Position
2
Open access to all
3 parameters byy
p
4 reading
di andd writing
iti
n

CMMP AS FAQ Master

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FHPP Operation
O i Modes
d (O(Overview)
i )
3 different
diff t
C
Communication
Co u icattio
M d
Modes P ii S
Position Set S
Selection
l i

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

PLC CCON CPOS S tN

Set-Nr res res res res res
PLC  SCON SPOS Set-State Set-Nr
Set Nr Actual Position

Direct Mode
Byt 1
Byte Byt 2
Byte Byt 3
Byte Byt 4
Byte Byt 5
Byte Byt 6
Byte Byt 7
Byte Byt 8
Byte


PLC CCON CPOS CDIR Velocity
l i Target Position
ii
PLC  SCON SPOS SDIR Act. Vel
Act Vel. Actual Position

Parameter Channel
B t 9
Byte B t 10
Byte B t 11
Byte B t 12
Byte B t 13
Byte B t 14
Byte B t 15
Byte B t 16
Byte

PLC CCON Order-ID/ PN Sub Inx

Sub.Inx Parameter value to write
PLC  SCON Answer-ID/
Answer ID// PN Sub.Inx
Sub In Parameter value to read

CMMP AS FAQ Master

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Festo C
Festo CPX – Rules
Rules
l o off Add
Addressing
dd essi g
 The address assignment of the inputs does not depend on the address assignment of the outputs.
outputs
 The I/Os of various module types are assigned separately from each other
other. The following order applies:

CMMP AS FAQ Master

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O atio of
Operation
Ope of Master/Slave
Maste /Sl
/Sla e End
E d Stage
S P
Power
o e
Now
N o we e will
illll d
di
discuss
scuss th
tthe
e ssignals
ig als
l tth
that
att a
are
e required
equi ed
d to
t pprovide
o id
de po
power
e ffrom
o tth
theeMMaster
aste
t aandd Sla
Sl
Slave
e co
controllers
t olle
ll s to
t their
tthei respective
espectti e motors.
oto
t s. Thi
Thiss iiss th
tthe
e
power/end
p / d stage t g enablebl sequence.
q The
Th Master
M t axis,i , due
d tot the
th control
t l via
i Fi
Fieldbus,
ldb , hhas th
the option
pti off onlyly th
the DIN5 or DIN5 withith the
th FiFieldbus
ldb
Control Enable(default).
Enable(default)
( Due to the varied control types
yp in both of yyour axis ((Master via Profibus,
Profibus Slave via Synchronization)
y the wayy the controller
accepts and enables the end stage is different
so it is important to discuss these differences.
differences
As shown below,
below the important signals in
enabling the end stage are the X3 connector
Pin2 the X1 Connector Pins 9(DIN5)
Pin2, ( )&
21(DIN4).
( )

MASTER
MASTER:
To acquire
q End Stage
g Enable,
Enable the X3.2
X3 2 and
X1 21 are turned on
X1.21 on. Monitoring takes place if
required After a short required delay
required. delay, X1
X1.9
9 is
turned on.
on Finally
Finally, the Fieldbus signal
“Controller
Controller Enable
Enable” must be turned on on. The
end stage is now enabled and the controller
ready
d for
f motion.
i

SLAVE
SLAVE:
To acquire
q End Stage Enable,
Enable the X3.2
X3 2 and
X1 21 are turned on
X1.21 on. Monitoring takes place if
required After a short required delay
required.
(minimum 10ms),
10ms) X1.9
X1 9 is turned on.
on No
further action is required.
required The end stage is
now enabled
bl d andd the
h controller
ll ready
d for
f
motion.
i

CMMP AS FAQ Master

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O atio of
Operation
Ope of Master/Slave
Maste /Sl
/Sla e End
E d Stage
S P
Power
o e
O ce the
Once tthe End
E d St
Stage is
is e
enabled
abled
bl d on
o both
bot
b th co
controllers
t olle
ll s you sshould
hould
ld obse
observe
b e tthe
the following
follo
ll i g status
t t ini FCT
C ((F
(Festo
esto
t Co
Configuration
C figu attio Tool
Tooll S
So
Software)
ftt a e)) and
a d the
th
t e
C D Sy Project.
CoDeSys P j t

CMMP AS FAQ Master

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O atio of
Operation
Ope of Master/Slave
Maste /Sl
/Sla e Home
Ho e S
Seque
Sequencing
ci g
No we
Now e will
illll d
di
discuss
scuss tth
the
e ssignals
ig als
l tth
that
att aare
e required
equi ed
d to
t Home
Ho e both
b
botth o
off th
tthe
eMMaster
aste
t a and
d Sl
Sla
Slave
e co
controllers.
t olle
ll s.

MASTER:
Fieldbus is used to home this axis.
axis
 Confirm no faults or warnings present
 Turn the “Start
Start Homing”
Homing bit on
 Wait for the “AckStart”
AckStart to confirm home is executing
 Turn the
h “Start
Start Homing”
Homing bbit off
ff
 Wait
W i ffor the
h “D
“Drive
Drive
i RReferenced”
Referenced
f d” status

CMMP AS FAQ Master

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O atio of
Operation
Ope of Master/Slave
Maste /Sl
/Sla e Home
Ho e S
Seque
Sequencing
ci g
No we
Now e will
illll d
di
discuss
scuss tth
the
e ssignals
ig als
l tth
that
att aare
e required
equi ed
d to
t Home
Ho e both
b
botth o
off th
tthe
eMMaster
aste
t a and
d Sl
Sla
Slave
e co
controllers.
t olle
ll s.

NOTE:
DIN11 is configured for the “Disable
Disable Sync”
Sync which has the text
reversed to its function.
function In other words,
words the axis is in
synchronization when the DIN11=ON/TRUE.
DIN11=ON/TRUE

SLAVE:
SLAVE:

 DIN11 ((Disable
(Di bl Sync)
Sy ) isi to
t be
b turned
t d off
ff before
b f h
homing.
i g
 Confirm no faults p
present
 DIN12 turned on to execute the home sequence (configured
previously).
previously)
 When the correct signals have been seen,
seen the actual and Target
positions should be “0”
0 .
 DIN11 (Disable Sync) is to be turned ON to enable the
S h i i
Synchronization.

CMMP AS FAQ Master

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O atio of
Operation
Ope of Master/Slave
Maste /Sl
/Sla e Co
C t oll S
Control Seque
Sequencing
ci g
No we
Now e will
illll d
di
discuss
scuss tth
the
e ssignals
ig als
l tth
that
att aare
e required
equi ed
d to
t ac
achieve
hie e co
control
t oll & sy
synchronization
ch o i attio o
off tth
the
eMMaster
aste
t aand
d Sla
Sl
Slave
e co
controllers.
t olle
ll s.

NOTE:
DIN11 is configured for the “Disable
Disable Sync”
Sync which has the text
reversed to its function.
function In other words,
words the axis is in
synchronization when the DIN11
DIN11=ON/TRUE
ON/TRUE.

Now that the Master and Slave axis have been homed,
homed the Slave axis DIN11 (Disable Sync)y is to be turned ON to enable Synchronization
y To the
Master axis
axis. The Slave axis will now continuously follow the motion of the Master axis
axis.

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
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Page 59
CPX C
CPX-CEC-C1
C CEC
CCC1 Hardware
Ha d a e Co
C
Configuration
figu atio
The following DIL switch configuration settings were used to allow proper
communications on this project sample.
sample

DIL switch 2
The DIL switch 2.1
2 1 is used to enable the End Of Line resistor
The
h DIL switchh 2.2 is NOT USED and d has
h no ffunction.
NOTE: Power must be OFF
while
hil modification
difi i off the
h
switches
it h are maded

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
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Page 60
CPX C
CPX-CEC-C1
C CEC
CCC1 CANopen
CANope Wiring
C Wi i g
The C
The CAN bus
b iiss pe
permanently
a e tl
tly iintegrated
tteg ated
t d iinto
to
t tth
the
e co
controller
t olle
ll des
d
designed
ig ed
d as a 9
9-pole
pole
l D-SUB
D SU
SUB plug.
l
Pin Function Description
1 Not
N t Connected
C t d N t Connected
Not C t d
2 CAN_L
CAN L CAN Bus
B s LLow
3 CAN_GND
CAN GND CAN Ground
4 Not Connected Not Connected
5 CAN_SHLD
CAN SHLD Connection to functional earth (screening/shield)
6 GND Optional
i l GND
7 CAN_H
CAN H CAN Bus
B Hi High
gh
8 Not Connected Not Connected
9 Not Connected Not Connected

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CMMP-AS M t Slave
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S h i ti ca0pro.pptx
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Page 61
CANope Wiring
CANopen
C Wi i g IInformation
fo atio
Ass a minimum,
A i i u , allll CAN
CANopen
C ope b bus syste
systems
t s transmit
t a s itt data
d t in
i both
b
botth directions
di
d ecttio s o
on a ssingle
i gle
l ttwisted-pair
isted
t d pai sshielded
hielded
ld d cable.
bl
Th ttwo wires
The i are usuallylly llabeled
b l d “CAN-H(high)”
“CAN H(hi
( gh)”
) and d “CAN
“CAN-L(low)”
L(l
( )” ) or “CAN
“CAN+”” andd “CAN
“CAN-““ respectively.
p ti ly
The CAN-GND
CAN GND should be terminated as shown and the shield (screen)
( should be connected to the CAN_SHLD.
CAN SHLD

The connected CAN bus slaves are not supplied with power over the CANopen interface
interface.
Some devices (i.e.
(i e CPX-FB14) also require 24VDC on the same connector ((“CANCAN_GND
GND” and “CAN
CAN V+”)
V+ ). This power is used only by the CAN
transceiver and optocouplers if galvanic isolation of the bus node applies
applies, and supplies no power to I/O etc
etc. The current consumption is
approximately 30mA, and should remain connected to the system power supply at all times - not interrupted by an ESTOP or safety relay, etc.

CMMP ASFAQ
CAN
CMMP-AS
CANopen FAQTroubleshooting
TMaster
M bl
t Slave
Sl
h ti X1 ca0pro.pptx
A_B
A 0B Synchronization
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CANope EOL
CANopen
C O RResistor
esisto Information
I fo atio
A 1200 Ω End
E dooff Line
Li e (te
(termination)
(t i attio ) resistor
esisto
t isis required
equi edd att both
b
botth ends
e d
ds of
of the
tthe CANopen
C
CANope Fi
FieldBus.
eld
ldBus.
Thi resistor
This i t iis sometimes
ti available
il bl internally
i t lly on the
th hhardware
d or alternatively
lt ti ly mustt b
be wired
i d external.
t l

When an external Resistor is required,

required Festo recommends using metal film resistors with a 1% tolerance and a size of 0207.
0207
Example: Manufacturer: BCC,
BCC Part Number: 232215621201

Troubleshooting:
Missing Resistors or too many resistors ((use of internal and external)) can cause malfunction of the CANopen network.
T ki a simple
Taking i l multi
multi-meter
l i meter and
d measuringi the
h resistance
i (Ohm
(Oh Value)
V l )b between the
h CAN
CAN-HH andd CAN
CAN-LL can quickly
i kl determine
d i if you h
have the
h
network
t k configured
fig d correctly.
tly

Examples
p (assumed that the connectors are attached to the hardware devices & wires connected as shown below-power
below power
p off is optional):
optional)
p
Ω
40 BAD - 3 EOL resistors are present in network – Assume both an internal and external used at one end

60 GOOD - 2 EOL resistors are present in network

120 BAD - Only 1 EOL resistor is present in network – faulty termination or missing resistor can be the cause

CPX-CEC-C1
CPX CEC C1 CMMP-AS
CMMP AS

120 Ω 120 Ω

CMMP ASFAQ
CAN
CMMP-AS
CANopen FAQTroubleshooting
TMaster
M bl
t Slave
Sl
h ti X1 ca0pro.pptx
A_B
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CANope Ca
CANopen
C C blle Information
Cable I fo atio

 For cabling
cabling,
g a shielded cable with exactlyy two twisted lead pairs
p must be used
used.
o A twisted lead pair is used to connect CAN-H
CAN H and CAN-L.
CAN L
o The cores of the other pair are used together for CAN-GND.
CAN-GND
o The screen of the cable is guided onto the CAN Shield connections for all nodes.
nodes

 The use of adapter plugs is not recommended for CAN bus cabling. But if this is still necessary, make sure that metallic plug housings are used to
connect the
h cable
bl shield.
hi ld
 To
T kkeep p disturbance
di t b as low
l as possible,
p ibl , motor
t cable
bl should
h ld nott be
b laid
l id p
parallel
ll l to
t signal
ig l lines,
li , motor
t cable
bl ddesigned
ig d in
i accordance
d with
ith the
th
specification,
p ifi ti , motor t cable
bl properly
p p ly shielded
hi ld d and
d earthed.
th d
 For additional information on the design
g of a disturbance-free
disturbance free CAN bus cabling
cabling,
g we refer you
y to the Controller Area Network p protocol specification,
specification
p
version 2.0,
2 0 from Robert Bosch GmbH
GmbH, 1991
1991.

2p
pairs
i off 2 twisted
t i t d leads, 0 22 mm2
l d , d 0.22 Loop
L p resistance
i t < 0.2
0 2 Ω/m
Ω//

Screened Impedance 100 … 120 Ω

CMMP ASFAQ
CAN
CMMP-AS
CANopen FAQTroubleshooting
TMaster
M bl
t Slave
Sl
h ti X1 ca0pro.pptx
A_B
A 0B Synchronization
S ht i ti ca0pro.pptx
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CANope Co
CANopen
C C
Connector
ecto Sa
Sample
S ple
l
Manufacturer:
M a ufactu
t e : Phoenix
Phoe i CCo
Connectors
ecto
t s but
b t tth
the
e asse
assembly
bly
bl iiss
purchased
p h d ffrom FFesto
t
Type
yp Code:
Code N/A
Part # USA SA#13080746

These are generic CANopen connectors and therefore

some terminals such as V+ (Only available on the
angled connector)) are terminated only dependant upon
the
h hhardware
d the
h connector isi used
d for.
f

This iis th
Thi the assembly
bly usedd iin thi
this sample
pl and
d the
th EOL
resistor is turned on at the Master Axis – the other 2
connectors are NOT connected

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
S h i ti ca0pro.pptx
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Page 65
CMMP AS
CMMP-AS
C S Fi
Fieldbus
eld
ldbus Settings
S
Setti gs Wiring
Wi i g
The C
The CAN bus
b iiss pe
permanently
a e tly
tl iintegrated
teg
t ated
t d into
i to
t tthe
the motor
oto
t cocontroller
t olle
ll & des
d
designed
ig ed
d as a 9
9-pole
pole
l D-SUB
D SU
SUB plug.
l
Pin Function Description
1 Not Connected
2 CAN_L
CAN L CAN Bus Low
3 CAN_GND
CAN GND Ground, Connected internally to GND in Controller NOTE: No resistor is integrated
4 N Connected
Not C d into the CMMP Series Device – You
5 CAN_SHLD
CAN SHLD C
Connection
ti tto ffunctional
ti l earth
th (screening/shield)
( i g// hi ld)) must install this externally.
externally
6 GND Ground Connected internally to GND in Controller
Ground,
7 CAN_H
CAN H CAN Bus High
8 Not Connected
9 Not Connected

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
S h i ti ca0pro.pptx
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Page 66
CMMP AS
CMMP-AS
C SCCo
Controller
t olle
ll X X1 C
Connector
Co ecto Master
Maste Wiring
Wi i g
The picture shows the basic wiring required when using a Fieldbus
card with the controller.
controller
Inputs
R
Required
i d IInputs:
t
GND24 R Reference
f potential
p t ti l for
f digital
digit l I/O's
I/O'
/
24Vd supply
24Vdc pply to
t the
th IInputs
p t used d
DIN4 Power Enable
DIN5 Controller Enable/Acknowledge error

Optional Inputs:
Depending on the customer application needs, needs the limit switch inputs
are optionall and
d can bbe d
disabled
bl d in the
h software.
f
DIN6 Limit
Li i switch
i h 0 (Over
(Over-travel
(O travell Li
Limit
i SSwitch
i h which
hi h can bbe configured
fi d
N
Normally
lly O
Open
p or ClClosed)
d))
DIN7 Limit switch 1 (Over-travel
(Over
( travel Limit Switch which can be configured
g
Normally Open or Closed)

Outputs
The 3 outputs shown are determined by the customer application
needs and are therefore optionally wired.
wired The same status of these
outputs can b
be d
determined
i d via
i the
h Fieldbus
i ldb and d programming
i in i the
h
customer’s
custo
t e ’s PLC.
PLCC.

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
S h i ti ca0pro.pptx
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Page 67
CMMP AS
CMMP-AS
C SCCo
Controller
t olle
ll X X1 C
Connector
Co ecto Sla
Sl e Wiring
Slave Wi i g
Inputs
Required Inputs:
GND24 Reference potential for digital I/O's
I/O
/ s
GND R
GND24 Reference
f potential
i l for
f any Analog
A l Inputs
I used
d as
digit l Inputs
digital I p t
24Vd supply
24Vdc pply to
t the
th IInputs
p t used(shown
d(( h here)
h )
DIN4 Power Stage Enable
DIN5 Controller Enable/Acknowledge error
DIN8 Start (Begins Home routine)
DIN11 Enable Synchronization (DIN13 shown but we use 11)

Optional
i l Inputs:
D
Depending
di on theh customer application
li i needs, d the
h limit
li i switch
i h
i p t are optional
inputs pti l and
d can b
be disabled
di bl d ini the
th software.
ft
DIN6 Limit switch 0 (Over-travel
(Over
( travel Limit Switch which can be
configured Normally Open or Closed)
DIN7 Limit switch 1 (Over-travel
(Over travel Limit Switch which can be
configured Normally Open or Closed)

Outputs
R
Required
i dOOutputs:
DOUT0
OU 0 Ready
Ready for
fo Operation
Ope
O attio (Determines
((Detet i es if the
tthe controller
co t olle ca
can
accept
pt commandsd – If thi
this iis off,
ff, th
the controller
t ll mayy nott b be
enabled or there mayy be a fault)

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
S h i ti ca0pro.pptx
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CMMP AS
CMMP-AS
C SCCo
Controller
t olle
ll X X3
3CConnector
Co ecto Master/Slave
Maste /Sla
/Sl e Wiring
Wi i g
The new motor controllers CMMS-ST-…-G2
CMMS ST G2 are equipped
eqq ipped
pp with an
X3 connector . This is used for additional safety.
safetyy
Below shows a safety wiring diagram that meets the following:
SS1
PLe – Category 3 using Safety Relay PNOZ s5

CMMP AS FAQ Master

CMMP-AS M t Slave
Sl X1 A_B
A B Synchronization
S h i ti ca0pro.pptx
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S ch o i e C
Synchronize
Sy Ca
Cable
blle Master
Maste X11
X Co
C
Connector
ecto to Sla
Sl e X10
Slave X 0 Co
C
Connector
ecto
Festo doesn’t offer a special
p cable – the connections are shown here:
here
Cable must be shielded with twisted in p pairs Sub-D
pairs. Sub D connectors should be metallic
metallic.
Connection of zero pulse N/N-
N/N is only needed if zero/index pulse Synchronization is used.
used Normally it is not used.
used

CMMP AS FAQ Master

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Sl X1 A_B
A B Synchronization
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Page 70