CMM - FHPP 2010-06a 555696g1

Festo Handling and
Positioning Profile
Description
FHPP
Motor controller
Type CMM...
Festo handling and

positioning profile
Description
555 696
en 1006a
[749 176]
Contents and general safety instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de
Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 1006a
Designation . . . . . . . . . . . . . . . . . . P.BE−CMM−FHPP−SW−EN
Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 696
© (Festo AG&Co. KG, D73726 Esslingen, 2009)

Internet: http://www.festo.com
E−Mail: service_international@festo.com
The copying, distribution and utilization of this document as

well as the communication of its contents to others without
express authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights are reserved,
in particular the right to carry out patent, registered design
or ornamental design registration.
Festo P.BE−CMM−F HPP−SW−EN en 1006a I

CANopen®, DeviceNet®, EtherCAT®, and PROFIBUS® are registered trademarks of the

respective trademark owners in certain countries.
II Festo P.BE−CMM−F HPP−SW−EN en 1006a

Contents
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII

Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
Information about the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
1. I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1
1.1 Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . 1−3

1.2 Setpoint specification (FHPP operating modes) . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.1 Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.2 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−6
1.2.3 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−7
1.3 Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8
1.3.1 Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8
1.3.2 I/O data in the various FHPP operating modes (control view) . . . . 1−9
1.4 Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . . 1−10
1.5 Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−11
1.5.1 Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−11
1.5.2 Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−12
1.5.3 Control byte 3 (CDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . 1−13
1.5.4 Bytes 4 and 5 ... 8 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−14
1.5.5 Bytes 3 and 4 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . . . 1−14
1.6 Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−15
1.6.1 Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−15
1.6.2 Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−16
1.6.3 Status byte 3 (SDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . 1−17
1.6.5 Bytes 3, 4 and 5 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . 1−19
Festo P.BE−CMM−F HPP−SW−EN en 1006a III

1.7 FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−21

1.7.1 Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−23
1.7.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−24
1.7.3 Special features dependent on FHPP operating mode . . . . . . . . . . 1−26
1.7.4 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . 1−26
2. Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1
2.1 Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−3

2.2 Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5
2.3 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5
2.3.1 Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7
2.3.2 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−8
2.4 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−13
2.5 Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−15
2.6 Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−17
2.6.1 Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . . 2−18
2.6.2 Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
2.6.3 Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . . 2−23
2.7 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−27
2.7.1 Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . . 2−29
2.7.2 Sequence for Profile Torque mode (torque and current control) . . 2−30
2.7.3 Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . 2−32
2.8 Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−34
2.9 On−the−fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . . 2−36
3. Fault reaction and diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1
3.1 Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3

3.1.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−4
3.1.2 Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−5
3.1.3 Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−6
3.2 Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−7
3.3 Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9
IV Festo P.BE−CMM−F HPP−SW−EN en 1006a

3.4 Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10

3.4.1 CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10
3.4.2 CMMS fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−48
3.5 Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−54
4. Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1
4.1 FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−3

4.2 Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−4
4.2.1 Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−4
4.3 Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−5
4.4 Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−13
4.4.1 Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . . 4−13
4.4.2 PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . . 4−14
4.4.3 Device data Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4−16
4.4.4 Device data Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4−17
4.4.5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−20
4.4.6 Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−24
4.4.7 On−the−fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−29
4.4.8 Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−30
4.4.9 Project data General project data . . . . . . . . . . . . . . . . . . . . . . . . . 4−42
4.4.10 Project data Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−43
4.4.11 Project data Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−44
4.4.12 Project data Direct mode, Profile Position mode . . . . . . . . . . . . . 4−45
4.4.13 Project data Direct mode, Profile Torque mode . . . . . . . . . . . . . . 4−46
4.4.14 Project data Direct mode, Profile Velocity mode . . . . . . . . . . . . . 4−47
4.4.15 Function data Camming function . . . . . . . . . . . . . . . . . . . . . . . . . . 4−48
4.4.16 Function data Position triggers and rotor position triggers . . . . . 4−50
4.4.17 Axis parameters for electric drives 1 Mechanical parameters . . . 4−53
4.4.18 Axis parameters for electric drives 1 Homing parameters . . . . . . 4−56
4.4.19 Axis parameters for electric drives 1 Closed−loop controller
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−58
4.4.20 Axis parameters for electric drives 1 Electronic rating plate . . . . 4−61
4.4.21 Axis parameters for electric drives 1 Standstill control . . . . . . . . 4−62
4.4.22 Axis parameters for electric drives 1 Drag error monitoring . . . . 4−63
Festo P.BE−CMM−F HPP−SW−EN en 1006a V

4.4.23 Axis parameters for electric drives 1 Other parameters . . . . . . . . 4−63

4.4.24 Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . 4−64
5. Parametrisation with FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1
5.1 Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . . 5−3
5.1.2 Task identifiers, response identifiers and error numbers . . . . . . . . 5−5
5.1.3 Rules for task−response processing . . . . . . . . . . . . . . . . . . . . . . . . . 5−7
A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1
A.1 Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3

A.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3
A.1.2 Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−5
A.1.3 Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . . A−6
A.1.4 Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−9
A.1.5 Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A−13
B. FHPP+ and cam disk expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−1
B.1 FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3

B.1.1 Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . B−4
B.1.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−5
B.1.3 Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . B−6
B.1.4 Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−6
B.1.5 Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−6
B.2 CMMP−AS − operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7
B.2.1 Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B−8
B.2.2 Camming function in Record selection mode . . . . . . . . . . . . . . . . . B−10
B.2.3 Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B−10
B.2.4 Extended finite state machine with camming function . . . . . . . . . . B−11
C. Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−1
VI Festo P.BE−CMM−F HPP−SW−EN en 1006a

Intended use
This description includes the Festo Handling and Position

Profile (FHPP) for the CMMx product family.
This provides you with supplementary information about con

trolling, diagnosing and parametrising the motor controllers
via the fieldbus.
The complete set of information can be found in the docu

mentation for the motor controller in question:
Description P.BE−CMM...−HW−...:
Mechanical system − Electrical system − Overview of the
function range.
Note
Always follow the safety−related instructions listed in the
product manual for the motor controller in question.
Depending on which fieldbus is used, you can find further

information in the following manuals for the CMMx product
family:
Description type P.BE−CMM...−CO−...:

Description of the implemented CANopen protocol as per
DSP 402.
Description type P.BE−CMM...−PB−...:

Description of the implemented PROFIBUS−DP protocol.
Description type P.BE−CMM...−DN−...:

Description of the implemented DeviceNet protocol.
Description type P.BE−CMM...−EC−...:

Description of the implemented EtherCAT protocol.
Festo P.BE−CMM−F HPP−SW−EN en 1006a VII

Safety instructions
When commissioning and programming positioning systems,

you must always observe the safety regulations in this
manual as well as those in the operating instructions for
the other components used.
The user must make sure that nobody is within the sphere of
influence of the connected actuators or axis system. Access
to the potential danger area must be prevented by suitable
measures such as barriers and warning signs.
Warning
Axes can move with high force and at high speed. Colli
sions can lead to serious injuries and damage to compo
nents.
Make sure that nobody can reach into the sphere of influ
ence of the axes or other connected actuators and that no
items are within the positioning range while the system is
connected to energy sources.
Warning
Errors in the parametrisation can cause injuries and
damage to property.
Enable the controller only if the axis system has been
correctly installed and parametrised.
VIII Festo P.BE−CMM−F HPP−SW−EN en 1006a

Target group
This manual is intended exclusively for technicians trained in

control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi
tioning systems.
Service
Please consult your local Festo Service department or write

to the following e−mail address if you have any technical
problems:
service_international@festo.com
Festo P.BE−CMM−F HPP−SW−EN en 1006a IX

Important user instructions
Danger categories
This description contains instructions on the possible dangers
which can arise if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or material damage.
Caution
in personal injury or material damage.
Note
in material damage.
Additionally, the following pictogram designates text

passages, which describe activities with electrostatically
sensitive devices:
Electrostatically sensitive devices: inappropriate handling

can result in damage to components.
X Festo P.BE−CMM−F HPP−SW−EN en 1006a

Identification of special information

The following pictograms designate text passages that con
tain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally−friendly use of Festo
products.
Text designations
· Bullet points indicate activities that may be carried out in

any sequence.
1. Numerals indicate activities that must be carried out in

the sequence specified.
Arrowheads indicate general listings.
Festo P.BE−CMM−F HPP−SW−EN en 1006a XI

Information about the version
This manual refers to versions set out in Tab.0/1.
Controller Firmware Description
CMMP−AS−... Version 3.5.1501.4.1 and higher Servo motor controller Premium
CMMS−AS−... Version 1.3.0.1.15 and higher Servo motor controller Standard
CMMS−ST−... Version 1.3.0.1.14 and higher Stepper motor controller
Tab.0/1: Controller and firmware versions
For older versions:

You may need to use the corresponding older version of this
document.
Note
With newer firmware versions, check whether there is a
newer version of this description available:
www.festo.com
XII Festo P.BE−CMM−FHPP−SW−EN en 1006a

Terms and abbreviations
The following terms and abbreviations are used in this

manual:
Term/abbreviation Meaning
Axis Mechanical component of a drive that transfers the drive force for the
motion. An axis enables the attachment and guiding of the work load
and the attachment of a reference switch.
Axis zero point (AZ) Point of reference for the software end positions and the project zero
point PZ. The axis zero point AZ is defined by a preset distance (offset)
from the reference point REF.
Controller Contains power electronics + closed−loop controllers + position

controller, evaluates sensor signals, calculates movements and forces
and provides the power supply for the motor via the power electronics.
Drive Complete actuator, consisting of motor, encoder and axis, optionally

with a gearbox, if applicable with controller.
Encoder Electrical pulse generator (generally a rotor position transducer).

The controller evaluates the electrical signals that are generated and
uses them to calculate the position and speed.
Festo Configuration Tool Software with standardised project and data management for sup
(FCT) ported device types. The special requirements of a device type are
supported with the necessary descriptions and dialogues by means of
plug−ins.
Festo Handling and Uniform fieldbus data profile for position controllers from Festo
Positioning Profile (FHPP)
Festo Parameter Channel Parameter access as per the Festo Handling and Positioning Profile"
(FPC) (I/Omessaging, optionally additional 8−byte I/O)
FHPP standard Defines the sequence control as per the Festo Handling and Position
ing Profile" (I/O messaging, 8−byte I/O)
HMI Human−Machine Interface, e.g. control panel with LCD screen and
operating buttons.
Homing Positioning procedure in which the reference point and therefore the
origin of the measuring reference system of the axis are defined.
Homing method Method for defining the reference position: against a fixed stop
(overload current evaluation/speed evaluation) or with reference
switch.
Festo P.BE−CMM−F HPP−SW−EN en 1006a XIII

Homing mode Defines the measuring reference system of the axis
I Input.
O Output.
IO Input and/or output.
Jog mode Manual positioning in positive or negative direction.

Function for setting positions by approaching the target position, e.g.
by teaching positioning records (Teach mode).
Load voltage, logic voltage The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and con
trol logic of the controller.
Logic 0 0 V present at input or output (positive logic, corresponds to LOW).
Logic 1 24 V present at input or output (positive logic, corresponds to HIGH).
Operating mode Type of control, or internal operating mode of the controller.

Type of control: Record selection, Direct mode
Operating mode of the controller: Profile Position mode,
Profile Torque mode, Profile Velocity mode
Predefined sequences: Homing mode...
PLC Programmable logic controller; control system for short (also IPC:
industrial PC).
Positioning record Positioning command defined in the positioning record table,

consisting of target position, positioning mode, positioning speed
and accelerations.
Profile Position mode Operating mode for executing a positioning record or a direct
positioning task with closed−loop position control.
Profile Torque mode Operating mode for executing a direct positioning task with force
control (open−loop transmission control) by regulation of the motor
current.
Project zero point (PZ) Point of reference for all positions in positioning tasks. The project
zero point PZ forms the basis for all absolute position specifications
(e.g. in the positioning record table or with direct control via a control
or diagnostic interface). The project zero point PZ is defined by a
preset distance (offset) from the axis zero point.
Reference point (REF) Point of reference for the incremental measuring system. The
reference point defines a known orientation or position within the
positioning path of the drive.
XIV Festo P.BE−CMM−F HPP−SW−EN en 1006a

Reference switch External sensor used for ascertaining the reference position and con
nected directly to the controller.
Software end position Programmable stroke limitation (point of reference = axis zero point)
Software end position, positive:
max. limit position of the stroke in positive direction; must not be
exceeded during positioning.
Software end position, negative:
min. limit position in negative direction; must not be fallen short of
during positioning.
Speed adjustment Operating mode for executing a positioning record or a direct

(Profile Velocity mode) positioning task with closed−loop control of the speed/velocity.
Teach mode Operating mode for setting positions by moving to the target position,
e.g. when creating positioning records.
Tab.0/2: Index of terms and abbreviations
Festo P.BE−CMM−F HPP−SW−EN en 1006a XV

XVI Festo P.BE−CMM−F HPP−SW−EN en 1006a

I/O data and sequence control
Chapter 1
Festo P.BE−CMM−F HPP−SW−EN en 1006a 1−1

1. I/O data and sequence control
Contents
1.1 Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . 1−3

1.2 Setpoint specification (FHPP operating modes) . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.1 Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.2 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−6
1.2.3 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−7
1.3 Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8
1.3.1 Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8
1.3.2 I/O data in the various FHPP operating modes (control view) . . . . 1−9
1.4 Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . . 1−10
1.5 Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−11
1.5.1 Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−11
1.5.2 Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−12
1.5.3 Control byte 3 (CDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . 1−13
1.5.5 Bytes 3 and 4 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . . . 1−14
1.6 Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−15
1.6.1 Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−15
1.6.2 Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−16
1.6.3 Status byte 3 (SDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . 1−17
1.6.5 Bytes 3, 4 and 5 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . 1−19
1.7 FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−21
1.7.1 Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−23
1.7.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−24
1.7.3 Special features dependent on FHPP operating mode . . . . . . . . . . 1−26
1.7.4 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . 1−26
1−2 Festo P.BE−CMM−F HPP−SW−EN en 1006a

1.1 Overview of Festo Handling and Positioning Profile (FHPP)
Festo has developed an optimised data profile especially

tailored to the target applications for handling and positioning
tasks, the Festo Handling and Positioning Profile (FHPP)".
The FHPP enables uniform control and programming for the
various fieldbus systems and controllers from Festo.
In addition, it defines the following so that they are largely

uniform for the user:
The operating modes,
I/O data structure,
Parameter objects,
Sequence control.
...
Fieldbus communication
Record selection Direct mode Parametrisation
1 Position Velocity Torque Free access to all

> 2 parameters
3 read and write
...
n
...
Fig.1/1: The FHPP principle
Festo P.BE−CMM−FHPP−SW−EN en 1006a 1−3

Control and status data (FHPP Standard)
Communication over the fieldbus is effected by way of 8−byte

control and status data. Functions and status messages re
quired in operation can be written and read directly.
Parametrisation (FPC)
The control system can access all parameter values of the con
troller via the fieldbus by means of the parameter channel.
A further 8 bytes of I/O data are used for this purpose.
Note on the controllers

Each controller has specific features and tasks. They therefore
each have their own finite state machine and a separate data
base.
The Festo Handling and Positioning Profile (FHPP) provides

users with information about a controller’s individual character
istics. The profile is implemented as independently as possible
from each controller and fieldbus.
1−4 Festo P.BE−CMM−FHPP−SW−EN en 1006a

1.2 Setpoint specification (FHPP operating modes)
The FHPP operating modes differ in the content and meaning of

the cyclic I/O data and in the functions that can be accessed in
the controller.
Operating mode Description
Record selection A specific number of positioning records can be saved in the con
troller. A record contains all the parameters which are specified for a
positioning task. The record number is transmitted in the cyclic I/O
data as the setpoint or actual value.
Direct mode The positioning task is transmitted directly in the I/O telegram. The
most important setpoint values (position, velocity, torque) are trans
mitted here. Supplementary parameters (e.g. acceleration) are de
fined by the parametrising.
Tab.1/3: Overview of FHPP operating modes in CMM...
1.2.1 Switching FHPP operating modes
The FHPP operating mode is switched by the CCON control

byte (see below) and indicated in the SCON status word.
Switching between record selection and direct mode is only

permitted in the Ready" state; see section 1.7, Fig.1/2.

1.2.2 Record selection
Each controller has a specific number of records, which con

tain all the information needed for one positioning task. The
maximum number of records is specified separately for each
controller.
The record number that the controller is to process at the

next start is transmitted in the PLC’s output data. The input
data contains the record number that was processed last.
The positioning task itself does not need to be active.
The controller does not support any automatic mode, i.e. no

user program. Records cannot be processed automatically
with a programmable logic. The controller cannot accomplish
any useful tasks in a stand−alone state; close coupling to the
PLC is necessary.
However, depending on the controller, it is also possible to

concatenate various records and execute them one after the
other with the help of a start command. It is also possible
(again, dependent on the controller) to define record chaining
before the target position is reached.
It is only possible to set all of the parameters for the record

chaining (route program") (e.g. the following record) using
the FCT.
In this way, positioning profiles can be created without the

inactive times (which arise from the transfer in the fieldbus
and the PLC’s cycle time) having an effect.

1.2.3 Direct mode
In the direct mode, positioning tasks are formulated directly

in the PLC’s output data.
The typical application calculates dynamically the target set

point values for each task or just for some tasks. This makes
it possible to adjust the system to different workpiece sizes,
for example, without having to re−parametrise the record list.
The positioning data is managed completely in the PLC and
sent directly to the controller.

1.3 Configuration of the I/O data
1.3.1 Concept
A PLC exchanges the following data with the FHPP:
8−byte control and status data:
Control and status bytes
Record number or setpoint position in the output data
Feedback of actual position and record number in the

input data
Additional mode−dependent setpoint and actual

values
If required, an additional 8 bytes of input and 8 bytes of

output data for FPC parametrisation.
The FHPP protocol stipulates 8 bytes of input data and

8 bytes of output data. Of these, the first byte is fixed (the
first two bytes in the FHPP operating modes Record selection
and Direct mode). It remains intact in each operating mode
and controls the enabling of the controller and the FHPP oper
ating modes. The other bytes are dependent on the FHPP
operating mode that was selected. Additional control or
status bytes and setpoint and actual values can be trans
mitted here.
In the cyclic data, a further 8 bytes of input data and 8 bytes

of output data are permissible to transmit parameters accord
ing to the FPC protocol.
If applicable, observe the specification in the bus master

for the representation of words and double words (Intel/
Motorola).
E.g. in the little endian" representation when transmitted via

CAN (lowest−value byte first).

1.3.2 I/O data in the various FHPP operating modes (control view)
Record selection
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output CCON CPOS Record Reserved Reserved

data no.
Input SCON SPOS Record RSB Actual position

data no.
Direct mode
Output CCON CPOS CDIR Setpoint Setpoint value 2

data value 1
Input SCON SPOS SDIR Actual Actual value 2

data value 1
Further 8 bytes of I/O data for FPC parametrisation

(see section 5.1):
Festo FPC
Output Reserved Subindex Task identifier Parameter value

data (ReqID) + parameter
number (PNU)
Input Reserved Subindex Response identifier Parameter value

data (ResID) + parameter
number (PNU)

1.4 Assignment of the control bytes and status bytes (overview)
Assignment of the control bytes (overview)
CCON B7 B6 B5 B4 B3 B2 B1 B0
(all) OPM2 OPM1 LOCK RESET BRAKE STOP ENABLE
Select FHPP operat Software Reset Open Stop Drive
ing mode access fault brake enable
locked
CPOS B7 B6 B5 B4 B3 B2 B1 B0
(Record CLEAR TEACH JOGN JOGP HOM START HALT
selection
and Clear re Teach Jog nega Jog posi Start Start Halt
Direct maining actual tive tive homing position
mode) position value ing task
CDIR B7 B6 B5 B4 B3 B2 B1 B0
(Direct FUNC FGRP2 FGRP1 FNUM2 FNUM1 COM2 COM1 ABS
mode)
Execute Function group Function number Control mode Abso
function (position, torque, lute/
velocity, ...) Relative
Assignment of the status bytes (overview)
SCON B7 B6 B5 B4 B3 B2 B1 B0
(all) OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABLED
Display FHPP operat Drive con Supply Fault Warning Operation Drive
ing mode trol by voltage is enabled enabled
software applied
SPOS B7 B6 B5 B4 B3 B2 B1 B0
(Record REF STILL DEV MOV TEACH MC ACK HALT
selection
and Axis is Standstill Drag Axis is Acknow− Motion Acknow− Halt
Direct refer control (deviation) moving ledge complete ledge
mode) enced error teach/ start
sampling
SDIR B7 B6 B5 B4 B3 B2 B1 B0
(Direct FUNC FGRP2 FGRP1 FNUM2 FNUM1 COM2 COM1 ABS
mode)
Function Function group feed Function number Control mode feed Absolute/
is ex back feedback back (position, Relative
ecuted torque, velocity)

1.5 Description of the control bytes
1.5.1 Control byte 1 (CCON)
Control byte 1 (CCON)

Bit EN Description
B0 Drive Enable = 1: Enable drive (controller)

ENABLE = 0: Drive (controller) disabled
B1 Stop = 1: Operation enabled.

STOP Any error will be deleted.
= 0: STOP active (cancel emergency ramp + positioning task). The drive
stops with maximum braking ramp, the positioning task is reset.
B2 Open Brake = 1: Release brake

BRAKE = 0: Activate brake
Note: it is only possible to release the brake if the controller is disabled.
As soon as the controller is enabled, it has priority over the brake’s con
trol system.
B3 Reset Fault With a rising edge a fault is acknowledged and the fault value is deleted.
RESET
B4 Reserved, must be at 0.

B5 Software Ac Controls access to the controller’s local (integrated) diagnostic inter
LOCK cess Locked face.
= 1: The software can only observe the controller; the software cannot
take over device control (HMI control) from the software.
= 0: The software may take over the device control (in order to modify
parameters or to control inputs).
B6 Select Operat Bit 7 6 Operating mode

OPM1 ing Mode 0 0 Record selection
0 1 Direct mode
B7 1 0 Reserved
OPM2 1 1 Reserved
CCON controls statuses in all FHPP operating modes. For

more information, see the description of the drive functions in
Chapter 3.

1.5.2 Control byte 2 (CPOS)
Control byte 2 (CPOS)

Bit EN Description
B0 Halt = 1: Halt is not active

HALT = 0: Halt activated (do not cancel braking ramp + positioning task).
The axis stops with a defined braking ramp, the positioning task
remains active (with B6 the remaining positioning distance can be
deleted).
B1 Start Position With a rising edge the current setpoint values will be transferred and
START ing Task positioning started (even if record 0 = homing, for example).
B2 Start Homing With a rising edge homing is started with the set parameters.
HOM
B3 Jog positive The drive moves at the specified velocity or rotational speed in the direc
JOGP tion of larger actual values, providing the bit is set. The movement be
gins with the rising edge and ends with the falling edge.
B4 Jog negative The drive moves at the specified velocity or rotational speed in the direc
JOGN tion of smaller actual values, see B3.
B5 Teach Actual At a falling edge the current actual value is imported into the setpoint
TEACH Value register of the currently addressed positioning record; see section 2.5.
The teach target is defined with PNU 520. The type is determined by the
record status byte (RSB).
See also section 2.5.
B6 Clear Remain In the Halt" status a rising edge causes the positioning task to be de
CLEAR ing Position leted and transfer to the status Ready."
B7 Reserved, must be at 0.
CPOS controls the positioning sequences in the Record

selection" and Direct mode" FHPP operating modes, as soon
as the drive is enabled.

1.5.3 Control byte 3 (CDIR) Direct mode
Control byte 3 (CDIR) Direct mode

Bit EN Description
B0 Absolute/ = 0: Setpoint value is absolute

ABS Relative = 1: Setpoint value is relative to last setpoint value
B1 Control Mode Bit 2 1 Control mode

COM1 0 0 Profile Position mode
0 1 Profile Torque mode (torque, current)
1 0 Profile Velocity mode (speed)
B2
1 1 Reserved
COM2
Only Profile Position mode can be used for the camming function.
B3 Function Without camming function (CDIR.B7, FUNC = 0): no function, = 0!

FNUM1 Number If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):
No. Bit 4 3 Function number 1)
0 0 0 Reserved
1 0 1 Synchronisation with an external input
B4 2 1 0 Synchronisation with an external input with camming
FNUM2 function
3 1 1 Synchronisation with a virtual master with camming
function
B5 Function Without camming function (CDIR.B7, FUNC = 0): no function, = 0!

FGRP1 Group If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):
No Bit 6 5 Function group
No.
B6 0 0 0 Synchronisation with/without cam disk
FGRP2 All other values (No. 1 ... 3) are reserved.
B7 Function = 0: Normal task

FUNC = 1: Execute camming function (only permissible with CMMP,
Bit 3 ... 6 = function number and group)
1) With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2
are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 deter
mine the reference and the closed−loop control mode of the master.
In Direct mode, CDRI specifies the type of positioning task

more precisely.

1.5.4 Bytes 4 and 5 ... 8 Direct mode
Control byte 4 (setpoint value 1) Direct mode

Bit EN Description
B0 ... B7 preselection depends on the closed−loop control mode (CDIR.B1/B2):

Velocity Profile Position mode: Velocity as percentage of
base value (PNU 540)
Profile Torque mode: No function, = 0!
Velocity ramp Profile Velocity mode: Velocity ramp as percentage of

Control bytes 5... 8 (setpoint value 2) Direct mode

Bit EN Description
B0...B31 Preselection depends on closed−loop control mode (CDIR.B1/B2), in

each case a little−endian 32−bit number:
Position Profile Position mode: Position in positioning unit (see appendix A.1)
Torque Profile Torque mode: Torque setpoint as percentage of the rated

torque (PNU 1036)
Velocity Profile Velocity mode: Speed in unit of velocity (see appendix A.1)
1.5.5 Bytes 3 and 4 ... 8 Record selection
Control byte 3 (record number) Record selection

Bit EN Description
B0 ... B7 Record Preselection of record number for record selection.

number
Control bytes 4 ... 8 Record selection

Bit EN Description
B0 ... B7 Reserved (= 0)

1.6 Description of the status bytes
1.6.1 Status byte 1 (SCON)
Status byte 1 (SCON)

Bit EN Description
B0 Drive Enabled = 0: Drive disabled, controller not active

ENABLED = 1: Drive (controller) enabled
B1 Operation En = 0: STOP active

OPEN abled = 1: Operation enabled, positioning possible
B2 Warning = 0: Warning not registered

WARN = 1: Warning registered
B3 Fault = 0: No fault
FAULT = 1: There is a fault or fault reaction is active.
Fault code in the diagnostic memory.
B4 Supply Voltage = 0: No load voltage

24VL is Applied = 1: Load voltage applied
B5 Drive Control Control sovereignty, meaning which device or system has higher control
LOCK by Software priority (see PNU 125, section 4.4.4)
= 0: Device control unassigned (software, fieldbus, DIN)
= 1: Device control by software (FCT or DIN)
(PLC control is Locked)
B6 Display Oper Bit 7 6 Operating mode acknowledgment

OPM1 ating Mode 0 0 Record selection
0 1 Direct mode
B7 1 0 Reserved
OPM2 1 1 Reserved

1.6.2 Status byte 2 (SPOS)
Status byte 2 (SPOS)

Bit EN Description
B0 Halt = 0: HALT is active

HALT = 1: HALT is not active, axis can be moved
B1 Acknowledge = 0: Ready for start (homing, jog)

ACK Start = 1: Start carried out (homing, jog)
B2 Motion Com = 0: Positioning task active

MC plete = 1: Positioning task completed, where applicable with error
Note: MC is set for the first time after switch−on
(status Drive disabled").
B3 Acknowledge Depending on the setting in PNU 354:

TEACH Teach / PNU 354 = 0: Display of the teach status
Sampling SPOS.B3 = 0: Ready for teaching
SPOS.B3 = 1: Teaching carried out, actual value is transferred
PNU 354 = 1: Display of the sampling status
SPOS.B3 = 0: No edge.
SPOS.B3 = 1: An edge has appeared. New position value available.
For position sampling: see section 2.9.
B4 Axis is moving = 0: Speed of the axis < limit value

MOV = 1: Speed of the axis >= limit value
B5 Drag (devi = 0: No drag error (also called following error")

DEV ation) Error = 1: Drag error active
B6 Standstill = 0: After MC, axis remains in tolerance window

STILL control = 1: Axis has left the tolerance window after MC
B7 Axis is refer = 0: Homing must be carried out

REF enced = 1: Reference information present, homing not necessary

1.6.3 Status byte 3 (SDIR) Direct mode
The SDIR status byte acknowledges the positioning mode.
Status byte 3 (SDIR) Direct mode

Bit EN Description
B0 Absolute/ = 0: Setpoint value is absolute

ABS Relative = 1: Setpoint value is relative to last setpoint value
B1 Control Mode Bit 2 1 Control mode feedback

COM1 feedback 0 0 Profile Position mode
0 1 Profile Torque mode (torque,
(torque current)
B2 1 0 Profile Velocity mode (speed)
COM2 1 1 Reserved
B3 Function Only if the camming function is used (SDIR.B7, FUNC = 1):

FNUM1 Number No. Bit 4 3 Function number *)
feedback 0 0 0 Reserved
FNUM2 function
function
B5 Function Only if the camming function is used

FGRP1 Group (SDIR.B7, FUNC = 1):
feedback No Bit 6 5 Function group
No.

FUNC feedback = 1: Camming function is executed
(bits 3 ... 6 = function number and group)

1.6.4 Bytes 4 and 5 ... 8 Direct mode
Status byte 4 (actual value 1) Direct mode

Bit EN Description
B0 ... B7 Feedback depends on the closed−loop control mode (CDIR.B1/B2):

Velocity Profile Position mode: Velocity as percentage of
Torque Profile Torque mode: Torque as percentage of the rated
torque (PNU 1036)
Profile Velocity mode: no function, = 0
Status bytes 5 ... 8 (actual value 2) Direct mode

Bit EN Description
B0...B31 Feedback depends on closed−loop control mode (CDIR.B1/B2), in each

case a little−endian 32−bit number:
Position Profile Position mode: Position in positioning unit,
see appendix A.1
Torque Profile Torque mode: Position in positioning unit,
see appendix A.1
Velocity Profile Velocity mode: Speed as an absolute value in unit of velocity

1.6.5 Bytes 3, 4 and 5 ... 8 Record selection
Status byte 3 (record number) Record selection

Bit EN Description
B0 ... B7 Record Acknowledgement of record number for record selection.

number
Status byte 4 (RSB) Record selection

Bit EN Description
B0 1st Record = 0: A step enabling condition was not configured or not achieved.
RC1 Chaining Done = 1: The first step enabling condition was achieved.
B1 Record Chain Valid as soon as MC applies.

RCC ing Complete = 0: Record chaining cancelled. At least one step enabling condition has
not been met.
= 1: Record chain was processed to the end of the chain.
B2 Reserved

B3 Function Only if the camming function is used (RSB.B7, FUNC = 1):

FNUM1 Number No. Bit 4 3 Function number *)
feedback 0 0 0 Reserved
FNUM2 function
function
B5 Function Only if the camming function is used

FGRP1 Group (RSB.B7, FUNC = 1):
feedback No Bit 6 5 Function group
No.

FUNC feedback = 1: Camming function is executed
(bits 3 ... 6 = function number and group)

Status bytes 5 ... 8 (position) Record selection

Bit EN Description
B0...B31 Position, ... Acknowledgment of the position:

Position in positioning unit, see appendix A.1
(32−bit number, low byte first)

1.7 FHPP finite state machine
Switched off From all states

T7* always has the
highest priority. T7*
S1 S5
Controller Reaction to fault
switched on
T1 T8 T11
S2 S6
Drive disabled T9 Fault
T5 T2
T10
S3
T6 Drive enabled
T4 T3
SA5 TA9 SA1

Jog positive
TA10 TA7 SA4

Homing is being
Ready carried out
SA6 TA11 TA8
Jog negative
TA12
TA2 TA1
SA2 TA5
Positioning task
active TA6
TA4 TA3
SA3
Intermediate stop
S4
Operation enabled
Fig.1/2: Finite state machine

Notes on the Operation enabled" state

The transition T3 changes to state S4, which itself contains its
own sub−state machine, the states of which are marked with
SAx" and the transitions of which are marked with TAx";
see Fig.1/2. This enables an equivalent circuit diagram
(Fig.1/3) to be used, in which the internal states SAx are
omitted.
T7*
S1 Controller S5 Reaction to
S5
switched on fault
T1 T8 T11
S2 Drive disabled T9 S6 Fault
T2
T5 T10
S3 Drive enabled
T6
T4 T3
S4 Operation
enabled
Fig.1/3: Finite state machine equivalent circuit diagram
Transitions T4, T6 and T7* are executed from every sub−state

SAx and automatically have a higher priority than any transi
tion TAx.
Reaction to faults
T7 (Fault recognised") has the highest priority (and receives
the asterisk *").
T7 is executed from S5+S6 if an fault of higher priority occurs.

This means that a serious fault can displace a simple fault.

1.7.1 Establishing the ready status
To create the ready status, additional input signals are re

quired, depending on the controller, at DIN4, DIN5, DIN13,
etc., for example.
For more detailed information about this, see the description
of the controller in question.
T Internal conditions Actions of the user
T1 Drive is switched on.

There is no fault detected.
T2 Load voltage applied. Drive enable" = 1

Control sovereignty with PLC. CCON = xxx0.xxx1
T3 Stop" = 1
CCON = xxx0.xx11
T4 Stop" = 0
CCON = xxx0.xx01
T5 Drive enable" = 0
CCON = xxx0.xxx0
T6 Drive enable" = 0
CCON = xxx0.xxx0
T7* Fault detected.
T8 Reaction to fault completed, drive stopped.
T9 There is no longer a fault. Reset fault" = 0 → 1

It was a serious fault. CCON = xxx0.Pxxx
T10 There is no longer a fault. Reset fault" = 0 → 1

It was a simple fault. CCON = xxx0.Pxx1
T11 Fault still exists. Reset fault" = 0 → 1

CCON = xxx0.Pxx1
Key: P = positive edge, N = negative edge, x = any

1.7.2 Positioning
As a general rule:
Transitions T4, T6 and T7* always have priority.
TA Internal conditions Actions of the user
TA1 Homing has been carried out. Start positioning task = 0→1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1 Halt" status is any

The current record is completed. The next record CCON = xxx0.xx11
is not to be carried out automatically CPOS = 0xxx.xxxx
TA3 Motion Complete = 0 Halt = 1 → 0

CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA4 Halt = 1
Start positioning task = 0→1
Clear remaining position = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record selection: CCON = xxx0.xx11

A single record is finished. CPOS = 0xxx.xxx1
The next record is to be carried out automatically.
Direct mode: CCON = xxx0.xx11

A new positioning task has arrived. CPOS = 0xxx.xx11
TA6 Clear remaining position = 0 → 1

CCON = xxx0.xx11
CPOS = 0Pxx.xxxx
TA7 Start homing = 0→1

Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA8 Homing finished or Halt. Only for Halt:

Halt = 1 → 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN

TA Internal conditions Actions of the user

TA9 Jog positive = 0 → 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.Pxx1
TA10 Either
Jog positive = 1→0
CCON = xxx0.xx11
CPOS = 0xxx.Nxx1
or
Halt = 1 → 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA11 Jog negative = 0 → 1

Halt = 1
CCON = xxx0.xx11
CPOS = 0xxP.0xx1
TA12 Either
Jog negative = 1 → 0
CCON = xxx0.xx11
CPOS = 0xxN.xxx1
or
Halt = 1 → 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
There are additional transitions if the camming function is

used; see appendix B.2.

1.7.3 Special features dependent on FHPP operating mode
FHPP operating Notes on special features

mode
Record selection No restrictions.
Direct mode TA2: The condition that no new record may be processed no longer applies.
TA5: A new record can be started at any time.
1.7.4 Examples of control and status bytes
On the following pages you will find typical examples of con

trol and status bytes:
0. Safeguard device control
1. Create readiness to operate Record selection
2. Create readiness to operate Direct mode
3. Fault handling
4. Homing
5. Positioning with record selection
6. Positioning with direct mode
For information about the state machine, see section 1.7.
For all examples:

Additional digital I/Os are required for CMM... controller
enabling and closed−loop controller enabling; see manual
for the CMM... controller used.

0. Safeguard device control

Step/Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
0.1 Drive control by Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
software = on CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0

Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge
Tab.1/4: Control and status bytes for Device control active"
Description of 0. Safeguard device control:

0.1 Device control via software (e.g. Festo Configuration
Tool) is activated.
To control using the fieldbus interface, device control
via the software has to be deactivated first.

1. Create readiness to operate Record selection

1.1 Basic status Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0
(Drive control by
software = off )
CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
1.2 Disable device Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
control by software CCON x x 1 0 x x x x SCON x x 0 x x x x x

CPOS 0 x x x x x x x SPOS x x x x x x x x
1.3 Enable drive, Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
enable operation CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1

(Record selection)
CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
Tab.1/5: Control and status bytes for Create readiness to operate Record selection"
Description of 1. Create readiness to operate:

1.1 Basic status of the drive when the supply voltage has
been switched on.
} Step 1.2 or 1.3
1.2 Disable device control by software.

Optionally, assuming of device control by the software
can be disabled with CCON.B5 = 1 (LOCK).
} Step 1.3
1.3 Enable drive in Record selection mode.

} Homing: example 4, Tab.1/8.
If there are faults after switching on or after setting CCON.B0

(ENABLE):
} Fault handling: see example 3, Tab.1/7.

2. Create readiness to operate Direct mode

2.1 Basic status Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0
(Drive control by
software = off )
CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
2.2 Disable device Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
control by software CCON x x 1 0 x x x x SCON x x 0 x x x x x

CPOS 0 x x x x x x x SPOS x x x x x x x x
2.3 Enable drive, Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
enable operation CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1

(Direct mode)
CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
Tab.1/6: Control and status bytes for Create readiness to operate Direct mode"
Description of 2. Create readiness to operate:

2.1 Basic status of the drive when the supply voltage has
been switched on.
} Step 2.2 or 2.3
2.2 Disable device control by software.

Optionally, assuming of device control by the software
can be disabled with CCON.B5 = 1 (LOCK).
} Step 2.3
2.3 Enable drive in Direct mode.

} Homing: example 4, Tab.1/8.
If there are faults after switching on or after setting CCON.B0

(ENABLE):

3. Fault handling
3.1 Fault Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON x x x 0 x x x x SCON x x x x 1 x x x
CPOS 0 x x x x x x x SPOS x x x x x 0 x x
3.2 Warning Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON x x x 0 x x x x SCON x x x x x 1 x x
CPOS 0 x x x x x x x SPOS x x x x x 0 x x
3.3 Reset fault Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x 0 F x x 1 SCON 0 x 0 1 0 0 0 0
with CCON.B3
CCON B3
(RESET)
CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1
0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; N: negative edge
Tab.1/7: Control and status bytes for Fault handling"

Description of 3. Fault handling

3.1 A fault is shown with SCON.B3 (FAULT).
} Positioning can no longer be undertaken.
3.2 A warning is shown with SCON.B2 (WARN).

} Positioning can still be undertaken.
3.3 Reset fault with positive edge at CCON.B3 (RESET).

} Fault bit SCON.B3 (FAULT) or
SCON.B3 (WARN) is reset
} SPOS.B2 (MC) is set
} Drive is ready to operate
Faults and warnings can be also reset using DIN5 (closed−

loop controller enable), see manual for the controller used.

4. Homing (requires status 1.3 or 2.3)

4.1 Start homing Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Homing running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1
4.3 Homing finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
Tab.1/8: Control and status bytes for Homing"

Description for 4. Homing:

4.1 A positive edge at CPOS.B2 (HOM, Start homing)
starts the homing. The start is confirmed with SPOS.B1
(Acknowledge start) as long as CPOS.B2 (HOM) is set.
4.2 Movement of the axis is shown with SPOS.B4 (MOV,

Axis is moving).
4.3 After successful homing SPOS.B2 (MC, Motion

Complete) and SPOS.B7 (REF) will be set.
If there are faults during homing:


5. Positioning with record selection

(requires status 1.3/2.3 and possibly 4.3)
Step/Descrip Control bytes Status bytes
ti
tion Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
5.1 Preselect record Byte 3 Record number Byte 3 Record number
number Record Record no. (0 ...) Record Previous record no. (0 ...)
(control byte 3) No. No.
5.2 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1
5.3 Task running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1
Byte 3 Record number Byte 3 Record number
Record Record no. (0 ...) Record Current record no. (0 ...)

No. No.
5.4 Task finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
Byte 5...8 Reserved Byte 5...8 Position
Reserved Act. Actual position

pos. (positioning units)
Tab.1/9: Control and status bytes for Positioning with record selection"

Description of 5. Positioning with record selection:

(steps 5.1 ... 5.4 conditional sequence)
When the readiness to operate is created and homing has

been carried out, a positioning task can be started.
5.1 Preselect record number: Byte 3 of the output data

0 = Homing
1 ... = Programmable positioning records
5.2 With CPOS.B1 (START, Start positioning task) the

preselected positioning task will be started. The start
is confirmed with SPOS.B1 (Acknowledge start) as long
as CPOS.B1 (START) is set.
5.3 Movement of the axis is shown with SPOS.B4

(MOV, Axis is moving).
5.4 At the end of the positioning task, SPOS.B2

(MC, Motion Complete) will be set.
If there are faults during positioning:


6. Positioning with direct mode

(requires status 1.3/2.3 and possibly 4.3)
6.1 Preselect position Byte 4 Velocity Byte 4 Velocity
and speed Veloc Speed preselect (0...100 %) Veloc Speed feedback (0...100 %)
(bytes 4 and 5...8) ity ity
Byte 5...8 Position Byte 5...8 Position
Set Setpoint position Act. Actual position

point (positioning units) pos. (positioning units)
pos.
6.2 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1
Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS
CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S
6.3. Task running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1
6.4 Task finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1
CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge;
S: positioning condition: 0= absolute; 1 = relative
Tab.1/10: Control and status bytes for Positioning with direct mode"

Description of positioning with direct mode:

(step 6.1 ... 6.4 conditional sequence)
When the readiness to operate is created and homing has

been carried out, a setpoint position must be preselected.
6.1 The setpoint position is transferred in positioning units

in bytes 5...8 of the output word.
The setpoint speed is transferred in % in byte 4
(0 = no speed; 100 = max. speed).
6.2 With CPOS.B1 (START, Start positioning task) the

preselected positioning task is started. The start is
confirmed with SPOS.B1 (Acknowledge start) as long a
s CPOS.B1 (START) is set.
6.3 Movement of the axis is shown with SPOS.B4

(MOV, Axis is moving).
6.4 At the end of the positioning task, SPOS.B2

(MC, Motion Complete) will be set.
If there are faults during positioning:



Drive functions
Chapter 2

2. Drive functions
Contents
2.1 Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−3

2.2 Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5
2.3 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5
2.3.1 Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7
2.3.2 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−8
2.4 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−13
2.5 Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−15
2.6 Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−17
2.6.1 Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . . 2−18
2.6.2 Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
2.6.3 Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . . 2−23
2.7 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−27
2.7.1 Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . . 2−29
2.7.2 Sequence for Profile Torque mode
(torque and current control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−30
2.7.3 Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . 2−32
2.8 Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−34
2.9 On−the−fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . . 2−36

2. Drive functions
2.1 Reference system for electric drives
Reference system for electric linear drives
2
1
d e
a b c
REF LSE AZ PZ TP/AP USE

LES HES
Positions increasing in size, positive" travel
REF Homing point (reference point) a Axis zero point offset
AZ Axis zero point b Project zero point offset
PZ Project zero point c Target/actual position

offset
LSE Lower software end position d, e Software end position

offsets
USE Upper software end position 1 Effective stroke
LES Lower end switch (lower limit switch) 2 Nominal stroke
HES Higher end switch (higher limit switch)
TP, AP Target/actual position
Tab.2/1: Reference system for electric drives

2. Drive functions
Reference system for electric rotary drives
Rotation axis: example with negative 1 AZ

reference switch homing method REF
PZ
a
d b
REF Reference point: point ascertained during homing: reference switch, limit switch or stop,
with index pulse where applicable.
AZ Axis zero point: point of reference for the project zero point and the software end positions.
PZ Project zero point: point of reference (= zero point) for actual position and absolute posi
tions in the positioning record table.
a Axis zero point offset: distance of axis zero point AZ from reference point REF
b Project zero point offset: distance from AZ
d, e Software end position offsets: limit the permitted positioning range (usable stroke).
Optional: endless positioning possible
1 Effective stroke: permitted positioning range
Tab.2/2: Reference system for electric rotary drives

2. Drive functions
2.2 Calculation rules for the reference system
Reference point Calculation rule
Axis zero point AZ = REF + a
Project zero point PZ = AZ + b = REF + a + b
Lower software end position LSE = AZ + d = REF + a + d
Upper software end position USE = AZ + e = REF + a + e
Target/actual position TP, AP = PZ + c = AZ + b + c = REF + a + b + c
Tab.2/3: Calculation rules for the reference system with incremental measuring systems
2.3 Homing
In the case of drives with incremental measuring system,

homing must always be carried out when the device is
switched on.
This is defined drive−specifically with the parameter Homing
required" (PNU 1014).
Various homing modes are permitted, depending on the

controller and drive.
An overview is shown in Tab.2/4 (as at May 2007).
For a description of the homing modes, see section 2.3.2.

2. Drive functions
Homing mode Controller

Hex Dec Description CMMP−AS CMMS−AS CMMS−ST
01h 1 Negative limit switch with index pulse x x x 1)
02h 2 Positive limit switch with index pulse x x x 1)
07h 7 Reference switch in positive direction with x

index pulse
0Bh 11 Reference switch in negative direction with x

index pulse
11h 17 Negative limit switch x x x
12h 18 Positive limit switch x x x
17h 23 Reference switch in positive direction x
1Bh 27 Reference switch in negative direction x
21h 33 Index pulse in negative direction x x x 1)
22h 34 Index pulse in positive direction x x x 1)
23h 35 Current position x x x
FFh −1 Negative stop with index pulse x x x 1)
FEh −2 Positive stop with index pulse x x x 1)
EFh −17 Negative stop x x x 1)
EEh −18 Positive stop x x x 1)
E9h −23 Reference switch in positive direction with x

travel to stop or limit switch
E5h −27 Reference switch in negative direction with x

travel to stop or limit switch
1) Only possible for motors with an encoder
Tab.2/4: Permissible homing modes, as of August 2007

2. Drive functions
2.3.1 Homing for electric drives
The drive homes against a stop, a limit switch or a reference

switch. An increase in the motor current indicates that a stop
has been reached. As the drive must not continuously refer
ence against the stop, it must move at least one millimetre
back into the stroke range.
Sequence:
1. Search for the reference point in accordance with the
configured method.
2. Travel the distance of the axis zero point offset" relative

to the reference point.
3. Set at axis zero point:

Current position = 0 project zero point offset.
Overview of parameters involved (see also section 4.4.17)
Parameters involved Description PNU
Axis zero point offset 1010
Homing method 1011
Homing speeds 1012
Homing accelerations 1013
Homing required 1014
CMMP only: Homing maximum torque 1015
Start (FHPP) CPOS.B2 = positive edge: Start homing
Feedback (FHPP) SPOS.B1 = positive edge: Acknowledge start

SPOS.B7 = Axis is referenced
Requirement Device control by PLC/fieldbus

Controller must be in status Operation enabled"
There must not be any command for jogging
Tab.2/5: Parameters involved in homing

2. Drive functions
2.3.2 Homing methods
The homing methods are oriented towards CANopen DS402.
With some motors (those with absolute encoders, single/

multi−turn) the drive may be permanently referenced. In such
cases, methods involving homing to an index pulse (= zero
pulse) might not cause homing to be carried out; rather the
drive will move directly to the axis zero point (if it has been
entered in the parameters).
Homing methods
Hex Dec Description
01h 1 Negative limit switch with index pulse 1)

1. If the negative limit switch is inactive:
run at search speed in negative direction to
negative limit switch.
2. Run at crawl speed in positive direction until Index pulse
the limit switch becomes inactive, then on to
first index pulse. This position is saved as the Negative limit switch
reference point.
3. If the axis zero point š 0: run at travel speed to
axis zero point.
02h 2 Positive limit switch with index pulse 1)

1. If the positive limit switch is inactive:
run at search speed in positive direction to
positive limit switch.
2. Run at crawl speed in negative direction until Index pulse
the limit switch becomes inactive, then on to
first index pulse. This position is saved as the Positive limit switch
reference point.
axis zero point.
1) Only possible for motors with an encoder.

2. Drive functions
Homing methods
Hex Dec Description
07h 7 Reference switch in positive direction with index

pulse 1)
1. If reference switch is inactive:
reference switch.
If the stop or limit switch is reached in the pro Index pulse
cess: run at search speed in negative direction
Reference switch
to reference switch.
2. Run at crawl speed in positive direction until
the reference switch becomes inactive, then on
to first index pulse. This position is saved as
the reference point.
axis zero point.
0B 11 Reference switch in negative direction with

index pulse 1)
reference switch.
If the stop or limit switch is reached in the pro Index pulse
cess: run at search speed in positive direction
Reference switch
the reference switch becomes inactive, then on
to first index pulse. This position is saved as
the reference point.
axis zero point.
11h 17 Negative limit switch

1. If the negative limit switch is inactive:
negative limit switch.
2. Run at crawl speed in positive direction until Negative limit switch
limit switch becomes inactive. This position is
saved as the reference point.
axis zero point.

2. Drive functions
Homing methods
Hex Dec Description
12h 18 Positive limit switch

1. If the positive limit switch is inactive:
positive limit switch.
2. Run at crawl speed in negative direction until Positive limit switch
limit switch becomes inactive. This position is
saved as the reference point.
axis zero point.
17h 23 Reference switch in positive direction

reference switch.
If the stop or limit switch is reached in the pro
cess: run at search speed in positive direction Reference switch
2. Run at crawl speed in negative direction until
reference switch becomes inactive. This posi
tion is saved as the reference point.
axis zero point.
1Bh 27 Reference switch in negative direction

reference switch.
If the stop or limit switch is reached in the pro
cess: run at search speed in negative direction Reference switch
axis zero point.

2. Drive functions
Homing methods
Hex Dec Description
21h 33 Index pulse in negative direction 1)

1. Run at crawl speed in negative direction to
index pulse. This position is saved as the
reference point. Index pulse
axis zero point.
22h 34 Index pulse in positive direction 1)

1. Run at crawl speed in positive direction to
reference point. Index pulse
axis zero point.
23h 35 Current position

1. The current position is saved as the reference
point.
axis zero point.
Note: if the reference system is shifted, runs to a
limit switch or fixed stop are possible.
This is therefore generally used for axes of rota
tion.
FFh −1 Negative stop with index pulse 1) 2)

1. Run at search speed in negative direction to
stop.
2. Run at crawl speed in positive direction to next
Index pulse
reference point.
axis zero point.
FEh −2 Positive stop with index pulse 1) 2)

1. Run at search speed in positive direction to
stop.
2. Run at crawl speed in negative direction to
Index pulse
next index pulse. This position is saved as the
reference point.
axis zero point.
2) Limit switches are ignored during the run to the stop.

2. Drive functions
Homing methods
Hex Dec Description
EFh −17 Negative stop 1) 2) 3)

stop. This position is saved as the reference
point.
2. If the axis zero point š 0: run at travel speed
to axis zero point.
EEh −18 Positive stop 1) 2) 3)

stop. This position is saved as the reference
point.
2. If the axis zero point š 0: run at travel speed
to axis zero point.
E9h −23 Reference switch in positive direction with travel

to stop or limit switch.
stop or limit switch. Reference switch
2. run at search speed in negative direction to
reference switch.
3. Run at crawl speed in negative direction until
axis zero point.
E5h −27 Reference switch in negative direction with

travel to stop or limit switch.
stop or limit switch. Reference switch
reference switch.
reference switch becomes active. This position
is saved as the reference point.
axis zero point.
2) Limit switches are ignored during the run to the stop.
3) Since the axis is not intended to stay at the stop, the run to the axis zero point has to parametrised
and the axis zero point offset has to be š 0.
Tab.2/6: Overview of homing methods

2. Drive functions
2.4 Jog mode
In the Operation enabled" state, the drive can be moved by

jogging in the positive/negative directions. This function is
usually used for:
Moving to teaching positions
Moving the drive out of the way (e.g. after a system fault)
Manual traversing as a normal operating mode (manually

operated feed).
Procedure
1. When one of the signals Jog positive / Jog negative" is
set, the drive starts to move slowly. Due to the slow
speed, a position can be defined very accurately.
2. If the signal remains set for longer than the configured

phase 1 time", the speed is increased until the confi
gured maximum velocity is reached. In this way large
strokes can be traversed quickly.
3. If the signal changes to 0, the drive is braked with the

pre−set maximum deceleration.
4. Only if the drive is referenced:

If the drive reaches a software end position, it will stop
automatically. The software end position is not exceeded,
the path for stopping depends on the ramp set. The jog
mode can be exited here with Jog = 0.

2. Drive functions
1 Low speed, phase 1

(slow travel) 2
2 Maximum speed for Velocity v(t) 4
phase 2 3
1
3 Acceleration
t [s]
4 Deceleration
CPOS.B3 or 1
5 Phase 1 time CPOS.B4 (Jog

positive/negative) 0
Fig.2/1: Sequence chart for jog mode
Overview of parameters involved (see section 4.4.9)
Jog mode velocity phase 1 530
Jog mode velocity phase 2 531
Jog mode acceleration 532
Jog mode deceleration 533
Jog mode time phase 1 (T1) 534
Start (FHPP) CPOS.B3 = positive edge: Jog positive (towards increasing actual values)
CPOS.B4 = positive edge: Jog negative (towards decreasing actual values)
Feedback (FHPP) SPOS.B4 = 1: Drive is moving

SPOS.B2 = 0: (Motion Complete)

Tab.2/7: Parameters involved in jog mode

2. Drive functions
2.5 Teaching via fieldbus
Position values can be taught via the fieldbus. Previously

taught position values will then be overwritten.
Procedure
1. The drive is moved to the desired position by jog mode or
manually. This can be accomplished in jog mode by posi
tioning (or by moving manually in the Drive disabled"
status in the case of motors with an encoder).
2. The user must make sure that the desired parameter is

selected. For this, the parameter Teach target" and, if
applicable, the correct record address must be entered.
Teach target (PNU 520) Is taught
= 1 (default) Setpoint position in the positioning

record.
Record selection:
Positioning record according to
control byte 3
Direct mode:
Positioning record according to
PNU=400
=2 Axis zero point
=3 Project zero point
=4 Lower software end position
=5 Upper software end position
Tab.2/8: Overview of teach targets
3. Teaching takes place via the handshake of the bits in the

control and status bytes CPOS/SPOS:

2. Drive functions
1 PLC: 1
Prepare teaching Teach actual
value
CPOS.B5
2 Controller: 0
Ready for teaching

1
3 PLC: Acknowl−
edgement
Teach now SPOS.B3 0
4 Controller: 1 2 3 4
Value transferred
Fig.2/2: Handshake during teaching
Note:
The drive does not need to be at a standstill for teaching.
However, with the usual cycle times of the PLC + fieldbus +
controller there will be inaccuracies of several millimetres
even at a speed of only 100 mm/s.
Overview of parameters involved (see sections 4.4.8 and 4.4.9)
Teach target 520
Record number 400
Project zero point offset 500
Software end positions 501
Axis zero point offset (electric drives) 1010
Start (FHPP) CPOS.B5 = falling edge: Teach actual value
Feedback (FHPP) SPOS.B2 = 1: Value transferred

Tab.2/9: Parameters involved in teach mode

2. Drive functions
2.6 Carry out record (Record selection)
A record can be started in the Drive enabled" state.

This function is usually used for:
Moving to any position in the record list by the PLC
Processing a positioning profile by linking records
Known target positions that seldom change (recipe

change)
Procedure
1. Set the required record number in the PLC’s output data.
Until the start, the controller replies with the number of
the record last processed.
2. With a rising edge at CPOS.B1 (START) the controller

accepts the record number and starts the positioning
task.
3. The controller signals with the rising edge at Acknowledge

start" that the PLC output data has been accepted and that
the positioning task is now active. The positioning command
continues to be executed, even if CPOS.B1 (START) is reset
to zero.
4. When the record is concluded, SPOS.B2 (MC) is set.
Causes of errors in application:

No homing was carried out (where necessary;
see PNU 1014).
The target position and/or the preselect position cannot

be reached.
Invalid record number.
Record not initialised.

2. Drive functions
In the event of conditional record chaining (see section 2.6.3):

If a new speed and/or a new target position is specified in the
movement, the remaining path to the target position must be
large enough to reach a standstill with the braking ramp that
was set.
Record number 400
All parameters of the record data, see sections 2.6.2, Tab.2/11 401
...
421
Start (FHPP) CPOS.B1 = positive edge: Start

Jogging and homing have priority.
Feedback (FHPP) SPOS.B2 = 0: Motion Complete

SPOS.B1 = positive edge: Acknowledge start
SPOS.B4 = 1: Drive is moving

Record number must be valid
Tab.2/10: Parameters involved in record selection
2.6.1 Record selection sequence charts
Fig.2/3, Fig.2/4 and Fig.2/5 show typical sequence charts

for starting and stopping a record.

2. Drive functions
Start/stop record
1
Target record
number N−1 N N+1
Output data 0
1
Stop
CCON.B1 (STOP)
0
6
1
Start
CPOS.B1 (START) 3
0
2
1
Acknowledge start 5
SPOS.B1 (ACK) 1 4
0
1
Motion Complete
SPOS.B2 (MC)
0
1
Axis is moving
SPOS.B4 (MOV)
0
1
Actual record
number N−1 N N+1
Input data 0
1 Prerequisite: 4 The controller reacts with a falling

Acknowledge start" = 0 edge at Acknowledge start"
2 Rising edge at Start" causes the new 5 As soon as Acknowledge start" is

record number N to be accepted and recognised by the PLC, the next record
Acknowledge start" to be set number may be started
3 As soon as Acknowledge start" is 6 A currently running positioning task

recognised by the PLC, Start" may be can be stopped with Stop"
set to 0 again
Fig.2/3: Sequence chart for Start/Stop record

2. Drive functions
Stop record with Halt and continue

1
Target record
number N−1 N N+1
Output data 0
1
Halt
CPOS.B0 (HALT) 1
0
1
Start
CPOS.B1 (START) 2
0
1
Confirm Halt
SPOS.B0 (HALT)
0
1
Acknowledge start
SPOS.B1 (ACK)
0
1
Motion Complete
SPOS.B2 (MC)
0
1
Axis is moving
SPOS.B4 (MOV)
0
1
Actual record
number N−1 N
Input data 0
1 Record is stopped with Halt", actual 2 Rising edge at Start" starts record N
record number N is retained, Motion again, Confirm Halt" is set
Complete" remains reset
Fig.2/4: Sequence chart for Stop record with Halt and Continue

2. Drive functions
Stop record with Halt and Clear remaining position

1
Target record
number N−1 N N+1
Output data 0
1
Halt
CPOS.B0 (HALT) 1
0
1
Start
CPOS.B1 (START)
0
1
Clear remaining
position 2
CPOS.B6 (CLEAR) 0
1
Confirm Halt
SPOS.B0 (HALT)
0
1
Acknowledge start
SPOS.B1 (ACK)
0
1
Motion Complete
SPOS.B2 (MC)
0
1
Axis is moving
SPOS.B4 (MOV)
0
1
Actual record
number N−1 N N+1
Input data 0
1 Stop record 2 Clear remaining position

Fig.2/5: Sequence chart for Stop record with Halt and Clear remaining position

2. Drive functions
2.6.2 Record structure
A positioning task in record selection mode is described by

a record made up of setpoint values. Every setpoint value is
addressed by its own PNU. A record consists of the setpoint
values with the same subindex.
PNU Name Description
401 Record control byte 1 Setting for positioning task:

absolute/relative, position/torque control, ...
402 Record control byte 2 Record control:

Settings for conditional record chaining
404 Setpoint value Setpoint value as per record control byte 1.
405 Preselection value CMMS only: preselection value as per record control byte 2.
406 Velocity Auxiliary setpoint: nominal speed.
407 Acceleration Auxiliary setpoint: nominal acceleration during start up.
408 Deceleration Auxiliary setpoint: nominal acceleration during braking.
413 Jerk−free filter time Auxiliary setpoint: filter time for smoothing the profile ramps.
414 Record profile CMMS only: number of the record profile. The record profile defines
the PNUs 405, 406, 407, 408, 413 for all the assigned records, along
with other shared settings; see section 4.4.8.
415 Reserved (not supported by CMM...)
416 Record following posi Record number to which record chaining jumps when the step
tion/record control enabling condition is met.
418 Torque limitation CMMP only: limitation of the maximum torque.
419 Cam disk number CMMP only: number of the cam disk to be executed with this record.
Requires configuration of PNU 401 (virtual master).
420 Remaining distance CMMP only: distance in front of the target position where a display
message can be triggered via a digital output to show it has been reached.
421 Record control byte 3 CMMP only: settings for specific behaviour of the record.
Tab.2/11: Record parameters

2. Drive functions
2.6.3 Conditional record chaining (PNU 402)
Record selection mode allows multiple positioning tasks to be

linked. This means that, starting at CPOS.B1, various records
are automatically executed one after the other. This allows a
positioning profile to be defined, e.g. switching to another
speed after a position is reached.
To do this, the user sets a (decimal) condition in RCB2 to de

fine that the following record is automatically executed after
the current record.
It is only possible to set all of the parameters for the record

chaining (route program") (e.g. the following record) using
the FCT.
If a condition was defined, it is possible to prohibit automatic

continuation to the following record by setting the B7 bit. This
function should be used for debugging using FCT and not for
normal control purposes.
Record control byte 2 (PNU 402)
Bits 0 ... 6 Numerical value 0 to 128: step enabling condition as a list, see Tab.2/13
Bit 7 = 0: record chaining (bits 0 to 6) is not disabled (default)

= 1: record chaining disabled
Tab.2/12: Settings for conditional record chaining

2. Drive functions
Step enabling conditions

Value Condition Description
0 No automatic continuation
1 1) MC The preselection value is

interpreted as a delay in
milliseconds. The chain
continues to the next re
cord once the target set
point value is reached,
i.e. once the MC condi
tion is fulfilled (MC=1)
and a delay time has ex
pired as well.
Note:
Thus the axis is at a
standstill for a moment
during positioning. Not
necessarily the case with
torque control (Profile
Torque mode).
2 1) Position The preselection value is

interpreted as the posi
tion value 2.
The chain continues to
the next record as soon
as the current actual
position exceeds the
preselection value in the
direction of travel 1.
As there is no need to
stop, the drive reaches
its target position
quicker.
3 1) Torque The preselection value is interpreted as the torque. The chain continues to
the next record once the current actual torque exceeds the preselection
value in the direction of travel. It is not absolutely necessary for a torque
command to be specified here. It is also possible to position to the end
point. When a specific actual torque is reached, torque control is activated.
1) Not supported by CMM...

2. Drive functions

4 Standstill The chain continues to the next record once the drive comes to a standstill
and then the time T1 specified as the preselection value has expired. (Travel
to end point)
5 2) Time The preselection value is interpreted as time in milliseconds. The chain con
tinues to the next record once this time has expired (after the start).
6 Input The chain continues to the next record if a rising edge is identified at the
Pos. edge local input. The preselection value includes the input’s bit address.
Preselection value = 1: NEXT1
7 Input The chain continues to the next record if a falling edge is identified at the
Neg. edge local input. The preselection value includes the input’s bit address.
8 1) Velocity pro The setpoint generator

file calculates the trajectory
so that the record’s set
point speed is active in
the target position. The
final speed is therefore
not 0.
The preselection value is
ignored.
Note: in type 1, the user
only defines the chaining
position; the user has no
influence over the speed.
9 Input The chain continues to the next record after the current record ends if a
Pos. edge rising edge is identified at the local input. The preselection value includes
waiting the input’s number:
10 Input The chain continues to the next record after the current record ends if a
Neg. edge falling edge is identified at the local input. The preselection value includes
waiting the input’s number:
1) Not supported by CMM...
2) Not supported by CMMP

2. Drive functions

11 2) Position This chaining is the same

(relative) as type 2 except that the
specified position is not
specified absolutely but
relative to the last set
point position 2 .
The chain continues to
the next record as soon
as the current actual
position exceeds the
preselection value in the
direction of travel 1.
Important: For the chain
ing position to be repro
ducible, the specification
must be calculated rela
tive to the last target
position; in other words,
not relative to the actual
position.
12 Internal MC Like condition 1, but

condition without an external MC
signal between the indi
vidual records. An exter
nal MC signal (SPOS.B2)
is only set after the last
record in the chain.
2) Not supported by CMMS
Tab.2/13: Step enabling conditions

2. Drive functions
2.7 Direct mode
In the status Drive enabled" (Direct mode) a task is formu

lated directly in the I/O data that is transmitted via the field
bus. Some of the setpoint values for the position are reserved
in the PLC.
The function is used in the following situations:
Moving to any position within the effective stroke.
The target positions are unknown during designing or

change frequently (e.g. several different workpiece posi
tions).
A positioning profile consisting of chained records

(G25 function) is not necessary.
The drive is to continuously follow a setpoint value.
If short wait times are not critical, it is possible to implement

a positioning profile by chaining records externally through
the PLC.
Causes of errors in application

see PNU 1014).
Target position cannot be reached or lies outside the

software end positions.
Load torque is too large.

2. Drive functions
Position specifications Base velocity value 1) 540
Direct mode acceleration 541
Direct mode deceleration 542
Jerk−free filter time 546
Torque specifications Base torque ramp 1) 550

(for CMMP only) 2)
Torque target window 552
Damping time 553
Permissible speed during torque control 554
Velocity specifications Base acceleration ramp 1) 560
Velocity target window (for CMMP only) 2) 561
Damping time for velocity target window (for CMMP only) 2) 562
Standstill target window (for CMMP only) 2) 563
Damping time for standstill target window (for CMMP only) 2) 564
Torque limit (for CMMP only) 2) 565
Start (FHPP) CPOS.B1 = positive edge: Start

CDIR.B0 = Absolute/Relative setpoint position
CDIR.B1/B2 = Control mode (see section 1.5.3)
Feedback (FHPP) SPOS.B2 = 0: Motion Complete

SPOS.B1 = positive edge: Acknowledge start
SPOS.B4 = 1: Drive is moving

1) The PLC transfers a percentage value in the control bytes, which is multiplied by the base value in
order to get the final setpoint value.
2) For supported functions, see 1.4
Tab.2/14: Parameters involved in direct mode

2. Drive functions
2.7.1 Sequence for discrete setpoint value
1. The user sets the desired setpoint value (position, torque)

and the positioning condition (absolute/relative, velocity)
in his or her output data.
2. With a rising edge at START (CPOS.B1) the controller ac

cepts the setpoint values and starts the positioning task.
After the start, a new setpoint value can be started at any

time. There is no need to wait for MC.
3. Once the last setpoint position is reached, MC (SPOS.B2)

is set.
Starting the positioning task

1
Setpoint position
Output data N−1 N N+1 N+2
0
1
Start
CPOS.B1
0
1
Acknowledge start
SPOS.B1
0
1
Motion Complete
SPOS.B2
0
Fig.2/6: Starting the positioning task
The sequence of the remaining control and status bits as well

as the functions Halt and Stop are the same as for the Record
selection function, see Fig.2/3, Fig.2/4 and Fig.2/5.

2. Drive functions
2.7.2 Sequence for Profile Torque mode (torque and current control)
Profile Torque mode is prepared by switching over the control

mode with the bits CDIR − COM1/2. The drive remains at a
standstill with the position controlled. The signal MC"
(Motion Complete) is used in this control mode to mean
Torque setpoint value reached".
After the setpoint specification, the start signal (start bit)

builds up the torque/moment using the torque ramp
(CMMP−AS only) in the direction indicated by the setpoint
value’s prefix (+ or −) and the active Profile Torque mode is
displayed via the bits SDIR − COM1/2.
For CMMP:
The speed is limited to the value in the parameter Maximum
speed". Once this speed has been reached, the bit Speed
limit reached" is set in the status byte SDIR.
Once the setpoint value has been reached, taking into ac
count the target window and the time window, the MC"
signal is set. Torque/moment continue to be controlled.
Causes of errors in application

see PNU 1014).

2. Drive functions
Setpoint specification / actual value query in direct mode in

Profile Torque mode:
CCON.B6 (OPM1) = 1, CCON.B7 (OPM2) = 0
CDIR.B1 (COM1) = 1, CDIR.B2 (COM2) = 0
Direct mode
Output CCON CPOS CDIR Setpoint Setpoint value 2

data value 1 (torque)
(reserved)
Input SCON SPOS SDIR Actual Actual value 2

data value 1 (actual position)
(actual
torque)
Data Meaning Unit(s)
Setpoint value 1 Reserved (no function, = 0)
Setpoint value 2 Setpoint torque Percentage of rated torque (PNU 1036)
Actual value 1 Actual torque Percentage of rated torque (PNU 1036)
Actual value 2 Actual position Positioning unit, see appendix A.1

2. Drive functions
2.7.3 Sequence for Profile Velocity mode
Profile Velocity mode (speed adjustment) is only supported in

Direct mode". Only discrete setpoint adjustment" (compare
section 2.7.1) is supported.
Speed adjustment is requested by switching the closed−loop

control mode. The drive remains in the operating mode that
was set previously. After the setpoints are specified, the start
signal (start bit) switches the system to Profile Velocity mode
and the velocity setpoint value comes into effect.
The torque is limited here to the value set in the Torque
limit" parameter (PNU 565).
The signal MC" (Motion Complete) is used in this control

mode to mean target velocity reached".
Motion Complete / standstill notification

The same comparator type is used to determine velocity
reached" and velocity 0" and it behaves as per Fig.2/7, see
Tab.2/15.
Setpoint value Specifications for reaching MC (Motion Complete)
š0 Target velocity: Setpoint value as per input data

Tolerance: Velocity target window (PNU 561)
Response time: Damping time for velocity target window (PNU 562)
=0 Target velocity: Setpoint value as per input data

Tolerance: Standstill target window (PNU 563)
Response time: Damping time for standstill target window (PNU 564)
Tab.2/15: Motion Complete / standstill notification specifications

2. Drive functions
Velocity(rpm)
Target rpm + tolerance
Target rpm
Target rpm − tolerance
Timer
Damping time
Motion Complete (SPOS.B2) 1
or
Standstill control (SPOS.B6) 0
Fig.2/7: Motion Complete / standstill notification

2. Drive functions
2.8 Standstill control
Standstill control makes it possible to detect the drive exiting

the target position window while at a standstill.
Standstill control is relevant solely for Profile Position mode

(position control).
When the target position has been reached and MC signalled

in the status word, the drive switches to the standstill" state,
and bit SPOS.B6 (Standstill control) is reset. If, in this status,
the drive is removed from the standstill position window for a
defined time due to external forces or other influences, the bit
SPOS.B6 will be set.
As soon as the drive is in the standstill position window again

for the standstill timeout time, the bit SPOS.B6 will be reset.
1 Target position
2 Actual position 1
5 6
3 Standstill control
(SPOS.B6)
4 Motion Complete 2
(SPOS.B2) 8 8
5 Standstill position 1
window 3
0
6 Target position
window 1
7 Monitoring time 4
0
(position window
time) 7
8 Standstill timeout
Fig.2/8: Standstill control

2. Drive functions
Standstill control cannot be switched on or off explicitly. It

becomes inactive when the standstill position window is set
to 0".
Target position window 1022
Position window time 1023
Setpoint position 1040
Current position 1041
Standstill position window 1042
Standstill timeout 1043
Start (FHPP) SPOS.B2 = positive edge: Motion Complete
Feedback (FHPP) SPOS.B6 = 1: Drive has moved out of standstill position window

Tab.2/16: Parameters involved in standstill control

2. Drive functions
2.9 On−the−fly measurement (position sampling)
To find out whether this function is supported by the con

troller you are using and its firmware version, see the help for
the associated FCT plug−in.
The local digital inputs can be used as quick sampling inputs:

with every rising and falling edge at the configured sample
input (only possible using the FCT), the current position value
is written into a register of the controller and can afterwards
be read out (PNU 350:01/02) by the higher−level control
system (PLC/IPC).
Parameters for position sampling (on−the−fly measurement)

Parameter / Description PNU
Position value for a rising edge in user−defined units 350:01
Position value for a falling edge in user−defined units 350:02
Tab.2/17: Parameters for on−the−fly measurement

Fault reaction and diagnosis
Chapter 3

3. Fault reaction and diagnosis
Contents
3.1 Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3

3.1.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−4
3.1.2 Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−5
3.1.3 Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−6
3.2 Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−7
3.3 Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9
3.4 Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10
3.4.1 CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10
3.4.2 CMMS fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−48
3.5 Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−54

3.1 Classifying the faults
We differentiate between the following types of fault:
Warnings
Fault type 1 (output stage not switched off )
Fault type 2 (output stage switched off )
The classification of the possible faults is specified separately

for each controller. The basis for this classification is the way
in which each controller has to behave for each fault.
The controllers indicate faults by appropriate error messages

or warnings. These can be evaluated via the following:
Display
Status bytes (see section 1.4)
Bus−specific diagnosis (see description of the fieldbus for

the controller in question)
Diagnostic memory (see section 3.2)
FCT (see FCT help)

3.1.1 Warnings
A warning provides the user with information that does not

have any effect on the drive’s behaviour.
Behaviour in the event of warnings

Controller and output stage remain active.
The current positioning task is not interrupted.
It is possible to start a new positioning task.
The SCON.B2 (WARN) bit is set.
If the cause of the warning disappears, the SCON.B2 bit is

automatically cleared again.
CMMP only:
The warning numbers are logged in the warning register
(PNU 211).
Causes of warnings
Parameters cannot be written or read (not permitted in
the operating mode, invalid PNU, ...)
Following (drag) error, drive has exceeded the tolerance

after Motion Complete, and similar minor control errors.

3.1.2 Fault type 1
In the event of a fault, the service that was requested cannot

be provided. The drive switches from its current status to the
Fault" status.
Behaviour in the event of type 1 faults

The output stage is not switched off.
The current positioning task is interrupted.
The speed is reduced on the emergency ramp.
The sequence control switches to the Fault status. No new

positioning task can be carried out.
The SCON.B3 (FAULT) bit is set.
The Fault" status can be exited by switching off, with a

positive edge at input CCON.B3 (RESET), or by resetting/
setting DIN5 (closed−loop controller enable).
Holding brake is activated when the drive is stopped.
Causes of type 1 faults

Software end positions are violated.
Motion Complete timeout.
Following error monitoring (monitoring of drag error).

3.1.3 Fault type 2
In the event of a fault, the service that was requested cannot

be provided. The drive switches from its current status to the
Fault" status.
Behaviour in the event of type 2 faults

The output stage is switched off.
The current positioning task is interrupted.
The drive runs down.
No new positioning task can be carried out.
The SCON.B3 (FAULT) bit is set.
The Fault" status can only be exited by switching off or

by an edge at input CCON.B3 (RESET).
Causes of type 2 faults

Load voltage is missing (e.g. if emergency off has been
implemented)
Hardware fault:
Measuring system fault.
Bus fault.
SD card fault.
Impermissible operating mode switch.

3.2 Diagnostic memory (faults)
The diagnostic memory for faults contains the codes of the

last fault messages that occurred. The diagnostic memory
is protected against power failure. If the diagnostic memory
is full, the oldest element will be overwritten (FIFO principle).
Structure of the diagnostic memory in CMMS
Parameter 1) 201
Format uint16
Meaning Fault number
Subindex 1 Most recent/current fault
Subindex 2 2nd saved fault
Subindex 3 3rd saved fault
Subindex 4 4th saved fault

1) See section 4.4.5
Tab.3/1: Structure of diagnostic memory in CMMS
Structure of the faults diagnostic memory in CMMP
Parameter 1) 200 201 202
Format uint8 uint16 uint32
Meaning Diagnostic event Fault number Time
Subindex 1 Most recent/current fault
... 2) ...

1) See section 4.4.5
Tab.3/2: Structure of diagnostic memory in CMMP

CMMP only:
Configuration of the diagnostic memory with PNU 204 (see section 4.4.5)
SI Description Default Min Max
1 = 1: Record incoming and outgoing faults 2 2 2

= 2: Record only incoming faults
2 = 1: Time stamp resolution 10 ms 3 3 3

= 2: Time stamp resolution 1 ms
3 Reserved
4 Number of valid entries in the diagnostic memory. 32 0 32
Tab.3/3: Configuration of the diagnostic memory (CMMP only)

3.3 Warning memory (CMMP only)
Some controllers have a separate diagnostic memory for

warnings.
The warning memory contains the codes of the last warnings
that occurred. It functions in the same way as the diagnostic
memory for faults.
Structure of the warning memory
Parameter 1) 210 211 212
Format uint8 uint16 uint32
Meaning Warning event Warning Time

number
Subindex 1 Most recent/current warning
Subindex 2 Second saved warning message
... ...
Subindex 16 Last warning message

1) (see section 4.4.5)
Tab.3/4: Structure of the warning memory
Configuration of the warning memory with PNU 214 (see section 4.4.5)
SI Description Default Min Max
1 = 1: Record incoming and outgoing warnings 2 2 2

= 2: Record only incoming warnings
2 = 1: Time stamp resolution 10 ms 3 3 3

3 Reserved
4 Number of valid entries in the diagnostic memory for 0 0 16

warnings.
Tab.3/5: Configuration of the warning memory

3.4 Fault numbers
The error messages of the controller are displayed and

recorded as fault numbers. Sections 3.4.1 and 3.4.2 contain
the error messages from the latest firmware versions at the
time of printing of this document.
For a complete, up−to−date list of error messages, see

the hardware description for the controller in question,
type P.BE−CMM...−HW−...
3.4.1 CMMP fault numbers
Error message
Main Sub− Message Causes Measures
index index
0 0 Invalid error Information: an invalid error

entry (corrupted) was found in
the diagnostic memory marked
with this error number.
The system time entry is set
to 0".
1 Invalid error de Information: an invalid error

tected and cor entry (corrupted) was found
rected in the diagnostic memory and
corrected. The additional in
formation contains the original
error number.
The system time entry contains
the address of the corrupted
error number.
2 Error cleared Information: active errors were

reset.

Error message
index index
1 0 Stack overflow Incorrect firmware? · Load a new firmware release.

Sporadic high processor load · Reduce the processor load.
due to cycle time being too · Contact Technical Support.
short and specific processor−
intensive processes (save para
meter set etc.).
2 0 Intermediate circuit Intermediate circuit voltage is · Quick discharge due to mains

undervoltage falling below the parametrised supply being switched off.
threshold. · Check the power supply.
Error priority set too high? · Couple the intermediate cir
cuits, if technically possible.
· Check intermediate circuit
voltage (measure it).
Additional information (PNU 203/213):

Higher 16 bits: state number of internal state machine
Lower 16 bits: intermediate circuit voltage in internal scaling
(approx.17.1digital increments/V).
3 0 Analogue motor Motor overloaded, temperature If there is overloading:

overtemperature too high. · Check parameters (current
Suitable sensor or sensor char regulator, current limits).
acteristics parametrised? · Check the parametrisation of
Sensor defective? the sensor or the sensor
1 Digital motor over characteristics.
temperature If the error remains even when
the sensor is jumpered out: de
vice defective.

Error message
index index
... 3 2 Analogue motor The measured resistance value · Check the connecting cables
overtemperature: is above the threshold for wire of the temperature sensor for
Broken wire break detection. wire breaks.
· Check the parametrisation
(threshold value) for wire
break detection.
3 Analogue motor The measured resistance value · Check the connecting cables
overtemperature: is below the threshold for short of the temperature sensor for
Short circuit circuit detection. wire breaks.
· Check the parametrisation
(threshold value) for short cir
cuit detection (Subindex 3).
4 0 Power section over Device is overheated; is dis · Check installation conditions;

temperature played temperature plausible? are the control cabinet fan
Device fan defective? filters dirty?
Device overloaded? · Check the drive layout (due to
1 Intermediate circuit
possible overloading in con
overtemperature
tinuous duty).
5 0 Failure of internal The monitoring of the internal · Disconnect the device from all
voltage 1 power supply reported under peripherals and check
voltage Either an internal defect
voltage. whether the error is still there
1 Failure of internal or overload/short circuit from after resetting. If yes, then
voltage 2 connected peripheral devices. there is an internal defect and
repair by the manufacturer is
2 Failure of driver
necessary.
supply
3 Undervoltage of Defective peripheral device? · Check connected peripherals

digital I/O for short circuit / rated loads.
4 Overcurrent of
digital I/O

Error message
index index
6 0 Short circuit of out Faulty motor, e.g. interturn short Dependent on the state of the
put stage circuit due to motor overheating system; cases a) to f):
or short to earth inside motor.
Short circuit in the cable or the a) Fault only with active brake
connecting plugs, i.e. short cir chopper:
cuit between motor phases or to Check external braking resis
the screen/earth. tor for short circuit or insuffi
Output stage defective (short cient resistance value. Check
circuit). the circuitry of the brake
Incorrect parametrisation of the chopper output on the motor
current regulator. controller (jumpering etc.).
b) Error message as soon as the power supply is switched on: in

ternal short circuit in the output stage (short circuit of a com
plete half−bridge). The motor controller can no longer be con
nected to the power supply; the internal (and possibly external)
fuses are tripped. Repair by the manufacturer is necessary.
c) Short circuit error message not until the output stage or closed−
loop controller is enabled.
d) Disconnection of motor plug X6 directly on the motor controller.
If the error still occurs, there is a fault in the motor controller.
Repair by the manufacturer is necessary.
e) The error occurs only with motor cable connected: check the
motor and cable for short circuits, e.g. with a multimeter.
f) Check parametrisation of the current regulator. Oscillations in an
incorrectly parametrised current regulator can generate currents
up to the short circuit threshold, usually clearly audible as a
high−frequency whistling. Verify if necessary with the oscillo
scope function (actual active current value).
1 Brake chopper Overload current at the brake · Check external braking resis
overcurrent chopper output. tor for short circuit or insuffi
cient resistance value.
· Check the circuitry of the
brake chopper output on the
motor controller (jumpering
etc.).

Error message
index index
7 0 Overvoltage in in Braking resistor is overloaded; Check the design of the braking
termediate circuit too much braking energy which resistor; resistance value may be
cannot be dissipated quickly too great.
enough. Check parametrisation.
Resistor capacity is incorrect? Check the connection to the
Resistor not parametrised? braking resistor (internal/exter
Resistor not connected cor nal).
rectly?
8 0 Resolver angle en Resolver signal amplitude is Step−by−step procedure

coder error faulty according to a) to c):
a) If possible, test with a different (error−free) resolver (replace the

connecting cable too). If the error still occurs, there is a fault in
the motor controller. Repair by the manufacturer is necessary.
b) If the error occurs only with a specially designed resolver and its
connecting cable: check the resolver signals (carrier and SIN/
COS signals); see specifications. If the signals do not comply
with the signal specifications, replace the resolver.
c) If the error recurs sporadically, check the screen bonding or
check whether the resolver simply has an insufficient trans
mission ratio (standard resolver: A = 0.5).
1 Sense of rotation Only encoders with serial posi Swap the following signals on
of the serial and in tion transmission combined with the X2B angle encoder interface
cremental position an analogue SIN/COS signal (the wires in the connecting plug
evaluation is not track: the directions of rotation must be changed around), ob
identical for position determination in the serving the technical data for
encoder and for incremental the angle encoder where appli
evaluation of the analogue track cable:
system in the motor controller Swap SIN/COS track.
are the wrong way round. Swap the SIN+/SIN− or
COS+/COS− signals, as
applicable.
The encoder counts positively in e.g. clockwise direction while the

incremental evaluation counts in negative direction with the same
mechanical rotation. The mix−up of rotational direction is detected
mechanically at the first movement of over 30° and the error is
triggered.

Error message
index index
... 8 2 Incremental en Signal amplitude of the Z0 track Check configuration of the angle
coder Z0 track sig on X2B is faulty. encoder interface.
nals error Angle encoder connected? Proceed according to a) to c)
Angle encoder cable defective? a) Z0 evaluation activated but no
Angle encoder defective? track signals are connected or
present (e.g. EnDat 2.2 or
EnDat 2.1 without analogue
track). Heidenhain encoder:
order codes EnDat 22 and
EnDat 21. With these encod
ers there are no incremental
signals, even when the cables
are connected.
b) Encoder signals faulty? 1)
c) Test with another encoder. 2)
3 Incremental en Signal amplitude of the Z1 track Check configuration of the angle
coder Z0 track sig on X2B is faulty. encoder interface.
nals error Angle encoder connected? Proceed according to a) to c):
Angle encoder cable defective? a) Z1 evaluation activated but
Angle encoder defective? not connected.
1) Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited?
Check that installation complies with EMC recommendations (cable screening on both sides?).
Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect
unused lines in parallel) or use voltage feedback (SENSE+ and SENSE−).
2) If the error still occurs when the configuration is correct, test with a different (error−free) encoder (re
place the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair
by the manufacturer is necessary.

Error message
index index
... 8 4 Digital incremental Faulty A, B, or N track signals on Check configuration of the angle
encoder track sig X2B. encoder interface. Proceed ac
nals error (X2B) Angle encoder connected? cording to a) and b):
Angle encoder cable defective? a) Encoder signals faulty? 1)
Angle encoder defective? b) Test with another encoder. 2)
5 Incremental en Faulty Hall sensor signals from a Check configuration of the angle
coder Hall gener digital incr. encoder on X2B. encoder interface. Proceed ac
ator signals error Angle encoder connected? cording to a) and b):
6 Angle encoder Communication to serial angle Check configuration of the angle

communication encoders is disrupted (EnDat en encoder interface:
fault coders, HIPERFACE encoders, proceed according to a) to c):
BiSS encoders). a) Serial encoder parametrised
Angle encoder connected? but not connected?
Angle encoder cable defective? Incorrect serial protocol se
Angle encoder defective? lected?
7 Signal amplitude of Faulty A, B, or N track signals on Check configuration of the angle

incremental tracks X10. encoder interface. Proceed ac
erroneous (X10) Angle encoder connected? cording to a) and b):
1) Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited?
Check that installation complies with EMC recommendations (cable screening on both sides?).
With TTL single−ended signals (HALL signals are always TTL single−ended signals): check whether there
might be an excessive voltage drop on the GND line; in this case = circuit common.
Check whether there might be an excessive voltage drop on the GND line; in this case = circuit common.
Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect
unused lines in parallel) or use voltage feedback (SENSE+ and SENSE−).
2) If the error still occurs when the configuration is correct, test with a different (error−free) encoder (re
place the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair
by the manufacturer is necessary.

Error message
index index
... 8 8 Internal angle en Internal monitoring of the angle Possible causes:
coder error encoder (X2B) has detected a Encoder−specific or manufac
fault and forwarded it via serial turer−specific, e.g. diminishing
communication. illumination intensity in optical
Angle encoder defective? encoders or excessive rpm.
If the error is ongoing, test with
a different (error−free) encoder
(replace the connecting cable as
well). Encoder is probably per
manently faulty.
9 Angle encoder at Angle encoder type read at X2B Depending on the additional in
X2B not supported which is not supported or can formation 1) for the error mess
not be used in the desired oper age:
ating mode. · Load appropriate firmware.
Incorrect or inappropriate proto · Check/correct the configur
col type selected? ation for encoder evaluation.
Firmware does not support the · Connect an appropriate en
connected encoder model? coder type.
1) Additional information (PNU 203/213):
0001: HIPERFACE: encoder type is not supported by the firmware −> connect another encoder type or
load more recent firmware.
0002: EnDat: the address space in which the encoder parameters would have to lie does not exist with
the connected EnDat encoder −> check the encoder type.
0003: EnDat: encoder type is not supported by the firmware −> connect another encoder type or load
more recent firmware.
0004: EnDat: encoder rating plate cannot be read from the connected encoder. −> change encoder or
load more recent firmware.
0005: EnDat: EnDat 2.2 interface parametrised, but connected encoder only supports EnDat2.1.
−> change encoder type or change parameters to EnDat 2.1.
0006: EnDat: EnDat2.1 interface parametrised with analogue tracking but the rating plate of the con
nected encoder says that it does not support track signals. −> change encoder or switch off
Z0 track signal evaluation.
0007: Displacement encoder with EnDat2.1 connected but parametrised as a purely serial encoder.
Purely serial evaluation is not possible due to the long response times of this encoder system.
Encoder must be operated with analogue track signal evaluation −> switch to analogue Z0 track
signal evaluation.

Error message
index index
9 0 Old angle encoder Warning: No action necessary at this

parameter record An encoder parameter record in point. The warning should not
an old format was found in the re−appear when the 24V supply
EEPROM of the connected en is switched back on.
coder. This has been converted
and saved in the new format.
1 Angle encoder Data in the EEPROM of the The EEPROM of the encoder
parameter record angle encoder could not be read contains data (communication
cannot be decoded completely, or access to it was objects) which is not supported
partly refused. by the loaded firmware. The
data in question is then dis
carded.
The parameter record can be
adapted to the current firmware
by writing the encoder data to
the encoder. Alternatively, ap
propriate (more recent) firmware
must be loaded.
2 Unknown version of The data saved in EEPROM is Save the encoder parameters
angle encoder not compatible with the current again in order to delete the
parameter record version. A data structure was parameter record in the encoder
found which is unable to decode and replace it with a readable
the loaded firmware. record (this will, however, delete
the data in the encoder irreversi
bly). Alternatively, appropriate
(more recent) firmware must be
loaded.
3 Defective data Data in EEPROM do not match Save the encoder parameters
structure in angle the stored data structure. The again in order to delete the
encoder parameter data structure was identified as parameter record in the encoder
record valid but may be corrupted. and replace it with a readable
record. If the error still occurs
after that, the encoder may be
faulty.
Replace the encoder as a test.

Error message
index index
... 9 4 EEPROM data: Only with specialised motors: If motor was repaired: carry out
Faulty user−specific The plausibility check returns an homing again and save in the
configuration error, e.g. because the motor angle encoder, after that (!) save
was repaired or replaced. in the motor controller.
If motor replaced: parametrise
the controller again, then carry
out homing again and save in
the angle encoder, after that (!)
save in the motor controller.
7 Write−protected Data cannot be saved in the A data field in the encoder

angle encoder EEPROM of the angle encoder. EEPROM is write−protected
EEPROM Occurs with Hiperface encoders. (e.g. after operation on a motor
controller from another manu
facturer). No solution possible,
encoder memory must be un
locked with an appropriate
parametrisation tool (from
manufacturer).
9 Angle encoder It is not possible to save all the Reduce the number of data re
EEPROM too small data in the EEPROM of the angle cords to be saved. Please read
encoder. the documentation or contact
Technical Support.
10 0 Overspeed (spin Motor racing (spinning") Check the commutation angle

ning protection) because the commutation angle offset. Check the limit value set
offset is incorrect. ting in the parameters.
Motor is parametrised correctly
but the limit for spinning protec
tion is set too low.

Error message
index index
11 0 Error when Controller enable missing. Homing can only be started

homing is started when closed−loop controller en
able is active. Check the condi
tion or sequence.
1 Error during Homing was interrupted, · Check the homing sequence.

homing e.g. by: · Check the arrangement of the
Withdrawal of controller switches.
enable. · If applicable, lock the stop
Reference switch is beyond input during homing if it is not
the limit switch. desired.
External stop signal
(a phase was aborted
during homing).
2 Homing: No valid Reserved for later extensions

index pulse (required index pulse missing).
3 Homing: Timeout The parametrised maximum Check the time setting in the
time for the homing run was ex parameters.
ceeded before the homing run
was completed.
4 Homing: Incorrect/ Relevant limit switch not con Check whether the limit
invalid limit switch nected. switches are connected in the
Limit switches swapped? correct direction of travel or
No reference switch found be whether the limit switches act
tween the two limit switches. on the intended inputs.
Reference switch is at the limit Reference switch connected?
switch. Check the arrangement of the
Index pulse/index pulse" reference switch.
method: active limit switch in Move the limit switch so that it
the area of the index pulse (not is not in the area of the index
permitted). pulse.
Both limit switches active at the
same time.

Error message
index index
... 11 5 Homing: I@t / Acceleration ramps not suitably Parametrise the acceleration
following error parametrised. ramps so they are flatter.
Reversing due to premature Check connection of a reference
triggering of following (drag) switch.
error; check parametrisation of Method appropriate for the ap
following error (drag error). plication?
No reference switch reached be
tween the end stops.
Index pulse method: end stop
reached (not permitted here).
6 Homing: End of The maximum permissible path Fault in switch detection.

search path for the homing run has been tra Switch for homing is defective?
velled without reaching the ref
erence point or the homing run
target.
12 0 CAN: Double node Node number assigned twice. Check the configuration of the
number CAN bus stations
1 CAN: Communica The CAN chip has switched off Check wiring:
tion error, bus OFF communication due to com cable specifications adhered to;
munication errors (BUS OFF). broken cable; maximum cable
length exceeded; terminating re
sistors correct; cable screening
earthed; all signals connected?
It may be helpful to try replacing
the device as a test. If a
different device works without
errors with the same cabling,
send the device to the manufac
turer for checking.

Error message
index index
... 12 2 CAN: Communica The signals are interrupted when Check wiring:
tion error during messages are sent. cable specifications adhered to;
transmission Device boot up is so fast that no broken cable; maximum cable
other nodes on the bus has yet length exceeded; terminating re
been detected when the sistors correct; cable screening
boot−up message is sent. earthed; all signals connected?
the device as a test. If a different
device works without errors with
the same cabling, send the de
vice to the manufacturer for
checking.
Check the start sequence of the
application.
3 CAN: Communica The signals are interrupted when Check wiring:

tion error during re messages are received. cable specifications adhered to;
ception broken cable; maximum cable
length exceeded; terminating re
sistors correct; cable screening
earthed; all signals connected?
the device as a test. If a different
device works without errors with
the same cabling, send the de
vice to the manufacturer for
checking.
4 CAN: Node Node Guarding telegram not re Compare the cycle time of the
Guarding ceived within the parametrised remote frames with that of the
time. control system, or control sys
Faulty signals? tem failure.
5 CAN: RPDO too A received RPDO does not con The number of parametrised
short tain the parametrised number of bytes does not match the
bytes. number of bytes received.
Check the parametrisation and
correct.
9 CAN: Protocol error Faulty bus protocol. Check the parametrisation of the
selected CAN bus protocol.

Error message
index index
13 0 CAN bus timeout Error message from manufac Check the CAN parametrisation
turer−specific protocol.
14 0 Insufficient power Current regulator parameters The available intermediate cir

supply for identifi cannot be determined (because cuit voltage is too low for
cation of insufficient supply). measurement.
1 Current controller Too few or too many measure Automatic determination of

identification: ment cycles required for the parameters has supplied a time
Measurement cycle connected motor. constant outside the parametris
insufficient able value range. The parameter
must be manually optimised.
2 Output stage en The output stage has not been Check the connection of DIN4.
able could not be enabled.
issued
3 Output stage was Output stage enable was Check the sequence control.
prematurely switched off during identifica
switched off tion.
4 Identification does Reserved for later extensions:

not support the Identification cannot be carried
configured device out with the parametrised angle
type encoder settings.
5 Index pulse not The index pulse was not found Check the index pulse signal.
found after the maximum permissible Angle encoder parametrised cor
number of electrical rotations. rectly?
6 Hall signals invalid Hall signals faulty or invalid. Check connection.

The pulse train or segmenting of Refer to the technical data to
the Hall signals is inappropriate. check whether the encoder
shows three Hall signals with
120° or 60° segments; if
necessary, contact
Technical Support.

Error message
index index
... 14 7 Identification not Angle encoder at a standstill. Ensure there is sufficient inter
possible mediate circuit voltage.
Encoder cable connected to the
correct motor?
Is motor blocked, e.g. holding
brake will not release?
8 Invalid number of The calculated number of pole Compare result with the techni
pairs of poles pairs lies outside the parame cal data specifications for the
trisable range. motor.
Check the parametrised number
of lines.
15 0 Division by 0 Internal firmware error. Load the default parameter re

Division by 0 when using the cord. Check the firmware to
math library. make sure that released firm
ware has been loaded.
loaded
1 Range exceeded Internal firmware error.
Overflow when using the math
library.
2 Counter underrun Internal firmware error. Check the setting of the factor
Internal correction factors could group for extreme values and
not be calculated. change if necessary.
16 0 Error in program Internal firmware error. If error is repeated, load firm

execution Error during program execution. ware again. If the error appears
Illegal CPU command found in again, the hardware is faulty.
the program sequence.
1 Illegal interrupt Error during program execution.

An unused IRQ vector was used
by the CPU.
2 Initialisation error Internal firmware error.
3 Unexpected state Error during periphery access

within the CPU or error in the
program sequence (illegal
branching in case structures).

Error message
index index
17 0 Following error limit The threshold of comparison to Enlarge error window.

exceeded the following (drag) error limit Acceleration parameter too
was exceeded. large.
Motor overloaded (current
limitation from i@t monitoring is
active?).
1 Encoder difference Deviation between the actual Deviation fluctuates, e.g. due to
monitoring position value and commutation gear backlash; cut−off threshold
position is too great. may need to be increased.
External angle encoder not con Check connection of the actual
nected or faulty? value encoder.
18 0 Analogue motor Motor temperature (analogue) Check parametrisation of current

temperature greater than 5° below T_max. regulator and/or speed regula
tor.
Motor permanently overloaded?
21 0 Error 1 current Offset for current measurement If the error appears again, the
measurement U 1 phase U is too great. The hardware is faulty.
closed−loop controller carries
out offset compensation of the
current measurement every time
its controller enable is issued.
Tolerances which are too high
lead to an error.
1 Error 1 current Offset for current measurement

measurement V 1 phase V is too great.

measurement U 2 phase U is too great.

measurement V 2 phase V is too great.
22 0 PROFIBUS: Faulty Faulty initialisation of the Profi Replace the technology module.
initialisation bus technology module. Tech Repair by the manufacturer may
nology module defective? be an option.
2 PROFIBUS com Faults in communication. Check the slave address set.

munication error Check bus termination.
Check wiring.

Error message
index index
... 22 3 PROFIBUS: Invalid Communication was started with Select a different slave address.
slave address slave address 126.
4 PROFIBUS: Value During conversion with the fac Value range of the data and the
range error tor group, the value range was physical units do not match.
exceeded. Check and correct.
Mathematical error when con
verting physical units.
25 0 Invalid device type Device coding not recognised or Fault cannot be rectified inde
invalid. pendently. Send the motor
controller to the manufacturer.
1 Device type not Device coding valid, but not sup Load up−to−date firmware. If
supported ported by the loaded firmware. newer firmware is not available,
the problem may be a hardware
defect. Send the motor con
troller to the manufacturer.
2 Hardware version The controller’s hardware ver Check the firmware version; up
not supported sion is not supported by the date the firmware to a more re
loaded firmware. cent version if necessary.
3 Device functionality Device is not unlocked for this Device is not unlocked for the
limited! function desired functionality and may
need to be unlocked by the
manufacturer. The device must
be sent to the manufacturer for
this.
26 0 Missing user para No valid user parameter record Load factory settings. If the error
meter set in the flash memory persists, the hardware may be
faulty.
1 Checksum error Checksum error in a parameter Load factory settings. If the error
record persists, the hardware may be
faulty.

Error message
index index
... 26 2 Flash: Write error Error when writing to internal or Repeat the last operation. If the
external flash memory error appears again, the hard
ware may be faulty.
3 Flash: Delete error Error when clearing internal or Repeat the last operation. If the
external flash memory error appears again, the hard
ware may be faulty.
4 Flash: Internal flash The default parameter record is Load firmware again. If the error
error corrupted / data error in the appears again, the hardware
FLASH range where the default may be faulty.
parameter record is located.
5 Missing calibration Factory−set calibration para Fault cannot be rectified inde

data meters incomplete/corrupted. pendently.
6 Missing user Position data records incom Load the factory settings or save
position data sets plete or corrupt. the current parameters again so
that the position data is written
again.
7 Faulty data tables Data for the cam disk is cor Load the factory settings; if
(CAM) rupted. necessary, reload the parameter
record. If the error persists, con
tact Technical Support.
27 0 Following error Motor overloaded? Check motor Check the parametrisation of the
warning threshold capacity. motor data.
Acceleration or braking ramps Check parametrisation of follow
are set too steep. ing error (drag error).
Motor blocked? Commutation
angle correct?

Error message
index index
28 0 Missing operating No record for an hours−run Warning only, no further action

hour meter meter could be found in the necessary.
parameter block. A new hours−
run meter was created. Occurs
during initial start−up or a pro
cessor change.
1 Operating hour The data block in which the Warning only, no further action
meter: Write error hours−run meter is stored could necessary.
not be written to. Cause un If the error occurs again, the
known; possibly problems with hardware may be faulty.
the hardware.
2 Operating hour The hours−run meter has a Warning only, no further action
meter corrected backup copy. If the controller’s necessary.
24V power supply fails precisely
when the hours−run meter is
being updated, the written re
cord may be corrupted. In such
cases, the controller restores
the hours−run meter from the in
tact backup copy when it
switches back on.
3 Operating hour Firmware was loaded in which Warning only, no further action
meter converted the hours−run meter has a differ necessary.
ent data format. The next time
the controller is switched on, the
old hours−run meter record is
converted to the new format.
30 0 Internal conversion Range exceeded for internal Check whether extremely short
error scaling factors which are de or extremely long cycle times
pendent on the parametrised were set in the parameters.
controller cycle times.

Error message
index index
31 0 Motor I@t Motor blocked? Check power dimensioning of

Motor under−sized? drive package.
1 Servo controller I@t The I@t monitoring is responding Check the design characteristics
frequently. of the motor controller; use a
Motor controller does not have more powerful type if necessary.
the required capacity? Check the mechanical system.
Mechanical system is sluggish?
2 PFC I@t PFC power rating exceeded. Parametrise operation without

PFC (using FCT).
3 Braking resistor I@t Overloading of the internal brak Use an external braking resistor
ing resistor. and activate it.
External braking resistor con Check parametrisation of the
nected but not activated? external load resistance (FCT).
32 0 Intermediate circuit The intermediate circuit could Check interface to the external
charging time not be charged after the mains braking resistor. Alternatively,
exceeded voltage was applied. A fuse may check whether the jumper for
be faulty, or an internal braking the internal braking resistor is in
resistor may be faulty, or, in the place. If the interface is correct,
case of operation with an exter the internal braking resistor or
nal resistor, that resistor is not the built−in fuse is probably
connected. faulty. On−site repair is not
possible.
1 Undervoltage for The PFC cannot be activated at Check the power supply.
active PFC all until an intermediate circuit
voltage of about 130 VDC is
reached.

Error message
index index
... 32 5 Brake chopper The utilisation of the brake No measures required

overload. Inter chopper when quick discharge
mediate circuit began was already in the range
could not be dis above 100%. Quick discharge
charged. took the brake chopper to the
maximum load limit and was
prevented/aborted.
6 Intermediate circuit Intermediate circuit could not be Check interface to the external
discharge time ex quickly discharged. The internal braking resistor. Alternatively,
ceeded braking resistor may be faulty or, check whether the jumper for
in the case of operation with an the internal braking resistor is in
external resistor, that resistor is place. If the internal resistor has
not connected. been activated and the jumper
has been positioned correctly,
the internal braking resistor is
probably faulty. On−site repair is
not possible.
7 Power supply Controller enable was issued In the application, check

missing for con when the intermediate circuit whether the mains supply and
troller enable was still in its charging phase controller enable signals were
after mains voltage was applied sent one quickly after the other.
and the mains relay was not yet
activated. The drive cannot be
enabled in this phase, because
the drive is not yet firmly con
nected to the mains (through
the mains relay).
8 Power supply fail Interruptions/failure in the Check the power supply.

ure during con power supply while the con
troller enable troller enable was activated.
9 Phase failure Failure of one or more phases Check the power supply.
(only in the case of three−phase
supply).

Error message
index index
33 0 Encoder emulation The critical frequency for en Check whether the parametrised
following error coder emulation was exceeded number of lines may be too high
(see manual) and the emulated for the velocity being repre
angle at X11 was no longer able sented. Reduce the number of
to follow. Can occur when very lines if necessary.
high numbers of lines are pro
grammed at X11 and the drive
reaches high velocities.
34 0 No synchronisation When activating the interpolated Check the settings for the con
via Fieldbus position mode, the controller troller cycle times.
could not be synchronised to the
fieldbus. The synchronisation
messages from master may
have failed. Or the IPO interval is
not correctly set to the synchro
nisation interval of the fieldbus.
1 Fieldbus synchro Synchronisation via fieldbus Check the settings for the con
nisation error messages during ongoing oper troller cycle times.
ation (interpolated position
mode) has failed.
Synchronisation messages from
master failed?
Synchronisation interval (IPO in
terval) set too small/too large?

Error message
index index
35 0 Linear motor spin Encoder signals are faulty. The Check that installation complies
ning protection motor may be racing (spin with EMC recommendations.
ning") because the commutation In the case of linear motors with
position has been shifted by the inductive/optical encoders with
faulty encoder signals. separately mounted measuring
tape and measuring head: check
the mechanical clearance. In the
case of linear motors with induc
tive encoders, make sure that
the magnetic field of the
magnets or the motor winding
does not leak into the measur
ing head (this effect usually oc
curs when high accelerations =
high motor current).
5 Error during the de The rotor position could not be Check the method for determin
termination of the identified clearly. The selected ing the commutation position. 1)
commutation posi method may be inappropriate.
tion The selected motor current for
the identification may not be set
appropriately.
1) Notes on determining the commutation position:
a) The alignment method is inappropriate for locked or sluggish drives or drives capable of low−fre
quency oscillation.
b) The microstep method is appropriate for air−core and iron−core motors. As only very small movements
are carried out, it works even when the drive is on elastic stops or is locked but can still be moved
elastically to some extent. Due to the high excitation frequency, however, the method is very suscep
tible to oscillations in the case of poorly damped drives. In such cases, you can attempt to reduce the
excitation current (%).
c) The saturation method uses local occurrences of saturation in the iron of the motor. Recommended
for locked drives. Air−core drives are by definition not suitable for this method. If the (iron−core) drive
moves too much when locating the commutation position, the measurement result may be adulter
ated. If this is the case, reduce the excitation current. In the opposite case, if the drive does not
move, the excitation current may not be strong enough, causing the saturation to be insufficient.

Error message
index index
36 0 Parameter was An attempt was made to write a Check the user parameter re
limited value which was outside the cord.
permitted limits, so the value
was limited.
1 Parameter was not An attempt was made to write

accepted to an object which is read only"
or is not write−capable in the
current state (e.g. with controller
enable active).
37 0 SERCOS: Received The signal on the Sercos bus is Check all connections and
data disrupted faulty. The cause in this case cables (broken cable or con
could be poor plug connectors nector not tightened).
or screw fittings which have not Check the settings for light out
been tightened. This problem put in the ring (too high/too
can also occur when the light low).
output is set too high (overload
ing).
1 SERCOS: Fibre− The Sercos ring is not closed. Check that all cables are con
optic ring inter The cause could be a broken nected and none are broken.
rupted cable.
2 SERCOS: 2−fold Two successive master sync Check the Sercos ring (and
MST failure telegrams from the master are check for interruptions).
missing. This error usually oc Check that the master is still
curs together with Ring not operating correctly.
closed" or Massive distortion".
Either the ring was interrupted
during operation, or the master
is no longer sending sync tele
grams.
3 SERCOS: Invalid The master specifies an invalid Check the program in the
phase specification phase shift (e.g. a phase is to be SERCOS master.
in MST info skipped). The cause lies in the
master software.

Error message
index index
... 37 4 SERCOS: 2−fold Two successive master data Check the Sercos ring and check
MDT failure telegrams from the master are for interruptions.
missing. This error usually oc Check that the master is still
curs together with Ring not operating correctly.
closed" or Massive distortion".
Either the ring was interrupted
during operation, or the master
is no longer sending data tele
grams.
5 SERCOS: Shift to The master wants to go into an Check the settings for the oper
unknown operating operating mode which is not ating modes in IDNs S−0−0032 to
mode supported by the drive. S−0−0035.
6 SERCOS: T3 invalid The master specifies an invalid Increase the baud rate to
time for taking on the setpoint shorten the transmission time of
values (T3). This lies within the the telegrams on the bus.
transmission time of ATs or Increase the cycle time.
MDTs on the bus. The T3 time is Move T3 time manually (can be
determined by the master during done by manually entering an
phase run−up. The cause could offset for T3 on the Beckhoff
be either invalid timing by the control systems, for example).
master or the transmission of
too much cyclic data for the
cycle time used.
38 0 SERCOS: SERCON SERCOS prog.: error during in If possible, replace the technol
status event itialisation of the SERCON chip ogy module and send it to the
on the SERCOS technology mod manufacturer for checking.
ule.
1 SERCOS: No mod When the Sercos bus was acti Check that a Sercos module is
ule present vated, no valid module was de plugged into TECH2.
tected. Replace the technology module
if possible.

Error message
index index
... 38 2 SERCOS: Defective The hardware test of the module Replace the technology module
module (the memory test) failed when and send it to the manufacturer
the Sercos bus was activated. for checking.
If the error still occurs with a re
placement technology module,
the motor controller must be
sent to the manufacturer for
checking.
3 SERCOS: S−0−0127: In the command Phase transi Configuration of the cyclic data
Invalid data in tion CP2 −> CP3" it was found for MDT and AT (in some circum
S−0−0021 that some of the configuration stances, parameters not sup
data transmitted in CP2 is faulty. ported there might be confi
The following settings are gured).
checked here by the master: Time slot calculation by the
Configuration of the cycli master?
cally transmitted
parameters in AT and MDT.
Timing information.
4 SERCOS: S−0−0127: Unknown/invalid IDNs were Check the configuration of the

Invalid IDNs in AT configured for the parameters to data to be transmitted cyclically.
or MDT be transmitted cyclically in MDT
and AT.
5 SERCOS: S−0−0128: In the command Phase transi Check the weighting settings.
Invalid data in tion CP3 −> CP4" it was found Check the operating mode set
S−0−0022 that some of the configuration tings (also for internal/external
data in CP3 is faulty. The follow angle encoder).
ing settings are checked:
Weighting settings.
Operating mode settings.
6 SERCOS: S−0−0128: Invalid weighting settings were Check the weighting settings.
Weighting found in the command Phase
parameters faulty transition CP3 −> CP4".

Error message
index index
... 38 6 SERCOS: S−0−0128: SERCOS phase run−up: error in Please contact Technical
Weighting para command S−0−0128 − error in the Support if necessary.
meters faulty setting of the weighting para
meters.
7 SERCOS: Invalid Invalid IDNs were configured for Check the configuration in signal
IDN in S−0−0026 / the Sercos signal status word" status and control words in the
S−0−0027 or the Sercos signal control IDN lists S−0−0026 and
word". S−0−0027.
8 SERCOS: Error dur An internal conversion error has Check the use of an alternative
ing conversion occurred (when converting from weighting.
bus into internal basic units, or
vice versa). The weighting set
tings must be checked here.
Overflow, underflow or some
other internal mathematical
error has occurred.
9 SERCOS: SERCON SERCOS activation: SERCON 816 Replace the technology module
410b mode active is being operated in SERCON and send it to the manufacturer
410b compatibility mode. for checking.
39 0 SERCOS: List Reserved:

S−0−0370: MDT SERCOS: error in configuration
data container con list S−0−0370 for MDT data con
figuration error tainer.
1 SERCOS: List Reserved:

S−0−0371: AT data SERCOS: error in configuration
container configur list S−0−0371 for AT data con
ation error tainer.
2 SERCOS: Error in Reserved:

MDT cyclic channel SERCOS: error in MDT cyclic
channel.

AT cyclic channel SERCOS: error in AT cyclic
channel.

Error message
index index
... 39 4 SERCOS: Error in Reserved:

MDT cyclic data SERCOS: error in MDT cyclic
container data container.

AT cyclic data con SERCOS: error in AT cyclic data
tainer container.
40 0 Negative software The position setpoint has re Check the target data.
limit switch ached or exceeded the respect Check the positioning range.
reached ive software limit switch.
1 Positive software
limit switch
reached
2 Target position Start of a positioning task was

behind the nega suppressed because the target
tive software limit lies behind the respective soft
switch ware limit switch.
3 Target position
behind the positive
software limit
switch
41 0 Record chaining: Start of synchronisation without Check the derivative action set
Synchronisation prior sampling pulse tings in the parameters.
error
42 0 Positioning: The positioning target cannot Check parameters of the posi

Missing subse be reached due to the options tion records in question.
quent positioning: for positioning or ancillary
Stop parameters.
1 Positioning: Rota
tion reversal is not
allowed: Stop
2 Positioning: Rota
tion reversal after
stop is not allowed

Error message
index index
... 42 3 Start positioning Switching of the operating mode Check parameters of the
rejected: Wrong by the positioning record was position records in question.
mode of operation not possible.
4 Start positioning A normal positioning record was Reset optional Homing

rejected: Please started, but the drive needs a required" parameter.
enforce homing valid reference position before Carry out homing again after
run! starting. resetting an angle encoder error.
5 Rotary axis: Direc The positioning target cannot Check the selected mode.
tion of rotation is be reached due to the options
not allowed for positioning or ancillary
parameters.
The calculated direction of
rotation is not permitted for
the rotary axis in the set mode.
9 Error when starting Acceleration limit exceeded or Check parametrisation and

the positioning task positioning record disabled. sequence control and correct if
necessary.
43 0 Limit switch: Nega Negative hardware limit switch Check parameters, wiring, and
tive setpoint locked reached. limit switches.
1 Limit switch: Posi Positive hardware limit switch

tive setpoint locked reached.
2 Limit switch: Posi The drive has left the intended Check the intended range of
tioning suppressed range of motion. motion.
Technical defect in the system?

Error message
index index
44 0 Fault in the cam Cam disk to be started not Check transmitted cam disk
disk tables available. number. Correct parametrisation
or programming
1 Cam disk: general Starting a cam disk when hom Carry out homing.
fault in referencing ing is required but the drive is
not yet referenced.
Start homing with active cam Deactivate cam disk. Then

disk restart cam disk if necessary
45 0 Driver supply can During activation of Safe stand The internal logic may be being
not be switched off still" the driver supply was not disrupted by high−frequency
switched off within an adequate switching operations at the
time. input for safe standstill.
· Check control; the error must
not appear again.
If the error appears again when
1 Driver supply can During deactivation of Safe safe standstill is activated:
not be activated standstill" the driver supply was · Check the firmware (released
not switched off within an ad version?)
equate time. If all of the above possibilities
have been ruled out, the motor
controller hardware is faulty.
2 Driver supply was The internal driver supply was If the error appears repeatedly
activated re−applied even though safe when safe standstill is activated,
standstill had been activated. the motor controller hardware is
faulty.
47 0 Thread mode error: The speed required for set Check the processing of the con
Timeout expired ting−up was not reduced enough trol−side requirements.
in the time allotted.

Error message
index index
49 2 DCO file: Data fault Formatting error in the DCO

file.
Faulty parameters in the
DCO file (invalid value).
Error during KO access
(read or write).
Note: error 49−2 is not triggered
in the case of the SD card. In
stead error 29−2 is triggered
(due to compatibility with
CMMS−ST)
50 0 Too many syn More PDOs have been activated Check the activation of PDOs.
chronous PDOs than can be processed in the If the configuration is appropri
underlying SYNC interval. ate, the warning can be sup
This message also appears if pressed using error manage
only one PDO is to be trans ment.
mitted synchronously, but a high Extend the synchronisation inter
number of other PDOs with a val.
different transmission type have
been activated.
1 SDO errors have An SDO transfer has caused an Check the command sent.
occurred SDO abort, for example due to
data exceeding the value range
or accessing of an object which
does not exist.

Error message
index index
51 0 No/unknown FSM Unknown module type (reading

module of EEPROM).
1 FSM: Driver supply Signal RM_5V_OS or RM_5V_US

is faulty is not present (FSM blind).
2 Unequal module Unequal module type (reading

type EEPROM and comparing with
data in the parameter FLASH
memory).
3 Unequal module Unequal version number for an

version otherwise equal module type
(reading EEPROM and compar
ing with data in the parameter
FLASH memory).
60 0 Ethernet user−spe Reserved.

cific (1)
61 0 Ethernet user−spe Reserved.

cific (2)

Error message
index index
62 0 EtherCAT: general No EtherCAT bus present. Switch on the EtherCAT master.

bus error Check cabling.
1 EtherCAT: Initialisa Error in the hardware. Replace the technology module

tion fault and send it to the manufacturer
for checking.
2 EtherCAT: Protocol CAN over EtherCAT is not in use. Incorrect protocol. EtherCAT bus
error cabling fault.
3 EtherCAT: Invalid Sync manager 2 buffer size is Check the RPDO configuration of
RPDO length too large. the motor controller and the
higher−level control system.
4 EtherCAT: Invalid Sync manager 3 buffer size is Check the TPDO configuration of
TPDO length too large. the motor controller and the
higher−level control system.
5 EtherCAT: Cyclic Emergency shut−down due to Check the configuration of the

data transmission failure of cyclic data trans master. Synchronous trans
error mission. mission is unstable.
63 0 EtherCAT: Defective Error in the hardware. Replace the technology module

module and send it to the manufacturer
for checking.
1 EtherCAT: Invalid Faulty telegram type. Check the cabling.

data
2 EtherCAT: TPDO The buffer for sending the data The data was sent faster than
data not read is full. the motor controller could pro
cess it. Reduce the cycle time on
the EtherCAT bus.

Error message
index index
... 63 3 EtherCAT: No Warning: firmware is synchronis If necessary, check whether the

distributed clocks ing with the telegram, not with master supports the distributed
active the distributed clocks system. clocks feature.
When the EtherCAT was started, If not: ensure that the EtherCAT
no hardware SYNC (distributed frames are not disrupted by
clocks) was found. The firmware other frames if the interpolated
now synchronises with the position mode is to be used.
EtherCAT frame.
4 A SYNC message is Telegrams are not being sent in Check the station responsible
missing in the IPO the time slot pattern of the IPO. for distributed clocks.
cycle
64 0 DeviceNet: The duplicate MAC ID check has Change the MAC ID of one of the
Duplicate MAC ID found two nodes with the same nodes to a value which is not al
MAC ID. ready used.
1 DeviceNet: Bus The DeviceNet module is not In addition to the motor con
voltage missing supplied with 24 V DC. troller the DeviceNet module
must also be connected to
24 V DC.
2 DeviceNet: Receive Too many messages received Reduce the scan rate.
buffer overflow within a short period.
3 DeviceNet: Send Not sufficient free space on the Increase the baud rate, reduce
buffer overflow CAN bus for sending messages. the number of nodes or reduce
the scan rate.
4 DeviceNet: IO Error in sending I/O data. Check that the network is con
message not sent nected correctly and has no
faults.
5 DeviceNet: Bus Off The CAN controller is BUS OFF. Check that the network is con
nected correctly and has no
faults.
6 DeviceNet: CAN The CAN controller has an over Increase the baud rate, reduce
controller reports run. the number of customer nodes
overrun or reduce the scan rate.

Error message
index index
65 0 DeviceNet acti The DeviceNet communication is Deactivate the DeviceNet com

vated, but no activated in the parameter re munication or connect a module.
module cord of the motor controller, but
no module is available.
1 IO connection time Interruption of an I/O connec No I/O message received within

out tion. the expected time.
70 1 FHPP: Overrun/underrun or division by Check the cyclic data and/or

Mathematical error zero during calculation of cyclic check the factor group.
data.
2 FHPP: Factor group Calculation of the factor group Check the factor group.
invalid leads to invalid values.
3 FHPP: Invalid oper Changing from the current to the Check your application. It may
ating mode change desired operating mode is not be that not every change is per
permitted. mitted.
71 1 FHPP: Invalid re Too little data is being trans Check the data length parame
ceive telegram mitted by the control system trised in the control system for
(data length too short). the controller’s received tele
gram and/or check the confi
confi
2 FHPP: Invalid re Too much data is set to be gured data length in the FHPP+
sponse telegram transmitted from the CMMP−AS Editor in the FCT.
to the control system (data
length too great).
80 0 Overflow current The process data could not be Please contact Technical
controller IRQ calculated in the set current/vel Support.
ocity/position interpolator cycle
cycle.
1 Overflow speed
controller IRQ
2 Overflow position
controller IRQ
3 Overflow interpola
tor IRQ
81 4 Overflow low−level
IRQ
5 Overflow MDC IRQ

Error message
index index
82 0 Sequencing control IRQ4 overflow (10 ms low−level Internal sequence control: pro
IRQ). cess interrupted.
Only for information − no
measures required.
83 0 Invalid technology The technology module plugged Check the firmware to find out
module in could not be detected or the whether the technology module
loaded firmware was unknown. is supported. If yes, then check
A supported technology module that the technology module is in
might be plugged into the wrong the right place and is plugged in
slot (e.g. SERCOS 2, EtherCAT). correctly. If necessary, replace
technology module and/or firm
ware.
1 Technology module The technology module plugged Check the firmware to find out
not supported in could be detected, but is not whether the technology module
supported by the loaded firm is supported. If necessary, re
ware. place the firmware.
2 Technology mod The technology module plugged The technology module must be
ule: Hardware ver in could be detected and is also replaced. If necessary, contact
sion not supported usually supported, however in Technical Support. With the
this case the current hardware ProfiBus or EA88 module, use
version is not supported (be hardware version 2.0 or greater.
cause it is too old).
Examples include the ProfiBus
piggy−back and the EA88 piggy−
back, which were produced in
an initial 5V version (Version 1.0)
but which cannot run on the cur
rent motor controller.
3 Service module: Data access to the service mod Switch on the device again
Write error ule (FLASH technology module) (24V). If the error appears again,
is being disrupted. There were the hardware of the FLASH
sectors which could not be module is faulty. In that case re
written or cleared. place the module. If that is not
successful, the hardware of the
motor controller is defective and
on−site repair is not possible.
... 83 4 MC2000 Watchdog Reserved.

Error message
index index
85 ... 0 Reserved.
89
90 0 Missing hardware External SRAM not detected / Hardware error (SRAM compo
component (SRAM) not sufficient. nent or board is defective).
1 Missing hardware External FLASH not detected / Hardware error (FLASH compo
component not sufficient. nent or board is defective).
(FLASH)
2 Error at FPGA The FPGA cannot be booted. The Switch on the device again
boot−up FPGA is booted serially when the (24V). If the error appears again,
device is started, but in this case the hardware is faulty.
it could not be loaded with data
or it reported a checksum error.
3 Error at SD−ADU SD−ADUs cannot be started. One Switch on the device again
start or more SD−ADUs are not sup (24V). If the error appears again,
plying any serial data. the hardware is faulty.
4 SD−ADU synchro SD−ADU not synchronous after Switch on the device again
nisation error after starting. During operation, the (24V). If the error appears again,
start SD−ADUs for the resolver signals the hardware is faulty.
continue running with strict syn
chronisation once they have
been initially started synchron
ously. The SD−ADUs could not be
started at the same time during
that initial start phase.

Error message
index index
... 90 5 SD−ADU not syn SD−ADU not synchronous after Severe EMC interference could
chronous starting. During operation, the theoretically also cause this ef
SD−ADUs for the resolver signals fect. Switch on the device again
continue running with strict syn (24V). If the error appears again,
chronisation once they have the hardware is faulty (almost
been initially started synchron certainly one of the three
ously. This is checked continually SD−ADUs).
during operation and an error
may be triggered.
6 IRQ0 (current con The output stage is not trigger Switch on the device again
troller): Trigger ing the software IRQ which then (24V). If the error appears again,
error operates the current regulator. the hardware is faulty.
Very likely to be a hardware
error on the board or in the pro
cessor.
7 No CAN controller CAN controller chip could not be In the case of a firmware error,
present found or is defective. an update must be loaded.
In the case of a hardware error
(CAN chip or board defective),
the hardware is faulty.
8 Device parameters The device parameter record, Check the firmware version,
checksum error which includes description of and update the firmware if
the output stage data, is incon necessary.
sistent. Since it is itself part of
the firmware, this error can only
occur with beta versions.
9 DEBUG firmware A beta version compiled for the Check the firmware version,
loaded debugger was loaded as normal. and update the firmware if
necessary.
91 0 Internal initialisa Internal SRAM too small for the Check the firmware version,
tion error compiled firmware. Can only and update the firmware if
occur with beta versions. necessary.

3.4.2 CMMS fault numbers
Error message
Main Sub− Fault Meaning of error Measures
index index code message
01 0 6180 Stack overflow Incorrect firmware?

Reload standard firmware if necessary.
Contact Technical Support.
02 0 3220 Undervoltage in Undervoltage monitoring is configured using the FCT.

intermediate cir Measure intermediate circuit voltage.
cuit Check configuration.
03 0 4310 Motor tempera Motor too hot? Check parameters (current regulator,
ture monitoring current limits)
Right sensor?
Cable broken?
Sensor defective?
If the error remains even when the sensor is bridged:
device defective.
03 1 4310 Motor tempera Fault in digital motor temperature sensor.

ture monitoring
04 0 4210 Over−/under−tem Temperature display plausible?

perature in power Check installation conditions (cooling: via the hous
electronics ing surface, the integrated heat sink and back wall)
05 0 5114 5V supply fault Fault cannot be rectified independently.

Send the motor controller to the manufacturer.
1 5115 24V supply fault 16V < U24V < 32V = OK, otherwise NOK
(out of range)
2 5116 12V electronics 11V < U12V < 13V = OK, otherwise NOK
supply fault
8000 Driver supply Fault in the plausibility check of the driver supply
fault (safe standstill)

Error message
06 0 2320 Overcurrent of Motor defective?

the intermediate Short circuit in the cable?
circuit/power Output stage defective?
stage
07 0 3210 Overvoltage in in Check the connection to the braking resistor.

termediate circuit Check design (application).
08 2 7380 Encoder supply 4V < U_encoder < 6V = OK, otherwise NOK

fault
6 7386 CMMS−AS/ Angle encoder cable connected?

CMMD−AS only:
SINCOS−RS485
communication
error
8 7388 CMMS−AS/ Alarm bit set in the EnDat encoder.

CMMD−AS only:
Internal angle en
coder error
11 1 8A81 Error during hom Homing was interrupted, e.g. by withdrawal of con
ing troller enable or by a limit switch.
12 2 8181 CAN communica Common error:

tion error 1. Error when sending a message (e.g. no bus con
nected)
2. Timeout when receiving the SYNC messages in
interpolated position mode
14 9 6197 Motor identifica Error when automatically determining the motor

tion fault parameters.
16 2 6187 Initialisation fault Error initialising the default parameters.
16 3 6183 Unexpected The software went into an unexpected state,

status/program e.g. unknown state in the FHPP state machine.
ming error

Error message
17 0 8611 Following error Enlarge error window.

limit exceeded Acceleration parameter too large.
18 0 4380 Motor tempera The motor temperature is less than 5°C below the
ture 5°C below parametrised maximum temperature
maximum
1 4280 Output stage CMMS−ST: the output stage temperature is greater

temperature 5°C than 80°C
below maximum CMMS−AS: the output stage temperature is greater
than 90°C
19 0 2380 I@T at 80% Common error:

80% of the maximum I@T utilisation has been re
ached by the closed−loop controller or by the motor.
21 0 5210 Fault in offset Fault cannot be rectified independently.

current measure Send the motor controller to the manufacturer.
ment
22 0 7500 PROFIBUS: Extension module defective?

faulty initialisa Please contact Technical Support.
tion
2 7500 Communication Check the set slave address.

fault PROFIBUS Check bus termination
Check wiring
25 1 6081 Hardware error Motor controller and firmware are not compatible.
Update the firmware.
26 1 5581 Checksum error Fault cannot be rectified independently.

Please contact Technical Support.
29 0 7680 No SD Tried to access missing SD card.
1 7681 SD initialisation Error on initialisation / communication not possible.

error
2 7682 SD parameter Checksum incorrect / file missing / incorrect file for

record error mat / error when saving the parameter file to the SD
card

Error message
31 0 2312 I@t fault on motor I@t monitoring of the motor has responded; motor/
(I@t at 100%) mechanical system blocked or sluggish?
1 2311 I@t fault on con I@t monitoring of the controller has responded.
troller (I@t at Check power dimensioning of drive package.
100%)
32 0 3280 CMMS−AS/ Intermediate circuit could not be charged (UIC <

CMMD−AS only: 150V)
Intermediate cir
cuit pre−charging
fault
8 3285 CMMS−AS/ Power failure after controller enable is issued

CMMD−AS only:
Fault: controller
enable without
intermediate cir
cuit
35 1 6199 Timeout for quick The parametrised time for quick stop was exceeded
stop
40 0 8612 Fault: SW limit Negative software limit switch reached.

switch reached
1 8612 Fault: SW limit Positive software limit switch reached.

switch reached
2 8612 Fault: SW limit Target position is behind the negative software limit
switch reached switch
3 8612 Fault: SW limit Target position is behind the positive software limit
switch reached switch
41 8 6193 Fault: record Unknown command found during record chaining

chaining, un
known command
9 6192 Route program Jump to a positioning record outside the permitted

jump target error range

Error message
42 1 8681 Positioning: Error The positioning target cannot be reached due to the
in pre−calculation options for positioning or ancillary parameters.
Check parameters of the position records in ques
tion.
4 8488 Homing required No positioning possible without homing. Homing

must be carried out.
9 6191 Position data re Common error:

cord error 1. An attempt is being made to start an unknown or
deactivated position record.
2. The set acceleration is too small for the maximum
velocity permitted. (Risk of computational overrun in
trajectory calculation)
43 0 8612 Fault in limit Negative hardware limit switch reached. Check

switch parameters, wiring, and limit switches.
1 8612 Fault in limit Positive hardware limit switch reached. Check

9 8612 Fault in limit Both limit switches active at the same time. Check
45 0 8000 Driver supply The driver supply is still active despite safe stand
fault still".
1 8000 Driver supply The driver supply was re−applied even though safe
fault standstill" was still active.
2 8000 Driver supply The driver supply is not re−applied even though the
fault safe standstill" signal is no longer active.
3 8087 DIN4 plausibility Error during plausibility check of output stage en
error able.

Error message
64 1 7584 DeviceNet The 24V bus voltage is missing

general error
2 7582 DeviceNet com Receive buffer overflow

munication error
3 7582 DeviceNet com Send buffer overflow

munication error
4 7582 DeviceNet com IO message could not be sent

munication error
5 7582 DeviceNet com Bus Off

munication error
6 7582 DeviceNet com Overrun in the CAN controller

munication error
65 0 7584 DeviceNet Common error:

general error Communication has been activated even though
there is no piggy−back module plugged in.
The DeviceNet piggy−back is attempting to read an
unknown KO.
Unknown DeviceNet error.
1 7583 DeviceNet initia DeviceNet piggy−back initialisation error:

lisation error Node number exists twice
7582 DeviceNet com IO connection timeout

munication error
70 2 6195 General arithme The FHPP factor group cannot be calculated cor
tic error rectly.
3 6380 Operating mode Prohibited change of operating mode.

error E.g. Profile Torque mode (torque control) on CMMS−
ST in open−loop−controlled operation or parametrisa
tion mode in FHPP; change in operating mode when
output stage is released.

Error message
76 0 8100 CMMD−AS only: Common error:

SSIO communica 1. Checksum error during transmission of SSIO
tion error (master protocol
− slave) 2. Timeout during transmission
1 8100 CMMD−AS only: SSIO partner has error 760.

SSIO communica
tion error
(partner)
79 0 7510 RS232 communi Overrun when receiving RS232 commands.

cation error
3.5 Diagnosis using FHPP status bytes
The controller supports the following diagnosis options using

FHPP status bytes (see section 1.4):
SCON.B2 (WARN) Warning
SCON.B3 (FAULT) Fault
SPOS.B5 (DEV) Drag fault
SPOS.B6 (STILL) Standstill control

Parameters
Chapter 4

4. Parameters
Contents
4.1 FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−3

4.2 Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−4
4.2.1 Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−4
4.3 Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−5
4.4 Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−13
4.4.1 Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . . 4−13
4.4.2 PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . . 4−14
4.4.3 Device data Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4−16
4.4.4 Device data Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4−17
4.4.5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−20
4.4.6 Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−24
4.4.7 On−the−fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−29
4.4.8 Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−30
4.4.9 Project data General project data . . . . . . . . . . . . . . . . . . . . . . . . . 4−42
4.4.10 Project data Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−43
4.4.11 Project data Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−44
4.4.12 Project data Direct mode, Profile Position mode . . . . . . . . . . . . . 4−45
4.4.13 Project data Direct mode, Profile Torque mode . . . . . . . . . . . . . . 4−46
4.4.14 Project data Direct mode, Profile Velocity mode . . . . . . . . . . . . . 4−47
4.4.15 Function data Camming function . . . . . . . . . . . . . . . . . . . . . . . . . . 4−48
4.4.16 Function data Position triggers and rotor position triggers . . . . . 4−50
4.4.17 Axis parameters for electric drives 1 Mechanical parameters . . . 4−53
4.4.18 Axis parameters for electric drives 1 Homing parameters . . . . . . 4−56
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−58
4.4.20 Axis parameters for electric drives 1 Electronic rating plate . . . . 4−61
4.4.21 Axis parameters for electric drives 1 Standstill control . . . . . . . . 4−62
4.4.22 Axis parameters for electric drives 1 Drag error monitoring . . . . 4−63
4.4.23 Axis parameters for electric drives 1 Other parameters . . . . . . . . 4−63
4.4.24 Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . 4−64

4. Parameters
4.1 FHPP general parameter structure
A controller contains a parameter record for each axis with

the following structure.
Group Indices Description
Administrative and con 1...99 Special objects, e.g. for FHPP+

figuration data
Device data 100...199 Device identification and device−specific settings, version

numbers, etc.
Diagnostics 200...299 Diagnostic events and diagnostic memory. Fault numbers,
fault time, incoming/outgoing event.
Process data 300...399 Current setpoint and actual values, local I/Os, status
data etc.
Record list 400...499 A record contains all the setpoint value parameters
required for a positioning procedure.
Project data 500...599 Basic project settings. Maximum speed and acceleration,
project zero point offset etc. –> parameters are the basis
for the record list.
Function data 700...799 Parameters for special functions, e.g. for the camming
function.
Axis data for electric 1000...1099 All axis−specific parameters for electric drives: gear ratio,
drives 1 feed constant, reference parameters, etc.
Function parameters 1200...1239 Specific parameters for control and evaluation of the
for digital I/Os digital I/Os.
Tab.4/1: Parameter structure

4. Parameters
4.2 Access protection
4.2.1 Access via PLC and FCT
The user can prevent the drive from being operated simulta
neously by PLC and FCT. The CCON.B5 bit (FCT access locked)
and the SCON.B5 bit (FCT control sovereignty) are used for
this.
Preventing FCT operation: CCON.B5 (LOCK)

By setting the CCON.B5 control bit, the PLC prevents the FCT
from taking over control sovereignty. So if the LOCK is set, FCT
cannot write parameters or control the drive, execute homing
etc.
The PLC is programmed not to enable this until the user

carries out the relevant action. This generally exits automatic
operation. This means that the PLC programmer can ensure
that the PLC always knows when it has control over the drive.
Important: the block is active if the CCON.B5 bit has logic 1.

It therefore does not need to be set compulsorily. A user who
does not need this type of locking can always set the bit to 0.
Control sovereignty acknowledgment for FCT: SCON.B5

(LOCK)
This bit informs the PLC that the drive is controlled by the FCT
and that the PLC no longer has any control over the drive. This
bit does not need to be evaluated. The PLC can react by
switching to stop or manual operation.

4. Parameters
4.3 Overview of FHPP parameters
The following overview (Tab.4/2) shows the FHPP’s

parameters.
The parameters are described in sections 4.4.2 to 4.4.21.
General remarks on the parameter names:

The names are largely based on DS 402. Some names may
vary from product to product while the functionality remains
the same (e.g. in FCT). Examples: velocity and speed, or
torque and force.
Name Con FHPP

troller PNU Subind. Type
PNUs for the FHPP+ telegram entries (see section 4.4.2)
FHPP Receive Telegram CMMP 40 1 ... 10 uint32
(FHPP telegram received by controller)
FHPP Response Telegram CMMP 41 1 ... 10 uint32
(FHPP telegram sent by controller)
FHPP Receive Telegram State CMMP 42 1 uint32
(state of FHPP telegram received by controller)
FHPP Response Telegram State CMMP 43 1 uint32
(state of FHPP telegram sent by controller)
Device data
Device data Standard parameters (see section 4.4.3)
Manufacturer Hardware Version All 100 1 uint16
Manufacturer Firmware Version All 101 1 uint16
Version FHPP All 102 1 uint16
Project Identifier All 113 1 uint32
Controller Serial Number CMMP 114 1 uint32
CMMS 114 1...12 uint8

4. Parameters
Name Con FHPP

Device data Extended parameters (see section 4.4.4)
Manufacturer Device Name All 120 1...30 uint8
User Device Name All 121 1...32 uint8
Drive Manufacturer All 122 1...30 uint8
HTTP Drive Catalog Address All 123 1...30 uint8
Festo Order Number All 124 1...30 uint8
Device Control All 125 1 uint8
Data Memory Control All 127 1...6 uint8
Diagnosis (see section 4.4.5)
Diagnostic Event CMMP 200 1...32 uint8
Fault Number CMMP 201 1...32 uint16
CMMS 201 1...4 uint16
Fault Time Stamp CMMP 202 1...32 uint32
Fault Additional Information CMMP 203 1...32 unt32
Diagnosis Memory Parameter CMMP 204 1, 2, 4 uint8
Fieldbus Diagnosis CMMP 206 5 uint8
Device Warnings CMMP 210 1...16 uint8
Warning Number CMMP 211 1...16 uint16
Warning Time Stamp CMMP 212 1...16 uint32
Warning Additional Information CMMP 213 1...16 unt32
Warning Memory Parameter CMMP 214 1, 2, 4 uint8

4. Parameters
Name Con FHPP

Process data (see section 4.4.6)

Position Values All 300 1...3 int32
Torque Values All 301 1...3 int32
Local Digital Inputs All 303 1, 2, 4 uint8
Local Digital Outputs All 304 1, 3 uint8
Maintenance Parameter All 305 3 uint32
Velocity Values All 310 1...3 int32
State Signal Outputs All 311 1, 2 uint32
On−the−fly measurement (see section 4.4.7)
Position Value Storage All 350 1, 2 int32
Record list (see section 4.4.8)
Record Status All 400 1...3 uint8
Record Control Byte
y 1 CMMP 401 1...250 uint8
CMMS 401 1...63 uint8
Record Control Byte
y 2 CMMP 402 1...250 uint8
CMMS 402 1...63 uint8
Record Setpoint
p Value CMMP 404 1...250 int32
CMMS 404 1...63 int32
Record Preselection Value CMMS 405 1...63 int32
Record Velocityy CMMP 406 1...250 uint32
CMMS 406 1...63 uint32
Record Acceleration CMMP 407 1...250 uint32
CMMS 407 1...63 uint32
Record Deceleration CMMP 408 1...250 uint32
CMMS 408 1...63 uint32
Record Velocity Limit CMMP 412 1...250 uint32
Record JJerkfree Filter Time CMMP 413 1...250 uint32
CMMS 413 1...63 uint32
Record Profile CMMS 414 1...63 uint8
Record Following
g Position CMMP 416 1...250 uint8
CMMS 416 1...63 uint8

4. Parameters
Name Con FHPP

Record Torque Limitation CMMP 418 1...250 uint32
Record CAM ID CMMP 419 1...250 uint8
(cam disk number for record)
Record Remaining Distance Message CMMP 420 1...250 uint32
Record Control Byte 3 CMMP 421 1...250 uint8
Project data
Project data General project data (see section 4.4.9)
Project Zero Point All 500 1 int32
Software End Positions All 501 1, 2 int32
Max. Speed All 502 1 uint32
Max. Acceleration All 503 1 uint32
Max. Jerkfree Filter Time All 505 1 uint32
Project data Teaching (see section 4.4.10)
Teach Target All 520 1 uint8
Project data Jog mode (see section 4.4.11)

Jog Mode Velocity Slow Phase 1 All 530 1 int32
Jog Mode Velocity Fast Phase 2 All 531 1 int32
Jog Mode Acceleration All 532 1 uint32
Jog Mode Deceleration All 533 1 uint32
Jog Mode Time Phase 1 All 534 1 uint32

4. Parameters
Name Con FHPP

Project data Direct mode, Profile Position mode (see section 4.4.12)
Direct Mode Position Base Velocity All 540 1 int32
Direct Mode Position Acceleration All 541 1 uint32
Direct Mode Position Deceleration All 542 1 uint32
Direct Mode Jerkfree Filter Time All 546 1 uint32
Project data Direct mode, Profile Torque mode (see section 4.4.13)
Direct Mode Torque Base Torque Ramp CMMP 550 1 uint32
Direct Mode Torque Target Torque Window CMMP 552 1 uint16
Direct Mode Torque Time Window CMMP 553 1 uint16
Direct Mode Torque Speed Limit CMMP 554 1 uint32
Project data Direct mode, Profile Velocity mode (see section 4.4.14)
Direct Mode Velocity Base Velocity Ramp All 560 1 uint32
Direct Mode Velocity Target Window CMMP 561 1 uint16
Direct Mode Velocity Window Time CMMP 562 1 uint16
(damping time for velocity target window in direct mode)
Direct Mode Velocity Threshold CMMP 563 1 uint16
(standstill target window in direct mode)
Direct Mode Velocity Threshold Time CMMP 564 1 uint16
(damping time for standstill in direct mode)
Direct Mode Velocity Torque Limit CMMP 565 1 uint32
Function data
Function data Camming function (see section 4.4.15)
CAM ID CMMP 700 1 uint8
(cam disk number)
Master Start Position Direct Mode CMMP 701 1 int32
(master start position in direct mode)
Input Config Sync. CMMP 710 1 uint32
(input configuration for synchronisation)
Gear Sync. CMMP 711 1, 2 uint32
(synchronisation gear ratio)
Output Config Encoder Emulation CMMP 720 1 uint32
(output configuration for encoder emulation)

4. Parameters
Name Con FHPP

Function data Position triggers and rotor position triggers (see section 4.4.16)
Position Trigger Control CMMP 730 1 uint32
Position Trigger Low CMMP 731 1 ... 4 int32
Position Trigger High CMMP 732 1 ... 4 int32
Rotor Position Trigger Low CMMP 733 1 ... 4 int32
Rotor Position Trigger High CMMP 734 1 ... 4 int32
Axis parameters for electric drives 1 Mechanical parameters
Axis parameters for electric drives 1 Mechanical parameters (see section 4.4.17)
Polarity All 1000 1 uint8
(reversal of direction)
Encoder Resolution All 1001 1, 2 uint32
Gear Ratio All 1002 1, 2 uint32
Feed Constant All 1003 1, 2 uint32
Position Factor All 1004 1, 2 uint32
Axis Parameter All 1005 2, 3 int32
Velocity Factor All 1006 1, 2 uint32
Acceleration Factor All 1007 1, 2 uint32
Polarity Slave All 1008 1 uint8
(reversal of direction for slave)
Axis parameters for electric drives 1 Homing parameters (see section 4.4.18)
Offset Axis Zero Point All 1010 1 int32
Homing Method All 1011 1 int8
Homing Velocities All 1012 1, 2 uint32
Homing Acceleration All 1013 1 uint32
Homing Required All 1014 1 uint8
Homing Max. Torque CMMP 1015 1 uint8

4. Parameters
Name Con FHPP

Axis parameters for electric drives 1 Closed−loop controller parameters (see section 4.4.19)
Halt Option Code All 1020 1 uint16
Position Window All 1022 1 uint32
Position Window Time All 1023 1 uint16
(adjustment time for position)
Control Parameter Set All 1024 18...22, uint16
(controller’s parameters) 32
Motor Data All 1025 1, 3 uint32/
uint16
Drive Data CMMP 1026 1...4, 7 uint32
CMMS 1026 1, 3, 4, 7 uint32
Axis parameters for electric drives 1 Electronic rating plate (see section 4.4.20)
Max. Current All 1034 1 uint16
Motor Rated Current All 1035 1 uint32
Motor Rated Torque All 1036 1 uint32
Torque Constant All 1037 1 uint32
Axis parameters for electric drives 1 Standstill control (see section 4.4.21)
Position Demand Value All 1040 1 int32
(setpoint position)
Position Actual Value All 1041 1 int32
(current position)
Standstill Position Window All 1042 1 uint32
Standstill Timeout All 1043 1 uint16
Axis parameters for electric drives 1 Drag error monitoring (see section 4.4.22)
Following Error Window CMMP 1044 1 int32
(drag error window)
Following Error Time CMMP 1045 1 uint16
(drag error timeout)
Axis parameters for electric drives 1 Other parameters (see section 4.4.23)
Torque Feed Forward Control CMMP 1080 1 int32
Setup Velocity CMMP 1081 1 uint8
Velocity Override CMMP 1082 1 uint8

4. Parameters
Name Con FHPP

Function parameters for digital I/Os (see section 4.4.24)
Remaining Distance for Remaining Distance Message All 1) 1230 1 uint32
1) With CMMP−AS: in Direct mode only
Tab.4/2: Overview of FHPP parameters

4. Parameters
4.4 Descriptions of FHPP parameters
4.4.1 Representation of the parameter entries
1 2 3 4 5
Encoder Resolution
6 FHPP (all) 1001 1...2 uint32 rw
Description Encoder resolution in increments per revolution
7 The encoder resolution is fixed and cannot be modified by the user. The
calculated value is derived from the fraction (encoder increments/motor
revolution).
8 Encoder Increments 1001 1 uint32 rw
Value range: 0x00000000 ... 0xFFFFFFFF (0 ... 232−1)
Motor Revolutions 1001 2 uint32 rw
Fixed = 1
1 Name of the parameter (sometimes with short explanation in brackets)

2 PNU (parameter number)
3 Subindices of the parameter (1: no subindex, simple variable)
4 Element variable type
5 Read/write permission: ro = read only, rw = read and write
6 Identifier for general or limited validity (e.g. CMMS only)
7 Description of the parameter
8 Name and description of subindices, if present
Fig.4/1: Representation of the parameter entries

4. Parameters
4.4.2 PNUs for the telegram entries for FHPP+
FHPP Receive Telegram (FHPP telegram received by controller)

FHPP (CMMP) 40 1...10 Array uint32 ro
Description This array defines the contents of the received telegrams (the output data of
the higher−level control system) in the cyclic process data.
The array is configured using the FHPP+ editor provided by the FCT plug−in.
Gaps between 1−byte PNUs and following 16− or 32−byte PNUs are filled with
placeholder PNUs, as are unused subindices.
For the format, see Tab.4/3.
1st PNU 40 1 uint32 ro
1st transmitted PNU: always PNU 1:1
2nd PNU 40 2 uint32 ro
2nd transmitted PNU: with FPC: always PNU 2:1
without FPC: any PNU
3rd PNU 40 3 uint32 ro
3rd transmitted PNU: any PNU
... PNU 40 4 ... 10 uint32 ro
...
FHPP Response Telegram (FHPP telegram sent by controller)

FHPP (CMMP) 41 1...10 Array uint32 ro
Description This array defines the contents of the response telegrams (the input data of the
higher−level control system) in the cyclic process data; see PNU 40.
For the format, see Tab.4/3.
1st PNU 40 1 uint32 ro
1st transmitted PNU: always PNU 1:1
2nd PNU 40 2 uint32 ro
2nd transmitted PNU: with FPC: always PNU 2:1
without FPC: any PNU
3. PNU 40 3 uint32 ro
3rd transmitted PNU: any PNU
... PNU 40 4 ... 10 uint32 ro
...

4. Parameters
Contents of a subindex for PNU 40 and 41 (uint 32 − 4 bytes)

Byte 0 1 2 3
Contents Reserved (= 0) Subindex Transmitted PNU (2−byte value)
Tab.4/3: Format of the entries in PNU 40 and 41
FHPP Receive Telegram State (state of FHPP telegram received by controller)

FHPP (CMMP) 42 1 Var uint32 rw
Description Type of error in the telegram editor. Entry and the error location:
Bit Meaning
Bits 0 ... 15 Error location, bit−serial, one bit per telegram entry.
Bits 16 ... 23Reserved
Bits 24 ... 31Error type:
Bit 24 = 1: invalid PNU (with error location in bits 0 − 15)
Bit 25 = 1: PNU cannot be written (with error location in bits 0 − 15)
Bit 26 = 1: maximum telegram length exceeded
Bit 27 = 1: PNU cannot be mapped in a telegram
Bit 28 = 1: entry cannot be modified in the current state
(e.g. during active cyclic communication)
Bit 29 = 1: 16/32−bit entry begins with an uneven address
Bits 30 ... 31Reserved.
If the transmitted telegram is correct, all bits = 0.
FHPP Response Telegram State (state of FHPP telegram sent by controller)

FHPP (CMMP) 43 1 Var uint32 rw
Description Type of error in the telegram editor. Entry and the error location:
Bit Meaning
Bits 0 ... 15 Error location, bit−serial, one bit per telegram entry.
Bits 16 ... 23Reserved
Bits 24 ... 31Error type:
Bit 24 = 1: invalid PNU (with error location in bits 0 − 15)
Bit 25 = 1: PNU cannot be read (with error location in bits 0 − 15)
Bit 26 = 1: maximum telegram length exceeded
Bit 27 = 1: PNU cannot be mapped in a telegram
Bit 28 = 1: entry cannot be modified in the current state
(e.g. during active cyclic communication)
Bit 29 = 1: 16/32−bit entry begins with an uneven address
Bits 30 ... 31Reserved.
If the transmitted telegram is correct, all bits = 0.

4. Parameters
4.4.3 Device data Standard parameters
Manufacturer Hardware Version

FHPP (all) 100 1 uint16 ro
Description Coding of the hardware version, specification in BCD: xxyy
(xx = main version, yy = secondary version)
Manufacturer Firmware Version

Description Coding of the firmware version, specification in BCD: xxyy
Version FHPP (FHPP version)

Description Version number of the FHPP, specification in BCD: xxyy
Project Identifier
FHPP (all) 113 1 uint32 rw
Description 32 bit value that can be used together with the FCT plug−in to identify the
project.
Value range: 0x00000001 ... 0xFFFFFFFF (1 ... 232−1)
Controller Serial Number

Description Serial number for uniquely identifying the controller.

4. Parameters
4.4.4 Device data Extended parameters
Manufacturer Device Name

FHPP (all) 120 1...30 uint8 ro
Description Designation of the drive or controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’).
Example: CMMS−ST"
User Device Name

FHPP (all) 121 1...32 uint8 rw
Description User’s designation of the controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’).
Drive Manufacturer
Description Name of the drive’s manufacturer (ASCII, 7−bit) Fixed: Festo AG & Co. KG"
HTTP Drive Catalog Address (HTTP address of manufacturer)

Description Manufacturer’s Internet address (ASCII, 7−bit) Fixed: www.festo.com"
Festo Order Number

Description Festo order number / order code (ASCII, 7−bit).

4. Parameters
Device Control
Description Specifies which interface currently has control sovereignty over the drive, in
other words, which interface can be used to enable and start or stop (control)
the drive.
The following interfaces are taken into account:
Fieldbus: (CANopen, PROFIBUS, DeviceNet, ...)
DIN: digital I/O interface (e.g. multi−pin, I/O interface)
Parametrisation interface RS 232/RS 485 (FCT)
The last two interfaces are treated as equals.
For all controllers of the type CMM..., the output stage enable (DIN4) and
closed−loop controller enable (DIN5) also have to be set in addition to the inter
face in question (logical AND operation).
Value Meaning SCON.B5 (LOCK)
0x00 (0) Software has control sovereignty (+ DIN) 1
0x01 (1) Fieldbus has control sovereignty (+ DIN) 0
0x02 (2) Only DIN has control sovereignty 1
Default after power on: 0x01 (1) Fieldbus has control sovereignty (+ DIN)

4. Parameters
Data Memory Control

FHPP (all) 127 1...6 uint8 wo
Description Commands for EEPROM (non−volatile memory)
Delete EEPROM 127 1 uint8 wo
Once the object has been written, and after switching power off/on, the data in
the EEPROM is reset to the factory settings.
Fixed 0x10 (16): delete data in EEPROM and restore factory settings.
Note:
All user−specific settings except for the bus cycle will be lost on deletion (fac
tory settings). With CMMP this also includes the fieldbus address.
· After deleting, always carry out the steps for commissioning the device.
Save Data 127 2 uint8 wo
By writing the object, the data in EEPROM will be overwritten with the current
user−specific settings.
Fixed 0x01 (1): save user−specific data in EEPROM
Reset Device 127 3 uint8 wo
By writing the object, the data is read from EEPROM and adopted as the current
settings (EEPROM is not deleted or cleared; it is in the same state as after
switching off and on).
Values: 0x10 (16): reset device
0x20 (32): auto reset upon incorrect bus cycle (deviating from
the configured bus cycle; with CMMP only)
Encoder Data 127 6 uint8 wo
Memory Controll
Transfer of the encoder data between controller and encoder.
Values: 0x00 (0): No action (e.g. for test purposes)
0x01 (1): Loading of the parameters from the encoder
0x02 (2): Saving of the parameters in the encoder without zero offset
0x03 (3): Saving of the parameters in the encoder with zero offset

4. Parameters
4.4.5 Diagnostics
For a description of how the diagnostic memory functions,

see section 3.2.
Diagnostic Event
FHPP (CMMP) 200 1...32 uint8 ro
Description Type of fault or diagnostic information saved in the diagnostic memory. Displays
whether an incoming or outgoing fault is saved.
Value Type of diagnostic event
0x00 (0) No fault (or fault message deleted)
0x01 (1) Incoming fault
0x02 (2) Reserved (outgoing fault)
0x03 (3) Reserved
0x04 (4) Reserved (Overrun time stamp)
Event 1 200 1 uint8 ro
Type of latest/current diagnostic message
Type of second saved diagnostic message
Event ... 200 ... uint8 ro
...
Fault Number
FHPP (CMMS) 201 1...4 uint16 ro
Description Fault number saved in the diagnostic memory; used for identifying the fault.
See section 3.4.
CMMP: Error number, e.g. 402 for main index 40, subindex 2,
see section 3.4.1.
CMMS: Fault code, see section 3.4.2.
Latest/current diagnostic message
2nd saved diagnostic message
...

4. Parameters
Fault Time Stamp

Description Time of the diagnostic event in seconds after switch−on. In case of overrun,
the time stamp jumps from 0xFFFFFFFF to 0.
Time of the latest/current diagnostic message
Time of the second saved diagnostic message
...
Fault Additional Information (additional information for fault)

Description Additional information for service staff.
Additional information for the latest/current diagnostic message
Additional information for the second saved diagnostic message
...
Diagnosis Memory Parameter (parameters for diagnostic memory)

FHPP (CMMP) 204 1, 2, 4 uint8 rw/ro
Description Configuration of the diagnostic memory.
Fault Type
yp 204 1 uint8 rw
Incoming and outgoing faults.
0x01 (1): Reserved (record incoming and outgoing faults)
0x02 (2): Record only incoming faults
Resolution 204 2 uint8 rw
Reserved (time stamp resolution).
Number of Entries 204 4 uint8 ro
Read out the number of valid entries in the diagnostic memory.
Writing is not permitted.

4. Parameters
Fieldbus Diagnosis
FHPP (CMMP) 206 5 uint8 ro
Description Readout of fieldbus diagnostic data.
CANopen
p Diagnosis
g 206 5 uint8 ro
Selected profile (protocol type):
Values: 0 = DS 402 (not available via FHPP)
1 = FHPP
Device Warnings
Description Type of warning or diagnostic information saved in the warning memory. Indica
tion of whether an incoming or outgoing warning was saved.
Value Type of diagnostic event
0x00 (0) No warning (or warning message deleted)
0x01 (1) Incoming warning
0x02 (2) Reserved (outgoing warning)
0x03 (3) Power Down (with valid time stamp)
0x04 (4) Reserved (overrun time stamp)
Type of latest/current warning message
Type of second saved warning message
...
Warning Number
Description Warning number saved in the warning memory (e.g. 190 for main index 19,
subindex 0; used to identify the warning, see sections 3.2 and 3.4.1).
Most recent/current warning message
2nd saved warning message
...

4. Parameters
Warning Time Stamp

Description Time of the warning event in seconds after switch−on. In case of overrun,
the time stamp jumps from 0xFFFFFFFF to 0.
Time of the latest/current warning message
Time of the second saved warning message
...
Warning Additional Information (additional information for warning)

Description Additional information for service staff.
Time of the latest/current diagnostic message
Time of the second saved diagnostic message
...
Warning Memory Parameter (parameters for warning memory)

FHPP (CMMP) 214 1...4 uint8 rw/ro
Description Configuration of the warning memory.
Warning
g Type
yp 214 1 uint8 rw
Incoming and outgoing warnings.
0x01 (1): Reserved (record incoming and outgoing warnings)
0x02 (2): Record only incoming warnings
Resolution 214 2 uint8 rw
Reserved (time stamp resolution).
Number of Entries 214 4 uint8 ro
Read number of valid entries in the warning memory.
Writing is not permitted.

4. Parameters
4.4.6 Process data
Position Values
FHPP (all) 300 1...3 int32 ro
Description Current values of the position controller, stated in the positioning unit
(see PNU 1004).
Actual Position 300 1 int32 ro
Current actual position of the controller.
Nominal Position 300 2 int32 ro
((setpoint position))
Current setpoint position of the controller.
Actual Deviation 300 3 int32 ro
Current deviation.
Torque Values
Description Current values of the torque controller, stated in the positioning unit
(see PNU 1004).
Actual Force 301 1 int32 ro
Current actual value of the controller.
Nominal Force 301 2 int32 ro
(
(setpoint f
force)
)
Current setpoint value of the controller.
Current deviation.

4. Parameters
Local Digital Inputs

FHPP (all) 303 1, 2, 4 uint8 ro
Description The controller’s local digital inputs.
Input
p DIN0...7
7 303 1 uint8 ro
Digital inputs: standard DIN (DIN 0 ... DIN 7)
Input
p DIN8...13
3 303 2 uint8 ro
Digital inputs: standard DIN (DIN 8 ... DIN 13)
Input
p CAMC 303 4 uint8 ro
DIN0...7
Digital inputs: CAMC−D−8E8A (DIN 0 ... DIN 7)
PNU 303 allocation

Subindex 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DIN 7: DIN 6: DIN 5: DIN 4: DIN 3 DIN 2 DIN 1 DIN 0
right− left−hand con output
hand limit troller stage
limit switch enable enable
switch
Reserved (= 0) DIN A13 DIN A12 DIN 11 DIN 10 DIN 9 DIN 8
DIN 7 DIN 6 DIN 5 DIN 4 DIN 3 DIN 2 DIN 1 DIN 0

4. Parameters
Local Digital Outputs

FHPP (all) 304 1, 3 uint8 rw
Description The controller’s local digital outputs.
Output
p DOUT 0...3
3 303 1 uint8 rw
Digital outputs: standard DOUT (DOUT 0 ... DOUT 3)
Output
p CAMC 303 3 uint8 ro
DOUT0...7
Digital outputs: CAMC−D−8E8A (DOUT 0 ... DOUT 7)
PNU 304 allocation

Reserved (= 0) DOUT: DOUT: DOUT 3 DOUT 2 DOUT 1 DOUT 0:
READY CAN LED con
LED troller
ready for
oper
ation
DOUT 7 DOUT 6 DOUT 5 DOUT 4 DOUT 3 DOUT 2 DOUT 1 DOUT 0

4. Parameters
Maintenance Parameter
Description Information about the controller’s or the driver’s running performance.
Operating
p g Hours 305 3 uint32 ro
Hours−run meter in s.
Velocity Values
Description Current values of the speed regulator.
Actual Revolutions 310 1 int32 ro
(
(actual
l speed)
d)
Current actual value of the controller.
Nominal 310 2 int32 ro
Revolutions
(setpoint speed) Current setpoint value of the controller.
Speed deviation.

4. Parameters
State Signal Outputs (status of signal outputs)

FHPP (CMMP) 311 1,2 uint32 ro
Description Parameters for displaying the status of the signal outputs.
Outputs
p Part 1 311 1 uint32 ro
Bit Value Meaning
0 Reserved (0)
1 0x0000 0002 I²t monitoring of motor is active
2 0x0000 0004 Comparison speed reached
3 0x0000 0008 Position Xsetpoint = Xtarget
4 0x0000 0010 Position Xactual = Xtarget
5 0x0000 0020 Remaining positioning distance
6 0x0000 0040 Homing is active
7 0x0000 0080 Reference position is valid
8 0x0000 0100 Undervoltage in intermediate circuit
9 0x0000 0200 Drag error
10 0x0000 0400 Output stage is active
11 0x0000 0800 Locking brake bled
12 0x0000 1000 Linear motor identified
13 0x0000 2000 Negative setpoint lock is active
14 0x0000 4000 Positive setpoint lock is active
15 0x0000 8000 Alternative target reached
16 0x0001 0000 Velocity 0
17..32 Reserved (0)
Outputs
p Part 2 311 2 uint32 ro
Bit Value Meaning
0 0x0000 0001 Cam controller 1
4...7 Reserved for cam controller 5...8
8 0x0000 0100 Position trigger 1
12...15 Reserved for position triggers 5...8
16 0x0001 0000 Rotor position trigger 1
20...23 Reserved for rotor position triggers 5...8
24 0x0100 0000 General action bits 1
28...31 Reserved for general action bits 5...8

4. Parameters
4.4.7 On−the−fly measurement
For information about on−the−fly measurement,

see section 2.9.
Position Value Storage

FHPP (all) 350 1, 2 int32 ro
Description Sampled positions.
Sample Value 350 1 int32 ro
Rising Edge
Last sampled position in user−defined units with a rising edge.
Sample Value 350 2 int32 ro

Falling Edge
Last sampled position in user−defined units with a falling edge.

4. Parameters
4.4.8 Record list
PNU
400 401 402 404 405 406 407 408 412 413 ...
Velocity limit
Preselection
(record no. )
filter time
Deceler−
Jerk−free
Setpoint
Acceler−
Velocity
Record
status
RCB1
ation
value
value
RCB2
ation
...
uint8 uint8 uint8 int32 int32 uint32 uint32 uint32 uint32 int32 ...
1 ... ... ... ... ... ... ... ... ... ...
2 ... ... ... ... ... ... ... ... ... ...
... 1) ... ... ... ... ... ... ... ... ... ...
1) Number of positioning records: For CMMP...: 1 ... 250
For CMMS...: 1 ... 63
Tab.4/4: Structure of FHPP record list
With FHPP, record selection for reading and writing is made

via the subindex of the PNUs 401 ... . The active record for
positioning or teaching is selected with PNU 400.
Controller// PNU
di
drive 401 402 404 405 406 407 408 412 413 414 416 418 ... 421
CMMP−AS x x x x x x x x x x
CMMS−AS x x x x x x x x x x
CMMS−ST x x x x x x x x x x
Tab.4/5: Supported elements in the record list

4. Parameters
With the CMMS controllers, the dynamic" parameters

of a record are defined as a group via the record profile
(PNU 414).
When these parameters (PNU 405, 406, 407, 408, 413) are
written in a record, the profile parameters assigned to the
record are overwritten. This causes the modified parameters
to become effective for all records assigned to that profile;
see Fig.4/2.
Memory structure of positioning record list and

record profiles for CMMS
Record list
Pointers to profile memory
Record profiles
Presel. val.
Record No.
Profile No.
Jerk limit
Setpoint
Deceler.
Velocity
Acceler.
Presel. val.
Profile No.
Record
status
Jerk limit
RCB1
RCB2
Deceler.
Velocity
Acceler.
Fig.4/2: Positioning record list and record profiles

4. Parameters
Record Status
FHPP (all) 400 1...3 uint8 rw/ro
Description Record status.
Demand Record 400 1 uint8 rw
Number
b
Nominal record number. The value can be changed using FHPP.
In Record selection mode, the nominal record number is always copied from the
master’s output data with a rising edge at START.
Value range:
CMMP: 0x00 ... 0xFA (0 ... 250)
CMMS: 0x00 ... 0x3F (0 ... 63)
Actual Record 400 2 uint8 ro
Number
b
Current record number.
Record Status Byte

y 400 3 uint8 ro
The record status byte (RSB) contains a feedback code that is transmitted
in the input data. When a positioning task starts, the RSB is reset.
See Tab.4/6 for the allocation of the record control byte.
Note: this byte is not the same as SDIR, there is only a feedback signal for
dynamic states and not absolute/relative, for example. This makes it possible
to provide feedback about record chaining, for example.
RSB allocation
Bit Meaning
Bit 0 = 0: A step enabling condition was not configured/achieved.
RC1 = 1: The first step enabling condition was achieved.
Bit 1 Valid as soon as MC applies.
RCC = 0: Record chaining cancelled. At least one step enabling condition was not achieved.
= 1: Record chain was processed to the end of the chain.
Bits 2 ... 7 Reserved.
Tab.4/6: Allocation of PNU 400/3 (RSB)

4. Parameters
Record Control Byte 1

FHPP (CMMP) 401 1...250 uint8 rw
FHPP (CMMS) 401 1...63 uint8 rw
Description The record control byte 1 (RCB1) controls the most important settings for the
positioning task in Record selection mode.
The record control byte is bit−orientated. For allocation, see Tab.4/7
Record 1 401 1 uint8 rw
Record control byte 1 for positioning record 1.
Record ... 401 ... uint8 rw
Record control byte 1 for positioning record ...
Bit Description
B0 Absolute/Relative
ABS = 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
FHPP does not provide access to other modes, e.g. relative to actual value, analogue
input, etc.
B1, B2 Bit 2 1 Control mode feedback
COM1/2 0 0 Profile Position mode
0 1 Profile Torque mode (torque, current)
1 0 Profile Velocity mode (speed)
1 1 Reserved
Only Profile Position mode can be used for the camming function.
B3, B4 Without camming function (CDIR.B7, FUNC = 0): no function, = 0!
FNUM1/2 If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):
No. Bit 2 1 Function number *)
0 0 0 Reserved
2 1 0 Synchronisation with an external input with camming function
3 1 1 Synchronisation with a virtual master with camming function
B5, B6 Without camming function (CDIR.B7, FUNC = 0): no function, = 0!
FGRP1/2 If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):
No. Bit 2 1 Function group
0 0 0 Synchronisation with/without cam disk
All other values (No. 1 ... 3) are reserved.
B7 = 0: Normal task
FUNC = 1: Execute camming function, as per bits 3 ... 6 (only with CMMP)
Tab.4/7: RCB1 allocation

4. Parameters

Description Record control byte 2 (RCB2) controls conditional record chaining.
If a condition was defined, it is possible to prohibit automatic continuation to
the following record by setting the B7 bit. This function is intended for debug
ging and not for normal control purposes.
Bit Meaning
Bit 0...6 Numerical value 0...128: step enabling condition as a list,
see section 2.6.3 Tab.2/13.
Bit 7 = 0: record chaining (bits 0...6) is not disabled
= 1: record chaining is disabled
Record Setpoint Value

FHPP (CMMP) 404 1...250 int32 rw
FHPP (CMMS) 404 1...63 int32 rw
Description Target position of the positioning record table. Setpoint position as per
PNU 401/RCB1, absolute or relative, stated in positioning unit (see PNU 1004).
Record 1 404 1 int32 rw
Setpoint position for positioning record 1.
Setpoint position for positioning record 2.
Record ... 404 ... int32 rw
Setpoint position for positioning record ....
Control Step size Default Minimum Maximum

Position 1) 1/100 mm 0 (= 0.0 mm) −1,000,000 (= −10.0 m) 1,000,000 (= 10.0 m)
1/1000 inch 0 (= 0.0 inch) −400,000 (= −400 inch) 400,000 (= 400 inch)
1/100 ° 0 (= 0.0 °) −36,000 (= −360.0 °) 36,000 (= 360.0 °)
1) Examples of positioning unit, see PNU 1004
Tab.4/8: Setpoint values for positioning units in PNU 404

4. Parameters
Record Preselection Value

FHPP (CMMS) 405 1...63 int32 rw
Description Preselection value for conditional record chaining of the record profile in ms,
as per step enabling condition from PNU 402 (RCB2); see section 2.6.3
Tab.2/13. Value range: 0 ms ... 100,000 ms = 100 s
When written, the value becomes effective for the record profile; see Fig.4/2.
Preselection value for record 1.
Preselection value for record 2.
Preselection value for record ...
Record Velocity
Description Velocity setpoint value in unit of velocity (see PNU 1006).
Velocity setpoint value for positioning record 1
Velocity setpoint value for positioning record 2
Velocity setpoint value for positioning record ...
Record Velocity
Description Velocity setpoint value of the record profile as per PNU 414, stated in the unit
of velocity (see PNU 1006).
Velocity setpoint value of the record profile of positioning record 1.
Velocity setpoint value of the record profile of positioning record 2.
Velocity setpoint value of the record profile of positioning record ...

4. Parameters
Record Acceleration
Description Acceleration setpoint value for start−up, stated in unit of acceleration
(see PNU 1007).
Acceleration setpoint value for positioning record 1.
Acceleration setpoint value for positioning record 2.
Acceleration setpoint value for positioning record ...
Record Acceleration
Description Acceleration setpoint value for the record profile as per PNU 414 for start−up,
stated in the unit of acceleration (see PNU 1007).
Acceleration setpoint value of the record profile of positioning record 1.
Acceleration setpoint value of the record profile of positioning record 2.
Acceleration setpoint value of the record profile of positioning record ...

4. Parameters
Record Deceleration
Description Deceleration setpoint value for braking, stated in unit of acceleration
(see PNU 1007).
Deceleration setpoint value for positioning record 1
Deceleration setpoint value for positioning record 2
Deceleration setpoint value for positioning record ...
Record Deceleration
Description Deceleration setpoint value for the record profile as per PNU 414 for braking,
stated in the unit of acceleration (see PNU 1007).
Deceleration setpoint value of the record profile of positioning record 1.
Deceleration setpoint value of the record profile of positioning record 2.
Deceleration setpoint value of the record profile of positioning record ...
Record Velocity Limit

Description Velocity limit for Profile Torque mode, stated in the unit of velocity.
Velocity limit for positioning record 1.
Velocity limit for positioning record 2.
Velocity limit for positioning record ...

4. Parameters
Record Jerkfree Filter Time

Description Jerk−free filter time in ms.
Specifies the filter time constant for the output filter that is used to smooth
the linear movement profiles. Completely jerk−free movement is achieved if the
filter time is the same as the acceleration time.
Jerk−free filter time for positioning record 1.
Jerk−free filter time for positioning record 2.
Jerk−free filter time for positioning record ...
Record Jerkfree Filter Time

Description Jerk−free filter time of the record profile as per PNU 414, stated in ms.
Specifies the filter time constant for the output filter that is used to smooth
the linear movement profiles. Completely jerk−free movement is achieved if the
filter time is the same as the acceleration time.
Jerk−free filter time of the record profile of positioning record 1.
Jerk−free filter time of the record profile of positioning record 2.
Jerk−free filter time of the record profile of positioning record ...

4. Parameters
Record Profile
Description Specifies affiliation to a record profile. The positioning records are assigned to
the profiles (0...7). The following parameters are defined in a profile:
Preselection value (PNU 405)
Positioning velocity (PNU 406)
Acceleration (PNU 407)
Deceleration (PNU 408)
Jerk−free filter time (PNU 413)
Maximum positioning time 1)
Start delay 1)
Final velocity 1)
Start during an ongoing positioning task 1)
The settings in the record profile are uniformly effective for all assigned
records; see Fig.4/2.
Value range: 0 ... 7 (equates to the assigned record profile)
Record profile for positioning record 1.
Record profile for positioning record 2.
Record profile for positioning record ...
1) Cannot be parametrised with FHPP, access via FCT only
Record Following Position (for record chaining)

FHPP (all) 416 1...250 uint8 rw
Description Record number to which record chaining jumps when the step enabling condi
tion is met.
Value range: 0x01 ... 0x7F (1 ... 250)
Following position for positioning record 1.
Following position for positioning record 2.
Following position for positioning record ...

4. Parameters
Record Torque Limitation

Description Torque/current current limitation in Profile Position mode.
Torque limitation for positioning record 1.
Torque limitation for positioning record 2.
Torque limitation for positioning record ...
Record CAM ID (cam disk number for record)

Description This parameter is used to select the cam disk for the relevant record.
Value range: 0 ... 16
(with value 0 the cam disk from PNU 700 is used)
Cam disk number for positioning record 1.
Cam disk number for positioning record 2.
Cam disk number for positioning record ...
Record Remaining Distance Message

FHPP (CMMP) 420 1...250 int32 rw
Description Message reporting the remaining positioning distance in the record list, stated
in positioning units.
Remaining distance message for positioning record 1.
Remaining distance message for positioning record 2.
Remaining distance message for positioning record ...

4. Parameters

Description Record control byte 3 (RCB3) controls the specific behaviour of the record when
particular events occur.
The record control byte is bit−orientated. For allocation, see Tab.4/9
Bit Description
B0, B1 Start command during active positioning:
Bit 1 0 Description
0 0 Ignore
0 1 Interrupt active
1 0 Append to active positioning (wait)
1 1 Reserved
B2 ... B9 Reserved (= 0 !)
Tab.4/9: RCB3 allocation

4. Parameters
4.4.9 Project data General project data
Project Zero Point (project zero point offset)

FHPP (all) 500 1 int32 rw
Description Offset from axis zero point to project zero point in positioning unit.
(see PNU 1004).
Point of reference for position values in the application (see PNU 404).
Software End Positions

FHPP (all) 501 1, 2 int32 rw
Description Software end positions in positioning unit (see PNU 1004)
A setpoint specification (position) outside the end positions is not permitted
and will lead to a fault. The offset to the axis zero point is entered.
Plausibility rule: min. limit Ţ max. limit
Lower Limit 501 1 int32 rw
Lower software end position
Upper
pp Limit 501 2 int32 rw
Upper software end position
Max. Speed
Description Max. permissible speed in unit of velocity (see PNU 1006).
This value limits the speed in all operating modes except torque mode.
Max. Acceleration
Description Max. permissible acceleration in unit of acceleration (see PNU 1007).
Max. Jerkfree Filter Time

Description Max. permissible jerk−free filter time in ms.
Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)
CMMS: 0x00000000 ... 0x00000033 (0 ... 51)

4. Parameters
4.4.10 Project data Teaching
Teach Target
Description The parameter defined is the one written with the actual position by the next
Teach command (see section 2.5).
Values:
0x01 (1): Setpoint position in positioning record (default)
With Record selection: positioning record as per FHPP
control bytes
With Direct mode: positioning record as per PNU 400/1
0x02 (2): axis zero point (PNU 1010)
0x03 (3): project zero point (PNU 500)
0x04 (4): lower software end position (PNU 501/01)
0x05 (5): upper software end position (PNU 501/02)

4. Parameters
4.4.11 Project data Jog mode
Jog Mode Velocity Slow Phase 1

Description Maximum velocity for phase 1 in unit of velocity (see PNU 1006).
Jog Mode Velocity Fast Phase 2

Description Maximum velocity for phase 2 in unit of velocity (see PNU 1006).
Jog Mode Acceleration

Description Acceleration during jogging in unit of acceleration (see PNU 1007).
Jog Mode Deceleration

Description Deceleration during jogging in unit of acceleration (see PNU 1007).
Jog Mode Time Phase 1

Description Time duration of phase 1 (T1) in ms.

4. Parameters
4.4.12 Project data Direct mode, Profile Position mode
Direct Mode Position Base Velocity

Description Base velocity during direct Profile Position mode in unit of velocity
(see PNU 1006).
Direct Mode Position Acceleration

Description Acceleration during direct Profile Position mode in unit of acceleration
(see PNU 1007).
Direct Mode Position Deceleration

Description Deceleration during direct Profile Position mode in unit of acceleration
(see PNU 1007).
Direct Mode Position Jerkfree Filter Time

Description Jerk−free filter time during direct Profile Position mode in ms.
Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)
CMMS: 0x00000000 ... 0x00000033 (0 ... 51)

4. Parameters
4.4.13 Project data Direct mode, Profile Torque mode
Direct Mode Torque Base Torque Ramp

FHPP (CMMP) 550 1 uint32 rw
Description Base value for torque ramp in direct Profile Torque mode in mNm/s.
Direct Mode Torque Target Torque Window

Description Torque in mNm, being the amount by which the actual torque is permitted to
differ from the setpoint torque in order to be interpreted as still being in the
target window. The width of the window is twice the value transmitted, with
the target torque in the centre of the window.
Direct Mode Torque Time Window

Description Damping time for the torque target window during direct Profile Torque mode in
ms.
Direct Mode Torque Speed Limit

Description When Profile Torque mode is active, the velocity is limited to this value, stated
in unit of velocity (PNU 1007).
Note: PNU 514 allows an absolute speed limit to be specified, which triggers a
fault if it is reached. If both functions (limitation and monitoring) are to be ac
tive at the same time, PNU 554 must be significantly less than PNU 514.

4. Parameters
4.4.14 Project data Direct mode, Profile Velocity mode
Direct Mode Velocity Base Velocity Ramp

Description Base acceleration value (velocity ramp) during direct Profile Velocity mode in
unit of acceleration (see PNU 1007).
Direct Mode Velocity Target Window

Description Velocity target window during direct Profile Velocity mode in unit of velocity
(see PNU 1006).
Direct Mode Velocity Window Time (damping time for velocity target window in direct
mode)
Description Damping time for velocity target window during direct Profile Velocity mode
in ms.
Direct Mode Velocity Threshold (standstill target window in direct mode)

Description Standstill target window during direct Profile Velocity mode in unit of velocity
(see PNU 1006).
Direct Mode Velocity Threshold Time (damping time for standstill in direct mode)
Description Damping time for standstill target window during direct Profile Velocity mode in
ms.
Direct Mode Velocity Torque Limit

Description Torque limitation during direct Profile Velocity mode in unit of torque (mN).

4. Parameters
4.4.15 Function data Camming function
Selecting cam disk
CAM ID (cam disk number)

FHPP 700 1 uint8 rw
Description This parameter is used to select the number of the cam disk in Direct mode.
Value range 1 ... 16
Master Start Position Direct Mode (master start position in direct mode)
FHPP 701 1 int32 rw
Description Defines the start position of the master for the camming function.
Synchronisation (input, X10)
Input Config Sync. (input configuration for synchronisation)

FHPP 710 1 uint32 rw
Description Configuration of the encoder input for synchronisation (physical master on X10,
slave operation).
Bit Name Description
0 Ignore index pulse Bit 0 = 1: without index pulse
Bit 0 = 0: with index pulse
1 Reserved = 0
2 Switch off A/B track Bit 2 = 1: without A/B track
Bit 2 = 0: with A/B track
3 ... 31 ... Reserved = 0

4. Parameters
Gear Sync. (synchronisation gear ratio)

FHPP 711 1, 2 uint32 rw
Description Gear ratio for synchronisation with an external input (physical master on X10,
slave operation).
Motor revolutions (drive input).
Shaft revolutions 711 2 uint32 rw

Shaft rotations (output).
Encoder emulation (output, X11)
Output Config Encoder Emulation (output configuration for encoder emulation)

Description Configuration of the encoder for encoder emulation (virtual master).
Bit Name Description
0 Switch off A/B track Bit 0 = 1: without A/B track
Bit 0 = 0: with A/B track
1 Suppress index pulse Bit 1 = 1: without index pulse
Bit 1 = 0: with index pulse
2 Reversal of direction of rotation Bit 2 = 1: with reversal of direction
of rotation
Bit 2 = 0: without reversal of direction
of rotation
3 ... 31 ... Reserved = 0

4. Parameters
4.4.16 Function data Position triggers and rotor position triggers
Position Trigger Control

Description Bit−by−bit activation of the corresponding triggers.
Bit is set = trigger is computed, i.e. the position comparison is carried out.
Triggers which are not computed save computing time.
Bit (hex value) Description
0 (0x0000 0001) Position trigger (actual position) 0
4 ... 15: Reserved
16 (0x0001 0000) Rotor position trigger 0
19 ... 31 Reserved
Position Trigger Low

FHPP 731 1 ... 4 int32 rw
Description Position values for the low position trigger, stated in the positioning unit.
Position Trigger
gg 1 731 1 int32 rw
Position values of the first low position trigger.
Position Trigger
gg 2 731 2 int32 rw
Position values of the second low position trigger.
Position Trigger
gg 3 731 3 int32 rw
Position values of the third low position trigger.
Position Trigger
gg 4 731 4 int32 rw
Position values of the fourth low position trigger.

4. Parameters
Position Trigger High

FHPP 732 1 ... 4 int32 rw
Description Position values for the high position trigger, stated in the positioning unit.
Position Trigger
gg 1 732 1 int32 rw
Position values of the first high position trigger.
Position Trigger
gg 2 732 2 int32 rw
Position values of the second high position trigger.
Position Trigger
gg 3 732 3 int32 rw
Position values of the third high position trigger.
Position Trigger
gg 4 732 4 int32 rw
Position values of the fourth high position trigger.
Rotor Position Trigger Low

FHPP 733 1 ... 4 int32 rw
Description Angle for the low rotor position trigger, stated in °.
Value range: −180 ... 180
Rotor Position 733 1 int32 rw
Trigger 1
Angle of the first low rotor position trigger.

Trigger 2
Angle of the second low rotor position trigger.

Trigger 3
Angle of the third low rotor position trigger.

Trigger 4
Angle of the fourth low rotor position trigger.

4. Parameters
Rotor Position Trigger High

FHPP 734 1 ... 4 int32 rw
Description Angle for the high rotor position trigger, stated in °.
Value range: −180 ... 180
Trigger 1
Angle of the first high rotor position trigger.

Trigger 2
Angle of the second high rotor position trigger.

Trigger 3
Angle of the third high rotor position trigger.

Trigger 4
Angle of the fourth high rotor position trigger.

4. Parameters
4.4.17 Axis parameters for electric drives 1 Mechanical parameters
Polarity (reversal of direction)

Description Direction of the position values.
Values: Position value (vector)
0x00 (0): normal (default)
0x80 (128): inverted (multiplied by −1)
Encoder Resolution
Description Encoder resolution in encoder increments / motor revolutions.
Specified internal conversion factor.
The calculated value is derived from the fraction encoder increments/motor
revolution".
Encoder Increments 1001 1 uint32 rw
Fixed: 0x00010000 (65536)

Fixed: 0x00000001 (1)
Gear Ratio
Description Ratio of motor revolutions to gearing shaft revolutions (drive output
revolutions), see appendix A.1.
Gear ratio = motor revolutions / shaft revolutions
Gear ratio numerator.
Value range: 0x00000000 ... 0x7FFFFFFFF (0...+(231−1))
Shaft Revolutions 1002 2 uint32 rw
Gear ratio denominator.

4. Parameters
Feed Constant
Description The feed constant specifies the pitch of the drive’s shaft per revolution,
see appendix A.1.
Feed constant = feed / shaft revolution
Feed 1003 1 uint32 rw
Feed constant numerator.
Shaft Revolutions 1003 2 uint32 rw
Feed constant − denominator.
Position Factor
Description Conversion factor for all positioning units (for converting the user−defined units
into internal controller units). See appendix A.1 for the calculation.
PositionFactor + EncoderResolution*GearRatio
FeedConstant
Numerator 1004 1 uint32 rw
Position factor − numerator.
Denominator 1004 2 uint32 rw
Position factor denominator.
Axis Parameter (axis parameters)

FHPP (all) 1005 2, 3 int32 rw
Description Specify and read out axis parameters.
Gear Numerator 1005 2 int32 rw
Gear ratio axis gear numerator
Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231−1))
Gear Denominator 1005 3 int32 rw
Gear ratio axis gear denominator
Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231−1))

4. Parameters
Velocity Factor
Description Conversion factor for all units of velocity (for converting the user−defined units
into internal controller units). See appendix A.1 for the calculation.
EncoderResolution*TimeFactor_v
VelocityFactor +
FeedConstant
Velocity factor numerator.
Velocity factor denominator.
Acceleration Factor
Description Conversion factor for all units of acceleration (for converting the user−defined
units into internal controller units). See appendix A.1 for the calculation.
EncoderResolution*TimeFactor_a
AccelerationFactor +
FeedConstant
Acceleration factor numerator.
Acceleration factor denominator.
Polarity Slave (reversal of direction for slave)

Description This parameter can be used to reverse the position specification for signals on
X10 (slave operation)
This applies to the functions Synchronisation" (including electronic gear
units), Flying saw", Cam disks".
Value Description
0x00 Position value vector normal (default)
0x80 Position value vector inverted

4. Parameters
4.4.18 Axis parameters for electric drives 1 Homing parameters
Offset Axis Zero Point

Description Axis zero point offset in positioning unit (see PNU 1004).
The offset for the axis zero point (home offset) defines the axis zero point <AZ>
as a dimensional reference point relative to the physical reference point <REF>.
The axis zero point is the point of reference for the project zero point <PZ> and
for the software end positions. All positioning operations refer to the project
zero point (PNU 500).
The axis zero point (AZ) is calculated from: AZ = REF + axis zero point offset
Homing Method
Description Defines the method which the drive uses to carry out the homing.
(see section 2.3, Tab.2/4).
Homing Velocities
Description Speeds during homing in unit of velocity (see PNU 1006).
Search for Switch 1012 1 uint32 rw
Speed when searching for the reference point REF or a stop or switch.
Value range: 0x00000000 ... 0x7FFFFFFF (0...+(231−1))
Running
g for Zero 1012 2 uint32 rw
Speed of travel to the axis zero point AZ.
Homing Acceleration
Description Acceleration during homing in unit of acceleration
(see PNU 1007).

4. Parameters
Homing Required
Description Defines whether or not homing must be carried out after switching on in order
to carry out positioning tasks.
Drives with the multi−turn absolute displacement encoder only need one hom
ing run after being installed.
Values:
0x00 (0): Reserved
0x01 (1): Homing must be carried out
Fixed: 0x01 (1)
Homing Max. Torque

Description Max. torque during homing.
Specified as a multiple of the rated torque in % (see PNU 1036).
The maximum permitted torque (via current limiting) during homing. If this
value is reached, the drive identifies the stop (REF) and travels to the axis
zero point.

4. Parameters

parameters
Halt Option Code

Description Reaction to a Halt command (falling edge at SPOS.B0).
Values:
0x00 (0): Reserved (switch off motor coil without current,
brake not actuated)
0x01 (1): Brake with stop ramp
0x02 (2): Reserved (brake with emergency stop ramp)
Position Window
Description Tolerance window in positioning unit (see PNU 1004).
Amount by which the current position may deviate from the target position,
in order that it may still be regarded as being within the target window.
The width of the window is twice the value transmitted, with the target position
in the centre of the window.
Position Window Time (adjustment time for position)

Description Adjustment time in milliseconds.
If the actual position has been in the target position window this amount of
time, the bit Target reached" will be set in the status word.

4. Parameters
Control Parameter Set (controller’s parameters)

FHPP (all) 1024 18...22, 32 uint16 rw
Description Control parameters as well as parameters for quasi−absolute position
registering".
Gain Position 1024 18 uint16 rw
Gain of closed−loop position controller.
Value range: 0x0000 ... 0xFFFF (0 ... 65535)
Gain Velocityy 1024 19 uint16 rw
Gain of closed−loop velocity controller.
Time Velocityy 1024 20 uint16 rw
((velocity
l time
Time constant for the closed−loop velocity controller.
constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)
Gain Current 1024 21 uint16 rw

Gain of current regulator.
Time Current 1024 22 uint16 rw
((current time
Time constant for the current regulator.
constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)
Save Position 1024 32 uint16 rw

Save the current position when switching off (quasi−absolute" positioning).
See also PNU 1014.
Values:
0x00F0 (240) = Current position will not be saved at power−off (default)
0x000F (15) = Reserved
Motor Data
FHPP (all) 1025 1, 3 uint32/uint16 ro/rw
Description Motor−specific data.
Serial Number 1025 1 uint32 ro
Festo serial number and motor’s serial number.
Time Max. Current 1025 3 uint16 rw
I2t time in ms.
When the I2t time elapses, the current is limited automatically to the motor
rated current in order to protect the motor (Motor Rated Current, PNU 1035).

4. Parameters
Drive Data
FHPP (CMMP) 1026 1...4, 7 uint32 ro/rw
FHPP (CMMS) 1026 1, 3, 4, 7 uint32 ro/rw
Description General motor data.
Power Temp. 1026 1 uint32 ro
(output stage
temp.) Temperature of the output stage in ° C.
Power Stage 1026 2 uint32 ro
Max Temp
Max. Temp.
(output stage max. CMMP only:
temp.) Maximum temperature of the output stage in ° C.
Motor Rated 1026 3 uint32 rw
Current
Rated motor current in mA, identical to PNU 1035.
Value range: 0x00000000 ... 0x00007FFF (0 ... 32767)
Current Limit 1026 4 uint32 rw
(
(max. motor
Maximum motor current, identical to PNU 1034.
current) Value range: 0x00000000 ... 0x00007FFF (0 ... 32767)
Controller Serial 1026 7 uint32 ro

Number
b
Controller’s internal serial number.

4. Parameters
4.4.20 Axis parameters for electric drives 1

Electronic rating plate
Max. Current
Description Maximum motor current in 1/1000 of the specified rated current (PNU 1035),
identical to PNU 1026.
Note: please note that the current limitation also limits the maximum possible
velocity and that (higher) setpoint velocities may therefore not be achieved.
Motor Rated Current

Description The motor’s rated current in mA, identical to PNU 1026/3.
Motor Rated Torque

Description The motor’s rated torque in 0.001 Nm.
Torque Constant
Description Ratio between the current and torque in the motor used
in mNm/A.

4. Parameters
4.4.21 Axis parameters for electric drives 1 Standstill control
Position Demand Value (setpoint position)

FHPP (all) 1040 1 int32 ro
Description Setpoint target position of the last positioning task, stated in positioning unit
(see PNU 1004).
Position Actual Value (current position)

FHPP (all) 1041 1 int32 ro
Description Current position of the drive, stated in the positioning unit (see PNU 1004).
Standstill Position Window

Description Standstill position window in positioning unit (see PNU 1004).
Amount by which the drive may move after MC, until standstill control
responds.
Standstill Timeout
FHPP (all) 1043 uint16 rw
Description Standstill control timeout in ms.
Time during which the drive must be outside the standstill position window
before standstill control responds.

4. Parameters
4.4.22 Axis parameters for electric drives 1 Drag error monitoring
Following Error Window (drag error window)

Description Define or read the permitted range for drag errors, stated in positioning units.
0xFFFFFFFF = drag error monitoring OFF
Following Error Time (drag error timeout)

Description Define or read a timeout time for drag error monitoring in ms.
4.4.23 Axis parameters for electric drives 1 Other parameters
Torque Feed Forward Control

FHPP (CMMP) 1080 1 int32 rw
Description Torque feed forward control in mNm.
Setup Velocity
Description Setup velocity as % of whatever velocity is specified.
Velocity Override
Description Velocity override as % of whatever velocity is specified.

4. Parameters
4.4.24 Function parameters for digital I/Os
Remaining Distance for Remaining Distance Message

Description The remaining positioning distance is the trigger condition for the remaining
distance message, which can be issued on a digital output.
With CMMP−AS: effective in Direct mode only.

Parametrisation with FPC
Chapter 5

5. Parametrisation with FPC
Contents
5.1 Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . . 5−3
5.1.2 Task identifiers, response identifiers and error numbers . . . . . . . . 5−5
5.1.3 Rules for task−response processing . . . . . . . . . . . . . . . . . . . . . . . . . 5−7

5.1 Parametrisation with FHPP
5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data)
The parameter channel is used for transmitting parameters.

The parameter channel comprises the following:
Components Description
Parameter identifier Parameter channel component which contains the task identifier
(ParID) (request" identifier, ReqID) or response identifier (ResID) and the para
meter number (PNU).
The parameter number serves for identifying or addressing the individual
parameter. The task or response identifier (ReqID/ResID) describes the
task/response in the form of an identifier number.
Subindex (IND) Addresses an element of an array parameter (sub−parameter number)
Parameter value (Value) Value of the parameter.

If a task for parameter processing cannot be carried out, an error number
will be transmitted in the response telegram instead of the value. The
error number describes the cause of the error.
Tab.5/1: Components of the parameter channel (FPC)
The parameter channel consists of 8 octets. The following

table shows the structure of the parameter channel in relation
to the size or type of the parameter value:
FPC
Output data 0 IND ParID Value
Input data 0 IND ParID Value
IND Subindex − for addressing an array element

ParID Parameter identifier − consists of ReqID or ResID and PNU
Value Parameter value:
With double word: bytes 5...8
With word: bytes 7, 8
With byte: byte 8
Tab.5/2: Structure of parameter channel

Parameter identifier (ParID)

The parameter identifier contains the task identifier
(request" identifier, ReqID) or response identifier (ResID)
and the parameter number (PNU).
ParID
Octet 1 (byte 3) Octet 2 (byte 4)
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Task ReqID Rsvd Parameter number (PNU)
Response ResID Rsvd Parameter number (PNU)
ReqID Request identifier task identifier (read, write, ...)

ResID Response identifier (transmit value, fault, ...)
Value (PNU) Parameter number serves for identifying or addressing the relevant
parameter (see section 5.1). The task/response identifier identifies
the type of task or response (see section 5.1.2).
Tab.5/3: Structure of parameter identifier (ParID)

5.1.2 Task identifiers, response identifiers and error numbers
The task identifiers are shown in the following table:
ReqID Description Response identifier

Positive Negative
0 No task 0
6 Request parameter (array) 5 7
8 Modify parameter value (array, double word) 5 7
13 Request lower limit value 5 7
14 Request upper limit value 5 7
Tab.5/4: Task identifiers and response identifiers
If the task cannot be carried out, response identifier 7 as well

as the appropriate error number will be transmitted (negative
response).
The following table shows the response identifiers:
ResID Description
0 No response
5 Parameter value transmitted (array, double word)
7 Task cannot be carried out (with error number) 1)

1) For error numbers, see following table
Tab.5/5: Response identifiers

If the task for parameter processing cannot be carried out, an

appropriate error number will be transmitted in the response
telegram (octets 7 and 8 of the FPC range). The order of error
checking and the possible error numbers are shown in the
following table:
No. Checking of Error numbers Description

1 PNU defined 0 0x00 Impermissible PNU. The parameter
does not exist.
2 If array: IND defined 3 0x03 Faulty subindex
3 ReqID permissible 101 0x65 Festo: ReqID is not supported
4 Access rights (read, write) 1 0x01 Parameter value cannot be changed
(read only)
102 0x66 Parameter is write−only (with pass
words)
5 If change: operating status 17 0x11 Task cannot be carried out due to
operating status
6 If change: higher−order 11 0x0B No higher−order
7 If change: password 12 0x0C Incorrect password
8 If change: value permissible 2 0x02 Lower or upper value limit ex
ceeded
Tab.5/6: Order of error checking and error numbers

5.1.3 Rules for task−response processing
Rules Description
1 If the master transmits the identifier for No task", the controller responds with the
response identifier for No response".
2 A task or response telegram always refers to a single parameter.
3 The master must continue to send a task until it has received the appropriate response
from the controller.
4 The master recognises the response to the task requested:

By evaluating the response identifier
By evaluating the parameter number (PNU)
If applicable, by evaluating the subindex (IND)
If applicable, by evaluating the parameter value
5 The controller supplies the response until the master sends a new task.
6 d) A write task, even with cyclic repetition of the same task, will only be carried out once
by the controller.
e) Between two consecutive tasks with the same task identifier (ReqID), parameter
number (PNU) and subindex (IND), the task identifier 0 (no task) must be sent and
the response identifier 0 (no response) must be awaited. This ensures that an old"
response is not interpreted as a new" response.
Tab.5/7: Rules for task−response processing

Sequence of parameter processing
Caution
Observe the following when modifying parameters:
An FHPP control signal which is to refer to a modified
parameter must not be issued until the response identifier
Parameter value transmitted" is received for the relevant
parameter and (if applicable) for the index.
If, e.g. a position value in a position register is to be modified

and if a movement is then to be made to this position, the
positioning command must not be given until the controller
has completed and confirmed the modification of the position
register.
Caution
In order to be sure that an old" response cannot be inter
preted as a new" response, the task identifier 0 (no task)
must be sent and the response identifier 0 (no response)
must be awaited between two consecutive tasks with the
same task identifier (ReqID), parameter number (PNU) and
subindex (IND).
Evaluating errors
In the case of tasks which cannot be carried out, the slave
responds as follows:
Output of response identifier = 7
Output an error number in bytes 7 and 8 of the parameter

channel (FPC).

Example of parametrisation via FPC

The following tables show an example of parametrising a
positioning task in the positioning record table via FPC
(Festo Parameter Channel).
Step 1 Output status of the 8 bytes of FPC data:
Reserved Subindex ReqID/ResID + PNU Parameter value
Output data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Input data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Step 2 Write record number 1 with absolute positioning:

PNU 401, subindex 2 Modify parameter value, array, byte:
ReqID 12 (0xC) with value 0x00.
Output data 0x00 0x02 0xC1 0x91 Unused Unused Unused 0x00
Input data 0x00 0x02 0xC1 0x91 0x00 0x00 0x00 0x00
Step 3 After receiving the input data with ResID 0xC send
output data with ReqID = 0x0 and wait for input data with
ResID = 0x0:
Output data 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00

Step 4 Write record number 1 with target position 0x1234 (decimal

4660 increments):
PNU 404, subindex 2 Modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00001234.
Step 5 After receiving the input data with ResID 0x8 send output data
with ReqID = 0x0 and wait for input data with ResID = 0x0:
Step 6 Write record number 1 with speed 0x7743 (decimal 30531

increments/s):
PNU 406, subindex 2 Modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00007743.
Step 7 After receiving the input data with ResID 0x8 send output data
with ReqID = 0x0 and wait for input data with ResID = 0x0:

Technical appendix
Appendix A
Festo P.BE−CMM−F HPP−SW−EN en 1006a A−1

A. Technical appendix
Contents
A.1 Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3

A.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3
A.1.2 Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−5
A.1.3 Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . . A−6
A.1.4 Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−9
A.1.5 Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A−13
A−2 Festo P.BE−CMM−F HPP−SW−EN en 1006a

A.1 Conversion factors (factor group)
A.1.1 Overview
Motor controllers are used in a wide variety of applications: as

direct drives, with downstream gear units, for linear drives etc.
In order to enable simple parametrisation for all applications,

the motor controller can be parametrised with the parameters
in the factor group" (PNU 1001 to 1007, see section 4.4.17)
in such a way that variables such as the rotational velocity
can be directly specified or read in the units of measurement
required.
The motor controller then uses the factor group to convert

the entries into its internal units of measurement. One con
version factor is available for each of the physical parameters:
position, velocity and acceleration. These conversion factors
adjust the user’s units of measurement to the application in
question.
Fig.A/1 clarifies the function of the factor group:
User units
Factor group Internal controller units
Position
±1
Positioning units Position Factor Increments (inc)
±1
position_polarity_flag
CMMS CMMP
Velocity
±1 1 rev 1 rev
Units of velocity Velocity Factor
±1 min. 4096 min
velocity_polarity_flag 1)
Acceleration
Units of acceleration 1 rpm
Acceleration Factor
256 sec
1) Only with CMMP
Fig.A/1: Factor group

All parameters are always saved in the motor controller in its

internal units of measurement and are only converted (using
the factor group) when the parameters are written or read
out.
For this reason, the factor group should be set first during
parametrisation and should not be changed again during
parametrisation.
The factor group is set to the following units by default:
Variable Name Unit Explanation
Length Positioning units Increments 65536 increments per revolution
Velocity Units of velocity min−1 Revolutions per minute
Acceleration Units of acceleration (min−1)/s Velocity increase per second
Tab.A/1: Factor group default settings

A.1.2 Objects in the factor group
Tab.A/2 shows the parameters in the factor group.
Name PNU Object Type Access
Polarity 1000 Var uint8 rw

(reversal of direction)
Position Factor 1004 Array uint32 rw
Velocity Factor 1006 Array uint32 rw
Acceleration Factor 1007 Array uint32 rw
Tab.A/2: Overview of the factor group
Tab.A/3 shows the parameters involved in the conversion.
Name PNU Object Type Access
Encoder Resolution 1001 Array uint32 rw
Gear Ratio 1002 Array uint32 rw
Feed Constant 1003 Array uint32 rw
Axis Parameter 1005 Array uint32 rw
Tab.A/3: Overview of parameters involved

A.1.3 Calculating the positioning units
The position factor (PNU 1004, see section 4.4.17) is used to

convert all the length values from the user’s positioning units
into the internal unit increments (65536 increments are
equivalent to one motor revolution). The position factor con
sists of numerators and denominators.
Motor with gear unit Drive
x in positioning unit
(e.g. degrees")
revsOUT
revsIN
x in positioning unit
(e.g. mm")
Motor Gear unit
Fig.A/2: Calculating the positioning units
The following parameters are involved in the position factor’s

calculation formula:
Gear Ratio Gear ratio between revolutions at the input side (revsIN) and
revolutions at the output side (revsOUT).
Feed Constant Ratio between movement in positioning units at the drive
and revolutions at the gear unit’s output (revsOUT).
(e. g. 1
rev Z 63.15 mm or 1
rev Z 360° degrees)

The position factor is calculated using the following formula:
GearRatio * IncrementsńRevolutions
PositionFactor +
FeedConstant
The position factor must be written to the motor controller
separated into numerators and denominators. This can make
it necessary to bring the fraction up to whole integers by ex
panding it accordingly.
Example
First, the desired unit (column 1) and the desired number of
decimal places (dp) have to be specified, along with the ap
plication’s gear ratio and its feed constant (if applicable). The
feed constant is then displayed in the desired positioning
units (column 2).
In this way, all the values can be entered into the formula and
the fraction can be calculated:
Position factor calculation sequence

Positioning Feed Gear Formula 4) Result
units 1) constant 2) ratio 3) shortened
degrees, 1U OUT + 1U Ink

* 65536
1 dp 1/1 1U U 65536Ink num : 4096
3600 ° +
10 3600 ° 3600 ° div : 225
10 10
1/10 degree 1U
( °/10 )
Fig.A/3: Position factor calculation sequence

Examples of calculating the position factor

Positioning Feed Gear Formula 4) Result
units 1) constant 2) ratio 3) shortened
increments, 1U OUT + 1U Ink

* 65536 num : 1
0 dp H 1/1 1U U 1Ink
65536Ink +
65536Ink 1Ink div : 1
1U
inc.
degrees, 1U OUT + 1U Ink

* 65536
1 dp 1/1 1U U 65536Ink num : 4096
3600 ° +
10 3600 ° 3600 ° div : 225
10 10
1/10 degree 1U
( °/10 )
revs, 1U OUT + 1U

* 65536
Ink
2 dp 1/1 1U U 65536Ink num : 16384
100
U +
U U div : 25
100 100 100
100 100
1/100 revs 1U
( revs/100 ) 2U Ink
* 65536
2/3 3U U 131072Ink num : 32768
+
U U div : 75
100 300
100 100
1U
mm, 1U OUT + 4U

* 65536
Ink
5U U 2621440Ink num:524288
1 dp 631, 5
mm 4/5 mm + mm
10 631,5 31575 div:6315
10 10
1/10 mm 1U
( mm/10 )
1) Desired unit at the output
2) Positioning units per revolution (revsOUT).
Drive’s feed constant (PNU 1003) * 10−dp (decimal places taken into consideration)
3) revs per revs
IN OUT
4) Insert values into formula.
Tab.A/4: Examples of calculating the position factor

A.1.4 Calculating the units of velocity
The velocity factor (PNU 1006, see section 4.4.17) is used to

convert all the velocity values from the user’s units of veloc
ity into the internal unit:
With CMMS−ST: revolutions per minute
With CMMP−AS: revolutions per 4096 minutes
The velocity factor consists of numerators and denominators.
The velocity factor is calculated in two parts: a conversion

factor from internal units of length into the user’s positioning
units and a conversion factor from internal units of time into
user−defined units of time (e.g. from seconds to minutes). The
first part is equivalent to calculating the position factor; an
additional factor is required to calculate the second part:
Time factor_v Ratio between the internal unit of time and the user−defined
unit of time:
(e.g. with CMMS−ST
1
min
= 1/4096 4096 min)
(e. g. 1
rev Z 63.15 mm or 1
The velocity factor is calculated using the following formula:
GearRatio * TimeFactor_v
VelocityFactor +
FeedConstant
Like the position factor, the velocity factor also has to be
written to the motor controller separated into numerators and
denominators. This can make it necessary to bring the frac
tion up to whole integers by expanding it accordingly.

Example
plication’s gear ratio and its feed constant (if applicable). The
feed constant is then displayed in the desired positioning
units (column 2).
Then, the desired unit of time is converted into the motor

controller’s unit of time (column 3).
Velocity factor calculation sequence

Units of Feed con Time constant 3) Gear Formula 5) Result
velocity 1) stant 2) 4) shortened
mm/s, mm
63, 15 1 1 + 60*4096
1
U s 4U 4096 min
1 dp å 4/5 *
60 1 + 5U 1
1 s 1966080
U
1U OUT + min
+
4096 min num:131072
1/10 mm/s mm 60 * 4096
1 631,5
mm
6315
mm div:421
631, 5 4096 min 10 10s
( mm/10 s ) 10 1U
Fig.A/4: Velocity factor calculation sequence (here CMMP−AS)

Examples of calculating the position factor with CMMS−ST

rpm, 1U OUT + 1

1
+
1
0 dp min 1/1 1U 1U min
65536Ink * *
1 1U 1U 1
1 min
1 U
min num:1
1/100 + min
1U
1 U div:1
revs/ 1U min
min
°/s, 1U OUT + 1

1 s + 60*
1
1 dp 1/1 1U 1U min
3600 ° 1 1 *
1U 1U
*
1 U
10 1
60 min s min num:1
1/10 °/s +
3600 ° 216000 ° div:216000
10 10s
( °/10 s )
1U
rpm, 1U OUT + 1 1

1 +
2 dp U min 1/1 1U 1U min
100 * *
1U 1U 1
100 1 1 1 U
min min min num:1
1/100 +
U U div:100
revs/min 100 100
100 100 min
( revs/100 1U
min ) 1
2/3 1U 2U min
* *
1U 3U 1
min
2 U
min num:2
+
U U div:300
100 300
100 100 min
1U
mm/s, mm 1 1
63, 15
U
1 s + 60*
1 dp 1/1 1U 1U min
å 1 1 * * U
1U 1U 1 1
1U OUT + 60 min s min num:1
1/10 mm/s mm + mm
mm 631,5 37890 div:37890
( mm/10 s ) 631, 5
10
10 10s
1U
1
60*
4/5 1U 4U min
* * U
1U 5U 1 4
s min num:2
mm + mm
631,5 189450 div:94725
10 10s
1U
3) Time factor_v: desired unit of time per internal unit of time
4) Gear ratio: revs per revs
IN OUT
Tab.A/5: Examples of calculating the position factor with CMMS−ST

Examples of calculating the position factor with CMMP−AS

rpm, 1U OUT + 1

1
+ 4096
1
min 1U 4096 min
0 dp 1U OUT 1/1 1U
*
1
4096 1 1 4096 U
4096 min min 4096 min num:4096
+
( revs/min ) 1U
1 U div:1
1U min
rpm, 1U OUT + 1 1

1 + 4096
min 2U 4096 min
2 dp 100
U 2/3 3U
*
1
100 4096 1 1 8192 U
4096 min min 4096 min num:2048
+
1/100 100
U 300 U div:75
revs/min 100 100 min
1U
( revs/100
min )
°/s, 1U OUT + 1 1

1 s + 60*4096
1U 4096 min
1 dp 3600 ° 1/1 *
10 60 1 + 1U 1
1 s 245760
U
min 4096 min num:1024
+
1/10 °/s 1 3600 ° 3600 ° div:15
60 * 4096 10 10s
4096 min
( °/10 s ) 1U
mm/s, mm
63, 15 1 1 + 60*4096
1
U s 4U 4096 min
1 dp å 4/5 *
60 1 + 5U 1
1 s 1966080
U
1U OUT + min
+
4096 min num:131072
1/10 mm/s mm 60 * 4096
1 631,5
mm
6315
mm div:421
631, 5 4096 min 10 10s
( mm/10 s ) 10 1U

3) Time factor_v: desired unit of time per internal unit of time
IN OUT
Tab.A/6: Examples of calculating the position factor with CMMP−AS

A.1.5 Calculating the units of acceleration
The acceleration factor (PNU 1007, see section 4.4.17) is

used to convert all the acceleration values from the user’s
units of acceleration into the internal unit revolutions per
minute per 256 seconds.
The acceleration factor consists of numerators and denomina
tors.
The acceleration factor is also calculated in two parts: a

conversion factor from internal units of length into the user’s
positioning units and a conversion factor from internal units
of time squared into user−defined units of time squared
(e.g. from seconds2 to minutes2). The first part is equivalent
to calculating the position factor; an additional factor is re
quired to calculate the second part:
Time factor_a Ratio between the internal unit of time squared and the user−
defined unit of time squared
(e. g.
1
min2
= 1 min * 1 min = 60 s * 1 min = 60/256 min * s).
(e. g. 1
rev Z 63.15 mm or 1
The acceleration factor is calculated using the following for

mula:
GearRatio * TimeFactor_a
AccelerationFactor +
FeedConstant
Like the position and velocity factors, the acceleration factor
also has to be written to the motor controller separated into
numerators and denominators. This can make it necessary to
bring the fraction up to whole integers by expanding it ac
cordingly.

Example
plication’s gear ratio and its feed constant (if applicable).
The feed constant is then displayed in the desired positioning
units (column 2).
Then, the desired unit of time2 is converted into the motor

controller’s unit of time2 (column 3).
Examples of calculating the acceleration factor

acceler. 1) stant 2) 4) shortened
mm/s2, 63, 15

mm
1 1 + 60*256
1
U s2 4U 256 min *s
1 dp å 4/5 * U
1 5U 1
1U AUS + 60 + 1 122880 min num:8192
min * s s2 256s
1/10 mm/s2 1 mm + mm div:421
mm 631,5 6315
631, 5
( mm/10 s2 ) 10 60 * 256
min 10 10s2
256 * s 1U
Fig.A/5: Calculating the acceleration factor

Examples of calculating the acceleration factor

Units of ac Feed con Time constant 3) Gear Formula 5) Result
celer. 1) stant 2) 4) shortened
rpm/s, 1U OUT + 1 1

1 + 1U
256
256 min s U
0 dp 1U OUT min * s 1/1 *
1 1U 1 min
1 256
min min *s 256*s num:256
revs/ 256 +
min s 256 * s 1U U div:1
1U min
1 s
°/s2, 1U OUT +

1
1
+ 60*256
1
1 dp 3600 ° s2 1/1 1U
*
256 min *s U
10 1 1U 1
60 + 1
2 15360 min
min * s s 256*s num:64
1/10 °/s2 1 +
3600 ° 3600 ° div:15
( °/10 s2 ) 60 * 256
min 10 10s2
256 * s 1U
rpm2, 1U OUT + 1

1
+ 256
1
2 dp U min 2 2/3 2U
*
256 min *s U
100 1 3U 1
100 60 512 min
1 min
+ min 2 256s num:32
1/100 60 s +
U U div:1125
revs/ 2 1 100 18000
min 100 100 min 2
256 min 1U
( revs/100
60 256*s
2
min )
mm/s2, 63, 15

mm
1 1 + 60*256
1
U s2 4U 256 min *s
1 dp å 4/5 * U
1 5U 1
1U OUT + 60 + 1 122880 min
min * s s2 256s num:8192
1/10 mm/s2 1 mm + mm
mm 631,5 6315 div:421
631, 5
10 60 * 256
min 10 10s2
256 * s 1U
( mm/10 s2 )
3) Time factor_a: desired unit of time2 per internal unit of time2
IN OUT
Tab.A/7: Examples of calculating the acceleration factor


FHPP+ and cam disk expansions
Appendix B
Festo P.BE−CMM−F HPP−SW−EN en 1006a B−1

B. FHPP+ and cam disk expansions
Contents
B.1 FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3

B.1.1 Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . B−4
B.1.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−5
B.1.3 Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . B−6
B.1.4 Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−6
B.1.5 Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−6
B.2 CMMP−AS − operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7
B.2.1 Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B−8
B.2.2 Camming function in Record selection mode . . . . . . . . . . . . . . . . . B−10
B.2.3 Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B−10
B.2.4 Extended finite state machine with camming function . . . . . . . . . . B−11
B−2 Festo P.BE−CMM−F HPP−SW−EN en 1006a

B.1 FHPP+ overview
FHPP+ is an expansion of the FHPP communication protocol.
To find out whether this function is supported by the con

troller you are using and its firmware version, see the help
for the associated FCT plug−in.
The FHPP+ expansion allows additional PNUs configured by

the user to be transmitted via the cyclic telegram, in addition
to the control and status bytes and the optional parameter
channel (FPC).
The minimum configuration for each telegram contains the

control and status bytes, meaning that 8 bytes are sent and
received. If the parameter channel is transmitted as well, it
directly follows the I/O channel.
FHPP+ can be used to attach additional setpoint values to the

received telegram which are not represented in the control
and status bytes or in the FPC. Additional actual values can
be forwarded in the response telegram, such as the inter
mediate circuit voltage or the temperature of the output
stage.
The additional data (FHPP+) must always be transmitted in

multiples of 8 bytes, up to a total length of 32 bytes.
The data transmitted via FHPP+ is configured using the

FHPP+ telegram editor in the controller’s FCT plug−in.
Note
Not all PNUs can be configured for the FHPP+ telegram.
For example, the PNUs 40 to 43 cannot be transmitted at
all; PNUs without write access cannot be configured in the
output data; etc.

B.1.1 Structure of the FHPP+ telegram
The first entry in the telegram (address 0) is reserved for the

I/O channel.
Optionally, if the parameter channel FPC is required by the

application and it has been defined in the bus configuration,
it must be selected as the second entry (address 8). The
parameter channel must only be configured in this position.
From the third entry onwards in the telegram (address 16), or

the second entry if FPC is not used (address 8), all remaining
PNUs can be mapped which are required in the application.
With certain control systems (e.g. SIEMENS S7), make sure

that PNUs with lengths of 2 or 4 bytes are in suitable ad
dresses. These PNUs should only be inserted in even ad
dresses. Placeholders are defined so that any gaps can be
filled. They can be used to ensure that PNUs can be mapped
in the addresses desired.
All unused parts of a telegram and especially all unused

entries in the telegram editor are filled with the placeholders.

B.1.2 Examples
Example 1
With FPC, maximum 16 bytes for FHPP+
Output data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
CCON, CPOS, ... FPC, PNU, SI ... ... PNU... PNU... PNU... PNU... PNU...
Control bytes Parameter channel FPC FHPP+ (max. 16 bytes)
Input data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
SCON, SPOS, ... FPC, PNU, SI PNU... PNU... PNU... PNU...
Status bytes Parameter channel FPC FHPP+ (max. 16 bytes)
Example 2
Without FPC, maximum 24 bytes for FHPP+
Output data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
CCON, CPOS, ... PNU... PNU... PNU... PNU... PNU... PNU... PNU... PNU...
Control bytes FHPP+ (max. 24 bytes)
Input data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
SCON, SPOS, ... PNU... PNU... PNU... PNU... ... ... PNU... PNU...
Status bytes FHPP+ (max. 24 bytes)

B.1.3 Configuration of the fieldbuses with FHPP+
The length and contents of the transmitted data are defined

using the telegram editor.
The data defined in this way must be configured on the

master/scanner specifically for each fieldbus, for example by
means of the corresponding GSD or EDS files.
Information about configuration can be found in the relevant

fieldbus manual.
B.1.4 Telegram editor for FHPP+
The transmitted data is configured solely via the FHPP+ editor

provided by the FCT plug−in.
The relevant PNUs 40 and 41 are read−only; see section B.1.5.
The FHPP+ telegram editor assigns the data contents of the

cyclic FHPP telegram uniquely to the PNUs. The specifications
provide generally for 16 entries per received and sent tele
gram. The current stage of development permits up to 10
entries for the CMMP−AS controller. The maximum length of a
telegram is restricted to 32 bytes.
The PNUs for telegram mapping settings must not be mapped

in the FHPP+ telegram.
B.1.5 Overview of FHPP+ parameters
The special parameters for FHPP+ are described in

section 4.4.2.

B.2 CMMP−AS − operation of cam disks
The CMMP−AS has the option of operating 16 cam disks each

with 4 cam tracks assigned to it.
This function is available with CMMP−AS firmware version

3.5.1501.4.1 and higher.
The CMMP−AS provides the following functionality for this

purpose via FHPP:
Operation in synchronisation with an external input, slave

mode.
Operation in synchronisation with an external input with

cam disk, slave mode.
Virtual master (internal) with cam disk.
Control is possible in the following modes:
Record selection.
Direct mode, positioning.
The cam disks are parametrised via the FCT plug−in. For
information about parametrisation, see the help for the
CMMP−AS plug−in.
For complete information on the camming function, see the

special cam disk manual.

B.2.1 Camming function in Direct mode
Synchronisation with an external master controller

with cam disk (slave operation)
Synchronisation operation allows a slave controller to follow a
master controller via an additional external input in accord
ance with parametrised rules.
This can be purely position synchronisation or it can be done

with an additional camming function, the CAM function.
Activating synchronisation operation in Direct mode:

Synchronised operation can be selected with control byte 3,
CDIR by setting CDIR.B7 (FUNC), and the desired functionality
can be selected in the function group and the function
number, CDIR.B6 ... B3 (FGRP, FNUM).
Synchronised operation is then activated with a positive edge

at the bit CPOS.B1 (START). The bit CCON.B1 (STOP) stops
synchronisation operation. The bit CPOS.B0 (HALT) has no
intermediate stop function (goes to ready" with a stop
ramp). The negative edge of CPOS.B1 (START) also stops
synchronisation operation.

Setpoint and actual values according to the function

numbers
Function number Allocation of the setpoint/actual values
FNUM = 0: reserved
FNUM = 1, FNUM = 2: Setpoint value 1 Irrelevant as the position setpoint comes via the
synchronisation operation external input.
without/with cam disk Setpoint value 2 Irrelevant as the position setpoint comes via the
external input.
Actual value 1 Actual velocity of the slave as in Profile Position
mode (according to the cam disk)
Actual value 2 Actual position of the slave as in Profile Position
mode (according to the cam disk)
FNUM = 3: virtual master Setpoint value 1 Setpoint velocity of the master, subject to the
(internal) with cam disk operating mode of the master
Setpoint value 2 Setpoint position of the master, subject to the
operating mode of the master
Actual value 1 Actual velocity of the slave (according to the
cam disk)
Actual value 2 Actual position of the slave (according to the
cam disk)
Tab.B/1: Allocation of setpoint/actual values
The cam disk is selected with PNU 700.

FHPP+ can be used to map this selection to the process data.

B.2.2 Camming function in Record selection mode
With Record selection, the type of record is defined with the

record control byte in the record list. The expansion to cam
ming operation can be activated as for Direct mode with the
bit provided for general function expansion, bit 7 (FUNC) in
record control byte 1.
The cam disk number is selected with PNU 419. If PNU 419 = 0,
the contents of PNU 700 are used.
B.2.3 Parameters for the camming function
The parameters for the camming function can be found in

section 4.4.15.

B.2.4 Extended finite state machine with camming function

T7* always has the
highest priority. T7*
S1 S5
Controller Reaction to fault
switched on
T1 T8 T11
S2 S6
Drive disabled T9 Fault
T5 T2
T10
S3
T6 Drive enabled
T4 T3
SA5 TA9 SA1 TA7 SA4

Jog positive Homing is being
carried out
TA10 TA8
SA6 TA11 Ready TA13 SA7

Jog negative Prepare cam disk
TA12 TA14
TA19 TA15
TA16
TA2 TA1
SA8
TA5 SA2 Cam disk active
Positioning task and being run
TA6 active
TA18 TA17
TA4 TA3
SA9
SA3 Cam disk
Intermediate stop intermediate stop
S4
Operation enabled
Fig.B/1: Finite state machine with camming function

TA Description Event with Ancillary condition

Record selection Direct mode
TA13 Prepare cam disk Rising" edge Old record: FUNC = 0

(activate) (change) of record New record: FUNC = 1
number.
Rising edge at FUNC.
Rising edge at STOP or ENABLE (activation of FUNC = 1

controller enable).
TA14, De−activate cam Rising" edge Old record: FUNC = 1

TA19 disk (change) of record New record: FUNC = 0
number.
Falling edge at FUNC.
STOP or withdrawal of ENABLE. None, FUNC = any
TA15 Cam disk active Rising edge at START. Drive is in TA 13.

and being run
TA16 Change cam disk Rising edge at START. Changed cam disk
number in PNU 419 or
PNU 700.
FUNC = 1
Rising" edge Changed cam disk

(change) of record number in PNU 419 or
number and rising PNU 700.
edge at START. FUNC = 1
Rising edge at START, PNU 700 has been

starts the virtual changed.
master automatically. FUNC = 1
TA17 Intermediate stop HALT = 0 Intermediate stop with

virtual master only.
only
TA18 End intermediate HALT = 1
stop

Index
Appendix C
Festo P.BE−CMM−F HPP−SW−EN en 1006a C−1

C. Index
C−2 Festo P.BE−CMM−F HPP−SW−EN en 1006a

C. Index
A
Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−17 , 4−32
Axis zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII , 4−55
C
Cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
D
Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . 3−7
Diagnostics, FHPP status bytes . . . . . . . . . . . . . . . . . . . . 3−54
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
E
Effective stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−4
Electric axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Error numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−6
F
Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . XIII
Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . XIII , 5−3
FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3
FHPP operating mode
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3

C. Index
H
HMI (see device control) . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Homing method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
J
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
O
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Operating mode (FHPP operating mode)
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5

C. Index
P
Parameter channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3
Parameter identifier (ParID) . . . . . . . . . . . . . . . . . . . 5−3 , 5−4
Parameter number (PNU) . . . . . . . . . . . . . . . . . . . . . . . . . 5−4
Parameter value (Value) . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3
Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . 5−3
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Positioning record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Project zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV , 4−42
R
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
Reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−4
Relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−17 , 4−33
Response identifier (ResID) . . . . . . . . . . . . . . . . . . . . 5−4 , 5−5
S
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Software end position . . . . . . . . . . . . . . . . . . . . . . . XV , 4−42
Negative (lower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Positive (upper) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Subindex (IND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3

C. Index
T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Task identifier (ReqID) . . . . . . . . . . . . . . . . . . . . . . . . 5−4 , 5−5
Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Text designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
U
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
V
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII
W
Warning memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9

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Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 696

© (Festo AG&Co. KG, D73726 Esslingen, 2009)

The copying, distribution and utilization of this document as

Festo P.BE−CMM−F HPP−SW−EN en 1006a I

CANopen®, DeviceNet®, EtherCAT®, and PROFIBUS® are registered trademarks of the

II Festo P.BE−CMM−F HPP−SW−EN en 1006a

Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII

1. I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1

1.1 Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . 1−3

Festo P.BE−CMM−F HPP−SW−EN en 1006a III

1.7 FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−21

2. Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1

2.1 Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−3

3. Fault reaction and diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1

3.1 Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3

IV Festo P.BE−CMM−F HPP−SW−EN en 1006a

3.4 Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10

4.1 FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−3

Festo P.BE−CMM−F HPP−SW−EN en 1006a V

4.4.23 Axis parameters for electric drives 1  Other parameters . . . . . . . . 4−63

5. Parametrisation with FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1

5.1 Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3

A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1

A.1 Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3

B. FHPP+ and cam disk expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−1

B.1 FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3

VI Festo P.BE−CMM−F HPP−SW−EN en 1006a

This description includes the Festo Handling and Position

This provides you with supplementary information about con

The complete set of information can be found in the docu

Depending on which fieldbus is used, you can find further

 Description type P.BE−CMM...−CO−...:

 Description type P.BE−CMM...−PB−...:

 Description type P.BE−CMM...−DN−...:

 Description type P.BE−CMM...−EC−...:

Festo P.BE−CMM−F HPP−SW−EN en 1006a VII

When commissioning and programming positioning systems,

VIII Festo P.BE−CMM−F HPP−SW−EN en 1006a

This manual is intended exclusively for technicians trained in

Please consult your local Festo Service department or write

Festo P.BE−CMM−F HPP−SW−EN en 1006a IX

Important user instructions

Additionally, the following pictogram designates text

Electrostatically sensitive devices: inappropriate handling

X Festo P.BE−CMM−F HPP−SW−EN en 1006a

Identification of special information

· Bullet points indicate activities that may be carried out in

1. Numerals indicate activities that must be carried out in

 Arrowheads indicate general listings.

Festo P.BE−CMM−F HPP−SW−EN en 1006a XI

Information about the version

This manual refers to versions set out in Tab.0/1.

Controller Firmware Description

CMMP−AS−... Version 3.5.1501.4.1 and higher Servo motor controller Premium

CMMS−AS−... Version 1.3.0.1.15 and higher Servo motor controller Standard

CMMS−ST−... Version 1.3.0.1.14 and higher Stepper motor controller

Tab.0/1: Controller and firmware versions

For older versions:

XII Festo P.BE−CMM−FHPP−SW−EN en 1006a

Terms and abbreviations

The following terms and abbreviations are used in this

4.4.23 Axis parameters for electric drives 1 Other parameters . . . . . . . . 4−63

Description type P.BE−CMM...−CO−...:

Description type P.BE−CMM...−PB−...:

Description type P.BE−CMM...−DN−...:

Description type P.BE−CMM...−EC−...:

Arrowheads indicate general listings.

The operating modes,

I/O data structure,

8−byte control and status data:

Control and status bytes

Record number or setpoint position in the output data

Feedback of actual position and record number in the

Additional mode−dependent setpoint and actual

If required, an additional 8 bytes of input and 8 bytes of

E.g. in the little endian" representation when transmitted via