Festo CECX-X-C1 Series User Manual

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1 The Festo_Motion.lib library
1.1 Overview
Festo_Motion.lib is an internal library for CoDeSys 2.3. This library can be used to control the following
types of Festo motor controller (drive controller):
– CMMD-AS-...
– CMMP-AS-...
– CMMS-AS-...
– CMMS-ST-...
– SFC-DC-...
– MTR-DCI-...
– SFC-LAC-...
– SFC-LACI-...
Communication is established via a fieldbus and one of the following communication protocols:
– CANopen
– PROFIBUS
The Festo motor controllers are controlled using the Festo Handling and Positioning Profile (FHPP).
The library contains function blocks for controlling and parameterising the individual drives.
Refer to the relevant motor controller documentation for information on operating and setting up the motor
controller types in question.
1.1.1 Architecture
Each motor controller is integrated into the CoDeSys project using a controller-specific hardware
configuration.
– All function blocks that access I/O data directly to control a motor controller require the first address of
the output data and the first address of the input data as an input/output variable.
– All function blocks that access I/O data directly to parameterise a motor controller require the first
address of the Festo Parameter Channel (FPC) output data and the first FPC address of the input data
as an input/output variable.
For each motor controller instance that exists, an instance of the function blocks used for control
purposes must also be created. As a result, function blocks used for control purposes cannot be
used for two different motor controllers.
Motor units/ motor controllers Control block Parameterisation blocks
CMMD-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)
CMMS_AS_PRM_SINGLE (FB)
CMMP-AS-... CMMP_AS_CTRL (FB) CMMP_AS_PRM_INIT (FB)
CMMP_AS_PRM_SINGLE (FB)
CMMS-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)
CMMS_AS_PRM_SINGLE (FB)
CMMS-ST-... CMMS_ST_CTRL (FB) CMMS_ST_PRM_INIT (FB)
CMMS_ST_PRM_SINGLE (FB)
MTR-DCI-... MTR_DCI_CTRL (FB) MTR_DCI_PRM_INIT (FB)
MTR_DCI_PRM_SINGLE (FB)
SFC-DC-... SFC_DC_CTRL (FB) SFC_DC_PRM_INIT (FB)
SFC_DC_PRM_SINGLE (FB)

Festo CECX-X-C1 Series Specifications

General

Brand	Festo
Model	CECX-X-C1 Series
Category	Controller
Language	English