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Festo CMMP-AS User Manual
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6
.
Control via FHPP
71
Festo.P.BE-CMMP-CAM-
SW
-EN en 1105a
6.4.2
Status bytes
SCON
B7
B6
B5
B4
B3
B2
B1
B0
OPM2
OPM1
FCT/MMI
VLOAD
FAULT
WARN
OPEN
ENABLED
Operating mode
acknowledgement
Higher-order
controller
with FCT/MMI
Load
voltage
applied
Malfunction
Warning
Operation
enabled
Drive
enabled
SPOS
B7
B6
B5
B4
B3
B2
B1
B0
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
Drive
referenced
Dwell
monitoring
Following
error
Axis moves
Confirmation
of teaching
or sampling
Motion
complete
Ackn
ow
-
ledge start
Halt
SDIR *)
B7
B6
B5
B4
B3
B2
B1
B0
FUNC
FGRP
FNUM
COM2
COM1
ABS
Funct. being
executed
Function group
acknowledgment
Function number
acknowledgment
Control mode
acknowledgment
Absolute /
relative
*) only for dir
ect operation.
In the case of rec
ord selection, the record number is
transferred in
status byte 3. The RSB (
record status byte)
is then transferred i
n status byte 4.
70
72
Table of Contents
Default Chapter
5
Table of Contents
5
1 General Remarks
9
Scope of Delivery
9
Use for Intended Purpose
9
Documentation Overview CMMP-AS
10
Terms Related to the Cam Disc
11
2 Hardware Components
12
Motor Controller
12
Motors and Encoders
12
Higher-Order Controller (PLC)
12
Connections X10/X11 and Connecting Cables
13
Output X11
13
Input X10
13
Connecting Cable between Master and Slave
14
Topology of the Connections between Master and Slave(S)
14
3 Parametrisation Software
15
Festo Configuration Tool (FCT)
15
FCT Plug-In CMMP-AS
16
4 Concepts of the Cam Disc
17
Fundamentals
17
Characteristics of the Cam Disc Function
18
Physical Master
19
Virtual Master
20
Master-Slave Constellations
21
CMMP-AS as Physical Master with 3 Slaves
21
CMMP-AS as Virtual Master with One Slave
22
Modulo Positioning
23
Modulo Positioning with Physical Master
23
Modulo Positioning with Virtual Master
24
Electronic Gear Unit between Physical Master and Slave
25
Basic Parameters for a Cam Disc
27
Displacement Plan Editor
28
General Remarks
28
Displacement Plan Editor <-> Conventional Curve Creation
29
Rasterisation of the Curve
29
Endless and Finite Cam Discs
31
Creating a Curve and Selecting a Motion Law
33
Fundamentals on Selection of the Motion Laws
39
Additional Basic Logic Functions
41
Further Optimisations
45
Cam Switch
48
General Remarks
48
Setting Digital Outputs
50
Activating Cam Discs
51
Position Comparison between Master and Slave
53
With Physical Master
53
For the Virtual Master
53
Cam-In
54
5 Commissioning Examples
55
Requirements
55
Example 1: Physical Master with a Slave
56
Example 2: Virtual Master
63
6 Control Via FHPP
66
Overview of Parametrisation: Physical Master with Slave (FNUM=1/2)
67
Control of the Physical Masters
67
Control of the Slave (FNUM=1/2)
67
Overview of Parametrisation: Virtual Master (FNUM=3)
68
Configuration of the I/O Data
69
Overview: Assignment of the Control Bytes and Status Bytes
70
Control Bytes
70
Status Bytes
71
Description of the Control Bytes
72
Control Byte 1 CCON
72
Control Byte 2 CPOS
72
Control Byte 3 CDIR (Only for Direct Operation)
73
Description of the Status Bytes
74
Status Byte 1 SCON
74
Status Byte 2 SPOS
74
Status Byte 3 SDIR (Only for Direct Operation)
75
Record Selection
76
Record Control Byte 1 (RCB1, PNU 401)
76
Record Status Byte RSB
77
Description of the Parameters (PNU 700
78
Examples for the Control and Status Bytes in FHPP
81
Record Selection - Synchronisation on Input X10 (FNUM=1)
82
Record Selection - Synchronisation on Input X10 with Cam Disc Function (FNUM=2)
83
Record Selection - Synchronisation on Virtual Master with Cam Disc Function (FNUM=3)
84
Direct Operation - Synchronisation on Input X10 (FNUM=1)
85
Direct Operation - Synchronisation on Input X10 with Cam Disc (FNUM=2)
86
Direct Operation - Synchronisation on Virtual Master with Cam Disc Function (FNUM=3)
88
7 Finite State Machine FHPP Incl. Cam Disc
90
4
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Festo CMMP-AS Specifications
General
Brand
Festo
Model
CMMP-AS
Category
Controller
Language
English
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