Festo CMMS-AS Series User Manual

B RS232 serial interface
238 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
Ex ample: Operating the motor controller in direct mode (profile position mode)
The following describes the sequence in principle.
1. Changing of the controller enable logic
The c ontroller enable logic can be changed via the C AN control word (COB 6510_10). Since the
simulation of the CAN interface can be completely taken over via the RS232 interface, the enable
logic can also be c onverted to DINs + CAN.
– Command: =651010:0002
As a result, the release can be granted via the CAN c ontrol word ( COB 6040_00).
– Command: =604000:0006 c ommand “shutdown”
– Command: =604000:0007 c ommand “switch on/disable oper ation”
– Command: =604000:000F Command “Enable operation”
2. Activation of the “profile position mode”
The positioning mode is activated via the CAN c ontrol word (COB 6060_00 mode of operation).
– Command: =606000:01 profile pos ition mode
3. Write position parameters
The target position can be written through the C AN control word (COB 607A_00, target position)“.
The target position is thereby written in “position units”. That means, it depends on the set CAN
factor group. The default setting here is 1/2
16
revolutions. (16 bit por tion before the decimal point,
16 bit portion after it).
– Command: =607A00:00058000 target pos ition 5.5 revolutions
The travel speed can be written via the C AN c ontrol word (COB 6081_00, profile velocity), the final
speed via the CAN c ontrol word (COB 6082_00, end velocity).
The speeds are thereby written in “speed units”. That means, they depend on the set C AN factor
group.
The default setting here is 1 revolution/min. (32 bit portion before the decimal point, 0 bit portion
after it).
– Command: =608100:000003E8 travel speed 1000 rpm
The ac c eleration can be written via the C AN c ontrol word ( COB 6083_00, profile acceleration), the
deceleration via the CAN control word ( COB 6084_00 profile deceleration) and the quic k stop ramp
via the CAN control word (COB 6085, quick stop deceleration).
The ac c eleration is thereby written in “ac celeration units”. That means, they depend on the set CAN
factor group.
The default setting here is 1/2
8
revolution/min. ( 24 bit portion before the decimal point, 8 bit por-
tion after it).
– Command: =608300:00138800 acc eleration 5000 rpm
4. Start positioning
Positioning is star ted via the CAN control word (COB 6040_00):
e) Controller enable is controlled via bit 0 … 3 (see above).
f ) Positioning is started via a rising edge at bit 4. The following settings are accepted thereby.
g) Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is
taken over (0), or whether the ongoing positioning should be cancelled (1).

Festo CMMS-AS Series Specifications

General

Brand	Festo
Model	CMMS-AS Series
Category	Controller
Language	English