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The FHPP Positioning Library STEP 7

Table of Contents

1

The FHPP Positioning Library STEP 7

1

1.1

Designated use

1

1.2

Target group

1

1.3

Service

1

1.4

Safety instructions

2

1.5

Important user information

2

1.5.1

Danger categories

2

1.6

Marking special information

3

1.6.1 Pictograms

3

1.6.2 Text markings

3

1.6.3 Further conventions

3

1.7

Overview

4

1.7.1

Architecture

4

1.8

General information on Festo motor controllers

6

1.8.1

Documentation on Festo motor controllers

6

1.9

Festo Handling and Positioning Profile (FHPP)

7

1.10

Function blocks for Festo motor controllers

8

1.11

Configuration

9

1.11.1 Installing the GSD/GSDML files in the Hardware Manager

9

1.11.2 Adding a PROFIBUS drive to the hardware configuration

10

1.11.3 Adding a PROFINET drive to the hardware configuration

11

1.12

Control function blocks

12

1.12.1 Inputs and outputs

12

1.12.2 Linking the function blocks

18

1.13

Organisation function blocks

19

1.13.1

Inputs and outputs

19

1.14

Parameterisation function blocks

20

1.14.1

xxx_PRM_SINGLE

20

1.14.2

xxx_PRM_MULTI

22

1.14.3

xxx_PRM_DIAG

24

1.14.4

xxx_PRM_DIRMP

26

1.14.5

xxx_PRM_KO

28

1.14.6

xxx_CAM_PRM_CAMNUMBER

29

1.14.7

xxx_FHPP_PLUS

30

1.15

Examples

32

1.15.1

Actuating a Festo motor controller

32

1.15.2

Parameterising a Festo motor controller

36

2

Glossary

38

3

Index

40

 

ii

1

The FHPP Positioning Library STEP 7

1.1 Designated use

The function blocks (FB) described are designed for controlling and parameterising the associated device. You can use them to conveniently integrate the many functions of the relevant device into your program. The function blocks are called cyclically using a separate instance for each motor unit or motor controller (each axis) integrated into the user program. Simultaneous use of other function blocks for controlling the same device is not permitted.

Read the "Safety instructions" and instructions on the designated use of the relevant devices, components and modules. If additional commercially available components such as sensors and actuators are connected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not be exceeded.

1.2 Target group

This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems and the relevant fieldbuses.

1.3 Service

Please contact your local Festo service centre or write to the following e-mail address if you have any technical problems:

o

service_international@festo.com

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The FHPP Positioning Library STEP 7

1.4 Safety instructions

When commissioning and programming positioning systems, you must observe the safety regulations in the manuals and operating instructions for the components used.

The user must make sure that there is nobody within the positioning range of the connected actuators or axis systems. Access to the possible danger area must be prevented by suitable measures such as barriers and warning signs.

Make sure that nobody can place their hand in the positioning range of the axes or other connected actuators and that there are no objects in the positioning path while the system is still connected to a power supply.

Warning Electrical axes can move with high force and at high speed. Collisions can lead to Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components.

Warning Parameterisation errors can cause injury to people and damage to property. Parameterisation errors can cause injury to people and damage to property.

Only enable the controller if the axis system has been installed and parameterised by technically qualified staff.

1.5 Important user information

1.5.1 Danger categories

This document contains information on possible dangers that can occur if the product is not used as designated. These danger warnings are marked with a signal word (warning, caution, etc.), placed on a grey background and additionally marked with a pictogram. A distinction is made between the following danger warnings:

Warning means that serious injury to people and damage to property can occur if this warning means that serious injury to people and damage to property can occur if this warning is not heeded.

damage to property can occur if this warning is not heeded. Caution means that injury to

Cautiondamage to property can occur if this warning is not heeded. means that injury to people

means that injury to people and damage to property can occur if this warning is not heeded.

Note means that damage to property can occur if this warning is not heeded. means that damage to property can occur if this warning is not heeded.

can occur if this warning is not heeded. Note means that damage to property can occur

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The FHPP Positioning Library STEP 7

1.6 Marking special information

You can find information on how danger warnings are represented under "Important user information".

1.6.1 Pictograms

The following pictograms mark passages in the text that contain special information.

Information: Recommendations, tips and references to other sources of information.mark passages in the text that contain special information. Accessory: Information on necessary or useful accessories

Accessory: Information on necessary or useful accessories for the Festo product.tips and references to other sources of information. Environment: Information on the environmentally friendly use

Environment: Information on the environmentally friendly use of Festo products.on necessary or useful accessories for the Festo product. 1.6.2 Text markings 1. Figures denote activities

1.6.2 Text markings

1. Figures denote activities that must be carried out in the order specified.

Bullets denote activities that may be carried out in any desired order.

o White dots denote general listings.

1.6.3 Further conventions

[Project] [New]

OK

CTRL

CTRL+C

Menu items are framed in square brackets, for example the [New …] command in the [Project] menu opens a new project.

The names of windows, dialogues and buttons, for example "Message window", "Extract project", "OK" as well as designations are displayed in inverted commas.

Names of keys on the PC keyboard are shown in upper case letters in the text (e.g. ENTER, CTRL, C, F1, etc.).

For some functions you need to press two keys simultaneously. For example, press and hold down the CTRL key and also press the C key. This is represented in the text as CTRL+C.

If "click" or "double-click" is mentioned, this always applies to the left-hand mouse button. If the right-hand mouse button is to be used, this will be explicitly mentioned.

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The FHPP Positioning Library STEP 7

1.7

Overview

The FHPP Positioning Library STEP 7 is a library for Siemens STEP 7. This library can be used to actuate the following Festo motor controllers (drive controllers):

o

CMMD-AS-

o

CMMP-AS-

o

CMMS-AS-

o

CMMS-ST-

o

SFC-DC-

o

MTR-DCI-

o

SFC-LAC-

o

SFC-LACI-

Communication is established via a fieldbus and one of the following communication protocols:

o

PROFIBUS

o

ProfiNet

The Festo motor controllers are actuated 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.

1.7.1

Architecture

Each motor controller is integrated into the STEP 7 project using a controller-specific hardware configuration.

o

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.

o

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.

FPC address of the input data as an input/output variable. A separate instance of the function

A separate instance of the function block must be generated for each motor controller. A function block used for control purposes cannot be used for two motor controllers.

Motor units/motor

Control function block

Parameterisation function block

controllers

CMMD-AS-

CMMS_AS_CTRL (FB)

CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB) CMMS_AS_PRM_MULTI (FB) CMMS_AS_PRM_DIRMP (FB) CMMS_AS_PRM_DIAG (FB) CMMS_AS_PRM_KO (FB)

CMMP-AS-

CMMP_AS_CTRL (FB) CMMP_AS_CAM_CTRL (FB)

CMMP_AS_(CAM)_PRM_INIT (FB) CMMP_AS_(CAM)_PRM_SINGLE (FB) CMMP_AS_(CAM)_PRM_MULTI (FB) CMMP_AS_(CAM)_PRM_DIRMP (FB) CMMP_AS_(CAM)_PRM_DIAG (FB) CMMP_AS_(CAM)_PRM_KO (FB) CMMP_AS_(CAM)_PRM_PLUS (FB) CMMP_AS_CAM_PRM_CAMNUMBER (FB)

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The FHPP Positioning Library STEP 7

Motor units/motor

Control function block

Parameterisation function block

controllers

CMMS-AS-

CMMS_AS_CTRL (FB)

CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB) CMMS_AS_PRM_MULTI (FB) CMMS_AS_PRM_DIRMP (FB) CMMS_AS_PRM_DIAG (FB) CMMS_AS_PRM_KO (FB)

CMMS-ST-

CMMS_ST_CTRL (FB)

CMMS_ST_PRM_INIT (FB) CMMS_ST_PRM_SINGLE (FB) CMMS_ST_PRM_MULTI (FB) CMMS_ST_PRM_DIRMP (FB) CMMS_ST_PRM_DIAG (FB) CMMS_ST_PRM_KO (FB)

MTR-DCI-

MTR_DCI_CTRL (FB)

MTR_DCI_PRM_INIT (FB) MTR_DCI_PRM_SINGLE (FB) MTR_DCI_PRM_MULTI (FB) MTR_DCI_PRM_DIAG (FB)

SFC-DC-

SFC_DC_CTRL (FB)

SFC_DC_PRM_INIT (FB) SFC_DC_PRM_SINGLE (FB) SFC_DC_PRM_MULTI (FB) SFC_DC_PRM_DIAG (FB)

SFC-LAC-

SFC_LAC_CTRL (FB)

SFC_LAC_PRM_INIT (FB) SFC_LAC_PRM_SINGLE (FB) SFC_LAC_PRM_MULTI (FB) SFC_LAC_PRM_DIAG (FB) SFC_LAC_PRM_DIRMP (FB)

SFC-LACI-

SFC_LACI_CTRL (FB)

SFC_LACI_PRM_INIT (FB) SFC_LACI_PRM_SINGLE (FB) SFC_LACI_PRM_MULTI (FB) SFC_LACI_PRM_DIAG (FB) SFC_LACI_PRM_DIRMP (FB)

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The FHPP Positioning Library STEP 7

1.8 General information on Festo motor controllers

The following sections contain information on the function blocks for Festo motor controllers. The following additional manuals are required for a complete understanding:

1.8.1 Documentation on Festo motor controllers

Documentation

Contents

Brief description and manuals on CD-ROM (see catalogue)

Brief description: Important instructions on commissioning and preliminary information. Manuals: Contents as described below.

Manuals

Installation, commissioning and diagnosis of electric axes with the relevant Festo motor controller.

Operating instructions for accessories

Assembly and commissioning of the electric mini slide SLTE as an actuator.

Help system for the Festo Configuration Tool (contained in FCT software)

Functional descriptions for the Festo Configuration Tool configuration software.

for the Festo Configuration Tool configuration software. 6 Note  Always read the information and safety

6

Note

Always read the information and safety instructions contained in this documentation.

The FHPP Positioning Library STEP 7

1.9 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.

It does this by making the following largely uniform definitions for the user:

o

Operating modes,

o

I/O data structure,

o

parameter objects,

o

sequence control.

o parameter objects, o sequence control. Figure: The FHPP principle Control and status data (FHPP

Figure: The FHPP principle

Control and status data (FHPP Standard)

Communication via the field bus takes place via 8 bytes of control and status data. Functions and status messages required during operation can be written to and read directly.

Parameter channel

The controller can access all parameter values of the controller via the field bus by means of the parameter channel. A further 8 bytes of I/O data are used for this purpose.

Parameterisation (FHPP+)

In addition to the control and status bytes and the optional parameter channel (FPC), further PNUs that can be configured by the user via the cyclic telegram can be transmitted via the configurable I/O extension FHPP+.

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The FHPP Positioning Library STEP 7

1.10 Function blocks for Festo motor controllers

The names of function blocks for Festo motor controllers start with the designation of the motor controller, e.g. CMMP-AS, followed by the function of the relevant block, e.g. CTRL for control function block.

The library FHPP Positioning Library STEP 7 provides the following function blocks (FB):

o

Control FBs for controlling the relevant Festo motor controller

o

Organisation FBs for parameterising the relevant Festo motor controllers

o

Parameter FBs for transferring defined parameters to the relevant Festo motor controller

Function block

Explanation

xxx_CTRL

Function block for controlling the motor controller

xxx_PRM_INIT

Organisation function block for parameterising the motor controller

xxx_ PRM_SINGLE

Transfers individual parameters

xxx_ PRM_MULTI

Transfers a parameter list (parameter array)

xxx_ PRM_DIAG

Reads out the diagnostic memory

xxx_ PRM_DIRMP

Transfers the parameters for direct mode position control

xxx_ PRM_KO

Transfers communication objects

control xxx_ PRM_KO Transfers communication objects 8 Notes o The function blocks can vary depending on

8

Notes

o

The function blocks can vary depending on the drive.

o

The blocks belonging to the CMMS-AS can be used for the motor controller CMMD-AS.

The FHPP Positioning Library STEP 7

1.11 Configuration

1.11.1 Installing the GSD/GSDML files in the Hardware Manager

Before the library can be used, the GSD/GSDML files for the respective drive must be installed. The installation process is the same for the GSD and the GSDML file.

To install the file, open the hardware configuration for your station.

1. Select "Options" > "Install GSD Files

2. Click "Browse" and select the folder where the GSD/GSDML files were stored.

3. Select the GSD/GSDML file you want or click "Select All" to install all the files.

4. Click "Install".

".

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The FHPP Positioning Library STEP 7

1.11.2 Adding a PROFIBUS drive to the hardware configuration

1. Open the hardware configuration for your station.

2. If you have not already done so, network your station so that the "Profibus Master" is displayed.

3. All the installed drives can be found in the hardware catalogue under "PROFIBUS DP" > "Additional

Field Devices" > "Drives" > "Festo".

4. The drive you want can be added to the Profibus Master by dragging and dropping it.

Next you need to select the protocol you want.

5. The list of possible protocols is opened by opening the drive subfolder.

6. Drag the protocol you want into the list. Position the protocol where you want it.

Addressing takes place automatically, but can be changed manually by double clicking.

7. After completing the configuration, "Save and Compile".

but can be changed manually by double clicking. 7. After completing the configuration, "Save and Compile".

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The FHPP Positioning Library STEP 7

1.11.3 Adding a PROFINET drive to the hardware configuration

1. Open the hardware configuration for your station.

2. If you have not already done so, network your station so that the "Profinet Master" is displayed.

3. All the installed drives can be found in the hardware catalogue under "PROFINET IO" > "Additional Field

Devices" > "Drives" > "Festo".

4. The drive you want can be added to the Profibus Master by dragging and dropping it.

Next you need to select the protocol you want.

5. The list of possible protocols is opened by opening the drive subfolder.

6. Drag the protocol you want into the list. Position the protocol where you want it.

Addressing takes place automatically, but can be changed manually by double clicking.

7. After completing the configuration, "Save and Compile".

but can be changed manually by double clicking. 7. After completing the configuration, "Save and Compile".

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The FHPP Positioning Library STEP 7

1.12 Control function blocks

1.12.1 Inputs and outputs

The following table contains all the inputs and outputs that a FHPP function block can potentially provide for controlling a motor controller. The actual number depends on which control modes are supported by the motor controller. Refer to the relevant motor controller documentation (section "Limited selection") for information on which motor controller supports which control modes.

Key:

o

Input/output: Designation of an input or output from the STEP 7 function block

CTRL.

o

Type: Data type expected by the relevant input or issued at an output.

o

Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Input

Type

Description

PosFactorNum

DINT

Numerator value for converting from position to increments

PosFactorDenum

DINT

Denominator value for converting from position to increments

AxisType

INT

Connected axis type

EnableDrive

BOOL

Enable drive

= 1: Enable drive

= 0: Drive blocked

Stop

BOOL

Stop

= 1: Enable operation.

= 0: Stop active (discard emergency ramp + positioning

task). The drive stops with maximum braking ramp, the positioning task is reset.

Brake

BOOL

Release brake

= 1: Release brake

= 0: Engage brake

Note: Releasing the brake is only possible if the controller

is

blocked. As soon as the controller is enabled, it has

control of the brake control system.

ResetFault

BOOL

Reset fault

A

fault is acknowledged with a rising edge and the fault

value is deleted.

HMIAccessLocked

BOOL

Software access blocked

Controls access to the local (integrated) diagnostic interface of the controller.

1: The FCT software can only monitor the controller, it cannot assume control of the device (HMI control).

=

0: The FCT software can assume control of the device (to change parameters or control inputs).

=

OPM

INT

FHPP operating mode + control mode

= Record selection

0:

= Direct mode position control

1:

= Direct mode force control

5:

= CMMx: Direct mode velocity control

9:

= 13: Reserved

= 17: SFC-LACx: Track mode

Halt

BOOL

Halt

= 1: Halt is not active

= 0: Halt activated (do not discard braking ramp +

positioning task). The axis stops with a defined braking ramp, the positioning task remains active (the remaining distance can be deleted with ClearRemainingPosition).

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The FHPP Positioning Library STEP 7

Input

Type

Description

StartTask

BOOL

Start positioning job

A rising edge transfers the current nominal data and starts

a positioning process (also e.g. record 0 = homing).

StartHoming

BOOL

Start homing

A

rising edge starts homing with the preset parameters.

JogPos

BOOL

Jog positive

The drive moves at the specified speed or rotational speed

in

the direction of larger actual values, providing the bit is

set. The movement begins with the rising edge and ends with the falling edge.

JogNeg

BOOL

Jog negative

The drive moves at the specified speed or rotational speed

in

the direction of smaller actual values, see JoggingPos.

TeachActValue

BOOL

Teach value

With a falling edge, the current actual value is transferred

to

the setpoint value register of the currently addressed

positioning record. Actual values can be e.g. position, pressure or torque.

ClearRemPos

BOOL

Delete remaining distance

In

the "Halt" state, a rising edge causes the positioning task

to

be deleted and a transition to the "Ready" state.

AbsRel

BOOL

Absolute/relative

= 0: Setpoint value is absolute

= 1: Setpoint value is relative to last setpoint value

FuncSet

BOOL

Cam disc

= 0: Cam disc not active

= 1: Cam disc active

DeactivateStrokeLimit

BOOL

Force limit value not active (with force control only)

= 0: Force monitoring active

= 1: Force monitoring not active

RecordNo

INT

Record number Preselection of record number for record selection.

FuncNumber

INT

Cam disc function

= 0: Reserved

= 1: Synchronisation to external input

= 2: Synchronisation to external input with cam disc

 

function

(i.e. slave with physical master)

=

3: Synchronisation to virtual master with cam disc

function

FuncGroup

INT

Cam disc group

= 0: Synchronisation with/without cam disc

= 1: Reserved

= 2: Reserved

= 3: Reserved

SetValuePosition

DINT

Position

Position in the position unit

SetValueForceRamp

INT

Force ramp Value of the force ramp in % of the nominal value or maximum value

SetValueVelocity

INT

 

Speed

Speed in % of the maximum speed

SetValueForce

DINT

 

Force

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The FHPP Positioning Library STEP 7

Input

Type

Description

   

Force in % of the maximum force

SetValueRotRamp

INT

Speed ramp Speed ramp in % of the maximum ramp

SetValueRotSpeed

DINT

Speed Speed in speed unit

Input/output

Type

Description

I_ADDRESS

VAR_IN_OUT

FHPP input data First address of the input data (output data of the motor controller)

O_ADDRESS

VAR_IN_OUT

FHPP output data First address of the output data (input data of the motor controller)

Output

Type

Description

DriveEnabled

BOOL

Controller enabled

= 0: Drive blocked, controller not active

= 1: Drive (controller) enabled

Ready

BOOL

Operation enabled

= 0: Stop active

= 1: Operation enabled, positioning possible

Warning

BOOL

Warning

= 0: Warning not present

= 1: Warning present

Fault

BOOL

 

Fault

=

0: No fault

1: Fault present or fault reaction active. Fault code in the diagnostic memory.

=

SupplyVoltPresent

BOOL

Load voltage present

= 0: No load voltage

= 1: Load voltage present

ControlFCT_HMI

BOOL

Device control software

= 0: Device control free (e.g. PLC/fieldbus)

= 1: Device controlled by software (PLC control is locked)

StateOPM

INT

Acknowledge FHPP operating mode + control mode

= 0: Record selection

= 1: Direct mode position control

= 5: Direct mode force control

= 9: CMMx: Direct mode velocity control

= 13: Reserved

= 17: SFC-LACx: Track mode

HaltNotActive

BOOL

 

Halt

= 0: Halt is active

= 1: Halt is not active, axis can be moved

AckStart

BOOL

Acknowledge start

= 0: Ready for start (homing, jogging)

= 1: Start executed (homing, jogging)

MC

BOOL

Motion Complete

= 0: Positioning task active

= 1: Positioning task completed, if applicable with fault

Note: MC is set after device is switched on (state "Drive blocked").

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The FHPP Positioning Library STEP 7

Output

Type

Description

AckTeach

BOOL

Acknowledge teach

= 0: Ready for teaching

= 1: Teaching carried out, actual value has been adopted

DriveMoving

BOOL

Axis is moving

= 0: Axis speed < limit value

= 1: Axis speed >= limit value

DragError

BOOL

Drag error

= 0: No following error

= 1: Following error active

StandStillControl

BOOL

Standstill monitoring

= 0: Axis remains in tolerance window after MC

= 1: Axis left tolerance window after MC

DriveReferenced

BOOL

Drive homed

=

0: Homing must be carried out

1: Homing information exists, homing must not be carried out

=

RC1

BOOL

1st record continuation carried out

0: A continuation condition has not been configured or not achieved

=

=

1: The first continuation condition has been achieved

RCC

BOOL

Record continuation complete - valid as soon as MC is available

0: Record linking terminated. At least one continuation condition has not been achieved

=

=

1: Record sequence has been processed to the end.

FuncActive

BOOL

Cam disc active

= 0: Cam disc not active

= 1: Cam disc active

VelocityLimitReached

BOOL

Speed limit value reached (with force control only)

= 1: Speed limit value reached

= 0: Speed limit value not reached

StrokeLimitReached

BOOL

Force limit value reached (with force control only)

= 0: Force monitoring achieved

= 1: Force monitoring not achieved

ActualRecordNo

INT

Record number Acknowledgement of record number for record selection

ActualFuncNumber

INT

Acknowledgement of cam disc function

= 0: Reserved

= 1: Synchronisation to external input

= 2: Synchronisation to external input with cam disc

function (i.e. slave with physical master)

=

3 Synchronisation to virtual master with cam disc function

ActualFuncGroup

INT

Acknowledgement of cam disc group

= 0: Synchronisation with/without cam disc

= 1: Reserved

= 2: Reserved

= 3: Reserved

ActualPosition

DINT

Position Feedback on the position in position unit

ActualVelocity

INT

Speed Acknowledgement of speed in % of the maximum speed

ActualForce

INT

Force Acknowledgement of force in % of the maximum force

15

The FHPP Positioning Library STEP 7

Output

Type

Description

ActualRotRamp

INT

Speed ramp Acknowledgement of speed ramp in % of the maximum ramp

ActualRotSpeed

DINT

Speed Acknowledgement of speed in speed unit

Limited selection

The following table contains a list of the inputs and outputs that are only supported by certain Festo motor controllers and if applicable only for specific operating modes.

Input/output

Type

Motor controller

Operating mode

OPM

INT

CMMP-AS

Set selection Direct mode position control Direct mode force control Direct mode velocity control

StateOPM

CMMS-AS

CMMD-AS

CMMS-ST

SFC-LAC

Track mode

SFC-LACI

PosFactorNum

DINT

MTR_DCI

All operating modes

SFC_DC

PosFactorDenum

DINT

MTR_DCI

All operating modes

SFC_DC

AxisType

INT

SFC_LACI

All operating modes

Brake

BOOL

CMMD_AS

All operating modes

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LACI

StartHoming

BOOL

All

Set selection Direct mode position control

TeachActValue

BOOL

All

Set selection

AbsRel

BOOL

All

Direct mode position control

FuncSet

BOOL

CMMP_AS_CAM

Direct mode position control

DeactivateStrokeLimit

BOOL

MTR_DCI

Direct mode force control

SFC_DC

SFC_LAC

SFC_LACI

RecordNo

SINT

All

Set selection

FuncNumber

INT

CMMP_AS_CAM

Direct mode position control

FuncGroup

INT

CMMP_AS_CAM

Direct mode position control

SetValuePosition

DINT

All

Direct mode position control

SetValueForceRamp

INT

CMMP_AS

Direct mode force control

SetValueVelocity

INT

All

Direct mode position control

SetValueForce

DINT

All

Direct mode force control

SetValueRotRamp

INT

CMMD_AS

Direct mode velocity control

CMMP_AS

CMMS_AS

CMMS_ST

16

The FHPP Positioning Library STEP 7

Input/output

Type

Motor controller

Operating mode

SetValueRotSpeed

DINT

CMMD_AS

Direct mode velocity control

CMMP_AS

CMMS_AS

CMMS_ST

AckTeach

BOOL

All

Set selection

DriveReferenced

BOOL

All

Set selection Direct mode position control

RC1

BOOL

CMMD_AS

Set selection

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LAC

SFC_LACI

RCC

BOOL

CMMD_AS

Set selection

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LAC

SFC_LACI

FuncActive

BOOL

CMMP_AS_CAM

Direct mode position control

VelocityLimitReached

BOOL

MTR_DCI

Direct mode force control

SFC_DC

SFC_LAC

SFC_LACI

StrokeLimitReached

BOOL

MTR_DCI

Direct mode force control

SFC_DC

SFC_LAC

SFC_LACI

ActualRecordNo

INT

All

Set selection

ActualFuncNumber

INT

CMMP_AS_CAM

Direct mode position control

ActualFuncGroup

INT

CMMP_AS_CAM

Direct mode position control

ActualPosition

DINT

All

Direct mode position control

ActualVelocity

INT

All

Direct mode position control

ActualForce

INT

All

Direct mode force control

ActualRotRamp

INT

CMMD_AS

Direct mode velocity control

CMMP_AS

CMMS_AS

CMMS_ST

ActualRotSpeed

DINT

CMMD_AS

Direct mode velocity control

CMMP_AS

CMMS_AS

CMMS_ST

17

The FHPP Positioning Library STEP 7

1.12.2 Linking the function blocks

To actuate a Festo motor controller, the respective fieldbus data must be transferred to the function block.

The following screenshots show an example of a device configuration with a CMMP-AS.

show an example of a device configuration with a CMMP-AS. The Festo Parameter Channel input and
show an example of a device configuration with a CMMP-AS. The Festo Parameter Channel input and

The Festo Parameter Channel input and output data (FPC_In, FPC_Out) is offset by 8 bytes behind the FHPP Standard data.

To parameterise a motor controller, a further eight bytes (the Festo Parameter Channel data (FPC data)) are transferred to a special function block. This "transfer" function block supplies all parameterisation function blocks needed in the project with data.

18

The FHPP Positioning Library STEP 7

1.13 Organisation function blocks

1.13.1 Inputs and outputs

When parameterisation function blocks are used, type …_PRM_INIT function blocks control access to the I/O data. Data is exchanged via the Festo Parameter Channel (FPC).

Data is exchanged via the Festo Parameter Channel (FPC). PRM parameterisation function blocks always require an

PRM

parameterisation function blocks always require an instance of the

organisation function block.

PRM_INIT

The following table contains a list of the outputs and inputs of an organisation function block.

Key:

o

Input/output: Designation of an input or output from the STEP 7 function block

PRM_INIT.

o

Type: Data type expected by the relevant input or issued at an output.

o

Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Input/output

Type

Description

DATA_REF

VAR_IN_OUT

FPC data structure of data type FHPP_PRM_REF Contents of the data structure are identical to the I/O data of the FPC

I_ADDRESS

VAR_IN_OUT

FHPP FPC input data First address of the CAN input data of the FPC (output data of the motor controller)

O_ADDRESS

VAR_IN_OUT

FHPP FPC output data First address of the CAN output data of the FPC (input data of the motor controller)

19

The FHPP Positioning Library STEP 7

1.14 Parameterisation function blocks

1.14.1

xxx_PRM_SINGLE

The xxx_PRM_SINGLE function block transfers an individual parameter to the relevant drive controller.

an individual parameter to the relevant drive controller. Figure: Example of function block CMMP_AS_PRM_SINGLE Inputs

Figure: Example of function block CMMP_AS_PRM_SINGLE

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_SINGLE has to parameterise a motor controller.

Input/output

Type

Description

 

Execute

BOOL

Start transfer 0->1: A rising edge starts transfer of a parameter

Write

BOOL

Read/write

 

= 0: Read parameters

= 1: Write parameters

Prerequisite: UpperLimit = 0, LowerLimit = 0

UpperLimit

BOOL

Read upper limit value

 

=

1: Read upper limit value

Prerequisite: Write = 0, LowerLimit = 0

LowerLimit

BOOL

Read lower limit value

 

=

1: Read lower limit value

Prerequisite: Write = 0, UpperLimit = 0,

PNU

WORD

Number of the corresponding parameter

Subindex

BYTE

Subindex of the corresponding parameter

DatatypeWR

INT

Data type of the parameter to be written

= 1: Byte

 

= 2: Word

= 4: Double word

ParamValueWR

DINT

Parameter value when writing a parameter

DATA_REF

VAR_IN_OUT

FPC data structure Data structure provided by FB

PRM_INIT

20

The FHPP Positioning Library STEP 7

Input/output

Type

Description

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

ActPNU

WORD

Current number of the corresponding parameter

ActSubindex

BYTE

Current subindex of the corresponding parameter

DatatypeRD

INT

Data type of the read parameter

= 1: Byte

= 2: Word

= 4: Double word

ParamValueRD

DINT

Parameter value when reading a parameter

RETVAL

INT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

Table: xxx_PRM_SINGLE, inputs and outputs

Key:

o

Input/output: Designation of an input or output from the STEP 7 function block.

o

Type: Data type expected by the relevant input or issued at an output.

o

Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Limited selection of inputs and outputs

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and

outputs are present in all STEP 7 function blocks controller.

PRM_SINGLE

depending on the type of the motor

Input/output

Type

Motor controller

UpperLimit

BOOL

CMMD_AS

LowerLimit

BOOL

CMMP_AS

CMMS_AS

   

CMMS_ST

DatatypeWR

INT

MTR_DCI

   

SFC_DC

DatatypeRD

INT

SFC_LAC

SFC_LACI

The position factor must be taken into consideration when using the following inputs and outputs with the specified motor controllers.

Input/output

Type

Motor controller

ParamValueWR

DINT

MTR_DCI

   

SFC_DC

ParamValueRD

DINT

SFC_LAC

SFC_LACI

21

The FHPP Positioning Library STEP 7

1.14.2

xxx_PRM_MULTI

The xxx_PRM_MULTI function block transfers a list of parameters to the relevant motor controller.

a list of parameters to the relevant motor controller. Figure: Example of function block CMMP_AS_PRM_MULTI Inputs

Figure: Example of function block CMMP_AS_PRM_MULTI

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_MULTI has to parameterise a motor controller.

Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: A rising edge starts transfer of a parameter

DB_NO

BLOCK_DB

Number of the data block containing the multi parameters

DATA_REF

VAR_IN_OUT

FPC data structure Data structure provided by FB

PRM_INIT

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

The result of the read operation is available in the parameter field array in Value.

ParamNr

INT

Number of the parameter currently being transferred

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

RETVAL

INT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

the current internal status of the respective FB is output. Figure: Sample data block for multi

Figure: Sample data block for multi parameter containing five parameters. This DB must be transferred to the function block (top as example DB102).

22

The FHPP Positioning Library STEP 7

Composition of the structure (UDT2) DT_FHPP_PRM_DESCRIPTION

The FHPP Positioning Library STEP 7 Composition of the structure (UDT2) DT_FHPP_PRM_DESCRIPTION 23

23

The FHPP Positioning Library STEP 7

1.14.3

xxx_PRM_DIAG

The xxx_PRM_DIAG function block reads the error memory or if applicable the warning memory of the relevant motor controller.

the warning memory of the relevant motor controller. Figure: Example of function block CMMP_AS_PRM_DIAG Inputs

Figure: Example of function block CMMP_AS_PRM_DIAG

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIAG has to parameterise a motor controller.

Input/output

Type

Description

ReadLatest

BOOL

Read the most recent entry 0->1: A rising edge reads out the most recent message

ReadAll

BOOL

Read all entries 0->1: A rising edge reads out all messages

Warning

BOOL

Switch between warnings

= 0:

Read errors

= 1:

Read warnings

DATA_REF

VAR_IN_OUT

 

FPC data structure Data structure provided by FB

PRM_INIT

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

ParamNr

INT

Parameter number of the error memory Number of the parameter currently being transferred ReadLatest: ParamNr = 1 ReadAll: ParamNr of the error memory currently being processed

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

DiagBuff

ARRAY [1

n]

OF

Diagnostic buffer The read messages are stored in the diagnostic buffer (array). The completeness of the entries and number of parameters depend on the relevant device.

FHPP_PRM_DIAGMESSAGE

RETVAL

UINT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

24

The FHPP Positioning Library STEP 7

Limited selection of inputs and outputs

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and

outputs are present in all STEP 7 function blocks controller.

PRM_DIAG

depending on the type of the motor

Input/output

Type

Motor controller

Warning

BOOL

CMMP_AS

CMMP_AS_CAM

Composition of the structure (UDT3) DT_FHPP_PRM_DIAGMESSAGE

Composition of the structure (UDT3) DT_FHPP_PRM_DIAGMESSAGE Since the structure FHPP_PRM_DIAGMESSAGE is universally
Composition of the structure (UDT3) DT_FHPP_PRM_DIAGMESSAGE Since the structure FHPP_PRM_DIAGMESSAGE is universally

Since the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such as DiagEvent and DiagTimeStamp are not supported by all drives. The size of the diagnostic buffer is also dependent on the relevant motor controller.

25

The FHPP Positioning Library STEP 7

1.14.4

xxx_PRM_DIRMP

The xxx_PRM_DIRMP function block writes or reads the dynamic values for direct mode (position control).

reads the dynamic values for direct mode (position control). Figure: Example of function block CMMP_AS_PRM_DIRMP Inputs

Figure: Example of function block CMMP_AS_PRM_DIRMP

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIRMP has to parameterise a motor controller.

Input/output

Type

Description

AxisType

INT

Connected axis type

Execute

BOOL

Start transfer 0->1: A rising edge starts transfer of a parameter

Write

BOOL

Read/write

= 0: Read parameters

= 1: Write parameters

Velocity

DINT

Basic speed: PNU 540

Acceleration

DINT

Acceleration: PNU 541

Deceleration

DINT

Deceleration: PNU 542

JerkLimit

DINT

SFC_LACx: Jerk limit: PNU 543 CMMx_xxx: Jerk limit: PNU 546

DampingTime

DINT

SFC_LACx: Filter time: PNU 1023

Load

DINT

SFC_LACx: Additional weight: PNU 544

DATA_REF

VAR_IN_OUT

FPC data structure Data structure provided by FB

PRM_INIT

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

ActVelocity

DINT

Current basic speed: PNU 540

ActAcceleration

DINT

Current acceleration: PNU 541

26

The FHPP Positioning Library STEP 7

Input/output

Type

Description

ActDeceleration

DINT

Current deceleration: PNU 542

ActJerkLimit

DINT

SFC_LACx: Current jerk limit: PNU 543 CMMx_xxx: Current jerk limit: PNU 546

(Pos/Neg)

ActDampingTime

DINT

SFC_LACx: Current filter time: PNU 1023

ActLoad

DINT

SFC_LACx: Current additional load: PNU 544

RETVAL

INT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

Limited selection of inputs and outputs

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and

outputs are present in all STEP 7 function blocks controller.

PRM_DIRMP

depending on the type of the motor

Input/output

Type

Motor controller

DampingTime

DINT

SFC_LAC

ActDampingTime

DINT

SFC_LACI

Load

DINT

SFC_LAC

ActLoad

DINT

SFC_LACI

27

The FHPP Positioning Library STEP 7

1.14.5

xxx_PRM_KO

The xxx_PRM_KO function block transfers a list of communication objects (KO) to the relevant motor controller.

communication objects (KO) to the relevant motor controller. Figure: Example of function block CMMP_AS_PRM_KO Note

Figure: Example of function block CMMP_AS_PRM_KO

controller. Figure: Example of function block CMMP_AS_PRM_KO Note Communication with the Festo Configuration Tool (FCT)

Note Communication with the Festo Configuration Tool (FCT) is not possible when using the function block xxx_PRM_KO.

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_KO has to parameterise a motor controller.

Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: A rising edge starts transfer of a parameter

Write

BOOL

Read/write

= 0: Read communication object

= 1: Write communication object

Prerequisite: UpperLimit = 0, LowerLimit = 0 Further information on communication objects can be obtained from your local Festo service centre.

KO

DINT

Communication object Further information on communication objects can be obtained from your local Festo service centre.

ParamValueWR

DINT

Parameter value when writing a communication object

DATA_REF

VAR_IN_OUT

FPC data structure Data structure provided by FB

PRM_INIT

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

ParamValueRD

DINT

Parameter value when reading a communication object

RETVAL

INT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

28

The FHPP Positioning Library STEP 7

1.14.6

xxx_CAM_PRM_CAMNUMBER

With the xxx_CAM_PRM_CAMNUMBER function block you can:

o

select a cam disc by specifying the cam disc number in the drive

o

have the current cam disc read out with the help of the read command.

The function for using cam discs is optional. Please contact your local Festo service centre.current cam disc read out with the help of the read command. Figure: Example of function

is optional. Please contact your local Festo service centre. Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER

Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER

Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER Note Repeat the function after resetting the controller.

Note Repeat the function after resetting the controller.

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_CAM_PRM_CAMNUMBER has to parameterise a motor controller.

Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: A rising edge starts transfer of a parameter

Write

BOOL

Read/write

= 0: Read PNU 700 Subindex 1

= 1: Write PNU 700 Subindex 1

CamNumber

DINT

Preselection of the cam disc number

DATA_REF

VAR_IN_OUT

FPC data structure Data structure provided by FB

PRM_INIT

Done

BOOL

Transfer status

= Transfer has not been initiated

0:

= Transfer has been initiated

1:

Err

BOOL

Error

= No error during parameter transfer

0:

= Error during parameter transfer

1:

ErrID

DWORD

Error number

ActCamNumber

DINT

Number of the currently selected cam disc

RETVAL

UINT

Current status of the FB instance When using several instances of the FB, the current internal status of the respective FB is output.

29

The FHPP Positioning Library STEP 7

1.14.7

xxx_FHPP_PLUS

Other cyclical user-specific data can be configured in the FHPP+ data package. The FHPP+ data is configured via a configurator in FCT. The configuration in the Step7 Hardware Manager must match the configuration in FCT. To keep the block in the PLC as simple as possible, all the FHPP+ parameters are output as double words; for byte and word parameters, only the relevant bytes are transferred.

Noteo Maximum 10 FHPP elements are possible

o

Maximum 10 FHPP elements are possible

o

1st element is always FHPP standard (8-byte control)

o

2nd element optional FPC (8-byte parametrising)

o

2nd

nth/ 3rd

nth (n <= 10) element FHPP+ data (max. 24 byte)

Note Configured parameters always start on an even address, gaps are filled with position holders. Select Configured parameters always start on an even address, gaps are filled with position holders. Select an arrangement that makes full use of the available data width.

arrangement that makes full use of the available data width. Warning When parameters are transferred from

Warning When parameters are transferred from the PLC, there is a restricted check of the value When parameters are transferred from the PLC, there is a restricted check of the value limits. 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.

axis system has been correctly installed and parametrised. Block xxx_FHPP_PLUS Block “xxx_FHPP_PLUS” helps the user

Block xxx_FHPP_PLUS

Block “xxx_FHPP_PLUS” helps the user to map the FHPP+ data in the controller. For operation to function without errors, the FHPP+ data must be parametrised correctly in the Hardware Manager.

To ensure that the block remains simple and clear, all the FHPP+ parameters are trans-ferred as double words; for byte and word variables, only the relevant bytes are transferred.

and word variables, only the relevant bytes are transferred. Note The values are not checked. The

Note The values are not checked.

The composition of the FHPP+ data configured in the FCT is parametrised via the inputs “cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”.

FCT is parametrised via the inputs “cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”. Fig: Block xxx_FHPP_PLUS 30

Fig: Block xxx_FHPP_PLUS

30

The FHPP Positioning Library STEP 7

Inputs and Outputs

In- / Output

Type

Description

I_ADDRESS

WORD

Address of the logical inputs for the slave's FHPP+ data.

O_ADDRESS

WORD

Address of the logical outputs for the slave's FHPP+ data.

cfgFHPPplusToDrive

DINT

Configuration of the FHPP+ data to the drive.

cfgFHPPplusFromDrive

DINT

Configuration of the FHPP+ data from the drive.

FHPPplusToDrive1 9

DWORD

FHPP+ data elements 1

9

to the drive.

FHPPplusFromDrive1 9

DWORD

FHPP+ data elements 1

9

from the drive.

Err

BOOL

FALSE: No error TRUE: Error

ErrID

DWORD

Description of the error that occurred.

RET_VALUE

INT

Reply value of the function block.

Block configuration

For the FHPP+ block to prepare the transferred data correctly, it is necessary to communicate the configuration from FCT to the block.

to communicate the configuration from FCT to the block. Configuration is via the inputs “cfgFHPPplusToDrive” and

Configuration is via the inputs “cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”. Each position in the configuration variable matches the data size of the relevant FHPP+ element.

matches the data size of the relevant FHPP+ element. Note Position holders have to be taken

Note

Position holders have to be taken into consideration.

31

The FHPP Positioning Library STEP 7

1.15 Examples

1.15.1 Actuating a Festo motor controller

Festo motor controller CMMP-AS with associated function block CMMP_AS_CTRL

motor controller CMMP-AS with associated function block CMMP_AS_CTRL Figure: Example of function block CMMP_AS_CTRL 32

Figure: Example of function block CMMP_AS_CTRL

32

The FHPP Positioning Library STEP 7

Motor controllers of the type CMMP-AS- and control mode using this function block:

o

Set selection

o

Direct mode position control

o

Direct mode force control

o

Direct mode velocity control

can be actuated in the following four combinations of operating

be actuated in the following four combinations of operating The preset operating and control mode is

The preset operating and control mode is only adopted and displayed when a movement is initiated, i.e. a rising edge at the "StartTask" input.

Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13, etc. Refer to the manual for the motor controller being used for more detailed information.

o

Motor controller is switched on

o

Load voltage is present

o

PLC has control priority

Achieving ready status

Action by the user

 

Feedback

--

SupplyVoltPresent = 1

EnableDrive = 1

DriveEnabled = 1

MC

= 1

Stop = 1

 

Ready = 1

Halt = 1

HaltNotActive = 0

Homing

Action by the user

 

Feedback

StartHoming = 0->1

AckStart = 1

MC

= 0

DriveMoving = 1 HaltNotActive = 1

--

DriveMoving = 0,

(homing complete)

MC

= 1,

DriveReferenced = 1, HaltNotActive = 1

33

The FHPP Positioning Library STEP 7

Setting and "Set selection" mode

Action by the user

 

Feedback

OPM = 0

StateOPM = 0

RecordNo = 1

--

StartTask 0->1

StateOPM = 0 AckStart = 1

MC

= 0

DriveMoving = 1 ActualRecordNo = 1 ActualPosition =

--

DriveMoving = 0

(positioning complete)

MC

= 1

Setting and "Direct mode position control" mode

Action by the user

 

Feedback

OPM = 1

StateOPM = 1

SetValueVelocity =

--

SetValuePosition =

--

StartTask = 1

StateOPM = 1 AckStart = 1

MC

= 0

DriveMoving = 1 ActualVelocity = ActualPosition =

--

DriveMoving = 0

(positioning complete)

MC

= 1

Setting and "Direct mode force control" mode

Action by the user

 

Feedback

OPM = 5

StateOPM = previous operating and control mode as an INT

SetValueForce =

--

StartTask = 1

StateOPM = 5

AckStart = 1

MC

= 0

DriveMoving = 1 ActualForce = ActualPosition =

--

DriveMoving = 0

(force specification reached)

MC

= 1

34

The FHPP Positioning Library STEP 7

Setting and "Direct mode velocity control" mode

Action by the user

 

Feedback

OPM = 9

StateOPM = previous operating and control mode as an INT

SetValueRotRamp =

--

SetValueRotSpeed =

--

StartTask = 1

StateOPM = 9 AckStart = 1

MC

= 0

DriveMoving = 1 ActualRotRamp = ActualRotSpeed =

--

DriveMoving = 0

(velocity specification reached)

MC

= 1

35

The FHPP Positioning Library STEP 7

1.15.2 Parameterising a Festo motor controller

Festo motor controller CMMP-AS with associated function block CMMP_AS_PRM_SINGLE.

CMMP-AS with associated function block CMMP_AS_PRM_SINGLE. Figure: Example of function block CMMP_AS_PRM_SINGLE Motor

Figure: Example of function block CMMP_AS_PRM_SINGLE

Motor controllers of the type CMMP-AS- control mode using this function block:

can be parameterised in all four combinations of operating and

o

Set selection

o

Direct mode position control

o

Direct mode force control

o

Direct mode velocity control

mode force control o Direct mode velocity control Note A description of the parameters according to

Note A description of the parameters according to FHPP supported by the different motor controllers can be found in the relevant product documentation.

Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13, etc. Refer to the manual for the motor controller being used for more detailed information.

o

Motor controller is switched on

o

Load voltage is present

o

PLC has control priority

Achieving ready status

Action by the user

Feedback

--

SupplyVoltagePresent = 1

EnableDrive = 1

DriveEnabled = 1 MC = 1

Stop = 1

Ready = 1

Halt = 1

HaltNotActive = 0

36

The FHPP Positioning Library STEP 7

Read parameters (e.g. homing method)

Action by the user

Feedback

Write = 0

No feedback

UpperLimit

Read upper limit value

PNU = 1011

No feedback

Subindex = 1

No feedback

Execute = 0->1

Done = TRUE Err = FALSE ErrID = 0 ActPNU = 1011 ActSubindex = 1 ParamValueRD = RETVAL = 0

Write parameters (e.g. homing method acceleration)

Action by the user

Feedback

Write = 1

No feedback

PNU = 1013

No feedback

Subindex = 1

No feedback

ParamValueWR =

No feedback

Execute = 0->1

Done = TRUE Err = FALSE ErrID = 0 ActPNU = 1013 ActSubindex = 1 ParamValueRD = RETVAL = 0

The values written to the motor controller using the type

volatile memory and only remain valid until the control voltage of 24 V at the motor controller is interrupted.

The values can be permanently transferred to a non-volatile memory by writing the value 1 to the PNU 127 subindex 2.

The following steps must be taken to permanently adopt written parameters:

PRM_SINGLE

function block are stored in a

Action by the user

Feedback

Write = 1

No feedback

PNU = 127

No feedback

Subindex = 2

No feedback

ParamValueWR = 1

No feedback

Execute = 0->1

Done = TRUE Err = FALSE ErrID = 0 ActPNU = 127 ActSubindex = 2 ParamValueRD = 0 RETVAL = 0

37

2

Glossary

C

 

Consistency: A data range which is defined as consistent is transmitted complete, i.e. in one bus cycle.

Controller: Control electronics which evaluate the control signals and provide the voltage supply for the motor via the power electronics (power electronics + controller + positioning controller).

F

 

Festo Configuration Tool (FCT): Commissioning software with uniform project and data management for all supported device types. The special requirements of a device type are supported with the necessary descriptions and dialogs by means of plug-ins.

Festo Handling and Positioning Profile (FHPP): Uniform fieldbus data profile for positioning controllers from Festo.

Festo Parameter Channel (FPC): FHPP-specific parameter channel version.

FHPP: Uniform fieldbus data profile for positioning controllers from Festo (Festo Handling and Positioning Profile).

FPC: FHPP-specific parameter channel version (Festo Parameter Channel).

G

 

GSD file: Device master data file in which all specific features of the PROFIBUS slave are saved (e.g. number of I/Os, number of diagnostic bytes, etc.).

GSDML file: Device master file in which all features of the PROFINET slave are saved (e.g. number of I/Os, number of diagnostic bytes, etc.).

H

 

Homing: Homing defines the reference position and thereby the origin of the measuring reference system of an axis.

Homing method: Method for defining the reference position: against a fixed stop (overcurrent/speed evaluation) or with reference switch.

Homing mode: Operating mode in which homing is carried out.

J

 

Jog mode: Manual movement in positive or negative direction.

P

PDO: Process data object.

PKE: Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK) and the parameter number (PNU).

PKW: Telegram part used for transmitting parameters. PKW refers to a parameter identification value (see also "Festo Parameter Channel (FPC)").

PNU: Parameters which can be transmitted via the parameter channel are addressed with the parameter number (PNU). The parameter number is an integral part of the parameter identifier (PKE) and serves for identifying or addressing the individual parameter.

Position set: Positioning command defined in the position set table, consisting of target position, positioning mode, positioning speed and accelerations.

Profile position mode: Operating mode for executing a position set or a direct positioning job.

Project zero point (PZ): Measuring reference point for all positions in positioning jobs. The project zero point forms the basis for all absolute position specifications (e.g. in the position set table or with direct control via the control interface or diagnostic interface). The basis point for the project zero point is the axis zero point. With the MTR-DCI, the project zero point PZ and the axis zero point AZ are identical.

38

Glossary

R

 

Reference point (REF): Basis point for the incremental measuring system. The reference point defines a known orientation or position within the positioning path of the drive.

S

 

Subindex (IND): Integral part of the parameter channel (PKW) which addresses an element of an array parameter (subparameter number).

T

Teach mode: Operating mode for setting positions by moving to the target position, e.g. when creating position sets.

39

3

Index

D

Direct mode

F

FHPP

P

7

Parameter channel

7

S

7

Safety instructions

2

Set selection

7

 

40