Festo Motion Fhpp Tia En

www.festo.de

FestoMotionFHPP TIA Portal

Description

Library for motor controller with FHPP (Siemens TIA portal)

21.11.2016 Version 14.0.1

Table of contents 1

Important information ................................................................................................................................... 5 1.1 Intended use ....................................................................................................................................... 5 1.2 Safety instructions .............................................................................................................................. 5 1.3 Danger categories ............................................................................................................................... 6 1.4 Marking special information ............................................................................................................... 6

2

Introduction ................................................................................................................................................... 7 2.1 Basic principles ................................................................................................................................... 7 2.2 General information on Festo motor controllers .................................................................................. 7

3

Festo handling and positioning profile (FHPP) ............................................................................................. 9 3.1 FHPP operating modes ...................................................................................................................... 10 3.2 Function blocks for Festo motor controllers ...................................................................................... 10

4

Usage of the library ..................................................................................................................................... 11 4.1 Linking the library ............................................................................................................................. 11 4.2 Folder structure within the library ..................................................................................................... 12 4.3 FHPP data transfer ............................................................................................................................ 12 4.4 CPU and fieldbus-specific features .................................................................................................... 13 4.4.1 Profibus/Profinet.................................................................................................................. 13 4.4.2 IO-Link .................................................................................................................................. 13 4.4.3 Modbus TCP ......................................................................................................................... 14 4.4.4 Figure 4-7: CPU and fieldbus-specific features for data transfer (Modbus TCP) .................... 14 4.5 Addressing the data elements........................................................................................................... 15 4.5.1 FHPP_DPRD_DAT/ FHPP_DPWR_DAT (incl. FHPPplus) ............................. ............................. 15 4.5.2 FHPP_GETIO_PART/ FHPP_SETIO_PART ............................................................................... 16 4.5.3 FHPP_DATA_PEEK/ FHPP_DATA_POKE ................................................................................. 17

5

Device setup in the TIA portal ..................................................................................................................... 19 5.1 Installing the GSD/GSDML files in the TIA por tal ............................. ................................ .................. 19 5.2 Adding a PROFIBUS drive under Devices & Networks ....................................................................... 19 5.3 Adding a PROFINET drive under Devices & Networks ........................................................................ 20 5.4 Adding an IO-Link drive under Devices & Networks........................................................................... 21 5.4.1 Installing the IODD files in the TIA portal (Device Tool) Tool) ............................ ............................. 21 5.4.2 Installing the IODD files on a non-Siemens IO-Link master ................................. .................. 22 5.5 Configuring Modbus TCP ................................................................................................................... 22

6

Elements in the library ................................................................................................................................ 23 6.1 FHPP_DATA FHPP_DATA elements for data exchange .............................. ................................ ............................. 23 6.1.1 FHPP_DPRD_DAT (Profibus/ Profinet)................................................................................... 23 6.1.2 FHPP_DPWR_DAT (Profibus/Profinet)................................ ................................. .................. 24 6.1.3 FHPP_DATA_PEEK (IO-Link) .................................................................................................. 25 6.1.4 FHPP_DATA_POKE FHPP_DATA_POKE (IO-Link) ............................... ................................. ................................ .. 26 6.1.5 FHPP_GETIO_PART (IO-LINK) ................................................................................................ 27 6.1.6 FHPP_SETIO_PART (IO-LINK) ................................................................................................ 28 6.1.7 FHPP_MB_CLIENT (Modbus TCP) .......................................................................................... 29 6.2 FHPP_CONTROL function blocks for controlling ............................... ................................ .................. 30 6.2.1 FHPP_CTRL ........................................................................................................................... 30 6.2.2 FHPP_PLUS .......................................................................................................................... 35 6.3 FHPP_PARAMETER elements for parameterisation ........................................................................... 36 6.3.1 Overview of parameter FBs (function blocks) ....................................................................... 36 6.3.2 FPC_DIAG - Read current error .............................................................................................. 36 6.3.3 FPC_DIAG_BUFFER - Reading diagnostic memory ................................................................ 37 6.3.4 FPC_DIRMP - Dynamic FHPP parameters .............................................................................. 38 6.3.5 FPC_FILE - Transfer parameter records ................................................................................. 39 ii

Table of contents

6.3.6 6.3.7 6.3.8

7

FPC_MULTI – FPC_MULTI – Transfe Transferr of a list of device parameters ................................ ............................. 41 FPC_DATA_OBJECT FPC_DATA_OBJECT - Transfer of internal objects (expert) .............................. ....................... 43 FPC_PNU - Transfer of individual FHPP parameters .............................................................. 44

STATUS (reporting system element) ........................................................................................................... 45 7.1 DT_FML_STATUS ............................................................................................................................... 45 7.2 Category ........................................................................................................................................... 45 7.2.1 Category 1 - Function block error ............................. ................................ ............................. 45 7.2.2 Category 2 – 2 – reserved reserved ........................................................................................................... 45 7.2.3 Category 3 – 3 – FPC FPC error numbers ........................................................................................... 46 7.2.4 Category 4 – 4 – Siemens Siemens error numbers.................................................................................... numbers.................................................................................... 47

iii

1

Important information

1.1

Intended use

The function blocks (FB) described are used to control and parameterise motor controllers by Festo via the FHPP protocol. By means of the function blocks, the various functions of these controllers can be comfortably incorporated into the PLC program. The function blocks are called cyclically, using a separate instance, for each motor controller (each axis) that is integrated into the user program. Simultaneous use of other function blocks for controlling the same device is not permitted. Observe the "Safety instructions" and instructions on the designated use of the respective devices, components and modules. When connected with commercially available components, such as sensors and actuators, the specified limits for pressures, temperatures, electrical data, torques etc. must be observed.

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.

Service If you have any technical problems, please consult your local Festo service, or contact the central service at the following e-mail address:

[email protected]

1.2

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 ensure that nobody has access to the sphere of influence of the connected actuators. Access to the potential danger area must be prevented by suitable measures such as barriers and warning signs.

Warning Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components. You must make sure that nobody can place their hand in the positioning range of the axes or other other connected actuators and that there are no objects in the positioning path while the system is connected to energy sources. Warning Parameterisation errors can cause injury to people and damage to property. Only enable the controller if the axis system has been professionally installed and parameterised.

5

FHPP library for Siemens TIA Portal

1.3

Danger categories

This document contains information on possible dangers that can occur if the product is not u sed 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 non-observance can result in serious personal injury or damage to property.

Caution ... means that any failure to comply can result in personal injury or material damage.

Note ... means that failure to observe this instruction can result in damage to equipment.

1.4

Marking special information

Information on how danger warnings are represented can be found under "Important user information".

Pictograms The following pictograms mark passages in the text which contain special in formation. Information: Recommendations, tips and references to other sources of information.

Text markings 1. Numbers denote activities that must be carried out in the order specified. 

o

Bullet points denote activities that can be carried out in any order. Circular dots denote general listings.

Further conventions FB

Sometimes, the abbreviation " FB" (or "FBs") is used for "function block(s)":

"OK"

Names of windows, dialogues and buttons such as "Message Window," "Extract Project," "OK" as well as designations are shown in inverted commas.

CTRL

Names of keys on the PC keyboard are represented in the text with uppercase letters (e.g. ENTER KEY, CTRL, C, F1 etc.).

CTRL+C

For some functions you need to press two keys si multaneously. Example: The CTRL key together with the "C" key produces the CTRL+C character. 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.

6

2

Introduction

2.1

Basic principles

"FestoMotionFHPP" is a library for use under Siemens TIA portal. With this library, the CMMD-AS motor controllers the CMMO-ST-C5-1-LKP motor controllers the CMMP-AS motor controllers the CMMS-AS and CMMS-ST motor controllers the integrated motor unit EMCA-EC can be controlled and parameterised via their respective fieldbus interface.

o o o o o

A motor controller is controlled by means of the Festo Handling and Positioning Profile (FHPP). The library contains function blocks for controlling and parameterising the drives. Refer to the User Documentation of the motor controller for additional in formation on operating and setting up .

Architecture Each motor controller is integrated into the project via the Devices & Networks menu.

o o

All function blocks that access I/O data d irectly to control a motor controller require the addresses of the input and output data. See Chapter 3.5 Addressing the data elements All function blocks that access I/O data d irectly to parameterise a motor controller require the addresses of the input and output data of the Festo Parameter Channel (FPC). For each motor controller, a separate instance of a function block needs to be created for control or parameterisation.

2.2

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:

Documentation on Festo motor controllers Documentation

Table of contents

Brief description and descriptions (see Support Portal or Catalogue)

Brief description: Important commissioning instructions and preliminary information. Descriptions: contents as described below.

Manuals P.BE-... (from the Support Portal)

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

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

Functional descriptions for the Festo Configuration Tool configuration software.

Help system for the "FestoMotionFHPP" library (this Help)

Use of the function blocks for Festo motor controllers described here.

Note Always observe the information and safety instructions in the documentation.

7

3 Festo handling and positioning profile (FHPP) Tailored to the target applications for handling and positioning tasks, Festo has developed an optimised device profile, the “Festo Handling and Positioning Profile (FHPP)”. The FHPP device profile allows uniform programming for the control of Festo motor controllers via various fieldbus systems. In the FHPP, the user can create a uniform definition for

o o o o

Operating modes I/O data structure Parameter objects Sequence control.

Figure 3-1: The FHPP principle

Control and status bytes Control of the motor controllers via the fieldbus is achieved via 8 bytes of I/O data. Usually, control functions are triggered and status messages for the function block are evaluated by means of single-bit operations.

Parameter channel The control system has read and write access to all controller parameter values via the parameter channel. A further 8 bytes of I/O data are used for this purpose.

9


3.1

FHPP operating modes

Record selection In the "Record selection" mode, the records that are saved in a record list within the motor controller can be executed. The record list is parameterised or taught during commissioning with the Festo Configuration Tool.

Direct mode In "Direct mode", the most important positioning data is transferred directly to the motor controller via the FHPP control data. Target positions and speeds can be ascertained and specified by the controller at execution time. There are no limitations regarding the number of saved records. In direct mode, values can be taught/parameterised via the PLC control system.

o o

The following direct operating modes can be selected:

o o o

3.2

Direct mode with position control Direct mode with torque control Direct mode with speed adjustment

Function blocks for Festo motor controllers

The library contains the following function blocks (FBs):

o o o o o

A control function block "FHPP_CTRL" for controlling the motor controller One "FHPPplus" function block for transfer of the FHPP+ data (controller-dependent) Various parameter function blocks for exchanging individual parameters or groups of parameters with the motor controller Transfer function blocks for providing data f rom the motor controller for the control function block and the parameter function blocks Transfer function blocks for transferring output data f rom the control function block and the parameter function blocks

The transfer function blocks are dependent on the fieldbus, via which an FHPP device is connected to the control system.

3.3

Releases for TIA Portal

Several libraries are available for the different TIA portal versions. There can be functional differences in the several versions. The versions can be assigned by the folder n ame or the ending oft he file n ame.

10

o

FestoMotionFHPP_V13_SP1.al13 -> TIA Portal V13

o

FestoMotionFHPP.al14 -> TIA Portal V14

4 Usage of the library 4.1

Linking the library

The library is added to the project via the menu Extras, Global libraries, Open library.

Figure 4-1: Integrating the library

The library is now available in the Global Libraries window. The elements and data types required are copied directly into the project by drag & drop.

Figure 4-2: Using the library

Notes on using the library can be found in the general help under the topic "Using elements from libraries".

11


4.2

Folder structure within the library

For a clear overview, the elements in the library are grouped into subfolders.

Figure 4-3: Structure of the folders

All elements and data types required from the library for the project must be copied to the project.

4.3

FHPP data transfer

The FHPP input data is read into the control system via one of the read elements. A data reference (FML_REF) connects all elements of a drive. Finally, the FHPP output data is sent to the drive via one of the write elements. The read/write function block required depends on how the FHPP device is connected to the control system. read data from device (pre) FHPP DATA

FHPP_CTRL FHPP CONTROL

FHPPplus

FPC_PNU/ FPC_DIAG/ ...

FML_REF

FHPP PARAMETER

write data to device (post) FHPP DATA

Figure 4-4: Sequence of the elements

Note The function block required for reading or writing data depends on the connection of t he device and the CPU required.

12

Usage of the library

4.4

CPU and fieldbus-specific features

4.4.1

Profibus/Profinet S71500/ S71200/ S7300/ S7400 FHPP_DPRD_DAT

FHPP-Device

t e n i f o r P / s u b i f o r P

FHPP library blocks

FHPP_DPWR_DAT

Figure 4-5: CPU and fieldbus-specific features for data transfer (Profibus/ Profinet)

4.4.2

IO-Link S71500/ S7300/ S7400 FHPP_GETIO_PART

FHPP-Device

FHPP library blocks

K N I L O I

IO-Link Master

FHPP_SETIO_PART

t e n i f o r P / s u b i f o r P

S71500/ S71200 FHPP_DATA_PEEK

FHPP library blocks

FHPP_DATA_POKE

Figure 4-6: CPU and fieldbus-specific features for data transfer (IO-Link)

13


4.4.3

Modbus TCP S71500/ S71200 FHPP_MB_CLIENT

FHPP-Device

Modbus TCP

FHPP library blocks

Figure 4-7: CPU and fieldbus-specific features for data transfer (Modbus TCP)

14


4.5 Addressing the data elements If a drive is integrated un der Devices & Networks, the hardware addresses can be viewed in the system constants under PLC Variables. The I/O data of a device is generally accessed via the HW addresses. As FHPP drives are modular devices, the individual I/O modules must be addressed.

Note Unconfigured modules have zero as their address on the element.

4.5.1

FHPP_DPRD_DAT/ FHPP_DPWR_DAT (incl. FHPPplus)

Figure 4-8: FHPP_DPRD/DPWR_DAT

Note "Message from PLC" in the FCT is viewed from the device perspective. The PLC sends the data to the device.

15


4.5.2

FHPP_GETIO_PART/ FHPP_SETIO_PART

If a device is connected to a CPU via a fieldbus coupler (e.g., IO-Link master), the I/O data can no longer be reached simply via the module address. This requires partial access to the I/ O data, which is addressed as follows. The address is the same as the start of the IO-Link master sub-module (see 1), and the offset (see 2) corresponds to the data shift within the IO-Link master in bytes. For example, if the addressed FHPP device is in the first slot of the IO-Link master, the offset is zero.

2 2 1

Figure 4-9: FHPP_GETIO/SETIO_PART

16


4.5.3

FHPP_DATA_PEEK/ FHPP_DATA_POKE

In contrast to the addressing of the GETIO_PART and SETIO_PART element, the addressing of PEEK and POKE originates from the I/O address of the corresponding I/O data range, and not from the HW sub -module address.

Figure 4-10: FHPP_DATA_PEEK/POKE

17

5 5.1

Device setup in the TIA portal Installing the GSD/GSDML files in the TIA portal

Before the library can be used, the GSD/GSDML files for the respective drive must be installed. The instal lation process is the same for the GSD and GSDML file. To install the GSD/GSDML files, switch to project view in the TIA portal. 1. Select "Extras" > "Install device description file (GSD)" 2. Click the "Search" button to the right of the source path, and select the folder in which the GSD/GSDML files were saved. 3. Select the desired GSD/GSDML file(s). 4. Click "Install" to start the installation process for the selected files.

5.2 Adding a PROFIBUS drive under Devices & Networks Under project navigation, in project view, open the Devices & Networks view. 1. All installed drives are displayed in the hardware catalogue under "PROFIBUS-DP" > "Additional FIELD DEVICES" > "Drives" > "Festo". 2. You can attach the required drive to the PROFIBUS master via drag & drop. 3. Drag with the mouse to establish the network connection. Select the Profibus interface of the CPU, and drag the connection to the interface of the Festo drive.

Figure 5-1: Adding a Profibus device to the n etwork

Next, you have to select the required EA modules. 5. Open device view to open the list of available protocols. 6. Drag the required modules into the list. It is indicated where the placement is possible.

Addressing is automatic, but can be changed manually.

Figure 5-2: Selecting the EA modules (Profibus)

19


5.3 Adding a PROFINET drive under Devices & Networks Under project navigation, in project view, open the Devices & Networks view. 1. All installed drives are displayed in the hardware catalogue under "PROFIBUS IO" > "Additional FIELD DEVICES" > "Drives" > "Festo". 2. You can attach the required drive to the PROFIBUS master via drag & drop. 3. Drag with the mouse to establish the network connection. Select the Profinet interface of the CPU, and drag the connection to the interface of the Festo drive.

Figure 5-3: Adding a Profinet device to the network

Next, you have to select the required EA modules. 5. Open the Drives subfolder to open the list of available protocols. 6. Drag the required modules into the list. It is indicated where the placement is possible. Addressing is automatic, but can be changed manually.

Figure 5-4: Selecting the EA modules (Profinet)

20

Device setup in the TIA portal

5.4 Adding an IO-Link drive under Devices & Networks IO-Link devices always have a point-to-point connection to an IO-Link master. From a control system perspective, an IO-Link master is a PROFINET or PROFIBUS slave device, and can be from Siemens or a third-party manufacturer.

Note The individual I/O modules on an IO -Link master are grouped into a module in the control system. As a result, partial access to the I/O data of the IO-Link master is required for an IO-Link device.

5.4.1

Installing the IODD files in the TIA portal (Device Tool)

The device description file for IO-Link devices i s installed in the "Device Tool". An IO-Link master needs to be configured in the Devices & Networks dialogue. Start the Device Tool by right-click on the IO-Link master.

Figure 5-5: Start the Device Tool with a S imatic ET200SP

You can then import the IODD in the Device Tool. There are two IODD variants for FHPP devices: FHPP standard only (8 byte) FHPP standard + FPC (16 byte) The FPC protocol allows access to the internal objects.

21


Figure 5-6: Import the IODD

5.4.2

Installing the IODD files on a non-Siemens IO-Link master See the Help for the respective product for the procedure for commissioning an IO-Link device on a non-Siemens master. Ensure that the master is implemented per IO-Link specification V1.1.

5.5

Configuring Modbus TCP

In contrast to Profinet, Profibus and IO-Link devices, a Modbus TCP connection can only be established via the PLC program. In order to control an FHPP device via Modbus TCP, the function block"FHPP_MB_CLIENT" is required.

Note The function block FHPP_MB_CLIENT only supports Modbus TCP connections with S71200 and S71500 CPUs.

Note Not all FHPP devices support Modbus TCP

Note The function block FHPP_MB_CLIENT only supports the Siemens MB_Client version 4 .0 or higher.

Figure 5-7: MB_CLIENT version Siemens

22

6 6.1

Elements in the library FHPP_DATA elements for data exchange

The elements use functions from Siemens to read and write data to the device. The names of the blocks contain the Siemens function used in each case. Detect and rectify commissioning errors in a simple way: Always observe the Error Bool in FML_REF. The transfer is only error-free if its value is FALSE. Activate the HW_IO_Addresses one after the other in order to detect incorrect inpu ts more quickly. Analyse errors easily and rapidly by means of the return value. -

6.1.1

FHPP_DPRD_DAT (Profibus/ Profinet)

The function block FHPP_DPRD_DAT calls the Siemens function DPRD_DAT, processes the raw data from the motor controller, and makes it available in standardised form to the control block and the parameter blocks in a data structure at the in-out parameter FML_REF.

Figure 6-1: Function block FHPP_DPRD_DAT

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF

This data structure contains all data required to control and parameterise a motor controller.

HW_IO_FHPP

VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FHPP standard data (0=inactive)

HW_IO_FPC

VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FPC standard data (0=inactive)

HW_IO_FHPPplus VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FHPP+ data (0=inactive)

DeviceType

VAR_INPUT

STRING[16]

Specification of device type. Admissible characters: CMMO_ST, EMCA_EC, CMMP_AS, CMMS_AS, CMMS_ST, CMMD_AS

cfgFHPPplusIn

VAR_INPUT

DINT

FHPP+ data composition (FCT)

Error

VAR_OUTPUT BOOL

Status

VAR_OUTPUT DT_FML_STATUS Feedback of error

Error occurred

Note With S7300/400 CPUs you have to asign the logical input address oft the specific module.

23


6.1.2

FHPP_DPWR_DAT (Profibus/Profinet)

The function block FHPP_DPWR_DAT calls the Siemens function DPWR_DAT and makes the PLC output data available to the drive.

Figure 6-2: Function block FHPP_DPWR_DAT

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


HW_IO_FHPP

VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FHPP standard data (0=inactive)

HW_IO_FPC

VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FPC standard data (0=inactive)

HW_IO_FHPPplus

VAR_INPUT

WORD/ HW_IO(V14)

Hardware address of the FHPP+ data (0=inactive)

cfgFHPPplusOut

VAR_INPUT

DINT

Activate FHPP+ data mapping. (Value from FCT)

Error

VAR_OUTPUT

BOOL

Error occurred

Status

VAR_OUTPUT

DT_FML_STATUS Feedback of error

Note With S7300/400 CPUs you have to asign the logical output address oft the specific module.

24

Elements in the library

6.1.3

FHPP_DATA_PEEK (IO-Link)

The function block FHPP_DATA_PEEK calls the Siemens function P EEK, processes the raw data from the motor controller, and makes it available in standardised form to the control fun ction block and the p arameter function blocks in a data structure at the in-out parameter FML_REF.

Figure 6-3: Function block FHPP_DATA_PEEK

Note only S71200/1500 CPUs

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


IAddress_FHPP

VAR_INPUT

INT

Start address of the FHPP input data

IAddress_FPC

VAR_INPUT

INT

Start address of the FPC input data (0=inactive)

IAddress_FHPPplus

VAR_INPUT

INT

Start address of the FHPP+ input data (0=inactive)

DeviceType

VAR_INPUT

STRING[16]


cfgFHPPplusIn

VAR_INPUT

DINT


Error

VAR_OUTPUT

BOOL

Error occurred

Status

VAR_OUTPUT

DT_FML_STATUS Feedback of error

25


6.1.4

FHPP_DATA_POKE (IO-Link)

The function block FHPP_DATA_POKE calls the Siemens function P OKE and makes the PLC output data available to the drive.

Figure 6-4: Function block FHPP_DATA_POKE


Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


OAddress_FHPP

VAR_INPUT

INT

Start address of the FHPP output data

OAddress_FPC

VAR_INPUT

INT

Start address of the FPC output data (0=inactive)

OAddress_FHPPplus

VAR_INPUT

INT

Start address of the FHPP+ output data (0=inactive)

cfgFHPPplus

VAR_INPUT

INT

Activate FPC data mapping

Error

VAR_OUTPUT

BOOL

Error occurred

Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

26


6.1.5

FHPP_GETIO_PART (IO-LINK)

The function block FHPP_GETIO_PART calls the Siemens function GETIO_PART, processes the raw data from the motor controller, and makes it available in standardised form to the control fun ction block and the parameter function blocks in a data structure at the in-out parameter FML_REF.

Figure 6-5: Function block FHPP_GETIO_PART

Note only S7300/400/1500 CPUs

Inputs and outputs

Signal name

Variable type Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


ID

VAR_INPUT

WORD/ Hardware identifier of the EA module HW_SUBMODULE

Offset

VAR_INPUT

INT

Number of the first byte to be read in the process image of the component (smallest possible value: 0)

DeviceType

VAR_INPUT

INT


cfgFPC

VAR_INPUT

BOOL

Activate FPC data mapping

INT


cfgFHPPplusIn VAR_INPUT Error

VAR_OUTPUT BOOL

Error occurred

Status

VAR_OUTPUT DT_FML_STATUS

Feedback of error

27


6.1.6

FHPP_SETIO_PART (IO-LINK)

The function block FHPP_SETIO_PART calls the Siemens function SETIO_PART and makes the PLC output data available to the drive.

Figure 6-6: FHPP_SETIO_PART

Note only S7300/400/1500 CPUs

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


ID

VAR_INPUT

Offset

VAR_INPUT

cfgFPC

VAR_INPUT

BOOL

cfgFHPPplusOut

VAR_INPUT

INT

FHPP+ data composition (FCT)

Error

VAR_OUTPUT

BOOL

Error occurred

Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

28

WORD/ HW_SUBMODULE INT

Hardware identifier of the EA module Number of the first byte to be described in the process image of the component (smallest possible value: 0) FPC data transmission


6.1.7

FHPP_MB_CLIENT (Modbus TCP)

The function block FHPP_MB_CLIENT calls the Siemens function MB_CLIENT, through which a Modbus TCP connection is established to the drive, and the cyclical data exchange takes place.

Figure 6-7: Function block FHPP_MB_CLIENT


Inputs and outputs

Signal name

Variable type

Data type

FML_REF

VAR_IN_OUT DT_FML_REF

Description This data structure contains all data required to control and parameterise a motor controller.

Modbus_DATA_PTR VAR_IN_OUT

VARIANT

Pointer to the FHPP Modbus data register

EnableConnection

VAR_INPUT

BOOL

initialises and ends the Modbus connection

DeviceType

VAR_INPUT

STRING[16]


EnableFPC

VAR_INPUT

BOOL

Activates transfer of the FPC data

EnableFHPPplusIn

VAR_INPUT

DINT

Data composition of FHPP+ input data (FCT)

EnableFHPPplusOut VAR_INPUT

DINT

Data composition of FHPP+ output data (FCT)

IP_ADDR_BYTE1..4

VAR_INPUT

BYTE

IP address for the Modbus TCP slave, in bytes

ConnectionID

VAR_INPUT

INT

Unique connection ID (1-4095)

TIMEOUT

VAR_INPUT

TIME

Timeout period for connection monitoring Default = 500 ms

COM_ENABLED

VAR_OUTPUT BOOL

Error

VAR_OUTPUT BOOL

Status


Connection established Error occurred

Modbus_DATA_PTR: For the exchange of data via Modbus, the MB_CLIENT requires a global memory area as a data buffer. For each Modbus TCP connection to an FHPP drive, an FHPP Modbus data register must be created and transferred to the element.

Note Create the FHPP data register as an ARRAY[1..32] of bytes in a global DB. The maximum length of an FHPP telegram is 32 bytes.

The FHPP_MB_CLIENT is preset internally with all Festo specific configuration sett ings.

29


6.2 6.2.1

FHPP_CONTROL function blocks for controlling FHPP_CTRL

The control function block "FHPP_CTRL" is u sed for controlling a Festo motor controller. The available input and output data are managed in the DT_FML_REF structure.

Note The supply and disposal of the FHPP data must be ensured by means of the function blocks from the FHPP_DATA library folder.

Figure 6-8: Function block FHPP_CTRL

The following tables describe all inputs and outputs provided by the "FHPP_CTRL" function block for controlling a motor controller. In-out variable - VAR_INOUT

Signal name

Data type

FML_REF

DT_FML_REF This data structure contains all data required to control and parameterise a motor controller.

30

Description

Elements in the library Input variables - VAR_INPUT

Signal name

Data type

Description

EnableDrive

BOOL

Enable drive = TRUE: Enable drive = FALSE: Disable drive

Stop

BOOL

Stop = TRUE: Enable operation. = FALSE: Stop active (cancel emergency ramp + positioning task). The drive stops with maximum braking ramp, the positioning job is reset.

Brake

BOOL

Release brake = TRUE: Release brake = FALSE: Brake is active 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 control system.

ResetFault

BOOL

Acknowledge the malfunction A malfunction is acknowledged with a rising edge and the malfunction value is deleted.

HMIAccessLocked

BOOL

Software access blocked Control of access to the local (integrated) diagnostic interface of the controller. = TRUE: The "FCT" software may only monitor the controller; the software cannot assume control of the device (FCT control). = FALSE: The FCT software can assume control of the device (to change parameters or to control inputs).

OPM

INT

FHPP operating mode + control mode = 0: Record selection = 1: Direct mode with position control = 5: Direct mode with force/torque operation = 9: Direct mode with speed adjustment

Halt

BOOL

Halt = TRUE: Halt is not active = FALSE: Halt is active (do not cancel braking ramp + positioning task). The axis stops with a defined braking ramp, the positioning task remains active (the remaining path can be deleted with ClearRemainingPosition).

StartTask

BOOL

Start positioning job A rising edge transfers the current nominal d ata and starts an action (also, e.g., Record 0 = homing).

StartHoming

BOOL

Start homing A rising edge starts homing with the preset parameters.

JoggingPos

BOOL

Jog positive The drive moves at the specified speed or rotational speed in the direction of larger actual values, as long as the bit is set. The movement begins with the rising edge and ends with the falling edge.

31


JoggingNeg

BOOL

Jog negative The drive moves at the specified speed or rotational speed in the direction of smaller actual values, see JoggingPos.

TeachActualValue

BOOL

Teach value With a falling edge, the current actual value is transferred to the nominal value register of the currently addressed teach target. Actual values might include position or torque.

ClearRemainingPosition

BOOL

Delete remaining path In the "Halt" state, a rising edge causes the positioning task to be deleted and a transition to the "R eady" state.

Relative

BOOL

Absolute/relative (only direct mode with position control) = FALSE: Setpoint value is absolute = TRUE: Setpoint value is relative to last setpoint value.

DeactivateStrokeLimit

BOOL

Deactivate monitoring of a stroke limit = FALSE: Stroke limit monitoring is active = TRUE: Stroke limit monitoring is not active

ExecuteFunction

BOOL

Activation oft the FUNC-BIT (only for CMMP-AS) =TRUE: Activate Func =FALSE: Deactivate Func

RecordNo

INT

Record number (record selection only)

SetFunctionNumer

INT

Set the function number (only for CMMP-AS) Described in CMMP-AS FHPP manual

SetFunctionGroup

INT

Set the function group (only for CMMP-AS) Described in CMMP-AS FHPP manual

SetValueVelocity

BYTE

Speed in % of the base value (limited to 100%) (only direct application with positioning mode) Direct application – positioninig mode: target velocity Direct application – force/torque mode for CMMOST and EMCA-EC: velocity limit 



SetValuePosition

DINT

Position in the position unit (only direct application with positioning mode)

SetValueForceRamp

BYTE

Force ramp in % of the base value (limited to 100%) (only direct application with force/torque mode)

SetValueForce

DINT

Torque in % of the base value (only direct application with force/torque mode)

SetValueRotRamp

BYTE

Speed ramp in % of the base value (limited to 100%) (only direct application with speed mode)

SetValueRotSpeed

DINT

Speed in speed unit (only direct application with speed mode)

32

Elements in the library Output variables - VAR_OUTPUT

Signal name

Data type

Description

DriveEnabled

BOOL

Controller enabled = FALSE: Drive blocked, controller not active = TRUE: Drive (controller) enabled

Ready

BOOL

Operation enabled = FALSE: Stop activated = TRUE: Operation enabled, positioning possible

Warning

BOOL

Warning = FALSE: No warning active = TRUE: Warning is active

Fault

BOOL

Malfunction = FALSE: No malfunction = TRUE: Malfunction active. Error code in the diagnostic memory.

SupplyVoltagePresent

BOOL

Load voltage is applied = FALSE: No load voltage = TRUE: Load voltage is applied

ControlFCT_HMI

BOOL

Software device control = FALSE: Device control enabled (e.g. PLC/fieldbus) = TRUE: Software device control (PLC control is locked)

StateOPM

INT

Feedback on FHPP operating mode + control mode = 0: Record selection = 1: Direct mode with position control = 5: Direct mode with torque control = 9: Direct mode with speed adjustment

HaltActive

BOOL

Halt = FALSE: Halt is active = TRUE: Halt is not active, axis can be moved

AckStart

BOOL

Acknowledge Start = FALSE: Ready for start (reference, jog) = TRUE: Start carried out (reference, jog)

MC

BOOL

Motion complete = FALSE: Positioning task active = TRUE: Positioning task complete, possibly with error Note: MC is set only after device is switched on (status "Drive blocked").

AckTeach

BOOL

Acknowledge teach = FALSE: Ready for teaching = TRUE: Teaching carried out, actual value was transferred

DriveIsMoving

BOOL

Axis is moving = FALSE: Speed of the axis < Limit = TRUE: Speed of the axis >= Limit

DragError

BOOL

Following error = FALSE: No following error = TRUE: Following error active

StandstillControl

BOOL

Standstill monitoring = FALSE: Axis stays in the tolerance window after MC = TRUE: Axis has left the tolerance window after MC

HomingValid

BOOL

Drive has a valid reference position = FALSE: Homing must be carried out = TRUE: Reference position available, homing does not have to be carried out

VelocityLimitReached

BOOL

Speed limit value reached (with torque control only) = FALSE: Speed limit not reached = TRUE: Speed limit reached

33


StrokeLimitReached

BOOL

Stroke limit value reached/exceeded = FALSE: Normal condition; stroke limit is not reached = TRUE: Stroke limit was reached/exceeded

FunctionIsActive

BOOL

Feedback of the FUNC-Bit (only for CMMP-AS) =TRUE: FUNC-Bit is activ =FALSE: FUNC-Bit is not activ

ActualFunctionNumber

INT

Feedbackof the function number (only for CMMP-AS)

ActualFunctionGroup

INT

Feedbackof the function group (only for CMMP-AS)

RC1

BOOL

1. Record sequencing carried out = FALSE: No step enabling condition was configured or reached = TRUE: The first step enabling condition was reached

RCC

BOOL

Record sequencing complete - valid as soon as MC is present. = FALSE: Record sequencing cancelled. At least one step enabling condition has not been achieved. = TRUE: Record sequence was processed to the end.

ActualRecordNo

INT

Record number (record selection only)

ActualPosition

DINT

Position in the position unit (only direct application with positioning mode/ record selection)

ActualVelocity

DINT

Speed in % of the base value (only direct application with positioning mode/ record selection)

ActualForce

DINT

Torque in % of the base value (only direct application with force/torque mode)

ActualRotRamp

DINT

Speed ramp in % of the base value (only direct application with speed mode)

ActualRotSpeed

DINT

Speed in speed unit (only direct application with speed mode)

For the function block FHPP_CTRL, the monitoring and watch table of the same name i s available. It permits simple initial start-up.

34


6.2.2

FHPP_PLUS

The module FHPP_PLUS permits data exchange of freely defined additional objects. The selection of these objects is parameterised in the FCT, and transferred as a configuration entry to the transfer function block used.

Note The data is transferred to the fieldbus in the parameter sizes 1 byte, 2 byte, 4 byte. W ithin the PLC, all FHPP+ data is converted to the DINT data type. Please note the positive/negative signs and value limits.

The availability of the FHPP+ data channel is device-dependent. See the device description for further information.

Figure 6-9: Function block FHPP_PLUS

Inputs and outputs

Signal name

Variable type

Data type

FML_REF

VAR_IN_OUT

DT_FML_REF This data structure contains all data required to control and parameterise a motor controller.

O_FHPPplus1..9 VAR_INPUT I_FHPPplus1..9

DINT

VAR_OUTPUT DINT

Description

FHPP+ output variables 1..9 FHPP+ input variables 1..9

35


6.3

FHPP_PARAMETER elements for parameterisation

6.3.1

Overview of parameter FBs (function blocks)

The table shows the existing parameter function blocks with the motor controllers that support t hem.

Parameter FB

CMMO-ST EMCA-EC CMMP-AS CMMS-xx

FPC_DIAG

X

X

X

X

FPC_DIAG_BUFFER

X

X

X

X

FPC_DIPMP

X

X

X

X

FPC_FILE

X

X

-

-

-

-

X

X

FPC_MULTI

X

X

X

X

FPC_PNU

X

X

X

X

FPC_DATA_OBJECT

X = The motor controller supports the function b lock. - = The function block cannot be used.

Note The supply and disposal of the FPC data must be ensured by means of the fu nction blocks from the FHPP_DATA library folder.

For every function block FPC_xxx, a monitoring and force table is available.

6.3.2

FPC_DIAG - Read current error

The function block FPC_DIAG reads out the latest error registered in the motor controller.

Figure 6-10: Function block FPC_DIAG

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


Execute

VAR_INPUT

BOOL

Start transfer FALSE -> TRUE: The current error is read via a rising edge.

Done

VAR_OUTPUT

BOOL

Transfer status = FALSE: Transfer is active (or has not been started) = TRUE: Transfer is complete

Error

VAR_OUTPUT

BOOL

Error = FALSE: No error during transfer = TRUE: Error during

MessageNumber

VAR_OUTPUT

INT

Error number read; 0 if no error is active.

Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

36


6.3.3

FPC_DIAG_BUFFER - Reading diagnostic memory

The function block FPC_DIAG_BUFFER reads the diagnostic memory of the respective motor controller. The parameters are stored in an " ARRAY[1..200]OF FHPP_PRM_DIAGMESSAGE".

Figure 6-11: Function block FPC_DIAG_BUFFER

The motor controllers have different diagnostic memory sizes: 

CMMO-ST and EMCA-EC: 200 entries



CMMP-AS: 32 entries



CMMS-xx: 4 entries

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


Execute

VAR_INPUT

BOOL

Starts the function All messages are read and transferred to the DiagBuff array

Done

VAR_OUTPUT

BOOL


ValidEntries

VAR_OUTPUT

INT

Display of the number of entries in the diagnostic memory of the motor controller

ParamNr

VAR_OUTPUT

INT

Number of the parameter which is currently being transferred

Error

VAR_OUTPUT

BOOL

Error = FALSE: No error during transfer = TRUE: Error during

Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

DiagBuff

VAR_OUTPUT

ARRAY [1..200] OF DT_FML_PRM_DIAGMESSAGE

Diagnostic buffer The messages read are stored in the diagnostic buffer (array).

Design of the field structure of the diagnostic buffer DiagBuff

ARRAY [1..200] OF FHPP_PRM_DIAGMESSAGE;

TYPE FHPP_PRM_DIAGMESSAGE : STRUCT DiagEvent

: DINT;

// Diagnostic event PNU 200

DiagMsgNumber

: DINT;

// Fault number PNU201

DiagTimeStamp:

: DWORD;

// Time stamp of diagnostic message

END_STRUCT END_TYPE

37


6.3.4

FPC_DIRMP - Dynamic FHPP parameters

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

Figure 6-12: Function block FPC_DIRMP

The function block transfers 3 parameters (sorted by PNU):

PNU

Parameter

540.1 Basic velocity 541.1 Acceleration 542.1 Deceleration

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


Execute

VAR_INPUT

BOOL

Start transfer FALSE -> TRUE: With a rising edge, transfer of a parameter is started

Write

VAR_INPUT

BOOL

Read/write = FALSE: Read parameter = TRUE: Write parameter

Velocity

VAR_INPUT

DINT

PNU 540.1: Basic velocity

Acceleration

VAR_INPUT

DINT

PNU 541.1: Acceleration

Deceleration

VAR_INPUT

DINT

PNU 542.1: Deceleration

Done

VAR_OUTPUT BOOL


Error

VAR_OUTPUT BOOL

Error = FALSE: No error during transfer of a parameter = TRUE: Error during transfer of a parameter

ActVelocity

VAR_OUTPUT DINT

PNU 540.1: Current basic velocity

ActAcceleration VAR_OUTPUT DINT

PNU 541.1: Current acceleration in direct mode

ActDeceleration VAR_OUTPUT DINT

PNU 542.1: Current deceleration in direct mode

Status

38



6.3.5

FPC_FILE - Transfer parameter records

This function block can be used to save complete parameter records on the controller in a GlobalDB, and accessed again from there. For example, the function block can transfer all parameters to the new device if a device is replaced.

The function block FPC_FILE

o o

transfers a complete set of parameters from the motor controller to a GlobalDB on the controller via "Upload", transfers a complete set of parameters to the motor controller from a GlobalDB on the controller via "Download".

Note The function block FPC_FILE is only supported by controller types CMMO-ST and EMCA-EC.

Functional description o The function must be selected by setting one of the variables "Upload" or "Download" to " TRUE". o The parameter records are stored in a pre-defined byte array in a GlobalDB on the controller. o The byte array must be >= the size of the data expected. o Every error interrupts the current transfer. o Upload: If there is an error, the data already written is deleted again. o Every message is monitored by timeout on transfer. o The duration of the transfer depends on the b us cycle time and might take some time.

Figure 6-13: Function block FPC_FILE

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


FILE_ARRAY

VAR_IN_OUT

ARRAY[1..n] of Byte

Byte array for storage of the data in a Global DB. The size of the array depends on the number of device parameters.

Execute

VAR_INPUT

BOOL

Start transfer FALSE -> TRUE: The parameter transfer is started by a rising edge

Upload (*)

VAR_INPUT

BOOL

Parameter transfer from the motor controller to the file. A new file is created or overwritten.

Download (*)

VAR_INPUT

BOOL

Parameter transfer from the file to the motor controller.

Done

VAR_OUTPUT

BOOL

Transfer status = FALSE: Parameter transfer is still active (or not started). = TRUE: Parameter transfer completed without errors.

CountByte

VAR_OUTPUT

DINT

Dynamic byte counter during parameter transfer

39


FileSize

VAR_OUTPUT

DINT

Size of the parameter file to be transferred.

Error

VAR_OUTPUT

BOOL

Error = FALSE: No error. = TRUE: Error on transfer; see ErrHandle for details.

Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

Note (*): The "Upload" and "Download" signals must not be set simultaneously.

40


6.3.6

FPC_MULTI – Transfer of a list of device parameters

The function block FPC_MULTI transfers a list of parameters to the respective motor controller.

The parameters are transferred in an ARRAY[1..n] OF DT_FML_PRM_DESCRIPTION.

Figure 6-14: Function block FPC_MULTI

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


FML_PRM_DESCRIPTION_ARRAY VAR_IN_OUT

VARIANT

Array of the parameters to be transferred.

Execute

VAR_INPUT

BOOL

Start transfer FALSE -> TRUE: With a rising edge, transfer of a parameter is started

Done

VAR_OUTPUT

BOOL

Transfer status = FALSE: Transfer is active (or has not been started) = TRUE: Transfer is complete The result of the reading is displayed as the Value in the parameter field (array).

ParamNr

VAR_OUTPUT

INT

Number of the parameter which is currently being transferred

Error

VAR_OUTPUT

BOOL


Status

VAR_OUTPUT

DT_FML_STATUS

Feedback of error

41


Structure DT_FML_PRM_DESCRIPTION

Signal name Data type

Description

PNU

WORD

Parameter number

SUBINDEX

BYTE

Sub-index

ACCESS

BYTE

Read access: 0 = PNU Write access: 1 = PNU

VALUE

DINT

Parameter value

42


6.3.7

FPC_DATA_OBJECT - Transfer of internal objects (expert)

The function block FPC_Data_Object allows access to internal objects of the motor cont roller.

Figure 6-15: Function block FPC_DATA_OBJECT Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


Execute

VAR_INPUT

BOOL

Start transfer FALSE->TRUE: With a rising edge, transfer of a parameter is started

Write

VAR_INPUT

BOOL


Object (1)

VAR_INPUT

INT

Number of the corresponding parameter

Value

VAR_INPUT

DINT

Parameter value when writing a parameter

Done

VAR_OUTPUT BOOL


Error

VAR_OUTPUT BOOL


ActObject

VAR_OUTPUT INT

Current number of the corresponding parameter

ActSubindex VAR_OUTPUT BYTE

Current subindex of the corresponding parameter

ActValue

VAR_OUTPUT DINT

Parameter value when reading a parameter

Status


Table: FPC_DATA_OBJECT, inputs and outputs

Note (1): The object parameters are not public. If necessary, please contact the Festo Service.

43


6.3.8

FPC_PNU - Transfer of individual FHPP parameters

The function block FPC_PNU transfers an individual parameter to/from the motor controller.

Figure 6-16: Function block FPC_PNU

Inputs and outputs

Signal name

Variable type

Data type

Description

FML_REF

VAR_IN_OUT

DT_FML_REF


Execute

VAR_INPUT

BOOL

Start transfer FALSE->TRUE: With a rising edge, transfer of a parameter is started

Write

VAR_INPUT

BOOL


PNU

VAR_INPUT

INT

Number of the corresponding parameter

Subindex

VAR_INPUT

INT

Subindex of the corresponding parameter

Value

VAR_INPUT

DINT

Parameter value when writing a parameter

Done

VAR_OUTPUT BOOL


Error

VAR_OUTPUT BOOL


ActPNU

VAR_OUTPUT INT

Current number of the corresponding parameter

ActSubindex VAR_OUTPUT INT

Current subindex of the corresponding parameter

ActValue

VAR_OUTPUT DINT

Parameter value when reading a parameter

Status


Table: FPC_PNU, inputs and outputs

44

7 7.1

STATUS (reporting system element) DT_FML_STATUS

Category

Source

Variables

Data type

Description

Err

Bool

Error bit

Cat

INT

Category

ID

DINT

Number

7.2

Category

Category

7.2.1

Source

1

Function block

2

Reserved

3

Parameter transfer (FPC)

4

Siemens

Category 1 - Function block error

Return code

Level

Description

16#0000_0000

Info

No error

16#0000_0001

Info

init active

16#0000_0002

Info

function block busy

16#0000_000A

Info

other FPC function block is active

16#8000_0001

Error

FHPP+ Data configuration is not valid

16#8000_0014

Error

Timeout

16#8000_001E

Error

device type not valid

16#8000_001F

Error

data type variant not valid

16#8000_0028

Error

wrong value for access (FPC_MULTI)

16#8000_0029

Error

Byte array within DB file to small (FPC_FILE)

7.2.2

Category 2 – reserved

Reserved for extensions

45


7.2.3

Category 3 – FPC error numbers

The ErrID indicates the error which occurred when transferring a device parameter. The number group of the error is specified in the FHPP protocol under FPC (Festo Parameter Channel). Error code

Description

0

0x00

Invalid PNU

1

0x01

Parameter value cannot be altered

2

0x02

Lower or upper value limit exceeded

3

0x03

Faulty subindex

4

0x04

No array

5

0x05

Incorrect data type

6

0x06

Setting not permitted (can only be reset)

7

0x07

Description element cannot be modified

8

0x08

PPO-Write requested in IR does not exist

9

0x09

Description data do not exist

10

0x0A

Access group incorrect

11

0x0B

No supervising access

12

0x0C

Incorrect password

13

0x0D

Text not legible in cyclic exchange

14

0x0E

Name not legible in cyclic exchange

15

0x0F

Text array does not exist

16

0x10

PPO-Write missing

17

0x11

Task cannot be carried out due to operating status

18

0x12

Other errors

19

0x13

Data not legible in cyclic exchange

22

0x16

Unacceptable: attributes, number of elements, PNU or IND

24

0x18

Write Request: number of values not permitted

...100

...0x64

101

65

Festo: ReqID is not supported

102

66

Festo: Parameter is write-only (for passwords)

…255

0xFF

46

reserved PROFIBUS

Reserved Festo

STATUS (reporting system element)

Extended error number group FPC_FILE Error code

Description

1001

0x3E9

Wrong sequence number

1002

0x3EA

Timeout between two packets

1003

0x3EB

Wrong packet format

1004

0x3EC

False instruction

1005

0x3ED

Read error

1006

0x3EE

Write error

1007

0x3EF

Data volume is not correct

1008

0x3F0

Parameter file error

1009

0x3F1

-- reserved

1010

0x3F2

Timeout

1011..1018

0x3F3…0x3FA

1019

0x3FB

No or double direction selected

1020

0x3FC

-- reserved

1021

0x3FD

Size of parameter file too short/long

1022

0x3FE

Parameter file is not complete

7.2.4

-- reserved

Category 4 – Siemens error numbers

In the event of processing problems, elements that use Siemens functions internally will also transfer their return value to the library error structure. For a d escription of the errors, see the Siemens Help for the elements used.

ID

Description

16#xxxx_8xxx

Siemens return code of internal used function block

16#40xx_xx00

Siemens return code of internal used function block

47

8 Application examples 8.1

Controlling a Festo motor controller

In the example, the motor controller CMMP-AS is used with the function block FHPP_CTRL.

Figure 8-1: Function block FHPP_CTRL with partial connection

This function block allows control of a motor controller in the following four combinations of operating mode and control mode:

o o o o

(0) Record selection (1) Direct mode with position control (5) Direct mode with force/torque control (9) Direct mode with speed adjustment

49


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

8.1.1

Fundamental program structure

For correct program execution, the following sequence must be observed for the function block calls: 1. 2. 3.

8.1.2

Read the fieldbus data, e.g. with FHPP_DPRD_DAT. The input data from the motor controller is prepared in the FML_REF structure. Calls the instance of the function block FH PP_CTRL. That controls the allocated motor controller. Writes the fieldbus data, e.g. with FHPP_DPWR_DAT . The output data for the motor controller from FML_REF are correctly assigned there.

Requirements for ready status

As a function of the motor controller used, additional input signals may be required there, e.g. a digital input. Detailed information can be found in the description for the motor controller used.

o o o

Motor controller is switched on Load voltage is present PLC has master control

Achieving ready status Signals at the function block

Feedback

--

SupplyVoltagePresent = TRUE

EnableDrive = TRUE

DriveEnabled = TRUE MC = TRUE

Stop = TRUE

Ready = TRUE

Halt = TRUE

HaltActive = TRUE

8.1.3

Carrying out homing

HomingValid = FALSE: Homing travel must be carried out. Signals at the function block

Feedback

StartHoming =TRUE (Edge FALSE -> TRUE)

AckStart = TRUE MC = FALSE DriveIsMoving =TRUE

StartHoming = FALSE

AckStart = FALSE

(homing complete)

DriveIsMoving = FALSE MC = TRUE HomingValid = TRUE

50

Application examples

8.1.4

Setting and "Record selection" mode

Signals at the function block

Feedback

OPM = 0

OPMString = 'Record mode selected' StateOPMString = 'Record mode active' StateOPM = 0

Specify record number RecordNo = n

--

StartTask = TRUE (Edge FALSE -> TRUE)

AckStart = TRUE MC = FALSE DriveIsMoving = TRUE ActualRecordNo = n ActualPosition = ... (current position is displayed)

StartTask = FALSE

AckStart = FALSE

-(positioning complete)

DriveIsMoving = FALSE MC = TRUE

51


8.1.5

Setting and operation of "Direct mode with position control"


Feedback

OPM = 1

OPMString = 'Direct mode position control selected' StateOPMString = 'Direct mode position control active' StateOPM = 1

Specify speed SetValueVelocity = ...

0..100%

Specify target position SetValuePosition = ...

-Note: Make sure to observe end positions.


AckStart = TRUE MC = FALSE DriveIsMoving = TRUE ActualVelocity = ... ActualPosition = ...

StartTask = FALSE

AckStart = FALSE

-(positioning complete)


8.1.6

Setting and operating "Direct mode with force/torque control"


Feedback

OPM = 5

OPMString = 'Direct mode force control selected' StateOPMString = Text of the previous operating and control mode StateOPM = Previous operating and control mode

SetValueForce = ...

0..100%


StateOPMString = 'Direct mode force control active' StateOPM = 5 AckStart = TRUE MC = FALSE DriveIsMoving = TRUE ActualForce = ... ActualPosition = ...

StartTask = FALSE

AckStart = FALSE

-(Torque specification reached)


52


8.1.7

Setting and operating "Direct mode with speed control"


Feedback

OPM = 9

OPMString = 'Direct mode velocity control selected' StateOPMString = Text of the previous operating and control mode StateOPM = Previous operating and control mode

SetValueRotRamp = ...

--

SetValueRotSpeed = ...

--


StateOPMString = 'Direct mode velocity control active' StateOPM = 9 AckStart = TRUE MC = FALSE DriveIsMoving = TRUE ActualRotRamp = ... ActualRotSpeed = ...

StartTask = FALSE

AckStart = FALSE

-(Speed specification reached)


53


8.2

Parameterising a motor controller

In the example, the function block FPC_PNU is used for a motor controller CMMP-AS.

Figure 8-2: Function block FPC_PNU with partial connection

54


This function block permits the parameterisation of the motor controller with individual parameters (FHPP PNU):

Note For a description of the parameters supported per FHPP, see the respective User Documentation.

8.2.1

Fundamental program structure

For correct program execution, the following sequence must be observed cyclically for the function block calls: 1. 2. 3.

8.2.2 o o

8.2.3

Read the fieldbus data, e.g. with FHPP_DPRD_DAT. The input data from the motor controller is prepared in the FML_REF structure. -> The FPC_aktiv signal must be set to TRUE. Calls the instance of the Parameter function block. This parameterises the assigned motor controller. Writes the fieldbus data, e.g. with FHPP_DPWR_DAT . The output data for the motor controller from FML_REF are correctly assigned there.

Requirements for ready status Motor controller is switched on PLC has master control

Reading parameters (e.g. homing method)


Feedback

PNU = 1011 Subindex = 1 Write = FALSE

No feedback

Execute = TRUE (Edge FALSE -> TRUE)

Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 1011 ActSubindex = 1 ParamValueRD = ... RETVAL = 0

Execute = FALSE

Done = FALSE Err = FALSE

8.2.4

Write parameters (e.g. acceleration for homing method)


Feedback

PNU = 1013 Subindex = 1 ParamValueWR = ... Write = TRUE

No feedback


Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 1013 ActSubindex = 1 ParamValueRD = ... RETVAL = 0

Execute = FALSE


The values written to the motor controller using the "FPC_PNU" function block are stored i n a 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:

55



Feedback

PNU = 127 Subindex = 2 ParamValueWR = 1 Write = TRUE

No feedback


Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 127 ActSubindex = 2 ParamValueRD = 1 RETVAL = 0

Execute = FALSE


8.3

Compatibility to Siemens PLC’s

The library is tested with the following Siemens PLC‘s: -

CPU 1217C DC/DC/DC; 6ES7 217-1AG40-0XB0; Firmware 4.1.3

-

CPU 1518-4 PN/DP; 6ES7 518-4AP00-0AB0 Firmware 1.6

-

CPU 315F-2 PN/DP; 315-2FJ14-0AB0 Firmware 3.2.11

56

9 Glossary C Controller: Control electronics that evaluate the control signals and provide the voltage suppl y for the motor via the power electronics (power electronics + controller + positioning controller).

E EDS file: Electronic data sheet which describes the functions and features of a CANopen device in standardised form.

F Festo Configuration Tool (FCT): Commissioning software with uniform project and data management for all supported device types. The special requirements of a d evice type are supported with the necessary descriptions and dialogues 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/GSG file: Profibus device description file GSDML: Profinet device description file

I IODD: IO-Link device description; device description file for IO-Link devices

P Package: The package allows the installation of target system-specific files for controlling Festo CoDeSys motor controllers. The program is located in the start menu u nder "Programs" in the option "CoDeSys V3" 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 p arameter identification value (see also "Festo Parameter Channel (FPC)"). PNU: Parameters that 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. 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 point of reference 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.

57


R Homing: Homing defines the reference position and thereby the origin of the measuring reference system of an axis. Referencing method: Method for determination of the reference position: against a fixed stop (overcurrent/speed evaluation) or with reference switch. Reference point (REF): Point of reference for the incremental measuring system. The reference point defines a known orientation or position within the travel distance of the d rive.

S Sub-index (IND): Integral part of the parameter channel (PKW) which addresses an element of an array parameter (sub-parameter number).

T Teach mode: Operating mode for setting positions by moving to the target position, e.g. when creating position sets. Jog operation: Manual travel in a positive or negative direction

X XML: EtherCAT XML file; device description file for EtherCAT devices

58

Festo Motion Fhpp Tia En

Recommend Documents