Festo Motion 3 Library en (1)

Festo st o Mot Motio ion_3 n_3 libr li bra ary

Table Table of Cont ents 1

Impo rtant in str uct io ns................. ns........................ .............. ............. ............. ............. ............. .............. ............. ............. ............. ............. .............. ............. ............. ............. .......... .... 1 1.1

Designated use ............................................................................................................... ............. 1 1.1.1 Target group.............................................................. ........................................................ 1 1.1.2 Service ........................................................... .................................................................. . 1 1.2 Safety instructions ................................................................ ........................................................ 1 1.3 Important user information ............................................................................................... ............ 1 1.3.1 Danger categories ............................................................................................................ 1 1.4 Marking special information ....................................................................... .................................. 2 1.4.1 Pictograms ............................................................... ......................................................... 2 1.4.2 Text markings............................................................ ........................................................ 2 1.4.3 Further conventions ........................................................................................................ .. 2 2

Overview ............................................................................................................................................. 3 2.1 Architecture ............................................................... .................................................................. . 3 2.2 Requirements............................................................ .................................................................. . 4 2.3 General information on Festo motor controllers ........................................................................... 5 2.3.1 Documentation on Festo motor controllers ....................................................................... 5 2.4 Festo Handling and Positioning Profile (FHPP) ........................................................................... 5 2.4.1 Control and status bytes ............................................................................ ....................... 5 2.4.2 Parameter channel ........................................................................................................... 6 2.5 Operating modes ......................................................................................................................... 6 2.5.1 Record selection .............................................................................................................. . 6 2.5.2 Direct mode ...................................................................................................................... 6

3

Func tio n b lo cks for Festo mot or con tro ller s ......... ............... ............. .............. ............. ............. ............. ............. .............. ............. ............. ............. ........ .. 7 3.1

Control function block................................................................................................................... 7 3.1.1 xxx_CTRL ................................................................ ......................................................... 7 3.1.2 Linking functi on blocks ........................................................ ............................................ 15 3.1.3 Visualising function bl ocks .............................................................. ................................ 17 3.2 Organisation function block ............................................................ ............................................ 20 3.2.1 xxx_PRM_INIT......................................................... ....................................................... 2 0 3.3 Parameterisation function blocks .......................................................................... ..................... 21 3.3.1 xxx_PRM_SINGLE ......................................................................................................... 21 3.3.2 xxx_PRM_MULTI xxx_PRM_MULTI ...................................................................................... ...................... 23 3.3.3 xxx_PRM_DIAG.................................................................. ............................................ 25 3.3.4 xxx_PRM_DIRMP ................................................................ ........................................... 27 3.3.5 xxx_PRM_KO .......................................................... ....................................................... 29 3.3.6 xxx_CAM_PRM_CAMN xxx_CAM_PRM_CAMNUMBER UMBER ..................................................................................... 30 4

Examples ........................................................................................................................................... 31 4.1

Controlling a Festo motor c ontroller .......................................................... ................................. 31 4.1.1 Prerequisites for ready status ................................................................... ...................... 31 4.1.2 Establishing the ready status ......................................................... ................................. 31 4.1.3 Homing ........................................................................................................................... 32 4.1.4 Setting and operation of "Record selection" .......................................................... .......... 32 4.1.5 Setting and operation of "Direct mode position control" .................................................. 32 4.1.6 Setting and operation of "Direct mode torque control" .................................................... 33 4.1.7 Setting and operation of "Direct mode speed control" ......................................... ........... 33 4.2 Parameterising a Festo motor c ontroller ............................................................... ..................... 34 4.2.1 Prerequisites for ready status ................................................................... ...................... 34 4.2.2 Establishing the ready status ......................................................... ................................. 34 4.2.3 Reading parameters (e.g. homing method) ................................... ................................. 34 4.2.4 Writing parameters (e.g. acceleration homing method) .................................................. 35 5

Glossary ............................................................................................................................................ 37

iii

Festo Motion_3 library

1

Important instruc tions

1.1

Design ated use

The function blocks (FB) described are used to c ontrol and parameterise the associated device. You can use them to conveniently integrate the many functions of the relevant device into your program. Function blocks are integrated into the user program for e ach motor unit or motor controller (each axis) and called cyclically using a separate instance. 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.

1.1.1

Target gro up

This manual is intended exclusively f or technicians trained in control and automation technology.

1.1.2

Service

Please contact your local Festo service partner if you have any technical problems( http://www.festo.com).

1.2

Safety inst ruc tio ns

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 there is nobody within the positioning range of the connected actuators or axis systems. Access to the possible danger a rea must be prevented by suitable measures such as barriers and warning signs. Warning Pneumatic and electric axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components. •

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

Warning 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.

1.3

Important user information

1.3.1

Danger categor ies

This document contains information on the possible dangers that can occur if the product is not used as designated. This information is 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 is not observed. Caution ... means that injury to people and damage to property can occur if this warning is not observed. Note ... means that damage to property can occu r if this warning is not observed.

1


1.4

Marki ng special info rmatio n

1.4.1

Pictograms

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

Accessory: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally friendly use of Festo products.

1.4.2 1. •

–

Text markin gs

Figures denote activities that must be carried out in the order specified. Bullets denote activities that may be carried out in any desired order. Hyphens denote general listings.

1.4.3

Further conventio ns

[Project] [New]

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

"OK"

The names of windows, dialogs and buttons, e.g. "Message window," "Dearchivate project," "OK" as well as designations are displayed 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 simultaneously. For example, press and hold down the CTRL key and also press the C key. This is written 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.

2


2

Overview

Festo_Motion_3 is an internal library for CoDeSys V3 provided by Festo. The following Festo motor controllers (drive controllers) can be controlled with this library: –

CMMD-AS-...

–

CMMP-AS-...

–

CMMS-AS-...

–

CMMS-ST-...

–

SFC-DC-...

–

MTR-DCI-...

–

SFC-LAC-...

–

SFC-LACI-...

Communication takes place via fieldbus and uses the CANopen communication protocol. Actuation of the Festo motor controllers takes place via the Festo Handling and Positioning Profile (FHPP). The library contains function blocks for controlling and parameterising the individual drives. Refer to the documentation for the motor controller for further information on operating and configuring the relevant motor controller type. Integrating the library The Festo_Motion_3 library is located under "Library Manager" in CoDeSys V3 pbF. •

Use the "Add Library" command to integrate the library.

All elements from this library are assigned to the namespace "FM".

2.1

Architecture

Each motor controller is integrated into the CoDeSys project using a controller-specific hardware configuration. –

All function blocks that access I/O data directly to control a motor controller require the first address of the output data as well as the first address of the input data as a transit variable.

–

All function blocks that access I/O data directly to parameterise a motor controller require the first address of the Festo Parameter Channel (FPC) input data as well as the first FPC address of the output data as a transit variable. An instance of the function blocks for control must also be generated for each motor controller instance. This means that a function block for control cannot be used for two different mo tor controllers.

Motor units/motor controllers

Control function block

Parameterisation function block

CMMD-AS-...

CMMS_AS_CTRL (FB)

CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB)

CMMP-AS-...

CMMP_AS_CTRL (FB)

CMMP_AS_PRM_INIT (FB) CMMP_AS_PRM_SINGLE (FB)

CMMS-AS-...

CMMS_AS_CTRL (FB)

CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB)

CMMS-ST-...

CMMS_ST_CTRL (FB)

CMMS_ST_PRM_INIT (FB) CMMS_ST_PRM_SINGLE (FB)

MTR-DCI-...

MTR_DCI_CTRL (FB)

MTR_DCI_PRM_INIT (FB) MTR_DCI_PRM_SINGLE (FB)

SFC-DC-...

SFC_DC_CTRL (FB)

SFC_DC_PRM_INIT (FB) SFC_DC_PRM_SINGLE (FB)

3

Festo Motion_3 library Motor units/motor controllers


Parameterisation function block

SFC-LAC-...

SFC_LAC_CTRL (FB)

SFC_LAC_PRM_INIT (FB) SFC_LAC_PRM_SINGLE (FB)

SFC-LACI-...

SFC_LACI_CTRL (FB)

SFC_LACI_PRM_INIT (FB) SFC_LACI_PRM_SINGLE (FB)

2.2

Requirements

For communication via fieldbus, the corresponding files are required for Festo motor controllers: Motor cont roll er

Element name in CoDeSys

Filename for CANopen

CMMD-AS-…

CMMD-AS-… (FHPP)

CMMD-AS_CAN_FHPP.eds

CMMP-AS-…

CMMP-AS-… (FHPP)

CMMP-AS-…-…_CAN_FHPP.eds

CMMS-AS-…

CMMS-AS (FHPP)

CMMS-AS_CAN_FHPP.eds

CMMS-ST-…

CMMS-ST (FHPP)

CMMS-ST_CAN_FHPP.eds

MTR-DCI-...-CO

MTR-DCI-…-CO (FHPP)

MTR-DCI-…-FHPP.eds

SFC-DC-...-CO

SFC-DC-VC-3-E-…-CO (FHPP)

SFC-DC-…-CO-FHPP.eds

SFC-LAC-…-CO

SFC-LAC-…-CO-FHPP

SFC-LAC-…-CO-FHPP.eds

SFC-LACI-…-CO

SFC-LACI-…-CO-FHPP

SFC-LACI-…-CO-FHPP.eds

During installation of CoDeSys V.3 provided by Festo, the supplied device files are installed automatically and stored in the following directory: C:\Documents and Settings\All Users\Application Data\CoDeSys\Devices\ Device files that are not supplied can be installed via the standard CoDeSys dialog "Device Repository".

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2.3

General inform ation on Festo motor control lers

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

2.3.1

Documentation on Festo motor contr ollers

Documentation

Contents

Brief description and manuals on CDROM (see catalogue)

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

Manuals P.BE-...

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

Operating instructions for accessories

Fitting and commissioning of the electric mini slide SLTE as a drive element.

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

Functional descriptions for the Festo Configuration Tool configuration software.

Help system for CoDeSys V3 pbF library Festo_Motion_3 (this Help)

How to use the motion function blocks for Festo motor controllers.

Note •

2.4

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

Festo Handli ng and Positi onin g Profi le (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. The FHPP defines the following for the user: –

Operating modes

–

I/O data structure

–

Parameter objects

–

Sequence control

Fig: The FHPP principle

2.4.1

Control and status bytes

Control via the fieldbus takes place via 8 bits of I/O data. The triggering of control functions and the analysis of status messages of the function block is mostly performed using single-bit op erations.

5


2.4.2

Parameter chann el

The controller can access all parameter values o f the controller by means of the parameter channel. A further 8 bytes of I/O data are used fo r this purpose.

2.5

Operating modes

2.5.1

Record selecti on

Saved positioning records can be processed in record selection mode. For this purpose, positioning records are parameterised with the Festo Configuration Tool or taught via the control panel during commissioning.

2.5.2

Direct mod e

In direct mode operating mode, the important positioning data is transferred directly via the control bytes. –

Target positions and speeds can be asc ertained and specified by the controller during running time, depending on the operating status.

–

No limitations due to the number of sa ved positioning records.

In both operating modes values can be taught/parameterised via the PLC. The following direct mode types can be s elected: –

Direct mode position control

–

Direct mode torque control

–

Direct mode speed control

6


3

Function blocks for Festo motor control lers

The names of the function blocks for Festo motor controllers start with the motor controller designation, e.g. CMMP-AS. This is followed by the function of the function block, e.g. CTRL for a control function block. The Festo_Motion_3 library contains the following function blocks (FB): –

Control FB for controlling the respective Festo motor controller

–

Organisation FB for parameterising the respective Festo motor controller types

–

Parameterisation FB for transferring individual parameters to the respective Festo motor controller

Function block

Explanation

xxx_CTRL

Control function block of the motor controller

xxx_PRM_INIT

Organisation function block for parameterising the motor controller

xxx_ PRM_SINGLE

Transfer of individual parameters

xxx_ PRM_MULTI

Transfer of a parameter list (parameter array)

xxx_ PRM_DIAG

Reading out of the diagnostic memory

xxx_ PRM_DIRMP

Transfer of the parameters for direct mode position control

xxx_ PRM_KO

Transfer of communication objects

xxx_CAM_PRM_CAMNUMBER

Selection or information of a cam disc

Notes – The function blocks can have drive-specific differences. – The function blocks of the CMMS-AS can be used for the motor controller CMMD-AS.

3.1


3.1.1

xxx_CTRL

Inputs and outputs The following table contains a list of all inputs and outputs that an FHPP function block has to control a motor controller. The actual number depends on the control modes supported by the motor controller to be controlled. The information as to which control modes are supported by which motor controller can be found in the corresponding motor controller documentation ( chapter "Restricted selection"). Legend: –

Input/output: Designation of an input or output of the CoDeSys function block ..._CTRL.

–

Type: Data type that the respective input expects or data type that is issued at a n output.

–

Description: German designation and brief description of the CoDeSys function block. 1 = TRUE 0 = FALSE

Input

Type

Description

FB_CFG

WORD

FB configuration Bit 0 = FALSE: Low Byte first Bit 0 = TRUE: High Byte first Bit 1 = reserved ... Bit 31 = reserved

7

Festo Motion_3 library Input

Type

Description

Pos_Factor_numerator

DINT

Counter value for conversion of position by increments

Pos_Factor_denumerator

DINT

Nominal value for conversion of position by 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 (cancel emergency ramp + positioning task). The drive stops with maximum braking ramp, the positioning task is reset.

Brake

BOOL

Release brake = 1: Release brake = 0: Activate brake Note: Release of the brake is only possible when the controller is blocked. As soon as the controller is enabled, it has sovereignty over control of the brake.

ResetFault

BOOL

Acknowledge fault With a rising edge a fault i s acknowledged and the fault value is deleted.

HMIAccessLocked

BOOL

Software access blocked Control of access to the local (integrated) diagnostic interface of the controller. = 1: The FCT software may only monitor the controller, control of the device (HMI control) cannot be assumed b y the software. = 0: The FCT software can assume control of the device (to change parameters or control inputs).

OPM

INT

FHPP operating mode + control mode = 0: Record selection = 1: Direct mode position control = 5: Direct mode torque control = 9: Direct mode speed control = 13: Reserved = 17: Continuous mode

Halt

BOOL

Halt = 1: Halt is not active = 0: Halt activated (do not cancel emergency 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 task With a rising edge the current nominal values are transferred and positioning started (also e.g. record 0 = homing).

StartHoming

BOOL

Start homing With a rising edge homing is started with the configured parameters.

8


Type

Description

JoggingPos

BOOL

Jogging positive The drive moves at the specified velocity or rotational speed in the direction of larger actual values, providing the bit is set. The movement begi ns with the rising edge and ends with the falling edge.

JoggingNeg

BOOL

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

TeachActualValue

BOOL

Teach value With a falling edge the current actual val ue is transferred to the nominal value register of the currently addressed positioning record. Examples of actual values include position, pressure or torque.

ClearRemainingPosition

BOOL

Delete remaining path In the "Halt" status, a rising edge causes the positioning task to be deleted and transfer to the "Ready" status.

AbsoluteRelative

BOOL

Absolute/relative = 0: Nominal value is absolute = 1: Nominal value is relative to the last nominal value

SetFunction

BOOL

Cam disc = 0: Cam disc not active = 1: Cam disc active

DeactivateStrokeLimit

BOOL

Torque limit not active (only with torque control) = 0: Torque monitoring active = 1: Torque monitoring not active

RecordNo

SINT

Record number Preselection of record number for record selection.

SetFuncNumber

USINT

Cam disc function = 0: Reserved = 1: Synchronisation on external input = 2: Synchronisation on external input with cam disc function (i.e. slave with physical master) = 3: Synchronisation on virtual master with cam disc function

SetFuncGroup

USINT

Cam disc group = 0: = 1: = 2: = 3:

SetValuePosition

DINT

Synchronisation with/without cam disc Reserved Reserved Reserved

Position Position in the positioning unit

SetValueForceRamp

USINT

Torque ramp Value of the torque ramp as a % of the nominal value or maximum value

SetValueVelocity

USINT

Velocity Velocity as a % of the maximum velocity

SetValueForce

DINT

Torque Torque as a % of the maximum torque

SetValueRotRamp

SINT

Velocity ramp Velocity ramp as a % of the maximum ramp

9


Type

Description

SetValueRotSpeed

DINT

Velocity Velocity in velocity unit

Input/output

Type

Descriptio n

b_FHPP_In

VAR_IN_OUT

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

b_FHPP_Out

VAR_IN_OUT

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

Output

Type

Description

OPMString

STRING(80)

Feedback of the selected FHPP operating mode + control mode Record selection = 'Record Mode selected' Direct mode position control = 'Directmode Positioncontrol selected' Direct mode torque control = 'Directmode Forcecontrol selected' Direct mode speed control = 'Directmode Velocitycontrol selected' Operating mode and control mode invalid = 'not specified' Continuous mode = 'Continuousmode selected'

StateOPMString

STRING(80)

Feedback of active FHPP operating mode + control mode Record selection = 'Record Mode active' Direct mode position control = 'Directmode Positioncontrol active Direct mode torque control = 'Directmode Forcecontrol active' Direct mode speed control = 'Directmode Velocitycontrol active' Operating mode and control mode invalid = 'not specified' Continuous mode = 'Continuousmode selected'

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: No warning present = 1: Warning present

Fault

BOOL

Fault = 0: No fault = 1: Fault present or fault reaction active. Fault code in diagnostic memory.

SupplyVoltagePresent

BOOL

Load voltage present = 0: No load voltage = 1: Load voltage present

10

Festo Motion_3 library Output

Type

Description

ControlFCT_HMI

BOOL

Software device control = 0: Device control free (e.g. PLC/fieldbus) = 1: Device control by software (PLC control is locked)

StateOPM

INT

Feedback of FHPP operating mode + control mode = 0: Record selection = 1: Direct mode position control = 5: Direct mode torque control = 9: Direct mode speed control = 13: Reserved = 17: Continuous mode

HaltActive

BOOL

Halt = 0: Halt is active = 1: Halt is not active, axis can be moved

AckStart

BOOL

Acknowledge start = 0: Ready for start (homing, jog) = 1: Start carried out (homing, jog)

MC

BOOL

Motion Complete = 0: Positioning task active = 1: Positioning task completed, possibly with fault Note: MC is set after device is switched on (status "Drive blocked").

AckTeach

BOOL

Acknowledge teach = 0: Ready for teaching = 1: Teaching carried out, actual value has been transferred

DriveIsMoving

BOOL

Axis is moving = 0: Velocity of axis < limit = 1: Velocity of axis >= limit

DragError

BOOL

Following error = 0: No following error = 1: Following error active

StandstillControl

BOOL

Standstill monitoring = 0: After MC axis remains in tolerance window = 1: After MC axis exits tolerance window

DriveIsReferenced

BOOL

Drive homed = 0: Homing must be carried out = 1: Homing information available, homing does not need to be carried out

RC1

BOOL

First record continuation carried out = 0: A continuation condition was not configured or not satisfied = 1: The first continuation condition was satisfied

RCC

BOOL

Record continuation completed - valid as soon as MC is available. = 0: Record sequencing aborted. At least one continuation condition was not satisfied = 1: Record sequence was processed until the end.

ActualFuncActive

BOOL

Cam disc active = 0: Cam disc not active = 1: Cam disc active

VelocityLimitReached

BOOL

Velocity limit reached (only with torque control) = 1: Velocity limit reached = 0: Velocity limit not reached

11

Festo Motion_3 library Output

Type

Description

StrokeLimitReached

BOOL

Torque limit reached (only with torque control) = 0: Torque monitoring reached = 1: Torque monitoring not reached

ActualRecordNo

SINT

Record number Feedback of record number for record selection.

ActualFuncNumber

USINT

Feedback of cam disc function = 0: Reserved = 1: Synchronisation on external input = 2: Synchronisation on external input with cam disc function (i.e. slave with physical master) = 3: Synchronisation on virtual master with cam disc function

ActualFuncNumber

USINT

Feedback of cam disc group = 0: = 1: = 2: = 3:

ActualPosition

DINT

Synchronisation with/without cam disc Reserved Reserved Reserved

Position Feedback of position in position unit

ActualVelocity

SINT

Velocity Feedback of velocity as a % of the maximum velocity

ActualForce

INT

Torque Feedback of torque as a % of the maximum torque

ActualRotRamp

SINT

Velocity ramp Feedback of velocity ramp as a % of the maximum ramp

ActualRotSpeed

DINT

Velocity Feedback of velocity in velocity unit

Restricted selection The following table contains a list of inputs and outputs that are only supported by specific Festo motor controllers and, in some cases, only for specific operating modes. Input/output

Type

Motor controller

Pos_Factor_numerator

DINT

MTR_DCI

Operating mode All operating modes

SFC_DC Pos_Factor_denumerator

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

Record selection Direct mode position control

TeachActualValue

BOOL

All

Record selection

AbsoluteRelative

BOOL

All


SetFunction

BOOL

CMMP_AS_CAM


12

Festo Motion_3 library Input/output

Type

Motor controller

Operating mode

DeactivateStrokeLimit

BOOL

MTR_DCI


SFC_DC SFC_LAC SFC_LACI RecordNo

SINT

All

Record selection

SetFuncNumber

USINT

CMMP_AS_CAM


SetFuncGroup

USINT

CMMP_AS_CAM


SetValuePosition

DINT

All


SetValueForceRamp

USINT

CMMP_AS


SetValueVelocity

USINT

All


SetValueForce

DINT

All


SetValueRotRamp

SINT

CMMD_AS


CMMP_AS CMMS_AS CMMS_ST SetValueRotSpeed

DINT

CMMD_AS


CMMP_AS CMMS_AS CMMS_ST AckTeach

BOOL

All

Record selection

DriveIsReferenced

BOOL

All

Record selection Direct mode position control

RC1

BOOL

CMMD_AS

Record selection

CMMP_AS CMMS_AS CMMS_ST SFC_LAC SFC_LACI RCC

BOOL

CMMD_AS

Record selection

CMMP_AS CMMS_AS CMMS_ST SFC_LAC SFC_LACI ActualFuncActive

BOOL

CMMP_AS_CAM


VelocityLimitReached

BOOL

MTR_DCI


SFC_DC SFC_LAC SFC_LACI StrokeLimitReached

BOOL

MTR_DCI


SFC_DC SFC_LAC SFC_LACI ActualRecordNo

SINT

All

Record selection

ActualFuncNumber

USINT

CMMP_AS_CAM


ActualFuncGroup

USINT

CMMP_AS_CAM


ActualPosition

DINT

All


13


Type

Motor controller

Operating mode

ActualVelocity

SINT

All


ActualForce

INT

All


ActualRotRamp

SINT

CMMD_AS


CMMP_AS CMMS_AS CMMS_ST ActualRotSpeed

DINT

CMMD_AS CMMP_AS CMMS_AS CMMS_ST

14



3.1.2

Linki ng funct ion blocks

To control a Festo motor controller, the respective fieldbus data must be transferred to the function block. The following screenshots show a sample device configuration with a CMMP-AS CANopen slave.

Fig: Device configuration

Fig: CANopen I/O screenshot The data should ideally be transferred using an array variable, whereby only the first element of the array has to be transferred to the function block.

15


Fig: Link between drive controller and function block The input and output data of the Festo Parameter Channel (FPC_In, FPC_Out) is offset by 8 bytes after the FHPP standard data. For parameterisation of a motor controller, a further 8 bytes, the Festo Parameter Channel data (FPC data), are transferred to a special function block. All necessary parameterisation function blocks in the project are supplied with data using this "transfer" function block.

16


3.1.3

Visualising funct ion block s

For each motor controller there is one function block for control and multiple function blocks for parameterisation. There is also a visualisation element, which makes initial commissioning easier.

Fig: Visualisation element for the Festo motor controller CMMP-AS-... (example) The input data of a function block linked to the visualisation is displayed in the left half of the visualisation and output data is displayed in the right half. TRUE inputs and outputs are blue and FALSE inputs and outputs are grey.

17

Festo Motion_3 library Linking the visualisation The visualisation element for the selected function block is added to a visualisation object. You can select the visualisation object using the "Frame Selection" context command. The desired visualisation element appears in the editing window for the visualisation object. Refer to the section "Visualisation" in the general CoDeSys Help for information on how to create a visualisation object.

1.

Adjust the size and position of the visualisation element if necessary. To do this, click on the element and use the borders.

2.

For configuration, click on the visualisation element with the left mouse button. In the "Property" area of the editing window ( [View] [Element Properties]) you can make various settings for displaying and linking the visualisation element.

3.

Click in the edit field of the "Object" "m_Input_INST" and then on the button for opening the "Input Assistant" dialog.

Fig: Linking a visualisation

18


Fig: Visualisation - "Property" dialog 4.

Click on the "Plus Sign" of the "References" path in the "Property" dialog. The path is expanded. Repeat by expanding the next path down. Now expand the path of the displayed visualisation element.

5.

Link the visualisation element with the corresponding instance (name of axis). There are two options here: –

In the line "m_Input_INST", enter the name of the function block i n combination with the higherlevel program name.

–

Double-click in the input line using the mouse. Using the left mouse button, click on the button that is now displayed in the line. The "Input Assistance" dialog opens, where you can select the corresponding instance. Confirm the selection with "OK."

19


3.2

Organisation function block

3.2.1

xxx_PRM_INIT

Function blocks of type …_PRM_INIT control access to the I/O data when using parameterisation function blocks. Data is exchanged via the Festo Parameter Channel (FPC). Parameterisation function blocks ..._PRM_... must have an instance of the organisation function block ..._PRM_INIT.

Inputs and outputs Legend: –

Input/output: Designation of an input or output of the CoDeSys function block ..._PRM_INIT.

–


–

Description: German designation and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE).

Input/output

Type

Descriptio n

FB_CFG

WORD

FB configuration Bit 0 = FALSE: Low Byte first Bit 0 = TRUE: High Byte first Bit 1 = Reserved ... Bit 31 = Reserved

DATA_REF

VAR_IN_OUT

FPC data structure of data type FHPP_PRM_REF Content of the data structure mirrors I/O data of the FPC

b_FPC_In

VAR_IN_OUT

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

b_FPC_Out

VAR_IN_OUT

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

20


3.3

Parameterisation func tio n bloc ks

3.3.1

xxx_PRM_SINGLE

The function block xxx_PRM_SINGLE transfers a single parameter to the respective drive controller.

Fig: Example of function block CMMP_AS_PRM_SINGLE Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_SINGLE has for parameterising a motor controller. Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: Transfer of a parameter is started with a rising edge.

Write

BOOL

Read/write = 0: = 1:

Read parameters Write parameters

Prerequisite: UpperLimit = 0; LowerLimit = 0 UpperLimit

BOOL

Reading of upper limit = 1: Read upper limit Prerequisite: Write = 0; LowerLimit = 0;

LowerLimit

BOOL

Reading of lower limit = 1: Read lower limit Prerequisite: Write = 0; UpperLimit = 0;

PNU

WORD

Number of the corresponding parameter

Subindex

SINT

Subindexof the corresponding parameter

DatatypeWR

USINT

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

Done

BOOL

Transfer status = 0: = 1:

Err

BOOL

Transfer was not initiated Transfer was initiated

Error = 0: = 1:

No error during the transfer of a Error during the transfer of a

parameter parameter

ErrStr

STRING(80)

Output of an error message as a string

ActPNU

WORD

Current number of the corresponding parameter

21


Type

Description

ActSubindex

SINT

Current subindex of the corresponding parameter

DatatypeRD

USINT

Data type of the read parameter = 1: Byte = 2: Word = 4: Double Word

ParamValueRD

DINT

Parameter value when reading a parameter

RETVAL

UINT

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

Table: xxx_PRM_SINGLE, inputs and outputs Legend: –

Input/output: Designation of an input or output of the CoDeSys function block.

–


–

Description: German designation and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE).

Restricted selection of function b locks The following inputs and outputs are only supported by specific Festo motor controllers. All other inputs and outputs are available for all CoDeSys function blocks ..._PRM_SINGLE irrespective of the motor controller type. Input/output

Type

Motor controller

UpperLimit

BOOL

CMMD_AS

LowerLimit

BOOL

CMMP_AS CMMS_AS CMMS_ST

DatatypeWR

USINT

DatatypeRD

USINT

MTR_DCI SFC_DC SFC_LAC SFC_LACI

The position factor must be taken into account when using the following inputs and outputs with the specified motor controllers. Input/output

Type

Motor controller

ParamValueWR

DINT

MTR_DCI

ParamValueRD

DINT

SFC_DC SFC_LAC SFC_LACI

22


3.3.2

xxx_PRM_MULTI

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

Fig: Example of function block CMMP_AS_PRM_MULTI Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_MULTI has for parameterising a motor controller. Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: With a rising edge transfer of a parameter is started.

SizeOfParam

USINT

Size of the parameter field (array) intended for transfer.

AdrOfParam

POINTER_TO_BYTE

Address of the parameter field (array) intended for transfer.

DATA_REF

VAR_IN_OUT


Done

BOOL



The reading result is contained in the parameter field (array) under "Value". ParamNr

USINT

Number of the parameter currently being transferred

Err

BOOL

Error = 0: = 1:


ErrStr

STRING(80)


RETVAL

UINT

Current status of the FB instance

parameter parameter

When using multiple instances of the FB, the current internal status of the respective FB is output.

Example of a parameter fi eld (array)

Mul t i Par am : ARRAY [ 1. . 5] OF FHPP_ PRM_DESCRI PTI ON : = ( PNU: =404, SUBI NDEX: =2, ACCESS: = 1, LENGTH: = 4, VALUE: =100) , ( PNU: =404, SUBI NDEX: =3, ACCESS: = 1, LENGTH: = 4, VALUE: =200) , ( PNU: =404, SUBI NDEX: =4, ACCESS: = 0, LENGTH: = 4, VALUE: =300) , ( PNU: =404, SUBI NDEX: =5, ACCESS: = 1, LENGTH: = 4, VALUE: =400) , ( PNU: =404, SUBI NDEX: =6, ACCESS: = 0, LENGTH: = 4, VALUE: =500) ;

23

Festo Motion_3 library Composition of the structure FHPP_PRM_DESCRIPTION

TYPE FHPP_ PRM_ DESCRI PTI ON : STRUCT PNU

( *Par amet er number of t he speci f i ed par amet er *)

SUBI NDEX : USI NT;

( *Subi ndex of t he speci f i ed parameter *)

ACCESS

: USI NT;

( * 0 = Read par amet er / 1 = Wr i t e par amet er * )

LENGTH

: USI NT;

( *L engt h of t he par amet er as number of byt es ( al ways 4 f or CMM. . . cont r ol l er , ot her wi se see FB xxx_PRM_Si ngl e i nput Dat at ypeWR) *)

VALUE

: DI NT;

( *Resul t r ead out or wr i t t en val ue For t he f ol l owi ng f uncti on bl ocks: MTR_DCI _ PRM_ MULTI , SFC_DC_ PRM_ MULTI , SFC_ LAC_ PRM_ MULTI , SFC_ LACI _ PRM_ MULTI t he posi t i on f act or must be t aken i nt o account . *)

END_ STRUCT ENT_TYPE

24

: UI NT ;


3.3.3

xxx_PRM_DIAG

The function block xxx_PRM_DIAG reads the error memory or warning memory of the respective motor controller.

Fig: Example of function block CMMP_AS_PRM_DIAG Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_DIAG has for parameterising a motor controller. Input/output

Type

Description

ReadLatest

BOOL

Read latest entry 0->1: With a rising edge the last message is read out.

ReadAll

BOOL

Read all entries 0->1: With a rising edge all messages are read out.

Warning

BOOL

Switch to warnings = 0: = 1:

DATA_REF

VAR_IN_OUT

Read errors Read warnings


Done

BOOL


ParamNr

USINT


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

Err

BOOL

Error = 0: = 1:

No error during the transfer of a parameter Error during the transfer of a parameter

ErrStr

STRING(80)


DiagBuff

ARRAY [1..n] OF Diagnostic buffer FHPP_PRM_DIAGMESSAGE The read messages are stored in the diagnostic buffer (array). The completeness of the entries and the number of parameters depends on the respective device.

RETVAL

UINT


25

Festo Motion_3 library Restricted selection of function b locks The following inputs and outputs are only supported by specific Festo motor controllers. All other inputs and outputs are available for all CoDeSys function blocks ..._PRM_DIAG irrespective of the motor controller type. Input/output

Type

Motor controller

Warning

BOOL

CMMP_AS CMMP_AS_CAM

Composition of the field structure of the diagnostic bu ffer

Di agBuf f

ARRAY [ 1. . 32] OF FHPP_ PRM_ DI AGMESSAGE;

TYPE FHPP_ PRM_ DI AGMESSAGE : STRUCT Di agEvent

: DI NT

;

( *Di agnost i c event PNU 200 / PNU 210*)

Di agMsgNumber

: DI NT

;

( * Faul t number PNU201 / PNU 211* )

Di agTi meSt amp:

: TOD

;

( *Ti mest amp of t he di agnost i c message*)

Di agMsgDescri pt i on : STRI NG;

( *Descri pt i on of t he di agnost i c message*)

END_ STRUCT ENT_TYPE

Given the fact tha t the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such as DiagEvent and DiagTimeStamp, for example, are not supported by all drives. The size of the diagnostic buffer also depends on the respective motor controller.

26


3.3.4

xxx_PRM_DIRMP

The function block xxx_RM_DIRMP writes or reads the dynamic values for di rect mode (position control).

Fig: Example of function block CMMP_AS_PRM_DIRMP Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_DIRMP has for parameterising a motor controller. Input/output

Type

Description

AxisType

INT

Connected axis type

Execute

BOOL


Write

BOOL


Read parameters Write parameters

Velocity

DINT

Basic velocity: PNU 540

Acceleration

DINT

Acceleration: PNU 541

Deceleration

DINT

Deceleration: PNU 542

JerkLimit

DINT

SFC_LACx: Smoothing: PNU 543 CMMx_xxx: Smoothing: PNU 546

DampingTime

DINT

Filter time: PNU 1023

Load

DINT

Additional weight: PNU 544

DATA_REF

VAR_IN_OUT


Done

BOOL


Err

BOOL


Error = 0: = 1:


ErrStr

STRING(80)


ActVelocity

DINT

Current basic velocity: PNU 540

ActAcceleration

DINT

Current acceleration: PNU 541

ActDecceleration

DINT

Current deceleration: PNU 542

ActJerkLimit (Pos/Neg)

DINT

SFC_LACx: Current smoothing: PNU 543

ActDampingTime

DINT

parameter parameter

CMMx_xxx: Current smoothing: PNU 546 Current filter time: PNU 1023

27


Type

Descriptio n

ActLoad

DINT

Current additional weight: PNU544

RETVAL

UINT


Restricted selection of function b locks The following inputs and outputs are only supported by specific Festo motor controllers. All other inputs and outputs are available for all CoDeSys function blocks ..._PRM_DIRMP irrespective of the motor controller type. Input/output

Type

Motor controller

DampingTime

DINT

SFC_LAC

ActDampingTime

DINT

SFC_LACI

Load

DINT

SFC_LAC

ActLoad

DINT

28

SFC_LACI


3.3.5

xxx_PRM_KO

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

Fig: Example of function block CMMP_AS_PRM_KRO

Note Use of the function block xxx-PRM_KO excludes simultaneous communication with the Festo Configuration Tool (FCT).

Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_KO has for parameterising a motor controller. Input/output

Type

Description

Execute

BOOL

Start transfer 0->1: Transfer of a parameter is started with a rising edge.

Write

BOOL


Read communication object Write communication object

Prerequisite: UpperLimit = 0; LowerLimit = 0 For more information on communication objects, contact your Festo service partner. KO

DINT

Communication object For more information on communication objects, contact your Festo service partner.

ParamValueWR

DINT

Parameter value when writing a communication object

DATA_REF

VAR_IN_OUT


Done

BOOL


Err

BOOL


Error = 0: = 1:


parameter parameter

ErrStr

STRING(80)


ParamValueRD

DINT

Parameter value when reading a communication object

RETVAL

UINT


29


3.3.6

xxx_CAM_PRM_CAMNUMBER

With the function b lock xxx_CAM_PRM_CAMNUMBER you can: –

Select a cam disc via specification of the cam disc number in the drive

–

Output the current cam disc using the read command The function for using cam discs is optional. Please contact your Festo service partner.

Fig: Example o f function bl ock CMMP_AS_PRM_CAMNUMBER

Note Execute the function again after resetting the controller.

Inputs and outputs The following table shows the inputs and outputs that the function block xxx_PRM_CAMNUMBER has for parameterising a motor controller. Input/output

Type

Descriptio n

Execute

BOOL


Write

BOOL


Read PNU 700 Subindex 1 Write PNU 700 Subindex 1

CamNumber

DINT

Preselection of cam disc number

DATA_REF

VAR_IN_OUT


Done

BOOL


Err

BOOL


Error = 0: = 1:


ErrStr

STRING(80)


ActCamNumber

DINT

Number of the currently selected cam disc

RETVAL

UINT

Current status of the FB instance

parameter parameter

When using multiple instances of the FB, the current internal status of the respective FB is output.

30


4

Examples

4.1

Controlling a Festo motor control ler

Festo motor controller CMMP-AS with corresponding function block CMMP_AS_CTRL

Fig: Example of function block CMMP_AS_CTRL With this function block, the motor controller type CMMP-AS-... can be controlled using the following four operating and control mode combinations: –

Record selection

–


–


–

Direct mode speed control The set operating and control mode is only accepted and displayed with the start of a movement, i.e. with a rising edge at the "StartTask" input.

4.1.1

Prerequisi tes for ready status

Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4, DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used. –

Motor controller is switched on

–

Load voltage is present

–

Control sovereignty lies with the PLC

4.1.2

Establishing the ready status

User action

Feedback

--

SupplyVoltagePresent = 1

EnableDrive = 1

DriveEnabled = 1 MC = 1

Stop = 1

Ready = 1

Halt = 1

HaltActive = 0

31


4.1.3

Homing

User action

Feedback

StartHoming = 0->1

AckStart = 1 MC = 0 DriveIsMoving = 1 HaltActive = 1

--

DriveIsMoving = 0, MC = 1, DriveIsReferenced = 1, HaltActive = 1 (homing completed)

4.1.4

Setting and operation of " Record selection"

User action

Feedback

OPM = 0

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

RecordNo = 1

--

StartTask 0->1

OPMString = 'Record Mode selected' StateOPMString = 'Record Mode active' StateOPM = 0 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualRecordNo = 1 ActualPosition = ...

--

DriveIsMoving = 0 MC = 1 (positioning completed)

4.1.5

Setting and operation of " Direct mode posit ion cont rol"

User action

Feedback

OPM = 1

OPMString = 'Directmode Positioncontrol selected' StateOPMString = 'Directmode Positioncontrol active' StateOPM = 1

SetValueVelocity = ...

--

SetValuePosition = ...

--

StartTask = 1

OPMString = 'Directmode Positioncontrol active' StateOPMString = 'Directmode Positioncontrol active' StateOPM = 1 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualVelocity = ... ActualPosition = ...

--

DriveIsMoving = 0 MC = 1 (positioning completed)

32


4.1.6

Setting and operation of " Direct mode torqu e contr ol"

User action

Feedback

OPM = 5

OPMString = 'Directmode Forcecontrol selected' StateOPMString = Previous operating and control mode as STRING StateOPM = Previous operating and control mode as INT

SetValueForce = ...

--

StartTask = 1

OPMString = 'Directmode Forcecontrol active' StateOPMString = 'Directmode Forcecontrol active' StateOPM = 5 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualForce = ... ActualPosition = ...

--

DriveIsMoving = 0 MC = 1 (torque specification reached)

4.1.7

Setting and operation of " Direct mode speed cont rol"

User action

Feedback

OPM = 9

OPMString = 'Directmode Velocitycontrol selected' StateOPMString = Previous operating and control mode as STRING StateOPM = Previous operating and control mode as INT

SetValueRotRamp = ...

--

SetValueRotSpeed = ...

--

StartTask = 1

OPMString = 'Directmode Velocitycontrol active' StateOPMString = 'Directmode Velocitycontrol active' StateOPM = 9 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualRotRamp = ... ActualRotSpeed = ...

--

DriveIsMoving = 0 MC = 1 (speed specification reached)

33


4.2

Parameterisin g a Festo moto r cont rol ler

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

Fig: Example of function block CMMP_AS_PRM_SINGLE With this function block, the motor controller type CMMP-AS-... can be parameterised using all four operating and control mode combinations: –

Record selection

–


–


–

Direct mode speed control Note For a description of the parameters supported by the various motor controllers according to FHPP, please refer to the respective product documentation.

4.2.1

Prerequisi tes for ready status

Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4, DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used. –

Motor controller is switched on

–

Load voltage is present

–

Control sovereignty lies with the PLC

4.2.2

Establishing the ready status

User action

Feedback

--

SupplyVoltagePresent = 1

EnableDrive = 1

DriveEnabled = 1 MC = 1

Stop = 1

Ready = 1

Halt = 1

HaltActive = 0

4.2.3

Readin g parameters (e.g. hom ing metho d)

User action

Feedback

Write = 0

No feedback

UpperLimit

Reading of upper limit

PNU = 1011

No feedback

Subindex = 1

No feedback

34

Festo Motion_3 library User action Execute = 0->1

4.2.4

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

Writing parameters (e.g. acceleration homing method)

User action

Feedback

Write = 1

No feedback

PNU = 1013

No feedback

Subindex = 1

No feedback

ParamValueWR = ...

No feedback

Execute = 0->1

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

The values written to the motor controller with the fu nction block ..._PRM_SINGLE are stored in a volatile memory and are valid until the co ntrol voltage of 24 V at the motor controller is interrupted. In a nonvolatile memory, the values can be assumed permanently by describing PNU 127 Subindex 2 with the value 1. The following actions must be performed in order for the described parameters to be assumed permanently: User action

Feedback

Write = 1

No feedback

PNU = 127

No feedback

Subindex = 2

No feedback

ParamValueWR = 1

No feedback

Execute = 0->1

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

35

5

Glossary

C COB-ID: Communication object identifier. Consistency: A data range, which is defined as consistent, is transmitted complete, i.e. in a bus cycle. Controller: Control electronics that evaluate the control si gnals and provide the voltage supply for the motor via the power electronics (power electronics + closed-loop controller + positioning controller).

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

F Festo Config uratio n Tool (FCT): Commissioning software with uniform project and data management for all supported device types. The special requirements of a device type are supported by means of plug-ins with the necessary d escriptions and dialogs. Festo Handling and Positioning Profile (FHPP): Uniform field bus 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. FPC: FHPP-specific parameter PKW version (Festo Parameter Channel).

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/velocity 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.

N Node ID: Used for unique identification of a bus station.

P Package: The package allows the installation of target system-specific files for the control of Festo CoDeSys motor controllers. The program can be found in the Start menu under "Programs" in the selection "CoDeSys V3" PDO: Process Data Object. PKE: Integral part of the parameter c hannel (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 pa rameter 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 pa rameter. Position set: Positioning command defined in the position set table, consisting of target position, positioning mode, positioning speed and accelerations. 37

Festo Motion 3 Library en (1)

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