Document Outline

• Contents
• Intended use
• Safety instructions
• Target group
• Service
• Important user instructions
• Information about the version
• Glossary
• CPX terminal configuration and FHPP overview
  • Contents
  • 1.1 Planning aspects when parametrising the CMAX
    • 1.1.1 Instructions on the available CPX nodes
    • 1.1.2 CMAX parameters and CPX node parameters
  • 1.2 Data format
  • 1.3 CPX parametrisation
    • 1.3.1 Fail-safe or idle mode parametrising example
    • 1.3.2 Start-up behaviour of the CPX terminal
  • 1.4 Commissioning instructions via the CPX node (fieldbus)
• I/O data and sequence control
  • Contents
  • 2.1 Operating modes
    • 2.1.1 Record select mode
    • 2.1.2 Direct operating mode
    • 2.1.3 Commissioning
    • 2.1.4 Parametrisation
    • 2.1.5 Overview of the available functions in the operating modes
  • 2.2 Structure of the cyclical I/O data in the operating modes
    • 2.2.1 CCON/SCON structure
    • 2.2.2 Defining the operating mode with CCON
    • 2.2.3 I/O data in the record select operating mode
    • 2.2.4 I/O data in direct operating mode
    • 2.2.5 I/O data in commissioning mode
    • 2.2.6 I/O data in parametrising mode
  • 2.3 FHPP finite state machine
    • 2.3.1 Establish ready status
    • 2.3.2 Positioning
    • 2.3.3 Special features depending on operating mode
• Drive functions
  • Contents
  • 3.1 General functional description
    • 3.1.1 Position control
    • 3.1.2 Force control
    • 3.1.3 Standstill control
    • 3.1.4 Quality classes
    • 3.1.5 Handling the clamping unit or brake
    • 3.1.6 Motion Complete (MC)
    • 3.1.7 Dynamically updated controller status bits MOV, DEV and STILL
    • 3.1.8 Limitation of setpoint values
  • 3.2 Commissioning operations
    • 3.2.1 Movement test
    • 3.2.2 Homing
    • 3.2.3 Homing sequence and parametrisation
    • 3.2.4 Homing run methods
    • 3.2.5 Identification and adaptation
    • 3.2.6 Jog mode
    • 3.2.7 Teaching
  • 3.3 Record select operating mode (record select mode)
    • 3.3.1 Start of a record
    • 3.3.2 Record structure
    • 3.3.3 Conditional record switching / record chaining (PNU 402)
  • 3.4 Direct operating mode (direct mode)
    • 3.4.1 Start of a positioning task
    • 3.4.2 Continuous setpoint specification (tracking mode)
• Faults and diagnostics
  • Contents
  • 4.1 Overview of diagnostics options
  • 4.2 Faults and warnings
    • 4.2.1 Error numbers on the CPX terminal
    • 4.2.2 Fault groups: Classification according to the cause
    • 4.2.3 Fault level: Classification according to the response to the fault
    • 4.2.4 Reset types: Behaviour in the event of fault acknowledgement
    • 4.2.5 Error number and warning numbers
  • 4.3 Diagnostic parameters
    • 4.3.1 Latest diagnostic status
    • 4.3.2 Diagnostic memory
    • 4.3.3 Fault status (PNU 227) and additional information (PNU 203)
    • 4.3.4 Diagnostic code and additional information with reset, switching on and configuration
  • 4.4 Configuration of diagnostic messages and faults
  • 4.5 Diagnostics via standard functions of the CPX terminal
    • 4.5.1 Status bits of the CPX terminal
    • 4.5.2 I/O diagnostic interface and diagnostic memory
    • 4.5.3 Split up: Parametrising via the I/O diagnostic interface
• Parameter
  • Contents
  • 5.1 General parameter structure of the CMAX
  • 5.2 Access protection
    • 5.2.1 Password protection
    • 5.2.2 Access via PLC and FCT
    • 5.2.3 Status-dependent and operating mode dependent lock
    • 5.2.4 Enable and stop with parametrisation
  • 5.3 Default values
  • 5.4 Description of the parameters
    • 5.4.1 Overview of parameters
    • 5.4.2 Device data
    • 5.4.3 Diagnostic memory
    • 5.4.4 Process data
    • 5.4.5 Record list
    • 5.4.6 Project data
    • 5.4.7 Setpoint values for jog mode
    • 5.4.8 Direct operating mode: Positioning
    • 5.4.9 Direct operating mode: Force control
    • 5.4.10 Parameters of the default values
    • 5.4.11 Drive configuration
    • 5.4.12 Application settings
    • 5.4.13 Controller data of position controller
    • 5.4.14 Force controller data
    • 5.4.15 Identification
    • 5.4.16 System data
• Parametrisation
  • Contents
  • 6.1 Festo Parameter Channel (FPC)
    • 6.1.1 Request identifiers, response identifiers and error numbers
    • 6.1.2 Special features of the system of measurement
  • 6.2 Cyclic parametrising in parametrising mode
    • 6.2.1 Example of parametrising
    • 6.2.2 Sequence chart
  • 6.3 CPX module parameter and acyclic parametrising
    • 6.3.1 CPX function numbers
    • 6.3.2 Startup parameter
    • 6.3.3 Acyclic parameter request
    • 6.3.4 Festo Parameter Channel FPC (function 1)
• Notes on commissioning and service
  • Contents
  • A.1 Preparations and overview for commissioning
    • A.1.1 Checking the axis string
    • A.1.2 Switching on the power supply, switch-on behaviour
  • A.2 Commissioning via the CPX node (fieldbus)
    • A.2.1 C00: Basic parametrising
    • A.2.2 Step-for-step instructions for basic parametrising
    • A.2.3 Parametrising without hardware
    • A.2.4 C03: Movement test
    • A.2.5 Homing and identification
  • A.3 Operation and service
    • A.3.1 Nominal/actual comparison
    • A.3.2 Exchanging components
    • A.3.3 Reconfigure axis
    • A.3.4 Data reset
    • A.3.5 Firmware update
    • A.3.6 Switch-on behaviour and power-down
  • A.4 Programming flow charts
    • A.4.1 Create ready status
    • A.4.2 Start record
    • A.4.3 Reset fault
    • A.4.4 Switch over operating mode
• Basic controlling principles
  • Contents
  • B.1 CMAX system of measurement units
  • B.2 Dimension reference system for pneumatic drives
    • B.2.1 Dimension reference system with absolute measuring system
    • B.2.2 Dimension reference system with incremental measuring system
    • B.2.3 Calculating specifications for the measuring reference system
    • B.2.4 Software end positions / Hardware end positions
  • B.3 Drives and measuring systems
  • B.4 Taking into account the load
  • B.5 Basic information on position control
  • B.6 Optimisation of the mechanical structure and the pneumatic installation
    • B.6.1 Proceed as follows if the compressed air supply is unstable:
  • B.7 Optimisation of the controller
    • B.7.1 Description of the controller factors for position control
    • B.7.2 Optimize positioning behaviour
    • B.7.3 Description of the controller factors for force control
  • B.8 Basic principles of force control/standstill control
    • B.8.1 Influence of the mass on force control
    • B.8.2 Influence of the mass on standstill control
    • B.8.3 Behaviour of the force control
    • B.8.4 Behaviour of standstill control
    • B.8.5 Individual value mode
    • B.8.6 Position control during a force task
    • B.8.7 Force ramp
    • B.8.8 Controller amplifications
    • B.8.9 Influence of the static identification on force control
    • B.8.10 Monitoring function
  • B.9 Notes on application, special operating statuses
    • B.9.1 Changing an external force
• Configuration with CPX node
  • Contents
  • C.1 CPX-FB13
    • C.1.1 General configuration information
    • C.1.2 Configuration with STEP 7
    • C.1.3 Start parametrisation
    • C.1.4 Addressing
    • C.1.5 Acyclical parametrisation with DPV1, parameter READ/WRITE
  • C.2 CPX-FB11 (DeviceNet)
    • C.2.1 Configuring DeviceNet station properties (EDS)
    • C.2.2 Parametrisation (RSNetworx example)
    • C.2.3 Addressing
    • C.2.4 Examples of error display with RSNetWorx
  • C.3 CPX-FEC
    • C.3.1 Configuration
    • C.3.2 CMAX parametrisation
    • C.3.3 Save actual configuration as the nominal configuration
    • C.3.4 Address assignment
    • C.3.5 Diagnostics
• Index