Festo Контроллер двигателя CMMD-AS - Manual (Page 45)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 45
If automatic firmware download (dip switch 8 = 1) is activated or there is no valid firmware
in the controller, a check is performed on initialisation whether an SD memory card is
inserted, and if so, it is initialised. If there is a firmware file on the card, it is checked first
(checksum test). If no fault is found, the firmware is transferred from the card to the
controller and saved in the FLASH program.
If the automatic loading of the parameter set is activated via the commissioning software,
the system checks whether a card is inserted when the firmware is started and it is
initialised if applicable. Depending on the setting, a specific or the latest parameter record
file is loaded and saved in the data flash.
In the CMMD-AS, the interface [M1] is only executed for the master. The master reads the
data from the SD card and passes it on to the slave via the SSIO.
A special case is loading of firmware from the SD card after Power ON: After Power ON,
the master at first holds the slave in Reset. The master first loads its firmware from the SD
card. With the start of the application, the RESET pilot line for the slave is switched
inactive. Now the slave takes over the "master" function on the SSIO interface and
directly accesses the SD card to load the same firmware from the SD card.
Only after completion of the firmware download is the cyclical and synchronous SSIO
communication established between master and slave.
3.6 Field bus interface
With the CMMD-AS, different fieldbusses can be used. By default, the CAN bus is
permanently integrated into the motor controller with the CMMD-AS. Optionally, the
PROFIBUS or DeviceNet can be used via plug-in modules. But only one field bus can
ever be active for both axes at the same time. Card modules may only be mounted in
the slot [Ext 1].
For all field busses, the Festo Profile for Handling and Positioning (FHPP) has been
implemented as the communication protocol. Additionally, for the CAN bus, the
communication protocol based on the CANopen profile in accordance with the CiA Draft
Standard DS-301 and the drive profile in accordance with the CiA Draft Standard DSP-402
have been implemented.
Independent of the fieldbus, a factor group can be used so that application data can be
transferred into user-specific units.