05 Festo Motion - Lib en PDF

The Festo_Motion.
lib library
Table of Contents
1 The Festo_Motion.lib library.............................................................................................................. 1
1.1 Overview ...................................................................................................................................... 1
1.1.1 Architecture....................................................................................................................... 1
1.2 Requirements ............................................................................................................................... 3
1.2.1 I/O configuration for PROFIBUS ....................................................................................... 3
1.3 Designated use ............................................................................................................................ 4
1.4 Target group ................................................................................................................................. 4
1.5 Service ......................................................................................................................................... 4
1.6 Safety instructions ........................................................................................................................ 5
1.7 General information on Festo motor controllers ........................................................................... 6
1.7.1 Documentation on Festo motor controllers ....................................................................... 6
1.8 Festo Handling and Positioning Profile (FHPP) ........................................................................... 7
1.8.1 Operating modes .............................................................................................................. 7
1.9 Function blocks for Festo motor controllers ................................................................................. 8
1.9.1 Control function blocks ..................................................................................................... 8
1.9.2 Organisation function blocks ........................................................................................... 19
1.9.3 Parameterisation function blocks .................................................................................... 20
1.10 Examples ................................................................................................................................... 28
1.10.1 Example for controlling a Festo motor controller............................................................. 28
1.10.2 Example for parameterising a Festo motor controller ..................................................... 31
2 Glossary ............................................................................................................................................ 33
3 Index .................................................................................................................................................. 35
ii
1 The Festo_Motion.lib library
1.1 Overview
Festo_Motion.lib is an internal library for CoDeSys 2.3. This library can be used to control the following
types of Festo motor controller (drive controller):
– CMMD-AS-...
– CMMP-AS-...
– CMMS-AS-...
– CMMS-ST-...
– SFC-DC-...
– MTR-DCI-...
– SFC-LAC-...
– SFC-LACI-...
Communication is established via a fieldbus and one of the following communication protocols:
– CANopen
– PROFIBUS
The Festo motor controllers are controlled using the Festo Handling and Positioning Profile (FHPP).
The library contains function blocks for controlling and parameterising the individual drives.
Refer to the relevant motor controller documentation for information on operating and setting up the motor
controller types in question.
1.1.1 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 and the first address of the input data as an input/output 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) output data and the first FPC address of the input data
as an input/output variable.
For each motor controller instance that exists, an instance of the function blocks used for control
purposes must also be created. As a result, function blocks used for control purposes cannot be
used for two different motor controllers.
Motor units/ motor controllers Control block Parameterisation blocks
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)
1
The Festo_Motion.lib library
Motor units/ motor controllers Control block Parameterisation blocks
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)
The following screenshots show how the input and output data is transferred from the fieldbus to the
function blocks.
Figure: Control configuration
Figure: Link between drive controller and function block
The Festo Parameter Channel input and output data is offset by 8 bytes behind the FHPP Standard data.
2
1.2 Requirements
The relevant files for the Festo motor controllers are required for communication via fieldbus:
Motor controller Element name in CoDeSys Filename for CANopen Filename for
PROFIBUS
CMMD-AS-… CMMD-AS-… (FHPP) (EDS) CMMD-AS_CAN_FHPP.eds --

CMMD-AS… -- D-AS0B68.gsd
CMMP-AS-… CMMP-AS-… (FHPP) (EDS) CMMP-AS-…- --
…_CAN_FHPP.eds
CMMP-AS… -- P-AS0B06.gsd
CMMS-AS-… CMMS-AS (FHPP) (EDS) CMMS-AS_CAN_FHPP.eds --
CMMS-AS… -- S-AS0B67.gsd
CMMS-ST-… CMMS-ST (FHPP) (EDS) CMMS-ST_CAN_FHPP.eds --
CMMS-ST… -- S-ST0AB7.gsd
MTR-DCI-...-CO MTR-DCI-…-CO (FHPP) (EDS) MTR-DCI-…-FHPP.eds --
MTR-DCI-...-PB Festo MTR-DCI… -- MTR00974.gsd
SFC-DC-...-CO SFC-DC-VC-3-E-…-CO (FHPP) SFC-DC-…-CO-FHPP.eds --
(EDS)
SFC-DC-...-PB Festo SFC-DC… -- SFC00973.gsd
SFC-LAC-…-CO SFC-LAC-…-CO-FHPP SFC-LAC-…-CO-FHPP.eds --
SFC-LAC-…-PB Festo SFC-LAC… -- SFC00972.gsd
SFC-LACI-…-CO SFC-LACI-…-CO-FHPP SFC-LACI-…-CO-FHPP.eds --
SFC-LACI-…-PB Festo SFC-LACI -- SFC00BCE.gsd
During the installation of CoDeSys provided by Festo, the accompanying configuration files are
installed automatically and stored in the following directory: ...\CoDeSys
V2.3\Targets\Festo\...\IOCONFIG\
Configuration files that are not supplied with CoDeSys provided by Festo can be installed via the
standard CoDeSys dialog "Add configuration file".
In order to use the function blocks, the library Festo_Motion.lib must be integrated into the software
package "CoDeSys provided by Festo".
Refer to the "Library Manager" section in the "Resources" chapter of the general CoDeSys Help
for instructions on how to integrate a library.
1.2.1 I/O configuration for PROFIBUS

For I/O configuration, the two following settings are supported by the GSD files:
Setting Meaning Profile
FHPP Standard Use of the control function block alone Festo Handling and Positioning Profile
Standard
FHPP Standard Use of control, organisation and Festo Handling and Positioning Profile with
+ FPC parameter function blocks parameter channel
3
Figure: I/O configuration (example)
• After completing the configuration, save the data in your project.
Refer to the Help for the CoDeSys programming system for more information on base and DP
parameters. The documentation for the relevant PROFIBUS station contains special information on
configuration and parameterisation.
1.3 Designated use

The function blocks (FBs) described are used to control and parameterise the associated device. You can
use them to conveniently integrate the many functions of the relevant device into your program. They are
integrated into the user program for each motor unit or motor controller (each axis) and called there
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.
1.4 Target group

This manual is intended exclusively for technicians trained in control and automation technology, who have
experience in installing, commissioning, programming and diagnosing positioning systems and the relevant
fieldbuses.
1.5 Service
Please contact your local Festo service centre or write to the following e-mail address if you have any
technical problems:
– service_international@festo.com
4
1.6 Safety instructions

When commissioning and programming positioning systems, you must observe the safety regulations in
the manuals and operating instructions for the components used.
The user must make sure that there is nobody within the positioning range of the connected actuators or
axis systems. Access to the possible danger area must be prevented by suitable measures such as
barriers and warning signs.
Warning
Electrical 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 objects in the positioning path while the system 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.
5
1.7 General information on Festo motor controllers

The following sections contain information on the motion modules for Festo motor controllers. The
following additional manuals are required for a complete understanding:
1.7.1 Documentation on Festo motor controllers
Documentation Contents
Brief description and manuals on CD- Brief description: Important instructions on commissioning
ROM (see catalogue) and preliminary information.
Manuals: Contents as described below.
Manuals P.BE-... Installation, commissioning and diagnosis of electric axes
with the relevant Festo motor controller.
Operating instructions for accessories Assembly and commissioning of the electric mini slide
SLTE as an actuator.
Help system for the Festo Configuration Functional descriptions for the Festo Configuration Tool
Tool (contained in FCT software) configuration software.
Help system for CoDeSys provided by Use of the motion modules for Festo motor controllers
Festo (this Help) described here.
Note
• Always read the information and safety instructions contained in this documentation.
6
1.8 Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especially tailored to the target applications for handling
and positioning tasks, the "Festo Handling and Positioning Profile (FHPP)".
The FHPP enables uniform control and programming for the various fieldbus systems and controllers from
Festo.
In the FHPP, the user can create a uniform definition for ...
– operating modes,
– I/O data structure,
– parameter objects,
– sequence control.
Figure: Principle of FHPP
Control and status bytes

Control via the fieldbus is achieved via 8 bytes of I/O data. Control functions are usually triggered and
status messages for the block evaluated by means of single bit operations.
Parameter channel
The control system can access all controller parameter values via the parameter channel. A further 8 bytes
of I/O data are used for this purpose.
1.8.1 Operating modes

Record selection
Saved positioning records can be executed in record selection mode. Positioning records are
parameterised using the Festo Configuration Tool or taught in via the control panel for this purpose during
commissioning.
Direct mode
In direct mode, the most important positioning data is transferred directly via the control bytes.
– Target positions and speeds can be ascertained and specified by the controller at execution time as a
function of the operating status.
– No limitations because of the number of saved positioning records.
Values can be taught in/parameterised via the PLC in both operating modes.
The following direct operating modes can be selected:
– Direct mode position control
– Direct mode force control
– Direct mode velocity control
7
1.9 Function blocks for Festo motor controllers

The names of function blocks for Festo motor controllers start with the designation of the motor controller,
e.g. CMMP-AS, followed by the function of the relevant block, e.g. CTRL for control block.
The library Festo_Motion.lib contains the following function blocks (FBs):
– Control FBs for controlling the relevant Festo motor controller
– Organisation FBs for parameterising the relevant Festo motor controller types
– Parameter FBs for transferring individual parameters to the relevant Festo motor controller
Function block Explanation
xxx_xx_CTRL Function block for controlling the motor controller

xxx_xx_PRM_INIT Organisation function block for parameterising the motor controller
xxx_xx_PRM_SINGLE Transfers individual parameters
xxx_xx_PRM_MULTI Transfers a parameter list (parameter array)
xxx_xx_PRM_DIAG Reads out the diagnostic memory
xxx_xx_PRM_DIRMP Transfers the parameters for direct mode position control
xxx_xx_PRM_KO Transfers communication objects
Notes
– The function blocks can vary depending on the drive.
– The blocks belonging to the CMMS-AS can be used for the motor controller CMMD-AS.
1.9.1 Control function blocks

Control function blocks
1. Inputs and outputs
The following table contains all the inputs and outputs that a FHPP function block can potentially provide
for controlling a motor controller. The actual number depends on which control modes are supported by
the motor controller. Refer to the relevant motor controller documentation ( section "Limited selection of
inputs and outputs") for information on which motor controller supports which control modes.
Key:
– Input/output: Designation of an input or output from the CoDeSys function block ..._CTRL.
– Type: Data type expected by the relevant input or issued at an output.
– Description: Name and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE).
Input Type Description
FB_CFG WORD FB configuration

Bit 0 = FALSE: Low byte first
Bit 0 = TRUE: High byte first
Bit 1 = Reserved
etc.
Bit 31 = Reserved
Pos_Factor_numerator DINT Numerator value for converting from position to
increments
Pos_Factor_denumerator DINT Denominator value for converting from position to
increments
AxisType INT Connected axis type
8
EnableDrive BOOL Enable drive

= 1: Enable drive
= 0: Drive blocked
Stop BOOL Stop
= 1: Enable operation.
= 0: Stop active (discard emergency ramp + positioning
task). The drive stops with maximum braking ramp, the
positioning task is reset.
Brake BOOL Release brake
= 1: Release brake
= 0: Engage brake
Note: Releasing the brake is only possible if the
controller is blocked. As soon as the controller is
enabled, it has control of the brake control system.
ResetFault BOOL Reset fault
A fault is acknowledged with a rising edge and the fault
value is deleted.
HMIAccessLocked BOOL Software access locked
Controls access to the local (integrated) diagnostic
interface of the controller.
= 1: The FCT software can only monitor the controller, it
cannot assume control of the device (HMI control).
= 0: The FCT software can assume control of the device
(to change parameters or control inputs).
OPM INT FHPP operating mode + control mode
= 0: Record selection
= 1: Direct mode position control
= 5: Direct mode force control
= 9: Direct mode velocity control
= 13: Reserved
= 17: Track mode
Halt BOOL Halt
= 1: Halt is not active
= 0: Halt activated (do not discard braking ramp +
positioning task). The axis stops with a defined braking
ramp, the positioning task remains active (the remaining
distance can be deleted with ClearRemainingPosition).
StartTask BOOL Start positioning task
A rising edge transfers the current nominal data and
starts a positioning process (also e.g. record 0 =
homing).
StartHoming BOOL Start homing
A rising edge starts homing with the preset parameters.
JoggingPos BOOL Jog positive
The drive moves at the specified speed or rotational
speed in the direction of larger actual values, providing
the bit is set. The movement begins with the rising edge
and ends with the falling edge.
JoggingNeg BOOL Jog negative
The drive moves at the specified speed or rotational
speed in the direction of smaller actual values, see
JoggingPos.
9
TeachActualValue BOOL Teach value

With a falling edge, the current actual value is transferred
to the setpoint value register of the currently addressed
positioning record. Actual values can be
e.g. position, pressure or torque.
ClearRemainingPosition BOOL Delete remaining distance
In the "Halt" state, a rising edge causes the positioning
task to be deleted and a transition to the "Ready" state.
AbsoluteRelative BOOL Absolute/relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
SetFunction BOOL Cam disc
= 0: Cam disc not active
= 1: Cam disc active
DeactivateStrokeLimit BOOL Force limit value not active (with force control only)
= 0: Force monitoring active
= 1: Force monitoring not active
RecordNo SINT Record number
Preselection of record number for record selection.
SetFuncNumber USINT Cam disc function
= 0: Reserved
= 1: Synchronisation to external input
= 2: Synchronisation to external input with cam disc
function
(i.e. slave with physical master)
= 3: Synchronisation to virtual master with cam disc
function
SetFuncGroup USINT Cam disc group
= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
SetValuePosition DINT Position
Position in the position unit
SetValueForceRamp USINT Force ramp
Value of the force ramp in % of the nominal value or
maximum value
SetValueVelocity USINT Speed
Speed in % of the maximum speed
SetValueForce DINT Force
Force in % of the maximum force
SetValueRotRamp SINT Speed ramp
Speed ramp in % of the maximum ramp
SetValueRotSpeed DINT Speed
Speed in speed unit
10
Input/output Type Description
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) Acknowledge selected FHPP operating mode + control mode

Record selection = 'Record Mode selected'
Direct mode position control = 'Directmode Positioncontrol
selected'
Direct mode force control = 'Directmode Forcecontrol
selected'
Direct mode velocity control = 'Directmode Velocitycontrol
selected'
Operating mode and control mode invalid = 'not specified'
StateOPMString STRING(80) Acknowledge active FHPP operating mode + control mode
Record selection = 'Record Mode active'
Direct mode position control = 'Directmode Positioncontrol
active'
Direct mode force control = 'Directmode Forcecontrol active'
Direct mode velocity control = 'Directmode Velocitycontrol
active'
Operating mode and control mode invalid = 'not specified'
DriveEnabled BOOL Controller enabled
= 0: Drive blocked, controller not active
= 1: Drive (controller) enabled
Ready BOOL Operation enabled
= 0: Stop active
= 1: Operation enabled, positioning possible
Warning BOOL Warning
= 0: Warning not present
= 1: Warning present
Fault BOOL Fault
= 0: No fault
= 1: Fault present or fault reaction active. Fault code in the
diagnostic memory.
SupplyVoltagePresent BOOL Load voltage present
= 0: No load voltage
= 1: Load voltage present
ControlFCT_HMI BOOL Device control software
= 0: Device control free (e.g. PLC/fieldbus)
= 1: Device controlled by software (PLC control is locked)
StateOPM INT Acknowledge FHPP operating mode + control mode
= 0: Record selection
= 1: Direct mode position control
= 5: Direct mode force control
= 9: Direct mode velocity control
= 13: Reserved
= 17: Track mode
11
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, jogging)
= 1: Start executed (homing, jogging)
MC BOOL Motion complete
= 0: Positioning task active
= 1: Positioning task completed, if applicable with fault
Note: MC is set after device is switched on (state "Drive
blocked").
AckTeach BOOL Acknowledge teach
= 0: Ready for teaching
= 1: Teaching carried out, actual value has been adopted
DriveIsMoving BOOL Axis is moving
= 0: Axis speed < limit value
= 1: Axis speed >= limit value
DragError BOOL Drag error
= 0: No following error
= 1: Following error active
StandstillControl BOOL Standstill monitoring
= 0: Axis remains in tolerance window after MC
= 1: Axis left tolerance window after MC
DriveIsReferenced BOOL Drive homed
= 0: Homing must be carried out
= 1: Homing information exists, homing must not be carried
out
RC1 BOOL 1st record continuation carried out
= 0: A continuation condition has not been configured or not
achieved
= 1: The first continuation condition has been achieved
RCC BOOL Record continuation complete - valid as soon as MC is
available
= 0: Record linking terminated. At least one continuation
condition has not been achieved
= 1: Record sequence has been processed to the end.
ActualFuncActive BOOL Cam disc active
= 0: Cam disc not active
= 1: Cam disc active
VelocityLimitReached BOOL Speed limit value reached (with force control only)
= 1: Speed limit value reached
= 0: Speed limit value not reached
StrokeLimitReached BOOL Force limit value reached (with force control only)
= 0: Force monitoring achieved
= 1: Force monitoring not achieved
ActualRecordNo SINT Record number
Acknowledgement of record number for record selection
12
ActualFuncNumber USINT Acknowledgement of cam disc function

= 0: Reserved
= 1: Synchronisation to external input
= 2: Synchronisation to external input with cam disc function
(i.e. slave with physical master)
= 3: Synchronisation to virtual master with cam disc function
ActualFuncNumber USINT Acknowledgement of cam disc group
= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
ActualPosition DINT Position
Acknowledgement of position in position unit
ActualVelocity SINT Speed
Acknowledgement of speed in % of the maximum speed
ActualForce INT Force
Acknowledgement of force in % of the maximum force
ActualRotRamp SINT Speed ramp
Acknowledgement of speed ramp in % of the maximum ramp
ActualRotSpeed DINT Speed
Acknowledgement of speed in speed unit
2. Limited selection of inputs and outputs with CoDeSys function blocks ..._CTRL
The following table contains a list of the inputs and outputs that are only supported by certain Festo motor
controllers and if applicable only for specific operating modes.
Input/output Type Motor controller Operating mode
Pos_Factor_numerator DINT MTR_DCI 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 Direct mode position control
SetFunction BOOL CMMP_AS_CAM Direct mode position control
DeactivateStrokeLimit BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
13
RecordNo SINT All Record selection

SetFuncNumber USINT CMMP_AS_CAM Direct mode position control
SetFuncGroup USINT CMMP_AS_CAM Direct mode position control
SetValuePosition DINT All Direct mode position control
SetValueForceRamp USINT CMMP_AS Direct mode force control
SetValueVelocity USINT All Direct mode position control
SetValueForce DINT All Direct mode force control
SetValueRotRamp SINT CMMD_AS Direct mode velocity control
CMMP_AS
CMMS_AS
CMMS_ST
SetValueRotSpeed DINT CMMD_AS Direct mode velocity control
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 Direct mode position control
VelocityLimitReached BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
StrokeLimitReached BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
ActualRecordNo SINT All Record selection
ActualFuncNumber USINT CMMP_AS_CAM Direct mode position control
ActualFuncGroup USINT CMMP_AS_CAM Direct mode position control
ActualPosition DINT All Direct mode position control
ActualVelocity SINT All Direct mode position control
ActualForce INT All Direct mode force control
14
ActualRotRamp SINT CMMD_AS Direct mode velocity control

CMMP_AS
CMMS_AS
CMMS_ST
ActualRotSpeed DINT CMMD_AS Direct mode velocity control
CMMP_AS
CMMS_AS
CMMS_ST
Linking function blocks

To control a Festo motor controller, the respective fieldbus data must be transferred to the function block.
The following screenshot shows an example of a control configuration with a CMMP-AS CANopen slave.
Figure: Control configuration (example)
15
The best way to perform the transfer is using an array variable, which means that only the first element in
the array has to be transferred to the block.
Figure: Linking addresses
To parameterise a motor controller, a further eight bytes (the Festo Parameter Channel data (FPC data))
are transferred to a special function block. This "transfer" function block supplies all parameterisation
function blocks needed in the project with data.
16
Visualising function blocks

For each motor controller, there is one function block for controlling and several function blocks for
parameterising.
A visualisation element is also provided to make initial start-up easier.
Figure: 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.
Connecting the visualisation

The visualisation element compatible with the selected function block is inserted in a visualisation object.
Refer to the general CoDeSys Help in the chapter "CoDeSys visualisation" for information on
how to create a visualisation object.
Proceed as follows:
1. Open the editing window of the visualisation object by double-clicking the name of the object in the
'Visualizations' tab.
2. Click the 'Insert' menu item and select the 'Visualizations' command. You can also click the
'Visualizations' icon in the function bar.
3. Move the mouse pointer over the editing window. The mouse pointer is identified with the relevant
symbol in the window.
4. Click in the editing field and hold the mouse button pressed. Then drag the mouse over the editing
field to create a placeholder for the visualisation element. Release the mouse button when the
placeholder reaches the required size.
5. Search for the correct visualisation element in the "Select visualization" dialog window and press "OK"
to confirm your selection.
17
The required visualisation element appears in the editing window of the visualisation object.
• If necessary, adapt the size and position of the visualisation element by clicking and moving the
element or dragging the borders.
• Double-click the visualisation element to open the dialog window and configure the element. Here you
can modify different settings for displaying and connecting the visualisation element.
Figure: Linking the visualisation
6. Select the "Visualization" category in the "Visualization" dialog window.

7. Click the "Placeholder..." button to open the "Replace placeholders" dialog window.
8. Connect the visualisation element with the associated instance (axis name). To do this, combine the
name of the function block with the name of the higher-level program and enter in the "Replacement"
column.
18
1.9.2 Organisation function blocks

Inputs and outputs of the organisation function blocks
When parameterisation function blocks are used, type …_PRM_INIT function blocks control access to the
I/O data. Data is exchanged via the Festo Parameter Channel (FPC).
..._PRM_... parameterisation function blocks always require an instance of the ..._PRM_INIT

organisation function block.
The following table contains a list of the outputs and inputs of an organisation function block.
Key:
– Input/output: Designation of an input or output from the CoDeSys function block ..._PRM_INIT.
FB_CFG WORD FB configuration

Bit 0 = FALSE: Low byte first
Bit 0 = TRUE: High byte first
Bit 1 = Reserved
etc.
Bit 31 = Reserved
DATA_REF VAR_IN_OUT FPC data structure of data type FHPP_PRM_REF
Contents of the data structure are identical to the I/O
data of the FPC
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)
19
1.9.3 Parameterisation function blocks

Function block xxx_PRM_SINGLE
The xxx_PRM_SINGLE block transfers an individual parameter to the relevant drive controller.
Figure: Example of function block CMMP_AS_PRM_SINGLE
1. Inputs and outputs

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

0->1: A rising edge starts transfer of a parameter
Write BOOL Read/write
= 0:Read parameter
= 1:Write parameter
Prerequisite: UpperLimit = 0, LowerLimit = 0
UpperLimit BOOL Read upper limit value
= 1: Read upper limit value
Prerequisite: Write = 0, LowerLimit = 0
LowerLimit BOOL Read lower limit value
= 1: Read lower limit value
Prerequisite: Write = 0, UpperLimit = 0
PNU WORD Number of the corresponding parameter
Subindex SINT Subindex of 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: Transfer has not been initiated
= 1: Transfer has been initiated
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrStr STRING(80) Outputs an error message as a string
ActPNU WORD Current number of the corresponding parameter
ActSubindex SINT Current subindex of the corresponding parameter
20
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 several instances of the FB, the current
internal status of the relevant FB is output.
Table: xxx_PRM_SINGLE, inputs and outputs

Key:
– Input/output: Designation of an input or output from the CoDeSys function block.
2. Limited selection of function blocks

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and
outputs are present in all CoDeSys function blocks ..._PRM_SINGLE depending on the type of the motor
controller.
Input/output Type Motor controller
UpperLimit BOOL CMMD_AS

LowerLimit BOOL CMMP_AS
CMMS_AS
CMMS_ST
DatatypeWR USINT MTR_DCI
SFC_DC
DatatypeRD USINT
SFC_LAC
SFC_LACI
The position factor must be taken into consideration when using the following inputs and outputs with the
specified motor controllers.
ParamValueWR DINT MTR_DCI

SFC_DC
ParamValueRD DINT
SFC_LAC
SFC_LACI
Function block xxx_PRM_MULTI

The xxx_PRM_MULTI block transfers a list of parameters to the relevant motor controller.
Figure: Example of function block CMMP_AS_PRM_MULTI
21
Inputs and outputs

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

SizeOfParam USINT Size of the parameter field (array) designated for transfer
AdrOfParam POINTER_TO_BYTE Address of the parameter field (array) designated for
transfer
The result of the read operation is available in the
parameter field array in Value.
ParamNr USINT Number of the parameter currently being transferred
Err BOOL Error
When using several instances of the FB, the current internal
status of the relevant FB is output.
Example of a parameter field (array)

MultiParam : ARRAY [1..5] OF FHPP_PRM_DESCRIPTION :=
(PNU:=404, SUBINDEX:=2, ACCESS:= 1, LENGTH:= 4, VALUE:=100),
(PNU:=404, SUBINDEX:=6, ACCESS:= 0, LENGTH:= 4, VALUE:=500);
Composition of the structure FHPP_PRM_DESCRIPTION

TYPE FHPP_PRM_DESCRIPTION :
STRUCT
PNU : UINT ; (* parameter number of the specified parameter *)
SUBINDEX : USINT; (* subindex of the specified parameter *)
ACCESS : USINT; (* 0 = read parameter / 1 = write parameter *)
LENGTH : USINT; (* parameter length in number of bytes *)
(* (always 4 for CMM... controllers, otherwise see
*)
(* FB xxx_PRM_Single input datatype WR) *)
VALUE : DINT ; (* result read out or value written *)
(* with these blocks: *)
(* MTR_DCI_PRM_MULTI, SFC_DC_PRM_MULTI, *)
(* SFC_LAC_PRM_MULTI, SFC_LACI_PRM_MULTI *)
(* the position factor must be taken into
consideration. *)
END_STRUCT
ENT_TYPE
22
Function block xxx_PRM_DIAG

The xxx_PRM_DIAG block reads the error memory or if applicable the warning memory of the relevant
motor controller.
Figure: Example of function block CMMP_AS_PRM_DIAG
Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIAG has to
ReadLatest BOOL Read the most recent entry

0->1: A rising edge reads out the most recent
message
ReadAll BOOL Read all entries
0->1: A rising edge reads out all messages
Warning BOOL Switch between warnings
= 0: Rear errors
= 1: Read warnings
ParamNr USINT Parameter number of the error memory
Number of the parameter currently being transferred
ReadLatest: ParamNr = 1
ReadAll: ParamNr of the error memory currently
being processed
Err BOOL Error
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
number of parameters depend on the relevant
device.
When using several instances of the FB, the current
internal status of the relevant FB is output.
23
Limited selection of function blocks

outputs are present in all CoDeSys function blocks ..._PRM_DIAG depending on the type of the motor
controller.
Warning BOOL CMMP_AS

CMMP_AS_CAM
Composition of the field structure of the diagnostic buffer

DiagBuff ARRAY [1..32] OF FHPP_PRM_DIAGMESSAGE;
TYPE FHPP_PRM_DIAGMESSAGE :
STRUCT
DiagEvent : DINT ; (* diagnostic event PNU 200 / PNU 210 *)
DiagMsgNumber : DINT ; (* fault number PNU201 / PNU 211 *)
DiagTimeStamp: : TOD ; (* timestamp of the diagnostic message *)
DiagMsgDescription : STRING; (* description of the diagnostic
message *)
END_STRUCT
ENT_TYPE
Since the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such as DiagEvent

and DiagTimeStamp are not supported by all drives. The size of the diagnostic buffer is also
dependent on the relevant motor controller.
Function block xxx_PRM_DIRMP

The xxx_PRM_DIRMP block writes or reads the dynamic values for direct mode (position control).
Figure: Example of function block CMMP_AS_PRM_DIRMP
Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIRMP has to
AxisType INT Connected axis type

= 0: Read parameter
= 1: Write parameter
Velocity DINT Basic speed: PNU 540
Acceleration DINT Acceleration: PNU 541
Deceleration DINT Deceleration: PNU 542
24
JerkLimit DINT SFC_LACx: Jerk limit: PNU 543

CMMx_xxx: Jerk limit: PNU 546
DampingTime DINT Filter time: PNU 1023
Load DINT Additional weight: PNU 544
Err BOOL Error
ActVelocity DINT Current basic speed: PNU 540
ActAcceleration DINT Current acceleration: PNU 541
ActDeceleration DINT Current deceleration: PNU 542
ActJerkLimit DINT SFC_LACx: Current jerk limit: PNU 543
(Pos/Neg) CMMx_xxx: Current jerk limit: PNU 546
ActDampingTime DINT Current filter time: PNU 1023
ActLoad DINT Current additional load: PNU 544
Limited selection of function blocks

outputs are present in all CoDeSys function blocks ..._PRM_DIRMP depending on the type of the motor
controller.
DampingTime DINT SFC_LAC

ActDampingTime DINT SFC_LACI
Load DINT SFC_LAC

SFC_LACI
ActLoad DINT
25
Function block xxx_PRM_KO

The xxx_PRM_KO block transfers a list of communication objects (KO) to the relevant motor controller.
Figure: Example of function block CMMP_AS_PRM_KO
Note
Communication with the Festo Configuration Tool (FCT) is not possible when using the function
block xxx_PRM_KO.
Inputs and outputs

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

= 0: Read communication object
= 1: Write communication object
Prequisite: UpperLimit = 0, LowerLimit = 0
Further information on communication objects can be
obtained from your local Festo service centre.
KO DINT Communication object
Further information on communication objects can be
obtained from your local Festo service centre.
ParamValueWR DINT Parameter value when writing a communication object
Err BOOL Error
ParamValueRD DINT Parameter value when reading a communication object
26
Function block xxx_CAM_PRM_CAMNUMBER

With the xxx_CAM_PRM_CAMNUMBER block you can:
– select a cam disc by specifying the cam disc number in the drive
– have the current cam disc read out with the help of the read command.
The function for using cam discs is optional. Please contact your local Festo service centre.
Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER
Note
Repeat the function after resetting the controller.
Inputs and outputs

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

= 0: Read PNU 700 Subindex 1
= 1: Write PNU 700 Subindex 1
CamNumber DINT Preselection of the cam disc number
Err BOOL Error
ActCamNumber DINT Number of the currently selected cam disc
27
1.10 Examples
1.10.1 Example for controlling a Festo motor controller
Festo motor controller CMMP-AS with associated function block CMMP_AS_CTRL
Figure: Example of function block CMMP_AS_CTRL
Type CMMP-AS-... motor controllers can be controlled in the following four combinations of operating and
control mode using this block:
– Record selection
The preset operating and control mode is only adopted and displayed when a movement is
initiated, i.e. a rising edge at the "StartTask" input.
Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13,
etc. Refer to the manual for the motor controller being used for more detailed information.
– Motor controller is switched on
– Load voltage is present
– PLC has control priority
Achieving ready status

Action by the user Feedback
-- SupplyVoltagePresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltActive = 0
28
Homing
StartHoming = 0->1 AckStart = 1

MC = 0
DriveIsMoving = 1
HaltActive = 1
-- DriveIsMoving = 0
(homing complete) MC = 1
DriveIsReferenced = 1
HaltActive = 1
Setting and "Record selection" mode

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 = ...
(positioning complete) MC = 1
Setting and "Direct mode position control" mode

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 = ...
(positioning complete) MC = 1
29
Setting and "Direct mode force control" mode

OPM = 5 OPMString = 'Directmode Forcecontrol selected'

StateOPMString = previous operating and control mode as a
STRING
StateOPM = previous operating and control mode as an INT
SetValueForce = ... --
StartTask = 1 OPMString = 'Directmode Forcecontrol active'
StateOPMString = 'Directmode Forcecontrol active'
StateOPM = 5
AckStart = 1
MC = 0
DriveIsMoving = 1
ActualForce = ...
(force specification reached) MC = 1
Setting and "Direct mode velocity control" mode

OPM = 9 OPMString = 'Directmode Velocitycontrol selected'

StateOPMString = previous operating and control mode as a
STRING
StateOPM = previous operating and control mode as an INT
SetValueRotRamp = ... --
SetValueRotSpeed = ... --
StartTask = 1 OPMString = 'Directmode Velocitycontrol active'
StateOPMString = 'Directmode Velocitycontrol active'
StateOPM = 9
AckStart = 1
MC = 0
DriveIsMoving = 1
ActualRotRamp = ...
ActualRotSpeed = ...
(velocity specification reached) MC = 1
30
1.10.2 Example for parameterising a Festo motor controller

Festo motor controller CMMP-AS with associated function block CMMP_AS_PRM_SINGLE.
Figure: Example of function block CMMP_AS_PRM_SINGLE
Type CMMP-AS-... motor controllers can be parameterised in all four combinations of operating and
control mode using this block:
– Record selection
Note
A description of the parameters according to FHPP supported by the different motor controllers
can be found in the relevant product documentation.
Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13,
etc. Refer to the manual for the motor controller being used for more detailed information.
– Motor controller is switched on
– Load voltage is present
– PLC has control priority
Achieving ready status

-- SupplyVoltagePresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltActive = 0
Read parameters (e.g. homing method)

Write = 0 No feedback
UpperLimit Read upper limit value
PNU = 1011 No feedback
Subindex = 1 No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrStr = 'no Error'
ActPNU = 1011
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0
31
Write parameters (e.g. homing method acceleration)

ParamValueWR = ... No feedback
Err = FALSE
ErrStr = 'no Error'
ActPNU = 1013
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0
The values written to the motor controller using the type ..._PRM_SINGLE function block are stored in a
volatile memory and only remain valid until the control voltage of
24 V on 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:
ParamValueWR = 1 No feedback
Err = FALSE
ErrStr = 'no Error'
ActPNU = 127
ActSubindex = 2
ParamValueRD = 0
RETVAL = 0
32
2 Glossary
C
COB-ID: Communication object identifier.
Consistency: A data range which is defined as consistent is transmitted complete, i.e. in one bus
cycle.
Controller: Control electronics which evaluate the control signals and provide the voltage supply for
the motor via the power electronics (power electronics + controller + positioning controller).
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 device type are
supported with the necessary descriptions and dialogs by means of plug-ins.
Festo Handling and Positioning Profile (FHPP): Uniform fieldbus data profile for positioning
controllers from Festo.
Festo Parameter Channel (FPC): FHPP-specific parameter channel version.
FHPP: Uniform fieldbus data profile for positioning controllers from Festo (Festo Handling and
Positioning Profile).
FPC: FHPP-specific parameter channel version (Festo Parameter Channel).
G
GSD file: Device master data file in which all specific features of the slave are saved (e.g. number of
I/Os, number of diagnostic bytes, etc.).
H
Homing: Homing defines the reference position and thereby the origin of the measuring reference
system of an axis.
Homing method: Method for defining the reference position: against a fixed stop (overcurrent/speed
evaluation) or with reference switch.
Homing mode: Operating mode in which homing is carried out.
J
Jog mode: Manual movement in positive or negative direction.
N
Node ID: Used for unique identification of a bus station.
P
PDO: Process Data Object.
PKE: Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK)
and the parameter number (PNU).
PKW: Telegram part used for transmitting parameters. PKW refers to a parameter identification value
(see also "Festo Parameter Channel (FPC)").
33
PNU: Parameters which can be transmitted via the parameter channel are addressed with the
parameter number (PNU). The parameter number is an integral part of the parameter identifier
(PKE) and serves for identifying or addressing the individual parameter.
Position set: Positioning command defined in the position set table, consisting of target position,
positioning mode, positioning speed and accelerations.
Profile position mode: Operating mode for executing a position set or a direct positioning task.
Project zero point (PZ): Measuring reference point for all positions in positioning tasks. The project
zero point forms the basis for all absolute position specifications (e.g. in the position set table or
with direct control via the control interface or diagnostic interface). The basis point for the project
zero point is the axis zero point. With the MTR-DCI, the project zero point PZ and the axis zero
point AZ are identical.
R
Reference point (REF): Basis point for the incremental measuring system. The reference point
defines a known orientation or position within the positioning path of the drive.
S
Subindex (IND): Integral part of the parameter channel (PKW) which addresses an element of an
array parameter (subparameter number).
T
Target Support Package: The Target Support Package enables the installation of target system-
specific files for controlling Festo CoDeSys motor controllers. The program is located in the start
menu under "Programs" and the option "Festo Software\CoDeSys V2.3 by Festo".
Teach mode: Operating mode for setting positions by moving to the target position, e.g. when
creating position sets.
34
3 Index
D R
Direct mode.................................................. 7 Record selection........................................... 7
F S
FHPP ........................................................... 7 Safety instructions for Festo_Motion.lib ........ 5
P
Parameter channel....................................... 7
35

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The Festo_Motion.

Motor units/ motor controllers Control block Parameterisation blocks

CMMD-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)

CMMP-AS-... CMMP_AS_CTRL (FB) CMMP_AS_PRM_INIT (FB)

CMMS-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)

CMMS-ST-... CMMS_ST_CTRL (FB) CMMS_ST_PRM_INIT (FB)

MTR-DCI-... MTR_DCI_CTRL (FB) MTR_DCI_PRM_INIT (FB)

SFC-DC-... SFC_DC_CTRL (FB) SFC_DC_PRM_INIT (FB)

Motor units/ motor controllers Control block Parameterisation blocks

SFC-LAC-... SFC_LAC_CTRL (FB) SFC_LAC_PRM_INIT (FB)

SFC-LACI-... SFC_LACI_CTRL (FB) SFC_LACI_PRM_INIT (FB)

Figure: Control configuration

Figure: Link between drive controller and function block

CMMD-AS-… CMMD-AS-… (FHPP) (EDS) CMMD-AS_CAN_FHPP.eds --

1.2.1 I/O configuration for PROFIBUS

Figure: I/O configuration (example)

• After completing the configuration, save the data in your project.

1.3 Designated use

1.4 Target group

1.6 Safety instructions

1.7 General information on Festo motor controllers

1.7.1 Documentation on Festo motor controllers

1.8 Festo Handling and Positioning Profile (FHPP)

Figure: Principle of FHPP

Control and status bytes

1.8.1 Operating modes

1.9 Function blocks for Festo motor controllers

Function block Explanation

xxx_xx_CTRL Function block for controlling the motor controller

1.9.1 Control function blocks

Input Type Description

FB_CFG WORD FB configuration

Input Type Description

EnableDrive BOOL Enable drive

Input Type Description

TeachActualValue BOOL Teach value

Input/output Type Description

b_FHPP_In VAR_IN_OUT FHPP input data

Output Type Description

OPMString STRING(80) Acknowledge selected FHPP operating mode + control mode

Output Type Description

HaltActive BOOL Halt

Output Type Description

ActualFuncNumber USINT Acknowledgement of cam disc function

Input/output Type Motor controller Operating mode

Pos_Factor_numerator DINT MTR_DCI All operating modes

Input/output Type Motor controller Operating mode

RecordNo SINT All Record selection

Input/output Type Motor controller Operating mode

ActualRotRamp SINT CMMD_AS Direct mode velocity control

Linking function blocks

Figure: Control configuration (example)

Figure: Linking addresses

Visualising function blocks

Connecting the visualisation

Figure: Linking the visualisation

6. Select the "Visualization" category in the "Visualization" dialog window.

1.9.2 Organisation function blocks

..._PRM_... parameterisation function blocks always require an instance of the ..._PRM_INIT

Input/output Type Description

FB_CFG WORD FB configuration

1.9.3 Parameterisation function blocks

Figure: Example of function block CMMP_AS_PRM_SINGLE