Festo Контроллер позиционирования CPX-CMAX User Manual

Description CommunicationprofileFHPP for the CMAX axiscontrollerActivation anddiagnostics via CPX nodeTyp CPX−CMAX−C1−1CPX terminalDescription

Contents and general safety instructionsVIIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.5 Individual value mode B−44 . . . . . .

3. Drive functions3−38Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe axis zero point offset has a great influence on CMAX con

3. Drive functions3−39Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.4 Homing run methodsThe homing methods are oriented towards CA

3. Drive functions3−40Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.5 Identification and adaptationDuring identification, mainly th

3. Drive functions3−41Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatic identification With static identification, characteristics are

3. Drive functions3−42Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHIdentification sequenceDuring static identification, the axis firs

3. Drive functions3−43Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCarrying out identification1. Set commissioning mode.2. Prepare ident

3. Drive functions3−44Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHResetting identificationThe identification data can be reset manu

3. Drive functions3−45Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFaulty adaptation could be the reason for the following behaviou

3. Drive functions3−46Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.6 Jog modeIn the Operation enabled" state, the drive c

3. Drive functions3−47Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1 Creeping speed (slow travel)2 Maximum speed3 Acceleration4 Decelerati

Contents and general safety instructionsIXFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHIntended useThis description contains the communica

3. Drive functions3−48Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHIf the CMAX determines that the axis came to a standstillbefo

3. Drive functions3−49Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOverview of parameters involved (see also section 5.4.7)Parameters

3. Drive functions3−50Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.7 TeachingThe following values can be taught: Setpoint values

3. Drive functions3−51Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1 PLC: Prepare teaching2 CMAX: Ready for teaching3 PLC:Teach now4 CMAX

3. Drive functions3−52Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHProject zero point and software end position sequenceThese value

3. Drive functions3−53Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5. Teaching is done via the bit handshake in the control andstat

3. Drive functions3−54Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHTypical errors and warnings during teachingNo.Type CauseW35 Actual

3. Drive functions3−55Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.3 Record select operating mode (record select mode)A record can

3. Drive functions3−56Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOverview of parameters involved (see also section 5.4.5)Paramete

3. Drive functions3−57Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.3.1 Start of a recordSetpoint recordnumber Output dataAcknowledge

Contents and general safety instructionsXFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHSafety instructionsWhen commissioning and programmi

3. Drive functions3−58Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3 The CMAX accepts the record number and starts positioning, i

3. Drive functions3−59Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH Errors in the record parameters, e.g. an impermissibleswitching

3. Drive functions3−60Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.3.2 Record structureA positioning task in record select mode i

3. Drive functions3−61Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.3.3 Conditional record switching / record chaining (PNU 402)Recor

3. Drive functions3−62Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHMode of action of the Start, Ack, MC and RCx signalsSignalBit

3. Drive functions3−63Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined switching conditions in the CMAXValue Condition Description0

3. Drive functions3−64Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined switching conditions in the CMAXValue DescriptionCondition4

3. Drive functions3−65Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined switching conditions in the CMAXValue DescriptionCondition6

3. Drive functions3−66Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined switching conditions in the CMAXValue DescriptionCondition1

3. Drive functions3−67Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined switching conditions in the CMAXValue DescriptionCondition14

Contents and general safety instructionsXIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHTarget groupThis description is intended exclusivel

3. Drive functions3−68Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.4 Direct operating mode (direct mode)In the Operation enabled&

3. Drive functions3−69Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOverview of parameters involved (see also sections 5.4.8 and 5.4.

3. Drive functions3−70Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.4.1 Start of a positioning tasktmintmin: at least 1 bus cycle

3. Drive functions3−71Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3 After resetting CPOS.START and the acknowledgementSPOS.ACK = 0,

3. Drive functions3−72Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSetpoint value limitationThe setpoint values are limited accordin

3. Drive functions3−73Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.4.2 Continuous setpoint specification (tracking mode)Setpoint value

3. Drive functions3−74Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH

Faults and diagnostics4−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 4

4. Faults and diagnostics4−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents4.1 Overview of diagnostics options 4−3 . . . . .

4. Faults and diagnostics4−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.1 Overview of diagnostics optionsThe CMAX supports a numbe

Contents and general safety instructionsXIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHImportant user instructionsDanger categoriesThis

4. Faults and diagnostics4−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.2 Faults and warningsThe CMAX permanently monitors the

4. Faults and diagnostics4−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAcknowledging faults Indicated faults need to be acknowledged

4. Faults and diagnostics4−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.2.1 Error numbers on the CPX terminalAll CMAX faults a

4. Faults and diagnostics4−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.2.3 Fault level: Classification according to the response

4. Faults and diagnostics4−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.2.4 Reset types: Behaviour in the event of fault acknow

4. Faults and diagnostics4−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.2.5 Error number and warning numbersFault group 0  confi

4. Faults and diagnostics4−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 0  configuration errorCPX error group 100

4. Faults and diagnostics4−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 1  execution errorCPX error group 101 (CPX

4. Faults and diagnostics4−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 1  execution errorCPX error group 101 (C

4. Faults and diagnostics4−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 1  execution errorCPX error group 101 (CPX

Contents and general safety instructionsXIIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHIdentification of special informationThe following

4. Faults and diagnostics4−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 2  record errorCPX error group 102 (CPX−

4. Faults and diagnostics4−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 2  execution errorCPX error group 102 (CPX

4. Faults and diagnostics4−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 3  control errorCPX error group 103 (CPX

4. Faults and diagnostics4−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 3  control errorCPX error group 103 (CPX−M

4. Faults and diagnostics4−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 3  control errorCPX error group 103 (CPX

4. Faults and diagnostics4−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 3  control errorCPX error group 103 (CPX−M

4. Faults and diagnostics4−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 3  control errorCPX error group 103 (CPX

4. Faults and diagnostics4−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 4  system error ACPX error group 104 (CPX

4. Faults and diagnostics4−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 4  system error ACPX error group 104 (C

4. Faults and diagnostics4−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 4  system error ACPX error group 104 (CPX

Contents and general safety instructionsXIVFesto P.BE−CPX−CMAX−CONTROL−EN en 0908NHInformation about the versionThis description ref

4. Faults and diagnostics4−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 5  system error BCPX error group 105 (C

4. Faults and diagnostics4−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 5  system error BCPX error group 105 (CPX

4. Faults and diagnostics4−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 6  error in valveCPX error group 106 (C

4. Faults and diagnostics4−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 6  error in valveCPX error group 106 (CPX

4. Faults and diagnostics4−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 7  controller errorCPX error group 107 (

4. Faults and diagnostics4−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 8  measuring system errorCPX error group 108

4. Faults and diagnostics4−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault group 8  measuring system errorCPX error group 1

4. Faults and diagnostics4−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.3 Diagnostic parameters4.3.1 Latest diagnostic statusThe CMA

4. Faults and diagnostics4−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHParameter DescriptionActive fault levelPNU 225In this way

4. Faults and diagnostics4−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStructure of an entry in the diagnostic memoryTime stampDa

Contents and general safety instructionsXVFesto P.BE−CPX−CMAX−CONTROL−EN en 0908NHUser documentation for the CMAX axis controllerType

4. Faults and diagnostics4−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostic eventsThe diagnostic event determines the meani

4. Faults and diagnostics4−35Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExamples of diagnostic messagesTime stamp Event No. Descriptio

4. Faults and diagnostics4−36Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.3.3 Fault status (PNU 227) and additional information (

4. Faults and diagnostics4−37Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHRange Name DescriptionBit 31..22(203/−−)Internal diagnostic co

4. Faults and diagnostics4−38Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHInformation and details on the faults (PNU 202)Info (bit

4. Faults and diagnostics4−39Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHInformation and details on the faults (PNU 202)Info (bit

4. Faults and diagnostics4−40Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHInformation and details on the faults (PNU 202)Info (bit

4. Faults and diagnostics4−41Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.3.4 Diagnostic code and additional information with reset,

4. Faults and diagnostics4−42Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostic event 7: Switch onThe CMAX was switched on.D

4. Faults and diagnostics4−43Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostic event 8: ConfigurationA configuration/commissioning

Contents and general safety instructionsXVIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHGlossaryThe following product−specific terms and

4. Faults and diagnostics4−44Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.4 Configuration of diagnostic messages and faultsPNU 228

4. Faults and diagnostics4−45Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFault messages filterThe fault messages filter allows you

4. Faults and diagnostics4−46Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNot all faults can be configured individually, only sele

4. Faults and diagnostics4−47Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.5 Diagnostics via standard functions of the CPX terminalF

4. Faults and diagnostics4−48Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.5.2 I/O diagnostic interface and diagnostic memoryA rang

4. Faults and diagnostics4−49Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of diagnostic memory entry for error E50Diagnostic

4. Faults and diagnostics4−50Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostic data of the module (I/O diagnostic interface)Th

4. Faults and diagnostics4−51Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4.5.3 Split up: Parametrising via the I/O diagnostic interf

4. Faults and diagnostics4−52Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAdditional informationModule codeFunction no: 16 + m*16 +

Parameter5−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 5

Contents and general safety instructionsXVIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHTerm / abbreviation MeaningFesto Parameter Channel

5. Parameter5−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents5.1 General parameter structure of the CMAX 5−3 . . . . . . .

5. Parameter5−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.1 General parameter structure of the CMAXThe CMAX contains a parameter

5. Parameter5−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHParameter classes Attribute / useVar Simple variable. Contains only one

5. Parameter5−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.2 Access protection5.2.1 Password protectionThe password protection prevent

5. Parameter5−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe following parameters can be modified despite passwordprotection:PNUPa

5. Parameter5−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPNU 1192:04 Accept passwordAccess ValuesWrite= 0: Delete password= 1: Ac

5. Parameter5−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.2.2 Access via PLC and FCTSimultaneous operation of the drive through

5. Parameter5−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.2.3 Status−dependent and operating mode dependent lockThis lock is desig

5. Parameter5−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.2.4 Enable and stop with parametrisationThe parametrisation in the cy

5. Parameter5−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.3 Default valuesDefault values can be used to globally specify positio

Contents and general safety instructionsXVIIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHTerm / abbreviation MeaningProject zero point

5. Parameter5−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAdvantages: Simplifies parametrisation.The record and direct operating p

5. Parameter5−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHParameter ControlBit PNU 403: RPC PNU 521: DMPC31 = 0: Record is blocked

5. Parameter5−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHHow is evaluation performed?Evaluation is performed upon start. When u

5. Parameter5−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHTo perform this task, the following default values are definedfirst. Fo

5. Parameter5−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHWith this record list and the default values the drive in factperfor

5. Parameter5−17Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4 Description of the parameters5.4.1 Overview of parametersThe following

5. Parameter5−18Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPNU 1)Properties1)Name (DE)PNU ULNBIBSHRWUnitTypeClassName (DE)MaxINDDiagnosti

5. Parameter5−19Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPNU 1)Properties1)Name (DE)PNU ULNBIBSHRWUnitTypeClassName (DE)MaxINDRecord lis

5. Parameter5−20Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPNU 1)Properties1)Name (DE)PNU ULNBIBSHRWUnitTypeClassName (DE)MaxINDJog mode

5. Parameter5−21Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPNU 1)Properties1)Name (DE)PNU ULNBIBSHRWUnitTypeClassName (DE)MaxINDAxis confi

CPX terminal configuration and FHPP overview1−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 1

5. Parameter5−22Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPNU 1)Properties1)Name (DE)PNU ULNBIBSHRWUnitTypeClassName (DE)MaxINDForce co

5. Parameter5−23Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHThe overview contains the following entriesIndexPhysical valuePNU Decimal p

5. Parameter5−24Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRepresentation of the parameter entriesCylinder lengthPNU PNU: 1101 Index:

5. Parameter5−25Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.2 Device dataManufacturer hardware versionPNU PNU: 100 Index: 1 Max inde

5. Parameter5−26Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHBuild datePNU PNU: 103 Index: 1 ... 30Max index: 30 Class: Array Data t

5. Parameter5−27Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHController serial numberPNU PNU: 114 Index: 1 Max index: 1 Class: Var Data

5. Parameter5−28Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHManufacturer device namePNU PNU: 120 Index: 1 ... 30 Max index: 30 Class

5. Parameter5−29Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHHTTP drive catalog addressPNU PNU: 123 Index: 1 ... 30 Max index: 30 Clas

5. Parameter5−30Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHSystem passwordPNU PNU: 133 Index: 1 ... 2 Max index: 2 Class: Array Dat

5. Parameter5−31Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHName of axis XPNU PNU: 180 Index: 1 ... 30 Max index: 30 Class: Array Da

1. CPX terminal configuration and FHPP overview1−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents1.1 Planning aspects when par

5. Parameter5−32Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.3 Diagnostic memoryThe diagnostic memory and the diagnostic parameter

5. Parameter5−33Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHTime stamp: time of the dayPNU PNU: 202 Index: 1 ... 100 Max index: 100

5. Parameter5−34Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHReservedPNU PNU: 204 Index: 2 Max index: 5 Class: Struct Data type: int32

5. Parameter5−35Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHNumber of unread entriesPNU PNU: 204 Index: 5 Max index: 5 Class: Struct D

5. Parameter5−36Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHTime stamp: day of operation .PNU PNU: 222 Index: 1 ... 100 Max index:

5. Parameter5−37Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCurrent warning to be displayed in FCTPNU PNU: 226 Index: 1 Max index: 1

5. Parameter5−38Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHFilter diagnostic messagePNU PNU: 228 Index: 2Max index: 3 Class: Struct

5. Parameter5−39Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.4 Process dataPosition valuesPNU PNU: 300 Index: 1 ... 3 Max index:

5. Parameter5−40Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPressure valuesPNU PNU: 302 Index: 1 ... 3 Max index: 3 Class: Array Dat

5. Parameter5−41Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCumulated stroke lengthPNU PNU: 305 Index: 3 Max index: 4 Class: Struct Dat

1. CPX terminal configuration and FHPP overview1−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1.1 Planning aspects when parametrising

5. Parameter5−42Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHAdditional axis statusPNU PNU: 308 Index: 1Max index: 1 Class: Var Data

5. Parameter5−43Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.5 Record listRequested record numberPNU PNU: 400 Index: 1 Max index:

5. Parameter5−44Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord control byte 1PNU PNU: 401 Index: 1 ... 64Max index: 64 Class:

5. Parameter5−45Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord control byte 2PNU PNU: 402 Index: 1 ... 64Max index: 64 Class: Ar

5. Parameter5−46Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord setpoint valuePNU PNU: 404 Index: 1 ... 64 Max index: 64 Class:

5. Parameter5−47Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord velocityPNU PNU: 406 Index: 1 ... 64 Max index: 64 Class: Array Dat

5. Parameter5−48Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord accelerationPNU PNU: 407 Index: 1 ... 64 Max index: 64 Class: Arr

5. Parameter5−49Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord decelerationPNU PNU: 408 Index: 1 ... 64 Max index: 64 Class: Array

5. Parameter5−50Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord workpiece massPNU PNU: 410 Index: 1 ... 64 Max index: 64 Class:

5. Parameter5−51Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHRecord force rampPNU PNU: 412 Index: 1 Max index: 64 Class: Array Data typ

1. CPX terminal configuration and FHPP overview1−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1.1.2 CMAX parameters and CPX node

5. Parameter5−52Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.6 Project dataGeneral description of the dimensional reference system

5. Parameter5−53Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHSoftware end positionPNU PNU: 501 Index: 1 ... 2 Max index: 2 Class: Var

5. Parameter5−54Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPermitted stroke during force controlPNU PNU: 510 Index: 1 Max index: 1

5. Parameter5−55Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHUpper limit setpoint forcePNU PNU: 512 Index: 1 Max index: 1 Class: Var Da

5. Parameter5−56Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHJog mode parameter controlPNU PNU: 521 Index: 1 Max index: 3 Class: Arra

5. Parameter5−57Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHFHPP: Control/Status bits: CPOS.HALT support (FHPP: Control/Status bits: CP

5. Parameter5−58Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHFHPP: Setpoint and actual values .PNU PNU: 523 Index: 1 Max index: 8 Cl

5. Parameter5−59Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.7 Setpoint values for jog modeJog mode slow speedPNU PNU: 530 Index:

5. Parameter5−60Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHJog mode accelerationPNU PNU: 532 Index: 1 Max index: 1 Class: Var Data

5. Parameter5−61Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHJog mode time slow speedPNU PNU: 534 Index: 1 Max index: 1 Class: Var Dat

1. CPX terminal configuration and FHPP overview1−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1.2 Data formatMulti−byte values are u

5. Parameter5−62Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.8 Direct operating mode: PositioningDirect mode position base velocit

5. Parameter5−63Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDirect mode position decelerationPNU PNU: 542 Index: 1 Max index: 1 Class:

5. Parameter5−64Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDirect mode position tolerancePNU PNU: 545 Index: 1 Max index: 1 Class:

5. Parameter5−65Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.9 Direct operating mode: Force controlDirect mode force base value fo

5. Parameter5−66Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDirect mode force tolerance forcePNU PNU: 552 Index: 1 Max index: 1 Clas

5. Parameter5−67Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.10 Parameters of the default valuesDefault value speed position modePN

5. Parameter5−68Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDefault value accelerationPNU PNU: 602 Index: 1 Max index: 1 Class: Var D

5. Parameter5−69Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDefault value workpiece massPNU PNU: 605 Index: 1 Max index: 1 Class: Var

5. Parameter5−70Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDefault value tolerance force modePNU PNU: 607 Index: 1 Max index: 1 Cla

5. Parameter5−71Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.11 Drive configurationThe hardware configuration is important for calcu

1. CPX terminal configuration and FHPP overview1−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe CMAX evaluates the global syste

5. Parameter5−72Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCylinder lengthPNU PNU: 1101 Index: 1 Max index: 1 Class: Var Data type:

5. Parameter5−73Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPiston rod diameterPNU PNU: 1103 Index: 1 Max index: 1 Class: Var Data typ

5. Parameter5−74Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHMeasuring system length (sensor length)PNU PNU: 1111 Index: 1 Max index:

5. Parameter5−75Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHValve typePNU PNU: 1120 Index: 1 Max index: 1 Class: Var Data type: int32V

5. Parameter5−76Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHValve 2 typePNU PNU: 1125 Index: 1 Max index: 1 Class: Var Data type: i

5. Parameter5−77Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.12 Application settingsOffset axis zero pointPNU PNU: 1130 Index: 1 Max

5. Parameter5−78Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHHoming speedPNU PNU: 1132 Index: 1 Max index: 1 Class: Var Data type: in

5. Parameter5−79Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHSupply pressurePNU PNU: 1141 Index: 1 Max index: 1 Class: Var Data type: i

5. Parameter5−80Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHWorkpiece loaded at power−onPNU PNU: 1143 Index: 1 Max index: 4 Class: V

5. Parameter5−81Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHClamp unit installedPNU PNU: 1143 Index: 3 Max index: 4 Class: Var Data ty

1. CPX terminal configuration and FHPP overview1−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1.3 CPX parametrisation1.3.1 Fail−safe o

5. Parameter5−82Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.13 Controller data of position controllerPosition control gain factor

5. Parameter5−83Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPosition control filter factorPNU PNU: 1152 Index: 1 Max index: 1 Class: V

5. Parameter5−84Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHPosition control damping time for exact stopPNU PNU: 1154 Index: 1 Max

5. Parameter5−85Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.14 Force controller dataForce control gain factorPNU PNU: 1160 Index: 1

5. Parameter5−86Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHForce control filter factorPNU PNU: 1162 Index: 1 Max index: 1 Class: Va

5. Parameter5−87Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHForce control damping time for exact stopPNU PNU: 1164 Index: 1 Max index

5. Parameter5−88Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.15 IdentificationIdentification settingsPNU PNU: 1170 Index: 1 Max index

5. Parameter5−89Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHIdentified maximum valuesPNU PNU: 1172 Index: 1 Max index: 6 Class: Array D

5. Parameter5−90Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHLimit valuesPNU PNU: 1173 Index: 1 Max index: 14 Class: Array Data type:

5. Parameter5−91Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHStatus movement testPNU PNU: 1174 Index: 1Max index: 1 Class: Var Data typ

1. CPX terminal configuration and FHPP overview1−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1.4 Commissioning instructions via th

5. Parameter5−92Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHDisable adaptationPNU PNU: 1175 Index: 1Max index: 1 Class: Var Data type

5. Parameter5−93Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH5.4.16 System dataActual hardware configurationPNU PNU: 1190 Index: 1 Max in

5. Parameter5−94Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHNotes on PNU 1190: Behaviour on delivery or after resetting the axis

5. Parameter5−95Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHAnalysis dataPNU PNU: 1191 Index: 1 Max index: 15 Class: Array Data type:

5. Parameter5−96Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCommissioning operation configuration statusPNU PNU: 1192 Index: 2 Max inde

5. Parameter5−97Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCommissioning function data resetPNU PNU: 1192 Index: 3 Max index: 8 Class:

5. Parameter5−98Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCommissioning function password statusPNU PNU: 1192 Index: 4 Max index: 8

5. Parameter5−99Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCommissioning function system of measurement tablePNU PNU: 1192 Index: 6 Max

5. Parameter5−100Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHCommissioning function valve and sensor statusPNU PNU: 1192 Index: 8 Max

5. Parameter5−101Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHStart configurationPNU PNU: 1195 Index: 1 ... 5 Max index: 5 Class: Struc

I/O data and sequence control2−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 2

5. Parameter5−102Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NHManufacturing dataPNU PNU: 1199 Index: 1 ... 7 Max index: 7 Class: Arra

Parametrisation6−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 6

6. Parametrisation6−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents6.1 Festo Parameter Channel (FPC) 6−3 . . . . . . . . .

6. Parametrisation6−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.1 Festo Parameter Channel (FPC)The FPC is used for transmitting p

6. Parametrisation6−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.1.1 Request identifiers, response identifiers and error numbersDes

6. Parametrisation6−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHErrorError descriptionError Error description0 Impermissible PNU.1 Paramete

6. Parametrisation6−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.1.2 Special features of the system of measurementThe following s

6. Parametrisation6−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.2 Cyclic parametrising in parametrising modeIn parametrising mode t

6. Parametrisation6−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.2.1 Example of parametrisingProgrammers can use the following exa

6. Parametrisation6−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSwitch to parametrising modeSwitching is permitted in the statuses

Contents and general safety instructionsIFesto P.BE−CPX−CMAX−CONTROL−EN en 0908NHOriginal de. . . . . . . . . . . . . . . .

2. I/O data and sequence control2−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents2.1 Operating modes 2−3 . . . . . . . .

6. Parametrisation6−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCarry out parametrising1. Step: Prepare parametrising with No re

6. Parametrisation6−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2. Step: Transmit parameterAllocation of the control bytes (step 2

6. Parametrisation6−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.2.2 Sequence chartSend No Request"Step 1First send No requ

6. Parametrisation6−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.3 CPX module parameter and acyclic parametrising6.3.1 CPX function

6. Parametrisation6−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.3.2 Startup parameterThe module parameters 0 ... 5 are not use

6. Parametrisation6−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.3.3 Acyclic parameter requestAcyclic functions in the module param

6. Parametrisation6−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHGeneral procedureThe module parameters byte 8 ... 11 contain a

6. Parametrisation6−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSequence1. The PLC compiles the request data according to the func

6. Parametrisation6−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH6.3.4 Festo Parameter Channel FPC (function 1)Request control and

Notes on commissioning and serviceA−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAppendix A

2. I/O data and sequence control2−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.1 Operating modesThe operating modes differ with r

A. Notes on commissioning and serviceA−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContentsA.1 Preparations and overview for commi

A. Notes on commissioning and serviceA−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.1 Preparations and overview for commissioningA.

A. Notes on commissioning and serviceA−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDelivery status (after switching on for the f

A. Notes on commissioning and serviceA−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHData resetAn axis data reset (see section A.3.

A. Notes on commissioning and serviceA−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSearch for axis ataxis interfacePower onValve

A. Notes on commissioning and serviceA−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDescription of the statusesPNU 1192:02 = 0Searc

A. Notes on commissioning and serviceA−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPNU 1192:02 = 1The system of measurement uni

A. Notes on commissioning and serviceA−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCommissioning errorsFig.A/1 only shows the most

A. Notes on commissioning and serviceA−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.2 Commissioning via the CPX node (fieldbus)

A. Notes on commissioning and serviceA−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCommissioning operations (PNU 1192)The Commissi

2. I/O data and sequence control2−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.1.2 Direct operating modeIn direct operating mode

A. Notes on commissioning and serviceA−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.2.2 Step−for−step instructions for basic par

A. Notes on commissioning and serviceA−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStep 3:Define system ofmeasurementunits5. Define

A. Notes on commissioning and serviceA−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStep 5:Load axis data8. Load axis data:Each

A. Notes on commissioning and serviceA−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStep 5:Switch off blockdownload9. Switch off bl

A. Notes on commissioning and serviceA−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample: With a DBCI−25−500 the effective len

A. Notes on commissioning and serviceA−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.2.4 C03: Movement testAfter parametrising, a

A. Notes on commissioning and serviceA−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3 Operation and serviceA.3.1 Nominal/actual c

A. Notes on commissioning and serviceA−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHParametersPermissible deviations for nominal/actu

A. Notes on commissioning and serviceA−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHModifications outside of the specified tolera

A. Notes on commissioning and serviceA−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3.2 Exchanging componentsNominal/actual comparis

2. I/O data and sequence control2−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.1.4 ParametrisationIn parametrising mode, parameters

A. Notes on commissioning and serviceA−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHResponse of the CMAX to exchanging for the

A. Notes on commissioning and serviceA−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDefined error codesMessageEffectE01More than one

A. Notes on commissioning and serviceA−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3.3 Reconfigure axisIf a CMAX was connected

A. Notes on commissioning and serviceA−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3.4 Data resetThere are three ways of resett

A. Notes on commissioning and serviceA−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3.5 Firmware updateUpdating the CMAX firmwar

A. Notes on commissioning and serviceA−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3.6 Switch−on behaviour and power−downAfter sw

A. Notes on commissioning and serviceA−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.4 Programming flow chartsThe following secti

A. Notes on commissioning and serviceA−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOperating voltage = 0 VLoad voltage (valve) =

A. Notes on commissioning and serviceA−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHRelease clamping unit,if presentSCON.ENABLED =

A. Notes on commissioning and serviceA−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.4.2 Start recordSCON.ENABLED = 1SCON.OPEN = 1

2. I/O data and sequence control2−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.1.5 Overview of the available functions in the

A. Notes on commissioning and serviceA−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.4.3 Reset faultFault activeSPOS.MC = 1[m]Thi

A. Notes on commissioning and serviceA−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.4.4 Switch over operating modeWhen switching b

A. Notes on commissioning and serviceA−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH

Basic controlling principlesB−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAppendix B

B. Basic controlling principlesB−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContentsB.1 CMAX system of measurement units B−3 . .

B. Basic controlling principlesB−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.1 CMAX system of measurement unitsThe CMAX can eithe

B. Basic controlling principlesB−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHUnit (PNU 1193)Index PhysicalvariableDrive1)Type Unit Cha

B. Basic controlling principlesB−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHUnit (PNU 1193)Index ConversionCharacterUnitTypeDrive1)Phys

B. Basic controlling principlesB−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe 2 systems of units and the 2 movement types r

B. Basic controlling principlesB−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHUnit (PNU 1193)ResolutionIndex Physical variable Value Uni

2. I/O data and sequence control2−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2 Structure of the cyclical I/O data in the oper

B. Basic controlling principlesB−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHUnit (PNU 1193)ResolutionIndex Physical variable Value U

B. Basic controlling principlesB−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.2 Dimension reference system for pneumatic drivesB.2.1

B. Basic controlling principlesB−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSystem of units for swivel modules1CZ/AZa’bcPZdeTP/AP

B. Basic controlling principlesB−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.2.2 Dimension reference system with incremental measu

B. Basic controlling principlesB−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.2.3 Calculating specifications for the measuring re

B. Basic controlling principlesB−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.2.4 Software end positions / Hardware end positionsT

B. Basic controlling principlesB−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCase distinction for external measuring systemsLayout

B. Basic controlling principlesB−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHConfiguration using FCTAs a specification, the softwar

B. Basic controlling principlesB−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.3 Drives and measuring systemsThe CMAX supports th

B. Basic controlling principlesB−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSwivel module DSMIParameter ValueMeasuring system type P

2. I/O data and sequence control2−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.1 CCON/SCON structureCCON With control byte 1 (

B. Basic controlling principlesB−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.4 Taking into account the loadThe controller of t

B. Basic controlling principlesB−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.5 Basic information on position controlThe basis for

B. Basic controlling principlesB−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAuto−profile With auto−profile positioning, setpoint v

B. Basic controlling principlesB−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1234567 81 Programmed speed2 Identified maximum speed3 Ac

B. Basic controlling principlesB−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPhases of a positioning processCalculation formulaeDe

B. Basic controlling principlesB−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.6 Optimisation of the mechanical structure and the

B. Basic controlling principlesB−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.6.1 Proceed as follows if the compressed air supp

B. Basic controlling principlesB−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.7 Optimisation of the controllerFrom the basic param

B. Basic controlling principlesB−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCushioning factor Cushioning is a measure for the t

B. Basic controlling principlesB−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.7.2 Optimize positioning behaviourDuring identification

2. I/O data and sequence control2−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHControl byte 1 (CCON)Bit EN DescriptionB0ENABLEEnable

B. Basic controlling principlesB−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHHowever, before you begin to optimize the positioni

B. Basic controlling principlesB−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHEffect Cause RemedyPremature stop several times12 Identi

B. Basic controlling principlesB−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHEffect Cause RemedyStability problem, higher−frequency

B. Basic controlling principlesB−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHEffect Cause RemedyOverswing (no or minimum standstill

B. Basic controlling principlesB−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.7.3 Description of the controller factors for forc

B. Basic controlling principlesB−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSignal filter factor Derived signals (e.g. force ramp

B. Basic controlling principlesB−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8 Basic principles of force control/standstill cont

B. Basic controlling principlesB−35Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHForce during force controlF + p1< A1−p2< A2−

B. Basic controlling principlesB−36Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.1 Influence of the mass on force controlThe mov

B. Basic controlling principlesB−37Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHmdelta = mcurrent tool mass + mcurrent workpi ece mass 

2. I/O data and sequence control2−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 1 (SCON)Bit EN DescriptionB0ENABLEDDrive

B. Basic controlling principlesB−38Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.2 Influence of the mass on standstill controlAft

B. Basic controlling principlesB−39Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.3 Behaviour of the force controlA force task is

B. Basic controlling principlesB−40Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe maximum force applied to the piston is referre

B. Basic controlling principlesB−41Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH The controller contains appropriate default settings.

B. Basic controlling principlesB−42Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHA force task can always be started from a positi

B. Basic controlling principlesB−43Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.4 Behaviour of standstill controlAfter completion o

B. Basic controlling principlesB−44Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.5 Individual value modeThe individual value mode

B. Basic controlling principlesB−45Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHIf the axis is in the process of performing positio

B. Basic controlling principlesB−46Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNotes: Stroke monitoring and velocity monitoring are

B. Basic controlling principlesB−47Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.6 Position control during a force taskIf during a

2. I/O data and sequence control2−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.2 Defining the operating mode with CCONOperating

B. Basic controlling principlesB−48Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.7 Force rampWhen a force task starts, calculatio

B. Basic controlling principlesB−49Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.8 Controller amplificationsThe possible controller a

B. Basic controlling principlesB−50Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.9 Influence of the static identification on forc

B. Basic controlling principlesB−51Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.8.10 Monitoring functionWith active force control, th

B. Basic controlling principlesB−52Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNotes: The starting position is always the actual

B. Basic controlling principlesB−53Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHMonitoring of the software end positionsIf a software

B. Basic controlling principlesB−54Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHB.9 Notes on application, special operating statusesB

B. Basic controlling principlesB−55Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExplanation:Cylinder1 has kinetic energy during transit

B. Basic controlling principlesB−56Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH

Configuration with CPX nodeC−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAppendix C

Contents and general safety instructionsIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHInterbus®, DeviceNet®, PROFIBUS®, CC−Link®, EtherN

2. I/O data and sequence control2−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.3 I/O data in the record select operating mo

C. Configuration with CPX nodeC−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContentsC.1 CPX−FB13 C−3 . . . . . . . . . . . .

C. Configuration with CPX nodeC−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.1 CPX−FB13General information on the CPX−FB13 are fou

C. Configuration with CPX nodeC−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.1.2 Configuration with STEP 7This description refers

C. Configuration with CPX nodeC−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1234Fig.C/1: Configuration with STEP7  Hardware catalo

C. Configuration with CPX nodeC−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.1.3 Start parametrisationWhen setting the System st

C. Configuration with CPX nodeC−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNoteCPX terminals with the CMAX always require new pa

C. Configuration with CPX nodeC−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHData formatThe CMAX evaluates the setting for the d

C. Configuration with CPX nodeC−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFig.C/4: Fail Safe parametrisingIn order for the setti

C. Configuration with CPX nodeC−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.1.4 AddressingExample: Addresses used as from input

C. Configuration with CPX nodeC−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of address assignment (record selection)Module

2. I/O data and sequence control2−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAssignment of the status bytes (record select mode

C. Configuration with CPX nodeC−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHIf the actual values are supposed to be treated a

C. Configuration with CPX nodeC−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.1.5 Acyclical parametrisation with DPV1, parameter RE

C. Configuration with CPX nodeC−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSequence:1. Ensure that the command box is currently

C. Configuration with CPX nodeC−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNote There can be other CPX modules which other mod

C. Configuration with CPX nodeC−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.2 CPX−FB11 (DeviceNet)General information on the CP

C. Configuration with CPX nodeC−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHInstalling a modular EDS fileYou will require the fo

C. Configuration with CPX nodeC−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.2.2 Parametrisation (RSNetworx example)When modular

C. Configuration with CPX nodeC−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHModule parameters · Double−click on the CPX modules in

C. Configuration with CPX nodeC−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFail Safe and Idle Mode parametrisingCheck your app

C. Configuration with CPX nodeC−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.2.3 AddressingAssign the I/O addresses of the slave(

2. I/O data and sequence control2−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCPOS Control byte 2 (CPOS) controls the positioni

C. Configuration with CPX nodeC−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFig.C/9: Output address assignment

C. Configuration with CPX nodeC−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample: scanner 1747−SDN (SLC 500 series)Addressing f

C. Configuration with CPX nodeC−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHModuleno.Module AddressingInput address Output address0

C. Configuration with CPX nodeC−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHModule output data Module input dataAB Contents Address

C. Configuration with CPX nodeC−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDeviceNet does not provide for consistent data tran

C. Configuration with CPX nodeC−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.3 CPX−FECGeneral information on the CPX−FEC can be

C. Configuration with CPX nodeC−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe first two methods require the CPX terminal to

C. Configuration with CPX nodeC−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHInput word / Output word addressesSet the start addr

C. Configuration with CPX nodeC−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNoteCPX terminals with the CMAX always require new

C. Configuration with CPX nodeC−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFig.C/15: Idle mode parametrisation for example Tab.C

2. I/O data and sequence control2−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 2 (SPOS)  record select modeBit EN De

C. Configuration with CPX nodeC−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.3.4 Address assignmentAddress assignment example8DI2A

C. Configuration with CPX nodeC−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of I/O assignment record select modeModule ou

C. Configuration with CPX nodeC−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of I/O assignment direct modeModule output

C. Configuration with CPX nodeC−35Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of I/O assignment commissioningModule output d

C. Configuration with CPX nodeC−36Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHExample of I/O assignment parametrisationModule outpu

C. Configuration with CPX nodeC−37Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHC.3.5 DiagnosticsDiagnostics with the Hardware Configura

C. Configuration with CPX nodeC−38Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH· Display the Diagnostic" tab of the Module..

C. Configuration with CPX nodeC−39Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostic memory· Display the Diagnostic memory"

C. Configuration with CPX nodeC−40Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDiagnostics in the user programYou can read out di

IndexD−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAppendix D

2. I/O data and sequence control2−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 4 (RSB)  record select modeBit EN D

D. IndexD−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH

D. IndexD−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAAbbreviations, product−specific XVI . . . . . . . . . . . . . . . .

D. IndexD−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHDData format C−8 . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHHHandheld, Diagnostic memory 4−48 . . . . . . . . . . . . . . . .

D. IndexD−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOOperating mode XVII . . . . . . . . . . . . . . . . . . . .

D. IndexD−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSSafety instructions X . . . . . . . . . . . . . . . . . . . .

D. IndexD−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHVVersion XIV . . . . . . . . . . . . . . . . . . . . . . .

2. I/O data and sequence control2−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.4 I/O data in direct operating modeI/O data: D

2. I/O data and sequence control2−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAssignment of the status bytes (direct mode)SCONB

2. I/O data and sequence control2−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCPOS Control byte 2 (CPOS) controls the positioning

2. I/O data and sequence control2−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCDIR Control byte 3 (CDIR) is a special control

2. I/O data and sequence control2−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 2 (SPOS)  direct modeBit EN Descriptio

Contents and general safety instructionsIIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHContentsIntended use IX . . . . . . . . . .

2. I/O data and sequence control2−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 3 (SDIR)  direct modeBit EN Descript

2. I/O data and sequence control2−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.5 I/O data in commissioning modeI/O data: Commi

2. I/O data and sequence control2−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAssignment of the status bytes (commissioning mod

2. I/O data and sequence control2−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCPOS Control byte 2 (CPOS) controls the positioning

2. I/O data and sequence control2−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus byte 2 (SPOS)  commisioning modeBit EN De

2. I/O data and sequence control2−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.2.6 I/O data in parametrising modeI/O data: Param

2. I/O data and sequence control2−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHAssignment of the status bytes (parametrisation)SC

2. I/O data and sequence control2−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.3 FHPP finite state machineT7* always has thehigh

2. I/O data and sequence control2−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNotes on the Operation enabled" stateTransit

2. I/O data and sequence control2−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.3.1 Establish ready statusT Internal conditions Acti

Contents and general safety instructionsIVFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.3 FHPP finite state machine 2−29 . . . . . .

2. I/O data and sequence control2−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.3.2 PositioningNote: CCON = xxx0.xx11 is also a

2. I/O data and sequence control2−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH2.3.3 Special features depending on operating modeOp

2. I/O data and sequence control2−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH

Drive functions3−1Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHChapter 3

3. Drive functions3−2Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContents3.1 General functional description 3−3 . . . . . . . .

3. Drive functions3−3Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1 General functional description3.1.1 Position controlSingle value m

3. Drive functions3−4Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHContinuous modeIn the case of continuous setpoint specification,

3. Drive functions3−5Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.2 Force controlForce control is done by controlling the pressur

3. Drive functions3−6Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHForce control sequenceIf Force control" is set as the cont

3. Drive functions3−7Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3. At standstill: Force ramp until tar get force has been reached(

Contents and general safety instructionsVFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NH4. Faults and diagnostics 4−1 . . . . . . . . .

3. Drive functions3−8Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHE. g., it might be necessary to adjust the amplification factor

3. Drive functions3−9Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHNotes regarding stroke and speed monitoring: When the path is exc

3. Drive functions3−10Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.3 Standstill controlStandstill control starts by ending a pos

3. Drive functions3−11Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.4 Quality classesFor positioning or force tasks, the respective

3. Drive functions3−12Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.5 Handling the clamping unit or brakeOn the VPWP there is

3. Drive functions3−13Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCCON.BRAKE control logicIn the factory settings, the control logic

3. Drive functions3−14Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHSwitch−on behaviour:Since the clamping unit/brake is low−active b

3. Drive functions3−15Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHEnable driveCCON.ENABLEOutput Pin 210StartCPOS.STARTStopCCON.STOP101010

3. Drive functions3−16Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStatus, actionSequence or status for ...opening the brake closing

3. Drive functions3−17Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.6 Motion Complete (MC)Motion Complete (MC) defines whether a p

Contents and general safety instructionsVIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NH5.4.7 Setpoint values for jog mode 5−59 . . . .

3. Drive functions3−18Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPosition controlThe Motion Complete (MC) signal indicates whether

3. Drive functions3−19Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH12346789aJ5aJaJaJSPOS.MC1 Posi t i on target setpoint2 Posi t i on setp

3. Drive functions3−20Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHForce controlIn the case of force control, the MC conditions c

3. Drive functions3−21Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHMovement monitoring (SPOS.MOV)The bit SPOS.MOV indicates that the

3. Drive functions3−22Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHFollowing error or tolerance monitoring (SPOS.DEV)The bit SPOS.DE

3. Drive functions3−23Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHRegarding Fig.3/6:1 to 3: Setpoint value and actual value curves

3. Drive functions3−24Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHStandstill monitoring (SPOS.STILL)The standstill warning bit indic

3. Drive functions3−25Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH1 Target position2 Reference position3 Actual position4 Position toler

3. Drive functions3−26Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHOverview of parameters involved (see sections 5.4.4, 5.4.5, 5.4.

3. Drive functions3−27Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.1.8 Limitation of setpoint valuesIn order to position quickly wi

Contents and general safety instructionsVIIFesto P.BE−CPX−CMA X−CONTROL−EN en 0908NHA.3 Operation and service A−18 . . . . . . . .

3. Drive functions3−28Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPosition controlIf a setpoint curve is generated based on accel

3. Drive functions3−29Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHParameter for limiting valuesThe parameter for limiting values (PN

3. Drive functions3−30Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHPNU 1173: Limiting valuesIndex DescriptionEI 1)UnitStatus value7 Max

3. Drive functions3−31Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHWhen is there reliable data in the parameter values?The bit 0 o

3. Drive functions3−32Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2 Commissioning operations3.2.1 Movement testThe movement test is

3. Drive functions3−33Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHCarrying out the movement testThe movement test must be carried

3. Drive functions3−34Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH4. The CMAX then starts an internal sequence where thevalve con

3. Drive functions3−35Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NHThe status of the movement test can be influenced by writingthe

3. Drive functions3−36Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.2 HomingFor drives with incremental measuring systems, homing

3. Drive functions3−37Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH3.2.3 Homing sequence and parametrisationThe drive references with