FHPP Positioning Library TIA
FHPP Positioning Library TIA
FHPP Positioning Library TIA
Table of Contents
1 The FHPP Positioning Library TIA .................................................................................................... 1
1.1 Designated use ............................................................................................................................ 1
1.2 Target group ................................................................................................................................. 1
1.3 Service 1
1.4 Safety instructions ........................................................................................................................ 1
1.5 Important user information ........................................................................................................... 2
1.5.2 Danger categories .......................................................................................................... 2
1.6 Marking special information ......................................................................................................... 2
1.6.2 Pictograms ..................................................................................................................... 2
1.6.3 Text markings ................................................................................................................. 2
1.6.4 Further conventions ....................................................................................................... 2
1.7 Overview ...................................................................................................................................... 3
1.7.2 Architecture .................................................................................................................... 3
1.8 General information on Festo motor controllers ........................................................................... 5
1.8.2 Documentation on Festo motor controllers .................................................................... 5
1.9 Festo Handling and Positioning Profile (FHPP) ........................................................................... 6
1.10 Function blocks for Festo motor controllers ................................................................................. 7
1.11 Configuration................................................................................................................................ 8
1.11.2 Installing the GSD/GSDML files in the TIA portal ........................................................... 8
1.11.3 Adding a PROFIBUS drive under Devices & networks .................................................. 8
1.11.4 Adding a PROFINET drive under Devices & networks................................................. 10
1.12 Control function blocks ............................................................................................................... 11
1.12.2 Copy FHPP Positioning Library TIA blocks from library ............................................... 11
1.12.3 Inputs and outputs........................................................................................................ 12
1.12.4 Linking the function blocks ........................................................................................... 19
1.13 Organisation function blocks ...................................................................................................... 20
1.13.2 Inputs and outputs........................................................................................................ 20
1.14 Parameterisation function blocks ............................................................................................... 21
1.14.2 xxx_PRM_SINGLE ...................................................................................................... 21
1.14.3 xxx_PRM_MULTI / xxx_PRM_MULTI_300_400........................................................... 23
1.14.4 xxx_PRM_DIAG ........................................................................................................... 25
1.14.5 xxx_PRM_DIRMP ........................................................................................................ 27
1.14.6 xxx_PRM_KO .............................................................................................................. 29
1.14.7 xxx_CAM_PRM_CAMNUMBER .................................................................................. 30
1.14.8 xxx_FHPP_PLUS ......................................................................................................... 31
1.15 Examples ................................................................................................................................... 34
1.15.2 Actuating a Festo motor controller ............................................................................... 34
1.15.3 Parameterising a Festo motor controller ...................................................................... 37
2 Glossary ............................................................................................................................................ 39
3 Index .................................................................................................................................................. 41
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1 The FHPP Positioning Library TIA
1.1 Designated use
The function blocks (FB) described are designed for controlling and parameterising the associated device.
You can use them to conveniently integrate the many functions of the relevant device into your program.
The function blocks are called cyclically using a separate instance for each motor unit or motor controller
(each axis) integrated into the user program. 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.
1.3 Service
Please contact your local Festo service centre or write to the following e-mail address if you have any
technical problems:
– [email protected]
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.
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The FHPP Positioning Library TIA
Warning
... means that serious injury to people and damage to property can occur if this warning is not
heeded.
Caution
... means that injury to people and damage to property can occur if this warning is not heeded.
Note
... means that damage to property can occur if this warning is not heeded.
1.6.2 Pictograms
The following pictograms mark passages in the text that contain special information.
Information: Recommendations, tips and references to other sources of information.
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1.7 Overview
The FHPP Positioning Library TIA is a library for Siemens STEP 7 TIA portal. This library can be used to
actuate the following Festo motor controllers (drive controllers):
– 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:
– PROFIBUS
– ProfiNet
The Festo motor controllers are actuated 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.
1.7.2 Architecture
Each motor controller is integrated into the STEP 7 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.
A separate instance of the function block must be generated for each motor controller. A function
block used for control purposes cannot be used for two motor controllers.
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Brief description and manuals on CD- Brief description: Important instructions on commissioning
ROM (see catalogue) and preliminary information.
Manuals: Contents as described below.
Manuals 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.
Note
Always read the information and safety instructions contained in this documentation.
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The FHPP Positioning Library TIA
Parameter channel
The controller can access all parameter values of the controller via the field bus by means of the
parameter channel. A further 8 bytes of I/O data are used for this purpose.
Parameterisation (FHPP+)
In addition to the control and status bytes and the optional parameter channel (FPC), further PNUs that
can be configured by the user via the cyclic telegram can be transmitted via the configurable I/O extension
FHPP+.
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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.
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The FHPP Positioning Library TIA
1.11 Configuration
1.11.2 Installing the GSD/GSDML files in the TIA portal
Before the library can be used, the GSD/GSDML files for the respective drive must be installed. The
installation process is the same for the GSD and the GSDML file.
To install GSD / GSDML files go to the TIA Portal project view.
1. Select "Options" > "Install device description files (GSD)".
2. Click the "Browse" button right of the source path and select the folder in which the GSD / GSDML files
were stored.
3. Select the desired GSD / GSDML file(s).
4. Click "Install" to start the installation process for the selected files.
1. Open the view Devices & networks in the project view under project navigation.
2. You will find all installed drives in the hardware catalogue under "Other field devices"> "PROFIBUS
DP"> "Drives"> "Festo AG & Co. KG".
3. The drive you want can be dragged and dropped into the Network view window.
4. The network connection is made by dragging with the mouse. Select the Profibus interface of the CPU
and drag the connection to the port of the Festo drive.
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1. Open the view Devices & networks in the project view under project navigation.
2. You will find all installed drives in the hardware catalogue under "Other field devices"> "PROFINET
IO"> "Drives"> "Festo AG & Co. KG".
3. The drive you want can be dragged and dropped into the Network view window.
4. The network connection is made by dragging with the mouse. Select the Profinet interface of the CPU
and drag the connection to the port of the Festo drive.
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The FHPP Positioning Library TIA
4. From the open library FHPP Positioning Library TIA, drag & drop the blocks you need for your project
in the project window to the folder program blocks
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The FHPP Positioning Library TIA
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")
for information on which motor controller supports which control modes.
Key:
– Input/output: Designation of an input or output from the STEP 7 function block ..._CTRL.
– Type: Data type expected by the relevant input or issued at an output.
– Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).
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S7-300/400
Input/output Type Description
S7-1200
Input/output Type Description
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Limited selection
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.
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The Festo Parameter Channel input and output data (FPC_In, FPC_Out) is offset by 8 bytes
behind the FHPP Standard data.
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.
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The FHPP Positioning Library TIA
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 STEP 7 function block ..._PRM_INIT.
– Type: Data type expected by the relevant input or issued at an output.
– Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).
S7-300/400
Input/output Type Description
S7-1200
Input/output Type Description
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The position factor must be taken into consideration when using the following inputs and outputs with the
specified motor controllers.
Input/output Type Motor controller
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Figure: Sample data block for multi parameter containing five parameters. This DB must be transferred to
the function block (top as example DB102).
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1.14.4 xxx_PRM_DIAG
The xxx_PRM_DIAG function block reads the error memory or if applicable the warning memory of the
relevant motor controller.
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1.14.5 xxx_PRM_DIRMP
The xxx_PRM_DIRMP function block writes or reads the dynamic values for direct mode (position control).
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1.14.6 xxx_PRM_KO
The xxx_PRM_KO function block transfers a list of communication objects (KO) to the relevant motor
controller.
Note
Communication with the Festo Configuration Tool (FCT) is not possible when using the function
block xxx_PRM_KO.
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1.14.7 xxx_CAM_PRM_CAMNUMBER
With the xxx_CAM_PRM_CAMNUMBER function 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.
Note
Repeat the function after resetting the controller.
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The FHPP Positioning Library TIA
1.14.8 xxx_FHPP_PLUS
Other cyclical user-specific data can be configured in the FHPP+ data package. The FHPP+ data is
configured via a configurator in FCT. The configuration in the Step7 Hardware Manager must match the
configuration in FCT. To keep the block in the PLC as simple as possible, all the FHPP+ parameters are
output as double words; for byte and word parameters, only the relevant bytes are transferred.
Note
– Maximum 10 FHPP elements are possible
– 1st element is always FHPP standard (8-byte control)
– 2nd element optional FPC (8-byte parametrising)
– 2nd .. nth/ 3rd .. nth (n <= 10) element FHPP+ data (max. 24 byte)
Note
Configured parameters always start on an even address, gaps are filled with position holders.
Select an arrangement that makes full use of the available data width.
Warning
When parameters are transferred from the PLC, there is a restricted check of the value limits.
Errors in the parametrisation can cause injuries and damage to property.
Enable the controller only if the axis system has been correctly installed and parametrised.
Block xxx_FHPP_PLUS
Block “xxx_FHPP_PLUS” helps the user to map the FHPP+ data in the controller. For operation to function
without errors, the FHPP+ data must be parametrised correctly in the Hardware Manager.
To ensure that the block remains simple and clear, all the FHPP+ parameters are trans-ferred as double
words; for byte and word variables, only the relevant bytes are transferred.
Note
The values are not checked.
The composition of the FHPP+ data configured in the FCT is parametrised via the inputs
“cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”.
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I_ADDRESS WORD Address of the logical inputs for the slave's FHPP+ data.
O_ADDRESS WORD Address of the logical outputs for the slave's FHPP+ data.
cfgFHPPplusToDrive DINT Configuration of the FHPP+ data to the drive.
cfgFHPPplusFromDrive DINT Configuration of the FHPP+ data from the drive.
FHPPplusToDrive1..9 DWORD FHPP+ data elements 1..9 to the drive.
FHPPplusFromDrive1..9 DWORD FHPP+ data elements 1..9 from the drive.
Err BOOL FALSE: No error
TRUE: Error
ErrID DWORD Description of the error that occurred.
RET_VALUE INT Reply value of the function block.
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Block configuration
For the FHPP+ block to prepare the transferred data correctly, it is necessary to communicate the
configuration from FCT to the block.
Configuration is via the inputs “cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”. Each position in the
configuration variable matches the data size of the relevant FHPP+ element.
Note
Position holders have to be taken into consideration.
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1.15 Examples
1.15.2 Actuating a Festo motor controller
Festo motor controller CMMP-AS with associated function block CMMP_AS_CTRL
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Motor controllers of the type CMMP-AS-... can be actuated in the following four combinations of operating
and control mode using this function block:
– Set selection
– Direct mode position control
– Direct mode force control
– Direct mode velocity control
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.
-- SupplyVoltPresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltNotActive = 0
Homing
Action by the user Feedback
OPM = 0 StateOPM = 0
RecordNo = 1 --
StartTask 0->1 StateOPM = 0
AckStart = 1
MC = 0
DriveMoving = 1
ActualRecordNo = 1
ActualPosition = ...
-- DriveMoving = 0
(positioning complete) MC = 1
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The FHPP Positioning Library TIA
OPM = 1 StateOPM = 1
SetValueVelocity = ... --
SetValuePosition = ... --
StartTask = 1 StateOPM = 1
AckStart = 1
MC = 0
DriveMoving = 1
ActualVelocity = ...
ActualPosition = ...
-- DriveMoving = 0
(positioning complete) MC = 1
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Motor controllers of the type CMMP-AS-... can be parameterised in all four combinations of operating and
control mode using this function block:
– Set selection
– Direct mode position control
– Direct mode force control
– Direct mode velocity control
Note
A description of the parameters according to FHPP supported by the different motor controllers
can be found in the relevant product documentation.
-- SupplyVoltagePresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltNotActive = 0
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Write = 0 No feedback
UpperLimit Read upper limit value
PNU = 1011 No feedback
Subindex = 1 No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
ActPNU = 1011
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0
Write = 1 No feedback
PNU = 1013 No feedback
Subindex = 1 No feedback
ParamValueWR = ... No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
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 at 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:
Action by the user Feedback
Write = 1 No feedback
PNU = 127 No feedback
Subindex = 2 No feedback
ParamValueWR = 1 No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
ActPNU = 127
ActSubindex = 2
ParamValueRD = 0
RETVAL = 0
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2 Glossary
C
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).
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 PROFIBUS slave are saved (e.g.
number of I/Os, number of diagnostic bytes, etc.).
GSDML file: Device master file in which all features of the PROFINET 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.
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)").
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 job.
Project zero point (PZ): Measuring reference point for all positions in positioning jobs. 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.
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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
Teach mode: Operating mode for setting positions by moving to the target position, e.g. when
creating position sets.
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3 Index
D P
Direct mode.................................................. 9 Parameter channel ....................................... 9
F S
FHPP ........................................................... 9 Safety instructions ........................................ 2
Set selection ................................................. 9
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