Festo Motion 3 Library en

Festo Motion_3 library
Table of Contents
1
Important instructions........................................................................................................................ 1
1.1 Designated use ............................................................................................................................ 1
1.1.1 Target group...................................................................................................................... 1
1.1.2 Service .............................................................................................................................. 1
1.2 Safety instructions ........................................................................................................................ 1
1.3 Important user information ........................................................................................................... 1
1.3.1 Danger categories ............................................................................................................ 1
1.4 Marking special information ......................................................................................................... 2
1.4.1 Pictograms ........................................................................................................................ 2
1.4.2 Text markings.................................................................................................................... 2
1.4.3 Further conventions .......................................................................................................... 2
Overview ............................................................................................................................................. 3
2.1 Architecture .................................................................................................................................. 3
2.2 Requirements ............................................................................................................................... 4
2.3 General information on Festo motor controllers ........................................................................... 5
2.3.1 Documentation on Festo motor controllers ....................................................................... 5
2.4 Festo Handling and Positioning Profile (FHPP) ........................................................................... 5
2.4.1 Control and status bytes ................................................................................................... 5
2.4.2 Parameter channel ........................................................................................................... 6
2.5 Operating modes ......................................................................................................................... 6
2.5.1 Record selection ............................................................................................................... 6
2.5.2 Direct mode ...................................................................................................................... 6
Function blocks for Festo motor controllers ................................................................................... 7

3.1 Control function block................................................................................................................... 7
3.1.1 xxx_CTRL ......................................................................................................................... 7
3.1.2 Linking function blocks .................................................................................................... 15
3.1.3 Visualising function blocks .............................................................................................. 17
3.2 Organisation function block ........................................................................................................ 20
3.2.1 xxx_PRM_INIT................................................................................................................ 20
3.3 Parameterisation function blocks ............................................................................................... 21
3.3.1 xxx_PRM_SINGLE ......................................................................................................... 21
3.3.2 xxx_PRM_MULTI ............................................................................................................ 23
3.3.3 xxx_PRM_DIAG .............................................................................................................. 25
3.3.4 xxx_PRM_DIRMP ........................................................................................................... 27
3.3.5 xxx_PRM_KO ................................................................................................................. 29
3.3.6 xxx_CAM_PRM_CAMNUMBER ..................................................................................... 30
Examples ........................................................................................................................................... 31
4.1 Controlling a Festo motor controller ........................................................................................... 31
4.1.1 Prerequisites for ready status ......................................................................................... 31
4.1.2 Establishing the ready status .......................................................................................... 31
4.1.3 Homing ........................................................................................................................... 32
4.1.4 Setting and operation of "Record selection".................................................................... 32
4.1.5 Setting and operation of "Direct mode position control" .................................................. 32
4.1.6 Setting and operation of "Direct mode torque control" .................................................... 33
4.1.7 Setting and operation of "Direct mode speed control" .................................................... 33
4.2 Parameterising a Festo motor controller .................................................................................... 34
4.2.1 Prerequisites for ready status ......................................................................................... 34
4.2.2 Establishing the ready status .......................................................................................... 34
4.2.3 Reading parameters (e.g. homing method) .................................................................... 34
4.2.4 Writing parameters (e.g. acceleration homing method) .................................................. 35
Glossary ............................................................................................................................................ 37
iii
Important instructions
1.1
Designated use
The function blocks (FB) 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. Function
blocks are integrated into the user program for each motor unit or motor controller (each axis) and called
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.
1.1.1
Target group
This manual is intended exclusively for technicians trained in control and automation technology.
1.1.2
Service
Please contact your local Festo service partner if you have any technical
problems( http://www.festo.com).
1.2
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 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
Pneumatic and electric 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.
1.3
Important user information
1.3.1
Danger categories
This document contains information on the possible dangers that can occur if the product is not used as
designated. This information is marked with a signal word (warning, caution, etc.), placed on a grey
background and additionally marked with a pictogram. A distinction is made between the following danger
warnings:
Warning
... means that serious injury to people and damage to property can occur if this warning is not
observed.
Caution
... means that injury to people and damage to property can occur if this warning is not observed.
Note
... means that damage to property can occur if this warning is not observed.
1.4
Marking special information
1.4.1
Pictograms
The following pictograms mark passages in the text that contain special information.
Information: Recommendations, tips and references to other sources of information.
Accessory: Information on necessary or useful accessories for the Festo product.
Environment: Information on the environmentally friendly use of Festo products.
1.4.2
Text markings
1.
Figures denote activities that must be carried out in the order specified.
Bullets denote activities that may be carried out in any desired order.
Hyphens denote general listings.
1.4.3
Further conventions
[Project] [New]
Menu items are framed in square brackets, for example the [New] command in the
[Project] menu opens a new project.
"OK"
The names of windows, dialogs and buttons, e.g. "Message window," "Dearchivate
project," "OK" as well as designations are displayed in inverted commas.
CTRL
Names of keys on the PC keyboard are represented in the text with uppercase letters
(e.g. ENTER KEY, CTRL, C, F1 etc.).
CTRL+C
For some functions you need to press two keys simultaneously. For example, press
and hold down the CTRL key and also press the C key. This is written in the text as
CTRL+C.
If "click" or "double-click" is mentioned, this always applies to the left-hand mouse
button. If the right-hand mouse button is to be used, this will be explicitly mentioned.
Overview
Festo_Motion_3 is an internal library for CoDeSys V3 provided by Festo. The following Festo motor
controllers (drive controllers) can be controlled with this library:
CMMD-AS-...
CMMP-AS-...
CMMS-AS-...
CMMS-ST-...
SFC-DC-...
MTR-DCI-...
SFC-LAC-...
SFC-LACI-...
Communication takes place via fieldbus and uses the CANopen communication protocol.
Actuation of the Festo motor controllers takes place via the Festo Handling and Positioning Profile (FHPP).
The library contains function blocks for controlling and parameterising the individual drives.
Refer to the documentation for the motor controller for further information on operating and configuring the
relevant motor controller type.
Integrating the library
The Festo_Motion_3 library is located under "Library Manager" in CoDeSys V3 pbF.
Use the "Add Library" command to integrate the library.
All elements from this library are assigned to the namespace "FM".
2.1
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 as well as the first address of the input data as a transit 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) input data as well as the first FPC address of the
output data as a transit variable.
An instance of the function blocks for control must also be generated for each motor controller
instance. This means that a function block for control cannot be used for two different motor
controllers.
Motor units/motor controllers
Control function block
Parameterisation function
block
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)

Motor units/motor controllers
Parameterisation function
block
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)
2.2
Requirements
For communication via fieldbus, the corresponding files are required for Festo motor controllers:
Motor controller
Element name in CoDeSys
Filename for CANopen
CMMD-AS-
CMMD-AS- (FHPP)
CMMD-AS_CAN_FHPP.eds
CMMP-AS-
CMMP-AS- (FHPP)
CMMP-AS--_CAN_FHPP.eds
CMMS-AS-
CMMS-AS (FHPP)
CMMS-AS_CAN_FHPP.eds
CMMS-ST-
CMMS-ST (FHPP)
CMMS-ST_CAN_FHPP.eds
MTR-DCI-...-CO
MTR-DCI--CO (FHPP)
MTR-DCI--FHPP.eds
SFC-DC-...-CO
SFC-DC-VC-3-E--CO (FHPP)
SFC-DC--CO-FHPP.eds
SFC-LAC--CO
SFC-LAC--CO-FHPP
SFC-LAC--CO-FHPP.eds
SFC-LACI--CO
SFC-LACI--CO-FHPP
SFC-LACI--CO-FHPP.eds
During installation of CoDeSys V.3 provided by Festo, the supplied device files are installed
automatically and stored in the following directory: C:\Documents and Settings\All
Users\Application Data\CoDeSys\Devices\
Device files that are not supplied can be installed via the standard CoDeSys dialog "Device
Repository".
2.3
General information on Festo motor controllers
The following sections contain information on the motion function blocks for Festo motor controllers. The
following additional manuals are required for a complete understanding:
2.3.1
Documentation on Festo motor controllers
Documentation
Contents
Brief description and manuals on CDROM (see catalogue)
Brief description: Important instructions on commissioning

and preliminary information.
Manuals: Contents as described below.
Manuals P.BE-...
Installation, commissioning and diagnosis of electric axes

with the respective Festo motor controller.
Operating instructions for accessories
Fitting and commissioning of the electric mini slide SLTE as

a drive element.
Help system for the Festo Configuration

Tool (contained in FCT software)
Functional descriptions for the Festo Configuration Tool

configuration software.
Help system for CoDeSys V3 pbF

library Festo_Motion_3 (this Help)
How to use the motion function blocks for Festo motor

controllers.
Note
Always read the information and safety instructions contained in this documentation.
2.4
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.
The FHPP defines the following for the user:
Operating modes
I/O data structure
Parameter objects
Sequence control
Fig: The FHPP principle
2.4.1
Control and status bytes
Control via the fieldbus takes place via 8 bits of I/O data. The triggering of control functions and the
analysis of status messages of the function block is mostly performed using single-bit operations.
2.4.2
Parameter channel
The controller can access all parameter values of the controller by means of the parameter channel. A
further 8 bytes of I/O data are used for this purpose.
2.5
Operating modes
2.5.1
Record selection
Saved positioning records can be processed in record selection mode. For this purpose, positioning
records are parameterised with the Festo Configuration Tool or taught via the control panel during
commissioning.
2.5.2
Direct mode
In direct mode operating mode, the important positioning data is transferred directly via the control bytes.
Target positions and speeds can be ascertained and specified by the controller during running time,
depending on the operating status.
No limitations due to the number of saved positioning records.
In both operating modes values can be taught/parameterised via the PLC.
The following direct mode types can be selected:
Direct mode position control
Direct mode torque control
Direct mode speed control
Function blocks for Festo motor controllers
The names of the function blocks for Festo motor controllers start with the motor controller designation,
e.g. CMMP-AS. This is followed by the function of the function block, e.g. CTRL for a control function
block.
The Festo_Motion_3 library contains the following function blocks (FB):
Control FB for controlling the respective Festo motor controller
Organisation FB for parameterising the respective Festo motor controller types
Parameterisation FB for transferring individual parameters to the respective Festo motor controller
Function block
Explanation
xxx_CTRL
Control function block of the motor controller
xxx_PRM_INIT
Organisation function block for parameterising the motor controller
xxx_ PRM_SINGLE
Transfer of individual parameters
xxx_ PRM_MULTI
Transfer of a parameter list (parameter array)
xxx_ PRM_DIAG
Reading out of the diagnostic memory
xxx_ PRM_DIRMP
Transfer of the parameters for direct mode position control
xxx_ PRM_KO
Transfer of communication objects
xxx_CAM_PRM_CAMNUMBER Selection or information of a cam disc
Notes
The function blocks can have drive-specific differences.
The function blocks of the CMMS-AS can be used for the motor controller CMMD-AS.
3.1
3.1.1
xxx_CTRL
Inputs and outputs

The following table contains a list of all inputs and outputs that an FHPP function block has to control a
motor controller. The actual number depends on the control modes supported by the motor controller to be
controlled. The information as to which control modes are supported by which motor controller can be
found in the corresponding motor controller documentation ( chapter "Restricted selection").
Legend:
Input/output: Designation of an input or output of the CoDeSys function block ..._CTRL.
Type: Data type that the respective input expects or data type that is issued at an output.
Description: German designation and brief description of the CoDeSys function block.
1 = TRUE
0 = FALSE
Input
Type
Description
FB_CFG
WORD
FB configuration
Bit 0 = FALSE: Low Byte first
Bit 0 = TRUE: High Byte first
Bit 1 = reserved
...
Bit 31 = reserved
Input
Type
Description
Pos_Factor_numerator
DINT
Counter value for conversion of position by increments
Pos_Factor_denumerator
DINT
Nominal value for conversion of position by increments
AxisType
INT
Connected axis type
EnableDrive
BOOL
Enable drive
= 1: Enable drive
= 0: Drive blocked
Stop
BOOL
Stop
= 1: Enable operation
= 0: Stop active (cancel emergency ramp + positioning
task). The drive stops with maximum braking ramp, the
positioning task is reset.
Brake
BOOL
Release brake
= 1: Release brake
= 0: Activate brake
Note: Release of the brake is only possible when the
controller is blocked. As soon as the controller is
enabled, it has sovereignty over control of the brake.
ResetFault
BOOL
Acknowledge fault
With a rising edge a fault is acknowledged and the fault
value is deleted.
HMIAccessLocked
BOOL
Software access blocked

Control of access to the local (integrated) diagnostic
interface of the controller.
= 1: The FCT software may only monitor the controller,
control of the device (HMI control) cannot be assumed by
the software.
= 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 torque control
= 9: Direct mode speed control
= 13: Reserved
= 17: Continuous mode
Halt
BOOL
Halt
= 1: Halt is not active
= 0: Halt activated (do not cancel emergency ramp +
positioning task). The axis stops with a defined braking
ramp, the positioning task remains active (the remaining
path can be deleted with "ClearRemainingPosition").
StartTask
BOOL
Start positioning task

With a rising edge the current nominal values are
transferred and positioning started (also e.g. record 0 =
homing).
StartHoming
BOOL
Start homing
With a rising edge homing is started with the configured
parameters.

Input
Type
Description
JoggingPos
BOOL
Jogging positive
The drive moves at the specified velocity 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
Jogging negative
The drive moves at the specified velocity or rotational
speed in the direction of smaller actual values, see
JoggingPos.
TeachActualValue
BOOL
Teach value
With a falling edge the current actual value is transferred
to the nominal value register of the currently addressed
positioning record. Examples of actual values
include position, pressure or torque.
ClearRemainingPosition
BOOL
Delete remaining path

In the "Halt" status, a rising edge causes the positioning
task to be deleted and transfer to the "Ready" status.
AbsoluteRelative
BOOL
Absolute/relative
= 0: Nominal value is absolute
= 1: Nominal value is relative to the last nominal value
SetFunction
BOOL
Cam disc
= 0: Cam disc not active
= 1: Cam disc active
DeactivateStrokeLimit
BOOL
Torque limit not active (only with torque control)

= 0: Torque monitoring active
= 1: Torque monitoring not active
RecordNo
SINT
Record number
Preselection of record number for record selection.
SetFuncNumber
USINT
Cam disc function

= 0: Reserved
= 1: Synchronisation on external input
= 2: Synchronisation on external input with cam disc
function
(i.e. slave with physical master)
= 3: Synchronisation on 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 positioning unit
SetValueForceRamp
USINT
Torque ramp
Value of the torque ramp as a % of the nominal value or
maximum value
SetValueVelocity
USINT
Velocity
Velocity as a % of the maximum velocity
SetValueForce
DINT
Torque
Torque as a % of the maximum torque
SetValueRotRamp
SINT
Velocity ramp
Velocity ramp as a % of the maximum ramp

Input
Type
Description
SetValueRotSpeed
DINT
Velocity
Velocity in velocity unit
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)
Feedback of the selected FHPP operating mode +

control mode
Record selection = 'Record Mode selected'
Direct mode position control = 'Directmode
Positioncontrol selected'
Direct mode torque control = 'Directmode Forcecontrol
selected'
Direct mode speed control = 'Directmode Velocitycontrol
selected'
Operating mode and control mode invalid = 'not
specified'
Continuous mode = 'Continuousmode selected'
StateOPMString
STRING(80)
Feedback of active FHPP operating mode + control

mode
Record selection = 'Record Mode active'
Direct mode position control = 'Directmode
Positioncontrol active
Direct mode torque control = 'Directmode Forcecontrol
active'
Direct mode speed control = 'Directmode Velocitycontrol
active'
Operating mode and control mode invalid = 'not
specified'
Continuous mode = 'Continuousmode selected'
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: No warning present
= 1: Warning present
Fault
BOOL
Fault
= 0: No fault
= 1: Fault present or fault reaction active. Fault code in
diagnostic memory.
SupplyVoltagePresent
BOOL
Load voltage present

= 0: No load voltage
= 1: Load voltage present
10

Output
Type
Description
ControlFCT_HMI
BOOL
Software device control

= 0: Device control free (e.g. PLC/fieldbus)
= 1: Device control by software (PLC control is locked)
StateOPM
INT
Feedback of FHPP operating mode + control mode

= 0: Record selection
= 1: Direct mode position control
= 5: Direct mode torque control
= 9: Direct mode speed control
= 13: Reserved
= 17: Continuous mode
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, jog)
= 1: Start carried out (homing, jog)
MC
BOOL
Motion Complete
= 0: Positioning task active
= 1: Positioning task completed, possibly with fault
Note: MC is set after device is switched on (status "Drive
blocked").
AckTeach
BOOL
Acknowledge teach
= 0: Ready for teaching
= 1: Teaching carried out, actual value has been
transferred
DriveIsMoving
BOOL
Axis is moving
= 0: Velocity of axis < limit
= 1: Velocity of axis >= limit
DragError
BOOL
Following error
= 0: No following error
= 1: Following error active
StandstillControl
BOOL
Standstill monitoring
= 0: After MC axis remains in tolerance window
= 1: After MC axis exits tolerance window
DriveIsReferenced
BOOL
Drive homed
= 0: Homing must be carried out
= 1: Homing information available, homing does not
need to be carried out
RC1
BOOL
First record continuation carried out

= 0: A continuation condition was not configured or not
satisfied
= 1: The first continuation condition was satisfied
RCC
BOOL
Record continuation completed - valid as soon as MC is

available.
= 0: Record sequencing aborted. At least one
continuation condition was not satisfied
= 1: Record sequence was processed until the end.
ActualFuncActive
BOOL
Cam disc active

= 0: Cam disc not active
= 1: Cam disc active
VelocityLimitReached
BOOL
Velocity limit reached (only with torque control)

= 1: Velocity limit reached
= 0: Velocity limit not reached
11

Output
Type
Description
StrokeLimitReached
BOOL
Torque limit reached (only with torque control)

= 0: Torque monitoring reached
= 1: Torque monitoring not reached
ActualRecordNo
SINT
Record number
Feedback of record number for record selection.
ActualFuncNumber
USINT
Feedback of cam disc function

= 0: Reserved
= 1: Synchronisation on external input
= 2: Synchronisation on external input with cam disc
function
(i.e. slave with physical master)
= 3: Synchronisation on virtual master with cam disc
function
ActualFuncNumber
USINT
Feedback of cam disc group

= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
ActualPosition
DINT
Position
Feedback of position in position unit
ActualVelocity
SINT
Velocity
Feedback of velocity as a % of the maximum velocity
ActualForce
INT
Torque
Feedback of torque as a % of the maximum torque
ActualRotRamp
SINT
Velocity ramp
Feedback of velocity ramp as a % of the maximum ramp
ActualRotSpeed
DINT
Velocity
Feedback of velocity in velocity unit
Restricted selection
The following table contains a list of inputs and outputs that are only supported by specific Festo motor
controllers and, in some cases, only for specific operating modes.
Input/output
Type
Motor controller
Operating mode
Pos_Factor_numerator
DINT
MTR_DCI
SFC_DC
All operating modes
Pos_Factor_denumerator
DINT
MTR_DCI
SFC_DC
All operating modes
AxisType
INT
SFC_LACI
All operating modes
Brake
BOOL
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LACI
All operating modes
StartHoming
BOOL
All
Record selection
TeachActualValue
BOOL
All
Record selection
AbsoluteRelative
BOOL
All
SetFunction
BOOL
CMMP_AS_CAM
12

Input/output
Type
Motor controller
Operating mode
DeactivateStrokeLimit
BOOL
MTR_DCI
SFC_DC
SFC_LAC
SFC_LACI
RecordNo
SINT
All
Record selection
SetFuncNumber
USINT
CMMP_AS_CAM
SetFuncGroup
USINT
CMMP_AS_CAM
SetValuePosition
DINT
All
SetValueForceRamp
USINT
CMMP_AS
SetValueVelocity
USINT
All
SetValueForce
DINT
All
SetValueRotRamp
SINT
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
SetValueRotSpeed
DINT
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
AckTeach
BOOL
All
Record selection
DriveIsReferenced
BOOL
All
Record selection
RC1
BOOL
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LAC
SFC_LACI
Record selection
RCC
BOOL
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LAC
SFC_LACI
Record selection
ActualFuncActive
BOOL
CMMP_AS_CAM
VelocityLimitReached
BOOL
MTR_DCI
SFC_DC
SFC_LAC
SFC_LACI
StrokeLimitReached
BOOL
MTR_DCI
SFC_DC
SFC_LAC
SFC_LACI
ActualRecordNo
SINT
All
Record selection
ActualFuncNumber
USINT
CMMP_AS_CAM
ActualFuncGroup
USINT
CMMP_AS_CAM
ActualPosition
DINT
All
13

Input/output
Type
Motor controller
Operating mode
ActualVelocity
SINT
All
ActualForce
INT
All
ActualRotRamp
SINT
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
ActualRotSpeed
DINT
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
14
3.1.2
Linking function blocks
To control a Festo motor controller, the respective fieldbus data must be transferred to the function block.
The following screenshots show a sample device configuration with a CMMP-AS CANopen slave.
Fig: Device configuration
Fig: CANopen I/O screenshot

The data should ideally be transferred using an array variable, whereby only the first element of the array
has to be transferred to the function block.
15
Fig: Link between drive controller and function block

The input and output data of the Festo Parameter Channel (FPC_In, FPC_Out) is offset by
8 bytes after the FHPP standard data.
For parameterisation of a motor controller, a further 8 bytes, the Festo Parameter Channel data (FPC
data), are transferred to a special function block. All necessary parameterisation function blocks in the
project are supplied with data using this "transfer" function block.
16
3.1.3
Visualising function blocks
For each motor controller there is one function block for control and multiple function blocks for
parameterisation.
There is also a visualisation element, which makes initial commissioning easier.
Fig: 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.
17

Linking the visualisation
The visualisation element for the selected function block is added to a visualisation object. You can select
the visualisation object using the "Frame Selection" context command.
The desired visualisation element appears in the editing window for the visualisation object.
Refer to the section "Visualisation" in the general CoDeSys Help for information on how to create
a visualisation object.
1.
2.
3.
Adjust the size and position of the visualisation element if necessary. To do this, click on the element
and use the borders.
For configuration, click on the visualisation element with the left mouse button. In the "Property" area
of the editing window ( [View] [Element Properties]) you can make various settings for displaying
and linking the visualisation element.
Click in the edit field of the "Object" "m_Input_INST" and then on the button for opening the "Input
Assistant" dialog.
Fig: Linking a visualisation
18
Fig: Visualisation - "Property" dialog

4.
5.
Click on the "Plus Sign" of the "References" path in the "Property" dialog. The path is expanded.
Repeat by expanding the next path down. Now expand the path of the displayed visualisation element.
Link the visualisation element with the corresponding instance (name of axis).
There are two options here:
In the line "m_Input_INST", enter the name of the function block in combination with the higherlevel program name.
Double-click in the input line using the mouse. Using the left mouse button, click on the button that
is now displayed in the line. The "Input Assistance" dialog opens, where you can select the
corresponding instance. Confirm the selection with "OK."
19
3.2
Organisation function block
3.2.1
xxx_PRM_INIT
Function blocks of type _PRM_INIT control access to the I/O data when using parameterisation function
blocks. Data is exchanged via the Festo Parameter Channel (FPC).
Parameterisation function blocks ..._PRM_... must have an instance of the organisation function
block ..._PRM_INIT.
Inputs and outputs

Legend:
Input/output: Designation of an input or output of the CoDeSys function block ..._PRM_INIT.
Description: German designation and brief description of the CoDeSys function block (0 = FALSE,
1 = TRUE).
Input/output
Type
Description
FB_CFG
WORD
FB configuration
Bit 0 = FALSE: Low Byte first
Bit 0 = TRUE: High Byte first
Bit 1 = Reserved
...
Bit 31 = Reserved
DATA_REF
VAR_IN_OUT
FPC data structure of data type FHPP_PRM_REF

Content of the data structure mirrors 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)
20
3.3
Parameterisation function blocks
3.3.1
xxx_PRM_SINGLE
The function block xxx_PRM_SINGLE transfers a single parameter to the respective drive controller.
Fig: Example of function block CMMP_AS_PRM_SINGLE

Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_SINGLE has for
parameterising a motor controller.
Input/output
Type
Description
Execute
BOOL
Start transfer
0->1: Transfer of a parameter is started with a rising edge.
Write
BOOL
Read/write
= 0:
Read parameters
= 1:
Write parameters
Prerequisite: UpperLimit = 0; LowerLimit = 0
UpperLimit
BOOL
Reading of upper limit

= 1: Read upper limit
Prerequisite: Write = 0; LowerLimit = 0;
LowerLimit
BOOL
Reading of lower limit

= 1: Read lower limit
Prerequisite: Write = 0; UpperLimit = 0;
PNU
WORD
Number of the corresponding parameter
Subindex
SINT
Subindexof 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 was not initiated
= 1:
Transfer was initiated
Err
BOOL
Error
= 0:
= 1:
No error during the transfer of a

Error during the transfer of a
parameter
parameter
ErrStr
STRING(80)
Output of an error message as a string
ActPNU
WORD
Current number of the corresponding parameter
21

Input/output
Type
Description
ActSubindex
SINT
Current subindex of the corresponding parameter
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 multiple instances of the FB, the current
internal status of the respective FB is output.
Table: xxx_PRM_SINGLE, inputs and outputs

Legend:
Input/output: Designation of an input or output of the CoDeSys function block.
Description: German designation and brief description of the CoDeSys function block (0 = FALSE,
1 = TRUE).
Restricted selection of function blocks
The following inputs and outputs are only supported by specific Festo motor controllers. All other inputs
and outputs are available for all CoDeSys function blocks ..._PRM_SINGLE irrespective of the motor
controller type.
Input/output
Type
Motor controller
UpperLimit
BOOL
LowerLimit
BOOL
CMMD_AS
CMMP_AS
CMMS_AS
CMMS_ST
DatatypeWR
USINT
DatatypeRD
USINT
MTR_DCI
SFC_DC
SFC_LAC
SFC_LACI
The position factor must be taken into account when using the following inputs and outputs with the
specified motor controllers.
Input/output
Type
Motor controller
ParamValueWR
DINT
ParamValueRD
DINT
MTR_DCI
SFC_DC
SFC_LAC
SFC_LACI
22
3.3.2
xxx_PRM_MULTI
The function block xxx_PRM_MULTI transfers a list of parameters to the respective motor controller.
Fig: Example of function block CMMP_AS_PRM_MULTI

Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_MULTI has for
Input/output
Type
Description
Execute
BOOL
Start transfer
0->1: With a rising edge transfer of a parameter is started.
SizeOfParam
USINT
Size of the parameter field (array) intended for transfer.
AdrOfParam
POINTER_TO_BYTE
Address of the parameter field (array) intended for transfer.
DATA_REF
VAR_IN_OUT
FPC data structure

Done
BOOL
Transfer status
= 0:
= 1:
The reading result is contained in the parameter field (array)
under "Value".
ParamNr
USINT
Number of the parameter currently being transferred
Err
BOOL
Error
= 0:
= 1:

parameter
parameter
ErrStr
STRING(80)
RETVAL
UINT

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);
23

Composition of the structure FHPP_PRM_DESCRIPTION
TYPE
FHPP_PRM_DESCRIPTION :
STRUCT
PNU
(*Parameter number of the specified parameter*)
SUBINDEX : USINT;
(*Subindex of the specified parameter*)
ACCESS
: USINT;
(*0 = Read parameter / 1 = Write parameter*)
LENGTH
: USINT;
(*Length of the parameter as number of bytes (always

4 for CMM... controller, otherwise see FB
xxx_PRM_Single input DatatypeWR)*)
VALUE
: DINT;
(*Result read out or written value

For the following function blocks:
MTR_DCI_PRM_MULTI, SFC_DC_PRM_MULTI,
SFC_LAC_PRM_MULTI, SFC_LACI_PRM_MULTI the position
factor must be taken into account.*)
END_STRUCT
ENT_TYPE
24
:UINT ;
3.3.3
xxx_PRM_DIAG
The function block xxx_PRM_DIAG reads the error memory or warning memory of the respective motor
controller.
Fig: Example of function block CMMP_AS_PRM_DIAG

Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_DIAG has for
Input/output
Type
Description
ReadLatest
BOOL
Read latest entry

0->1: With a rising edge the last message is read
out.
ReadAll
BOOL
Read all entries

0->1: With a rising edge all messages are read out.
Warning
BOOL
Switch to warnings
= 0:
Read errors
= 1:
Read warnings
DATA_REF
VAR_IN_OUT
FPC data structure

Done
BOOL
Transfer status
= 0:
= 1:
ParamNr
USINT
Parameter number of the error memory

Number of the parameter currently being transferred
ReadLatest: ParamNr = 1
ReadAll:
Parameter number of the error memory
currently being processed
Err
BOOL
Error
= 0:
= 1:

parameter
parameter
ErrStr
STRING(80)
DiagBuff
ARRAY [1..n] OF
FHPP_PRM_DIAGMESSAGE
Diagnostic buffer
The read messages are stored in the diagnostic
buffer (array). The completeness of the entries and
the number of parameters depends on the
respective device.
RETVAL
UINT

25

and outputs are available for all CoDeSys function blocks ..._PRM_DIAG irrespective of the motor
controller type.
Input/output
Type
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
Given the fact that the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such
as DiagEvent and DiagTimeStamp, for example, are not supported by all drives. The size of the
diagnostic buffer also depends on the respective motor controller.
26
3.3.4
xxx_PRM_DIRMP
The function block xxx_RM_DIRMP writes or reads the dynamic values for direct mode (position control).
Fig: Example of function block CMMP_AS_PRM_DIRMP

Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_DIRMP has for
Input/output
Type
Description
AxisType
INT
Connected axis type
Execute
BOOL
Start transfer
Write
BOOL
Read/write
= 0:
Read parameters
= 1:
Write parameters
Velocity
DINT
Basic velocity: PNU 540
Acceleration
DINT
Acceleration: PNU 541
Deceleration
DINT
Deceleration: PNU 542
JerkLimit
DINT
SFC_LACx: Smoothing: PNU 543

CMMx_xxx: Smoothing: PNU 546
DampingTime
DINT
Filter time: PNU 1023
Load
DINT
Additional weight: PNU 544
DATA_REF
VAR_IN_OUT
FPC data structure

Done
BOOL
Transfer status
= 0:
= 1:
Err
BOOL
Error
= 0:
= 1:

ErrStr
STRING(80)
ActVelocity
DINT
Current basic velocity: PNU 540
ActAcceleration
DINT
Current acceleration: PNU 541
ActDecceleration
DINT
Current deceleration: PNU 542
ActJerkLimit
(Pos/Neg)
DINT
SFC_LACx: Current smoothing: PNU 543

CMMx_xxx: Current smoothing: PNU 546
ActDampingTime
DINT
Current filter time: PNU 1023
parameter
parameter
27

Input/output
Type
Description
ActLoad
DINT
Current additional weight: PNU544
RETVAL
UINT

When using multiple instances of the FB, the current internal
status of the respective FB is output.

and outputs are available for all CoDeSys function blocks ..._PRM_DIRMP irrespective of the motor
controller type.
Input/output
Type
Motor controller
DampingTime
DINT
ActDampingTime
DINT
SFC_LAC
SFC_LACI
Load
DINT
ActLoad
DINT
28
SFC_LAC
SFC_LACI
3.3.5
xxx_PRM_KO
The function block xxx_PRM_KO transfers a list of communication objects (CO) to the respective motor
controller.
Fig: Example of function block CMMP_AS_PRM_KRO

Note
Use of the function block xxx-PRM_KO excludes simultaneous communication with the Festo
Configuration Tool (FCT).
Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_KO has for
Input/output
Type
Description
Execute
BOOL
Start transfer
0->1: Transfer of a parameter is started with a rising edge.
Write
BOOL
Read/write
= 0:
Read communication object
= 1:
Write communication object
Prerequisite: UpperLimit = 0; LowerLimit = 0
For more information on communication objects, contact
your Festo service partner.
KO
DINT
Communication object
For more information on communication objects, contact
your Festo service partner.
ParamValueWR
DINT
Parameter value when writing a communication object
DATA_REF
VAR_IN_OUT
FPC data structure

Done
BOOL
Transfer status
= 0:
= 1:
Err
BOOL
Error
= 0:
= 1:

parameter
parameter
ErrStr
STRING(80)
ParamValueRD
DINT
Parameter value when reading a communication object
RETVAL
UINT

29
3.3.6
xxx_CAM_PRM_CAMNUMBER
With the function block xxx_CAM_PRM_CAMNUMBER you can:

Select a cam disc via specification of the cam disc number in the drive
Output the current cam disc using the read command
The function for using cam discs is optional. Please contact your Festo service partner.
Fig: Example of function block CMMP_AS_PRM_CAMNUMBER

Note
Execute the function again after resetting the controller.
Inputs and outputs
The following table shows the inputs and outputs that the function block xxx_PRM_CAMNUMBER has for
Input/output
Type
Description
Execute
BOOL
Start transfer
Write
BOOL
Read/write
= 0:
Read PNU 700 Subindex 1
= 1:
Write PNU 700 Subindex 1
CamNumber
DINT
Preselection of cam disc number
DATA_REF
VAR_IN_OUT
FPC data structure

Done
BOOL
Transfer status
= 0:
= 1:
Err
BOOL
Error
= 0:
= 1:

parameter
parameter
ErrStr
STRING(80)
ActCamNumber
DINT
Number of the currently selected cam disc
RETVAL
UINT

30
Examples
4.1
Controlling a Festo motor controller
Festo motor controller CMMP-AS with corresponding function block CMMP_AS_CTRL
Fig: Example of function block CMMP_AS_CTRL

With this function block, the motor controller type CMMP-AS-... can be controlled using the following four
operating and control mode combinations:
Record selection
The set operating and control mode is only accepted and displayed with the start of a movement,
i.e. with a rising edge at the "StartTask" input.
4.1.1
Prerequisites for ready status
Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4,
DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used.
Motor controller is switched on
Load voltage is present
Control sovereignty lies with the PLC
4.1.2
Establishing the ready status
User action
Feedback
--
SupplyVoltagePresent = 1
EnableDrive = 1
DriveEnabled = 1
MC = 1
Stop = 1
Ready = 1
Halt = 1
HaltActive = 0
31
4.1.3
Homing
User action
Feedback
StartHoming = 0->1
AckStart = 1
MC = 0
DriveIsMoving = 1
HaltActive = 1
--
DriveIsMoving = 0,
MC = 1, DriveIsReferenced = 1, HaltActive = 1 (homing
completed)
4.1.4
Setting and operation of "Record selection"
User action
Feedback
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 = ...
--
DriveIsMoving = 0
MC = 1 (positioning completed)
4.1.5
Setting and operation of "Direct mode position control"
User action
Feedback
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 = ...
--
DriveIsMoving = 0
MC = 1 (positioning completed)
32
4.1.6
Setting and operation of "Direct mode torque control"
User action
Feedback
OPM = 5
OPMString = 'Directmode Forcecontrol selected'

StateOPMString = Previous operating and control mode as
STRING
StateOPM = Previous operating and control mode as INT
SetValueForce = ...
--
StartTask = 1
OPMString = 'Directmode Forcecontrol active'

StateOPMString = 'Directmode Forcecontrol active'
StateOPM = 5
AckStart = 1
MC = 0
DriveIsMoving = 1
ActualForce = ...
--
DriveIsMoving = 0
MC = 1 (torque specification reached)
4.1.7
Setting and operation of "Direct mode speed control"
User action
Feedback
OPM = 9
OPMString = 'Directmode Velocitycontrol selected'

StateOPMString = Previous operating and control mode as
STRING
StateOPM = Previous operating and control mode as INT
SetValueRotRamp = ...
--
SetValueRotSpeed = ...
--
StartTask = 1
OPMString = 'Directmode Velocitycontrol active'

StateOPMString = 'Directmode Velocitycontrol active'
StateOPM = 9
AckStart = 1
MC = 0
DriveIsMoving = 1
ActualRotRamp = ...
ActualRotSpeed = ...
--
DriveIsMoving = 0
MC = 1 (speed specification reached)
33
4.2
Parameterising a Festo motor controller
Festo motor controller CMMP-AS with corresponding function block CMMP_AS_PRM_SINGLE.
Fig: Example of function block CMMP_AS_PRM_SINGLE

With this function block, the motor controller type CMMP-AS-... can be parameterised using all four
operating and control mode combinations:
Record selection
Note
For a description of the parameters supported by the various motor controllers according to
FHPP, please refer to the respective product documentation.
4.2.1
Prerequisites for ready status
Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4,
DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used.
Motor controller is switched on
Load voltage is present
Control sovereignty lies with the PLC
4.2.2
Establishing the ready status
User action
Feedback
--
SupplyVoltagePresent = 1
EnableDrive = 1
DriveEnabled = 1
MC = 1
Stop = 1
Ready = 1
Halt = 1
HaltActive = 0
4.2.3
Reading parameters (e.g. homing method)
User action
Feedback
Write = 0
No feedback
UpperLimit
Reading of upper limit
PNU = 1011
No feedback
Subindex = 1
No feedback
34

User action
Feedback
Execute = 0->1
Done = TRUE
Err = FALSE
ErrStr = 'no Error'
ActPNU = 1011
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0
4.2.4
Writing parameters (e.g. acceleration homing method)
User action
Feedback
Write = 1
No feedback
PNU = 1013
No feedback
Subindex = 1
No feedback
ParamValueWR = ...
No feedback
Execute = 0->1
Done = TRUE
Err = FALSE
ErrStr = 'no Error'
ActPNU = 1013
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0
The values written to the motor controller with the function block ..._PRM_SINGLE are stored in a volatile
memory and are valid until the control voltage of 24 V at the motor controller is interrupted. In a nonvolatile memory, the values can be assumed permanently by describing PNU 127 Subindex 2 with the
value 1.
The following actions must be performed in order for the described parameters to be assumed
permanently:
User action
Feedback
Write = 1
No feedback
PNU = 127
No feedback
Subindex = 2
No feedback
ParamValueWR = 1
No feedback
Execute = 0->1
Done = TRUE
Err = FALSE
ErrStr = 'no Error'
ActPNU = 127
ActSubindex = 2
ParamValueRD = 0
RETVAL = 0
35
Glossary
C
COB-ID: Communication object identifier.
Consistency: A data range, which is defined as consistent, is transmitted complete, i.e. in a bus
cycle.
Controller: Control electronics that evaluate the control signals and provide the voltage supply for the
motor via the power electronics (power electronics + closed-loop 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 by means of plug-ins with the necessary descriptions and dialogs.
Festo Handling and Positioning Profile (FHPP): Uniform field bus 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.
FPC: FHPP-specific parameter PKW version (Festo Parameter Channel).
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/velocity
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
Package: The package allows the installation of target system-specific files for the control of Festo
CoDeSys motor controllers. The program can be found in the Start menu under "Programs" in the
selection "CoDeSys V3"
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.
37

Profile position mode: Operating mode for processing 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
Teach mode: Operating mode for setting positions by moving to the target position e.g. when creating
position sets.
38

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Festo Motion_3 library

Function blocks for Festo motor controllers ................................................................................... 7