CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J =...

174
p I/O 制器 CMMO-ST-C5-1-DIOP CMMO-ST-C5-1-DION 8071657 2017-05c [8071663] CMMO-ST-...-DION/DIOP 锲枘控制器

Transcript of CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J =...

Page 1: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

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X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015

H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022

R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029

Tab. 2.3 ���¤(20 �����)

& 2 �B' = �$D�

1 = � 2 = �� 3 = '� 4 = ¦� 5 = *� 6 = §�

7 = ;� 8 = ¨� 9 = ?� O = ¥� N = ¥� D = ¥��

Tab. 2.4 ���¤

Page 16: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

16 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.2.3 �()E���

F* !�

1 ����� CMMO­ST-...-DION/DIOP

1 �%[

– Q5��

– [`0�MN� CD-ROM:

– �(�� � Tab. 1

– !� 5#$��#�� (hX:EPCO、ELGR)

1 ©�]� NEKM-C-10 f 5 �]�,��

– � 2� [X1A]

– &'�� STO [X3]

– 9-� [X2]

– �� [X6]

– -773 [X9]

2 �/*<4!�(a43)

Tab. 2.5 -&'.

���YZ9- � www.festo.com/catalogue。

�����w,hX:0�<6�"�:

– �E������78(I/O ��)

– ���78

– 25 9 Sub-D ]�

NEBC-S1G25-K-3.2-N-LE25

NEFC-S1G25-C2W25-S6

– �<��)i;� I/O ��

– ��)i

– CMMO-ST/��)i78

NEFC-S1G25-C2W25-S7

NEBC-S1G25-K-...-.0-N-S1G25

– ��78�9-�78 NEBM-... �_)��£]�^*�:%��3��)

– I/O )�z CDSM-S3-P/N ,�2N3��"�、;�78、����

Page 17: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 17

2.2.4 � +�

+� ��

7#"� – 7#��3),f

– 7�、w��5)�EN��3)

– ,���1)

– �ª�;*�

– 9-���(RS422 9�),��+�����

– #C* 3 9�D>,��� 9�

– &'�� STO (Safe Torque Off)

– ���37<(�3?��)

-773 "e�iB73� J732)

– 24 V DC iB73

– 24 V DC J73

– Y���7� 5.7 A

&3 – �/*<4

– &30

�� – Y«�0� 31 ���#.)��7���W��。

– �W���7�

– �I�

– ©���¬��1�(yx、�%、5)、@�)

*+ – �<01,�� TCP/IP ���#.)

– ��!�:FCT、,��%�

��� �< I/O ��

��+�<01,�� (CVE, Control via Ethernet)

D? – �< 7 =>�K>���)*��A

– �<,��%�� FCT ­����D?*O�

1) �v­=iB*�7��­�2®���。

2) ��5�Z� ��,hX:�4�m。

Tab. 2.6 �((�

Page 18: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

18 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

G�FH2��!IJKF

��>���*Os�,����������?*。0�<W�kW?*��¯D:

– �B�#��

– J�LE

– ���Y3�*����&

– �< FCTY 2¤�#

– �)A�°�/�A±�

– �� FCT ���������3<W�:

�<¯D/�@��,?*����$#��A。CMMO-ST ����?*,�.|�¯�_�

100,000 R。

+2LM

�< I/O ���0 5)*�W�W�7�Z�5)���&,5Y3��

�*。

� �&���_Y3�*�����*+,5��w;r��)*���。nl

�}²k�<�y�Y��¯R#。

� *+�m�< FCT u�Y3�*��

� FCT [...]�[Controller]�[I/O Configuration]

2.2.5 NO!��,-

P.����Q�R�

������!�:

– ��24(�3����

– �2��*4(�3����(73��^���3�)

4(�3���_����iB i���3。

4(�3��Y3�<���������F�������。

��,- 8�

��24(�3� u����m,�3��$�b3。

�24(�3� u�����m,�3���<4(�3����5)R。

Tab. 2.7 ���):4(�3�

Page 19: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 19

P.���%A�

X����³��29-��M���,l�.�~0���� 1��� ����。

X��I�o��,hX:q��3^� ��w,������@� ���� 

1�,lkf0��±:

– w#`D¢�$xw´(iByx > ��yx)。

– qm���M3¡�k< �A�5)�。

X��<9-�WM�������,l�Y��0�d� 1�。9-�6�¢@�w#

5),5µ��B£5)���。l��-'wM3¡�����@� 5。

������!�:

– +�����)*��9-��M���(��:2�����)*�)

– 2�����)*���9-��M���

��,- 8�

�9-����1) +�����

(closed-loop operation)

����B¤b3i�I��7�。

��0X�g�7�����,��R2¶�

��。��4(?8����5)*�。

4(1���R�VW?8。

��9-���� 2�����

(open-loop operation)

����@�0.)����7����。

4(?8�,��<.)����7�µ�

3����5)R。

�!�0���:

– � ��/��t�i

– ��6.2�

– ��6)*

1) W�(���o�,�0�< FCT .)��“2�����”。w�O��W���9-����。

Tab. 2.8 ���):9-�

Page 20: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

20 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.3 ��,-���!/�

2.3.1 FCT (Festo Configuration Tool)

Festo Configuration Tool (FCT) �0 windows �T����g³,��W��)^��(

S�_��3�� 5#$ (OMS) ���#.)、*+�D?。����*+�2U�0 PC

����#.),¥��;�����(“¦6”)。*+@��<�#.)���:;�

(“6”)。

FCT -&'.M(·§),5���&3W���&3。Z����<�B¨w

� www.festo.com/sp , CMMO-ST。

FCT q�!)i��:

– `���s����������� (Framework)

– Framework ��9W �I��.2^����*¡¸)i (PlugIns)。

�< Framework �0WI!��'".2��$��ZF0�#;F0。PlugIn q

Framework E���F0�F3。.2^�� PlugIn !�*+�3�@I�5M3��

��­b。

FCT �����[`����K@#$。m|,FCT 6¹@U[`��E��

*+´¢�&R*+� �9-。7|0 PDF ���*�-MN。

��ST (Framework):

��Z� ��� �£�.2¤It��Z�9-

– FCT:�" [Help] [Contents FCT general] ([¹@] [FCT ��MN])

– PDF:(FCT &3Z:)\Help\FCT_de.pdf

PlugIn ST!U:

*+、�)��#.)���9-

– FCT:�" [Help] [Contents of installed plug-ins] [Festo] [plugin name]

([¹@] [I&3 PlugIns �MN] [Festo] [PlugIn º©])

– PDF:(FCT &3Z:)\HardwareFamilies\Festo\(.2^�)\V…\Help\

CMMO-ST_....pdf

��¹@���“Qb”�C,�Qb FCT 6¹@�©� �。\ª�Qb PDF

��@����W� Adobe Reader。

Page 21: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 21

/� 8�

FCT ¦6/6 – �)��#.)�3��I��

– �3���(��、(S����)、��、%�� #$、

� ���D��#�)。

– �A«,�¥-��#.)

– �7�#!��#.)

– �D I/O ������“�”��7G

– Y« 7 ��7

– �7«^: 5)*

– �D I/O ������“���”��7G

– Y« 31 ��7

– �7«^: 5)*、��6)*��%)*

– �7�

– �#���<D/<E,0¡��#;2¤、E,.2@�#;»

��#;»�t,�4%�

FCT 6 – >��9?8、.2?8、I/O 9�

– ��� ��

– N3���3�(/3)

– �4��#.)�#!����7��&

– 6+�7 o�7G��

– N3¢*���#;

– ­@�:6�#;,hX:��W��(���¬¼

– �EEj%�1�

– ­t/¦@D?*O�

– �%o���J��B

– <G�H.)

Tab. 2.9 Festo Configuration Tool (FCT), Plugin CMMO-ST

Page 22: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

22 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.3.2 �1� �

��������*,��%�!��<`&�.2� ,��,�4%�W Festo

YZ� 5#$��D?��#.):

– “Diagnosis”(D?)��W�3����,0\��_���D?

– “Parameters”(�#)��W�#�����»/�B,0\Qg 5#$�*+,�m�

-���#�� (OMS)。

X�����<�#.)���³ PC ;�,l�D.2 IP >��mk,�4%�

�Y3>��“D?”,�,hX: Internet Explorer �(Y®�� 6)。

�,��%���*+�@½��<�#��B��#.)。

X6+��#��� 5#$ (OMS) �Y�5�#.)���-&'.M,

��<·§¨w。

Z����<�B¨w, CMMO-ST � www.festo.com/sp:

�1 8� ,-"�

“Diagnosis”

(D?)

– ?89-,hX:

– >�.2^��J���

– >� IP � MAC >�

– ,C���,(����)

– ��9-(Motion Complete, Referenced, Actual Position,

Record Set Number �)

– A�>�

– j%>�

– 5�%�"5(8,)

– >� I/O ���9�?8

– ­t�>�D?*O�

���

“Parameters”

(�#)

– ?89-(W.“Diagnosis”)

– .2��,���F�

– �» (Upload) �#��,hX:��2¤ PC ��YZ.)

– �B (Download) �#��,hX:��<G.)

– /-�"

���

– Qg 5#$ (OMS) �*+:

– @ Festo ZN,�%� (“Parameter Cloud”)��BX6

+��#��

– ��� ��

– /3��&

– �#.)�6+�7 (Valve-Profil)

Tab. 2.10 ������?8�,�

Page 23: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 23

2.3.3 VA��

����</-�"-'XX§$ �|��#.)Q{,5<'�< FCT Web �%���

�=��3�。

VAW2

FCT �: FCT !��������6;�@k\®/-。

�Dv@�/-m�0F�I��,gt�+��。

,�4%� \®�<“Diagnosis”(D?),�8,t“Parameters”(�#),�@

­�。W��DW¯�“�5`¤%"”,“�Sº”¨�0��°±。�W

���¬¼。�Dv@�/-m�0F�I��,gt�+,�4%�。

Tab. 2.11 /-\®

,��%��!� HTTPS ;�。�&'�»�/-。¾��+�,��%�

���¿,,�4%��+,�4%��)Dkg�ÀI�D�/-。�+,

�4%��),©�²³�¦°´* (Cache) (W� Microsoft Internet

Explorer �" [Extras](�f),�7“Á@4%”)

XYVA��

#$?8�/-�"�u��。VW@ FCT �(� µ� 5.4.6)Z�<,�4%�

(� µ� 5.3.6)@ /-。�D�/-�m,/-�"��£@W FCT �,�4%�

R�。

(�&' � V1.1.2.4:

O/-�*�����#���。

�<�����BÂ��#��,�0W/-��Q{ oª�。

(�&' � V1.1.2.4:

«^�*/-,¥�`D�<�B�#��W���Q{。���-!¬�J���

�ÃN�,/-µ`¶�*�#���。A�ÃN��#��@:

� VW/-m�*�#��。

�[/\3VA

E{�Á@@,�/-�.�as�。�<�D�Z�/-��E{。�<�°±�D¨

��Á@。

]4VA?

X�/-�¢�as�,l�0q Festo YZ�%"6���)。

Page 24: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

24 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.4 ^F5-_`���_`

_` 8�

01, [X18] – ��!���#.)、*+�D?(FCT、,��%�)

– ��:�<01,�� (CVE, Control via Ethernet)

I/O [X1] �<#C�D> (Digital Input DIN) ��E> (Digital

Output DOUT) ������:

– 2� J PNP (CMMO-ST…DIOP) NPN (CMMO-ST…DION)

– 2 �������:�、���

Tab. 2.12 �#.)�������

2.4.1 ��_`

*+@�����EH@�� DHCP �%����)�。�<������ DHCP �%�,

�0�"e�� DHCP ÄS>�)� PC a_6_。

DHCP/IPv4 bc51 IP ,-

� � 08 – IP >�:192.168.178.1 (private IP)

– #,­-:255.255.255.0

– ,�:–

– >�

– ,�4%�:80

– FCT:7508

– CVE:49700

Tab. 2.13 ������ TCP/IPv4 �)(EH.))

EH.)��_,C��)*(`���a*�VW� DHCP �%�):

– X��,C��&�aVW� DHCP �%�,l��< ,CA�。

– ������ DHPC �%�5>.|����^,C�- IP >�。

��t,C�@,�.����Q{������EH.) � µ� 5.7.4

Page 25: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 25

6_ ��

�%� -ÄS>

�������VW� DHCP1) �%��<01,78g�� PC ;�

(/-�-/;�)。

I�� PC 01,���.f0�(#!).) � Windows �� 0:

– Y3¨t IP >�

– Y3¨t DNS �%�>�

������ DHCP �%�� PC (DHCP-Client)Å���_� IP-�)。

– IP >�®Y0�$q:192.168.178.110 t 192.168.178.209

– #,­-:255.255.255.0

– XÅ�,�>�

1) Dynamic Host Configuration Protocol

Tab. 2.14 �<01,g�;�(EH.))

6_ ��

ÄS> - ÄS>

ÄS> - �%�

������� DHCP1) ÄS>;��,C。�������+f

�J IP->�, o��Å�� IP->�。

1) Dynamic Host Configuration Protocol

Tab. 2.15 �<01,���,C��

Page 26: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

26 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.4.2 I/O _`!��,�"�(8、".�)

�< I/O ��W���������@ 2 �������(�、���)�-�+。

&R��@,�����VW(EH.))。

�< FCT [...]�[Application Data]j Operation Modes 8,����

�,��%�*+�5W I/O ����������.)。������

�B����#���0­��<,��%�E,����。I Festo � OMS

�#���[`�#.)“�����”。

,-"� ��

� µ� 5.5

I/O ��,��Qg 5)*,�0�+0·Æ�yx��。

�;T3����0,�<©�D>�g� 7 �5)�7����+

(7 �Å;2��D>)。��Z�5)@,��D>.)����E>

(7 �e:��E>)。

���

� µ� 5.6

I�����)*�`¡¸��� I/O ��。

�< 5 ��D>W 31 ��7(I��7 0 = � ��)�����

�。�<�E> MOTION COMPLETE Fva��Z��。

���������<�D> DIN8 2 ���)*���8,:

– )* 0:v���

– )* 1:*+_�/3/�&

Tab. 2.16 I/O ���������

Page 27: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 27

2.4.3 5-��(��d)

.2�� (Device Control) �����=�$1,5��@��~��<�;��

��3�。£@�<«�;�����,��k< �3�±���。

�~�-H).2��I�;��F�9�。2F������m,I/O ���~�.

2����。

� ��_`#R�:R6_

�<01,��,Y«�£@�:������� 3 �;�。

– 2 � TCP/IP ;�

– 1 HTTP ;�

e; 6_

TCP/IP FCT �

� �

CVE �

HTTP Web�%� � �

Tab. 2.17 ��<01,£@�:�Y�;�#�

X��: 2 � TCP/IP ;�,l&��:�;�� 3;�。¸ 2 �;���¹3;�。

¹3;��`D¬� 3;��。�m,�.&�º@l&�;�,¶m�vI����Z�

:;�。

6_ d<

3;� ¯D$1,���#.)、��、�¯��$�­t$1

¹3;� ��D?�­t$1

Tab. 2.18 �<01,��;��$1

�~��:� 3 HTTP ;�。X� 3 TCP ;��f��$,l HTTP ;��0�

¯��$。

Page 28: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

28 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5-��!f�

 � 301,;��0�¯ I/O ���.2��。�0F�?8 >F�?8���

8,。U�9��%_��¯.2��。m@,H)�%µ¹4' (Quick Stop)。

��:8,.2���)4'H)�%。

6_ 5-��!f�

FCT ��¯I��;��.2��(.2��:VW FCT)。u�.2�

�@,I/O ��µ°Ç��$。

CVE ��¯I��;��.2��,5��� 3;�Å�.2��

(WL #3)。

Web�%� ��¯ I/O ���.2��。u�.2��@,I/O ��µ°Ç.2��

$1。

Tab. 2.19 .2���8,

g�f�

�H`D�< CVE �#“u���$” (WL #4) u��¯���@½,u�0�¯

� 3;��.2��。

X�O�u���¹VW,l`Dc FCT ,�4%��� I/O ��#U.2��$。

2.4.4 Time-Out +�

H! FCT ���;��?@,������,E5X£ FCT “�AF0”� �#.

�E�����(A�9� 0x32)。�7@���� 1 s,w��7@�k±;»��%�

�38*K,I0,�2²�o����kE:。Time-Out (���< FCT ��,C.

)���#.)。

X�!,�4%��;��?,������`D�,�。�?01,;�@,�)�<,�4

%�F3�3� hi¢�<4%�4'。

Page 29: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 29

2.5 =R�8�

=R8� >?�� ,-"� � µ�

� �� ��� ��,0@ � / �

���

2.5.2

��:X�ÈXW(S��� ��,

lkF3�7@Y3��� ��。

� 2.5.2

/3 / Jog �3��;r3� �<,��%�、

FCT o I/O ��"M�E3�。

�1)

���

2.5.3

�& �< FCT、,��%� I/O ��µ(S

�H)5)���#.)���¯。

�1)

���

2.5.4

4' �?H)�%(4') � 2.5.5

�?H)�%({@4'、³4),��+Á

@ÉÊ�´

���

��4(�3� X��M)4(�3����,l��4(�

3�。

���

2.5.6

5)* ����t�� Z�5)���)*

(/-�-/ 5),��+�wx3)

�2)

���

2.5.7

�%)* ��0µ w���=»¦���)*,

��+�W1�。

��� 2.5.8

��6)*3) ��9Wg6SbIµ ��6, o9Wx

wS(wx��)*)bIµ wx���)

*,��+�W1�。

��� 2.5.9

1) ���< FCT/,��%�®­�O��。

2) O��������f·Ë���'.。

3) O���5+�����)*(�9-����)。

Tab. 2.20 �3���� %

Page 30: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

30 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.5.1 j*^@��

I�3����T�$�%�� #$。II.:;���5�qH 0���3���

¼���X� �:

– v (+) = ��S�xw�c�@9@�b3�c。

– i (–) = ��S�xw�c�½@9@�b3�c。

i��b3�c,hX:tÌ�(S� S^�(@9/½@9xw)�I���'jz。

b3y¼¾�'jz '^¾�'jz�@½,{¬wc�Å�� ¿R� � FCT

[...]�[Application Data][jEnvironment]:Inverse Rotation Polarity.

��:/3)*�[\b3�c,5�5@{¬�c。

– FMVI�­=� = v�c (+)

– FM˶�­=� = i�c (-)

<�:aA=R�

Ref AZ

a b c

PZ

d e

TP/AP SLPSLN

(+)(–)

M

1

2

3

Ref � / (Reference Point)

AZ SG/ (Axis Zero Point)

PZ �ZG/(Project Zero Point)

SLN ic��~>5) (SW Limit Negative)

SLP vc��~>5) (SW Limit Positive)

TP Z�5) (Target Position)

AP ­=5) / H)5) (Actual Position)

a SG/Íb� (AZ)

b �ZG/Íb� (PZ)

c Z�/­=5) (TP/AP)

d ��ic~>5) (SLN)

e ��vc~>5) (SLP)

1 �'.(��W)

2 ��$q(���W)

3 EH.)�b3�c

Tab. 2.21 %�� #$ � FCT [...]�[Axis]�[Measurements]

Page 31: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 31

<�:kB=R�

Ref

AZ

a b

e

PZ

d

1

2

M

(+)(–)

c

TP/AP

SLPSLN

3

Ref � / (Reference Point)

AZ SG/ (Axis Zero Point)

PZ �ZG/(Project Zero Point)

SLN ic��~>5) (SW Limit Negative)

SLP vc��~>5) (SW Limit Positive)

TP Z�5) (Target Position)

AP ­=5) / H)5) (Actual Position)

a SG/Íb� (AZ)

b �ZG/Íb� (PZ)

c Z�/­=5) (TP/AP)

d ��:��~>5),ic (SLN)1)

e ��:��~>5),vc (SLP)1)

1 �'.

2 ��$q

3 EH.)�xw�c,@��S�v ªx

1) X��f“�d1”�)�xwS,l`DW�Î~>5)���#.)。

Tab. 2.22 %�� #$ � FCT [...]�[Axis]�[Measurements]

Page 32: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

32 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

ljm6��!CD4i

m6, CD4i

SG/ AZ = REF a

�ZG/ PZ = AZ b = REF a + b

ic��~>5) SLN = AZ d = REF a d

vc��~>5) SLP = AZ e = REF a e

Z�5)/­=5) TP/AP = PZ c = AZ b c = REF a b + c

Tab. 2.23 :%T�#$�|À�D

�#.)%�� #$� ������ � FCT [...]�[Axis]�[Measurements]

/�EF$- SLN/SLP

�<��~>5)��#.)®W��$qM��'.�E1�。µ�W�SG/ AZ

� O5)。

�����ybcJ �i。

� �<��~>5)W��$q�E1�。

� @���~>5)�(��i��f���»¦。

���[\�7�Z�5)�n����~>5) SLN/SLP ��。X�Z�5)�E�m

'.,l�9�mb3�7,5a��#.)��A±� � FCT [...]�[Controller]�[Error

Management]。

����~>5)�),µ�v�A±�W�3����3,0��H<��~>5)。4'

�m,*À 5�c。

X����XF� X� ��,l`DW��~>5)��1�。X�N3µ�3�¶t·�

��~>5)m ,E~F�����m�v����c����k�<��~>5)。X�

��b33��Z�5���~>5)�m ,lkFv�A“��~>5)”。X�Z�5

��y�'.M,l�0@��~>5)R2���,�k�R�Î�A。

Page 33: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 33

2.5.2 ^@�G

� ���@½,µ@ %�� #$�� /。� /�SG/�T�/。

�ÏB�� ���mu��F3�%(h|:/3)。

� /³@�*������。X� J73�?-7,lk��� /。

0�o���.����� ��:

– &R*+�3�@

–  R2F J-773�m

– Q{� ���D�m

– +��2�����)*��8,�m

– xw�c{¬�m

�Z��� ��� ���:

– �R.2A�m,k��� /���

– 2�����)*��M3¡�

nRo^@,�G

5-�� nR8� ,-"�

FCT FCT 6��¿“Homing” �,���

,��%� ,�“�#” �

I/O �� DIN8 (REF) �

DIN1…DIN5 (RECORD 0) + DIN6 (START) ���

Tab. 2.24 F3� /��

HRnR^@�G

nRI� �� ,-"�

– �/W3� X�F3�7@XW(S��� ��,lkY

3��� ��。B�� ���m,µ9�

���7。X�� ��_��7¹u�,l�

?� ��。

– u� µ�kY3��� ��(EH.))

Tab. 2.25 Y3F3 � FCT [...]�[Axis]�[Homing] Settings

Page 34: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

34 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

^@�Gpq

� ����Wt�0�.):

– � ��-�# � Tab. 2.28

– � ��-�D � Tab. 2.29

– � ��-�� � Tab. 2.26

�< FCT [...]�[(S]�[� ��] �D��� ���D��+��#.)。

�<,��%�*+�@½�¯®Y�3��#���.)。

� ���D@ � ��@���Ð�Z�。�<� ���#W� ���������

��. ,0¡����� /。��+��� /�m�3�Y3��t. �SG/。

^@�GI�:�GJKL,

– F�1) ��� /�m,�3�Ár��tSG/(­=5) = 0 – Íb� PZ)

– u� ��� /@B�� ��。(­=5) = 0 – Íb� AZ – Íb� PZ)

1) #!.) � FCT [...]�[Axis]�[Homing] Settings。)�� ���D“� ��t�i”@�`Du�O���。

Tab. 2.26 b3tSG/

Motion Complete � ��_��u�� (MC=0)。X����� /, �+SG/,

lB�� �� (MC=1)。

rst<

5-�� rst<

FCT FCT 6��¿:Homing

,��%� ,�“Diagnosis”(D?),“Parameters”(�#)

I/O �� � ��:DOUT9

VW�� ��/��� ��:�9W DOUT6 … 7 ���)

Tab. 2.27 � ���?8>�

Page 35: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 35

^@�G-^F

�<� ���D� � ���Z���c。�±;fr�� ���D,��� ���

)��mr�#.):

^F �� 4i

� ��

��%

(Search Velocity)

����t� Z���%。 – � 2�

– �i

��%

(Crawing Velocity)

Â���t� /��% – � 2�

I�%

(Acceleration)

� ��II=�I�%/Ë�% – H)5)

– � 2�

– �i

b3�SG/

�H�%

(Drive Velocity)

��“��tSG/”����% – H)5)

– � 2�

– �iSG/

(Axis Zero Point)

v�c i�c� /�SG/»¦(Íb�)

�i�,(+�����)

��6/wx1�

(Force Limit/

Torque Limit)

�,��i@��6�ÃÅ.G�

(T�Y�7�)。

– �i

0'@�

(Message Delay)

@�=,O@�=M��6�.����6|1,

l��i�¹��a�,�。

Time-out(2�����)

Time-out ]( �@�M`D��2�,l� ��k0

�A�Fv (0x22) �?。

– `�n��

2�

Tab. 2.28 � ���# � FCT [...]�[Axis]�[Homing] Method

�#.)� ���:

� M�+2®����%�Â��%,0¡��Ò��¢@�[6Z�/。

� MµË�%.)����,0@����������_�H<Z�5)�»¦�t�

1Ä。

Page 36: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

36 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

^@�G4i

� ���D@ ��<Ð�� /�Z���6 。

�% CiA 4021) >?��

H)5) DDh -35 H)5)¾�� /。

�n � /��_�µW9-�����n��

��。X���B���,lO�n�5)¾�

� /。

– v�c 22h 34

– i�c 21h 33

�i2) � ��_�µ��(��i。X�±;�#.)

�,��i(��61�、0'@�),lO5)¾

�� /。

– v�c

– i�c

EEh

Efh

-18

-17

� 2�3) � ��_�µW� 2�����。X���B�

��,lO2��5)¾�� /。– v�c

– i�c

17h

1Bh

23

27

��n�� 2�3)2) � ��_�µW� 2�����。X���B�

��,l�3�0� ����cÁr��t9-�

����n�ªR。I���5)¾�� /。

– v�c

– i�c

07h

0Bh

7

11

1) � ���D0 CANopen .2�)�� CiA 402 7�3�)�T�。

2) )���:�9-����(+�����)。

3) )���:� 2�(�2�/ �+�/)a����#.)� FCT [...]�[Axis] Axis Options

Tab. 2.29 � ���D � FCT [Axis]�[Homing] Method

Ju�$-!^@�G

Ju�$-!^@�G <�:aA=R�

H)5)¾�� /。���“��tSG/”R�VW

?8�u���E��3�。1)

1) � ����“��tSG/”� Tab. 2.26

Tab. 2.30 � ���D – H)5)

Page 37: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 37

^@,�GJMv

^@,�GJMv

1. ¸�#.)��c0�Ñ�%��9-��n。���n�5)¾�� /。

2. ��:��tSG/。

�c:vc(�D 22h;34) �c:ic(�D 21h;33)

�n �n

Tab. 2.31 � /���D–� /��t�n

Page 38: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

38 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

w<$xy!^@�G

��+�����)*����15�i�� ��(�9-����)。�0�<��0'

5�_�ÓVI���7��,E15�i。¶m�.�<��tSG/¦2�i5)。

�����:@�9W���i�E*K,lj%k�Ó�L,5����µY�

�+。����:

� .)�i�,��#(��61�、0'@�)

� VW��“@� /��tSG/”。

� WSG/��.),@�(S��_�¾��R�mA���k��t�i/

~>5)´ª3)�(hX:≥ 3 mm)。

� M�Íb����5(�c:@�i5)b2)。

� � ��t�i@:�<A®�Ñ�%�"qr��i。

zRljm6��%${N�L|

X��3�� ��_�4',���lk�A�,�i,hX:

– 38��¹A®(2®�Y���7�)�£@E���3<6

(hX:w0º�)@

– (�1)��61��0'@��#�<®@

� W#���*K,0@����i。

w<$xy!^@�G

O}���G

1. 0�Ñ�%¸�#.)��c��15�i:

– `�i(xwS):�3�`EÁr��。

– X�,�i:���»c�i��*K,j%�<1 @�+。

2. �,��i:O5)¾�� /。

3. b3�SG/1)

�c:vc �c:ic

1) � ����“��tSG/”�.VW。� Tab. 2.26

Tab. 2.32 � ���D – �15�i�� ��

Page 39: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 39

^@�GJ^@~&(hMv)

�#.)� 2��)���(�2�/、�+�/) �FCT [...]�[Axis] Axis Options。

2����+�����)*�,�0�W�n�E¬¼²��� ��。2�����)

*�`D�,�Î�i。wm2�� ��),�. 5�3�,����¸�#.)�c�

�2�。

^@�GJ^@~&1)

~}���G

1. 0�Ñ�%¸�#.)��c��� 2�。

– X��2�:<��#.)�@� (Time-out)2) �m,�<A�9- 0x22 ­��?

2. ��� 2�:0Â��%¸��cb3,gt� 2�¬�XVW。O5)¾�� /。3)

�c:vc �c:ic

� 2�

Time-out

0x22

� 2�

Time-out

0x22

O}���G

1. 0�Ñ�%¸�#.)��c��� 2�。

– X��2�:��t�i�,¸��c��。

– X����c��2�:�<A�9- 0x22 ­��?。

2. ��� 2�:0Â��%¸��cb3,gt� 2�¬�XVW。O5)¾��

/。3)

�c:vc �c:ic

� 2� � 2�

1) X�F3� ��@� 2�@VW�,l�0g�9�¸ 2 M

2) FCT [...]�[Axis]�[Homing] Settings:Timeout

3) � ����“��tSG/”� Tab. 2.26。

Tab. 2.33 � ���D – `�n�� 2�

Page 40: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

40 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

^@�GJ^@~&(�Mv)

�#.)� 2��)���(�2�/、�+�/) �FCT [...]�[Axis] Axis Options。

�+���)*���<�n¬¼��� ��。

^@�GJ^@~&1)

O}���G

1. 0�Ñ�%¸�#.)��c��� 2�。

– X��2�:��t�i�,¸��c��

– X����c��2�:�?(A�9- 0x22)

2. ��� 2�:

– 0Â��%¸��cb3,gt� 2�¬�XVW

3. Ár��,gt9-��¸��n�ª

– X���n�ª:��,cxw�m�?(A�9- 0x23)

4. ���n�ª:O5)¾�� /。2)

�c:vc �c:ic

�n�ª

� 2�

�n�ª

� 2�

1) X�F3� ��@� 2�@VW�,l�0g�9�¸ 2 M

2) � ����“��tSG/”� Tab. 2.26。

Tab. 2.34 � ���D – ��n�� 2�

9-�(�n�ª)�¼5)�.»¦� 2���Ä。X�� 2��2�Ÿ��»¦

2Æ,l¢R� ��@,j%�± (��Kk��c� /�E��n�ª,�²��

k< ��,cxw。

W��� 2�� 5#$ (OMS),&3�@½k6 9-��¼5)。

¶m,�� Festo YZ��3�@k@��n�ª»¦� 2���Ä。

� EH43�� 2���X<(�¼��。

� XQ{���I35)。

Page 41: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 41

�6^@~&:

� [\ FCT �2�Ÿ��n�ª���»¦ � FCT 6��¿ Homing。

� ¼�� 2�,gt2�Ÿ5�&��n�ª�����5)。

1 2�Ÿ�5)

2 �n�ª

3 t�n�ª�»¦

REF

1

23

Fig. 2.3 �n¬¼@W� 2���¼�

2.5.3 ,R

/3@,�3�0X FCT �#.)�����;ri�c v�c�Y�b3。

�</3���3��0­�:

– *+@bc�&5)

– E�.2A�m��3� 5

– ������)*N3b3(N3¶�)

F3/3)*@�3��.R�4(?8。W�/3¥Æ,`���� �� ±;� ��

�?8, 5$q�:

– ?8 = X� ��: 5$q�i��

�W��~>5)��1�。

– ?8 = a� ��: 5$q��~>5)��

����~>5)@,�3�Y34'。v�o���kHE��~>5)(a Ç��5

�½È�3»¦)。

X��#.)�H,�3�/32�@k´²��,¶m�%I}(� Tab. 2.35):

– �</39���L¸,�3�0Â��%¸v�c(/3 +) i�c(/3 -)

��。m@,�0W�3���2�¢@� 5。

– X�/39�Â��r@��¾�m`¶Ár*,l�3�µ0Y�(/3)�%Ár�

�。m@,��2}�É<2���W。

– �</39���A¸,�3�0�#.)�Ë�%8,t4(?8。

X�&�9�(/3+//3-)£@*,l&�/3-。

Page 42: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

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42 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

t

v

�

Y��%

t

t

/3+//3–

t1

I�%

Motion Complete (MC)

t

t1:��r@�

Fig. 2.4 �±4Ê��# — �h

^F ��

�

(Crawling Velocity)

F3/3b3@��%7 �

��r@�

(Slow Moving Time)

Â��r@��7 �。

Y��%

(Maximum Velocity)

Â����¾m�Y��%

I�%

(Acceleration)

I�I=��I=�7 �

Y�y�¿mA� (Maximum

Following Error)

/3b3y��¿mA��

0'@� (Message Delay) X�¿mA�2��#.)�@�E:,lk�RA�。

Tab. 2.35 �±4Ê��#

�R�P�G

U�0� FCT W�3���"M (Single step) 5。"M 5@�5���

��。V���%� FCT ����#.)。

��9-:� FCT-PlugIn-¹@、N3��

Page 43: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

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Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 43

2.5.4 <�

�< �&,�09W0��#.)�¯�3��H)5):

^F � ….G<�

H)I��7�Z�5)1) I/O ��、FCT、,��%�

SG/ FCT

5).2�1� FCT

�ZG/ FCT

��~>5) FCT

1) �7«^“ 5��W5)”

Tab. 2.36 5)�&

�&@�3���4L。¶¥,�%2®�o�����kE�#ÀË�¢@�,ltÌ��

������E��#$��³��@�。�&�@½�.W�%����.),0@���

��¢@�W5)I0�,。

�&<WT�[L0�Ô�M3:

1. W�# � Tab. 2.36 ���+�Ñ�。

2. µ�3�b3�I�5)(h X:�</3 � µ� 2.5.3)。

3. a��&�7,0¡�¯H)5)。

� FCT Z�1� �.G<�

���&�m,µ���>�I�&�5)。��������#.)�<�BR�。

��9-:

– �,��%����& � µ� 5.3.5

– ?@ FCT ���&� FCT � PlugIn ¹@

� I/O _`(".�,�"�).G<�

��&^Z�5)�#�1�� 7 ��7。�<�N�D,�9� TEACH/ ACK 9��&�W:

���&�m,I�&�5)µ:¾����R�。�<��“Y3�*”�0:_�*O5

)。X�X.)O��,l�0�< FCT ,��%���:_�*。��9- � µ� 5.6.7

Page 44: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

44 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.5.5 ��

8� �� ,-"�

4'

(STOP)

�?H)�7

– ?@�7�Ë�%W�3����3,gtR�4(?81)

�3�m:

– 2�����:��<.)����7�µ�3���I��

�5)。

– +�����:�<*K5),�3��dI���5)。

0'?81�VW。

– .) Motion complete。

���

�M³4

(PAUSE)

�?H)�7

– ?@�7�Ë�%W�3����3,gtR�4(?8

�3�m:

– 2�����:��<.)����7�µ�3���I��

�5)。

– +�����:�<*K5),�3��dI���5)。

0'?81�VW。

– �.) Motion complete。

Ár:

– �0�<�������9�Ár�%。

Á@ÉÊ�´:

– �0�<�������9�Á@ÉÊ�´。

– .) Motion complete。

���

1) FCT [...]�[Axis]�[Record Table]�W�7½È���#.)

Tab. 2.37 4'�3�

� �����n��� Quick Stop

�<t¥���F�,�0�?H)�3��。�<�#.)� Quick-Stop

Ë�%���3�m,���µ¹u�。¶m,�3�µ��4'。

Page 45: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 45

2.5.6 0'�Q�R�

t¥���F��m,���M)4(�3�kµ�3���H)5)R。4(�3���

_���� ��iB��3。

���-�Q�R�!��。

b3<W��?�EE 8?-773@,�<�%cÕX��3�A®

�%。:¾�+4(�3�。

� M[\,M)�4(�3��n��9�s�4'��。

� M�4(�3��(�Á�。

� M�,v����,�WY3�3���,4(�3��Ì�E�。

�Q�R�!HR��

�����Y3�<���F���W4(�3�����:

– �5���¹F�,lQ24(�3�。

– ���¹u��),4(�3�µ¹�+。

���n� � ��F X6.5 (BR+/BR-) .G��

CONTROL ENABLE 0�1 Q24(�3�

CONTROL ENABLE 1�0 �+4(�3�

Tab. 2.38 Y3�3��

q�4(�3�f(�Á�,I02(��(@�5 �@�。���F�@,

�<0��#µ������(�!4(�3��(�Á���Ö�:

^F ��

2F½È gt2F½È�¾,µ�R0�Î�%。�3�µ?m��4(?8(7

w� = 0)。�W2F½È��.),0@�4(�3��¾�m¹B'Q2。

2F½È�¾�m,�����µR��2²Í?8,5��0�¯�%。

�+½È ���µ�3���H)5),gt�+½È�¾,4(�3��?m���B

K���wx。¶mµu����。�W2F½È��.),0@�4(�3�

�¾�m¹B'�+。

Tab. 2.39 4(�3���#.) � FCT [...]�[Motor],Brake control

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2 �(��

46 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�~�Q�R�

��

Q24(�3�@b3�3�k��N�。)�yc zg5)&3��3�@:

�c{h!

� -'�|=�。

� vs���+�I"�+��*���。

� u�4(�3��)J i�。

X����¹u�,�Q24(�3�:

– �< I/O �� [X1.9] DIN BRAKE CONTROL = 1

– ?@ FCT(u���“�Z�E”,.2��:“�3�”)

Q24(�3��m�0N3¶3�3�。

Page 47: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 47

2.5.7 1$��

�< 5)*,�0��t�� Z�5)���)*(/-�-/ 5),��+Ë�wx。

��? ��

�W 5),T�SG/

�W�7 5) »¦,T�Ym�7 5)

�W�­=5) »¦,T�H)5)(­=5))

Tab. 2.40 5)*���%OR^

W�·���o�(hX:xwS),;r����0���#.)�,l�¡�0,

hX:�~0v�c���3�。�m,�.µ��~>5)u�。

PQ

���±;�%��#.)|ÀwE�������4Ê。|ÀIw�4Êt�%�¾�)D�

k�R¬g。9��%_�,µ�v4ÊW7 5)�­=5)���Í���|À�1�

(� µ� 2.7.1, ¿mÍ�)。

^F ��

5) (Position) Z�. (OR^ � Tab. 2.40)

�% (Velocity) �%Y��

I�% (Acceleration) I�%Y��

�%1) (Deceleration) �%Y��

I�@�Â3

(Jerk for acceleration)

I�I=2�@��¾@�I�%¬g。2®�#��0@�

gÎF3。#�“0”G�`Â31���¹VW。

Ë�@�Â31)

(Jerk for deceleration)

Ë�I=2�@��¾@�I�%¬g。2®�#��0@�

gÎ�3。#�“0”G�`Â31���¹VW。

Y~�%2) �%�Y~�%(#! = 0)

1) X�>W©cÕ�R�R�VW?8,l� FCT �"e��.)。nl,�!I�%�� 。

2) 9W�7���#.)(�������)

Tab. 2.41 �±4Ê��#

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2 �(��

48 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�%";

��Z�5)@�(�tÌ�Y~�%。9�"e�%@(`�7�),Y~�% = 0。

9��7�@,�9Wfr�% 5)*��#.)Y~�% > 0。0� �

Y~�%���Z�5)@,H)��7�¾。�3�`�4(¡��0O�%F3

���7 � Tab. 2.54

�%"; �H�%";��

9WX�#.)�0'@�,

­=5)5�Z����。

.)9�“Motion Complete”。

2�����:��Z�5),5��<.)����7�

µ�3���I���5)。

+�����:�<*K5),�3��dZ�5)。

Tab. 2.42 5)*��Z��,

t

t

I�%

½È

�%

t

s

Z�5)

�¾F3

a

v

3�B� (Motion complete)

t

Fig. 2.5 5�% – hX:F3�%�7 �%� 0 mm/s,`Â31�

Page 49: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 49

2.5.8 Rj��

�<�%)*,��0µ w���=»¦,��+�W1�。�W�­=5)�F3�%@

5)���。�W1�@ ��WF35)�%�Y�y�»¦。

��? ��

`�W1� ��@»¦Ã1�,hX:�+�3�

��W1� �WF35),��=1�»¦

Tab. 2.43 �%)*���%OR^

PQ

9��%�),���|ÀwE�������4Ê。|ÀIw�4Êt�%�¾�)D�k�

R¬g。9��%_�,µ�v4ÊW7 w��­=w����Í���R0�1�。

(� µ� 2.7.1,¿mA�)。

^F ��

�% (Velocity) �%�Z�.)

I�% (Acceleration) I�%Y��

�% (Deceleration)1) �%Y��(�3)

I�@�Â3

(Jerk for acceleration)

I�I=2�@��¾@�I�%¬g。2®�#��0@�

gÎF3。#�“0”G�`Â31���¹VW。

Ë�@�Â3

(Jerk for deceleration)1)Ë�I=2�@��¾@�I�%¬g。2®�#��0@�

gÎ�3。#�“0”G�`Â31���¹VW。

1) X�>W©cÕ�R�R�VW?8,l� FCT �"e��.)。nl,�!I�%�� 。

Tab. 2.44 �±4Ê��#

Page 50: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

50 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�%";

��Z��Æ(Z��,)@�(�tÌ��W1�。

�%"; �H�%";��

…`�W1�

a���%,�²��fr

0'@��­=�%5�Z

��%��M。

.)9�“Motion Complete”。�3�Ár0Z��%��。

W�%Í��1���VW。��6¹1��%�7I� �

Y��M。

…��W1�

– &����W1� .)9�“���W1�”。

�X�#.)� Quick-Stop Ë�%W�3����3。

¾�ÈX��Z��%,`µ.)9� Motion Complete

(� Fig. 2.6 � Fig. 2.7)

2�����:��Z�5),5��<.)����7�µ

�3���I���5)。

+�����:�3���d5)*K。

– &�a���%,�²

��0'@��­=�

%5�Z��%�

�M。

.)9�“Motion Complete”。�3�Ár0Z��%d��

���。W�%Í��1���VW;��6��d�%� Y

���1�;�W1���VW?8。

Tab. 2.45 �%)*��Z��,

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2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 51

3�B� (Motion complete)

a���W1�

(M")

t

t

t

t

Z��%

s�W1�

5)

­=�%

v

Fig. 2.6 ��Z��%�)���W1� – �h

3�B� (Motion complete)

a���W1�

(M")

t

t

t

t

s

Z��%

�W1�

5)

­=�%

v

Fig. 2.7 ��Z��%�m���W1� – �h

Page 52: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

52 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.5.9 ,����

�<��6)*,�0bIµ ���6,��+�W1�。O���5+�����)*(�

9-����)。�W�­=5)�F3�%@5)���。�W1�@ ��WF35)�%

�Y�y��W。

��? ��

`�W1� ��@»¦Ã1�

��W1� �WF35),��=1�»¦

Tab. 2.46 ��6)*���%OR^

�<*���7�­�W��6���。±;�3��(���,µ�<I6 �7�Wwx

6���6I0@ 。0��7��ÃÅ.�*��Z�. 。*+@�.�<|"6�.26

/[\5.)bI�S��­=��6;�5@W�#.)��*K。

^F ��

��6 (Force) ��6�Z�.)(%,T���7�)

�% (Velocity) �%7 �

Tab. 2.47 ��6)*���#

�%";

��Z��Æ(Z��,)@�(�tÌ��W1�。

�%"; �H�%";��

…`�W1�

a����6,�²��,

9WI� �0'@�,

­=��7�5�Z��

��。

.)9�“Motion Complete”。�5X9����3��,

�3�kÁr07 ��6*K��I0��。

�%`¶¹1��%I£ �Y��M。

…��W1�

– a���W1� .)9�“���W1�”。

�X�#.)� Quick-Stop Ë�%W�3����3。

�W1���d5)*K。4(1�R�VW?8,5.)9

�“Motion Complete”。

– a����6,�²��,

9WI� �0'@�,

­=��7�5�Z��

��。

.)9�“Motion Complete”。�5X9����3��,

�3�kÁr0Z���6*K��I0��。

�%`¶¹1��%I£ �Y��M。�W1�ÁrR�

VW?8。

Tab. 2.48 ��6)*��Z��,

Page 53: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 53

2.6 �:I�!,���

2.6.1 �:

�%���#.)��7�* CMMO-ST �。�<,��%�(�����) FCT

(�/�������)W�7���#.)。

 ��7�[`�v� �7«^R0�%I��I�#。W�%Ñ�@,��^ PLC

��µ�79�»�t�E#;�(�7�+)。

^F �� 8,�"� ".�,�"�

�79� 9�,����9��#.)��7 7 ��7 31 ��7

�7«^ 5)*

– �W 5 (PA)

– �W 5tYm�Z�5) (PRN)

– �W 5t­=5) (PRA)

PA, PRN, PRA PA, PRN, PRA

�%)*

– ��W1� (VSL)

– `�W1� (V)

– VSL,V

��6)*

– ��W1� (FSL)

– `�W1� (F)

– FSL, F

Tab. 2.49 �7�#(�79�、�7«^)

� I/O _`.G�:I�

�< I/O ������@,�$,�±;fr�������9��7

– �����:W�79�Ñ��@½µg�9��7。

– �������:W�79�Ñ�mµ�<�� START 9�g�9��7。

� ��_`.G�:I�

�<01,��U�0@ PC W�F3�7。�m�5�� TCP/IP ��W�9W� �

T�s�(� : B.1,�<01,��)

� FCT .G�:I�

�E�6+Z�"�F3�7G���7。m|,U�00����_�7,5���!I0

9�(6+��)。

Page 54: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

54 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

;��:^F

^F ��

����#(T�#;)

Z� (Target) �#.)t���)*

– 5)* � µ� 2.5.7

– �%)* � µ� 2.5.8。

– ��6 � µ� 2.5.9

�% (Velocity)

I�%/�%

7|iB (Extra Load) @T�iB|,��¤�iB

yx�<��

(Torque Feed Forward)

– ���2�iB���36

– I�%�Ë�%@,µVI��7�,V��I. �Ã

Å.�。_��k�<7 7�。

– �.±;­%6 O�。

<W��

F3��

(Start Condition)

� ��7@ �F3��(hX:� FCT)。F3��

��,X�H)�%ÈX�¾,�XÎW�7�F39��E

±�(� Tab. 2.51, �78,)

�� (Condition)

F3½È (Start Delay)

MC �³ (MC visible)

Y~�%

(Final Velocity)

���7 (Following Set)

�7G��«��7�Z���。X�Ä��ÅM#,�©�

��,l�0�<�F39�g�F9�l��7

(� Tab. 2.52,�7�)

.2�

��6.2�

(Force Comparator)

2�N�\��0'@�Y����#!.)

(� µ� 2.7.2)

5).2�

(Position Comparator)

�%.2� (Velocity

Comparator)

@�.2�

(Time Comparator)

1�

��61�

(Force Limit/Torque Limit)

5)* �%)*�9��%@�Y�y���6 y�6x

�W1�

(Stroke limit)

9��%@�Y�y�»¦

Y�¿mA�

(Max. Following Error)

5)* �%)*��E9-“¿mA�”@���Í�

Tab. 2.50 �7�#

Page 55: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 55

2.6.2 �:f�

�78,@���ÅW>�7�8,。�m�0� �I�*��7@ ,£@���7

9�、l��7×µF3@,�3���Î���。

nR��1) �� ,-"�

ÆÏ

(Ignore)

9�·��%@µÆÏF39�。H)�%µ¹9�t�¾。

Motion Complete VWmu�0�<Z�F39�F3O

�%(#!)。

���

�7

(Delay)

H)�%µ¹9�t�¾。H)�%�¾m(Motion Complete

9��Em),�<YmF3�7Ñ�����7µ¹9�。

���

�?

(Interrupt)

�����%k:¾�?5g�9�ZÑ���%。 �

���

1) X���������,��< � FCT [...]�[Controller]�[Record Table] Basic Data ���#.)

Tab. 2.51 �78,@��#“F3��”

<�:“��”nR��

F39�(mR9W�7 B)¹ÆÏ。H)�%(mR��7 A)µ¹9�t�¾。

t

t

t

Motion Complete

F3�7

�7 A �Z�5)

A B

Fig. 2.8 “ÆÏ”F3��

Page 56: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

56 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

<�:“S�”nR��

F39�(mR9W�7 B � C)&�k¹ÆÏ。H)�%(mR��7 A)µ¹9�t

�¾。¶mµ9�Ym��%(mR��7 C),`�Z�F39�。

�7 A �Z�5)

t

t

t

Motion Complete

F3�7 A B C

�7 C �Z�5)

Fig. 2.9 “�7”F3��

<�:“<�”nR��

�����%(mR��7 A)k:¾�?5g�9�ZÑ���%(mR��7 B)。

�7 A �Z�5)

t

t

t

Motion Complete

F3�7 A B

�7 B �Z�5)

Fig. 2.10 F3��“�?”

Page 57: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 57

2.6.3 �:T

���������<�7�0� ��9��7。µ ��7�W��79��7

�9����#.)。�5Ä�ÅM#,��,lµF3� ����7。F3�7����

7,¡�ÃF3�7�o��9��7�t�Ym��7。�<�7��0­�GÇ�3

��W,hX:

– ����%����

– ��3�!� 55}À

– �ª�W�9���6����。

����Wkd�0��#��±:

^F ��

��

(Condition)

���Î@F3���7(ÅM#,��)

� Tab. 2.53

F3½È

(Start Delay)

ÐØ���ÐØ2�9�),�7@�a�¾

MC �³

(MC visible)

���n�7��©��7���n�E�9�“Motion Complete”。

Y~�%

(Final Velocity)

Y~�%,�<O�%�7µZ�5)R�¾。Y~�%�Æ����#

.)��%Y��%。

���7

(Following Set)

�7�9�,O�7k����@Y3F3

Tab. 2.52 �±3�4Ê��#

�������,hX:.2�。�00���:

�� (Condition) ��...,7nR'��:

Motion Complete ... 9�“Motion Complete”¹VW

5).2�VW ... H)5)5�5)���

�%.2�VW ... �%5��%���

��6.2�VW ... ��65���6/wx���

@�.2�VW ... �%R0��r@�5�@����

Tab. 2.53 ÅM#,��

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58 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�%";

��Z�5)(Z��,)@�(�tÌ�Y~�%。

�%"; �H�%";��

Y~�% = 0

9WX�#.)�0

'@�,­=5)5

�Z����。

– 2�����:��Z�5),5��<.)����7�µ�

3���I���5),gt���7F3。

– +�����:�<*K5),�3��dZ�5),gt��

�7F3

Y~�% ≠ 0(��7��)

­=5)��Z�5

) o�<�Z�5

)。

– 2�����:F3�Ár0 5�%�Y~�%d�����

(�W��Í���1�)。��6`¶¹1��%I ��Y

��M。`��3�R�4(?8¾�F3���7。

– +�����:F3�Ár0 5�%�Y~�%0�%d���

*���(�W��Í���1�)。��6`¶¹1��%I

��Y��M。`��3�R�4(?8¾�F3���7。

Tab. 2.54 5)*��Z��,(9-“Motion Complete”)

Page 59: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 59

<�:�:T!�ERj ≠ 0(1$��)

0��>����78,@�#“Y~�%”���。�7 A mR�Y~�%�7 �%

����。�7 A ��7 5)@,�7 B µkF3,¥�Ã�ÎF3½È。

t

Motion Complete

(MC �³)

t

t

F3�7�!

t

�7 A �7 �%�7 A �Y~�%

�7 B �7 �%

5) A

5) B

v

s

Fig. 2.11 ���7�Y~�% v ≠ 0

Page 60: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

60 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.7  �=R�+�

�<9��.2��0W�3�(���1����。m|,�����fM)�"��,

hX,��A��@�"M)���d�。

2.7.1 !U

X�� @��Z���~5�Y����,l¥-¹VW。�<�)^#C�E>�E9-。

!U >?�� ,-"�

Motion Complete

(Z��,)

�E�%�¾9�,O�%��<�7�+®F3�。 �

���

¿mA�1� (2Fh) ��%R� 5)*��%)*�@W��(���1�

(� Fig. 2.13)

���

4(1� (37h)1) �+�����)*�,W Motion Complete, Stop

Pause m�(���1� (� Fig. 2.14)

���

1) �< FCT ��AF0��,�0�#.)W9-�±�(� FCT-�AF0)。

Tab. 2.55 9-

!U“Motion Complete”

“Motion Complete”�E�%�¾9�。� ��%«^( 5、�% ��6)*)@

���。�5�#.)�fr0'@��­=�5�Z���M,la�9-“Motion

Complete”(�%�¾)。

Motion Complete

t

t

vt1

1

2

3

t1:0'@� Motion Complete

1 ­=�%

2 Z��%

3 Z��� Motion Complete

Fig. 2.12 Motion Complete – �%)*�h

Page 61: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 61

!U“¡¢V£”

5)*��%)*�,W�<Y�y�¿mA���1�,hX:�3�È¿ <B。

9��%)µ±;O�%��#W0Ñ4Ê��|À(� Fig. 2.13, 1 )。9��%

_�,µ�v4ÊW|ÀIw7 ��H)­=����Í���1�。�<�#.)Wy��

��(Y�y�¿mA�)��@ 。X�H)��¬�(»¦、�%)�7 ��­=���

��#.)���'.�|,lk0'@��¾�mVW9-。

Z�5)

t1

0'@�

F3

¿m�A9- 2Fh(fv)

1

2

3

s

t1:¿mA�9-�0'@�

1 7 5)4Ê

2 Y�¿mA�

3 ­=5)4Ê

Fig. 2.13 @��:“¿mA�”9- – 5)��、fv��h

�< FCT ��AF0��,�0�#.)W9- (2Fh) �±�(� FCT-�AF0)。

X�¿mA�¹�)�fv,l­=��Z5�¿mA���'.M@kY3a�O

9-。

Page 62: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

62 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

!U“�Qrs �”

5)*�[\ 4(?81�,[\�3�fr0'@���3��n5�4(���M

(� Fig. 2.14)。

��Z�5) (“Motion Complete”) mµkVW4(1�。VW4(1����o��,

X��3�4(1�@�MbE4(��,hX:�<|"��6,lk�E0�±�:

– ������ED?9-“­=5)5�4(���|”。

(VW = 1:(Sa¦24(��;u� = 0:(S5�4(��M)。

– 5)���kÙ+��3��ZÒÇ�4(���。

Motion Complete

4(1���

(VW = 1,u� = 0)

t

t

t

t

s

¦2

4(��(9-)

Z�5)

t1 t2 t2

12

t1:0'@� Motion Complete t2:4(1����0'@�

1 Z�� 2 4(��

Fig. 2.14 4(1� – �h

4(1�`D2F��+。X�4(����.)�“0”,lF����+。

�< FCT ��AF0��,�0�#.)W9- (37h) �±�(� FCT-�AF0)。

Page 63: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 63

2.7.2 ¤W�

�<.2���[\,#��n5�� �#�$�M(��)。��.2�:

– �����7�(� µ� 2.7.2,�7�)

– ��W#C�E>��Fv(� µ� 5.6.1)

O���<��1��@ 。X�I1��#�5���'.M,l���.2�9-¹VW。

X�X.2�� �@�,lI1��#��.� @�M5���'.M。X���'.

|,lu�O9-。

��5����9%[6:X��1���1,l�W�5VW.2�9-

W�i�#�$�,O1�����5���。lO��5����c。

“5).2�”�h:

-50 mm(= YÆ�)š ­=5) š �-40 mm(= Y��)。

^F1) ��

Y� (Min.) ���1

Y�� (Max.) ���1

@�2) ��'.M�YÆ4d@�

1) �< FCT [...]�[Controller]�[Record Table] Record Messages���#.)

2) 5)、�%、��6.2��@��#

Tab. 2.56 .2���#

¤W� ^F �� ,-"�

@� – YÆ

– Y�

X�F3�%0®�@�5���'.M,lO9-¹VW。 ���

5) – _YÆ

– _Y�

– @�

O1��.��~>5)���y�$�'.M。¾�W��

W5)�7,�È��5��W�� O1�(T�G/)。

X��#.)@��­=�5���'.M,lO9-¹VW。

���

�% – _YÆ

– _Y�

– @�

X��#.)@��­=�5���'.M,lO9-¹VW。 ���

61) – _YÆ

– _Y�

– @�

±;��7 7�,��O1��� -100 % t + 100 %。

X��#.)@��­=�5���'.M,lO9-¹VW。

���

1) �+������*。

Tab. 2.57 .2�

Page 64: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

2 �(��

64 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

2.7.3 ��8�

�������»r��,�1���"�、� "�、�����。

·��"��k����"�µ�EE(� "�)�+。�HA�a¹É@5¨w@!mu

��Z2F� "�。(� µ� 6.3)

 � ¥X%@1) ��

��~>5) 11h, 12h,

29h, 2Ah

�E��~>5)(� µ� 2.5.1)

I2t(��7�) 2Dh, 0Eh X�����7�²-@�-ÓÅY��¹�<,l�EFv9

-。7�¹1 �7 7�,0�"���k<�。

J7� 17h, 18h Ê7��<7�

��7�7� 1Ah, 1Bh

�EEj% 15h, 16h, 33h �EE�j%µ�<j%»r���6�。�_�W�EE

� CPU �j%��1�。X�j%�</®�1�,

lka��A

1) WA��±���0���#.)� � FCT [...]�[Controller]�[Error Management]。

Tab. 2.58 �"��

Page 65: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

3 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 65

3 ��

��

3�、&3�I"��@,�3��R�©��|�3。

� ­b�Î���):�+-773。

� -'�|�F-773。

�H��µ�p��(

� u'�7o��]p;�78!

� /��07qrs�����W。

3.1 ��l¦

Fig. 3.1 &3:;

l¦ B1 B2 H1 H2 H3 H4 L1 L2 L3

[mm] 39 20 118.7 113 103.1 90 115 108.8 96

Tab. 3.1 &3:;

Page 66: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

3 &3

66 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

3.2 ��§Y¨�©P>

1. &3�/*<4(�B<4�_ IEC/EN 60715:TH�35–j7.5 TH�35–j15)。

2. X�ÈX43:M˵�/*<4!�?@k�J ���Ú � Fig. 3.2 1

� M���3k�。

� ����k�@:/�x�Ì%(Y� 5 mm)。

3. @��µ�����iD¿Ô��P。

4. µ�����»�/*<4��,gt¿Ô¿À。

5. &3«����@�./�� �YÆ»¦。

1

Y� 5 mm

Fig. 3.2 �/*<4&3

l¦ L1 H1

[mm] 41 61.35

Tab. 3.2 &3�/*<4@������YÆ»¦

Page 67: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

3 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 67

3.3 ��§��ª>

]a&3��/*<4!�:

� b@�/*<4!�。

Z���

:*&3@,J R�-� 3 �ÛÍ � Fig. 3.3 2。

� ?@ 3 x M4 k�În.2。

� �5@M��ÜÕ/��ÜÝ。

E,���@:

� µ 3 x M4 k�ÎÏÔÝ。

� ¶E���。

«���

Þ*&3@,J R�-� 2 �ÛÍ� 2 �Qß � Fig. 3.3 4

� ?@ 4 x M4 k�În.2。

� �5@M��ÜÕ/��ÜÝ。

1

2

3

4

5

6

1 b@�/*<4!�

2 J

3 ÛÍ (3x)

4 J

5 ÛÍ (2x)

6 Qß (2x)

Fig. 3.3 &3�g �

Page 68: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 69

4 ����

��

3�、&3�I"��@,�3��R�©��|�3

� ­b�Î���):�+-773。��t¥����F�9�,`��Ä�&

'�5。

� -'�|�F-773。

4.1 0 EMC ?¬­A

7Ö�±���A�

�; EMC �l@�7ÖÃN�:

� Mµ������R°tÐ �®<Ñ�*!�>75;�²®(g´2��×

68) � µ� 4.2

=6� ���:

– 9�6�!7678g�Ø6。

– 9�6!7678Y¶�; 25 cm。

– ��!7678#à á 90° ¼=6

– /��y�68:%(Y: 30 m)

– W�`>KÙ]�|��KÙ6:<6>">KÙÚ6�:%��+Ò��>×。

4.2 8�_b FE

������t"tÐ�����>(� Fig. 4.1, 8)。��.|�Ò]�。tÐaX!-7

73���7;¦。

;���>75:

– Ò��×��><r

– 9Û78,��+:YÆÓÔ � 2.5 � 4 mm² �78

±;fr&3o�,���5±<6。

8�_b_® l¦ ¯_/®

FE Ò]� mm 6.3 x 0.8 Ò]��F

Tab. 4.1 ���>��

Page 69: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

70 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

4.3 _`��[

��

�A;�78µ< �3��R�|�3

� ���$]�,5����� ���78(� µ� 2.2.3)。

� M�I��68�]�������I� �Înyx。

� S.W378@,�.@�I78��ÜÝ���d(�iB,�5@)�Õ

�。/�(S�I"��©����。

ESD ��

Xâ��]�*w ESD (electrostatic discharge) 07�7,¥< .2

��.2"��p���。

� /��07qrs�����W。

� ��"{u+Xâ��]�。

� &3�),&�µ.2"��>。

� ���H� ESD 32(hX:-"T、�>��)。

��~|"&3���@:

� M�����]�/68� IP -"�E。

� ��"{u+Xâ��]�。

1 [X9] -773

2 [X1] I/O (SPC/IPC)

3 [X18] 01,

4 [X1A] � 2�

5 [X3] STO

6 [X2] 9-�

7 [X6] ��

8 FE ���> (3x)

1

2

3

4 5 6 7 8

Fig. 4.1 ��

Page 70: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 71

0���.|�>#É(]�)。]�a[`-&'.M(Å«]� NEKM-C-10)。

_` ��

[mm]

©A°�

[mm2]

±A

[mm]

/®5C

[X1A] 3 9 2.5 0.081 … 0.518 7 … 8 CAGE-AWG20-28

[X2] 8 9 2.5 0.081 … 0.518 7 … 8 CAGE-AWG20-28

[X3] 5 9 2.5 0.081 … 0.518 7 … 8 CAGE-AWG20-28

[X6] 6 9 3.5 0.081 … 1.31 8 … 9 CAGE-AWG16-28

[X9] 5 9 3.5 0.081 … 1.31 8 … 9 CAGE-AWG16-28

Tab. 4.2 ]� %(�)

_` �[\j [m] �[5C

[X1] I/O � 30 XKÙ1)

[X1A] � 2� � 30 XKÙ1)

[X2] 9-� � 10 KÙ1)

[X3] STO � 30 KÙ2)

[X6] �� � 10 KÙ1)

[X9] -773 � 30 XKÙ2)

[X18] 01, � 30 KÙ3)

1) <6����0�,��� � www.festo.com/catalogue。

2) <6qÄS&3。

3) ��,6 �´È6:%�_ ANSI/TIA/EIA-568-B.1 ���01,,C���B。

Tab. 4.3 78^*

Page 71: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

72 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

4.3.1 [X1] I/O _`

�< I/O ���0­�!�E��� (PLC/IPC) ��9。

�D>��E>�2� Jt�������OR^:

– ^� CMMO-...-DIOP = v J PNP(� Fig. 4.2)

– ^� CMMO-...-DION = i J NPN(� Fig. 4.3)

�D/�E>�Å�tÌ�I���������(���、�)。��������

� µ� 5.5 �µ� 5.6

_`

1

14 25

13X1

9Þ 1 2 … 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

#C�D>

(DIN)

#C�E> (DOUT) – LOGIC

Out

GND

01 02 … 11 01 02 03 04 05 06 07 08 09 10 11 – +24 V 0 V

Tab. 4.4 �� [X1]

<B/�@k�p.2

K@739Þ 24 (+24 V Out) `<B�" (Imax. = 100 mA)

� K@73���2�#C�D>。

Page 72: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 73

1

2

10

12

13

21

22

GND

�D>

�E>

24V OUT

PLC

GND

2�

11

24

25

DIN1

DOUT1

DIN2

DIN10

DIN11

DOUT2

DOUT10

DOUT11

X1: PNP

Fig. 4.2 ��OR^ PNP(CMMO-...DIOP)�;�

PLC

GND

2�

�D>

�E>

X1: NPN

1

2

10

11

DIN1

DIN2

DIN10

DIN11

12

13

21

22

GND

24V OUT24

25

DOUT1

DOUT2

DOUT10

DOUT11

Fig. 4.3 ��OR^ NPN(CMMO-...DION)�;�

Page 73: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

74 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

4.3.2 [X1A] ^@~&

Festo �(Z:�9W©��3�I!E�^�D����� 2�

(� www.festo.com/catalogue)。

_` ]^ 8�

1 3

1 3

X1A

1 +24 V

LOGIC OUT

� 2�-773�7��E>。

`<B�"。

2 9�

REF

CMMO-...-DIOP:

– PNP ]���D>

– ;� +24 V

– ^* NO/NC1)

CMMO-...-DION:

– NPN ]���D>

– ;��>

– ^* NO/NC1)

3 0 V

GND

� 75(�>)

1) NO/NC = Normally Open/Normally Closed

Tab. 4.5 � 2��� X1A

<B@k�p.2

9Þ 1 (+24 V Out) `<B�"(Y� 100 mA)。

� ����� 2�-7。

Page 74: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 75

4.3.3 [X2] %A�

�� [X2] ��0;���_ RS422 � AB-9��V�9-�。

;����q Festo YZE(�4�<6�0�Ë�-���<6ÓÔ ,5&Ú�2�>a

/���/9-�<6�-KÙ(� www.festo.com/catalogue)。

_` ]^ 8�

X2

1 8

1 8

1 A 1) V�9-�9� A+

2 A/ 1) V�9-�9� A–

3 B 1) V�9-�9� B+

4 B/ 1) V�9-�9� B–

5 N 1) G�ªV�9-�9�

6 N/ 1) G�ªV�9-�9�

7 +5 V 9-�73

– +5 V ± 10 %

– Y�� 100 mA

– `<B�"

8 GND � 75 0 V

1)  R 5 V � Ri = ß 120 Ω

Tab. 4.6 9-��� [X2]

<B@k�p.2

9Þ 7 (+5 V Out) `<B�"(Y� 100 mA)。

� ����V�9-�-7。

Page 75: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

76 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

4.3.4 [X3] STO

��fr���2²Í���,�< FCT ,��%���*+��< I/O

�����@½�5B� [X3] R���D> STO1/STO2 �=6。

�����8� STO !­A

X�Ë������5M)�&'�� STO,��m������)Ë�.µ��

X3 ��9Þ 1、2 � 3 ��Ö�。0mu�M)�&'��!)�l�=6�

*@,�.)����Hab@����&'。

����8� STO ²!­A

�� GDCP-CMMO-ST-EA-S1 �aX���P�&'�� STO (“Safe Torque

Off”)。��y�vm��I��*�� STO ��。

_` ]^ 8�

X3

1 5

1 5

1 +24 V DC1)

LOGIC OUT

J7��E>

– �< [X9] B7

– Y� 100 mA

– `<B�"

2 STO 1 �� STO ������D>

3 STO 2

4 D? 1 �Ba/

– `7ã

– H0��5�*M15VW

STO ��@,�®<Ñ。

5 D? 2

1) � 75 (0�V) �-773�� [X9] �9Þ 4

Tab. 4.7 �� STO [X3]

<B@k�p.2

9Þ 1 (+24 V Out) `<B�"(Y� 100 mA)。��+�� J73£|"�

3*»r�-7。

Page 76: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 77

4.3.5 [X6] ��

;����q Festo YZE(�4�<6�0�Ë�-���<6ÓÔ ,5&Ú�2�>a

/���/9-�<6�-KÙ(� www.festo.com/catalogue)。

_` ]^ 8�

X6

1 6

1 6

1 6� A &���6����

2 6� A/

3 6� B

4 6� B/

5 BR + 4(�3����

– +24 V

– Y�� 1.4 A

– 33 W

– ×��"�<B�"

BR– = GND,

BR+ ��8,(24 V iB)

6 BR–

Tab. 4.8 ���� [X6]

Page 77: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

78 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

4.3.6 ���³ [X9]

��

W�`�"ab�73,*a7��。

� M����_ IEC 60204­1 ��� PELV 7� (Protective Extra-Low

Voltage, PELV) -7。

� 5�M� IEC 60204-1 ��W� PELV 7����51。

� M����_ IEC 60204-1 �����@�!��7��iB7�&'Ŧ�

73。

��

;��A@< .2<�,�¥*à���。

� MWv.2]�5) [X9] [\9Þ9��nv@。

� 9Þ 1 �9Þ 2 �;�。

<7����.2�p

-773�D>Ã���-'<7�����。

� /��y�7�Y�。

_` ]^ 8�

X9

51

51

1 X;�!

2 X;�!

3 7#��3)� +24 V DC 73

( J7�)

4 � 75 0 V,��

– iB7�

– J7�

– STO

– I/O ��

5 � �EE���� +24 V DC 73

(iB7�)

Tab. 4.9 `]���]�*]���� [X9](ū]�NEKM-C-10)

Page 78: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

4 &3

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 79

4.3.7 [X18] ��_`

XX§$=��.2��k< .2�p �R��A�。µ.2;��,C@:

� -'XX§$=�,C。

,C�"ab,hX:

– -×ä

– Då-Ø#$ (IPS)

– ,CÅ=F0

– á� LAN (VLAN)

– á�â�,C (VPN)

– &'c0=�æ (Port Security)。

����� � 9-��&'��l���,hX:IEC 62443,

ISO/IEC 27001。

&3�A »� <�@,��kw9��ç�9�<è��#;»�A�:

»�A���w��[L:

– KÙ;��A

– Å6

– »�»¦<:

– ����78(78�B � µ� A.2.5)

_` ]^ 8�

X18

8

1

1 TD+ �¤#; +

2 TD– �¤#; –

3 RD+ �°#; +

4 – –

5 – –

6 RD– �°#; +

7 – –

8 – –

Tab. 4.10 �� [X18](]� RJ45)

�����!�“Crossover �,”�� (Auto-MDI/MDI-X)。µ�����;��Ë�,C

PC @,�0�+�� Patch ^78 Crossover 78。µY3*K,C�� [X18] �=6。

Page 79: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

80 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5 ��

5.1 ����

��

X�aF�����,l�)�.)�#�R�A@��k< �������

|��。

� �w)�Xs.)�������。

� �v@�)��#.)������m,u�F����。

���:���2²Í���,�< FCT ,��%���*+��< I/O

����@,�5B����D> STO1/STO2 �=6。

�����8� STO !­A

X�Ë������5M)�&'�� STO,��m������)Ë�.µ��

X3 ��9Þ 1、2 � 3 ��Ö�。0mu�M)�&'��!)�l�=6�

*@,�.)����Hab@����&'。

����8� STO ²!­A

�� GDCP-CMMO-ST-EA-S1 �aX���P�&'�� STO (“Safe Torque

Off”)。��y�vm��I��*�� STO ��。

����

� ��&'�� STO @:[\ STO �� �(�� GDCP-CMMO-ST-EA-S1)。

� @��3��m«�3�k�\��。

� �<A®6��%,��6+�W。

~n��������³@�

1. [\&3�(S��。

2. [\&3������(� µ� 4)。

3. ¾�9W×_6��[6,��.;� FE >6。

4. ?@ PC �:01,;�(� µ� 5.2 )。

& 1 K~n���³@¢:

� ?@,��%���&R*+(� µ� 5.3)- -

� ?@ FCT ��&R*+(� µ� 5.4 )

´K~n(_`)���³@¢:

� ��� ��

Page 80: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 81

5.2 µZ��6_

.2#$?8�,aVW������M) DHCP �%� (Dynamic Host

Configuration Protocol)。�< DHCP �%�,�0a_6_������"e

�� DHCP ÄS>�)� PC。

EH.)(DHCP �%�VW)��_,C��)*。���,C���a*

� DHCP �%�!X��,C��&�aVW� DHCP �%�,l��<

,CA�。

� &R*+@,�����g��<01,��! PC ;�。

� X�,C�*�aVW� DHCP �%�,l�������� DHCP �%�

;�t,C。

� ���,C�@,�.&��< FCT Q{������ IP �)

(� µ� 5.7.4)。

Fig. 5.1 �<g�;���&R*+(/-�-/;�)

��a_6_

)��� – PC a�� DHCP ÄS>���)(�"Å� PC �#!.))。

– �����a�� DHCP �%����)(EH.))。

;�

�:

1. ������01,��g�� PC �01,��;�

(/-�-/;�)。

2. 2F������73。

������ DHCP �%�� PC Å��� IP >�。?m�:,

C;�。

;�

?@,��%�6+

� ,�4%��*�,��%��,�(� µ� 5.3.1)

;�

?@ FCT 6+

1. &3�F3 FCT(� µ� 5.4.1)

2. �) FCT ��。

3. ?@ FCT �" [Component]�[Online]�[Login] �:�6;�。

Tab. 5.1 ��VW� DHCP �%���������(EH.))。

Page 81: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

82 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

*�9��@:

� [\I�� PC �01,���! TCP/IPv4 .)�VWo�(� Windows

�� 0):

– Y3¨t IP >�。

– Y3¨t DNS �%�>�。

*K,C�)@�5f2 Windows F0+$1。

� ?@ FCT @ ������H)>�

(� FCT �" [Component]�[FCT Interface] <Scan...>)。

Page 82: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 83

5.3 GT�1� �.G��

��

�?,�4%��;�,�����3��E�|�3,�¥< d�。

�?01,;�@:�)�<,�4%�F3��3µ`D�<,�4%�4'。

�����`D�,!,�4%��;�a�?。

� @��R�|mr�3@�k�\��。

?@,��%���*+@,�<�#�����#.)。X Festo 6+�<��#�� (*fpf)

\ 5#$ (OMS) �#!.),M�UZN,,��$�·§。X�ÃZN,;�,l�0

g��<·§�B。Y�5�.)�*����#!G�。���#��5@?@ FCT >�

(hX:�%、I�%、6��Y��)。�0�+?@ FCT Q{.),5�*�#���。

��!����:

– ��W��5Y«f 7 ��7(��)��)�Q" 5)*。

– ©��3�fÖ���#�� *.fpf。

– ,�4%��>�,�“Parameters”(�#)(*�,C�%� � µ� 5.3.1)

?@,��%���*+�5.) I/O �����)��(EH.))。�<,�

�%�E,�)���0�<µ����#���B�������­�。I

Festo � OMS �#���[`“��)��”�#.)。

¶?! STO _`!@

[X3] ��D9� STO1 � STO2

aK��

*�,��%�m�.9�0�M3:

1. �<�#��W�3����)��#.) � µ� 5.3.3

2. ��� �� � µ� 5.3.4

3. A��6+�7 � µ� 5.3.5

4. B�*+ � µ� 5.3.6

Page 83: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

84 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.3.1 ���1� �

����:

– �:������ PC ���01,;�(� µ� 5.2)。

– PC 7ã�,�4%�(Internet Explorer >6; Firefox >3; JavaScript VW)。

– ������-773a2F。

���1� �:

Fig. 5.2 *�,��%�

1. Q2,�4%�。

2. 4%��>�¨��D������ IP >�:

� EH.):192.168.178.1。

� �5@:@ YZ� IP >�(� FCT �" [Component]�[FCT Interface],

<Scan...>)。

¶m�:6;�。

*�,�“Diagnosis”(D?)mµ,�4%��>�EI;��3��9

-。�<éÚ� $q���C�8,t,�“Parameters”(�#)。

X������VW�/-�"��,l8,� @�.�D/-;q���

5��ÅÙ,wm4%�M1W¯��“�Sº”¨�°ä。

� µ� 2.3.3,/-�"。

�1 bc1) ���

Diagnosis Status2) .2�?89-��������,��(����);

*K%�#$ (Unit: mm/inch/inc)

E/A-Interface2) #C�D/�E>�9�?8

Diagnostic Memory ­tD?*O�

Parameters Parameter Up/Download �»��B�#��

Status2) .2�?89-

Control �¯.2������F�

Password /-�"

Homing 3) ��� ��

Record Table3) �#.)�6+�7 (Valve �)��)

1) �<Ú3��0����³$qMb3,��©�µ�。

2) VW�9��å/��。u��9��Û/��。

3) mµ����� 5#$ (OMS)

Tab. 5.2 ,�“Diagnosis”�“Parameters”

Page 84: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 85

5.3.2 � �1· �de�����

¸¹5-�� (Device control)

?@G��“Device Control”VW�<,�4%�¯/­=���������。X��3�

VW@9��H)�7,l�3�4'。�3���4'。VW.2���m,µ�¢R0 I/O

�� (DIN CONTROL ENABLE) �F�9�

Fig. 5.3 ,�“Parameters” - Device Control(.2��)

� “Parameters”,“Control”µ���¯.2��@:

� VW“Device Control”。

� �1· �n�

��

X�aF�����,l�)�.)�#�R�A@��k< �������

|��。

� ��<�B���#��W��������v@�)��#.)�m,u�

F����。

� 5#$�w)�Xs.)��。�#�� *.pdf ��JM�U·§

(/Parameter­Sets/) �ZN, � www.festo.com/sp

Fig. 5.4 ,�“Parameters” - Control Enable(M1���F�)

?@G��“Control Enable”VW����� �EE。�������<,�4%���

��。

�<,�4%�� “Parameters”,µ�“Control”���F�@:

� VW“Device Control”。

� VW“Control Enable”。

Page 85: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

86 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.3.3 ,-=R��^F5-

�� Festo �%���#��@,�.�v OMS #$��(��,�

“Parameters”(�#)�BK�D OMS-ID。OMS-ID �D�BK��< E�

���A、±��30\���。

� �< OMS-ID �+�#������#$?8�� 5#$ (OMS)。

� Q{ OMS #$m,hX:Q{���&35):l�5?@ FCT ��*+。

� Jf��� Festo ^F"�

X�fZN,;�(�< 2 �01,�� WLAN/WiFI),l�0µ Festo Parameter Cloud

�I���#���*� PC �。

1. *�,�4%���,�“Parameters”

2. “Parameter Up-/Download”�BK�D OMS-ID。

W�` OMS-ID � OMS #$:�DBK�^�"-

3. ���� (Parameter Up-/Download: <Search>)

4. �*�� (Parameter Up-/Download: <Save>)

U�0 Festo Support Portal ���m��,5µ��B� PC ��*

� www.festo.com/sp,CMMO-ST

'g^F"� (*.fpf)

�B@,µI��#��¯D������«^*O��:

1. VW� �#,µ�“Control”:“Device Control”。

2. �+��#$�I�*��� <Browse>。

3. µ���B����� <Download parameter set to CMMO>。

_�kµ�#��Y3:_�*������。

2 R�#���B��t¶�7 3 æV。

Page 86: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 87

5.3.4 .G^@�G

&R*+�3�@,�.����� ��,0¡@ � /。� /{@�*�������。

X� J73?7,µ��� /,5��.�Z��� ��。

%�� #$�� ���5�.),q�3��#��¨w(� �#!G)。

�5@�0?@ FCT VWY3��� �� (� Tab. 2.25)

#$?8�,u��Y3��� ��。

� �����9-:

– %�� #$ � µ� 2.5.1

– � �� � µ� 2.5.2

����:

– �<�#��W�3���' �)��#.)

– � ��t� 2�@:� 2���D>aVW。

.G^@�G:

1. �<,��%�F�:

� VW� “Parameters”,µ�“Control”:“Device Control”。

� VW� “Parameters”,µ�“Control”:“Control Enable”。

2. &R*+@:[\�3�����。

� ?@ <Jog neg.> <Jog pos.> &��c�N3b3�3�。

� [\7Ö�3��xw�c/b3�c。

��:� FCT VW{¬xw�c��。

� [\#C I/O �9�(�(hX:� 2�)。

3. /ê�C <Start Homing>。

��B�� ���m,l�3�a%�� #$�B�� ��。

4. &R*+@:[\~>5)

� ?@ <Jog neg.> <Jog pos.> &��c�b3�3�。

� [\I>��S5)。

� b3tb3'.|15)R,5[\��~>5)。

Page 87: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

88 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.3.5 ºµ»¼��:

� Festo ��4.���7�#!�(�%、I�%、1��),5��5@

FCT ���Q{ � FCT [...]�[Controller]�[Default Values]。�&�W5

)@,µ9W ��7Y3��#!�。

����

�3�%�� #$�a��� ��(� µ� 5.3.4)

�U�::

1. �<,��%�F�:

� VW� “Parameters”,µ�“Control”:“Device Control”。

� VW� “Parameters”,µ�“Control”:“Control Enable”。

2. µ�“Control”,“Positioning typ”:�+�7«^(Drop-Down �+)

3. �D5)�� o���7«^“Positioning to absolute position”:

�&5):

� &�� <Jog neg.> <Jog pos.> µ�3���tI�5)。

� ¶m/ê�7� <Teach Pos>。

�7�>�5)。

4. ë¯�7�# ��*K,hX:M�D���D���# (“Velocity”),I�%

(“Acceleration”) ���6|1 (“Torque”)。

6+@:M����%�I�%�+Y��� 10 %。

5. �D���7。

¼���2�:

1. ?@ <Download>(<Teach Pos>��)µ�7{@�>»�t������。

2. ?@ <Move to Pos.> +���7。m����0�< <Stop> ~'。

3. �5@*K�#。

4. �<,��%�<GF�:

� u�� “Parameters”,µ�“Control”:“Control Enable”。

5. ?@ <Store>(�7GB��)µ�7:_�*������。

Page 88: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 89

5.3.6 ½{��

µ;:¾W¿j+�

� ?@ FCT [\�EEj%�:_(�。

FCT �µ>� 30 ÅV0��j%¬g<W(FCT 6��¿ Monitoring)。

µ;:I�g�“HR�2”8�

� FCT [...]�[Controller] [I/O Configuration] �u�?*�Y3�*�'5)���

ºµ-�"�

�A�2¤�� (<G��):

– E,.2@}�WZ��������#.)

– 0�£��#.)}�*+«��£��3�

– �R#;��@<G��������#.)

A�2¤��@,µIB®Y�������#��,5µ��* PC 7ã��2¤���。

X������*���#��,lIB5�*#!�#��。

1. ,�4%���¯.2��(���F�G5)

2. ?@ <Store>(�7GB��)µ�7:_�*������。

3. ?@ <Upload parameter set to CMMO> ­t���«^*O����#��。

4. �<I>�� Windows W¯�µ�#�� *. fpf �*#;Br�。

W�-�"�

µ2¤��@ PC »�t������:

� ?@ <Download parameter set to CMMO> µ�#��¯D����«^*O��。

� �B�m:�ZF3����� (Power on/off)。

XYVA��

������</-�"-'XX§$ �©Q{�#.),5<'�< FCT ,��%�=�

���3�:

1. ,�4%���¯.2��(���F�G5)

2. �D/-(,�“Parameters”:Password):

– Y�/-:%:16 �C�

– _DC�:a­Z, A­Z, 0­9 !"#$%&'()*+,­./ ;<=>?@[\]^_{|}~

$Å�Ư。

3. ?@ <Apply> �*/-。

/-µ:_�*������。

A�J��ÃN��#�� . 1.1.2.4 �,?@ <Apply> U�0µI�H)�#

�*�����#���。/-�"� ���9- � µ� 2.3.3

Page 89: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

90 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.4 GT FCT .G��(Festo Configuration Tool)

����

0�9-��]M�PXÎ�� FCT ��。BK�*+���.�v FCT ¹@#$������

��:

� FCT ¹@:�� FCT ��

� PlugIn-Workflow ¹@:�� PlugIn CMMO-ST ��

��!����:

�!�3��)���W�� �9-�.�-:

– ^�"- o Festo YZ�3�"�� OMS-ID(��:^�"-、G�9�)

– ���S�(�

– � 2��^��� ��)*

– �5����)��(� ����)�� � µ� 2.4.2)

Àh! STO _`!@

[X3] ��D9� STO1 � STO2

aK��

&R*+@�.�v0�M3��:

1. �3��)��#.) � µ� 5.4.2

2. ��� �� � µ� 5.4.4

3. A��6+�7 � µ� 5.4.5

4. B�*+ � µ� 5.4.6

5.4.1 �� FCT

�<&3W�5?@�H� PlugIn &3���。�����(J�)#$?8��� PlugIn

���*�$�·§�。&3<W��5F0+$1。

1. &3�)�+I��W�

2. µ CD“Festo Configuration Tool”�D·§�3�。

� ?@ Auto-Run:Y3F3&3。

� �?@ Auto-Run:N3F3·§�� Setup.exe。

3. M�v Setup.exe (FCT-Assistent) �������。

Page 90: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 91

5.4.2 =R�,-�^F5-

nR�ºµ��

1. �êÜ �� FCT �� �+0� Windows �"�´:

[2�]�[<W��´>]�[Festo ��]�[Festo Configuration Tool]。

2. �< FCT �" [Project]�[New] A� FCT �Z:

� � �Z(�。

� 4.) FCT ���#��>�("5、Æ#5)。

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.)���( �#�|1�。X�F3�[`������-���,l�.@ Ë�3��

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(“¦6”):

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– �<<Q{>�+���3���

– �<<Á@>A��Z��3��)

2. �<<Ár>Ár Workflow,gt�¾。

3. �< FCT �" [Project]�[Save] �*�Z

µ�#���Bt�������?@ FCT ���M*+@,��<01,���

:6;� � µ� 5.4.3。2 R�B��t¶�7 3 æV。

5.4.3 � FCT de�����

,-_`

1. �< FCT �" [Component]�[FCT Interface] �) FCT ��。

2. �:������ PC ���01,;�(� µ� 5.2)。

µZ§A6_

�:6;�@�5��#$[\。6;��?@ FCT ��#;»��F�������)�

��。

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� �+ FCT �" [Component]�[Online]�[Login] o�C <Offline/Online>。

Page 91: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

92 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

FCT <!���� 8�

6;� – ?8>�

– D?

6;�

+ .2��

– �B、�»�*K�#

– :_�*������#。

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+ .2��

+ F�

– /3)*��3/4'�3�

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– 9��7

– A��9��7�!

– �g����#

Tab. 5.3 FCT �Y�5�6��

¸¹5-�� (Device control)

�< FCT 5?@ “FCT” G��,VW������­¯=���。X�VWm�@�3�9�

�H)�7,l�3�4'。�3���4'。VW.2���m,µ�¢R0 I/O ��

(DIN CONTROL ENABLE) �F�9�。

������H)�#.)µ! FCT �Z��.2,5��£Ml�#;。

1. ?@ FCT �" [Component]�[Online]�[Login] �:6;�。

2. FCT 6��¿�� Device Control �:VW“FCT”。

3. £M#;(�»、�B、*K)

� FCT n�

��

HaF����@,X��)��#.)<W�E��A,��k< ����

��R�|�3。

� �w)�Xs.)�������。

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?@G��“Enable”VW����� �EE。¶m,�3�µ��H)5)。������

�< FCT ����。

1. ?@ FCT �" [Component]�[Online]�[Login] �:6;�。

2. FCT 6��¿�� Device Control �:VW“FCT”。

� VW“FCT”。

� VW“Enable”。

Page 92: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 93

5.4.4 .G^@�G

�3�&R*+@,�.����� ��,0¡@ � /。� /{@�*�������。

X� J73?7,µ��� /,5��.�Z��� ��。�5�%�� #$�� ��

.), FCT �#� [...]�[Axis]�[Homing] ���。

��� ��:

� M�+2®����%�¬�%,0¡Ò��¢@��,Z�/。

� MµË�%.)����,0@�����_��kH<Z�/1Ä。

?@��)������@,�0?@ FCT VWY3��� ��。

(� Tab. 2.25). #$?8�,Y3��� ��au�。� �����9-:

– %�� #$ � µ� 2.5.1

– � �� � µ� 2.5.2

����:

– �3�aBK�)。

– %�� #$a���#.) � FCT [...]�[Axis]�[Measurements]。

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– � ��t� 2�@:

– � 2���D>aVW。

– I���2�^� FCT �a��v@�)

– I�#.)�a?@ <Download> »�t����。

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2. &R*+@:[\�3�����

� &��c�N3b3�3�(� FCT 6��¿“Manual Move”)。

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4. &R*+@:��+��(� FCT 6��¿“Manual Move”)。

� �3�?@ <Single Step.> <Jog> &��c�b3。

� [\I>��S5)。

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Page 93: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

94 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.4.5 ºµ»¼��:

�7�#!�(�%、I�%、1��)aX9W Festo �����4.),5�

�5@ FCT ���Q{ � FCT [...]�[Controller]�[Default Values]。

�+�7«^@,µ9W ��7Y3��#!�。

����

�3�%�� #$�a��� ��。(� µ� 5.4.4)

ºµ�::

1. FCT [...]�[Controller]�[Record Table] Basic Data:�+�7«^(Drop-Down �+)。

2. �DZ��,

W� PA �7«^��:�&5) � 6��¿“Manual Move”

3. �D *K���7�#�:

– FCT [...]�[Controller]�[Record Table] T�#;

– FCT [...]�[Controller]�[Record Table] |1�

6+@:M�+2®����%�I�%�。

4. �D���7。

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2. � <Download> µ�7³@»�t������。

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(� FCT 6��¿“Manual Move” “Optimise”)

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�A����.)µ��.2�p

� ��5@,u��Q{����4.)。

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Page 94: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 95

5.4.6 ½{��

µ;:¾W¿j+�

� ?@ FCT [\�EEj%�:_(�。

FCT �µ>� 30 ÅV0��j%¬g<W(FCT 6��¿“Monitoring”)。

µ;:g�“HR�2”I�

� FCT [...]�[Controller] [I/O Configuration] �u�µa�&�5)Y3�*�?*�

�2�����<!^F5-

1. FCT ��¯.2��(���F�G5)

2. ?@ <Store> µH)�#.)������:_�*。

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�A�2¤��(<G��):

– HE,.2@��}�WZ��������#.)

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�。X������*���#��,lIB5�*#!�#��。

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2. ?@ <Store> µH)�#.)������:_�*。

3. FCT �"� [Component] [Online] Backup Recovery ...,([��] [6]

<G��...),<�*.2#;>

�<I>�� Windows W¯�µ���*#;Br�。

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µ2¤��q PC »�t�����:

� FCT ��+�" [Component]�[Online] Backup Recovery ...“Recover”。

� <G�m:?@ FCT �" [Component]�[Online]“Restart Controller”�ZF3���

��( o Power on/off)

hX:<G��������#.)���9- � FCT � PlugIn ¹@

Page 95: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

96 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

XYVA

����</-�"-'XX§$ �©Q{�#.),5<'�< FCT ,��%�=���

�3�:

1. FCT ��¯.2��(���F�G5)

2. FCT �" [Component]�[Online]�[Password]) ��D/-:

– Y�/-:%:16 �C�

– �y�C�:a­Z, A­Z, 0­9 !"#$%&'()*+,­./:;<=>?@[\]^_{|}~

$�Ư

3. ?@ <Accept> �*/-。

¶m,/-µ:_�*������。

A�J��ÃN��#�� . V1.1.2.4:

� �< FCT <Store> �*������#��。

/-�"���9- � µ� 2.3.3

Page 96: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 97

5.5 � I/O ��,�"�.G��(8)

�����/��T3*�����D。�S�5�Q"�9Ws�,hX:��T3»33

)��5s�。.2����[\。

�< 7 �#C�D> (DIN1…7) Y«�0W 7 ��7g���Ñ�。�<����E>F

v�7�Z�­� (DOUT1…7)。DIN8/DOUT9 ������ ��¥�d。

NO!8�:

– 5)*,�0�+0·Æ�yx��

– Y3� ��

– �78,(F3��:�?)

– �7���61��Y��y��6

– .2�:5)

– 9-:Motion Complete

�NO!8�:

– �< I/O /3��&5)

– �%/��6��)*

– �7�

– ¿mA�1�,4(1�

– >W©I�%�  �3� 

5.5.1 FB�U/��F

#$ ]^

DIN

1…7 RECORD 1 … 7 (START/STOP) X1.1…7

8 REF X1.8

9 BRAKE CONTROL X1.9

10 CONTROL ENABLE X1.10

11 RESET X1.11

DOUT

1…7 RECORD 1 … 7 (REACHED) X1.12…18

8 $q� X1.19

9 REFERENCED X1.20

10 READY X1.21

11 TORQUE LIMIT REACHED X1.22

Tab. 5.4 �����:#C�D/�E>

_W�D>��[6([6  tmax = 1 ms)。Am,����0W�D9�½È�E

±�。

Page 97: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

98 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�UF��F!_`rs

M��D> �E>7g (High, Low) � J?8 (1, 0) ��,,lt������

�.|�� (PNP/NPN)。�µ��I�-� Timing-Diagramme >�� J?8。

J?8“1”�VW?8。

_`

rs

�Á

Â_`² (CMMO-ST- PNP) i_`² (CMMO-ST- NPN)

1 High-Pegel (24 V) Low-Pegel (0 V)

0 Low-Pegel (0 V) High-Pegel (24 V)

Tab. 5.5 J?8

!@ ��

DIN1…7 RECORD 1…7 (START/STOP)

0�1 Ñ��� DINx:RECORD x F3�%。�5�D>R�VW?8,l9�O�%。

��Z�5)@,µ.) DOUT x:POSITION x。

1�0 9��%_�:�3��<�#.)��3c (Ë�%�7)8,t4(?8。

DIN8 Ref

0�1 F3� ��。X�!m£@��D> RECORD 1…7 R�VW?8,lkFv

��A。

1�0 X�9��%_��D>R�>VW?8,l�'� ��。@ � /�m,µV

W�E> DOUT9:REFERENCED。¶mµu��D>。

DIN9 BRAKE CONTROL

1 X����¹u�,l�< X6.5 (BR+) Q24(�3�。l�¡�0N3b3

(S。�5 1-9�*,l4(�3��~��Q2?8(`Ñ DIN10:CONTROL

ENABLE)。

0 �< DIN10:CONTROL ENABLE Y3���3�(v���)

DIN10 CONTROL ENABLE

0�1 X����4(�3�,l�5F�����Y3Q2�3�

1�0 0�#.)�Ë�% (Quick Stop) �������3。�4'�3����:

�+�3�。u����

DIN11 RESET

0�1 <G��@!��A

Tab. 5.6 �����:#C�D>���

Page 98: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 99

!@ ��

DOUT1…7 RECORD 1…7 (REACHED)

=1 X����©�5)�7�Z�5),l�E>¹VW (Motion complete)。

X��D>¹G5,l�E>��VW?8。X�VW�Â|��D>,l�E

>¹u�。

DOUT8 $q�

=1 �3�5� DIN1…7 RVW�%�X�#. �5).2�M。X�u���

���D> 1…7,l�E>��VW?8。]m�3�¶¦l�5),�m5

ÒÇ,l�E>��u�?8。

]VW�Â��D> RECORD 1…7,lµH)5)�5)$q��W.;

±;���Z)5�E>。

DOUT9 REFERENCED

=1 ����� ��mµ.)�E>,��5�3�a� ��,�µ��.)?

8。

DOUT10 READY

=1 �3��2²Í。aÄ�F3�7�I)���:

– iB-/ J7�a��

– �D9� [X3] STO1/STO2 = 1

– CONTROL ENABLE = 1

– `�A

DOUT11 TORQUE LIMIT REACHED

=1 aX���#. �yx/��6|1。

Tab. 5.7 �����:#C�E>���

Page 99: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

100 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.5.2 µZ�Qrs (READY)

VW�D>�),�.t¶�� 1 s (t1) -773。X��D9� [X3] STO1/STO2 = 1

5�XE��Î�A,l�0�:7(?8。

�.É@E���A,�5@��@!(� µ� 5.5.3)。

CONTROL ENABLE

DIN10

READY

DOUT10

Q24(�3�

�+

1 2

t2

t1

t3

��-773�+

�A`�A

3

2F@� t1 1s

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t2:tÌ��#.)�2F½È

t3:tÌ�4(�3��(�Á�

1 ��-773

2 M1F����

3 ���2²Í

Fig. 5.5 �����:�:7(?8

M1F��������2²Í���±�@� (t2) Y3½::

– W��9-����,Ý\�&R��-773m��,�¼%�@�

– W��4(�3����,l�vX�#.)���½@。

Page 100: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 101

5.5.3 �jV (RESET)

X�E��A,l�����8,t�A?8 (READY=0)。ÄÃ�!�A(� µ� 6.3.2)

��< RESET ®G5。X��A`D@!,l�.�F���。

·�o���:¾��@!,h X:¿mA�。��o��,�.&�É@�A�w(h X:

j%�A、iB7��A)。

@!�A�m (RESET 0�1),�Aµ�}¹G5。F����@�5��L¸ (CONTROL

ENABLE 0�1)。¶m�����µ�Z�2²Í (READY=1)。

RESET

DIN11

READY

DOUT10

t

CONTROL ENABLE

DIN10

�A`�A

1 2 3

½È@� t 2 ms

1 �A��

2 @!�A

3 M1F����

Fig. 5.6 �����:@!�A

Page 101: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

102 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.5.4 ���n� (CONTROL ENABLE)

�< CONTROL ENABLE M1F����。W��4(�3����,4(�3�M1F�

����@½kY3Q2,X�4(�3�¹ì@,lk�+F������。

– CONTROL ENABLE 0�1

X�XE��A,lVW���5� READY = 1。�����R��2²Í?8,5��

09��%。X�VW�������5)R,l�3�µR�4(?8:

– �<X�#.)���7�8,t2�����)*

– �<4(1���8,t+�����)*

– CONTROL ENABLE 1�0

?@�#.)� Quick-Stop Ë�%W�3����3。�< READY=0 �E9�,7(

��au�。O?8�`D�°�Î�%。W�X�24(�3����,l�0N3¶3

(S。

W��4(�3����,�0�<�D> BRAKE CONTROL R� 1 9�Q2

4(�3�。4(�3����9- � µ� 2.5.6。

CONTROL ENABLE

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READY

DOUT10

aÏ24(�3�

�+

t1

t4t2

t3

1 2 3 4

½È@�:

t1:tÌ��#.)�2F½È

t2:tÌ�4(�3��(�Á�

t3:tÌ��#.)��+½È

t4:tÌ�4(�3��(�Á�

1 M1F����

2 ���F�aB�

3 �����F�

4 @!���au�

Fig. 5.7 �����:F�/u����

Page 102: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 103

5.5.5 .G^@�G (REF)

�<�D> REF 0�1 F3� ��。X�!m£@��D> RECORD 1…7 R�VW

?8,lkFv��A。�D> REF � ��_��.��R�VW?8。�5B��

� ��,l�E> REFERENCED =1 (Motion complete)。

X�B�� ��mU�5��tSG/,l��SG/@u.)�E> REFERENCED。

¶mu�0u��D> REF。�5W�3�aB�� ��,l�E> REFERENCED ��R

�VW?8。

1 3

READY

DOUT10

REF

DIN8

REFERENCED

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2

RECORD 1…7

DIN1…7

� 2�

X1A.2

1 F3� /��

2 a��� /

3 a��SG/

Fig. 5.8 �����:� ��t� 2�

X1A.2 R� 2�9���D>k�E��� 5)�9�。I���2�«^

(�2/�+)�< FCT [...]�[Axis] Axis Options ���+。

� ����W�@ � /���9- � µ� 2.5.2

Page 103: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

104 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.5.6 ÅG�: (RECORD)

��2²Í,F3�7@�.Ä�0���:�3�aB�� �� (DOUT REFERENCED = 1)

�.Ÿ����F3�7(RECORD 1 t 7, REF)��D>。8,Ÿ 0�1 �m,

�.�~�-9�,gtB�q�Ia��3�。X�O9�G5,l�X�#.)��3c 

(Ë�%�7)W�3����3。]�3�c�c015�ib3,l�k0�#. �y

x�c15�i,gt�D>¹u�。

nR/���:f�!pq

– F3�7:�<VW��D> RECORDx,µW�7��Ñ�,5F3�%。�D> RECORDx

�.��VW?8gt��. �Z�。

– 4'�7:X�9��%_�u���D> RECORD x,l�3�µa�#.)�Ë�

%�7�3t4(?8。µ�?O�%。�E> RECORDx XVW。

– �78,:�+���7�@½k�?�7�9�,5µ�4L�:¾9����7。�E

>X.)。9W���:&�5VW���7��D>,¶mu�a�?�7��D>。

– ��Z� (Motion complete):

9WX�#.)�0'@�,�3�5�5)���。����E> RECORDx REACHED

a.)。�5�3�R�Z�5)(¾��D>¹G5),�E>��~���.)

?8。

Page 104: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 105

DOUT1:RECORD 1

(REACHED)

REFERENCED

DOUT9

DOUT2:RECORD 2

(REACHED)

1 2

DIN2:RECORD 2

(START/STOP)

DIN1:RECORD 1

(START/STOP)

READY

DOUT10

3 4 5

1 F3�7 1

2 4'�7 1

3 F3�7 2

4 @�7 2 8,t�7 1

�7 1 �F3��:�?

5 ���7 1 Z�

Fig. 5.9 �����:hX:��78,���+�7

Page 105: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

106 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.6 � I/O ��,�"�.G��(".�)

��������<#C�D> DIN1 … DIN5 ����9-WÈí 32 ��7��Ñ�。

�7 0 ���� ���d�;�7 1…31 ��0���#.)�。

�<�E> MOTION COMPLETE Fv�7�Z�­�。���������< DIN8 v�

��)* (Modus 0) ��&��)* (Modus 1) ����8,。

�:%@!".�%A

±;I���������)*B��7����Ñ� � Tab. 5.11

DIN 5 4 3 2 1 DIN 3 2 1

Bit 24 23 22 21 20 Bit 22 21 20

�: %A�� 0 �: %A�� 1

01) 0 0 0 0 0 — —1 0 0 0 0 1 1 0 0 1

2 0 0 0 1 0 2 0 1 03 0 0 0 1 1 3 0 1 14 0 0 1 0 0 4 1 0 0

5 0 0 1 0 1 5 1 0 16 0 0 1 1 0 6 1 1 0

7 0 0 1 1 1 7 1 1 1... ... ... ... ... ... — —

31 1 1 1 1 1 — —

1) � �� (Homing)

Tab. 5.8 �<#C�D>W�79������9-

NO!8�:

– 2�����: 5)*、�%)*

– +�����: 5)*、��6)*��%)*

– � 2 E�%�����¿mA�1�����/3 (Mode 1)

– �< I/O ��5)�& (Mode 1)

– ¿mA�1�、Z�­� (Motion Complete)、4(1�

– .2�:5)、�%、36、@�

– >W©I�%cÕ �3cÕ

– ��?b3_�8,�7。

– �7�

– ��:4'H)�3��� ³4

�NO!8�:

– Y3� ��

Page 106: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 107

5.6.1 FB�U/��F

#$ #$ ]^

DIN MODE 0(�7�+) MODE 1(/3/�&)

1 RECORD Bit 0 RECORD Bit 0 X1.1

2 RECORD Bit 1 RECORD Bit 1 X1.2

3 RECORD Bit 2 RECORD Bit 2 X1.3

4 RECORD Bit 3 Jog+ X1.4

5 RECORD Bit 4 JOG– X1.5

6 START TEACH X1.6

7 PAUSE# STOP# X1.7

8 MODE X1.8

9 BRAKE CONTROL X1.9

10 ENABLE X1.10

11 RESET X1.11

DOUT MODE 0(�7�+) MODE 1(/3/�&)

1 MOTION COMPLETE X1.12

2 START ACK# TEACH ACK# X1.13

3 PAUSED/STOPPED# STOPPED# X1.14

4 MOVING X1.15

5 ERROR# X1.16

6…7 ��#.) � FCT [...]�[Controller]�[I/O Configuration] Digital

Outputs

X1.17…18

8 $q� X1.19

9 REFERENCED X1.20

10 READY X1.21

11 TORQUE LIMIT REACHED X1.22

Tab. 5.9 �������:#C�D/�E>

_W�D>��[6([6  tmax = 1 ms)。Am,����0W�D9�½È�E

±�。

�UF��F!_`rs

M��D> �E>7g (High, Low) � J?8 (1, 0) ��,,lt������

�.|��。�µ��I�-� Timing-Diagramme >�� J?8。

_`

rs

�Á

Â_` (CMMO-ST- PNP) i_` (CMMO-ST- NPN)

1 High-Pegel (24 V) Low-Pegel (0 V)

0 Low-Pegel (0 V) High-Pegel (24 V)

Tab. 5.10 J?8

J?8“1”#!�VW?8。�D/�E>,X�� J?8“0”¹!��VW?8,l

Tab. 5.9 �� # ����。

Page 107: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

108 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�U/��F!8�

DIN �� 0:�:I� �� 1:,R�<� ]^

1 RECORD

Bit 0…4

�7����,���

7�+ � Tab. 5.8。

�7 0 ���� �

��d�。

�7 1…31 ��0��

�#.)�,

RECORD

Bit 0…2

�7����

� Tab. 5.8

�7 1…7 ��0���

#.)�。

X1.1

2 X1.2

3 X1.3

4 Jog+ 1: vc/3 X1.4

5 JOG– 1: ic/3 X1.5

6 START 0�1: F3X���7 TEACH 0�1: 0X���7

��H)5)

X1.6

7 PAUSE 0: �3�4'

(�M4()。

1: �< START �0Ár

aÑ���7。

��:Á@ÉÊ�´

(DIN11)

STOP 0: �3�4'

1: JOG+/JOG- �9�

X1.7

8 MODE 8,)*。

0�1: )* 1

1�0: )* 0

X1.8

9 BRAKE

CONTROL

1: X����¹u�,l�< X6.5 (BR+) Q24(�3�。

l�¡�0N3b3(S。�5 1 9�*,l4(�3�

�~��Q2?8(`Ñ CONTROL ENABLE)。

0: �< CONTROL ENABLE Y3���3�(v���)

X1.9

10 CONTROL

ENABLE

0�1 X����4(�3�,l�5F�����Y3Q

2�3�

1�0 0�#.)�Ë�% (Quick Stop) �������3。

�4'�3����:�+�3�。u����

X1.10

11 RESET 0�1: �R�A@:<G��@!��A - - PAUSE

mÁ@ÉÊ�´

X1.11

Tab. 5.11 �������:#C�D>���

Page 108: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 109

DOUT �� 0:ÂÆ�G �� 1:,R�<� ]^

1 MOTION

COMPLETE

��Z�5)、Z��E

6 Z��%。

MOTION

COMPLETE

��Z�5)。 X1.12

2 START ACK @!F3�7 TEACH ACK @!�&�� X1.13

3 PAUSED/

STOPPED

4'�3� STOPPED 4'�3�。 X1.14

4 MOVING �3��3。 X1.15

5 ERROR E���A�。 X1.16

6 ��#.) � FCT [...]�[Controller]�[I/O Configuration] Digital Outputs X1.17

7 X1.18

8 $q� �3�5�H)5)�7a�)�5)$q�,�²��5).

2��。

X1.19

9 REFERENCED �3�a��� 。 X1.20

10 READY �3��2²Í。 X1.21

11 TORQUE

LIMIT

REACHED

a����61 。� 5��%)*�。 X1.22

Tab. 5.12 �������:#C�E>���

O}���G'!,��<1 (TORQUE LIMIT REACHED)

�< FCT ���61 ��#.),�0#C�E> DOUT X1.11 R>��

iB|1,��OiB|1@,����`D¢/�5)Øc�(¿mA�)。l�

¡`D��I�¿mA�Fv。

Page 109: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

110 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�Yq�)�#C�E>�"G�!9����:

8� DOUT2 �� …

– – �E>“High” … �~ 1 9�

– �E>“Low” … �~ 0 9�

�R

(Motion)

– Motion Complete(­=�) … X�H)�7�­=�5�Z����,

l 1 9�。

– Motion Complete(7 �) … X�H)�7�7 �5�Z����,

l 1 9�。

– (Sb3� … X�(Sb3,l 1 9�。

– ��µ w� … X���Z��Þ,l 1 9�。

– ����61 … X����7�I� ���61 ,

l 1 9�。

– 4(1� (0x37) … X�Fv“4(1�”R�VW?8,

l 1 9�。1)

^@�G

(Homing)

– � ��aVW … X�9��� ��,l 1 9�。

– �v/� … X�� 5)�,l 1 9�。

¤W�

(Compara­

tors)

– 5)-.2�2) … X���.2�R�VW?8,

l 1 9�。1)– �%.2�

– ��6.2�

– @�.2�

jV/��

(Errors/

Warnings)

– ç_A� … X�t¶Fv��A�,l 0 9�。

– ¿mA� (0x2F) … X���FvR�VW?8,

l 1 9�。1)– I²t A� (0x0E)

– I²t fv (0x2D)

– <7�iB (0x1A)

– Ê7�iB (0x1B)

1) 1��3�(�� �9- � µ� 2.7。

2) ! DOUT8 IN ZONE �£

Tab. 5.13 �Yq�)�#C�E>���

Page 110: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 111

5.6.2 µZ�Qrs (READY)

VW�D>�),�.t¶�� 1 s (t1) -773。X��D9� [X3] STO1/STO2 = 1

5�XE��Î�A,l�0�:7(?8。

�.É@E���A,�5@��@!(� µ� 5.6.4)。

1 2 3

CONTROL ENABLE

DIN10

READY

DOUT10

Q24(�3�

�+

t2

t1

t3

��-773�+

ERROR

DOUT5

PAUSE/STOP

DIN7

PAUSED/STOPPED

DOUT10

2F@� t1 1s

½È@�:

t2: tÌ��#.)�2F½È

t3: tÌ�4(�3��(�Á�

1 ��-773

2 M1F����

3 ���2²Í

Fig. 5.10 �������:�:7(?8

M1F��������2²Í���±�@� (t2) Y3½È:

– W��9-����,Ý\�&R��-773m��,�¼%�@�。

– W��4(�3����,l�vX�#.)���½@。

Page 111: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

112 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.6.3 §�:I��,R/<� (MODE) kf�

�< DIN MODE �08, I/O �����。

)����������Z�2²Í (READY=1)。X�9��%_���8,,l�< Quick-

Stop Ë�%®�3H)�%。

]^ �UF DIN8 ��

[X1.8] MODE 0 )* 0:�7�+

1 )* 1:/3/�&

Tab. 5.14 I/O ���)*

������A�,M)*8,@�½È@� t 5 ms。¶muVW�

D>。

)* 1 VW

READY

DOUT10

MODE

DIN8

)* 0 VWt t

½È@� t 5 ms

Fig. 5.11 �������:�7�+�/3/�& (MODE) �8,

Page 112: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 113

5.6.4 �jV (RESET)

X�E��A,l�����8,t�A?8 (ERROR=1, READY=0)。ÄÃ�!�A

(�µ� 6.3.2)��< RESET ®G5。X��A`D@!,l�.�F���。

·�o���:¾��@!,h X:¿mA�。��o��,�.&�É@�A�w

(h X:j%�A、iB7��A)。

@!�A�m (RESET 0�1),�Aµ�}¹G5。F����@�5��L¸ (CONTROL

ENABLE 0�1)。¶m�����µ�Z�2²Í (READY=1)。

RESET

DIN11

READY

DOUT10

t1

CONTROL ENABLE

DIN10

ERROR

DOUT5

1 2 3

½È@� t1 2 ms

1 �A��

2 @!�A

3 M1F����

Fig. 5.12 �������:@!�A

Page 113: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

114 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.6.5 ���n� (CONTROL ENABLE)

�<�D> DIN10 W����� ����F�����。

��m&R��-773@,���k9�R,c¼��(�r@�:Y: 2 s)。

W��4(�3��.2,�< X6.5 (BR+) µ4(�3����������F���

N*:

– CONTROL ENABLE 0�1

���¹��。W��4(�3��.2,��½È_�µY3Q24(�3�。

�*�ÎA�,l READY=1。X�4(?8����5)R,l�3�µR�?8

ENABLE=1。

– CONTROL ENABLE 1�0

H)�%4' (Quick Stop)。W��4(�3��.2,�+½È_�µY3�+

4(�3�。¶mk�+���,5�< READY=0 u�7(��。

?8 ENABLE=0 �`D�°�Î�%。W�X�24(�3����,l�0N3¶3

(S。

W��4(�3����,�0�<�D> BRAKE CONTROL R� 1 9�Q2

4(�3�。4(�3����9- � µ� 2.5.6。

CONTROL ENABLE

DIN10

READY

DOUT10

aÏ24(�3�

�+

t1

t4t2

t3

1 2 3

PAUSE/STOP

DIN7

4

½È@�:

t1: tÌ��#.)�2F½È

t2: tÌ�4(�3��(�Á�

t3: tÌ��#.)��+½È

t4: tÌ�4(�3��(�Á�

1 M1F����

2 ���F�aB�

3 �����F�

4 @!���au�

Fig. 5.13 �������:F�/u����

Page 114: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 115

5.6.6 .G^@�G (REF)

��� ��@,�.�E> RECORD W�7 0 ��Ñ�。�<�D> START 0�1

F3� ��。

� ����B�m,.) REFERENCED �E>。�5W�3����� ��,l�E>

REFERENCED ��R�VW?8。

1 2

START

DIN6

MOTION COMPLETE

DOUT1

READY

DOUT10

START ACK

DOUT2

RECORD BIT 0…4

DIN1…5t

MODE

DIN8

t

t

�7 0 = � ��

REFERENCED

DOUT9

� 2�

X1A.2

½È@� t 2 ms

1 F3� /�� 2 �3�a��� ��

Fig. 5.14 �������()* 0):� ��t� 2�

X1A.2 R� 2�-9���D>k�E��� 5)�9�。I���2�

«^(�2/�+)��< FCT [...]�[Axis] Axis Options ®�+�。

� ����W�@ � /���9- � µ� 2.5.2

Page 115: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

116 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.6.7 <� (TEACH)

�< I/O ���0 5)*�W 7 ��W�7�Z�5)���&。

TEACH 9�¹Å¸a�。X�a.)� TEACH 9�,¥�`D9�O�W,l�.�Z<G

TEACH 9�。¶mu�0F3�Z��W。

1 2 3 4

READY

DOUT10

t

MODE

DIN8

t

t

PAUSE/STOP

DIN7

MOTION COMPLETE

DOUT1

CONTROL ENABLE

DIN10

JOG+

DIN4

TEACH

DIN6

RECORD BIT 0…2

DIN1…3

TEACH ACK

DOUT2

½È@� t 2 ms

1 /3 JOG+ aF3

2 /3 JOG+ a�¾

3 @��&�2²Í

4 H)5)a¹��

Fig. 5.15 �������()* 1):�&

Page 116: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 117

�<�N�D,�9� TEACH/TEACH ACK 9��&�W:

– �7q PLC �< DIN1…3 (RECORD1…7) ��Ñ�。

– �< JOG+ JOG- �0W�3��� 5。X�£@VWl&�9�,l&� JOG-。

– DIN6 (TEACH) R��L¸�E�9��&�W�9�。

– ������< DOUT2 (TEACH ACK) R��A¸�E�09��&�W�9�。

– DIN6 (TEACH) R��A¸�E�µ­=5)���#���9�。�����µO5)

Y3�*XÑ���7�。

– ������< DOUT2 (TEACH ACK) R��L¸�Ea����5)�9�。

HR�2:

��+³@ :_Y3�*I�&�5):

– .)��(EH#!.)):µ:_�*I�&�5)。

– X.)��:I�&�5)µ³@R�,5µ�? J-773@��。��0�< FCT

,��%���:_�*。

?*�p

I��?*�.|�¯R#� 100,000 R。

� �&���_Y3�*�����*+,5��w;r��)*���。nl

�}²k�<�y�Y��¯R#。

� *+�m�< FCT u�Y3�*��

� FCT [...]�[Controller]�[I/O Configuration]。

Page 117: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

118 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.6.8 ÅG�: (RECORD)

F3�7�@½�.���2²ÍÄ�0���:

– �3�a� �� (DOUT REFERENCED = 1)

– �D> MODE = 0

nR/��\3Ç^lÈ��:f�!pq

– �+�7:

�<�D> RECORD BIT 0 ... 4 WI���79���Ñ�。

– F3�7:

X��3��2²Í,l�0�<VW�D> START ®F3�%。�<9� START ACK

@!F39�。

– 4'�7:

X�9��%_�u���D> PAUSE/STOP,l�3�µa�#.)�Ë�%�7�

3t4(?8。�%¹�? (Pause)。�E> MOTION COMPLETE XVW。O?8�,

�0�< START Ár�7 oÁ@ÉÊ�´。

– Á@ÉÊ�´:

�0�<�������9�Á@ÉÊ�´。�E> MOTION COMPLETE ¹VW。

– ��Z�/Á@ÉÊ�´ (Motion complete):

9WX�#.)�0'@�,�3�5�5)���。����E> MOTION COMPLETE

a.)。

– �78,(���7�F3��:�?)

�+���7�@½k�?aVW�7�9�,5µ�4L�:¾9����7。

Page 118: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 119

�:I�:GT\3Ç^lÈnR/��

1 2 3 4

READY

DOUT10

t

MODE

DIN8

t

t

PAUSE/STOP

DIN7

MOTION COMPLETE

DOUT1

CONTROL ENABLE

DIN10

START

DIN6

START ACK

DOUT2

RECORD BIT 0…4

DIN1…5

RESET

DIN11

t

PAUSED/STOPPED

DOUT10

½È@� t 2 ms

1 F3�7

2 4'�7 (PAUSE)

3 Á@ÉÊ�´

4 BK��%9�(��Z�5))

Fig. 5.16 ������� ()* 0): hX:�7�+,F3/4'Á@ÉÊ�´��78

,��W

Page 119: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

120 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

��:f�8�I��:

1 2 3

START

DIN6

READY

DOUT10

START ACK

DOUT2

t

MODE

DIN8

t

t

PAUSE/STOP

DIN7

CONTROL ENABLE

DIN10

RECORD BIT 0…4

DIN1…5

MOTION COMPLETE

DOUT1

t

�7 x �7 x+1

PAUSED/STOPPED

DOUT10

½È@� t 2 ms

1 F3�7 x

2 @�7 x 8,t�7 x+1

�7 x+1 �F3��:�?

3 ��Z�(�7 X+1)

Fig. 5.17 ����� ()* 0):�<F3�� = �?,®8,�7

Page 120: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 121

5.7 �G��

5.7.1 � FCT 4�¼*FH (Trace)

�< FCT �0­@�:I �@�M��3�#;,hX:R�3<W���%�¿mA�。

����9-M�³ � FCT-¹@。

5.7.2 ÉÊ�Ë5-

�< FCT �0<G.2�EH.)。µÁ@I�#,5<GEH.)。

î�aB��J�EZµ�¢<G。î�EH@I#$�J��0� FCT .2�IB(� FCT

�" [Component] [Firmware Download])。

5.7.3 Ìg(�

��< FCT EZ.2J�。�5@U�0������IB¬J�。

Festo �<!�>� (� www.festo.com/sp) 6�-J���:

� �v�(���D�(�6��/ ^�"-

� [\�n�-���J���

� [\�n�J��-�EZ� PlugIn

� FCT IBJ��@½�.&�µ�,#;�¤£�����。�����[\J��n�.2

ÃN

– J��ÃN:µ~>IB<W,5>�����A¥-。

– J�ÃN:J�µ»�t.2�。

X�H)�#.)!J�ÃN,lµ��d。X�J�»�X�R�Î�A,l.2µY3�

ZF3,5IBZ�J�。

X�J��B@�R�A oE���,l��< .2`D��。��:

� �BJ��),M�,��%� FCT W�#����2¤ (Backup-

Datei)。

� �BZ������J��m,M�,��%�� FCT W Backup-Datei

���B (Download)。

Page 121: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

5 *+

122 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

5.7.4 m{��n@<

XX§$=��.2��k< .2�p �R��A�。µ.2;��,C@:

� MWË�,C)t�"ab,��XX§$=�。

,C�"ab,hX:

– -×ä

– Då-Ø#$ (IPS)

– ,CÅ=F0

– á� LAN (VLAN)

– á�â�,C (VPN)

– c0=�æ&'� (Port Security)。

�����M�U9-��&'��l���,hX:IEC 62443、

ISO/IEC 27001。

���,C��),�.� FCT W.2� IP->���Q{。�W.2�� IP

�)�Q{,.2� PC 7ã�H) IP �)`�Z�Ö�。

DHCP/IPv4 bc51 ���

ÍÎF Y3 .2�@,C���� DHCP-�%�¨t� IP �)。X�,

C�a*Â|� DHCP-�%�,lO�DW�,C��)*®

�����。

08 .2� IP-�)�N3J Å�。î��HIÅ�� IP-�)�

PC 7ã� IP-�)Ö��@½,.2uk�E�è。J .)�

IP-�)��F (Power OFF, ON) �muR�。

Tab. 5.15 TCP/IPv4-.),�����,C��

Page 122: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 123

6 �

6.1 7 Ït<Ð

6.1.1 t<�!U

CMMO-ST �� 7 =>�K��>�H)��)*、A��

fv。T���R>� 4 �C�,¶mn��°B。A�

fv«,�D?9-9�)�Ñ_.�9-。

(� µ� 6.3.2)。

t<Ð Ò,��/�� `bo

B L E Bootloader A� 1 J�LE@�RA�

� �+5¢R2F.2(G5)

X��GE�mA�,M! Festo YZH>��%

"6N#。

Exxx1) �A 2 A�9-��?2®��E�9-,��.W���

@!。

Axxx1) fv 3 fv���E®�A����E,X�*A�9-,

lfv9�µ�k>�。nl�k;r>�&R。

��Wfv����(@!)。

HHHH STO – Safe torque off 4 aM1 STO ��。

P000 � �� 5 v���

P070 vc/3

P071 ic/3

P1xx2) 5)*

P2xx2) ��6)*

P3xx2) �%)*

1) xxx = ¥§��A�9�

2) xx = ¥���79�

Tab. 6.1 7 =>�K��9-

���E�9-µQ?®��E�9-。q�A��E�}�� 7 =>����

>�,�>�)²aX�W¥-��@!,I0���k>�'"A�。M­tD

?*O�,0>�I¥-(� µ� 6.2)。

Page 123: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

124 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

6.1.2 .G(�Óo²!t<�t<�Ô

J�LE_�,#ß>�zg=�àg=。

6.1.3 �<8�

?@����,�0�2«�������,C��,·������。���

�������>�K�?ém/;�������“��”。

�,��%�VW����:

� ,�“Diagnosis”:/ê�+�C“Identify this CMMO: on”。

� FCT VW����:

� FCT �" [Component]�[FCT Interface] Q2��“FCT Interface”

� � <��> F3W�“Festo Field Device Tool” (Netzscan)。I����������

µ�v<á�.)��>�。

� I���������}â�" [�,] ��+“2”。

Page 124: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 125

6.2 �2��

73(���f�>���D?*O�,����:D?9-。D?*O�¹.|����

*O�,�N���* 200 �D?9-。��D?9-µ¹�R¯DD?*O��。]D?*O

�aÄ,l¯DZD?9-�@½kê{ã_�D?9-。q FCT �A�F0#$@ �:Ð

�D?9- � FCT [...]�[Controller]�[Error Management]。

de¥X2��

– ­t、>�、Á@ <ED?*O� � FCT 6ï*�“Diagnosis”

– ­t�>�D?*O� � ,�“D?”:“Diagnostic Memory”

Y� ���>�Yë�RD?9-。

\3�2��

�� FCT Á@D?*O�。Á@@kR��2F��(Start-up event, ¥- 3Dh) 5µ�

¯DD?*O��。|#��kG5。

!U ��

|#�

(Counter)

D?9-�|#�9� YZ9-(W")�9�Y�。

«^

(Type)

D?9-�ū(� Tab. 6.3)

9�

(No.)

9-�¥§��9� (0x = hex-Prefix)。

9-

(Message)

D?9-�Q5��

@�ä

(Timestamp)

A��R@��B*“HH.MM.SS:nnn(HH = Æ@,MM = ÅV,SS =

æV,nnn = Àæ)。

@�T����������2F@�。

I9-

(Additional Info)

�RGÇA�@ Festo �%�I9-

Tab. 6.2 D?*O���>�

Page 125: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

126 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

6.3 �!U

6.3.1 ¥Xp�

�������#.)^D?9-��< FCT Å«��A、fv 9-。ID?9-����

�#.),@����*OD?*O��。

Õq ��

�A

(Error)

 ��ADk�R��A±�,5��.W���@!。·��A�.

É@�A�w�mu���@!。

fv

(Warning)

fv�k�±�3��(�,5�`���@!。�É@fv�w,0¡

mr�W�< �A。

9-

(Information)

9-�k�±�3��(�,5�`���@!。

Tab. 6.3 D?9-�ū � FCT [...]�[Controller]�[Error Management]

��k�"Å�AÅ��A±�,l��A±�k�±4(-���$m��EE��+:

¯¥X!Ö� ���

YqåE

(Free-wheeling)

�?�EE。�3�FM4'��。

Quick-Stop �%

(QS deceleration)

0�#.)�}�4'Ë�%:¾4'b3。¶m��+�+�EE。

�%�7

(Record deceleration)

0H)�7��#.)�}�4'Ë�%:¾4'b3。¶m��+

�+�EE。

ìE�7

(Finish record)

9�H)�7,gt��Z� (Motion Complete)。

¶m��+�+�EE。

Tab. 6.4 WA����

��

�+�EE��A±����x36�9�s�Y3�3k< d�

)�yc zg5)&3��3�@�c{h!

� �<|"&'abJ iB(hX:dje# b3kf)。

lmcS�fY*(�、}n"s ogp��@~��5。

� *hi�iB ��|6@,)t&'ab-'���3,hX:��4(�

3�。

Page 126: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 127

×�jV�� “A” ²%ØL�Q�R�(HÙÚ�)

b3<W��?�EE@,�<�%cÕX��3�A®�%。:¾�+4(�3

�。

� M[\,4(�3��n��9�s�4'��。

� M�4(�3��(�Á�。

� M�,v����,�WY3�3���,4(�3��Ì�E�。

6.3.2 rÛ

D?9-�GB [`0�9-:

�s =�

No. D?9-�¥§��9�

ū�... F/W/I = �A/fv/9-(� Tab. 6.3)

��D?9-�æ�Ð�Å«。EH.)�ír>��(mR F)。X�`Dæ

�·�Å«,l�<W�×Ó6����。

hX:“F/–/–”��D?9-��æ��A«。

D?*O� ���n�0�~D?*O��R���Z o�0 FCT ����#

.)(�~/��)。

�@!� [`��@!�� �9-。��< FCT、,��%� o I/O-�� DIN11

(RESET) ��@!

/�Ê$:X��A`D@!,l�.�F:

– ��7 [��]�[6]�[�ZF3���] �F FCT

– o�+.2,5�Z��

WA���� 0�,Cç(A � G)��*� �D?9-���#.)^�A±�

(� Tab. 6.6)。EH.)�±���,Cç�ír。

Tab. 6.5 D?9-���

^F5-?jV��!";BÜ

O YqåE – `�3� ,�?�EE

B Quick-Stop Ë�% – }��3� ,�?�EE

C Ë�%�7 – H)���7��3�%,�?�EE

D �¾�7 – 9��7t�¾,gt Motion complete;�?�EE

E Quick-Stop Ë�% – }��3� ,��?�EE

F Ë�%�7 – H)���7��3�%,��?�EE

G �¾�7 – Ár9��7,gt Motion Complete,��?�EE

Tab. 6.6 �A±�(�,Cç)

Page 127: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

128 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

01h /�jV

(Software error)

�#�. �:F/-/-

D?*O�:�

[6��M"J��A。

� M! Festo ��%"6N#。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

02h t�^F"�hÞ

(Default parameter file invalid)

�#�. �:F/-/-

D?*O�:�

[\#!�#��@[6���A。��a�p。

� M�<J�LE�Zµ#!�#��IB�.2�。X��AÁrE�,l���*O��

p,�.E,.2。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

05h LujÃ1

(Zero angle determination)

�#�. �:F/-/-

D?*O�:�

`D�@�,w#5)。,c/`�。

� 7(�n�9-�?]9-�,�n;�9-�78?�3�¹<�:@��Yqb3。

� ��y��iB:˶iB。

� SJ ��ÎJ:îJ EÎJ。

� ��iBS�J w��ÎJ:îNS�EÎJ。

� ��iBkÂ3:îiBEÎJ,E{iB�YÂY 。

� kÂ3�#$�&3«��3�@:F���,c/��。

� ����#.)�A:@ ����#.)5v@��.)。�m���5`iB��,c

/��(º@iB、v@.)�fiB�IiB)、F3S、NS�iB(v@.)�f

iB�IiB)、@ Z�����#(�³9W����#.)� FCT

¹@)、�.�3��#���Z�����#�ZF3,c/��。

� H7(7�.)w<Æ¥`D�S����iB�3@,���E�l��A。�5@,

MQv7(7��.)。

– �@!�:�A�:¾@!。

��#.)��A±�:A

Page 128: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 129

�!U�¥XÝ3

06h ¼*��

(Encoder)

�#�. �:F/-/-

D?*O�:�

9-���¬¼@E���A。H)5)�����A�。

� [\9-�78����nE�×�、�? �A�9ÞÅ�。

� ����G50\,c¼%���� ��。

� X��AÁr*,���\�(9-�)a�p。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

09h �p¼*!j-Ã1

(Offset determination for current

measurement)

�#�. �:F/-/-

D?*O�:�

]�g7�6�@E���A。

� ����G5。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

0Ah ÆvjV

(General error)

�#�. �:F/-/-

D?*O�:�

E��M"�A。

� �ZF3.2。X�¢RE�m�A,M! Festo �%"6N#。

– �@!�:�A�:¾@!。

��#.)��A±�:B

0Bh ^F"�hÞ

(Parameter file invalid)

�#�. �:F/-/-

D?*O�:�

X*O���#�7。A�B�#��m,���5LEJ�:Y3@�#���IBÒ�

�«�#;。`D�<�#��]�g��#,l�@#!�#���IB。

� .2�IB���#�7。X��AÁr*,���\�a�p。

– �@!�:�A�:¾@!。

��#.)��A±�:A

0Ch (�ÓoÅGjV

(Firmware update execution error)

�#�. �:F/-/-

D?*O�:��

J�LEXv�9� �¾。

� [\.2� PC

��01,;�。�ZF3.25¢R��J�LE。[\�na�+��.2J�。�

)�J���VW?8,gtJ�LE���¾。X�ÁrE�O�A,���\�a�p

– �@!�:��@!,�5��G5。

��#.)��A±�:A

Page 129: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

130 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

0Dh �p

(Overcurrent)

�#�. �:F/-/-

D?*O�:�

7(、68 �37<×�。

�EE�p。

7�����#.)�A。

� [\7������#.)。7�����#.)�A����7�è3@¥��×�|1

,��k�<�YðZ®f�。�� FCT ��������[\(�7�­=�)。

� ;�iB7�@g�E��A9-:�EE×�。�.E,.2。

� .)�EEF�@,uE��A9-:-

]Ï2g�;������7(]�m,`E��A,l�.E,���。�;�7(7

�;�7(78@E��A,¶m[\7(�78�n*×�,hX,����G。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

0Eh �Q I²t jV

(I²t malfunction motor)

�#�. �:F/-/-

D?*O�:�

a��7(� I²t |1。��7( �3#$��B��Ä��%51。

� [\�3#$�.|。

� [\(�3)�n�3ñ[。

� ËÆiB/38��,½:ò-@�。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:B、C

11h Â/�<$

(Softwarelimit positive)

�#�. �:F/-/-

D?*O�:��

5)���� �E�����~>5)。

� [\Z�#;。

� [\ 5N。

� m�A�0:¾@!。�ä,F3���3��7 ?@/3���3�3�。v�c��

�3¹u�。

– �@!�:�A�:¾@!。

��#.)��A±�:A、B、C、E、F

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6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 131

�!U�¥XÝ3

12h i/�<$

(Softwarelimit negative)

�#�. �:F/-/-

D?*O�:��

5)���� �E�����~>5)。

� [\Z�#;。

� [\ 5N。

� m�A�0:¾@!。�ä,F3���3��7 ?@/3���3�3�。i�c��

�3¹u�。

– �@!�:�A�:¾@!。

��#.)��A±�:A、B、C、E、F

13h Â4ßàg�

(Positive direction locked)

�#�. �:F/-/-

D?*O�:��

E���~>5)�A,5��äkF3¹u��c�� 5。

� [\Z�#;。

� [\ 5N。

� m�A�0:¾@!。�ä,F3���3��7 ?@/3���3�3�。v�c��

�3¹u�。

– �@!�:�A�:¾@!。

��#.)��A±�:A、B、C、E、F

14h i4ßàg�

(Negative direction locked)

�#�. �:F/-/-

D?*O�:��

E���~>5)�A,5��äkF3¹u��c�� 5。

� [\Z�#;。

� [\ 5N。

� m�A�0:¾@!。�ä,F3���3��7 ?@/3���3�3�。i�c��

�3¹u�。

– �@!�:�A�:¾@!。

��#.)��A±�:A、B、C、E、F

Page 131: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

132 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

15h ��o¿j Y

(Output stage temperature exceeded)

�#�. �:F/-/-

D?*O�:��

�E�y��EEj%|1�。�EE��<B。

� �j%�y�'.M,u�@!l��A。

� [\�3�.|。

� [\(�3)�n�3ñ[。

� A®�Sj%,{óé�。 [\7(�=6�nE�×�。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:A、B、C、D

16h ��o¿j �

(Output stage temperature too low)

�#�. �:F/-/-

D?*O�:��

�Sj%®��y�'.。

� ���Sj%。�j%�y�'.M,u�@!l��A。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:A、B、C、D

17h _`�á Y

(Logic voltage exceeded)

�#�. �:F/-/-

D?*O�:��

J73�1�[6�<7�。M"�p 737�<�。

� [\g;.2�|"73。

� ]G5m`ÁrE�O�A,lM"�p��.E,.2。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:A、B

18h _`�á �

(Logic voltage too low)

�#�. �:F/-/-

D?*O�:��

J73�1�[6�Ê7�。M"A� owI;��|..2¥<B ×�。

� µ.2@I|..2�?25[\G5m�A�nU*。X��,lM"�p��.

E,.2。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

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6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 133

�!U�¥XÝ3

19h LM-CPU !�²jV

(Real time error LM-CPU)

�#�. �:F/-/-

D?*O�:��

LM-CPU �5�|À@�5«����-�|À@�。

� [\O.2�n£@�:�«�;�。X��l�,l�.�'��5�;�。��ºÌa

b:�ª���:,A®È6iB。

– �@!�:�A�:¾@!。

��#.)��A±�:A、B

1Ah <k�l!�á Y

(Intermediate circuit voltage exceeded)

�#�. �:F/-/-

D?*O�:�

iB7���y�'.M。

�37<<B,��3�<�`D}�¥@。

�37<�p。

� [\iB7�;6�g;����D>�7�。

� [\�3�.|:�37<<Bô?

� M"�37<�p@:E,���。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:A、B

1Bh <k�l!�á �

(Intermediate circuit voltage too low)

�#�. �:F/W/-

D?*O�:��

iB7�<®。

� 7�A®�iB:73�<ê,736<:,Ô <Æ?

� ]Ë����2®�7���.2,MµOA��#.)�fv。

� 6�iB7�(g;����D>)。

– ���A���#.)@:¥@�wmu�W�A��@!。

��#.)��A±�:A

– ��fv���#.)@:HiB7��Z�y�'.M@,fv¥�。

22h ^@�G

(Homing)

�#�. �:F/-/-

D?*O�:��

�2��� �����。X�����2�。

� M[\�n. v@�� ���D。

� M[\�n;�� 2�,0\�nW����v@��#.)(�+�/ �2�/?)

。M[\2���0\68�n?ï。

� ]Ár*O�A,lM"�p��.E,.2。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

Page 133: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

134 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

23h �âwMvwã

(No index pulse found)

�#�. �:F/-/-

D?*O�:��

� ��<W���A:X��G�ª。9-��p 9-�Åð �#.)�A。

� M[\9-���E9�,~���n9�。

� M[\9-�Åð ��#.)。

– �@!�:��@!,�5��G5。

��#.)��A±�:B、C、E、F

24 h §~}���G<�NO!=R8�

(Drive function is not supported in open-

loop operation)

�#�. �:F/W/-

D?*O�:��

m��)*��!�O��。M1¹ÆÏ。

� ME,)* �+���3��。

– ���A���#.)@:�A�:¾@!。

��#.)��A±�:E、F

– ��fv���#.)@:HE,����3��@,fv¥�。

25h lÈCD

(Path calculation)

�#�. �:F/-/-

D?*O�:��

�< 5 Åñ����`D�� 5Z�。

�78,@:��7�Y~�%����7�Z��%。

� [\���7��#.)。

� �5@U�?@����[\�R8,@�/ 5@�­=�。O�A���q8,@

�/<��­=�% ­=I�%n��。

– �@!�:�A�:¾@!。

��#.)��A±�:A

27h �2^F

(Save parameters)

�#�. �:F/-/-

D?*O�:��

¯DM"«^�*O�@E�。

� �Z9�����。

� [\0�MN:�n*�0���@!��A?�B�#��@[\�#�����!J

����nÖ�。]gE�m�A,M! Festo �%"6N#。

– �@!�:�A�:¾@!。

��#.)��A±�:F、G

Page 134: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 135

�!U�¥XÝ3

28h h?^@�G

(Homing required)

�#�. �:F/W/-

D?*O�:��

ÈX����� ��。

�3�`D¢��� ��(hX:w J7�?7 E{� ���D SG/)。

� M9�� ��, oX��R�� ��X���¾,l�G�R�� ��。

– ���A���#.)@:�A�:¾@!。

��#.)��A±�:B、C、D、E、F、G

– ��fv���#.)@:H� �����¾@,fv¥�。

29h i/�<$¢�!�%$-

(Target position behind negative software

limit)

�#�. �:F/-/-

D?*O�:��

`DF3 5,w�Z�5�ic��~>5)m�。

� [\Z�#;。

� [\ 5N。

� [\3��7«^(�W/�W?)。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

2Ah Â/�<$¢�!�%$-

(Target position behind positive software

limit)

�#�. �:F/-/-

D?*O�:��

`DF3 5,w�Z�5�vc��~>5)m�。

� [\Z�#;。

� [\ 5N。

� [\3��7«^(�W/�W?)。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

2Bh (�Óo,hÞ(�

(Firmware update, invalid firmware)

�#�. �:F/W/-

D?*O�:��

`D��J�LE。J���!I���\��ÃN。

� M@ \����。M Festo �ZN,��\�ÃN�J���5�B_��J�。

– ���A���#.)@:�A�:¾@!。

��#.)��A±�:A

– ��fv���#.)@:HF3Z�J��B@,fv¥�。

Page 135: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

136 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

2Dh �Q I²t ��

(I²t warning motor)

�#�. �:-/W/I

D?*O�:��

a��7(� I²t fv1�。

� µ9-�#.)�fv ��9-B'ÆÏ。

– ��fv���#.)@:H I²t ÓÅAt 80 % 0�@,fv¥�。

2Eh Mvwãx_y~& y

(Index pulse too close on proximity

sensor)

�#�. �:F/-/-

D?*O�:��

�ë2��8,/»�n�ª<ë。l���`D¨w����� 5)。

� Mµ� 2�bc(S。Ë�0î2���n�ª���»¦>� FCT �。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

2Fh ä:zxV£

(Following error)

�#�. �:F/W/I

D?*O�:��

�7/@A�<�。 5)*��%)*���E�l��A。

� ¡�N�'.。

� I�%、�%、ò% iB<�?(�3)�3ñ[?

� 7(<B(VW I²t 1��7�1�?)

– ���A���#.)@:¥@�wmu�W�A��@!。

��#.)��A±�:B、C、E、F

– ��fv���#.)@:H�7/@A��Z�y�'.M@,fv¥�。

31h CVE 6_

(CVE connection)

�#�. �:F/-/-

D?*O�:��

“�<01,��” (SVE) @E�;��A。

� M[\;�:pë�]�,/��68:%,���KÙ68,KÙ6a;�?

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、D、E、F、G

32h FCT 6_,�)��d

(FCT connection with master control)

�#�. �:F/-/-

D?*O�:��

! FCT �;��?。

� M[\;�,X�5l��G5。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、D、E、F、G

Page 136: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 137

�!U�¥XÝ3

33h ��o¿j��

(Output stage temperature warning)

�#�. �:-/W/I

D?*O�:��

�EEj%L�。

� [\�3�.|。

� [\7(�=6�nE�×�。

� [\(�3)�n�3ñ[。

� A®�Sj%, Ç� A7,{óé�。

– ��fv���#.)@:Hj%�Z®�fv{ó�@,fv¥�。

34h ��åæ&O (STO)

(Safe Torque Off (STO))

�#�. �:F/W/I

D?*O�:��

�E“Safe Torque Off”&'��M1。

� M�"e�、9W STO �����。

– ���A���#.)@:¥@�wmu�W�A��@!。

��#.)��A±�:0

– ��fv���#.)@:H�¢�E STO M1@,fv¥�。

37h �Q �

(Standstill monitoring)

�#�. �:-/W/I

D?*O�:��

­=5)4(���|。���#.)@���<�ôÆ。

� [\4(����#.)。

– ��fv���#.)@:H­=5)�Z5�4(��M F3�Z��7@,fv¥

�。

38h ^F"�de

(Parameter file access)

�#�. �:F/-/-

D?*O�:��

�#���W�,I���#���­¯�WD¹u�。

� �7�W�¾。2 R�#���B���@��;�wÆ� 3 s。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:F、G

39h {|��

(Trace warning)

�#�. �:-/W/-

D?*O�:��

���:<W�E�A�。

� F3Z����:。

– ��fv���#.)@:HF3Z���@,fv¥�。

Page 137: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

138 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

3Ah ^@�G}²

(Homing timeout)

�#�. �:F/-/-

D?*O�:��

2������� ��@E��A。( �@�MX���2�。

� M[\2��)�2��7;�。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

3Bh ^@�G4ihÞ

(Homing method invalid)

�#�. �:F/-/-

D?*O�:��

� ���A。hX:2������. 15�i� ���D。

� �+�y�� ���D。

– �@!�:�A�:¾@!。

��#.)��A±�:E、F

3Ch ��çè�)y�é

(Two edges in one cycle)

�#�. �:F/-/-

D?*O�:��

�^��,��D>�­t�W�&��D9�。

� W PLC ���#.)@,@���_M�kF3&��7( ��7�

Homing)。N3��@,����B�m�¢���2�。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、E、F

3Dh nR��

(Start-up event)

�#�. �:-/-/I

D?*O�:�

.2a2F aX2F�< 48

õ。¦@D?*O���ì@�kE�O��。]D?*O���)��:aX��2F�

�,l�kE�2F��。

� l������{óI�RD?9-���。

3Eh �2��

(Diagnostic memory)

�#�. �:F/-/-

D?*O�:�

¯D ­tD?*O�@E���A。

� @!�A。X�ÁrE�O�A,l����ì)i�p *O��A��:。

� ¦@D?*O�。X�O�AÁrE�,l.2�.��E,。

– �@!�:�A�:¾@!。

��#.)��A±�:F、G

Page 138: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 139

�!U�¥XÝ3

3Fh hÞsê

(Record invalid)

�#�. �:F/-/-

D?*O�:��

aF3��7�`��。`Dº\�7�#; �7«^�`��。

� M[\�7��#。

– �@!�:�A�:¾@!。

��#.)��A±�:B、C、D、E、F、G

40h �y!�K<��{8

(Last teaching not successful)

�#�. �:-/W/I

D?*O�:��

`DWH)3��7���&。

� H)�3��7�.��W�5)�7«^。

– ��fv���#.)@:H�R TEACH Ù+��@ @�&)*()*

1)8,�v�)*()* 0)@,fv¥�。

41h ��Ê$

(System reset)

�#�. �:F/-/-

D?*O�:�

[6��M"J��A。

� M! Festo ��%"6N#。

– �@!�:�A�:¾@!。

��#.)��A±�:A

43h FCT 6_,��)��d

(FCT connection without master control)

�#�. �:-/W/I

D?*O�:��

`D;�� FCT,hX:w�78aXpE。

� M[\;�,X�5l��G5。

– ��fv���#.)@:H�Z;�� FCT @,fv¥�。

44h ^F"��(��ë,

(Parameter file not compatible with

firmware)

�#�. �:-/W/I

D?*O�:�

ö¯D.2���#��!.2J��Ö�。Y3@�#�����Ò��«�#;。`D�<

�#��]�g��#,l�@#!�#�����。]�5�Z�J�,l��`D¯DI

�#。

� .2�IB���#��。

– ��fv���#.)@:H��¯D�Z��#��@,fv¥�。

4Dh v©qì!�2jV

(Bootloader memory error)

�#�. �:F/-/-

D?*O�:�

n<<W��,���p�M*"s。

� ��J�LE。X�O�A`¶E�,l���M*�p。l�²�.E,.2。

– �@!�:��@!,�5��G5。

��#.)��A±�:A

Page 139: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

140 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

�!U�¥XÝ3

4Eh 24 V í~�³ g

(Overload 24V Outputs)

�#�. �:F/-/-

D?*O�:�

.2 24 V |�73�E�×� <B。

� [\ STO ��、� 2��#C�D��E>�=6。

– �@!�:¥@�wmu�W�A��@!。

��#.)��A±�:A、B

4Fh ��!U

(System information)

�#�. �:-/-/I

D?*O�:�

�R�( �.2�#$��。

� O����¡¸D?。

Page 140: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 141

6.4 ��6_!e�

X�01,;�� E���,���q�Ë������ IP �)�Ë PC 7ã� IP �)Xv

@Ö�。

�Ã�»[�����! IP ,-

FCT �­�0���:

– ,C��������

– @!5Q{ IP �)

1. FCT �" [Component]�[FCT Interface] �Q2��“FCT Interface”。� <Scan...>

F3W�“Festo Field Device Tool” (Netzscan)。I����������µ�v<á

�.)��>�。

2. ���.2�}â�"��+�7 [,C]。�mµ>�W¯�“.2�,C.)”。

�OW¯��0@!�Q{ IP �)(���.) � Tab. 5.15)。

Ã��[ PC ��! IP ,- – � Windows(��:Windows 7)

1. �+�7 [2�]�[�� 0]�[,C� Internet]�[,C�í��í]�[Local Area

Connection]。

2. [Local Area Connection] �“?8”W¯���+�7“°�”。

3. 0� [ZN,U���4 (IPv4)] W¯�������。

4. �+�7“°�”。�m,µ“ZN,U���4 (IPv4) �°�”W¯��>� PC

7ã��01,��� IP �)。

5. .)�!������Ö�� IP �)(� ���h)。

��:îJë, IP ,-

EH.)� IP �)(,���g�;�。EH@aF������� DHCP �%�

(� Tab. 5.15)。l�o��,�����fJ �#.)� IP �)(IP >�

192.168.178.1;#,­-:255.255.255.0)。

��µ PC 7ã*K�EH.),� PC 7ã�+.) [Y3¨t IP >�] o.)�Ö��

J IP �)(hX:IP >� 192.168.178.109;#,­-:255.255.255.0;#!,�:

–(`>�))。

¾W PC ��!�n5- – � Windows(��:Windows 7)

1. �+�7 [2�] [(I)W�] [�] [�7���]。

2. �D�7 ipconfig o ipconfig /all。

3. M[\.2�n�£#,�=�。�5@M®�,CF0+。

�<�7 Ping,�0@ �n�,C�=������。

1. �+�7 [2�] [(I)W�] [�] [�7���]。

2. �D0��7�:ping 192.168.178.1(������EH IP >�)

Page 141: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

6 D?

142 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

6.5 ;ze���ï4i

e� �ð �ï4i

�����`Dv�

��

�A;������ [\I68����nE�×�、

~> �A�9ÞÅ�。

68�p M�I��68�]��&3�

�����。

õ?�M".2���(M"×�) E,�����。

�����`D��

�����#;

�E������9��A [\��W�。

���.)�A [\����#。

M���v@.)����#�

FCT ]��6¹@��。

73A�。 M�v“���#”µ�/�7�

Y�。

Tab. 6.7 �����HC�D

Page 142: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

7 I"、�P、IQ�E,

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 143

7 �、��、���

��

�3����3k���+�o����。

­b3�、&3�I"���):

� �+ -773。

� -'�|�F-773。

��

�j|�G *à���。

�a|���< à�。qm�����+kl,5�E����。lU����

����。

� -'�|�a�(。

� vs���+�I"�+��*���。

� �a�),hX:�5��3� &3@:������.��t�j。

7.1 ����

X]�� ��,l��(�I"。

�P@:

� ���î=¦ï�(|"。

7.2 �

��yW��(��IQ [Q。

�5@,E,K��(。

Page 143: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

7 I"、�P、IQ�E,

144 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

7.3 ��

^F5-!{|

E,������m,��#µ¹<G�EH.)。

� E,������),M�,��%� FCT W�#����2¤

(2¤��)。

� &3Z������m,M�,��%�� FCT W2¤�����B

(Download)。

0!&3���R���ðì。(� µ� 3)。

ñò�:

1. @���7。

2. @�.2�k�Z2F。

3. ?2I78。

7.4 óôõ�

M/�H>���� R07#"��� 。��(�_ RoHS ��。

Page 144: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

A ���:

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 145

A �����

���#�&'��\ STO [X3] ��� �&'(��M�³ CMMO-ST �

STO-��。

��/9-����#;,M�U������ Festo YZ(S���_���

�� � www.festo.com/sp

� ���#;����;���/9-��78:%Y�� 10 m。X�782::

M� Festo �%"N#。

A.1 ��FH

A.1.1 ����FH

&3�* �/*<4

&30(Þ* :*)

��¥-�A�¥- 7 =>�K

��)*

2����� `9-�������)*

U��3�**�9-����

+����� �9-�������)*

�#�)�� 01, TCP/IP ��

�#.) � Festo Configuration Tool (FCT)

�<,��%�

����1) #C I/O

������ I/O �����:DIN1 … DIN11, DOUT1 … DOUT11

�������:DIN1 … DIN11, DOUT1 … DOUT11

2� J I/O CMMO-ST- DIOP: PNP

CMMO-ST- DION: NPN

�"�� I2t 1�

j%1�(� �EE)

7�1�

<7�/Ê7�1�

ÕñA�1�

��~>5)�,

òó�� �_ RoHS ��

:;(�*÷*ø) � Fig. 3.1

�� [kg] 0.29

1) ��:�<01,�� (CVE)

Page 145: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

A ���:

146 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

A.1.2 �G���}ö��

�G���}ö��

�Sj% [°C] 0 …�+50

*�j% [°C] –25 …�+75

�� ¹3

�EE�j%1�

�EEj%<� [°C] , +85 fv 0x33

�EEj%<® [°C] . -15 fv 0x33

�EE��?j%

�EEj%<� [°C] , +95 A� 0x15

�EEj%<® [°C] . -25 A� 0x16

-"�E IP40(9WK�9ÞÅ�)

°T�%(25° C @) [%] 0 …�90,(�ù�)

ôõ�E 2(�_ EN 50178)

�y�&3�%(öp) [m] �2000

ÑÂ��Ѫê�

(�_ IEC 60068)

– Â3(¸ 2 – 6 "Å)

– ªê(¸ 2 - 27 "Å)

– �rªê(¸2 - 27 "Å)

�%�E (SG)1),9Wä &3��/*

<4&3

– ä :SG2;�/*<4:SG1

– ä :SG2;�/*<4:SG1

– ä ��/*<4:SG1

1) �%�E�� � “Â3�ªê��%�E”G

)&÷R�ãø!�� – ùjSo SG:

÷Rig

�ú)E [Hz] ÌRj [m/s2] jz* [mm]

SG1 SG2 SG1 SG2 SG1 SG2

2 … 8 2 … 8 – – ±3.5 ±3.5

8 … 27 8 … 27 10 10 – –

27 … 58 27 … 60 – – ±0.15 ±0.35

58 … 160 60 … 160 20 50 – –

160 … 200 160 … 200 10 10 – –

ãøig

ÌRj [m/s2] O�²k [ms] ´�4ß !ãø

SG1 SG2 SG1 SG2 SG1 SG2

±150 ±300 11 11 5 5

O�ãøig

ÌRj [m/s2] O�²k [ms] ´�4ß !ãø

±150 6 1000

Page 146: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

A ���:

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 147

A.1.3 � ������

CE ��( �j�

� www.festo.com)

�_÷ö(��7 2006/42/EG

�_÷ö7ÖÃN��l 2014/30/EU1)

!" UL Listing Mark for Canada and the United

States

RCM (Regulatory Compliance Mark)

1) m"�.|����2q。@���S|,hX:�H�Àúø_$,�.)tab-'`67ùú。

�"e� UL �����T��IP���m�(@/� UL !"���

51。

Page 147: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

A ���:

148 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

A.2 _`^F

A.2.1 ��_`^F

7 7� [V DC] 24 ± 15�%

7 �E7� [A] 5.7

È�7�¥÷ [A] Y« 9.4(±;fr�))

a7�" PELV 7� (Protected Extra-Low Voltage)

-"�E�v EN60529 IP40(��R�]�?8 o3�"{)

73áè� M)

A.2.2 [X1] I/O _`

9�7g �_ EN 61131-2:2008-04 ��,^� 1

Y�78:% [m] 30

FB��UF

7 7�(T� 0 V) [V DC] 24

Y��y�D7� [V DC] 29

 ��D>�7 7� [mA] 2 (û^)

)�  [ms] 1

W�D���@� [ms] 2(û^)

7�;¦ n

FB��F

 ��E>�Y�7� [mA] 100

<B�" `<B�"(`��")

���2�#C*�D>。

A.2.3 [X1] _`-�T�³ +24 V OUT [X1.24] GND [X1.25]

7 7�

– �< [X9] B7

– X7|��<á J

[V DC] 24

Y�7� [mA] 100

<B�" `<B�"

���2�#C*�D>

Page 148: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

A ���:

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 149

A.2.4 [X9] ���³

iB73(9Þ 5)

7 7� [V DC] 24 ± 15�%

7 7� [A] 5.7

ü�7� [A] 9.4

��7�7�

Y���7�7� [V DC] 28

<7�(A� 0x17) [V DC] , 31.0

Ê7�(A� 0x18) [V DC] . 19.01)

J73(9Þ 3)

7 7� [V DC] 24 ± 15�%

7 7�2) [A] 0.3

<7�(A� 0x1A) [V DC] , 31.0

Ê7�(A� 0x1B) [V DC] . 19.0

1) O#��� FCT ���#.)

2) `#C�E>�73�� � µ� A.2.2

A.2.5 [X18] ��_`

È6�� IEEE802.3 (10BaseTx)

»��% 100 MBit/s

��]� RJ45, 8 9

!��U� TCP/IP, UDP

78«^ ��01,78,aKÙ

»�« «, Cat 5

;�:% t��û^�/Y« 30 m

Page 149: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

150 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

B � ���� (CVE)

B.1 m'��

?@“�<01,��”(CVE) ��,CMMO-ST �0�<01,��Ï� PC W�����。

�m�0@ CMMO-ST ­t?8#;5µ��#;¯D CMMO-ST。

CMMO-ST �< FCT ��4.�#,0¡Ï� CVE ��。�< CVE `DE{�#.)。

�< CVE �0F3� ��0\�7。�!��M³4 (Pause) 0\/3��&。

! CMMO-ST ��9��< CVE U�­��。l�. PC ��W��­b。

�m�5 TCP/IP ��W�9W��s���)�。

��

ø�� �� CVE ��µ���+�o����

– CVE ����-�²8�。

�<01,W CMMO-ST �����5�S��]�¬¼、�5Ñùú��S���

#;»��",hX:�<�E������W�。

� M˾�¡¶­@��、��k*]��o��,�� CVE ��。

� ���"(�&',�.�� STO ��。

B.1.1 �!��

CVE U�T� TCP #;»� (Transmission Control Protocol)。��������%�,PC

��W���ÄS>,�²�� PC ��W�c����¤�M1,¶m CMMO-ST ÒÇ�

±�(ÄS>��%�>#Z�0)。

û^� TCP ;��R��:�5k�v! CMMO-ST �9�51*。];��¾@�3�`

�3,µa�}4 (Quick Stop)。

I��� TCP >��0�< FCT ��.)。EH.)�>�9�� 49700。

Page 150: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 151

B.1.2 CVE e;

W CMMO-ST #;�=���< CVE WLB��。CVE WL�~)�ý��n�*�,WL。

µ� B.3 �!E� CVE WL。��y��EO!E�WL。

��

�+\c(��

�A¯DXX�:�WL��n²��4³��3�±�。

� M���: B.3 �!E�WL。

 �WLD� Tab. B.1 �!E�#;«^。C���®5��。

��¯�

��­t CVE WL,�.�v Tab. B.2 c CMMO-ST �¤�M1。CMMO-ST l�v Tab. B.3

ÒÇ�±�。

JU¯�

��¯D CVE WL,�.�v Tab. B.4 c CMMO-ST �¤�M1。CMMO-ST l�v Tab. B.5

ÒÇ�±�。

w�&��c�D`'Ò� TCP #;�,I0�.@�ù�E©�¥-。�m�5���W

¥-:%��B/�。

FHq?

F~ q? Bc �� ~û

0x00 – – Xs#;«^ –

0x01 – – – –

0x02 UINT32 4 32 bit unsigned integer 0 … 4294967295

0x03 UINT16 2 16 bit unsigned integer 0 … 65535

0x04 UINT08 1 8 bit unsigned integer 0 … 255

0x05 – – – –

0x06 SINT32 4 32 bit signed integer – 2147483648 … 2147483647

0x07 SINT16 2 16 bit signed integer – 32768 … 32767

0x08 SINT08 1 8 bit signed integer – 128 … 127

Tab. B.1#;«^

Page 151: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

152 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

“�� CVE ¯�”�¬

Bc 8� FHq? ��

0x00 �% ID UINT08 0x10 = @���­t CVE WL

0x01

0x02

0x03

0x04

¥- ID UINT32 �q��W�YqÅ��¥- ID。

OMNk�~�¬>±��ÒÇ。l�²WM1�

±�����@�Ö�。�0��¥- ID,î��

�.。

0x05

0x06

0x07

0x08

#;:% UINT32 l�M1��~� 4。

0x09 Acknowledge UINT08 l�M1�O5�~���°

(�� 0 ]�g)。

0x0A

0x0B

0x0C

0x0D

4d UINT32 â5(�� 0 ]�g)。

0x0E

0x0F

WL�n UINT16 7­t CVE WL��n。

0x10 WL#�n UINT08 �~� 0

0x11 4d UINT08 â5(�� 0 ]�g)。

Tab. B.2“­t CVE WL”M1

Page 152: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 153

“�� CVE ¯�”��

Bc 8� FHq? ��

0x00 �% ID UINT08 0x10 = @���­t CVE WL

0x01

0x02

0x03

0x04

¥- ID UINT32 ¥- ID,aX[`M1�。

0x05

0x06

0x07

0x08

#;:% UINT32 #;:%tÌ�a­t� CVE WL�#;«^。

�����!� :

#;:% = 4 Byte + #;«^:%

UINT32 �h:

#;:% = 4 Byte + 4 Byte = 8 Byte

0x09 Acknowledge UINT08 X�8v�l� 0。I����G�WL`D¹

­t。��A��w�!G:� Tab. B.6。

0x0A

0x0B

0x0C

0x0D

4d UINT32 â5

0x0E

0x0F

WL�n UINT16 a­t� CVE WL��n。

0x10 WL#�n UINT08 �~� 0

0x11 #;«^ UINT08 CVE WL�#;«^。

0x12 #;C� 1 �_ CVE WL

�#;«^

WL�

… #;C� K

Tab. B.3“­t CVE WL”±�

Page 153: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

154 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

“JU CVE ¯�”�¬

Bc 8� FHq? ��

0x00 �% ID UINT08 0x11 = CVE WL¯D CMMO

0x01

0x02

0x03

0x04

¥- ID UINT32 �q��W�YqÅ��¥- ID。

OMNk�~�¬>±��ÒÇ。l�²WM1�

±�����@�Ö�。�0��¥- ID,î��

�.。

0x05

0x06

0x07

0x08

#;:% UINT32 #;:%tÌ�7¯D CVE WL�#;«^。

�����!� :

#;:% = 4 Byte + #;«^:%

SINT08 �h:

#;:% = 4 Byte + 1 Byte = 5 Byte

0x09 Acknowledge UINT08 l�M1�O5�~���°

(�� 0 ]�g)。

0x0A

0x0B

0x0C

0x0D

4d UINT32 â5(�� 0 ]�g)。

0x0E

0x0F

WL�n UINT16 7¯D� CVE WL��n

0x10 WL#�n UINT08 �~� 0

0x11 #;«^ UINT08 7¯D� CVE WL�#;«^。

0x12 #;C� 1 �_ CVE WL

�#;«^

WL�

… #;C� K

Tab. B.4“¯D CVE WL”M1

Page 154: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 155

“JU CVE ¯�”��

Bc 8� FHq? ��

0x00 �% ID UINT08 0x11 = CVE WL¯D CMMO

0x01

0x02

0x03

0x04

¥- ID UINT32 ¥- ID,aX[`M1�。

0x05

0x06

0x07

0x08

#;:% UINT32 l�±���~� 4。

0x09 Acknowledge UINT08 X�8v�l� 0。I����G�WL`D¹

¯D。��A��w�!G:� Tab. B.6。

0x0A

0x0B

0x0C

0x0D

4d UINT32 â5

0x0E

0x0F

WL�n UINT16 a¯D� CVE WL��n。

0x10 WL#�n UINT08 �~� 0

0x11 #;«^ UINT08 a¯D� CVE WL�#;«^。

]Ù+��`��#;«^¯DWL,lmRkÒÇ

v@�#;«^。

Tab. B.5“¯D CVE WL”±�

Page 155: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

156 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

� (Acknowledge)

Ack �� �ï4i

0x00 8v�。 –

0x01 �!��%。 [\M1��% ID。

0x03 M1��#;:%`�。 [\M1���。

0xA0 ø��Â� CVE WL��q。 ¯D CVE WL��kø�Â� CVE

WL��q。(Â�WLµl� CVE

WL��YÆ� Y��)。

0xA2 `��WL�n。 EvWL�n。

0xA4 `D­t CVE WL。 –

0xA5 CVE WL��¯D。 –

0xA6 �3�“F���”(“Operation

enabled”)?8�@,CVE WL��¯D。

ú¦“Operation enabled”?8。

0xA7 `��$@��y¯D CVE WL。 M� CVE ��Å���$。

�mM�� CVE WL #3。

0xA9 `D¯D CVE WL,w��Æ�YÆ�。 Ev�。

0xAA `D¯D CVE WL,w����Y��。 Ev�。

0xAB `D¯D CVE WL,w������

qM。

Ev�。

0xAC `D¯D CVE

WL,w�I£ �#;«^�A。

Ev#;«^。

0xAD `D¯D CVE WL,w��d/-�"。 Á@/-�"

� µ� 2.3.3

Tab. B.6@! (Acknowledge)

Page 156: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 157

B.1.3 =R���

CMMO-ST ��?8(,���v�S4.9��3����)*。

Fig. B.1 >�����?8。 Tab. B.7 �lW�������P。

Tab. B.8 >��?8����w¬。

?8(�v� CANopen �� CiA402。

��B

��5C=���C,�0�®?8�®Ç8,

(CVE WL #2,� Tab. B.9)。

rsB

��5C=�?8C�0�BH)�?8

(CVE WL #1,� Tab. B.10)。

��“Operation enabled”?8�F3�3��。

�.�< CVE WL #120 �+I���3��。F3� ��)�.l� CVE WL�¯D�

6;F35)�7)�.l� CVE WL�¯D� 1。�0�< CVE WL #121 ­tH) �

R9���3��。

Page 157: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

158 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

rsQ

power disabled

a�?

A

start

a�?

H

error reaction active

�A±�VW

B

not ready to switch on

X��2F�2

C

switch on disabled

u�2F

D

ready to switch on

2F�2²Í

E

switched on

a2F

F

operation enabled

���2²Í

Error

�A

power enabled

a2F

I

error

�A

G

quick stop active

}4VW

19

15

13

140

12

10

11

16

(1)

(2) 7

3

6

4 58

9

17

18

Fig. B.1 CMMO-ST �?8(

Page 158: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 159

rs��

rs �� �R�

A F3 2F、G5 9�G5�7(hX:�<�´È6)@k

E�l�?8。9�F3"-mkY3�D?8 B。

�+

B Not ready to

switch on

l�?8�,CMMO-ST µ��Y[。

�EE���+?8。

�+

C Switch on

disabled

�EE���+?8。@O?8²,���<��C �

R���A@��?88,。

�+

D Ready to

switch on

2F�EE。

8,�“Switched On”?8@,k��R,c¼��

(X�5)。

Q2

E Switched on �EEaVW。 Q2

F Operation

enabled

�3��7b3�%5I09�。��B�]�gm�v�

��?8。

Q2

G Quick Stop

active

Quick Stop (}4)��aVW。�3�0�#. �}4

Ë�%�35��4'?8。�EE��2F?8,ü��

d���%。

Q2

H Error

reaction

active

©�o��,X�a���A±�²kw�l�?8。

�µ¹9�。�EE��2F。

Q2

I ERROR �A?8。�¢9���3�。�EEk±;W�A��#

.)VW t¥。

�EEVW@

Q2

Tab. B.7?8��

Page 159: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

160 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

¯Bü!��

rsBü!�� ��

0 Start � Not ready to switch on (�Z)F3�mÈk`��>�Rl�?8w¬。

1 Not ready to switch on �

Switch on disabled

J73�Y[���¾。 Switch on disabled

mY38,?8。

2 Switch on disabled �

Ready to switch on

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 0

3 Ready to switch on �

Switched on

CW.FR (Error Reset) = 0

CW.EO (Enable Operation) = 0

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

4 Switched on �

Operation enabled

CW.FR (Error Reset) = 0

CW.EO (Enable Operation) = 1

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

5 Operation enabled �

Switched on

CW.FR (Error Reset) = 0

CW.EO (Enable Operation) = 0

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

6 Switched on �

Ready to switch on

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW. SO (Switch on) = 0

7 Ready to switch on �

Switch on disabled

CW.FR (Error Reset) = 0

CW.EV (Enable Voltage) = 0

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 0

CW.EV (Enable Voltage) = 1

8 Operation enabled �

Ready to switch on

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 0

9 Operation enabled �

Switch on disabled

CW.FR (Error Reset) = 0

CW.EV (Enable Voltage) = 0

Page 160: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 161

rsBü!�� ��

10 Switched on �

Switch on disabled

CW.FR (Error Reset) = 0

CW.EV (Enable Voltage) = 0

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 0

CW.EV (Enable Voltage) = 1

11 Operation enabled �

Quick Stop active

CW.FR (Error Reset) = 0

CW.QS (Quick Stop) = 0

CW.EV (Enable Voltage) = 1

12 Quick Stop active �

Switch on disabled

CW.FR (Error Reset) = 0

CW.EV (Enable Voltage) = 0

13 @©R:

Error reaction active

(�A±�VW)

�AF0a���A±�。?8<ý!H)���9�

`�。

14 Error reaction active �

Error

�A±��9�a�+。Error mY38,?8。

15 Error �

Switch on disabled

�.aXÉ@A��w(hX:<��j%aXA��

y�)。

FR ���L¸ (Error Reset)。

CW.PSOn(G5A�m2F�EE) = 0

0� Bit �t¶��� 1:

CW.EO (Enable Operation)

CW.QS (Quick Stop)

CW.EV (Enable Voltage)

CW.SO (Switch on)

16 Quick Stop active �

Operation enabled

CW.FR (Error Reset) = 0

CW.EO (Enable Operation) = 1

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

17 Ready to switch on �

Operation enabled

CW.FR (Error Reset) = 0

CW.EO (Enable Operation) = 1

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

Page 161: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

162 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

rsBü!�� ��

18 Error �

Operation enabled

�.¥@�A�w(hX:µ<��j%A®��y

��)。

CW.FR (Error Reset) @��L¸

CW.PSOn(G5A�m2F�EE) = 1

CW.EO (Enable Operation) = 1

CW.QS (Quick Stop) = 1

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

19 Error �

Switched on

�.¥@�A�w(hX:µ<��j%A®��y

��)。

FR (Error Reset) ���L¸

CW.PSOn (G5A�m2F�EE) = 1

CW.EO (Enable Operation) = 0

CW.EV (Enable Voltage) = 1

CW.SO (Switch on) = 1

Tab. B.8Ww¬���

��B(CVE ¯� #2)

Bit ��'@ ��

0 CW.SO Switch on

1 CW.EV Enable voltage

2 CW.QS Quick Stop(}4)

3 CW.EO Enable operation

4 CW.ST START

5 �.�~� 0。

6 CW.PSOn Power stage on after reset

(G5�Am�EEQ2)

7 CW.FR Error reset(�AG5)

8 CW.STP STOP

9 … 31 �.�~� 0。

Tab. B.9��C

Page 162: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 163

rsB(CVE ¯� #1)

Bit ��'@ ��

0 SW.RTSO Ready to switch on

�0�< CW.SO 2F�

EE。

Bit 0 … 3、5 � 6 ��>�.2?8

(x… !O?8`�)

�(���) ?8

xxxx xxxx x0xx 0000 Not ready to switch on

xxxx xxxx x1xx 0000 Switch on disabled

xxxx xxxx x01x 0001 Ready to switch on

xxxx xxxx x01x 0011 Switched on

xxxx xxxx x01x 0111 Operation enabled

xxxx xxxx x00x 0111 Quick Stop active

xxxx xxxx x0xx 1111 Fault reaction active

xxxx xxxx x0xx 1000 Fault

1 SW.SO Switched on。

�EEa2F。

2 SW.OE Operation enabled。

�3��2²Í。

3 SW.F Error。t¶��A�V

W�。

5 SW.QS /Quick Stop. ]O5�u�

?8,l9�}4。

6 SW.SOD Switch on disabled。

`D2F�EE。

7 SW.W Warning。t¶�fv�VW�。

8 SW.MOV Move。�3��3。

10 SW.TR Target reached/Motion complete. ���R��3��Z�。

(hX:���5)�7�Z�5))。

12 SW.SACK Setpoint Acknowledge。£�F3。]�09��3��,l CW.ST = 1

mO5R�VW?8。H CW.ST = 0 SW.TR = 1 @,O5�Zu�。

15 SW.AR Referenced。�3�a��� 。

30 SW.DPB Direction positive blocked。�3�`Dv�c��3。

31 SW.DNB Direction negative blocked。�3�`Di�c��3。

Tab. B.10 ?8C

Page 163: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

164 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

<�:XY“Operation enabled”

þ.:�3�a2F。XE��A;a�< STO �D>F��EE(�¾ CVE WL #358

��� 255)。CMMO-ST � I/O ��X;��Î.2。“Switch on disabled” R�VW

?8;wm?8C��� 0x00800440。

1. �< CVE WL #3 �¯D� 2,VW CVE ;����$。

2. ¯D��C 0x00000006,VW“Ready to switch on”?8。þ�Dl�?8,

?8C��²� 0x00000421。

3. ¯D��C 0x00000007,VW“Switched on”?8。þ�Dl�?8,

?8C��²� 0x00040423。

4. ¯D��C 0x0000000F,VW“Operation enabled”?8。þ�Dl�?8,

?8C��²� 0x00060427。

<�:nR^@�G

þ.:“Operation enabled”R�VW?8。a�< FCT W� ����v@��#.)。

1. �< CVE WL #120 �¯D� 6,�+E“� ��”��3��。

2. ¯D��C 0x0000001F,F3� ��。� ���¾@,?8C��� 0x00068427。

3. ¯D��C 0x0000000F,G5F39�。

<�:nR�:

þ.:“Operation enabled”R�VW?8。�3�a��� ��(¾:SW.AR = 1)。

1. �< CVE WL #120 �¯D� 1,�+E“5)�7”��3��。

2. �< CVE WL #31 �¯D�79�,�+EI���7。

3. ¯D��C 0x0000001F,F3�7。���79�_�,?8C��� 0x00048127。

þ�7�¾,?8C��²� 0x00068427。

4. ¯D��C 0x0000000F,G5F39�。

Page 164: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 165

B.2 ý*��

%A�ý*

CMMO ��9-�V� (EINC) �3�*��'.M(hX:4ÊR���)��。

_`ý*

WI�S���M"#;F0�'.M,D��Iû���V� (SINC)。l�²���¯D

�­t�@E�üDA�。

�D�F

��V� (SINC) !9-�V� (EINC) ����N��<X�,À##�:�:

– 'jz�»3.

– �£��

SINC !þ�

��V�&��`wR��,�²���à ��"5��Æ。"5,¾ SINC ��Æ,

�WL #218“%�"5”� #217“¥��”���@ :

�< FCT ���#.)@,�0����"5��:%��,hX:ÀË ý;。

lOË��5����V�。

M FCT �B'��3�.)�#,�ä­DWL #218“%�"5”� #217

“¥��”。

�h:

#218 = 1,¾:Ë

#217 = –6,¾:10–6

� 1 mm = 1000 SINC

Page 165: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

166 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

B.3 CVE ¯��r

# #$ !

1 ?8C ?8(

2 ��C ?8(

3 ��$ #$

4 u���$ #$

31 4��79� �7

57 ­=�% #$

58 ­=7� #$

59 ­=��6 #$

60 Z�5) #$

61 7 �% #$

62 Z�7� #$

63 7 ��6 #$

70 ­=I�% #$

72 7 I�% #$

96 ­=5)Í�(¿mA�) #$

97 ­=�%Í� #$

98 ­=7�Í� #$

99 ­=��6Í� #$

120 ���)* ?8(

121 ­=��)* ?8(

141 H)�79� �7

191 �Y���E��A �AR0�

194 �Y���E、�@!���A �AR0�

213 �Y���E�fv �AR0�

217 ,À##¥�� �3���

218 ,À##%�"5 �3���

295 H)Z�5) �3���

358 F�\� #$

Page 166: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 167

¯�、Jd<!��

�A =�

R WL��­�。

W1 H���R�“Control disabled”?8@,WL��¯�

(� ?8(���)。

W2 H���R�“Control enabled”?8@,WL��¯�

(� ?8(���)。

W3 WL�¹H)Ã��$���¯D。

F0+ OWLdF0+/-�"。

Tab. B.11 =�$1

¯�!����

#1 rsB

?8( UINT32 R/-/-/-/-

� µ� B.1.3 ��"e��

�:0 … 4294967295 #!:0

#2 ��B

?8( UINT32 R/W1/W2/-/-

� µ� B.1.3 ��"e��

�:0 … 4294967295 #!:0

#3 ��d

#$ UINT08 R/W1/W2/W3/-

�<��$�0@ ,�y������3�:

0x00 � I/O

0x01 � FCT (Festo Configuration Tool)

0x02 � CVE(�<01,��)

0x03 � ,��%�

]X�<WL #4“u���$”u�O��$,l��yqö�Ã��$���E{�

�$。

�:0 … 255

Page 167: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

168 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

#4 g���d

#$ UINT08 R/W1/W2/-/-

0x00 � ��$X¹u�。I��D�E{��$。

0x01 �

��$¹u�。�.�Zt¥Ou�,u��ZE{��$。�ö����$����0。

�:0 … 1 #!:0

#31 �I�:%@

�7 UINT08 R/W1/W2/-/-

4�����7�9�。����7`R�VW?8@,²aX�0�����4��

Z����7。\:VW����74dWL #141 �

�7 1 … xx � v��7

�:1 … 31

#57 ��Rj

#$ SINT32 R/-/-/-/-

H)­=�%

"5:SINC/s

�:–2147483648 … 2147483647 #!:0

#58 ���p

#$ SINT32 R/-/-/-/-

H)��7�

"5:mA

�:–2147483648 … 2147483647 #!:1

#59 ��,��

#$ SINT16 R/-/-/-/-

�Y���7��Å#�H)­=��6(±;6w�7�|À)

"5:‰

�:–32768 … 32767 #!:0

#60 �%$-

#$ SINT32 R/-/-/-/-

H)Z�5)

"5:SINC

�:–2147483648 … 2147483647 #!:0

Page 168: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 169

#61 �1Rj

#$ SINT32 R/-/-/-/-

H)Z��%

"5:SINC/s

�:–2147483648 … 2147483647 #!:0

#62 �%�p

#$ SINT32 R/-/-/-/-

H)Z�7�

"5:mA

�:–2147483648 … 2147483647 #!:0

#63 �1,��

#$ SINT16 R/-/-/-/-

�Y���7��Å#�H)7 ��6(±;7�|À)

"5:‰

�:–32768 … 32767

#70 ��ÌRj

#$ SINT32 R/-/-/-/-

H)|ÀwE�­=I�%

"5:SINC/s²

�:–2147483648 … 2147483647 #!:0

#72 �1ÌRj

#$ SINT32 R/-/-/-/-

H)Z�I�%

"5:SINC/s²

�:–2147483648 … 2147483647 #!:0

#96 ��$-j£

#$ SINT32 R/-/-/-/-

H)�$A� = ­=5) – Z�5)

"5:SINC

�:–2147483648 … 2147483647

Page 169: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

170 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

#97 ��Rjj£

#$ SINT32 R/-/-/-/-

H)�%����­=Í�(5)��.2��$A�) = ­=�% - Z��%

"5:SINC/s

�:–2147483648 … 2147483647

#98 ���pj£

#$ SINT32 R/-/-/-/-

H)7�����­=Í�(5)��.2��$A�) = ­=7� - Z�7�

"5:mA

�:–2147483648 … 2147483647

#99 ��,��j£

#$ SINT16 R/-/-/-/-

H)7�����­=Í�,À���6(5)��.2��$A�) = ­=��6 -

7 ��6

"5:Y���7���Å#

"5:‰

�:–32768 … 32767

#120 �)Ò,��

?8( SINT08 R/W1/W2/-/-

�y��:

0: X�+�Î)*

1: 5)��)*

3: �%��)*

4: ��6/yx��)*

6: � ��)*

–3:vc/3

–4:ic/3

�:0, 1, 3, 4, 6, –3, –4 #!:0

#121 ��Ò,��

?8( SINT08 R/-/-/-/-

H)9������*。

�:� WL #120

�:–128 … 127 #!:0

Page 170: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 171

#141 u��:%@

�7 UINT08 R/-/-/-/-

H) �R9���7�9�。�vWL #31。

�:0 … 255 #!:0

#191 ��Y`bo!jV

�AR0� UINT16 R/-/-/-/-

��H)�Y���E��A�A�9�。

0xFFFF G�ÃA�。

�:0 … 65535 #!:65535

#194 ��Y`bo、ÄÃ��!jV

�AR0� UINT08 R/-/-/-/-

��H)Y���E��A�n�Á@。

0x00 – A�`D@!。

0x01 – A�`R�VW?8,�É@A�mu�Á@OA�。

0x02 – �:¾Á@A�。

0xFF – ÃA�。

�:0 … 255

#213 ��Y`bo!��

�AR0� UINT16 R/-/-/-/-

��H)�Y���E�fv�A�9�。

0xFFFF G�Ãfv。

�:0 … 65535 #!:65535

#217 �D�FÑ!�

�3��� SINT08 R/W1/-/-/-

� µ� B.2 ���h

"5:10x

�:< 0 #!:0

Page 171: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

172 Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – ��

#218 �D�Fj*�$

�3��� UINT08 R/W1/-/-/-

� µ� B.2 ���h

0:X �

1:Ë

2:ý;/Inch

3:w

4:%

�:0 … 4 #!:0

#295 u��%$-

�3��� SINT32 R/-/-/-/-

H)9���3���Z�5)。

±;0� �|ÀZ�5):

– 5)�7:�WZ�5)

– ��� ��5æG:Z�5) = 0

– ��� ��,�æG:Z�5) = (–1) * SG/

– vc/3:��vc~>5),�5O5)aVW,nl� 231 –1

– ic/3:��ic~>5),�5O5)aVW,nl� –231

– �% & ��6�7:±;�W1�. ��W5)(@�W1�2��3)。

X�u��W1�,E~µ±;��~>5)|ÀZ�5)。

W��7�,H)���7�Z�5)�~�t��5�。

"5:SINC

�:–2147483648 … 2147483647 #!:0

#358 �D�Fj*�$

#$ UINT08 R/-/-/-/-

F�?8�5C=(hX:STO)。

Bit 0:STO

Bit 1 … 7:4d

�HI Bit �� 1 @,u��<��Cµ?8(8,�“Operation enabled”?8。

"5:5C=

�:0 … 255 #!:254

Page 172: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026

B �<01,�� (CVE)

Festo – GDCP-CMMO-ST-EA-SY-ZH – 2017-05c – �� 173

Page 173: CMMOST--DION/DIOP · x = 2009 a = 2010 b = 2011 c = 2012 d = 2013 e = 2014 f = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026
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XX�@y��ww� G����,��w���»�����MN。Xø�,�þ����}�。�YZ�d!��Ï、­�Z^ |�.|�Ï��8$Ï。

Copyright:Festo SE & Co. KGRuiter Straße 8273734 Esslingen��

Phone:+49 711 347-0

Fax:+49 711 347-2144

E-mail:[email protected]

Internet:www.festo.com