Application Note

CMMT-xx-EP Control via EtherNet/IP with Compact/Con-

trolLogix PLC

This document provides configuration information for the integration of CMMT-AS-EP

Festo CMMT-xx-EP Drive/Motor Controllers to an Allen Bradley
Compact/ControlLogix 5000 PLC.

The control method is EtherNet/IP Fieldbus.

Any sample code is programmed with RSLogix 5000/Logix Designer 5000

Rockwell Automation Software.

The FAS (Festo Automation Suite) software is used to configure the

CMMT-xx-EP Drive/Motor Controller.

100288
 Components/Software/ IP address used

Title ............................................................ CMMT-xx-EP Control via EtherNet/IP with Com-pact/ControlLogix PLC

Version ............................................................................................................................................................. 1.10
Document no. .............................................................................................................................................. 100288
Original .................................................................................................................................................................en
Author ............................................................................................................................................................. Festo

Last saved ............................................................................................................................................ 13.02.2020

Copyright Notice
This documentation is the intellectual property of Festo AG & Co. KG, which also has the exclusive copyright. Any
modification of the content, duplication or reprinting of this documentation as well as distribution to third par-
ties can only be made with the express consent of Festo AG & Co. KG.
Festo AG & Co KG reserves the right to make modifications to this document in whole or in part. All brand and
product names are trademarks or registered trademarks of their respective owners.

Legal Notice
Hardware, software, operating systems and drivers may only be used for the applications described and only in
conjunction with components recommended by Festo AG & Co. KG.
Festo AG & Co. KG does not accept any liability for damages arising from the use of any incorrect or incomplete
information contained in this documentation or any information missing therefrom.
Defects resulting from the improper handling of devices and modules are excluded from the warranty.
The data and information specified in this document should not be used for the implementation of safety func-
tions relating to the protection of personnel and machinery.
No liability is accepted for claims for damages arising from a failure or functional defect. In other respects, the
regulations with regard to liability from the terms and conditions of delivery, payment and use of software of
Festo AG & Co. KG, which can be found at www.festo.com and can be supplied on request, shall apply.
All data contained in this document do not represent guaranteed specifications, particularly with regard to func-
tionality, condition or quality, in the legal sense.
The information in this document serves only as basic information for the implementation of a specific, hypo-
thetical application and is in no way intended as a substitute for the operating instructions of the respective
manufacturers and the design and testing of the respective application by the user.
The operating instructions for Festo products can be found at www.festo.com/sp .
Users of this document (application note) must verify that all functions described here also work correctly in the
application. By reading this document and adhering to the specifications contained therein, users are also solely
responsible for their own application.

© (Festo SE & CO. KG, D-73726 Esslingen, 2020)

Internet: http://www.festo.com

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 Components/Software/ IP address used

Table of contents
1 Components/Software/ IP address used................................................................................................. 5
1.1 Recommended Manuals .............................................................................................................................. 5
1.2 Network Topology of the tested system ...................................................................................................... 6

2 Overview................................................................................................................................................ 7
2.1 Process Data ............................................................................................................................................... 7
2.2 PROFIdrive over EtherNet/IP ....................................................................................................................... 7
2.2.1 Telegram 1 (Basic Speed Control) .................................................................................................. 8
2.2.2 Telegram 102 (Advanced Speed Control) ....................................................................................... 8
2.2.3 Telegram 111 (Position Control) .................................................................................................... 8
2.2.4 Telegram EPD (Extended Process Data) ......................................................................................... 9

3 Festo Automation Suite Configuration .................................................................................................. 10

3.1 Device Configuration Tab .......................................................................................................................... 10
3.2 Fieldbus Tab .............................................................................................................................................. 11
3.2.1 Factor Group ................................................................................................................................ 11
3.2.2 Reference Values ......................................................................................................................... 12
3.2.3 Dynamic Values ........................................................................................................................... 12
3.2.4 EtherNet/IP Interface – Configuration .......................................................................................... 13
3.2.5 Connection Properties.................................................................................................................. 13

4 AOI (Add-On Instruction) Descriptions .................................................................................................. 14

4.1 Telegram 1 Basic_Speed AOI ..................................................................................................................... 14
4.1.1 Description................................................................................................................................... 14
4.1.2 Operation ..................................................................................................................................... 14
4.1.3 Parameters................................................................................................................................... 15
4.1.4 Parameter Association AOI vs Festo Automation Suite ................................................................ 15
4.1.5 Data Mapping .............................................................................................................................. 16
4.2 Telegram 102 (Advanced Speed Control) .................................................................................................. 17
4.2.1 Description................................................................................................................................... 17
4.2.2 Operation ..................................................................................................................................... 17
4.2.3 Parameters................................................................................................................................... 18
4.2.4 Parameter Association AOI vs Festo Automation Suite ................................................................ 18
4.2.5 Data Mapping .............................................................................................................................. 19
4.3 Telegram 111 (Position Control) ................................................................................................................ 20
4.3.1 Description................................................................................................................................... 21
4.3.2 Operation – Home/Reference Mode ............................................................................................ 21
4.3.3 Operation – Direct Mode .............................................................................................................. 21
4.3.4 Parameters................................................................................................................................... 22
4.3.5 Parameter Association AOI vs Festo Automation Suite ................................................................ 23
4.3.6 Data Mapping .............................................................................................................................. 24
4.4 Telegram EPD (Extended Process Data) .................................................................................................... 25
4.4.1 Configure Module Connection for Cyclic Data .............................................................................. 25
4.4.2 Description................................................................................................................................... 26
4.4.3 Parameters................................................................................................................................... 27

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 Components/Software/ IP address used

5 RSLogix 5000/Logix Designer 5000 Software ........................................................................................ 28

5.1 EtherNet/IP EDS (Electronic Data Sheet) file Registration ......................................................................... 28
5.2 Add EDS-AOP Module to the Rockwell Project ........................................................................................... 30
5.3 AOI (Add-On Instruction) Import ................................................................................................................ 32
5.4 Add Routine ............................................................................................................................................... 34
5.5 Add PROFIdrive AOI to Routine .................................................................................................................. 35
5.6 Configure PROFIdrive AOI .......................................................................................................................... 36
5.7 Add Festo_ExtendedProcessData AOI to Routine ...................................................................................... 38
5.8 Configure Festo_ExtendedProcessData AOI .............................................................................................. 38

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 Components/Software/ IP address used

1 Components/Software/ IP address used

Type/ Version Software/ Description

Name Firmware

CMMT-AS-C2-3A-EP-S1 V016.0.14.24_release --
Automation Suite V1.2.1.16 --
CMMT-AS Plug-in V1.2.1.19 NOTE: A newer version V1.2.2.4 is available at website, but,
this was not tested for this application.
https://www.festo.com/net/en-gb_gb/SupportPortal/Down-
loads/597623/651506/CMMT-AS_1.2.2.4.fsi
RSLogix 5000/ V21.11 --
Logix Designer 5000
1769-L30ERM V21.11 CompactLogix 5370 Controller

Table 1.1: 1 Components/Software used

1.1 Recommended Manuals

A) CMMT Wiring & Installation Safety Manual

Reference:
https://www.festo.com/net/en-ca_ca/SupportPortal/Downloads/466851/573769/CMMT-AS-C2_C4-
3A_2018-10a_8095049g1.pdf

B) CMMT Wiring & Installation Safety Function Manual

Reference:
https://www.festo.com/net/en-ca_ca/SupportPortal/Downloads/466859/573777/CMMT-AS-_-S1_2018-
10a_8096257g1.pdf

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 Components/Software/ IP address used

1.2 Network Topology of the tested system

Please refer to the picture below and make sure all wires are correctly placed and connected. The user manuals
will need to be referenced for other wiring not shown here.

CMMT-AS-xx-EP Port X19

1769-L30ERM Settings IP Address: 192.168.1.185
IP Address: 192.168.1.119 Subnet: 255.255.255.0
Subnet: 255.255.255.0 Gateway: 0.0.0.0
Gateway: 0.0.0.0

X19
Laptop
Allen Bradley
CompactLogix PLC Port X18
X18
IP Address: 192.168.1.184
Subnet: 255.255.255.0
Gateway: 0.0.0.0

12

EtherNet/IP
Linear

1783-BMS10CGN/A Stratix
Managed Switch Settings
IP Address: 192.168.1.2
Subnet: 255.255.255.0
Gateway: 0.0.0.0

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 Overview

2 Overview

2.1 Process Data

The process data for each connection consists of the following:

• PROFIdrive Telegram (mandatory)
• Extended Process Data (optional)

EIP Connection 1 EIP Connection 2

24 Byte 32 Byte (optional)

Extended Process Data (EPD)

PROFIdrive
Festo specific parameters
Controller -> CMMT

24 Byte 32 Byte (optional)

Extended Process Data (EPD)

CMMT -> Controller PROFIdrive
Festo specific parameters

2.2 PROFIdrive over EtherNet/IP

The Festo CMMT-xx-EP EtherNet/IP motor controllers have been implemented with PROFIdrive over EtherNet/IP.
PROFIdrive use "Telegrams" each containing cyclic parameters unique to the application class type for data ex-
change between PLC and the Drive/Motor Controller.

SIEMENS has created AOIs for Rockwell Compact/ControlLogix PLCs that interact with each of the PROFIdrive
Telegrams. The purpose of the AOI’s are to reduce the engineering time to configure/control a Drive/Motor Con-
troller from the PLC. The SIEMENS AOIs are used to control the Festo CMMT-xx-EP EtherNet/IP Drive/Motor Con-
troller.

The Festo CMMT-xx-EP EtherNet/IP Drive/Motor Controllers support Telegrams 1, 102 and 111.
Telegram # Telegram Type Function AOI (Add-On Instruction)
1 Standard Basic Speed Control Basic_Speed.L5X
102 Siemens Advanced Speed Control AdvancedSpeed.L5X
111 Siemens EPOS mode Position Control EPOS_Block.L5X
(Point to Point Non-Interpolated Motion)

In addition to PROFIdrive Telegrams and the SIEMENS AOIs, Festo has created an AOI for optional Extended Pro-
cess Data. The Extended Process Data allows the user to configure up to 32 bytes of cyclic parameter data to be
exchanged between the PLC and the Drive/Motor Controller.

The Extended Process Data is configured within FAS (Festo Automation Suite) software.
Telegram # Telegram Type Function AOI (Add-On Instruction)
Not Applicable Festo Extended Process Data Festo_ExtendedProcessData.L5X

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 Overview

2.2.1 Telegram 1 (Basic Speed Control)

2.2.2 Telegram 102 (Advanced Speed Control)

2.2.3 Telegram 111 (Position Control)

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 Overview

2.2.4 Telegram EPD (Extended Process Data)

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 Festo Automation Suite Configuration

3 Festo Automation Suite Configuration

It is assuming the user understands how to use Festo Automation Suite to configure the base project of hard-
ware and that this is done before moving to the next step.

3.1 Device Configuration Tab

The picture below shows the configuration this application note was tested with.

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 Festo Automation Suite Configuration

3.2 Fieldbus Tab

3.2.1 Factor Group

The Factor Group settings allow you to change the resolution of position and velocity values. They are related to
the "Current user unit", for example Meters or RPM. To settings shown here allow you to control your drive with
a resolution of 0.001 revolution for positioning, while the velocity is with a resolution of 1 rpm.

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 Festo Automation Suite Configuration

3.2.2 Reference Values

The "Base value speed" doesn’t influence the speed of the drive, but it does change the way the ‘actual speed’
is displayed. The "EPOS_Block" function block has a parameter "SPEED_ACTUAL_PCT" and the value displayed
is a percentage related to this base value. For controlling the acceleration and deceleration of the drive these
reference values are used, also as a percentage in the "EPOS_Block" function block.

3.2.3 Dynamic Values

Using Telegram 111 the ‘Jerk’ of the movement can be modified under the ‘Dynamic values’, the acceleration
and deceleration values have no function here.

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 Festo Automation Suite Configuration

3.2.4 EtherNet/IP Interface – Configuration

The EtherNet/IP Address for Port X19 must be specified here. Upon power cycle of the Drive/Motor Controller,
the EtherNet/IP Port X19 will assume what was configured here regardless of settings prior to power off.

3.2.5 Connection Properties

The Telegram type (Telegram 1, Telegram 102, Telegram 111) must be specified here to match the AOI (Add-On
Instruction) being used in the PLC (Programmable Logic Controller) project. See the cross-reference in the table
below and review section 2.2 and its subheadings for details about matching the Telegram to the Add-On In-
struction.

Telegram # AOI (Add-On Instruction)

1 Basic_Speed.L5X
102 AdvancedSpeed.L5X
111 EPOS_Block.L5X

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 AOI (Add-On Instruction) Descriptions

4 AOI (Add-On Instruction) Descriptions

The Drive control function blocks (AOIs) described in this section are intended to provide users help in engineer-
ing and integrating the Festo CMMT drives into an automation system where a Rockwell RSLogix 5000/Logix De-
signer 5000 family controller is the primary control.

4.1 Telegram 1 Basic_Speed AOI

4.1.1 Description
This is a standard PROFIdrive telegram. The Basic_Speed AOI provides an interface for basic speed control of a
CMMT Drive/Motor Controller via EtherNet/IP and a Rockwell PLC. It will control the state of the drive by select-
ing the appropriate bits in the control word and set the running speed in the speed setpoint word.

Note: When configuring the Festo CMMT drive, you must ensure that Telegram 1 is selected for
communication within the Festo Automation Suite.

4.1.2 Operation
Step State Conditions Required
1 INHIBITED=0 Festo Automation Suite Plug-in PLC control = 0
OFF2 or OFF3 = 0 then switch on is Inhibited
2 RTS = 1 OFF2 =1
OFF3 = 1
INHIBITED = 0
FAULTED = 0
3 READY=1 ON_OFF1 = 1
ENABLED=1 OFF2 =1
OFF3 = 1
INHIBITED = 0
FAULTED = 0
4 MAX_RPM Must be the same as Festo Automation Suite parameter
P1.11280701.0.0 (Base Value Speed)
5 RPM_SET_SPEED Set Speed Target
6 Execute Speed Task RUN_SET_POINT = 1
7 RPM_ACTUAL Motor provides Speed feedback in RPM
8 RPM_SET_SPEED Change in Speed Target at any time will demand drive to change Speed

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 AOI (Add-On Instruction) Descriptions

4.1.3 Parameters
Parameter Description / Conditions
ON_OFF1 Drive Enable (ON/OFF1)
1 = Enable Drive
0 = Ramp Down and Disable drive
OFF2 Coast Stop Command
0 = OFF2 Immediate Disable
1 = No OFF2 Command
OFF3 Fast Stop Command
0 = OFF3 Fast Ramp and Disable
1 = No OFF3 Command
RUN_SET_POINT Speed Setpoint Enable / Start Task
0 = Setpoint Disabled
1 = Setpoint Enabled
FAULT_RESET Reset Active Fault(s)
0 = No Fault Reset
1 = Reset Fault on Rising Edge
RPM_SET_SPEED Speed Setpoint in RPM
MAX_RPM Speed at 100% Setpoint
Must be the same as Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
RPM_ACTUAL Actual Speed in RPM
DRV_STATUS RAW Input Data Array of 2 integers
DRV_CONTROL RAW Output Data Array of 2 integers
RTS Ready to Start when the following is true
FAULTED = 0
INHIBITED = 0
OFF2 =1
OFF3 = 1
READY Ready for Operation
FAULTED Fault Active
INHIBITED Festo Automation Suite Plug-in PLC control = 1 then switch on is Inhibited
OFF2 or OFF3 = 0 then switch on is Inhibited
ENABLED Pulses are Enabled

4.1.4 Parameter Association AOI vs Festo Automation Suite

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 AOI (Add-On Instruction) Descriptions

4.1.5 Data Mapping

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 AOI (Add-On Instruction) Descriptions

4.2 Telegram 102 (Advanced Speed Control)

4.2.1 Description
This is a Siemens PROFIdrive telegram. The S120_AdvancedSpeed AOI provides an interface for speed control of
a CMMT Drive/Motor Controller via EtherNet/IP and a Rockwell PLC. This AOI provides additional functionality
beyond the Basic Speed AOI offering the ability to limit the torque. It will control the state of the drive by select-
ing the appropriate bits in the control word and set the running speed in the speed setpoint word.

Note: When configuring the Festo CMMT drive, you must ensure that Telegram 102 is selected for
communication within the Festo Automation Suite.

4.2.2 Operation
Step State Conditions Required
1 INHIBITED=0 Festo Automation Suite Plug-in PLC control = 0
OFF2 or OFF3 = 0 then switch on is Inhibited
2 RTS = 1 OFF2 =1
OFF3 = 1
INHIBITED = 0
FAULTED = 0
3 READY=1 ON_OFF1 = 1
ENABLED=1 OFF2 =1
OFF3 = 1
INHIBITED = 0
FAULTED = 0
4 SPEED_SET_MAIN Set Speed Target % (Percent)
5 TORQ_LIMIT Set Torque Limit Setpoint % (Percent) (0=Full Torque, 100 = No Torque)
6 Execute Speed Task RUN_SET_POINT = 1
7 SPEED_ACTUAL Motor provides Speed feedback in % (Percent)
8 SPEED_SET_MAIN Change in Speed Target % (Percent) at any time will demand drive to change Speed
9 TORQ_LIMIT Change in Torque Limit Setpoint % (Percent) at any time will demand drive to change
the limit

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 AOI (Add-On Instruction) Descriptions

4.2.3 Parameters
Parameter Description / Conditions
ON_OFF1 Drive Enable (ON/OFF1)
1 = Enable Drive
0 = Ramp Down and Disable drive
OFF2 Coast Stop Command
0 = OFF2 Immediate Disable
1 = No OFF2 Command
OFF3 Fast Stop Command
0 = OFF3 Fast Ramp and Disable
1 = No OFF3 Command
FAULT_RESET Reset Active Fault(s)
0 = No Fault Reset
1 = Reset Fault on Rising Edge
RUN_SET_POINT Speed Setpoint Enable / Start Task
0 = Setpoint Disabled
1 = Setpoint Enabled
SPEED_SET_MAIN Speed Setpoint in % of Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
TORQ_LIMIT Torque Limit Setpoint in % of Festo Automation Suite parameter P1.11226990.0.0
(Torque reduction MOMRED)
DRV_STATUS RAW Input Data Array of 2 integers
DRV_CONTROL RAW Output Data Array of 2 integers
SPEED_ACTUAL Actual Speed in % of Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
POSITION_ACTUAL Actual Position of encoder
RTS Ready to Start when the following is true
FAULTED = 0
INHIBITED = 0
OFF2 =1
OFF3 = 1
INHIBITED Festo Automation Suite Plug-in PLC control = 1 then switch on is Inhibited
OFF2 or OFF3 = 0 then switch on is Inhibited
FAULTED Fault Active
ENABLED Pulses are Enabled

4.2.4 Parameter Association AOI vs Festo Automation Suite

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 AOI (Add-On Instruction) Descriptions

4.2.5 Data Mapping

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 AOI (Add-On Instruction) Descriptions

4.3 Telegram 111 (Position Control)

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 AOI (Add-On Instruction) Descriptions

4.3.1 Description
This is a Siemens PROFIdrive telegram. The EPOS_Block AOI provides an interface for position control of a CMMT
Drive/Motor Controller via EtherNet/IP and a Rockwell PLC. The EPOS Positioner is used for the absolute and
relative positioning of linear and rotary axes.

Note: When configuring the Festo CMMT drive, you must ensure that Telegram 111 is selected for
communication within the Festo Automation Suite.

4.3.2 Operation – Home/Reference Mode

Step State Conditions Required
1 RTS = 1 Festo Automation Suite Plug-in PLC control = 0
FAULTED = 0
ALARM = 0
2 RDY_OP = 1 ON = 1 (Enable)
ENABLED = 1
TARGET_REACHED = 1
3 Home Start REF_START = 1
4 Home Start HOMING = 1
Acknowledge REFERENCED = 0
5 Home Start Reset REF_START = 0
6 Home Completed HOMING = 0
REFERENCED = 1

4.3.3 Operation – Direct Mode

Step State Conditions Required
1 RTS = 1 Festo Automation Suite Plug-in PLC control = 0
FAULTED = 0
ALARM = 0
2 RDY_OP = 1 ON = 1 (Enable)
ENABLED = 1
TARGET_REACHED = 1
3 MDI_POS = 1 MDI_START = 1 (Direct Mode Enable)

4 Home Completed REFERENCED = 1

5 Select Move Type MDI_POS_TYPE = 1 (Absolute Move)

MDI_POS_TYPE = 0 (Relative Move)
6 Set Desired: POSITION_SETPOINT = xxxxxx
Target Position, ACCEL_RATE = xxxxxx
Acceleration, Decelera- DECEL_RATE = xxxxxx
tion, Velocity V_OVERRIDE = xxxxxx
MDI_VELOCITY_SETPOINT = xxxxxx
Task Precondition INTERMEDIATE_STOP = 1
7 Task Start MDI_EDGE_TRIG = 1 (Rising Edge)
8 Task Executing TARGET_REACHED = 0
9 Task Complete TARGET_REACHED = 1

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 AOI (Add-On Instruction) Descriptions

4.3.4 Parameters
Parameter Description / Conditions
ON Drive Enable (ON/OFF1)
1 = Enable Drive
0 = Ramp Down and Disable drive
FAULT_RESET Reset Active Fault(s)
0 = No Fault Reset
1 = Reset Fault on Rising Edge
JOG_FWD 0 = No Jog
1 = Jog (Forward)
JOG_REV 0 = No Jog
1 = Jog (Reverse)
REF_START Referencing Start
0 = No Referencing
1 = Enable Referencing
MDI_START Enable MDI Mode
0 = No MDI mode (Note: All motion should be completed before disable to avoid fault)
1 = Enable MDI Mode
MDI_SETUP NOT SUPPORTED
MDI_POS_TYPE Select MDI Positioning Type
0 = Absolute Positioning
1 = Relative Positioning
MDI_FWD_DIR Enable Forward Direction
MDI_REV_DIR Enable Reverse Direction
Note: If Both MDI_FWD_DIR and MDI_REV_DIR are True, shortest path is selected for absolute positioning
MDI_EDGE_TRIG Start Motion Task
MDI_CONSTANT_TRIG NOT SUPPORTED
INTERMEDIATE_STOP Stop Command --> 0 = Stop Motion , 1 = Allow Motion
POSITION_SET_POINT Position Setpoint in configured Units
FAULT_NUMBER Active Fault number. NO Fault = 0
ALARM_NUMBER Active Alarm number. NO Alarm = 0
POSITION_ACTUAL Actual Position in configured Units
SPEED_ACTUAL_PCT Actual Speed in % of Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
TORQUE_ACTUAL NOT SUPPORTED
DRV_STATUS RAW Input Data Array of 2 integers
DRV_CONTROL RAW Output Data Array of 2 integers
ACCEL_RATE % of Nominal Acceleration
DECEL_RATE % of Nominal Deceleration
V_OVERRIDE Speed Setpoint in % of Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
MDI_VELOCITY_SETPOINT Speed Setpoint in % of Festo Automation Suite parameter P1.11280701.0.0 (Base Value Speed)
RTS Ready to Start
RDY_OP Ready for Operation
ENABLED Pulses are Enabled at Motor output
FAULTED Fault Active
ALARM Alarm Active
JOGGING Axis is Jogging
HOMING Referencing Mode Enabled
REFERENCED Axis is Referenced
MDI_POS MDI Mode is Active
MDI_SETUP_ON MDI Setup Mode is Active
TARGET_REACHED Position Actual is within the position window set

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 AOI (Add-On Instruction) Descriptions

4.3.5 Parameter Association AOI vs Festo Automation Suite

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 AOI (Add-On Instruction) Descriptions

4.3.6 Data Mapping

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 AOI (Add-On Instruction) Descriptions

4.4 Telegram EPD (Extended Process Data)

4.4.1 Configure Module Connection for Cyclic Data

As briefly explained in section 5.2, in order to enable the Extended Process Data cyclic data, the user must mod-
ify the EtherNet/IP module settings. As highlighted next, the additional connection must be made.

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 AOI (Add-On Instruction) Descriptions

4.4.2 Description
In addition to PROFIdrive Telegrams and the SIEMENS AOIs, Festo has created an AOI "Festo_Extend-
edProcessData.L5X" for optional Extended Process Data. The Extended Process Data allows the user to config-
ure up to 32 bytes of cyclic parameter data to be exchanged between the PLC and the Drive/Motor Controller.
The purpose of this AOI is to convert the data arriving at the PLC in bytes (SINT) to the format from the CMMT.

The content of the Extended Process Data (EPD) can be parameterized individually (similar to FHPP+).
Up to 8 input and 8 output values can be parameterized using up to 32 Input/32 Output bytes as the table ex-
ample describes here.

Byte Input Output

0 Control Parameter Selection Actual Velocity
1 Control Parameter Selection Actual Velocity
2 Actual Velocity
3 Actual Velocity
--
30
31

The Extended Process Data is configured within FAS (Festo Automation Suite) software.
A configuration in Automation Suite with internal IDs as shown by example here.

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 AOI (Add-On Instruction) Descriptions

4.4.3 Parameters

The meaning of all parameters is provided in the table shown here.

Parameter Input
EPD_Input RAW Input Data (Festo Automation Suite Send Data)
EPD_Output RAW Output data (Festo Automation Suite Received Data)
EPD_Config_Input Configuration of Input data
For up to 8 Input parameters, the user must configure the data type expected.
(SINT=1, USINT=2, INT=3, UINT/UINT16=4, DINT/UINT32=5, REAL/FLOAT32=9)
EPD_Config_Output Configuration of Output data
For up to 8 Output parameters, the user must configure the data type expected.
(SINT=1, USINT=2, INT=3, UINT/UINT16=4, DINT/UINT32=5, REAL/FLOAT32=9)
In_EPD_Object0-7 Festo Automation Suite configures Send Data Parameters 0-7
The EPD AOI converts the CMMT drive RAW Send Data specified by EPD_Input from bytes to the data type
specified in EPD_Config_Input and stores the values in these PLC Tags 0-7
Out_EPD_Object0-7 Festo Automation Suite configures Received Data Parameters 0-7
The EPD AOI converts the values of the PLC Tags 0-7 from REAL to the data type specified in
EPD_Config_Output and stores them in the RAW Output data bytes specified by EPD_Output
ErrorID 10 = "EPD_Config_Input" too long
11 = "EPD_Config_Output" too long
20 = number "0" in "EPD_Config_Input" is not allowed
21 = number "0" in "EPD_Config_Output" is not allowed
30 = not supported datatype in "EPD_Config_Input"
31 = not supported datatype in "EPD_Config_Output"
40 = unknown datatype in "EPD_Config_Input"
41 = unknown datatype in "EPD_Config_Output"

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5 RSLogix 5000/Logix Designer 5000 Software

5.1 EtherNet/IP EDS (Electronic Data Sheet) file Registration

Select the Windows Start button and navigate to Rockwell Software-RSLinx-Tools and select EDS Hardware In-
stallation OR type in EDS Hardware Installation and select it from the Programs list as shown next.

Select the Add button (1) then check the directory (2) and subfolders (3) and then select Browse (4).

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Select the directory where your EDS file is located (5), select the next buttons (6-9) and then finally select the
Finish button (10) to register the CMMT-AS-EP.eds and CMMT-AS.ico files.

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 RSLogix 5000/Logix Designer 5000 Software

5.2 Add EDS-AOP Module to the Rockwell Project

Using the Rockwell RSLogix 5000/Logix Designer 5000 Software, follow the steps as shown to start the process
of adding the Festo_CMMT module.

Navigate to the General tab.

Provide a name for the connection (5), select the EtherNet/IP address that is suitable to your network and
matches the CMMT Port X19 configured in section 3.2.4. (6).
Select the Change button (7) to modify the cyclic data and the connection DriveProfile-Exclusive Owner (8)
should be already configured by default for 24 bytes mandatory process data, and it is up to the user to
configure the Extended Process Data (9) for 32 bytes of cyclic parameter data to be exchanged between the PLC
and the Drive/Motor Controller, then select Ok (10).

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Navigate to the Connection tab

Select Requested Packet Interval (11) to configure the time for the individual connections that is suitable for
your project.

Note: The Minimum cycle time is 1 ms

The Rockwell software will now create system tags based upon the name of your module as shown next. Note
these names because these tags will be used later in this guide for the mapping of IO (Inputs/Outputs) in the
Add-On Instructions.

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 RSLogix 5000/Logix Designer 5000 Software

5.3 AOI (Add-On Instruction) Import

The import of the AOI is slightly different depending on which version of the Rockwell RSLogix 5000/Logix De-
signer 5000 Software being used. The start procedures are shown in both old/new versions below.
Right click the Add-On Instructions as shown below and select Import Add-On Instruction…

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 RSLogix 5000/Logix Designer 5000 Software

Select the directory where your AOI file is located (1), then select Import (2) and then finally select Ok (3).

The results should be similar to the picture shown here after you have imported the desired AOI's.

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 RSLogix 5000/Logix Designer 5000 Software

5.4 Add Routine

Right click on MainProgram and from the menu, select New Routine. Name your routine then select Ok.

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5.5 Add PROFIdrive AOI to Routine

Note: The design of PROFIdrive over EtherNet/IP only allows 1 of the 3 AOI's (Telegram 1, 102, 111)
to be used at one time with one CMMT Drive/Motor Controller. The Festo_ExtendedProcessData
AOI is an exception to this rule and can be added with any of the 3 PROFIdrive AOI's.

Open the routine you created. In this example we want to add the EPOS_Block. Navigate to the Language Ele-
ment toolbar and select the Add-On tab and click the desired icon to add the instruction to the rung you have
selected.

Alternatively, navigate within the Controller Organizer to the Add-On Instructions and left click and drag the de-
sired instruction to the rung you have selected.

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 RSLogix 5000/Logix Designer 5000 Software

5.6 Configure PROFIdrive AOI

Type in a name for the "instance" of the AOI. Right click and select New "NameofTag" to provoke the software
to offer a create new tag popup window with the proper Data Type selection. Select the scope you want your tag
to be created in, then select Create.

Alternatively, navigate within the Controller Organizer to the Controller Tags or another scope of your choice and
double click to open the interface. You can now add tags as shown.

Note: Make certain the task is continuous and that the AOI's (Add-On Instructions)'s are always
enabled (No conditions on rung except perhaps communication monitoring of the EtherNet/IP
module).

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Now add tags for the remaining mandatory fields in the AOI using one of the methods described.
When completed, the tags and the AOI should look similar to the pictures shown here.

Note: Pay special attention here to the highlighted tags. These are system tags which were created in
section 5.2 and are to connect the physical IO (Inputs/Outputs) to the AOI tags.

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 RSLogix 5000/Logix Designer 5000 Software

5.7 Add Festo_ExtendedProcessData AOI to Routine

Note: Unlike the design of PROFIdrive AOI's (Telegram 1, 102, 111) the Festo_ExtendedProcessData AOI
can be added with any of the 3 PROFIdrive AOI's.

Open the routine you created. In this example we want to add the Festo_ExtendedProcessData. As described
previously in section 5.5, navigate to the Language Element toolbar and select the Add-On tab and click the de-
sired icon to add the instruction to the rung you have selected.
Alternatively, navigate within the Controller Organizer to the Add-On Instructions and left click and drag the d
Festo_ExtendedProcessData instruction to the rung you have selected.

5.8 Configure Festo_ExtendedProcessData AOI

Type in a name for the "instance" of the AOI. Right click and select New "NameofTag" to provoke the software
to offer a create new tag popup window with the proper Data Type selection. Select the scope you want your tag
to be created in, then select Create.

Alternatively, navigate within the Controller Organizer to the Controller Tags or another scope of your choice and
double click to open the interface. You can now add tags as shown.

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 RSLogix 5000/Logix Designer 5000 Software

The highlighted tags need to be configured. These are system tags which were created in section 5.2 and are to
connect the physical IO (Inputs/Outputs) to the AOI tags. When completed, the tags and the AOI should look
similar to the pictures shown here.

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