Festo CMMT-ST

lorenzing
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17 Oct 2025 13:00 #336594 by lorenzing

Festo CMMT-ST was created by lorenzing

Good morning, I'm trying to build an XYYZZ gantry with two motors on the Y and Z axes. To do this, I've used 5 CMMT-ST drives with absolute encoder servomotors. I have some doubts about the homing procedure. At the moment I can see the drives, but I haven't managed to move them yet. Before causing any damage, I wanted to get your opinion on the configuration files, since this is my first time using LinuxCNC.

ethercat.ini

[EMC]
VERSION = 1.1
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.1
MAX_LINEAR_VELOCITY = 50.0
DEFAULT_LINEAR_VELOCITY = 10.0
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL

[TASK]
TASK = milltask
CYCLE_TIME = 0.01

[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000


# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[HAL]
HALFILE = ethercat.hal
# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal
HALUI = halui

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[TRAJ]
COORDINATES = XYYZZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 25.0
DEFAULT_LINEAR_VELOCITY = 2.50

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZZ kinstype=BOTH

# --- X Axis ---
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0


[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
HOME_ABSOLUTE_ENCODER = 2
HOME_SEQUENCE = 0


# --- Y Axis (dual) ---
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0


# --- Z Axis (dual) ---
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2

[JOINT_4]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2

ethercat.hal

# --- load components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=5

# load EtherCAT xml then drivers
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=5

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

#machine enabled if no estop loopback
#setp iocontrol.0.emc-enable-in 1

# --- add functions to servo-thread ---
addf lcec.read-all            servo-thread

# read from cia402 drivers (one per joint)
addf cia402.0.read-all        servo-thread
addf cia402.1.read-all        servo-thread
addf cia402.2.read-all        servo-thread
addf cia402.3.read-all        servo-thread
addf cia402.4.read-all        servo-thread

# motion stack
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread

# writes: cia402 then lcec
addf cia402.0.write-all       servo-thread
addf cia402.1.write-all       servo-thread
addf cia402.2.write-all       servo-thread
addf cia402.3.write-all       servo-thread
addf cia402.4.write-all       servo-thread
addf lcec.write-all           servo-thread


# =========================
# JOINT 0  (X)  -> cia402.0 -> lcec.0.4
# =========================
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 2000     # match SCALE in .ini; negate if direction reversed

# joint signals for motion
net x-pos-cmd   joint.0.motor-pos-cmd => cia402.0.pos-cmd
net x-pos-fb    joint.0.motor-pos-fb <= cia402.0.pos-fb
net x-enable    joint.0.amp-enable-out => cia402.0.enable
net x-amp-fault joint.0.amp-fault-in   <= cia402.0.drv-fault

# ethercat to cia402 driver
net x-statusword       lcec.0.4.cia-statusword  => cia402.0.statusword
net x-opmode-display   lcec.0.4.opmode-display  => cia402.0.opmode-display
net x-drv-act-pos      lcec.0.4.actual-position => cia402.0.drv-actual-position

# cia402 driver to ethercat
net x-controlword      cia402.0.controlword         => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode            => lcec.0.4.opmode
net x-drv-target-pos   cia402.0.drv-target-position => lcec.0.4.target-position

# homing (optional)
# net x-home-request joint.0.request-custom-homing => cia402.0.home
# net x-homing       joint.0.is-custom-homing <= cia402.0.stat-homing
# net x-homed        joint.0.custom-homing-finished <= cia402.0.stat-homed


# =========================
# JOINT 1  (Y1) -> cia402.1 -> lcec.0.2
# =========================
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
#setp cia402.1.abs-encoder 1

net y1-pos-cmd   joint.1.motor-pos-cmd => cia402.1.pos-cmd
net y1-pos-fb    joint.1.motor-pos-fb <= cia402.1.pos-fb
net y1-enable    joint.1.amp-enable-out => cia402.1.enable
net y1-amp-fault joint.1.amp-fault-in   <= cia402.1.drv-fault

net y1-statusword      lcec.0.2.cia-statusword  => cia402.1.statusword
net y1-opmode-display  lcec.0.2.opmode-display  => cia402.1.opmode-display
net y1-drv-act-pos     lcec.0.2.actual-position => cia402.1.drv-actual-position

net y1-controlword         cia402.1.controlword         => lcec.0.2.cia-controlword
net y1-modes-of-operation  cia402.1.opmode              => lcec.0.2.opmode
net y1-drv-target-pos      cia402.1.drv-target-position => lcec.0.2.target-position


# =========================
# JOINT 2  (Y2) -> cia402.2 -> lcec.0.3
# =========================
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 2000
#setp cia402.2.abs-encoder 1

net y2-pos-cmd   joint.2.motor-pos-cmd => cia402.2.pos-cmd
net y2-pos-fb    joint.2.motor-pos-fb <= cia402.2.pos-fb
net y2-enable    joint.2.amp-enable-out => cia402.2.enable
net y2-amp-fault joint.2.amp-fault-in   <= cia402.2.drv-fault

net y2-statusword      lcec.0.3.cia-statusword  => cia402.2.statusword
net y2-opmode-display  lcec.0.3.opmode-display  => cia402.2.opmode-display
net y2-drv-act-pos     lcec.0.3.actual-position => cia402.2.drv-actual-position

net y2-controlword         cia402.2.controlword         => lcec.0.3.cia-controlword
net y2-modes-of-operation  cia402.2.opmode              => lcec.0.3.opmode
net y2-drv-target-pos      cia402.2.drv-target-position => lcec.0.3.target-position


# =========================
# JOINT 3  (Z1) -> cia402.3 -> lcec.0.0
# =========================
setp cia402.3.csp-mode 1
setp cia402.3.pos-scale 2000
#setp cia402.3.abs-encoder 1

net z1-pos-cmd   joint.3.motor-pos-cmd => cia402.3.pos-cmd
net z1-pos-fb    joint.3.motor-pos-fb <= cia402.3.pos-fb
net z1-enable    joint.3.amp-enable-out => cia402.3.enable
net z1-amp-fault joint.3.amp-fault-in   <= cia402.3.drv-fault

net z1-statusword      lcec.0.0.cia-statusword  => cia402.3.statusword
net z1-opmode-display  lcec.0.0.opmode-display  => cia402.3.opmode-display
net z1-drv-act-pos     lcec.0.0.actual-position => cia402.3.drv-actual-position

net z1-controlword         cia402.3.controlword         => lcec.0.0.cia-controlword
net z1-modes-of-operation  cia402.3.opmode              => lcec.0.0.opmode
net z1-drv-target-pos      cia402.3.drv-target-position => lcec.0.0.target-position


# =========================
# JOINT 4  (Z2) -> cia402.4 -> lcec.0.1
# =========================
setp cia402.4.csp-mode 1
setp cia402.4.pos-scale 2000
#setp cia402.4.abs-encoder 1

net z2-pos-cmd   joint.4.motor-pos-cmd => cia402.4.pos-cmd
net z2-pos-fb    joint.4.motor-pos-fb <= cia402.4.pos-fb
net z2-enable    joint.4.amp-enable-out => cia402.4.enable
net z2-amp-fault joint.4.amp-fault-in   <= cia402.4.drv-fault

net z2-statusword      lcec.0.1.cia-statusword  => cia402.4.statusword
net z2-opmode-display  lcec.0.1.opmode-display  => cia402.4.opmode-display
net z2-drv-act-pos     lcec.0.1.actual-position => cia402.4.drv-actual-position

net z2-controlword         cia402.4.controlword         => lcec.0.1.cia-controlword
net z2-modes-of-operation  cia402.4.opmode              => lcec.0.1.opmode
net z2-drv-target-pos      cia402.4.drv-target-position => lcec.0.1.target-position


# End of HAL

ethercat-conf.xml

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <!-- Joint Z1 -->
    <slave idx="0" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Z2 -->
    <slave idx="1" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Y1 -->
    <slave idx="2" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Y2 -->
    <slave idx="3" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint X -->
    <slave idx="4" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>

I hope this can eventually help other people who want to use these drives.
Many thanks to all for your help.

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jc2ktr
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Premium Member

20 Oct 2025 10:31 - 20 Oct 2025 10:32 #336741 by jc2ktr

Replied by jc2ktr on topic Festo CMMT-ST

I´ve got one CMMT-ST drive too, and got it finally to move.
With a absolute Encoder you don´t need Movement for the drives.
If you have HOME_ABSOLUTE_ENCODER = 2 in your .ini file declared.

I could share my Config if needed.

Greetings Sven

Last edit: 20 Oct 2025 10:32 by jc2ktr. Reason: found typo

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lorenzing
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20 Oct 2025 20:03 - 21 Oct 2025 20:28 #336770 by lorenzing

Replied by lorenzing on topic Festo CMMT-ST

Many thanks Sven, probably I miss something in my config, maybe in the festo drive. Because when I launch linuxcnc the festo drives goes in error “EtherCAT process data invalid”. I’m not sure of the drive reference method on the festo side.
When I’m able I’ll upload my festo setup from the festo automation suite.
If it’s not a problem for you to share your setup it would be great.

Many thanks again, Lorenzo

Last edit: 21 Oct 2025 20:28 by lorenzing.

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jc2ktr
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Premium Member

22 Oct 2025 15:23 #336885 by jc2ktr

Replied by jc2ktr on topic Festo CMMT-ST

Sorry for the late Answer,

yes i had this Error in Festo Automation Suite too first. I don´t really know what i´ve done that it works now.

File Attachment:

File Name: cmmt.ini
File Size:2 KB

File Attachment:

File Name: EtherCAT_CMMT.hal
File Size:4 KB

File Attachment:

File Name: ethercat_CMMT.xml
File Size:2 KB

i put my working config in the Attachments.

The following user(s) said Thank You: lorenzing

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endian
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Elite Member

24 Oct 2025 03:40 #337019 by endian

Replied by endian on topic Festo CMMT-ST

hi there,

I think you have to check if drivers is running at FHPP or Cia402 protocol shape .. It is configurable and it should be hidden pain...

then you have to setup the SDOs and then PDOs for Cia402

If you are familiar with twincat 3 I can recommend it for you to jog motor from scratch... if it will jog over them just swap yout master to lcec

regards

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lorenzing
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26 Oct 2025 09:28 - 26 Oct 2025 09:39 #337183 by lorenzing

Replied by lorenzing on topic Festo CMMT-ST

Thank you all very much for the support. The drives use the CiA402 protocol, with the jc2ktr setup I was able to see the drives and I can perform jogging, but I don't understand why I see Z1 on joint 0, which should be X. And when I try to jog joint 1, joint 0 always moves. I definitely made a lot of confusion in the HAL file.

Last edit: 26 Oct 2025 09:39 by lorenzing.

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andypugh
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26 Oct 2025 17:40 #337229 by andypugh

Replied by andypugh on topic Festo CMMT-ST

Your kinematics setup seems to be wrong:

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

Should be 5 joints and probably XYYZZ

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lorenzing
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26 Oct 2025 18:04 #337232 by lorenzing

Replied by lorenzing on topic Festo CMMT-ST

Hi andypugh, jc2ktr shared his working setup, but here is mine:

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZZ kinstype=BOTH

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jc2ktr
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27 Oct 2025 18:34 #337304 by jc2ktr

Replied by jc2ktr on topic Festo CMMT-ST

lorenzing wrote:
Thank you all very much for the support. The drives use the CiA402 protocol, with the jc2ktr setup I was able to see the drives and I can perform jogging, but I don't understand why I see Z1 on joint 0, which should be X. And when I try to jog joint 1, joint 0 always moves. I definitely made a lot of confusion in the HAL file.

Maybe your Hardware (ethercat ports, or motorcables) are wired wrong, your halfile looks okay to me?
I´ve had at work that if you swap in and out of the Ethercat ports you get weird behavior on the EC-Bus.

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tommylight
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27 Oct 2025 19:19 #337307 by tommylight

Replied by tommylight on topic Festo CMMT-ST

cia402.4.xxxxx

That is in your hal file for the X axis, it should be

cia402.0.xxxxx

if you want X to be the first joint/axis.
Same for other joints and axis, and there are multiple instances for each joint to be changed.

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Festo CMMT-ST

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