Festo CMMB User Quick Manual

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Quick Guide Original instructions

Motor controller CMMB

Festo AG & Co. KG

Ruiter Straße 82 73734 Esslingen Germany +49 711 347-0 www.festo.com

8068721 2017-07a [8069599]

Front view of CMMB series motor controller

X1 Reserved connector

X2 Power & motor connector

X3 RS232 connector

X4 Multi function connector

X5 Encoder connector

1 Front panel 2 Ground 3 Charge lamp

L1C L2C

L1 L2

U V W

Motor

Power Cable

Motor Encoder Cable

Motor Brake Cable

RS232 Cable

Brake 24V

Power Supply

RB1

RB-

Braking Resistor

220VAC

Power Supply

Circuit Breaker

(MCCB)

Noise Filter

(NF)

Magnetic Contactor

(MC)

Fuse 1

Fuse 2

N L

Easy Use function

The Easy Use function helps users set up the CMMB motor controller for the main types of applications in a very short time. The LED panel guides the user step by step through the settings of the few most important parameters in order to prepare the controller for the desired application. The servo control loops of the motor controller are pre-congured to useful default settings which are adequate for many applications at as they are. A robust auto-tuning function can be used additionally to identify the applied mechanical system more precisely. After that, the user only needs to adjust the controller’s servo performance with the stiffness parameter.

Setup process with Easy Use function

The process for setting up the CMMB motor controller with the Easy Use function follows a simple procedure.

Step 1: The parameters of the EASY panel menu have to be accessed and

conrmed, or set one by one. The auto-recognized motor type can be conrmed, the control interface has to be selected, interface-related main

parameters have to be set and the mechanical and control application types must be chosen. Afterwards, these parameter have to be stored and the controller has to be rebooted. As a result of these settings, the

controller is congured for a suitable I/O setting and the servo control

loop parameters are set to matching defaults. The controller is ready for use for a wide range of standard applications and can be tested.

Step 2: If the servo control performance of the controller has to be further

improved, the tunE panel menu must be accessed. With the help of the functions in this menu, the controller can start an auto-tuning motor run in order to identify motor load conditions and measure load inertia. The controller detects the ratio of the load inertia relative to motor inertia and tunes the servo loops according to one single parameter, namely stiffness. Stiffness can be easily adjusted up or down in the tunE menu with the panel buttons. during the application can be test-run via the selected

command interface. After nding the best value for stiffness, the tunE parameters need to be stored and the controller is nally ready for use.

If adjustment of stiffness does not result in the required performance, the PC software “CMMB congurator” can be used to for further optimisation.

Safety and requirements for product use

Warning

Danger of electric shock

• If cables are not mounted to the plug (X2).

• If connecting cables are disconnected when energised. Touching live parts causes severe injuries and can lead to death. The product may only be operated in the installed state and when all safeguards have been initiated.

Before touching live parts during maintenance, repair and cleaning work and after been long service interruptions:

1. Switch off power to the electrical equipment via the mains switch and secure it against being switched on again.

2. After switching-off, allow to discharge for at least 5 minutes and check that power is turned off before accessing the controller. Make sure that the charge lamp on the front of the controller is off.

Warning

Danger of electric shock

Motor controllers are devices with increased leakage current (> 3.5 mA). If

wiring is incorrect or the device is defective, high voltage can occur on the housing, which can result in serious injury or even death if the housing is touched.

• Before commissioning, also for brief measuring and test purposes, con-

nect the PE protective conductor.

• Observe the regulations of EN 60204-1 for the protective earthing.

1 Pin 1 2 Pin 19

X4 – Multi-function connector

Pin 1 OUT1+ Pin 19 AIN1+

Pin 2 COMI Pin 20 OUT5

Pin 3 OUT1- Pin 21 AIN1-

Pin 4 DIN1 Pin 22 +5V

Pin 5 OUT2+ Pin 23 AIN2+

Pin 6 DIN2 Pin 24 GND

Pin 7 OUT2- Pin 25 AIN2-

Pin 8 DIN3 Pin 26 ENCO_Z

Pin 9 OUT3 Pin 27 MA+

Pin 10 DIN4 Pin 28 ENCO_/Z

Pin 11 OUT4 Pin 29 MA-

Pin 12 DIN5 Pin 30 ENCO_B

Pin 13 COMO Pin 31 MB+

Pin 14 DIN6 Pin 32 ENCO_/B

Pin 15 VDD Pin 33 MB-

Pin 16 DIN7 Pin 34 ENCO_A

Pin 17 VEE Pin 35 MZ+

Pin 18 MZ- Pin 36 ENCO_/A

X2 – Power connector

Pin 1 L1C Control power input L/N

Pin 2 L2C

Pin 3 L1 Drive power input L/N

Pin 4 L2

Pin 5 DC+

/RB1

DC+ DC bus+

RB1 External braking resistor input

Pin 6 RB2 Internal braking resistor input

Pin 7 RB- External braking resistor input

Pin 8 DC- DC bus-

Pin 9 U U/V/W phase power output for

servo motor

Pin 10 V

Pin 11 W

Short-circuit DC+ / RB1 and RB2 if choosing controller internal braking resistor (power: 10 W).

Wire cross section for all pins:

AWG 22 (0.32 mm²) to AWG 14 (2.1 mm²)

Pin 1

Warning

It is forbidden to use the internal braking resistor if average brake power is greater than 10 W.

Model Fuse 1 Fuse 2

CMMB-AS-01 1 A 3.5 A

CMMB-AS-02 1 A 3.5 A

CMMB-AS-04 1 A 7 A

CMMB-AS-07 1 A 15 A

4 5 5 6

2 3

3 4

1 2

The following gure shows the wiring of X4 with default IO function. More IO functions can be dened with the digital panel or PC software.

Digital

Input

Enable Reset Errors Start Homing P limit + P limit -

Home Signal Input Common

PUL+ / CW+ / A+

PUL- / CW- / A-

DIR+ / CCW+ / B+

DIR- / CCW- / B-

Z+

Z-

Impulse

Command

(<500k)

Digital Output

Ready

Motor Brake

Position Reached Zero Speed Error Output Common

OUT1+ OUT1OUT2+ OUT2OUT3 OUT4 OUT5 COMO

1 3 5 7

9 11 20 13

ENCO_A ENCO_/A ENCO_B ENCO_/B ENCO_Z ENCO_/Z

34 36 30 32 26 28

+5V GND

22 24

+5V

GND

VDD VEE

15 17

+24V

VEE

DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 COMI

4 6 8 10 12 14 16 2

MA+ MAMB+ MBMZ+ MZ-

27 29 31 33 35 18

Self-adapt

Internal 24V

Output

Internal 24V Output+ Internal 24V Output-

Internal 5V

Output

Internal 5V Output+ Internal 5V Output-

Encoder Output

Encoder Out A+ Encoder Out AEncoder Out B+ Encoder Out BEncoder Out Z+ Encoder Out Z-

Analog Speed Analog Torque Analog

Max.Torque

AIN1+ AIN1AIN2+ AIN2-

19 21 23 25

A/D

Electrical installation

Parameter description

Default I/O function

Pin connection

General information / Preparation

Note

For all available product documentation  www.festo.com/pk

Warning

Danger of electric shock

This product can cause a DC current in the protective ground conductor.

In cases where an error current protection unit (RCD) or an error current monitoring device (RCM) is used to protect against direct or indirect con-

tact, only the Type B kind of RCD or RCM is permitted on the power supply side of this product.

Intended use

The CMMB is intended for:

• Use in control cabinets for power supply to AC servo motors and their

regulation of torques (current), rotational speed and position.

The CMMB is intended for installation in machines or automated systems and may only be used:

• When in excellent technical condition

• In original status without unauthorised modications

• Within the limits of the product dened by the technical data

• In an industrial environment The product is intended for use in industrial areas. When used outside an industrial environment, e.g. in commercial and mixed residential areas, measures for radio interference suppression may be necessary.

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7 8

8 9

6 7

LED Display

Parameters Description Default

EA01 Motor Type For a new motor controller, the set motor type is “00”

and “3030” appears at the LED display. If the new

motor controller is connected to a valid motor, the

motor type is auto-recognized and stored. The motor type is auto-conrmed for the new motor controller.

The motor type stored in the controller and the

connected motor type are compared later on. If they are different, “FFFF” ashes at the LED display . The user needs to conrm the EA01 value or store motor

data and reboot the controller to eliminate this state.

EA02 Command Type The command type affects controller-internal interface

settings, the initial operating mode after power on and

the default settings for DIN- and OUT functions. 0: CW/CCW pulse train mode Operating mode = -4 1: P/D pulse train mode Operating mode = -4 2: A/B phase control master/slave mode Operating mode = -4 6: Analog speed mode by AIN1 Operating mode = -3 7: Analog speed mode by AIN2 Operating mode = -3

8: Communication

9: Position table mode Operating mode = 1

EA03 Gear Factor

Numerator

Used when EA02 is set to 0-2. By default, the display shows the values in decimal format. If the number is greater than 10,000, the display is in hexadecimal format. For gear factor 1 the pulse count of 65536

conforms to 1 revolution of the motor.

1000

EA04 Gear Factor

Denominator

1000

EA05 Analog Speed

Factor

Used when EA02 is set to 6 or 7.

The relationship between analog input voltage and

motor speed – the unit of measure is rpm/V.

Perhaps to set fail if the factor is too big when the encoder is with high resolution. For controller use with standard EMMB-AS motors, the maximum value is 374,

the maximum velocity is 3740 rpm/10 V.

300

EA06 The meaning of each digit of the LED display from right to left 1001

1. Load type

inuences the

control loop.

0: No load

1: Belt drive 2: Ball screw

2. Application,

inuences the

control loop.

0: P2P 1: CNC 2: Master/slave mode

3. Limit switch 0: Controller default

1: Delete the limit switch function

4. Alarm output polarity

Polarity of OUT5. OUT5 is default to Error 0: Normally closed contacts 1: Normally open contacts

EA07 Homing

method

For example 35: Homing to actual position. 0

EA00 Save

Parameters

Write "1" to save all parameters. Write "2" to save all parameters and restart the servo

(users must reboot the drive when changing the motor type).

Write "3" to reboot the servo.

Write "10" to initialize the parameters. Notice: After saving the parameters, the servo will

set the control loop according to the load type and application.

The tunE panel menu includes parameters and functions for auto-tuning with inertia measurement and servo control loop adjustment via just one parameter, namely stiffness.

After processing the EASY menu, the controller defaults the stiffness value and the inertia ratio based on reasonable estimated values accord-

ing to load type and application settings in EA06.

If the inertia ratio is known based on the machine’s mechanical system and the payload, the value can be entered directly in tn02 (see also table 4-4). The inertia ratio does not need to be 100% correct to achieve

reasonable servo performance by adjustment of stiffness alone. But the more accurate the inertia ratio, the better the tuning algorithm can match the different servo control loops to each other. That’s why it is highly advisable to obtain a precise inertia ratio result by means of inertia measurement.

The following owchart and table explain the procedure for settings in

the tunE menu in detail.

SET

▲

▼▲

▼

▲

▼

▲

Stiffness

Write “1”to start inertia ratio measuring

Measuring Distance,unit is 0.01 cycle

Inertia ratio, unit is 0.1

Write 1 to save all the parameters Write 2 to save all the parameters and restart servo

MODE

Circle

SET SET

Long Press MODE

▼

LED is blinking, Press MODE can shift. the parameters below display in the same way.

Confirm the parameter ,the first dot on the right will lighten. the parameters below display in the same way.

SET

SET SET

adjusted by “▼▲”level by level

and will be valid immediately

SET

Long Press MODE

Write automatically after inertia measuring. Or written by user. adjusted by “▼▲”level by level and will be valid immediately

The following owchart and table explain the procedure for settings in

the EASY menu in detail.

Command Type

Gear Factor Numerator

Gear Factor denominator

From right to left , each LED represent Load Type, Application, Limited Switch, Polar of Alarm Output, please refer to Talbe-2

Analog Speed Factor ,Unit is rpm/V

Write“1”to save all the parameters. Write“2”to save all the parameters and restart the servo Write “3” to reboot the servo Write “10” to initialize the parameters

Notice: Users MUST sav

e all parameters and reboot the

controller if changing the motor type

MODE MODE

SET

Motor Type

LED is blinking，Press MODE can shift，the parameters below display in the same way

SET

Long press MODE

SET

▲

▼

Circle

Homing Method

▲

▼

▲

▼

▲

▼

▲

▼

▲

▼

▲

▼

SET

Display an switch functions

EASY and TunE parameters

Flowchart and description of the tunE menu

Flowchart and description of the EASY menu

LED Display

Parameters Description Default

tn01 Stiffness Level of control stiffness from 0 to 31 determines the

bandwidth (BW) of the velocity loop and the position

loop. The larger the value, the greater the stiffness.

If this parameter is too large, gain will change

excessively and the machine will become unstable.

When setting tn01 via the up and down buttons on the

panel, entered values are valid immediately in order to ensure the input of small change steps.

Belt: 10 Screw: 13

tn02 Inertia_Ratio Ratio of total inertia and motor inertia (unit: 0.1), for

example 30 represents an inertia ratio of 3.

This value becomes defaulted by the EASY procedure and is measured by the inertia measuring function in

the tunE menu (tn03). When setting tn02 by the panel

up down buttons, the data will be valid immediately, to ensure the input of small change steps.

Belt:

Screw:

tn03 Tuning_

Method

Writing 1 starts auto-tuning inertia measurement. The controller is enabled and the motor executes an oscillating motion for less than 1s.

If tuning is successful, Tuning_Method indicates a

value of 1. The measured inertia is used to determine

the Inertia_Ratio. Stiffness is set to 4 to 12 depending

on the inertia ratio. The control loop parameters are

set according to Stiffness and Inertia_Ratio. If the inertia measurement fails, Tuning_Method

indicates the fail-reason:

0: The controller could not be enabled by any

reason.

-1: Inertia cannot be measured due to too little

motion or too little current.

-2: The measured inertia result is outside the valid range.

-3: The resulting Inertia_Ratio value is greater than 250 (inertia ratio > 25). This is a possible result,

but the control loop will not be tuned.

-4: The resulting Inertia_Ratio value is larger than 500 (inertia ratio > 50). This is an uncertain result.

In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in the case -3 Inertia_Ratio is set as measured, Stiffness is set to 7-10 In any fail case the control loop parameters are set to Inertia_Ratio of 30 and the set Stiffness values. To make the measured Inertia_Ratio of case -3 become effective, the value of tn02 must be conrmed by SET.

tn04 Safe_Dist Inertia measuring distance (unit: 0.01 rev), for example

22 represents 0.22 motor revolutions. The maximum is

0.4 revolutions.

tn00 Saving

parameters

Write "1" to save all parameters. Write "2" to save all parameters and restart the servo. Write "3" to reboot the servo.

Write "10" to initialize the parameters. Note: Users must save control and motor parameters

and reboot the controller when changing the motor type.

1 Dot 1

Item Function

Dot 1 N/A

Dot 2 N/A

Dot 3 When setting parameters: distinguishes between the data for the current object

group and the object address inside the group. When the internal 32 bit data

appears at the display, the display is showing the high 16 bit of the current 32 bit data. Indicates that the earliest error information in the error history is being displayed when the error history record in F007 appears at the display.

Dot 4 When setting parameters and displaying real-time data, indicates the format of

the data: HEX data when dot 4 is on and DEC data when dot 4 is off.

Indicates that the latest error information in the error history is being displayed when the error history record in F007 appears at the display.

Dot 5 Lights up to indicates that data has been successfully modied when setting

parameters. Lights up to indicate that internal data is being displayed when real-time data appears.

The controller’s power stage is operative when dot 5 ickers.

MODE Switch function menu

When setting parameters, press briey to switch the setting bit, press and hold to

return to the last menu.

▲

Increases the value.

▼

Reduces the value.

SET Enter menu.

Check the values of the parameters.

Conrm the setting to access the next step.

When the internal 32 bit data appears at the display, press and hold to switch

high / low 16 bit.

Overall ash

Error or warning status. Lit up for 1 s and dark for 1 s indicates a controller error.

Continuous ashing (3 consecutive rapid ashes) indicates that the controller is

in a warning state.

Panel menu structure and navigation

The following owchart shows the main structure of the panel. The user

can select single parameters, modify values and access special functions

using this ow. A list of all accessible parameters and values can be found

in chapter 9 in the manual.

Monitor State

SET

Switch on

Driver ID

MODE

SET

Parameter Display

Control Loop

Parameter of IO and Operation Mode

Motor Configuration

Driver Configuration

Error History

JOG Mode

SET

CPU Version

Note for F006: Press ▼ until 6.15 appears, and press ▲ until 6.25 appears. Press SET to enter the Jog mode and use ▲ and ▼ to rotate positive or negative. Jog speed can be set by F003 -> d3.52 in unit of RPM.