Festo CMMD-AS User Manual
Motor controller
Description
Fitting and
Installation
Typ CMMD-AS-...
Description
571 734
en 1002NH
[751 593]
Edition __________________________________________________ 1002NH en
Designation ____________________________________ P.BE-CMMD-AS-HW-EN
Order no. ___________________________________________________ 571 734
Festo AG & Co. KG, D-73726 Esslingen, 2010
Internet: 0Hhttp://www.festo.com
E-mail: service_international@festo.com
The copying, distribution and utilisation of this document as well as the communication
of its contents to others without expressed authorization is prohibited. Offenders will be
held liable for compensation of damages. All rights reserved, in particular the right to
register patents, utility patents or design patents.
Festo P.BE-CMMD-AS-HW-EN 1002NH 3
Index of revisions
Author:
Festo AG & Co. KG
Name of manual:
Festo P.BE-CMMD-AS-HW-DE 1002NH
File name:
File saved at:
Consec. no.
Description
Index of revisions
Date of amendment
001
Produced:
1002NH
Trademarks
Microsoft® Windows®, CANopen®, CiA® and PROFIBUS® are registered brands of the
respective trademark owners in certain countries.
4 Festo P.BE-CMMD-AS-HW-EN 1002NH
Contents
CONTENTS
1. General information .............................................................................................. 10
1.1 Documentation .................................................................................................... 10
1.2 Type code CMMD-AS-C8-3A ................................................................................. 10
1.3 Scope of delivery ................................................................................................. 11
2. Safety instructions for electric drives and controllers .......................................... 12
2.1 Icons used ........................................................................................................... 12
2.2 General Information ............................................................................................ 13
2.3 Hazards due to improper use .............................................................................. 14
2.4 Safety instructions .............................................................................................. 15
2.4.1 General safety information .................................................................. 15
2.4.2 Safety instructions for assembly and maintenance .............................. 17
2.4.3 Protection aganst touching electric components ................................. 18
2.4.4 Protection by low voltage (PELV) against electric shock ...................... 20
2.4.5 Protection against dangerous movements ........................................... 20
2.4.6 Protection aganst touching hot components ....................................... 21
2.4.7 Protection when handling and assembling .......................................... 22
3. Product description ............................................................................................... 23
3.1 General information............................................................................................. 23
3.2 Device description ............................................................................................... 23
3.3 Bus connection .................................................................................................... 24
3.4 Performance characteristics ................................................................................ 24
3.5 Interfaces ............................................................................................................ 27
3.5.1 Overview of the setpoint value interfaces ............................................ 27
3.5.2 Analogue setpoint specification ........................................................... 28
3.5.3 Interfaces for direct synchronous operation ........................................ 28
3.5.4 I/O functions and device control .......................................................... 34
3.5.5 RS232 interface (diagnosis/ parametrisation interface) ...................... 35
3.5.6 Control via RS485 ................................................................................ 40
3.5.7 Multi-firmware strategy ....................................................................... 42
3.5.8 Motor feedback .................................................................................... 42
3.5.9 Brake chopper (Brake control) ............................................................. 42
3.5.10 Feedback from motor (angle encoder) ................................................. 42
Festo P.BE-CMMD-AS-HW-EN 1002NH 5
Contents
3.5.11 Control interface [X1] ........................................................................... 43
3.5.12 Increment generator interface [X10] ..................................................... 44
3.5.13 SD card holder [M1] ............................................................................. 44
3.5.14 SD memory card .................................................................................. 44
3.6 Field bus interface ............................................................................................... 45
3.6.1 FHPP (Festo Handling and Positioning Profile) ..................................... 46
3.6.2 CAN bus ............................................................................................... 47
3.6.3 PROFIBUS ............................................................................................ 48
3.6.4 DeviceNet ............................................................................................ 48
3.7 Function overview ............................................................................................... 49
3.7.1 Operating modes ................................................................................. 49
3.7.2 Setpoint value processing ................................................................... 50
3.7.3 I²t function ........................................................................................... 51
3.7.4 Positioning controller ........................................................................... 51
3.7.5 Homing ................................................................................................ 53
3.7.6 Trajectory generator ............................................................................ 57
3.7.7 I/O sequence control ........................................................................... 58
3.7.8 Safety functions, error messages ......................................................... 60
3.7.9 Behaviour when switching off enable .................................................. 60
3.7.10 Oscilloscope function .......................................................................... 62
3.7.11 Jog and teach function I/O ................................................................... 63
3.7.12 Position record linking with positioning/
torque control switching ...................................................................... 68
3.7.13 On-the-fly measurement ...................................................................... 74
3.7.14 Endless positioning .............................................................................. 74
3.7.15 Relative positioning records ................................................................ 76
3.7.16 Adjustment to the axis and motor construction set.............................. 76
4. Functional safety engineering .............................................................................. 77
4.1 General information and intended use ................................................................ 77
4.2 Integrated function "Safe Torque Off" (STO)....................................................... 80
4.2.1 General remarks/description "Safe Torque Off" (STO) ........................ 80
4.2.2 Timing diagram, STO ............................................................................ 81
4.2.3 Switching example STO ....................................................................... 83
4.2.4 EMERGENCY STOP request, monitoring of protective door .................. 85
4.2.5 Testing the safety function STO ........................................................... 86
6 Festo P.BE-CMMD-AS-HW-EN 1002NH
Contents
4.3 Integrated function "Safe Stop 1" (SS1) ............................................................. 87
4.3.1 General remarks/description "Safe Stop 1" SS1 ................................. 87
4.3.2 Timing diagram, SS1 ............................................................................ 88
4.3.3 Activation of SS1.................................................................................. 90
4.3.4 Setting the switch-off delay ................................................................. 90
4.3.5 Parameterization example FCT ............................................................. 91
4.3.6 Sample circuit SS1 ............................................................................... 92
4.3.7 EMERGENCY STOP request, monitoring of protective door .................. 94
4.3.8 Restoration of normal operation .......................................................... 95
4.3.9 Testing the safety function................................................................... 95
4.3.10 Determination of the brake time .......................................................... 95
4.3.11 Setting the delay time .......................................................................... 96
5. Mechanical installation ........................................................................................ 97
5.1 Important instructions ......................................................................................... 97
5.2 Mounting ............................................................................................................. 98
6. Electrical installation .......................................................................................... 100
6.1 Device view ....................................................................................................... 100
6.2 Interfaces .......................................................................................................... 102
6.3 Entire system CMMD-AS .................................................................................... 103
6.4 Interfaces and plug assignments ....................................................................... 105
6.4.1 I/O interface [X1.1/2] ......................................................................... 105
6.4.2 Shaft encoder motor – EnDat 2.1 and 2.2 [X2.1/2] ............................. 108
6.4.3 Safe stop [X3.1/2] .............................................................................. 109
6.4.4 Field bus CAN [X4] .............................................................................. 109
6.4.5 RS232/RS485 [X5] ............................................................................. 109
6.4.6 Motor connection [X6.1/2]: ................................................................ 110
6.4.7 Power supply [X9] .............................................................................. 110
6.4.8 Synchronisation control [X10.1/2] ..................................................... 111
6.4.9 SD card [M1] ...................................................................................... 111
6.4.10 Field bus settings and boot loader ..................................................... 112
Festo P.BE-CMMD-AS-HW-EN 1002NH 7
Contents
6.5 Instructions on safe and EMC-compliant installation ......................................... 113
6.5.1 Explanations and terms ..................................................................... 113
6.5.2 Connection instructions ..................................................................... 113
6.5.3 General information on EMC .............................................................. 113
6.5.4 EMC areas: second environment ........................................................ 114
6.5.5 EMC-compliant wiring ........................................................................ 114
6.5.6 Operation with long motor cables ...................................................... 115
6.5.7 ESD protection ................................................................................... 115
7. Preparations for commissioning ......................................................................... 116
7.1 General connection instructions ........................................................................ 116
7.2 Tools / material ................................................................................................. 116
7.3 Connect the motor to the motor controller ........................................................ 116
7.4 Connecting motor controller to the power supply .............................................. 117
7.5 Connecting a PC ................................................................................................. 117
7.6 Checking readiness for operation ...................................................................... 117
7.7 Timing diagram switch-on sequence ................................................................. 118
8. Service functions and error messages ................................................................ 119
8.1 Protective and service functions ........................................................................ 119
8.1.1 Overview ............................................................................................ 119
8.1.2 Temperatur monitoring for motor and power section,
shaft encoder monitoring ................................................................... 119
8.1.3 Short-circuit monitoring of the output stage/overload current
and short-circuit monitoring .............................................................. 119
8.1.4 Voltage monitoring for the intermediate circuit ................................. 120
8.1.5 I²t monitoring ..................................................................................... 120
8.1.6 Temperature monitoring for the heat sink ......................................... 120
8.1.7 Power monitoring for the brake chopper ........................................... 120
8.2 Operating mode and error messages ................................................................ 121
8.2.1 Operating mode and error display ..................................................... 121
8.2.2 Error messages .................................................................................. 121
A. Technical data ..................................................................................................... 125
A.1 General .............................................................................................................. 125
A.2 Operation and display components ................................................................... 126
A.2.1 Status display .................................................................................... 126
A.2.2 Control elements ............................................................................... 126
8 Festo P.BE-CMMD-AS-HW-EN 1002NH
Contents
A.3 Interfaces .......................................................................................................... 127
A.3.1 I/O interface [X1.1/2] ......................................................................... 127
A.3.2 Shaft encoder motor [X2.1/2] ............................................................ 128
A.3.3 CAN bus [X4] ...................................................................................... 128
A.3.4 RS232/RS485 [X5] ............................................................................. 128
A.3.5 Motor connection [X6.1/2] ................................................................. 129
A.3.6 Power supply [X9] .............................................................................. 130
A.3.7 Increment generator interface [X10.1/2] ............................................ 130
B. Index ................................................................................................................... 131
Festo P.BE-CMMD-AS-HW-EN 1002NH 9
1. General information
CMM
— D —
AS — C8 — 3A
Series
CMM
Motor controller
Version
D
Dual converter
Motor technology
AS
AC-Servo
Rated motor current
C8
8 O
Input voltage
3A
230 V AC power section
1. General information
1.1 Documentation
This product manual is intended to help you safely work with the servo motor controller of
the CMMD-AS series. It contains safety instructions which must be followed.
This document provides information on:
- mechanical mounting
- electrical installation
See the following manuals on the CMMS product family for further information:
- and an overview of the range of functions.
- CANopen manual "P.BE-CMMS-CO-…":
Description of the implemented CANopen protocol as per DSP402.
- PROFIBUS manual "P.BE-CMMS-FHPP-PB-…":
Description of the implemented PROFIBUS-DP protocol.
- DeviceNet manual "P.BE-CMMS-FHPP-DN-…":
Description of the implemented DeviceNet protocol.
- FHPP manual "P.BE-CMM-FHPP-…":
Description of the implemented Festo profiles for handling and positioning.
1.2 Type code CMMD-AS-C8-3A
Motor controller for servo motors, 8 A nominal current, 230 V AC
10 Festo P.BE-CMMD-AS-HW-EN 1002NH
1. General information
Number
Delivery
1
Servo motor controller CMMD-AS-C8-3A
1
CD (parametrisation software, documentation, S7 module, GSD, EDS, firmware)
1
Plug range
1.3 Scope of delivery
The delivery includes:
Table 1.1 Scope of delivery
Festo P.BE-CMMD-AS-HW-EN 1002NH 11
2. Safety instructions for electric drives and controllers
Information
Note
Important information and remarks.
Caution
Failure to comply can result in severe property damage.
Warning
Failure to comply can result in property damage and personal
injury.
Warning
DANGER!
Considerable property damage and personal injury can occur if
these instructions are not observed.
Warning
Dangerous voltage
The safety instructions contain reference to dangerous voltages
which may occur.
Accessories
Environment
2. Safety instructions for electric drives and
controllers
2.1 Icons used
12 Festo P.BE-CMMD-AS-HW-EN 1002NH
2. Safety instructions for electric drives and controllers
Note
Prior to commissioning, read through the "211HSafety instructions for
electric drives and controllers" (starting on page 212H12) and the
chapter 213H6.5 214H"Instructions on safe and EMC-compliant installation"
(page 215H113).
Note
Only trained and qualified personnel should be allowed to handle
the electric systems.
These safety instructions must be observed at all times.
Do not try to install or commission the motor controller before
you have carefully read through all safety instructions for
electric drives and controllers in this documentation.
You must read through these safety instructions and all other user
instructions before working with the motor controller.
2.2 General Information
Festo AG & Co.KG is not liable for damage caused by failure to observe the warning
instructions in these operating instructions.
If the documentation in the language in question cannot be understood fully, please
contact your vendor and inform them.
Proper and safe operation of the motor controller requires correct transport, storage,
mounting and installation as well as project planning that takes into account the risks,
protection and emergency measures, as well as careful operation and maintenance.
Trained and qualified personnel
For the purpose of this manual and the warning instructions on the product itself,
technicians working with this product must be adequately familiar with the erection,
mounting, setting-up and operation of the product as well as with all warnings and
precautionary measures in accordance with the operating instructions in this product
manual, and must be sufficiently qualified for this task:
- Training and instructions on or authorization to switch on and switch off
devices/systems in accordance with technical safety standards, and to earth
and mark them appropriately in accordance with the application requirements.
- Training or instructions in using and maintaining suitable safety equipment in
accordance with technical safety standards.
- Training in first aid.
The following instructions must be read before the system is commissioned for the first
time to prevent injury and/or material damage:
Festo P.BE-CMMD-AS-HW-EN 1002NH 13
2. Safety instructions for electric drives and controllers
If you do not have any user instructions for the motor controller,
please contact your relevant sales representative.
Ask them to send the documents to the person responsible for
safe operation of the stepping motor controller immediately.
If the motor controller is sold, rented and/or passed on in any other
way, these safety instructions must also be passed on with it.
For safety and guarantee reasons it is not permitted for the motor
controller to be opened by the user.
Correct project planning is required for the motor controller to
function properly.
Warning
DANGER!
Incorrect handling of the motor controller and failure to observe the
specified warning instructions as well as incorrect manipulation of
the safety devices can lead to damage to property, bodily injury,
electric shock or in extreme cases death.
Warning
DANGER!
High electric voltage and high working current!
Danger of death or serious bodily injury due to electric shock!
Warning
DANGER!
High electric voltage due to incorrect connection!
Danger of death or bodily injury due to electric shock!
Warning
DANGER!
Surfaces of the device housing may be hot!
Danger of injury! Danger of burning!
2.3 Hazards due to improper use
14 Festo P.BE-CMMD-AS-HW-EN 1002NH
2. Safety instructions for electric drives and controllers
Warning
DANGER!
Dangerous movements!
Danger of death, serious bodily injury or damage to property due to
unintentional movement of the motors!
Warning
The motor controller corresponds to protection class IP20 as well
as degree of contamination 2.
The environment must conform to this protection class or the
degree of contamination (see chapter 5.1).
Warning
Use only accessories and spare parts which are approved of by
the manufacturer.
Warning
The motor controllers must be connected to the mains network
in accordance with EN standards and VDE or appropriate
national regulations, so that they can be disconnected with
suitable de-energising devices (e.g. power switch, fuse, circuit
breaker).
Warning
For switching the control contacts, gold contacts or contacts with
high contact pressure should be used.
Precautionary measures must be taken for preventing interference
to switching systems, e.g. wiring fuses and relays with RC elements
or diodes.
You must observe the safety regulations and directives of the
country in which the device is to be used.
2.4 Safety instructions
2.4.1 General safety information
Festo P.BE-CMMD-AS-HW-EN 1002NH 15
2. Safety instructions for electric drives and controllers
Warning
The environmental conditions specified in the product
documentation must be observed.
Safety-critical applications are not permitted if they are not
explicitly approved by the manufacturer.
For instructions on safe and EMC-compliant installation,
see chapter 216H6.5 "Instructions on safe and EMC-compliant
installation" (page 218H113).
The manufacturer of the system or machine is responsible for
ensuring that the limit values required by the national regulations
are observed.
Warning
The technical data and connection and installation conditions for
the motor controller must be taken from this product manual and
complied with.
Warning
DANGER!
The general installation and safety regulations for working on
high-voltage systems (e.g. DIN, VDE, EN, IEC or other national
and international regulations) must be observed.
Failure to observe these regulations can lead to bodily injury, death
or considerable damage to property.
The following precautionary measures also apply without claim to
completeness:
VDE 0100
Regulations for setting up high-voltage systems
up to 1,000 volts
EN 60204-1
Electrical equipment for machines
EN 50178
Equipping high-voltage systems with electronic
devices
EN ISO 12100
Safety of machines – basic concepts,
general guidelines
EN ISO 14121-1
Safety of machines – guidelines for risk
evaluation
EN 1037
Safety of machines – avoiding unintentional
starting up
EN ISO 13849-1
Safety-related parts of controllers
16 Festo P.BE-CMMD-AS-HW-EN 1002NH
2. Safety instructions for electric drives and controllers
Warning
The motor controller may only be operated, maintained and/or
serviced by persons qualified and trained to work on or with
electrical devices.
Warning
The series-supplied motor holding brake or an external motorholding brake controlled by the drive controller alone is not
suitable for protecting human beings.
Vertical axes must be additionally secured against falling or
sliding down when the motor is switched off with, for example,
- mechanical locking of the vertical axis,
- external braking, safety catch or clamping devices or
- sufficient weight compensation of the axis.
Warning
The internal brake resistance can cause dangerous intermediate
circuit voltage during operation and up to several minutes after the
motor controller is switched off. If touched, this can lead to fatal or
serious injuries.
Before carrying out maintenance work, make sure that the
power supply is switched off and locked and that the
intermediate circuit is discharged.
Switch off power to the electrical equipment and secure it
against being switched on again. Wait until the intermediate
circuit is discharged in the case of:
- maintenance and repair
- cleaning
- long service interruptions.
Warning
Proceed carefully with mounting. Make sure that , during mounting
as well as later during the operation of the drive, no drilling
shavings, metal dust or mounting parts (screws, nuts, pieces of
wire) can fall into the motor controller.
Ensure that the external power supply of the controller (mains
voltage 230 V) is switched off.
2.4.2 Safety instructions for assembly and maintenance
For assembling and maintaining the system, the relevant DIN,
VDE, EN and IEC regulations as well as all national and local safety and accident
prevention regulations must always be observed. The system manufacturer or the user is
responsible for ensuring that these regulations are observed.
Avoiding accidents, bodily injury and/or material damage:
Festo P.BE-CMMD-AS-HW-EN 1002NH 17
2. Safety instructions for electric drives and controllers
The intermediate circuit or the 230 V mains voltage must always be
switched off before the 24 V logic power supply is switched off.
Warning
Work in the vicinity of the machine must only be carried out
when the AC or DC power supply is switched off and locked.
Switched-off final stage or switched-off controller enable are not
suitable locking conditions. In the event of a fault, this could lead
to unintentional movement of the drive.
Warning
Carry out commissioning with a free-running motor in order to
avoid mechanical damage, e.g. due to incorrect direction of
rotation.
Warning
Electronic devices are never fail-proof.
The user is responsible for ensuring that his system is brought into
a safe state if the electric device fails.
Warning
DANGER!
The motor controller and, in particular, the brake resistance can
take on high temperatures, which can cause severe bodily burns on
contact.
Warning
Dangerous voltage
High voltage!
Danger of death or serious bodily injury due to electric shock!
2.4.3 Protection aganst touching electric components
This section concerns only devices and drive components with voltages over 50 V. It is
dangerous to touch components with voltages of more than 50 V, as this can cause an
electric shock. When electric devices are operated, certain components in these devices
are always under dangerous tension.
For operation, the relevant DIN, VDE, EN und IEC regulations, as well as all national and
local safety and accident prevention regulations must always be observed. The system
manufacturer or the user is responsible for ensuring that these regulations are observed.
18 Festo P.BE-CMMD-AS-HW-EN 1002NH
2. Safety instructions for electric drives and controllers
Warning
Before switching the device on, attach the intended covers and
protective screens so that the device cannot be touched.
For built-in devices, make sure that there is an external housing,
such as a control cabinet, to ensure that the electric components
cannot be touched.
The standards EN 60204-1 and EN 50178 must be observed.
Warning
Ensure that the minimum copper cross section is used for the entire
length of the protective earth conductor in accordance with
standard EN 60204.
Warning
Before commissioning, also for brief measuring and test
purposes, always connect the protective conductor to all
electric devices or connect to an earth cable in accordance with
the connection diagram.
Otherwise, high voltages may occur on the housing. These could
cause an electric shock.
Warning
Do not touch the electrical connection points of the components
when the device is switched on.
Warning
Before touching electric components with voltages over 50 V,
disconnect the device from the mains or voltage source.
Protect the device against being switched on again.
Warning
During installation note the amount of intermediate circuit
voltage, especially with regard to insulation and protective
measures.
Make sure that the earthing, the cross section size of the conductor
and the corresponding short-circuit protection are correct.
Festo P.BE-CMMD-AS-HW-EN 1002NH 19
2. Safety instructions for electric drives and controllers
Standards
- International: IEC 60364-4-41
- European: EN 50178
Warning
DANGER!
High electric voltage due to incorrect connection!
Mortal danger, danger of injury from electric shock.
Causes
- Unsafe or faulty circuitry or cabling
- Faults in operating the components
- Faults in the measured value and signal generators
- Faults or non-EMC-compliant components
- Errors in the software in the higher-order control system
2.4.4 Protection by low voltage (PELV) against electric shock
Voltages from 5 to 50 V on the connections and terminals of the motor controller are
protective small voltages which can be touched without danger in accordance with the
following standards:
Devices, electrical components and cables may only be connected to connections and
terminals from 0 to 50 V, providing they have protective low voltage (PELV = Protective
Extra Low Voltage).
Connect only voltages and current circuits which have reliable separation of dangerous
voltages. Such separation is achieved e.g. with isolating transformers, reliable
optocouplers or battery operation separate from the mains network.
2.4.5 Protection against dangerous movements
During startup, the safety functions used, e.g. "Safe halt", must be checked for proper
functioning.
The user shall establish a regular inspection of the safety function.
Dangerous movements can be caused by incorrect control of connected motors. There are
various causes:
These faults can occur immediately after the device is switched on or after an uncertain
period of operation.
The monitoring functions in the drive components exclude to a large extent the possibility
of incorrect operation of the connected drives. WIth regard to the protection of people,
especially the danger of bodily injury and/or material damage, one must not rely on these
circumstances alone. Until the installed monitoring functions become effective, you must
reckon with at least one faulty drive movement, the extent of which depends on the type
of control and on the operating state.
20 Festo P.BE-CMMD-AS-HW-EN 1002NH
2. Safety instructions for electric drives and controllers
Warning
DANGER!
Dangerous movements!
Danger of injury or death, serious bodily injury or material damage.
Warning
DANGER!
Surfaces of the device housing may be hot (up to approx. 85 °C,
see chapter 8)!
Danger of injury! Danger of burning!
Warning
Danger of burning!
Do not touch the surface of the housing in the vicinity of heat
sources.
After switching devices off, leave them for 10 minutes to cool
down before touching them.
If you touch hot parts of the device such as the housing, which
contains the heat sink and resistors, you may burn yourself.
For the above-mentioned reasons, the protection of human beings must be ensured with
the aid of monitoring systems or by measures which are of higher order than the system.
These measures are foreseen depending on the specific features of a danger and error
analysis by the system manufacturer. The safety regulations applicable to the system
must be observed here as well. Undesired movements of the machine or other incorrect
functions can occur as a result of switching off, avoiding or failing to activate safety
devices.
2.4.6 Protection aganst touching hot components
Festo P.BE-CMMD-AS-HW-EN 1002NH 21
2. Safety instructions for electric drives and controllers
Warning
DANGER!
Danger of injury as a result of incorrect handling
Bodily injury caused by squeezing, cutting, impact!
Warning
Observe the general regulations on setting up and safety when
handling and mounting.
Use suitable mounting and transport devices.
Take suitable measures to prevent clamping and squashing
of fingers.
Use only suitable tools. If specified, use special tools.
Use lifting devices and tools in a correct manner.
If necessary, use suitable protective equipment
(e.g. protective glasses, safety shoes, safety gloves).
Do not stand under hanging loads.
Wipe up spilled liquids on the floor to avoid slipping.
2.4.7 Protection when handling and assembling
Handling and assembling certain components in an unsuitable manner can cause injury
under unfavourable circumstances.
The following safety measures apply here:
22 Festo P.BE-CMMD-AS-HW-EN 1002NH
3. Product description
3. Product description
3.1 General information
The CMMD-AS series of servo positioning controllers are intelligent AC servo dual
converters with extensive parametrisation possibilities and expansion options. This allows
flexible use in a wide range of different applications.
The servo positioning controller CMMD-AS is intended for operation of the EMMS-AS
motor series with digital absolute angle encoders in single-turn and multi-turn design.
Point-to-point positioning or master-slave applications are easily possible as is multipleaxis synchronised path drive. With a higher-level multiple axis controller, communication
can take place via the integrated CAN interface.
The parametrisation tool FCT (Festo Configuration Tool) makes possible simple operation
and startup of the servo positioning controller. Graphic depictions and pictograms make
intuitive parameterization possible.
3.2 Device description
With the CMMD-AS double position controller, two almost identically constructed CMMSAS boards, each containing a DSP Motion Control, are installed next to each other in a
housing. Since the two boards in the CMMD-AS share some interfaces, the second board
is equipped only partially.
There are some connections between the boards in the CMMD-AS to exchange power
between the two boards and also permit communication between the axis controllers.
Both axes use both the same mains connection and the same 24V connection. These
connections are connected in the device.
The intermediate circuits are connected internally.
The braking resistors are wired parallel internally so that double sustained brake
performance is available.
A very fast serial synchronous interface (SSIO) is implemented between axis 1 (master)
and axis 2 (slave). The master passes on fieldbus telegrams meant for the slave over
this interface.
Communication through the RS232/RS485 interface runs over axis 1 (master).
It converts telegrams for axis 2 (slave) to corresponding SSIO telegrams.
Axis 1 (master) can reset (RESET) axis 2 (slave).
The SD card is also addressed via the SSIO interface.
For firmware download, the boot program of axis 1 (master) first accesses the SD card;
axis 2 (slave) is held by axis 1 (master) in RESET for so long. After that, axis 1 (master)
frees the SSIO so that axis 2 (slave) can also read firmware from the SD card.
After the start of the application, access to the SD card and data exchange between
axis 1 (master) and axis 2 (slave) are synchronised. Two additional pilot lines are
available between axis 1 (master) can axis 2 (slave) for this purpose.
Telegram exchange between axis 1 (master) and axis 2 (slave) takes place is
a synchronised way and at a fixed time interval.
Axis 1 (master) and axis 2 (slave) use the same firmware.
Festo P.BE-CMMD-AS-HW-EN 1002NH 23
3. Product description
Note
For DeviceNet and PROFIBUS, the fieldbus data for axis 2 are read
from axis 1, passed on to axis 2 and evaluated there. The answer is
returned to axis 1 with the next communication task (every 1.6 ms)
at the earliest. Only then can the answer be returned over the
fieldbus.
This means that the processing time of the fieldbus protocols –
depending on the fieldbus – can be twice as long as with the
CMMS-AS.
Example:
Processing time for 8 bytes of control data + 8 bytes of parameter
data = 16 bytes of data per axis and data direction.
CMMS-AS 1.6 ms
CMMD-AS 2 x 1.6 ms = 3.2 ms
3.3 Bus connection
Both axes are controlled over a shared fieldbus interface. If a bus connection is activated,
this control interface always applies for both axes.
With CAN and RS485, the second axis gets the address of the first axis +1
Node number
Bus modules (PROFIBUS or DeviceNet) must be plugged into the extension slot [Ext1].
The bus modules are automatically recognised when the controller is switched on.
For PROFIBUS and DeviceNet, only the bus address specified on the DIP switches is
assigned; the data for two controllers are send in a shared telegram.
= node number
Slave
Master
+1
3.4 Performance characteristics
Flexible power management
The nominal current of both axes together is 8 A. These 8 A can be distributed flexibly
between axes 1 and 2. The maximum nominal current for axis 1 is thereby 7 A.
With a distribution of 7 A : 1 A for axes 1/2, the specified total rated output of the
double output stage in S1 operation must be reduced. An increase in the maximum
nominal current is permissible only for axis 1 due to the cooling profile.
The maximum peak current per axis is 10 A. Unlike the nominal current, a distribution
of the maximum peak current is not possible.
The motor nominal and peak currents are set fixed in the FCT user software.
An increase in the motor nominal current can result in impermissible temperature
rises.
24 Festo P.BE-CMMD-AS-HW-EN 1002NH
3. Product description
Compactness
Smallest dimensions
Can be connected directly to each other in series
Full integration of all components for motor controller and power section, including
RS232 and CANopen interface
Integrated brake chopper
Integrated EMC filters
Automatic actuation for a holding brake integrated in the motor
Adheres to the current CE and EN standards without additional external measures
(motor cable length of up to 15 m)
Encoder interface
High-resolution Heidenhain increment generator, absolute encoder (multiturn and
singleturn) with EnDat.
Input / Output
Freely programmable I/Os
High-resolution 12-bit analogue input
Jog/Teach operation
Simple coupling to a higher-level controller via I/O
Synchronous operation
Master/slave operation
Extension and field bus module
PROFIBUS DP
DeviceNet
Integrated CANopen interface
Open interface in accordance with CANopen
Festo Handling and Positioning Profile (FHPP)
Protocol in accordance with the CANopen standards DS 301 and DSP 402
Contains "Interpolated position mode" for multiple-axis applications
Motion control
Can be operated as a torque, speed or position controller
Integrated positioning controller
Time-optimised (trapezoidal) or jerk-free (S-shaped) positioning
Absolute and relative movements
Point-to-point positioning with and without smooth transitions
Position synchronisation
Electronic gear unit
2 x 64 position sets (position sets 0 ... 63, whereby position set 0 is reserved for
homing)
Festo P.BE-CMMD-AS-HW-EN 1002NH 25
3. Product description
Integrated sequence control
Automatic sequence of position sets without a higher-level controller
Linear and cyclic position sequences
Adjustable delay times
Branches and wait positions
Definable stop positions for uncritical standstill points
Integrated safety functions in accordance with EN ISO 13849-1 safety category 3 in the basic unit (see chapter 4)
Integrated "Safe halt" in accordance with EN 13849-1 safety category 3 in the
basic unit
Protection against unexpected start-up
Two-channel disconnection of the output stage
Certification of BG (in preparation)
Less external circuitry
Shorter response times in the event of an error
Faster restart, intermediate circuit remains charged
Interpolating multi-axis movement
With a suitable controller, the CMMD-AS can perform path movements with interpolation
via CANopen.
To do this, position setpoints are specified by the controller in a fixed time slot pattern.
In between, the servo positioning controller independently interpolates the data values
between two support points.
Parametrisation program "Festo Configuration Tool FCT"
Simplest start-up and diagnosis
Confiuration of motor controller, motor and axis
Automatic adjustment of all controller parameters with use of Festo Mechanics
2-channel oscilloscope function
English and German
26 Festo P.BE-CMMD-AS-HW-EN 1002NH
3. Product description
Note
If the following does not differentiate between axis 1 and axis 2,
the statements apply automatically for both axes.
For example, [X1] stands for both [X1.1] and [X1.2].
Interface
Setpoint specification via
Function
Operating mode
Reference
Analogue
inputs
[X1.1] (+ 10 V, axis 1)
[X1.2] (+ 10 V, axis 2)
Analogue setpoint
specification with 12-bit
resolution
Regulating torque
Speed control
Chapter
3.5.2
(page 28)
Pulse/dire
ction
interface
[X1.1] (24 V, axis 1)
[X1.2] (24 V, axis 2)
or
[X10.1] (5 V, axis 1)
[X10.2] (5 V, axis 2)
CW/CCW
(pulse CW / pulse CCW)
CLK / DIR
(Pulse/Direction)
Synchronisation
Chapter
3.5.3
(page 28)
A/B track
signals
[X10.1] (5 V RS422, axis 1)
[X10.2] (5 V RS422, axis 1)
Encoder
- Input (slave)
- Emulation (master)
Synchronisation
Chapter
3.5.3
(page 28)
Digital
inputs/out
puts
[X1.1] (24 V DC, axis 1)
[X1.1] (24 V DC, axis 2)
Record selection
Jog/Teach operation
Linked position records
Start and stop functions
Positioning controller
Chapter
3.5.4
(page 34)
RS485
[X5]
Record selection
Linked position records
Start and stop functions
Homing
Regulating torque
Speed control
Positioning controller
Chapter
3.5.6
(page 40)
CANopen
field bus
[X4] (CAN)
Direct mode
Homing
Jog mode
Record selection
Interpolated Position
Mode
Regulating torque
Speed control
Position control
Positioning controller
Chapter
3.6.1
(page 46)
3.5 Interfaces
3.5.1 Overview of the setpoint value interfaces
Table 3.1 Setpoint value interfaces
Festo P.BE-CMMD-AS-HW-EN 1002NH 27
3. Product description
The connection plan shows the switch position in the active operating state.
*) The limit switches are set by default to opener (configuration over FCT)
3.5.2 Analogue setpoint specification
The analogue setpoint specification +/- 10V DC can be configured as
- speed setpoint value
- torque setpoint value.
Required activation with analogue setpoint specification
14533d_1
3.5.3 Interfaces for direct synchronous operation
The motor controller permits a master-slave operation, which hereafter is designated
synchronisation. The controller can function either as a master or slave.
If the motor controller works as master, it can provide (RS422) A/B signals to the
increment generator output (X10).
When the motor controller is to operate as a slave, various inputs and signal forms are
available for synchronisation.
[X10] (5 V RS422) A/B, CW/CCW, CLK/DIR
[X1] (24 V) CW/CCW, CLK/DIR)
28 Festo P.BE-CMMD-AS-HW-EN 1002NH
3. Product description
Note
5 V DC Pulse-direction signals over [X10], max. 150 kHz
24 V DC Pulse-direction signals over [X1], max. 20 kHz
Voltage
Input
Cycle rate
5 V
[X10]
150 kHz
24 V
[X1]
up to 20 kHz
Using software, the increment generator interface can be configured as both output and
input (master or slave). Additionally, two inputs for the connection of 5V pulse-direction
signals (CLK/DIR), (CW/CCW) are planned on the plug connector.
24V DC pulse-direction signals are carried out via [X1] DIN2 and DIN3.
Output: Generation of increment generator signals [X10]
Based on the encoder data, the motor controller generates the tracking signals A/B as
well as the zero pulse of an increment generator. The number of lines can be set in the FCT
with values between 32 … 2048.
Changes to this interface only become effective after a Reset. (download, secure, reset)
An RS422 power driver provides the signals to [X10] differentially.
Input: Processing of frequency signals [X10]
The signals are evaluated optionally as A/B track signals of an increment generator or as
pulse/direction signals (CW/CCW or CLK/DIR) of a stepping motor control. The signal form
is selected in the FCT. The number of steps per revolution can be parameterized. Beyond
that, an additional electronic gear can be parameterized.
The following signals can be selected:
A/B tracking signals
CLK/DIR – pulse/direction
CW/CCW – pulse
Input: Processing of pulse-direction signals 24 V DC [X1]
CLK/DIR – pulse/direction
CW/CCW – pulse
24V DC pulse-direction signals are carried out via [X1] DIN2 and DIN3.
Clock frequency of pulse-direction signals
Table 3.2 Maximum input frequency
Festo P.BE-CMMD-AS-HW-EN 1002NH 29
3. Product description
Note
With setting of synchronisation via FCT, the controller only reacts
via the synchronisation interface. All other functions of the
"Positioning" operating mode are no longer available.
Note
After the change of configuration with FCT with the "Download"
buttons, load the changed configurations into the motor controller
and save them permanently with the "Save" button.
With a Reset (or switching off and back on) of the motor controller,
the new configuration is activated.
Activation of synchronization
Synchronization can be set in various ways.
With the FCT parametrisation software on the "Application Data" page in
the "Operating Modes Settings" tab through selection of the "Synchronisation"
control interface
Via [X1] (digital I/O interface) through selection of mode 3.
To ensure flexibility of the controller, synchronization should be switched on over the
I/O interface.
Required I/O activation during synchronisation via FCT
- DIN4 Output stage enable
- DIN5 Controller enable
- DIN6 Limit switch 0
- DIN7 Limit switch 1
30 Festo P.BE-CMMD-AS-HW-EN 1002NH
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