Festo CMMO-ST User Manual

Motor controller

CMMO-ST

Description

Motor controller

CMMO-ST-C5-1-DIO

8022056

1301a

CMMO-ST

Translation of the original instructions

GDCP-CMMO-ST-EA-SY-EN

Adobe Reader®, CANopen®, CiA® are registered trademarks of the respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

2	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a –

CMMO-ST

Table of Contents – CMMO-ST

1	Safety and requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		9
1.1	Safety . .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	9
	1.1.1	General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	9
	1.1.2	Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	10
1.2	Requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		11
	1.2.1	Technical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	11
	1.2.2	Qualification of the specialists (requirements for the personnel) . . . . . . . . . . . .	11
	1.2.3	Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	12
2	Overview	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	13
2.1	System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		13
2.2	Overview of CMMO-ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		14
	2.2.1	General properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	14
	2.2.2	Commissioning options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	14
	2.2.3	Control profiles of the I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	14
	2.2.4	Closed loop versus open-loop operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	15
2.3	Overview of CMMO-ST operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		15
	2.3.1	Positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	15
	2.3.2	Speed mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	15
	2.3.3	Force mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	15
2.4	Overview of drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		16
	2.4.1	Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
	2.4.2	Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
	2.4.3	Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
	2.4.4	Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
	2.4.5	Comparators & messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.6	Record Linking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.7	Record switching by PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.8	Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.9	Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.10	Parameter file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	2.4.11	Flash memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	18
	2.4.12	Higher-order control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	18

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2.5	Interfaces and simultaneous connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		18
	2.5.1	Number of connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	19
2.6	Measuring reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		19
	2.6.1	Basic concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	19
	2.6.2	Calculation rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	20
	2.6.3	Prefix and direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	21
	2.6.4	Units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	21
2.7	Homing run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		21
	2.7.1	Homing overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	21
	2.7.2	Homing methods to a fixed stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	22
	2.7.3	Homing methods to switch with/without index search . . . . . . . . . . . . . . . . . . . .	23
	2.7.4	Homing method “current position” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	24
	2.7.5	Automatic homing (valve profile) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	24
	2.7.6	Movement to zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
2.8	Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		25
2.9	Safety aspects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		26
3	Mounting	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	27
3.1	General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		27
3.2	Dimensions of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		28
3.3	Mounting the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		29
	3.3.1	Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	29
	3.3.2	H-rail mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
4	Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		31
4.1	Overview	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	31
4.2	Power supply [X9] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		33
4.3	Functional earth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		34
4.4	I/O interface [X1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		35
	4.4.1	Electrical specifications of [X1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	36
4.5	Reference switch [X1A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		36
4.6	STO [X3] .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	37
4.7	Encoder [X2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		38
4.8	Motor [X6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		38

4	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

CMMO-ST

5	Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		39
5.1	Safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		39
5.2	Ethernet interface (RJ-45) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		41
	5.2.1	Delivery status of the CMMO-ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	41
	5.2.2	DHCP or fixed IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	41
	5.2.3	Safety in the network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	42
	5.2.4	Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	42
	5.2.5	Initial start-up via Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	43
5.3	Commissioning via web server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		44
	5.3.1	What does the web server enable? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	44
	5.3.2	Parameter files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	44
	5.3.3	Initial start-up with the web server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	46
	5.3.4	Creating a parameter backup file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	50
5.4	Commissioning with FCT (Festo Configuration Tool) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		51
	5.4.1	Installing the FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	51
	5.4.2	Starting the FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	52
5.5	I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		54
	5.5.1	Profiles for selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	54
	5.5.2	Properties of the valve profile (7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	55
	5.5.3	Properties of the binary profile (31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	66
5.6	Structure of the records in the record table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		77
	5.6.1	Positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	77
	5.6.2	Speed mode (binary profile only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	79
	5.6.3	Force mode (only in binary profile) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	80
5.7	Record switching by PLC (binary profile) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		81
5.8	Record linking (binary profile only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		82
5.9	Comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		83
	5.9.1	Position comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	83
	5.9.2	Speed comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	84
	5.9.3	Force comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	84
	5.9.4	Time comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	85
5.10	Instructions on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		86

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6	Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		87
6.1	Types of malfunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		87
6.2	7-segment display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		87
6.3	Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		89
6.4	Malfunctions: Causes and remedy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		90
	6.4.1	Error responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	90
	6.4.2	Table of error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	90
	6.4.3	Problems with the Ethernet connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	103
	6.4.4	Other problems and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	105
	6.4.5	Malfunction “Index pulse too close on proximity sensor” (2Eh) . . . . . . . . . . . . .	106
A	Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		107
A.1	Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		107
B	Control via Ethernet (CVE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		109
B.1	Basic principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		109
	B.1.1	Communication principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	109
	B.1.2	CVE protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	110
	B.1.3	Controlling the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	116
B.2	Explanation of increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		124
B.3	List of CVE objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		125
C	Glossary	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	132

6	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

CMMO-ST

Instructions on this documentation

This documentation is intended to help you safely work with the motor controller CMMO-ST.

Product identification, versions

The hardware version indicates the version status of the CMMO-ST’s electronics. The firmware version indicates the version status of the operating system.

You can find the specifications of the version status as follows:

–Hardware version and firmware version in the Festo Configuration Tool (FCT) with an active online connection to the CMMO-ST on the “Controller” panel.

Firmware version from		What’s new?	Which FCT plug-in?
V 1.0.x		Motor controller CMMO-ST with I/O interface	CMMO-ST V 1.00
		supports the following drives:
		– EPCO
		– For additional drives: see Festo catalogue
		www.festo.com
V 1.1.2		Advanced parameter settings via web browser	From CMMO-ST V 1.1.0
Tab. 1	Firmware Version

Service

Please consult your regional Festo contact if you have any technical problems.

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

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CMMO-ST

Documentation

You will find more extensive information in the following documentation:

User documentation on the CMMO-ST
Name		Type	Contents
STO documentation with a		GDCP-CMMO-ST-STO-…	Use of the STO safety function
brief overview of the			(“Safe Torque Off ”).
CMMO-ST.			Also includes intended use of the
Enclosed in printed format.			CMMO-ST and a documentation
			overview.
Description		GDCP-CMMO-ST-EA-SY-…	Installation, commissioning and
(on CD-ROM)			diagnostics of positioning systems with
			the CMMO-ST with communication via
			I/O interface.
Help system for software		Dynamic and static help for	Functional descriptions for the Festo
(included in the FCT		the Festo Configuration Tool	Configuration Tool configuration
software)			software.
UL documentation		CMMO-ST_SPUL	Requirements for observing the
			certified UL conditions if the product is
			operated in the USA or Canada.
Operating instructions		e.g. for electric cylinder	Installing and commissioning the drive
		type EPCO
Tab. 2	Documentation on the CMMO-ST

8	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

1 Safety and requirements for product use

1 Safety and requirements for product use

1.1Safety

1.1.1General safety instructions

When commissioning and programming positioning systems, the safety regulations in this description as well as those in the operating instructions for the other components used must be observed.

The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as shutting them off and warning signs.

Warning

Electric axes move with high force and at high speed. Collisions can lead to serious injury to people and damage to components.

•Make sure that nobody can place body parts in the positioning range of the axes or other connected actuators and that there are no objects in the positioning path while the system is still connected to a power supply.

Warning

Parameterisation errors can cause injury to people and damage to property.

•Only enable the controller if the axis system has been installed and parameterised by technically qualified staff.

Note

Damage to the product from incorrect handling.

•Switch off the supply voltage before mounting and installation work. Switch on supply voltage only when mounting and installation work are completely finished.

•Never unplug or plug in a product when powered!

•Observe the handling specifications for electrostatically sensitive devices.

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1 Safety and requirements for product use

1.1.2Intended use

The CMMO-ST motor controller is used for controlling stepper motors in accordance with the Festo catalogue, and is especially intended for use with EPCO electric drives.

This description documents the basic functions of the CMMO-ST and the I/O interface. EPCO drives and additional components are documented in separate operating instructions.

The CMMO-ST and the connectable modules and cables may only be used as follows:

–as intended

–only in an industrial environment

–in perfect technical condition

–in original status without unauthorised modifications (only the conversions or modifications described in the documentation supplied with the product are permitted)

•Observe the safety instructions and intended use in the documentation for all the components and modules.

•Observe the standards specified in the relevant chapters, as well as the regulations of the trade associations, the German Technical Control Board (TÜV), the VDE conditions or relevant national regulations.

•Observe the limit values for all additional components (e.g. sensors, actuators).

Note

In the event of damage caused by unauthorised manipulation or other than intended use, the guarantee is invalidated and the manufacturer is not liable for damages.

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1 Safety and requirements for product use

1.2Requirements for product use

•Make this documentation available to the design engineer, installer and personnel responsible for commissioning the machine or system in which this product is used.

•Make sure that the specifications of the documentation are always complied with. Also consider the documentation for the other components and modules.

•Take into consideration the legal regulations applicable for the destination as well as:

–regulations and standards

–regulations of the testing organizations and insurers

–national specifications

1.2.1Technical requirements

General conditions for the correct and safe use of the product, which must be observed at all times:

•Comply with the connection and environmental conditions specified in the technical data of the product ( appendix A.1) and of all connected components.

Only compliance with the limit values or load limits permits operation of the product in accordance with the relevant safety regulations.

•Observe the instructions and warnings in this documentation.

1.2.2Qualification of the specialists (requirements for the personnel)

The product may only be placed in operation by a qualified electrotechnician who is familiar with:

–installation and operation of electrical control systems

–the applicable regulations for operating safety-engineered systems

–the applicable regulations for accident protection and industrial safety

–the documentation for the product

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1 Safety and requirements for product use

1.2.3Range of application and certifications

Standards and test values, which the product complies with and fulfils, can be found in the “Technical data” section ( appendix A.1). The product-relevant EU directives can be found in the declaration of conformity.

Certificates and the declaration of conformity for this product can be found at www.festo.com.

Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These configurations bear the following mark:

UL Listing Mark for Canada and the United States

Note

Observe the following if the UL requirements are to be complied with in your application:

–Rules for observing the UL certification can be found in the separate UL special documentation. The technical data stated therein take priority.

–The technical data in this documentation may show values deviating from this.

12	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

2 Overview

2 Overview

2.1System overview

1

2

3

4

1	Higher order controller level: PLC	3	Controller level: CMMO-ST
2	Parameterisation and commissioning level:	4	Drive level:
	Festo Configuration Tool (FCT)		for example Electric cylinder with stepper
	- or -		motor
	web browser

Fig. 2.1 System overview

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2 Overview

2.2Overview of CMMO-ST

2.2.1General properties

–Rotor-oriented control: stepper motor behaves like a servo motor; force control possible, energyoptimised operation, low heat generation

–Separate load and logic supply (no new homing run required after emergency stop)

–Control cabinet unit, field use in IP40 environments is also possible (with full pin assignment)

–Ethernet interface with integrated web server

–Backup file: includes all parameterisation settings. It can be stored on separate data storage media. Enables seamless device replacement.

–7 segment display to indicate device states, errors and warnings

–Internal braking resistor present

–The CMMO is available as an NPN variant (type code CMMO-…-DION) and a PNP variant (type code CMMO-…-DIOP). This document describes both variants.

–Function “Safe torque off ” (STO):

description GDCP-CMMO-ST-STO-…

2.2.2Commissioning options

The CMMO-ST can be parameterised and commissioned as follows:

–With the integrated web server, using a mechanical drive of the OMS series (optimised motion series): diagnostics and parameterisation via standard web browser, simple positioning

( section 5.3)

–with FCT, the Festo Configuration Tool: convenient, full function range ( section 5.4)

Control via Ethernet (CVE):

It is possible to start records from a PC programme via the Ethernet interface. However, in-depth knowledge of programming TCP/IP applications is required for this purpose ( appendix B.1).

2.2.3Control profiles of the I/O interface

Valve profile (7)

Simple I/O control: Based on the pneumatic valve pilot, 7 position records can be selected directly through one input each (7 separate inputs). Upon reaching the target position the output corresponding to the input is set (7 separate outputs). The valve profile exclusively supports simple positioning operation, optionally with reduced torque.

Binary profile (31)

Flexible I/O control: 31 records (plus record 0 = homing) can be addressed via 5 inputs. The binary profile also enables jogging and teaching, force mode, speed mode and record linking.

A detailed description of these profiles section 5.5.

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2 Overview

2.2.4Closed loop versus open-loop operation

Regulated (with positional feedback), motor with encoder (closed-loop operation)

In closed-loop operation the rotor position of the motor is detected by an incremental encoder/encoder and reported back to the controller (closed loop).

The force mode is only possible in closed-loop operation. Running or referencing to stop is also only possible in closed-loop operation.

In closed-loop operation only the energy required to move the load is supplied to the motor, i.e. the motor operates in an energy-optimised manner with low heat generation.

Controlled (without positional feedback), motor with/without encoder (open-loop operation)

In open-loop operation (without feedback of the rotor position) only the positioning mode and speed mode, as well as homing to proximity sensor or to “current position” are possible.

When travelling to a stop it can result in step losses and thus to defective position values.

In open-loop operation the motor is always operated with the set driving current when travelling and with the set holding current when at a standstill.

Operation of motors with an encoder can also be parameterised so that no feedback from the encoder is required.

2.3Overview of CMMO-ST operating modes

Records

Orders are stored in a record table in CMMO-ST in the form of parameter records. Each record contains all of the information required for a specific function depending on the selected mode.

During operation, the higher-order controller (PLC) then makes a successive selection from the records that are saved in the CMMO-ST (“record selection”).

2.3.1Positioning mode

During positioning mode the positioning tasks are saved as a “position record” in the record table. Each position record includes information about the target position, speed, acceleration, etc.

In the binary profile record linking can also be configured.

2.3.2Speed mode

The drive moves at a specified speed. The corresponding records in the record table are designated speed records. There are speed records with and without stroke limit.

The speed mode is only available in the binary profile.

2.3.3Force mode

The motor generates a predetermined torque. Depending on the mechanics this results in a torque or linear force. The corresponding records in the record table are designated force records. There are force records with and without stroke limit.

The force mode is only possible with closed-loop operation (motor with encoder) and is only available in the binary profile.

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2 Overview

2.4Overview of drive functions

2.4.1Jogging

During the jogging mode the drive moves as long as a corresponding signal is present. This function is commonly used to approach teaching positions or to move the drive out of the way. If the drive is not referenced, the software end positions are disabled and the drive can be positioned behind the software end positions by jogging.

This function is only available in the binary profile.

2.4.2Teach

The teach function enables the current position to be adopted as a parameter: 1st step: The drive is moved to the desired position (e.g through jogging).

2nd step: The user starts the teach command; the current position is transferred to a position record as the target position.

For additional information sections 2.4.11 and 5.5.3.

2.4.3Standstill monitoring

Standstill monitoring is only available during closed-loop operation in the binary profile. If the standstill position window is exited during position control, it is indicated by the standstill monitoring function: if this position window is exited for a period longer than that defined in the “standstill monitoring time”, the controller signals this to the higher-order controller. One of the freely assignable outputs (no. 6 or no. 7) can be used for this purpose.

The position controller also tries to move the drive back into the position window.

2.4.4Brake

If the drive is equipped with a brake, it is controlled as follows:

Switch-on delay

When setting the release (ENABLE), the time set for the switch-on delay starts to run (e.g. 150 ms) and the position controller of the CMMO-ST assumes control of the connected drive. The brake opens simultaneously. The CMMO-ST only accepts positioning jobs after expiration of the switch-on delay.

Switch-off delay

When the enable signal is removed, the time set for the switch-off delay starts to run. The brake closes during this time. The position controller holds the drive in position. The position controller is only switched off after expiration of the switch-off delay.

If the enable signal is removed while the drive is executing a record, the drive is brought to a standstill with the quick stop ramp (Quick stop). As soon as the drive has come to a standstill, the brake output is reset: the brake/clamping unit closes. Simultaneously, the switch-off delay time begins to run. The CMMO-ST still controls the position. The controller end stage is switched off after the switch-off delay.

A closed brake can be opened via digital input no. 9.

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2 Overview

2.4.5Comparators & messages

The following drive conditions can be ascertained via so-called record messages:

–Position comparator active

The drive is located between two defined positions (in the “Position zone”). Detailed description section 5.9.1.

–Speed comparator active

The speed is within a defined range. Detailed description section 5.9.2.

–Force comparator active

The actual force (or torque) calculated via the current is within a defined range. Detailed description section 5.9.3.

–Time comparator active

The time since the start of the position record is within a defined range.

Detailed description section 5.9.4.

In FCT it can be parameterised so that the presence of these states is signaled via digital outputs.

2.4.6Record Linking

The record linking function allows records to be linked together: the presence of a defined step enabling condition after a record has been executed causes another record to be executed automatically. Only available in the binary profile. Detailed description section 5.8.

2.4.7Record switching by PLC

The record switching function enables the PLC to start a new record before an active record has been completed. Detailed description section 5.7.

2.4.8Trace

The “trace” oscilloscope function in FCT makes it possible to record drive data over a defined period in real time, e.g. speeds and contouring errors during a movement.

2.4.9Firmware update

The Festo Configuration Tool (FCT) enables firmware to be updated. This should only be performed in accordance with the instructions provided by Festo Service.

2.4.10Parameter file

After completing parametrisation, you can upload a parameter file from the controller to your computer; doing this creates a backup copy of the parameters in case the controller becomes damaged or before firmware updates. This includes information about the connected motor, the drive and the parameter settings executed. If the CMMO-ST needs to be replaced, you can simply import the parameter file from the old CMMO-ST into the new CMMO-ST. The new CMMO-ST is then ready for immediate use. An example of creating a parameter backup file with the web server section 5.3.4.

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2 Overview

2.4.11Flash memory

The integrated FLASH memory of the CMMO-ST includes the parameter files and the firmware. In principle, the number of possible write cycles is limited.

Entries are written into the FLASH memory by the following procedures:

–teaching with automatic storage ( section 5.5.3)

–downloading a new parameter file

–a firmware update

–“saving” in FCT

–reconfiguration of malfunction properties/error responses

–recording of movements with the trace function in FCT

Note

Damage to the FLASH memory

The FLASH memory used by the CMMO-ST is designed for 100,000 write cycles.

•Do not use the TEACH function in combination with “automatic storage” in continuous operation, as this will quickly exceed the maximum number of write cycles.

Minimum time between downloading two parameter files: 3 seconds.

2.4.12Higher-order control

“Higher-order control” is an exclusive access right.

Many motor controllers have multiple interfaces through which they can be controlled (e.g. an I/O interface and a CAN interface). Simultaneous control by multiple interfaces, however, could result in uncontrollable behaviour of the drive.

Master control ensures that only one interface controls the drive (i.e. it has sovereignty).

The interface that has higher-order control is specified in CVE object #3. The other interfaces then only have read access to the motor controller.

2.5Interfaces and simultaneous connections

Physical interfaces

The CMMO-ST has two physical interfaces:

–I/O interface

–EtherCat interface

Logical interfaces

Three logical interfaces can be distinguished within the Ethernet interface:

–FCT Interface

–web browser interface

–CVE interface (control via Ethernet)

Interfaces

Physical	I/O interface		EtherCat interface
Logical	I/O interface	FCT	Web browser	CVE

Tab. 2.1 Physical and logical interfaces

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2 Overview

Together with the I/O interface there are four logical interfaces, of which only one can have higher-order control.

When the CMMO is switched on the I/O interface has master control. Any other logical interface can take higher-order control from the I/O interface.

FCT can take master control from a web browser. This is not possible the other way around. The change in higher-order control can be blocked by CVE with object #4.

2.5.1 Number of connections

Simultaneously permissible are a maximum of:

–1 CVE connection

–1 web browser connection

–2 FCT connections, of which only one can have master control.

In total a maximum of two Ethernet connections are permissible simultaneously.

2.6Measuring reference system

2.6.1Basic concepts

Homing

The position of the reference point REF is ascertained during homing.

Movement to zero

Following the homing run: travel from the homing point to the axis zero point ( section 2.7.6).

Homing method

defines the way in which the reference point REF is ascertained.

Homing point REF

binds the measuring reference system, for example, to a proximity sensor or a fixed stop (depending on the homing method).

Axis zero point AZ

is shifted by a defined distance from the reference point REF. But this offset can also be = 0. The software limits and the project zero point refer to the axis zero point.

Project zero point PZ

is a point to which the actual position and the absolute target positions from the position record table refer.

The project zero point is shifted by a defined distance from the axis zero point AZ. But this offset can also be = 0.

Software end positions

limit the permitted positioning range (work stroke). If the target position of a positioning command lies outside the software end positions, the positioning command will not be processed and an error will be registered.

Usable Stroke

The distance between the two software limits. Maximum stroke by which the axis can move with the set parameterisation.

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2 Overview

Measuring reference system

		SLN			e			SLP
		b					c
		a	d	0	1	2	3	g
	REF	AZ	PZ					TP/AP
						AZ
		REF
								PZ
				a				d
			b
		SLN						c
								SLP
REF	Homing point (reference point)				a			Offset axis zero point
AZ	Axis zero point				b, c Offset software end
								positions
PZ	Project zero point				d			Offset project zero point
SLN	Negative software end position (software limit negative)				e			Usable stroke
SLP	Positive software end position (software limit positive)
TP/AP	Target position/actual position				g			Offset TP/AP to PZ

Tab. 2.2 Measuring reference system

2.6.2		Calculation rules
	Dot			Calculation rule
	Axis zero point		AZ	= REF + a
	Project zero point		PZ	= AZ + d	= REF + a + d
	Negative software end position		SLN	= AZ + b	= REF + a + b
	Positive software end position		SLP	= AZ + c	= REF + a + c
	Target position/actual position		TP, AP	= PZ + g	= AZ + d + g
					= REF + a + d + g

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2 Overview

2.6.3Prefix and direction of rotation

All points and offsets have a sign prefix. The following applies for EPCO type drives (unless reversal of direction has been activated):

Value	Direction
+	Positive values face from the basis point in the direction of the extended end position.
–	Negative values face from the basis point in the direction of the retracted end position.

2.6.4Units of measurement

During parameterisation via a web browser or FCT you can use commonly used units for length specifications, such as millimetres or inches.

If you are using CVE objects, you will need the so-called interface increments SINC ( appendix B.2).

2.7Homing run

A homing run must be performed every time the logic voltage supply is switched on in order to anchor the reference point and the measuring reference system in the positioning range of the axis. A drive function cannot be started without a successful homing run (exception: jogging).

2.7.1Homing overview

–Homing methods to a fixed stop ( section 2.7.2)

–Homing methods to reference switch with/without index ( section 2.7.3)

–Homing method “current position” ( section 2.7.4)

–Automatic homing (valve profile) ( section 2.7.5)

–Movement to zero ( section 2.7.6)

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2 Overview

2.7.2Homing methods to a fixed stop

Homing to a fixed stop is only possible in closed-loop operation ( section 2.2.4).

The stop is detected by a motor shutdown in combination with a sharp rise in the motor current. The parameters for stop detection can be set in FCT.

Homing methods to the stop

– Negative fixed stop (retracted end position)

	REF	2 REF	+
			AZ

1

– Positive fixed stop (extended end position)

REF	AZ	REF
1	–	2

1Homing: The drive moves to the fixed stop at the search speed (= reference point REF).

2Movement to zero: the drive moves from the reference point REF to the axis zero point AZ.

Tab. 2.3 Homing to the stop

Note

Material damage due to moved measuring reference system

In the event of greatly reduced dynamic values (low maximum motor current) combined with high travelling resistance (e.g. due to frictional grip), there is a danger that the drive will come to a standstill and the controller will recognise a stop incorrectly.

A movement to zero should be executed when homing to a fixed stop ( section 2.7.6) in order to exit the stop position. Otherwise the drive could be driven continuously against an elastic stop, which would result in a strong temperature increase and eventually lead to the controller shutting down.

If the system does not have a stop (axis of rotation), the homing run will never be completed, i.e. the drive will run continuously at the parameterised search speed.

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2 Overview

2.7.3	Homing methods to switch with/without index search
Homing methods to switch
– Direction: negative

	1
	2
	+
REF	AZ

– Direction: positive

	1
	2
AZ	REF

1The drive runs to the switch at the search speed, turns around and moves slowly at creep speed in the reverse direction. The reference point REF is at the switch-off point of the switch or on the following index pulse (depending on parameterisation).

2Optional movement to zero: The drive runs from the reference point REF at positioning speed to the axis zero point AZ.

Tab. 2.4 Homing to switch

For closed-loop operation ( section 2.2.4):

A distinction is made between the following options:

1.At the start of the homing run the switch is already actuated.

In this case, the drive runs counter to the parameterised homing direction.

2.The switch is only found after the start of the movement.

In this case, the drive initially runs in the parameterised homing direction, turns after locating the switch edge and moves in the reverse direction.

3.The drive moves against a stop before a switch is found.

In this case, the drive reverses and searches for the switch in the reverse direction. If a switch is found, the drive moves through the complete switching range.

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2 Overview

In all cases the reference point is either at the switch-off point or on the following index pulse (dependent on the homing method selected).

For the last case: If a switch is not found in the reverse direction before a stop is reached, the homing run is aborted with an error message.

If no switch is found at all and no stop is available, the homing run will never be completed, i.e. the drive will run continuously at the parameterised search speed.

For a homing run with index search: If no index pulse is found during the index search over more than one motor rotation, the homing run is aborted with an error message.

For open-loop operation ( section 2.2.4):

The homing run in open-loop operation is generally executed in the same way as in closed-loop operation. However, the following special features apply:

–Stops are not detected

–An index search is not possible

–If a switch has not been found after a certain period of time, the homing run is aborted with an error message. This timeout time can be set in FCT (“Homing” panel, “Settings” tab). The drive therefore must always be positioned before the start of a homing run so that it can find the switch.

2.7.4Homing method “current position”

The current position becomes the reference position. Apart from an optional movement to zero ( section 2.7.6), no positioning motion is executed.

In open-loop operation ( section 2.2.4) without a reference switch, this is the only possible homing method.

2.7.5Automatic homing (valve profile)

An “automatic homing run“ can be parameterised in the valve profile (FCT: “Homing” panel, “Settings” tab).

This is executed automatically if the drive is not referenced at the start of a position record. The started position record is then executed.

The automatic homing run is aborted if the position record input is reset again before the automatic homing run has been executed completely.

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2 Overview

2.7.6Movement to zero

A movement to zero is possible after a homing run. This is where the drive moves to the parameterised axis zero point after finding the reference point.

Whether or not a movement to zero is executed can be defined as a homing run parameter in FCT. The movement to zero is required when homing to the stop; the minimum offset to the axis zero point is 1 mm.

If a movement to zero is not executed, the drive remains at position (-1) * offset axis zero point. Make sure that this position is not outside the software end positions.

If a movement to zero is to follow a homing run, “Motion complete” will only appear after completion of the movement to zero. Motion Complete remains inactive between the homing run and movement to zero.

A movement to zero should be executed when homing to the stop in order to exit the stop position. Otherwise the drive could be driven continuously against an elastic stop, which would result in a strong temperature increase and eventually lead to the controller shutting down.

2.8Monitoring functions

A complex system of sensors and monitoring functions ensures operational reliability:

–Voltage monitoring: detection of undervoltages and overvoltages in the logic and load voltage supply.

–Temperature monitoring: output stage and CPU temperature in the CMMO-ST.

–I2t monitoring/overload protection

–Software end position recognition

–In the binary profile: contouring error monitoring (e.g.in the event of sluggishness or overloading of the drive).

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2 Overview

2.9Safety aspects

Note

Check within the framework of your EMERGENCY STOP procedures to ascertain the measures that are necessary for switching your machine/system into a safe state in the event of an EMERGENCY STOP.

•If an EMERGENCY STOP circuit is necessary for your application, use additional, separate safety limit switches (e.g. as normally closed limit switches wired in series).

•Use hardware limit switches or, if required, mechanical safety limit switches and fixed stops or shock absorbers as appropriate in order to make sure that the axis always lies within the permitted positioning range.

•Note the following points:

Action	Behaviour
Cancellation of	– Without brake/clamping unit:
the ENABLE signal	The drive brakes with the quick stop ramp (Quick stop). The controller
on the I/O	output stage is then switched off. The effective load could possibly slide
interface	down if mounted in a vertical/inclined position.
	– When using a brake/clamping unit:
	If the drive moves when ENABLE is cancelled, then it will initially be brought
	to rest using Quick Stop deceleration. As soon as the drive has come to a
	standstill, the brake output is reset: the brake/clamping unit closes.
	Simultaneously, the switch-off delay time begins to run. The CMMO-ST still
	controls the position. The controller end stage is switched off after the
	switch-off delay.
Switching off the	The load voltage is switched off. The effective load on the drive may continue to
load voltage	move due to inertia, or it will fall if mounted in a vertical or sloping position.

For STO function: separate document GDCP-CMMO-ST-STO-…

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3 Mounting

3 Mounting

3.1General instructions

Caution

Uncontrolled drive motion may cause personal injury and material damage.

•Switch off the power supplies prior to any assembly, installation or maintenance work and prevent them from being restarted accidentally.

Caution

If a drive is mounted in a sloping or vertical position, loads may fall and cause personal injury.

•Check whether external safety measures are necessary (e.g. toothed latches or moveable bolts).

This will prevent the work load from sliding suddenly if there is a voltage failure.

Note

When mounting the controller on the machine:

• Observe the IP protection class of the controller and the connectors/cables.

Also observe the operating instruction(s) for the drive and the instructions provided with any additional components (e.g. assembly instructions for the cables concerning bending radii or suitability for use with energy chains).

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3 Mounting

3.2Dimensions of the controller

108 mm

113 mm

39 mm

Fig. 3.1 Dimensions of the controller

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3 Mounting

3.3Mounting the controller

You can mount the controller in one of two ways:

1.Threaded connection on a flat surface

2.H-rail mounting

3.3.1Fitting

You will need 3 or 4 M4 screws, with washers/spring washers if necessary. If a H-rail clip is mounted, you can remove it.

The following figure shows the location of the holes and recesses that can be used for mounting the controller:

1

2

1

1Mounting with 4 screws to the base (lying flat)

2Mounting on the side with 3 screws (vertical)

Fig. 3.2 Mounting with screws

When mounting on the side ( 2 ): To exchange the controller, you only need to loosen the 3 screws by a few rotations, after which the controller can be tilted out.

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3 Mounting

3.3.2H-rail mounting

1.Mount an H-rail (mounting rail in accordance with IEC/EN 60715: TH 35– 7.5 or TH 35– 15).

2.If not already mounted: Screw the H-rail clip 1 to the side of the controller ( Fig. 3.3).

Note

When using another screw: Please observe the maximum permitted screw-in depth of

5mm.

3.Hang the CMMO on the H-rail as follows:

•by inserting the top into the hooks in the clip first, then

•press the H-rail downwards until the CMMO clicks into place.

2

max. 5 mm

1

1 H-rail clip	2 Maximum screw-in depth
Fig. 3.3 H-rail mounting

30	Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English