CMMO-ST-C5-1-LKP
Festo AG & Co. KG
Postfach
73726 Esslingen
Germany
+49 711 347-0
www.festo.com
Brief description 8043635
1507NH
[8043613]
Original: de
Motor controller CMMO-ST English......................................
Translation of the original instructions
The complete documentation for the motor controller CMMO-ST can be
found in the Support Portal è www.festo.com/sp.
This brief description is intended solely for initial information. The complete de
scription includes the following documents:
Designation Table of contents
Brief description
CMMO-ST-LK...
1)
Brief equipment and functional description of the motor controller
for initial information
Manual
GDCP-CMMO-ST-LK-SY-...
Equipment and functional description of the motor controller:
– Mounting
– Commissioning via web server/Festo Configuration Tool (FCT)
– Diagnostics
– Technical data
Manual
GDCP-CMMO-ST-LK-C-HP-...
Description of the control and parameterisation of the motor
controller via the FHPP device profile (Festo Handling and Posi
tioning Profile) via IO-Link, I-Port or Modbus TCP
Description
GDCP-CMMO-ST-LK-S1-...
Use of the STO safety function (“Safe Torque Off”)
Help system for the FCT
software
Complete description of parameterisation and commissioning
with the FCT (Festo Configuration Tool).
– Configured drives (Festo Motor with axis)
– Positioning systems in the Optimised Motion Series OMS (axis/
motor units from Festo)
Special documentation
CMMO-ST_U L
1)
Requirements for operating the product in the USA and Canada in
accordance with certification by Underwriters Laboratories Inc.
(UL).
1) The documentation is enclosed in printed format.
Fig. 1 Documentation on the CMMO-ST
1 Safety
Observe the safety instructions and warnings in the documentation of the motor
controller and the documentation of the other components used.
Before mounting and installation work: Switch off the supply voltage. Secure
against accidental reactivation. Only switch on the supply voltage again when
mounting and installation work is complete.
Never remove or insert a plug connector when the motor controller is powered.
Observe the handling specifications for electrostatically sensitive devices.
Only enable the controller if the drive has been professionally installed and fully
parameterised.
Do not perform any repairs on the motor controller. In the event of a defect:
Replace the complete motor controller.
Warning
Serious injury or damage to components as a result of collisions.
Make sure that there are no objects in the positioning range while the system
is connected to a source of electric power.
Make sure that nobody is in, or is able to reach into, the operating area of the
connected actuators.
Secure the danger zone through suitable safeguarding measures, e.g. guards
and warnings.
Caution
Personal injury and material damage.
Falling loads in the event of a voltage failure or disconnection of the power sup
ply when installing the drive in an inclined or vertical position.
Secure loads through external safety measures (e.g. toothed latches or mov
able bolts).
Caution
High temperatures on the housing surfaces.
Touching the surface may cause a person to be startled and react in an uncon
trolled manner, with subsequent damages.
Protect the motor controller to prevent accidental touching.
Inform operating and maintenance staff about any potential hazards.
Before touching the product, e.g. for mounting or installation: Allow the motor
controller to cool down to room temperature.
1.1 Intended use of the CMMO-ST
The intended use of the CMMO-ST is to control the following drives with 2-phase
step motors from Festo:
– Positioning systems in the Optimised Motion Series (OMS) with axis/motor units
from Festo
– Configured drives (rotary/linear):
– Axes from Festo e. g. EGC, DNCE, DGE
– User-defined axes
Observe the specified standards as well as the regulations of the trade associa
tions, the German Technical Control Board (TÜV), the VDE regulations or the
relevant national regulations.
Observe the limit values for all additional components (e.g. sensors, actuators).
Use the CMMO-ST only as follows:
– In perfect technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined through the technical data
– within the specified service life of the switching elements for the safety function
– as an installed device in a control cabinet
Use outside this control cabinet is possible provided that all plug connectors are
connected or are sealed with protective caps.
1.2 Intended use of the STO function
The STO function (“Safe Torque Off”) according to EN 61800-5-2 is intended to
disconnect the torque from a motor that is connected to the CMMO-ST. The STO
function prevents an unexpected start-up of the connected motor. The STO functi
on should only be used for applications in which the specified safety characteri
stics suffice.
Safety characteristics
The STO function of the CMMO-ST fulfils the requirements for the following safety
characteristics:
– PL e/Cat. 3 according to ENISO13849-1
– SIL 3 according to EN61800-5-2
– SILCL3 according to EN62061
The achievable safety level depends on the other components used to implement
the safety function.
To protect against unintended motor start-up, the motor controller must be ac
tivated via the connection [X3] with the category required for the application ac
cording to EN ISO 13849-1, e.g. via an external safety switching device.
Qualification of specialists (personnel requirements)
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 prevention and occupational safety
– the documentation for the product
Diagnostic coverage (DC) for the safety function
Diagnostic coverage depends on the interconnection of the motor controller with
the control loop system as well as the implemented diagnostics measures.
If a potentially dangerous malfunction is recognised during the diagnostics, appro
priate measures must be taken to maintain the safety level.
Note
The motor controller cannot detect a cross circuit in the input circuit by itself.
If required, use a safety switching device with cross-circuit detection.
1.3 Possible misuse of the STO function
The following misuses are among those not approved as intended use:
– Bridging of the STO function
– Use in applications where switching off can result in hazardous movements or
conditions.
Note
The STO function must not be used as the sole safety function for drives that are
subject to permanent torque or force (e.g. suspended loads, vertical axes).
The STO function does not provide protection against electric shock, only
against dangerous movements!
2 Requirements for product use
Provide the complete product documentation to the following personnel:
– the design engineer and the installer of the machine or system
– the personnel responsible for commissioning
Keep the documentation safe throughout the entire product lifecycle.
Ensure compliance with the specifications in this documentation. Also comply
with the supplementary documentation for the other components and modules
(e.g. motor controller, circuits, etc.).
Take into consideration all of the legal regulations that are applicable for the
installation site, as well as the following documents:
– Regulations and standards
– Regulations of the testing organisations and insurers
– National specifications
For correct and safe use of the STO function:
Conduct a risk assessment for your machine
Comply with the specified safety characteristics (è Chapter 7, Technical data).
Range of applications and certifications
The motor controller with integrated STO safety function is a safety-related part of
the control systems. The motor controller carries the CE mark. Certain configura
tions of the product have been certified by Underwriters Laboratories Inc. (UL).
Certificates and the declaration of conformity relating to this product can
be found online è www.festo.com/sp
Specified standards
Version status
ENISO13849-1:2008-06/AC:2009-03
EN 61800-5-2:2007-10
EN62061:2005-04
Fig. 2 Issue status of the specified standards
2.1 Transport and storage conditions
Protect the product during transport and storage from excessive stress factors,
such as:
– mechanical loads
– temperatures that are too high or too low
– moisture
– aggressive atmospheres
Store and transport the product in its original packaging. The original packaging
offers sufficient protection from typical stresses.
2.2 Technical prerequisites
For correct and safe use of the product:
Conduct a risk assessment for your machine or system.
Comply with the specified safety characteristics è Chapter 7
Comply with the specified connection and operating conditions for all of the
connected components è Chapter 7. Only compliance with the limit values or
load limits will enable operation of the product in compliance with the relevant
safety regulations.
2.3 Scope of delivery
Number Component
1 Motor controller CMMO-ST-C5-1-LKP
1 Documentation for the product
– Brief documentation on the CMMO-ST + Quickguide for positioning systems (OMS)
– Special documentation in accordance with product approvals
– CD-ROM with further documentation
1 Connector range NEKM-C-14 with 6 connectors for control interface [X1], reference
switch [X1A], safety function STO [X3], encoder [X2], motor [X6], power supply [X9]
1 H-rail clip (pre-assembled)
Fig. 3 Scope of delivery
3 Product overview
1 [X9] Load/logic voltage
2 [X1] Control interface to open look
control with PLC/IPC:
– IO-Link/I-Port
– optional: digital inputs/outputs
3 7-segment display
4 [X18] Ethernet (RJ-45)
– Parameterisation interface
TCP/IP
– Modbus TCP control interface
5 Link/activity LED C/Q
– LED green: Communication OK
– LED red: Communication error
– LED off: IO link/I-Port is not
configured as a control
interface.
6 [X1A] Reference switch
7 [X3] STO (Safe torque off)
8 [X2] Encoder (RS422)
9 [X6] Motor
aJ FE function earth (3x)
aA Mounting surface (H-rail)
aB Mounting surface
1
2
3
4
5
67 8 9aAaJ
aB
Fig. 4 Components of the CMMO-ST
4 Mounting
Caution
Unexpected and unintended movement of the drive during mounting, installation
and maintenance work.
Before starting work: Switch off power supplies.
Secure the power supplies against accidental reactivation.
4.1 Mounting the motor controller
Mounting on an H-rail
1. Hang the CMMO-ST over the hook of the H-rail clip and into the H-rail from abo
ve.
2. Press the lower part of the CMMO-ST onto the H-rail until it clicks into place.
max. 5mm
41 mm
61.35mm
Fig. 5 Mounting on an H-rail
Mounting on an even surface
1 Remove the H-rail
clip
2 Reverse side
mounting surface
3 Notches (x3) for
reverse side
mounting
4 Side mounting
surface
5 Recesses (x4) for
side mounting
3
4
5
1
2
Fig. 6 Mounting on a side or reverse side mounting surface
5 Electrical installation
Caution
Unexpected and unintended movement of the drive during mounting, installation
and maintenance work.
Before starting work: Switch off power supplies. Cancelling the enable signal
on the controller is not sufficient.
Secure the power supplies against accidental reactivation.
5.1 Connections and cables
Caution
Unexpected and unintended movement of the drive as a result of incorrectly
assembled cables.
Only use the plug connectors provided and preferably the cables listed in the
specified accessories è www.festo.com/catalogue.
Lay all flexible cables so that they are free of kinks and mechanical stress; if
necessary in a drag chain. Observe the instructions for the axis and the addi
tional components.
ESD protection
At unassigned plug connectors, damage can occur to the device or to
other system parts as a result of ESD (electrostatic discharge).
Observe the handling specifications for electrostatically sensitive
devices.
Seal unassigned plug connectors with protective caps.
Earth system parts prior to installation.
Use appropriate ESD equipment (e.g. shoes, earthing straps, etc.).
The plug connectors used for connecting the motor controller are included in the
scope of delivery (assortment of plugs NEKM-C-14). Other accessories: NEBM
according to the drive configuration in various connector types and lengths
è www.festo.com/catalogue
5.2 [X1] IO-Link/I-port control interface and digital inputs/outputs
Note
The IO-Link/ I-Port interface is not electrically isolated. Under certain circum
stances, the CMMO-ST can override the electrical isolation of an IO-Link master.
Connection Pin Function
X1
111
111
Digital I/O modules (DIN/DOUT)
1 +24 V (OUT) Output +24 V e.g. power supply to a
potential-free relay contact for the
ENABLE input.
Not overload-proof! Max. 100 mA
permissible.
2 0 V (G ND) Reference potential for output signals
3 DOUT2 Output 2, parameterisable
4 DOUT1 Output 1, parameterisable
5 Ready Output “Ready for Operation”
6 ENABLE Input “controller enable”
1)
7 – no function, not connected intern
ally
2)
8 –
IO-Link/I-Port
9 L– 0 Volt (GN D)
10 C/Q IO-Link/I-Port signal
11 L+ 24V on the IO-Link/I-Port ICs (not con
nected to the logic power supply to
X9)
1) The required signals for controller enable are parameterisable
2) Pins 7 and 8 can be used for the 4th and 5th cores on the I-Port/IO-Link cable.
Fig. 7 Connection of [X1] control interface with plug (NEKM-C-14)
5.3 [X1A] Reference switch
Connection Pin Function
13
13
X1A
1 +24 V
LOGIC
OUT
Voltage output for supplying the reference switch.
Not overload-proof! Max. 100 mA permissible.
2 SIGNAL
Ref
– Input for PNP switch
– switches to +24 V
– NO/NC version
3 GND Reference potential (ground)
Fig. 8 Connection [X1A] reference switch with plug (NEKM-C-14)
5.4 [X2] Encoder
Connection Pin Function
X2
18
1
8
1 A
1)
Incremental encoder signal A+
2 A/ 1)Incremental encoder signal A–
3 B
1)
Incremental encoder signal B+
4 B/ 1)Incremental encoder signal B–
5 N
1)
Incremental encoder signal zero pulse N+
6 N/ 1)Incremental encoder signal zero pulse N7 5 V
(± 10 %)
Supply of the encoder.
Not overload-proof! Max. 100 mA
permissible.
8 0 V Reference potential
1) At each pin: 5 V and Ri = approx. 120 Ω
Fig. 9 Connection [X2] encoder with plug (NEKM-C-14)
5.5 [X3] STO
The STO safety function (“Safe Torque Off”) is described in detail in the document
GDCP-CMMO-ST-STO-…. The STO function should only be used in the manner de
scribed in this document.
Recommendation for initial motor start-up without safety equipment:
– The setup must at least include an emergency stop switching device
– Two-channel switch-off via control ports STO1 [X3.2] andSTO2[X3.3]
Connection
Pin Function
X3
15
15
1 +24 V
LOGIC
OUT
Logic voltage output [X9]
Not overload-proof! Max. 100 mA
permissible.
2 STO1 Control port for STO function: Channel 1
3 STO2 Control port for STO function: Channel 2
4 DIAG1 The acknowledgment contact is closed (low
impedance) when the STO function is
active.
5 DIAG2
Fig. 10 Connection [X3] STO with plug (NEKM-C-14)
5.6 [X6] Motor
Connection Pin Function
X6
16
16
1 String A Connection of the two motor strings
2 String A/
3 String B
4 String B/
5 BR+ Connection of the holding brake
Short-circuit- and overload-proof. 24 V,
max. 1.4 A è 33 W. BR– = GND,
BR+ is switched (24 V load)
6 BR–
Fig. 11 Connection [X6] motor with plug (NEKM-C-14)
5.7 [X9] Power supply
Warning
Electric shock
Injury to people, damage to the machine and system.
For the electrical power supply, use only PELV circuits in accordance with
IEC602041 (Protective Extra-Low Voltage, PELV).
Also observe the general requirements for PELV circuits IEC60204-1.
Use only voltage sources which guarantee reliable electrical isolation of the
operating and load voltage in accordance with IEC60204-1.
Connection Pin Function
X9
51
51
1 Do not connect!
2 Do not connect!
3 Supply of the control electronics (logic supply)
4 Reference potential (0 V) for operating voltage, logic
voltage, STO and controller interface
5 Supply of the power output stage and the motor
(load voltage)
Fig. 12 Connection [X9] with plug (NEKM-C-14)
5.8 [X18] Ethernet interface
Note
Unauthorised access to the device can cause damage or malfunctions. When
connecting the device to a network:
Protect the network from unauthorised access.
Measures for protecting the network include:
– Firewall
– Intrusion Prevention System (IPS)
– Network segmentation
– Virtual LAN (VLAN)
– Virtual Private Network (VPN)
– Safety at physical access level (Port Security).
Additional information è Guidelines and standards for security in information
technology, e.g. IEC 62443, ISO/IEC 27001.
Connection Pin Function
X18
8
1
1 TD+ Transmitted data +
2 TD– Transmitted data –
3 RD+ Received data +
4 – –
5 – –
6 RD– Received data –
7 – –
8 – –
Fig. 13 Ethernet interface connection [X18]
6 Commissioning
To commission the CMMO-ST (DHCP server) with Ethernet cable via parameterisati
on interface directly with the computer/notebook (DHCP client) (point-to-point
connection). 2 variants for commissioning:
– Simplified commissioning of positioning systems (OMS) via integrated webser
ver with English-language parameterisation and diagnostics website
(http://192.168.178.1)
– Complete commissioning of positioning systems and of configured drives with
FCT (Festo Configuration Tool)
The complete commissioning process for the motor controller is described
in the manual GDCP-CMMO-ST-LK-SY-… and in the Online Help for the
CMMO-ST plug-in of the FCT software.
The process control of the motor unit is performed by the control interface
with device profile FHPP (Festo Handling and Positioning Profile):
– Informations about the FHPP è Description GDCP-CMMO-ST-LK-C-HP-...
– Function elements (CODESYS, ...) è www.festo.com/sp
Prior to integration in the network:
Do not connect the motor controller to the network as a DHCP server if another
DHCP server is already enabled on the network.
For inclusion in a network, change the IP configuration of the motor controller
with FCT or webserver.
7 Technical data
Safety reference data and safety specifications
Safety function STO Safe Torque Off
Category 3 according to EN ISO 13849-1
Performance Level PLe according to EN ISO 13849-1
Safety Integrity Level SIL3 according to EN 61800-5-2
SIL Claim Limit SILCL3 according to E N 62061
(SIL Claim Limit)
DCavg [%] 90 Average diagnostic coverage
MTTF
d
[Years] 4500 Mean Time To dangerous Failure
HFT 1 Hardware Failure Tolerance
PFH [1/hr.] 1.3 x 10
-10
Probability of dangerous failure per hour
T
Proof Test Interval [Years] 20 Test interval
Duration of use [years] 20 according to EN ISO 13849-1
Type test The STO function has been certified by an independent test
ing body. CMMO-ST certificate è www.festo.com/sp
Component/function Suitable for use in category-1 systems and above according
to ENISO138491
Fig. 14 Safety reference data and safety specifications
General technical data
Power supply [VDC] 24 ± 15%
Protection against electric shock PELV circuit
(Protected Extra-Low Voltage)
Current load voltage (X9.5) [A] 5.7 Nominal current
[A] 8 Peak current
Current logic supply (X9.3) [A] 0.3 Nominal current (without power supply for
outputs)
Supply of outputs on I/O interface: Each output
max. 0.1 A
Max. total current
consumption
[A] 9.4 configuration-dependent
Fault signal 7-segment display, LED C/Q
Parameterisation interface Ethernet TCP/IP IEEE802.3
Parametrization software – Festo Configuration Tool (FCT)
– Web server
Control interfaces
IO-Link/I-Port IEC 61131-9
Modbus TCP IEC 61158
Digital I/O (optional) – DIN ENABLE/DOUT READY
– 2 x DOUT (parameterisable)
Protective functions –I2t monitoring
– Power section temperature monitoring
– Current monitoring
– Voltage failure detection
– Undervoltage monitoring
– Following error monitoring
– Software end-position detection
Degree of protection IP40 (with full pin allocation)
CE marking (declaration of conformity
è www.festo.com/sp)
according to EU EMC directive 2004/108/EC
1)
according to EU Machinery Directive 2006/42/EC
Approvals UL/RCM Mark
Type of mounting – H-rail
– Mounting plate
1) The component is intended for industrial use.
Fig. 15 General technical data
8 Diagnostics
8.1 7-segments display
The 7-segment display on the CMMO-ST
provides information about the current
operating mode, errors and warnings.
4 characters are always displayed in
succession, followed by a space.
The numbers of diagnostic messages in the Error or Warning categories are coded
in hexadecimal format.
During a firmware update the display
alternates between vertical and horizontal
segments.
The wave function enables a motor
controller to be identified within a network
that has multiple motor controllers.
The point flashes in the display of the
selected motor controller; the motor
controller “nods”.
1
1 Point for wave function
(Identification in the network)
Display Operating mode/
event
Priority
B L E Bootloader error 1 Error during the firmware update.
Switch the device off and back on again
(reset).
Restar t the firmware download process.
If the error occurs repeatedly, please contact
your local Festo Service.
Exxx
1)
Faults 2 Error messages interrupt messages with a lower
priority and must be acknowledged.
Axxx
1)
Warning 3 Warnings have a lower priority than errors and
are not displayed if they occur when an error is
already displayed. Otherwise they are displayed
twice in succession. Warnings do not have to be
confirmed (acknowledged).
HHHH STO – Safe torque off 4 The STO function has been requested.
P000 Homing 5 Normal operation
P070 Jog positive
P071 Inch negative
P1xx
2)
Positioning mode
P2xx
2)
High-power mode
P3xx
2)
High-speed mode
1) xxx =Fault number, hexadecimal
2) xx =Record number, decimal
Fig. 16 Messages on the 7-segment display
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