Festo CMMP-AS-C5-3A-M0, CMMP-AS-***-M0 Series, CMMP-AS-C2-3A-M0, CMMP-AS-C5-11A-P3-M0, CMMP-AS-C10-11A-P3-M0 Mounting And Installation

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Motor controller

CMMP-AS-...-M0

Description

Mounting and installation

For motor controller CMMP-AS-...-M0

8049674

1511c

CMMP-AS-...-M0

Translation of the original instructions GDCP-CMMP-M0-HW-EN

CANopen®, Modbus®, Heidenhain®, EnDat®, PHOENIX®, Windows® are registered trademarks of the respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Danger

Immediate dangers which can lead to death or serious injuries

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 è Result of an action/References to more detailed information

2 Festo – GDCP-CMMP-M0-HW-EN – 1511c –

CMMP-AS-...-M0

Table of Contents – CMMP-AS-...-M0

Instructions on this documentation 6.................................................

Target group 6...................................................................

Product identification, versions 6....................................................

Service 6.......................................................................

Specified standards/directives 6....................................................

Documentation 8................................................................

1 Safety and requirements for product use 9......................................

1.1 Safety 9..................................................................

1.1.1 Safety instructions for commissioning, repair and de-commissioning 9........

1.1.2 Protection against electric shock through protective extra-low voltage (PELV) 10.

1.1.3 Intended use 10.....................................................

1.2 Requirements for product use 11...............................................

1.2.1 Transport and storage conditions 11....................................

1.2.2 Technical requirements 11............................................

1.2.3 Qualification of the specialists (requirements for the personnel) 11............

1.2.4 Range of application and certifications 11................................

2 Product overview 13.........................................................

2.1 The entire system for the CMMP-AS-...-M0 13.....................................

2.2 Scope of delivery 14..........................................................

2.3 Device view 15..............................................................

3 Mechanical installation 19....................................................

3.1 Important notes 19..........................................................

3.2 Mounting 20................................................................

3.2.1 Motor controller 20..................................................

4 Electrical installation 23......................................................

4.1 Safety instructions 23........................................................

4.2 Allocation of the plug connectors 25.............................................

4.3 Connection: I/O communication [X1] 29..........................................

4.3.1 Plug [X1]: 29.......................................................

4.3.2 Pin assignment [X1] 29...............................................

4.3.3 Use analogue inputs as digital inputs 30.................................

4.4 Connection: Resolver [X2A] 32..................................................

4.4.1 Plug [X2A] 32.......................................................

4.4.2 Pin assignment [X2A] 32..............................................

4.5 Connection: Encoder [X2B] 33..................................................

4.5.1 Plug [X2B] 33.......................................................

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 3

CMMP-AS-...-M0

4.5.2 Pin assignment [X2B] 33..............................................

4.6 Connection: CAN bus [X4] 36...................................................

4.6.1 Plug [X4] 36........................................................

4.6.2 Pin assignment [X4] 36...............................................

4.7 Connection: Motor [X6] 37.....................................................

4.7.1 Plug [X6] 37........................................................

4.7.2 Pin assignment [X6] 37...............................................

4.8 Connection: Voltage supply [X9] 39..............................................

4.8.1 Plug 39............................................................

4.8.2 Pin assignment [X9] – single-phase 39...................................

4.8.3 Pin assignment [X9] – triple-phase 40....................................

4.8.4 Mains fuse 41......................................................

4.8.5 AC supply 41.......................................................

4.8.6 Braking resistor 43..................................................

4.9 Connection: Incremental encoder input [X10] 44...................................

4.9.1 Plug [X10] 44.......................................................

4.9.2 Pin assignment [X10] 44..............................................

4.9.3 Type and design of the cable [X10] 45...................................

4.9.4 Connection instructions [X10] 45.......................................

4.10 Connection: Incremental encoder output [X11] 45..................................

4.10.1 Plug [X11] 45.......................................................

4.10.2 Pin assignment [X11] 45..............................................

4.11 FCT interfaces 46............................................................

4.11.1 Overview of interfaces 46.............................................

4.11.2 USB [X19] 46.......................................................

4.11.3 Ethernet TCP/IP [X18] 47..............................................

4.12 Connection: I/O interface for STO [X40] 49........................................

4.12.1 Plug [X40] 49.......................................................

4.12.2 Pin assignment [X40] 49..............................................

4.12.3 Circuitry with use of the STO safety function [X40] 49.......................

4.12.4 Circuitry without use of the STO safety function [X40] 49....................

4.13 Instructions on safe and EMC-compliant installation 51..............................

4.13.1 Explanations and terms 51............................................

4.13.2 General remarks on EMC 51...........................................

4.13.3 EMC areas: First and second environment 52..............................

4.13.4 EMC-compliant wiring 53.............................................

4.13.5 Operation with long motor cables 55....................................

4.13.6 ESD protection 55...................................................

5 Commissioning 56...........................................................

5.1 General connection instructions 56..............................................

5.2 Tools / material 56...........................................................

5.3 Connecting the motor 56......................................................

4 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

CMMP-AS-...-M0

5.4 Connect motor controller CMMP-AS-...-M0 to the power supply 57.....................

5.5 Connecting a PC 57..........................................................

5.6 Check operating status 58.....................................................

6 Service functions and diagnostic messages 59....................................

6.1 Protective and service functions 59..............................................

6.1.1 Overview 59........................................................

6.1.2 Phases and mains failure detection 59...................................

6.1.3 Overload current and short-circuit monitoring 59..........................

6.1.4 Overvoltage monitoring for the intermediate circuit 59......................

6.1.5 Temperature monitoring for the heat sink 59..............................

6.1.6 Monitoring of the motor 60............................................

6.1.7 I2t monitoring 60....................................................

6.1.8 Power monitoring for the brake chopper 60...............................

6.1.9 Commissioning status 61.............................................

6.1.10 Rapid discharge of the intermediate circuit 61.............................

6.1.11 Detection of faults in conjunction with the functional safety engineering 61.....

6.2 Operating mode and diagnostic messages 61.....................................

6.2.1 Operation and display components 61...................................

6.2.2 7-segment display 62................................................

6.2.3 Acknowledgement of error messages 63.................................

6.2.4 Diagnostic messages 63..............................................

7 Maintenance, care, repair and replacement 64....................................

7.1 Maintenance and care 64......................................................

7.2 Repair 64..................................................................

7.3 Replacement and disposal 64..................................................

7.3.1 Dismounting and installation 64........................................

7.3.2 Disposal 64........................................................

A Technical appendix 65........................................................

A.1 Technical data CMMP-AS-...-M0 65..............................................

A.1.1 Interfaces 73.......................................................

A.2 Supported encoders 79.......................................................

B Diagnostic messages 81......................................................

B.1 Explanations of the diagnostic messages 81......................................

B.2 Diagnostic messages with instructions for fault clearance 82.........................

Index 121........................................................................

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 5

CMMP-AS-...-M0

Instructions on this documentation

This documentation is intended to help you safely work with the motor controller CMMP-AS-...-M0 and describes the mounting and installation processes.

Target group

This documentation is intended exclusively for technicians trained in control and automation techno logy, who have experience in installation, commissioning, programming and diagnostics of positioning systems.

Product identification, versions

This description refers to the following versions: – CMMP-AS-...-M0 from Rev 01 – FCT plug-in CMMP-AS from Version 2.3.x.

Note

Before using a newer firmware version, check whether a newer version of the FCT plugin or user documentation is available for it Support Portal: è www.festo.com/sp

Rating plate (example) Meaning

CMMP-AS-C2-3A-M0

1622901

XX Rev XX

IND. CONT. EQ.

1UD1

In: 1* (100...230)V AC±10% (50...60)Hz 3A Out: 3*(0...270)V AC (0...1000)Hz 2,5A Max surround air temp 40°C D-73734 Esslingen IP10/20

Type designation CMMP-AS-C2-3A-M0 Part number 1622901 Serial number XX Revision status Rev XX Input data 100 … 230 V AC ±10%

50 … 60 Hz 3 A

Output data

0 … 270 V AC 0 … 1000 Hz 2.5 A

Degree of protection

IP10/20

Max. ambient temperature 40 °C

Tab. 1 Rating plate example CMMP-AS-C2-3A-M0

Service

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

Specified standards/directives

Issue status

2006/42/EC EN 60204-1:2006-06/A1:2009-02 2006/95/EC EN 50178:1997-10 2004/108/EC IEC 61131-2:2007-09 EN 61800-3:2004-12 + A1:2012-3

Tab. 2 Standards/directives specified in the document

6 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

CMMP-AS-...-M0

Production time period

On the type plate, the first 2 characters of the serial number indicate the production period in encryp ted form (è Tab. 1) The letter specifies the manufacturing year and the character behind it (number or letter) indicates the month of production.

Manufacturing year

X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020

Tab. 3 Manufacturing year (20-year cycle)

Manufacturing month

1 January 2 February 3 March 4 April 5 May 6 June 7 July 8 August 9 September O October N November D December

Tab. 4 Manufacturing month

Type codes

CMMP

AS C5 11 A P3

– – – – –

Type

CMMP

Motor controller, premium

Motor technology

AS AC synchronous

Nominal current

C2 2.5 A C5 5 A C10 10 A

Input voltage

3A 11 A

100 ... 230 V AC 3x 230 ... 480 V AC

Number of phases

– 1-phase P3 3-phase

Number of slots

Without slot

Fig. 1 Type codes

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 7

CMMP-AS-...-M0

Documentation

You will find additional information on the motor controller in the following documentation:

User documentation on the motor controller CMMP-AS-...-M0 Name, type Table of contents

Hardware description, GDCP-CMMP-M0-HW-...

Mounting and installation of the motor controller CMMPAS-...-M0 for all variants/output classes (1-phase, 3-phase), pin

assignments, error messages, maintenance. Function descriptions, GDCP-CMMP-M0-FW-... Description FHPP, GDCP-CMMP-M3/-M0-C-HP-...

Functional description (firmware) CMMP-AS-...-M0, Instructions

on commissioning.

Control and parameterisation of the motor controller via the

FHPP Festo profile.

– Motor controller CMMP-AS-...-M3 with the following field

busses: CANopen, Modbus TCP, PROFINET, PROFIBUS, Ether Net/IP, DeviceNet, EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbus CANopen,

Modbus TCP. Description CiA 402 (DS 402), GDCP-CMMP-M3/-M0-C-CO-...

Control and parameterisation of the motor controller via the device profile CiA 402 (DS 402) – Motor controller CMMP-AS-...-M3 with the following field

busses: CANopen and EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.

Description CAM-Editor, P.BE-CMMP-CAM-SW-... Description of the safety function STO, GDCP-CMMP-AS-M0-S1-...

Cam disc function (CAM) of the motor controller CMMPAS-...-M3/-M0. Functional safety engineering for the motor controller CMMPAS-...-M0 with the integrated safety function STO.

Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the

Festo Configuration Tool è www.festo.com/sp.

Tab. 5 Documentation on the motor controller CMMP-AS-...-M0

8 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

1 Safety and requirements for product use

1.1 Safety

1.1.1 Safety instructions for commissioning, repair and de-commissioning

Warning

Danger of electric shock. – When cables are not mounted to the plugs [X6] and [X9]. – When connecting cables are disconnected when powered. Touching live parts can result in severe injuries and even death. The product may only be operated in a built-in status and when all protective measures have been initiated. Before touching live parts during maintenance, repair and cleaning work and when there have been long service interruptions:

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

2. After switch-off, wait at least 5 minutes discharge time and check that power is turned off before accessing the controller.

The safety functions do not protect against electric shock but only against dangerous movements!

Note

Danger from unexpected movement of the motor or axis. – Make sure that the movement does not endanger anyone. – Perform a risk assessment in accordance with the EC machinery directive. – Based on this risk assessment, design the safety system for the entire machine,

taking into account all integrated components. This also includes the electric drives.

– Bypassing safety equipment is impermissible.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 9

1 Safety and requirements for product use

1.1.2 Protection against electric shock through protective extra-low voltage (PELV)

Warning

 Use for the electrical power supply only PELV circuits in accordance with EN 60204-1

(Protective Extra-Low Voltage, PELV). Also take into account the general requirements for PELV circuits in accordance with EN60204-1.

 Use only power sources which guarantee reliable electrical isolation of the operating

voltage as per EN 60204-1.

Through the use of PELV circuits, protection from electric shock (protection from direct and indirect contact) in accordance with EN 60204-1 is ensured (Electrical equipment of machines. General require ments).

1.1.3 Intended use

The CMMP-AS-...-M0 is intended for ... – Use in control cabinets for power supply to AC servo motors and their regulation of torques (cur

rent), rotational speed and position. The CMMP-AS-...-M0 is intended for installation in machines or automated systems and may be used only as follows: – in excellent technical condition, – in original status without unauthorised modifications, – within the limits of the product defined by the technical data

(è Appendix A Technical appendix), – in an industrial environment. The product is intended for use in industrial areas. When used outside an industrial environment, e.g. in commercial and mixed residential areas, measures for radio interference suppression may be ne cessary.

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.

10 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

1 Safety and requirements for product use

1.2 Requirements 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.

1.2.1 Transport and storage conditions

 Protect the product during transport and storage from impermissible burdens, such as:

– mechanical loads, – impermissible temperatures, – moisture, – aggressive atmospheres.

 Store and transport the product in its original packaging. The original packaging offers sufficient

protection from typical stresses.

1.2.2 Technical 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 of the product (è Appendix A) and all

connected components specified in the technical data. Only compliance with the limit values or load limits will enable operation of the product in compli ance with the relevant safety regulations.

 Observe the instructions and warnings in this documentation.

1.2.3 Qualification of the specialists (requirements for the personnel)

The product may only be placed in operation by a qualified electrotechnician who is familiar with: – the installation and operation of electrical control systems, – the applicable regulations for operating safety-engineered systems, – the applicable regulations for accident protection and occupational safety, and – the documentation for the product.

1.2.4 Range of application and certifications

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

Certificates and declaration of conformity on this product can be found at è www.festo.com/sp.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 11

1 Safety and requirements for product use

The current revisions and special configurations of earlier revisions (order code ...-C1) of the product have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These are marked as follows:

UL Listing Mark for Canada and the United States

Note

Observe the following if the UL requirements are to be complied with in your applica tion: – 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.

Certain configurations of earlier revisions of the product have been certified by Underwriters Laborator ies Inc. (UL) for the USA. These are marked as follows:

UL Listing Mark for the United States

12 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

2 Product overview

2.1 The entire system for the CMMP-AS-...-M0

A motor controller CMMP-AS-...-M0 entire system is shown in è Fig. 2.1 è Page 14. For operation of the motor controller, the following components are required: – Mains power switch – FI circuit breaker (RCD), all-current sensitive 300 mA – Automatic circuit breaker – Power supply 24 V DC – Motor controller CMMP-AS-...-M0 – Motor with motor and encoder cables A Windows PC with USB or Ethernet connection is required for parametrisation.

Observe the instructions regarding mains fuses in è Chapter 4.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 13

2 Product overview

1 Power switch 2 Fuse 3 Power pack for logic voltage 4 Optional: external braking resistor

Fig. 2.1 Complete structure CMMP-AS-...-M0 with motor and PC

5 Motor controller CMMP-AS-...-M0 6 PC 7 Motor (e.g. EMMS-AS with encoder)

2.2 Scope of delivery

The delivery includes:

Scope of delivery

Motor controller CMMP-AS-...-M0 Operator package CD

Brief description

Assortment of plugs NEKM-C-7, NEKM-C-8

Tab. 2.1 Scope of delivery

14 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

2 Product overview

2.3 Device view

1 Digital I/O interface for control of the STO

function [X40]

2 Activation of firmware download [S3] 3 SD-/MMC card slot [M1] 4 Activation of CANopen terminating resistor

[S2]

Fig. 2.2 Motor controller CMMP-AS-...-M0: Front view

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 15

5 CANopen interface [X4] 6 Ethernet interface [X18] 7 USB interface [X19] 8 7-segment display 9 Reset button aJ LEDs

2 Product overview

1 PE connection 2 I/O communication [X1]

4 Incremental encoder output [X11] 5 Power supply [X9]

3 Incremental encoder input [X10]

Fig. 2.3 Motor controller CMMP-AS-...-3A-M0: Top view

16 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

2 Product overview

1 PE connection 2 I/O communication [X1]

4 Incremental encoder output [X11] 5 Power supply [X9]

3 Incremental encoder input [X10]

Fig. 2.4 Motor controller CMMP-AS-...-11A-P3-M0: Top view

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 17

2 Product overview

1 Spring-loaded terminal connection for the

outer shield of the motor cable

3 Connection for the resolver [X2A] 4 Connection for the encoder [X2B]

2 Motor connection [X6]

Fig. 2.5 Motor controller CMMP-AS-...-M0: Bottom view

18 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

3 Mechanical installation

3.1 Important notes

Note

Proceed carefully when mounting. During mounting and subsequent operation of the drive, ensure that that no metal shavings, metal dust or mounting parts (screws, nuts, pieces of wire) fall into the motor controller.

Note

The motor controllers CMMP-AS-...-M0  Use only as installed devices for control cabinet mounting.  Mounting orientation with the power supply [X9] on top.  Mount it with the clip on the mounting plate.  Installation clearances:

For sufficient ventilation of the device, a minimum clearance of 100 mm to other sub-assemblies is required above and below the device.

 An installation clearance of 150 mm underneath the device is recommended for

optimum wiring of the motor or encoder cable!

 The motor controllers of the CMMP-AS-...-M0 family are designed in such a way that

they can be mounted directly on a heat-dissipating mounting plate if used as inten ded and installed correctly. We wish to point out that excessive heating can lead to premature aging and/or damage to the device. With high thermal stress on the mo tor controller CMMP-AS-...-M0, a mounting distance (è Fig. 3.2) is recommended!

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 19

3 Mechanical installation

3.2 Mounting

Observe the safety instructions è Chapter 1 during mounting and installation work.

Please note Damage to the motor controller due to incorrect handling.

 Switch off the supply voltage before mounting and installation work. Switch on sup

ply voltage only when mounting and installation work are completely finished.

 Observe the handling specifications for electrostatically sensitive devices. Do not touch

the printed circuit board and the pins of the manifold rail in the motor controller.

3.2.1 Motor controller

Mounting clips are located at the top and bottom of the motor controller CMMP-AS-...-M0. They are used to attach the motor controller vertically to a mounting plate. The clips are part of the radiator profile, ensuring an optimal heat transfer to the mounting plate.

Please use size M5 screws to attach the motor controller CMMP-AS-...-M0.

20 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

3 Mechanical installation

Fig. 3.1 Motor controller CMMP-AS-...-M0: Mounting plate

CMMP-AS-... H1 L1 L2 L3 L4 L5 L6 B1 B2 B3 D1 D2

-3A-M0 [mm] 207 248 202 281 12.5 19 10.5 66 61 30.7 10 5.5

-11A-P3-M0 [mm] 247 297 252 330 12.5 19 10.5 79 75 37.5 10 5.5

Tab. 3.1 Motor controller CMMP-AS-...-M0: Dimensions table

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 21

3 Mechanical installation

Fig. 3.2 Motor controller CMMP-AS-...-M0: Mounting distance and installation clearance

Motor controller L1 H11)

CMMP-AS-...-3A-M0 [mm]  71  100 CMMP-AS-...-11A-P3-M0 [mm]  85  100

1) An installation clearance of 150 mm underneath the device is recommended for optimum wiring of the motor or encoder cable!

Tab. 3.2 Motor controller CMMP-AS-...-M0: Mounting distance and installation clearance

22 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

4 Electrical installation

4.1 Safety instructions

Warning Danger of electric shock

Motor controllers are devices with increased leakage current ( 3.5 mA). If wiring is incorrect or the device is defective, high voltage can occur on the housing, which can result in serious injury or even death if the housing is touched.  Before commissioning, also for brief measuring and test purposes, connect the PE

protective conductor: – to the earthing screw of the controller housing – to pin PE [X9], power supply.

The cross section of the protective conductor at PE [X9] must correspond at least to the cross section of the external conductor L [X9].

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

Warning Danger of electric shock

– when the module or cover plate is not mounted on the card slot [EXT] – when cables are not mounted to the plugs [X6] and [X9] – if connecting cables are disconnected when powered. Touching live parts causes severe injuries and can lead to death. Before mounting and installation work:

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

2. After switch-off, wait at least 5 minutes discharge time and check that power is turned off before accessing the controller.

Warning Danger of electric shock

This product can cause a DC current in the protective ground conductor. In cases where an error current protection unit (RCD) or an error current monitoring device (RCM) is used to protect against direct or indirect contact, only the Type B kind of RCD or RCM is permitted on the power supply side of this product.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 23

4 Electrical installation

Caution Danger from unexpected movement

Faulty pre-assembled lines may destroy the electronics and trigger unexpected move ments of the motor.  When wiring the system, use only the supplied plug connectors and preferably the

cables listed in the catalogue as accessories. è www.festo.com/catalogue

 Lay all flexible lines so that they are free of kinks and free of mechanical stress; if

necessary use chain link trunking.

Note

ESD (electrostatic discharge) can cause damage to the device or other system parts at plug connectors that are not used.  Before installation: Earth the system parts and use appropriate ESD equipment (e.g.

shoes, earthing straps etc.).

 After installation: Seal unassigned Sub-D plug connectors with protective caps

(available at authorized dealers).

 Observe the handling specifications for electrostatically sensitive devices.

24 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

4 Electrical installation

4.2 Allocation of the plug connectors

The motor controller CMMP-AS-...-M0 is connected to the supply voltage, the motor, the external brak ing resistor and the holding brake in accordance with the following circuit diagrams.

min. 100 V AC -10 % max. 230 V AC +10 %

Braking resistor

alternative

+24 V

0 V

Power circuit breakers

external

internal

24 V DC supply

Single-phase

L N

ZK+ ZKBR-INT BR-CH

PE 24V+ GND24V

Connection for the outer screening of the motor cable

M 3~

U V W PE

MT+ MTPE

BR+

Encoder/resolver

Br-

X2A/X2B

Angle encoder

Encoder /Resolver

Fig. 4.1 CMMP-AS-...-3A-M0: Single-phase connection to the supply voltage and the motor

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 25

4 Electrical installation

Note The maximum voltage of 230 V AC +10 % must be present between the external con ductors è Fig. 4.2.

In typical European low voltage networks that have a nominal star voltage of 230 V, a mesh voltage of approx. 400 V develops between two external conductors, which could result in damage to the motor controller!

min. 100 V AC -10% max. 230 V AC +10%

Braking resistor

alternative

+24 V

0 V

Connection for the outer screening of the motor cable

M 3~

external

Power circuit breakers

internal

24 V DC supply

2-phase

N ZK+ ZKBR-INT BR-CH

PE 24V+ GND24V

U V

W PE

MT+ MTPE

BR+ Br-

X2A/X2B

Angle encoder

Encoder/ Resolver

Fig. 4.2 CMMP-AS-...-3A-M0: Dual-phase connection L1/L2 to the supply voltage and the motor

26 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

4 Electrical installation

min. 230 V AC -10% max. 480 V AC +10%

L1 L2 L3 PE

Braking resistor

alternative

+24 V

0 V

Connection for the outer screening of the motor cable

Power circuit breakers

external

internal

24 V DC supply

3-phase

L1 L2 L3 ZK+ ZKBR-EXT BR-CH BR-INT PE 24V+ GND24V

U V W

PE MT+ MTPE BR+ Br-

X2A/X2B

Angle encoder

Encoder/ Resolver

Fig. 4.3 CMMP-AS-...-11A-M0: Triple-phase connection to the supply voltage and the motor

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 27

4 Electrical installation

The power supply cables for the power end stage are alternatively connected to the following terminals:

Power end stage supply

Observe instructions in chapter è 4.8.5

AC supply L, N for single-phase motor controllers

L1, L2, L3 for three-phase motor controllers

DC supply ZK+, ZK–

Tab. 4.1 Connection of power supply cables

Motor temperature switch

PTC or N/C contact/ N/O contact1)

MT+, MT–; [X6]

if this is carried together with the motor phases in

one cable (e.g. KTY81) Analogue temperature sensor

1) EMMS-AS motors have a PTC

MT+, MT–; [X2A] or [X2B]

Tab. 4.2 Connection of the motor temperature switch

Note

Temperature sensors must be sufficiently isolated from the motor winding.

The connection of the encoder/resolver via the Sub-D plug connector to [X2A] or [X2B] is roughly shown diagrammatically in è Fig. 4.1, è Fig. 4.2 and è Fig. 4.3.

Note

If the polarity of the operating voltage connections is reversed, or if the operating voltage is too high or the operating voltage and motor connections are reversed, the motor controller CMMP-AS-...-M0 will be damaged.

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4.3 Connection: I/O communication [X1]

4.3.1 Plug [X1]:

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 25-pin, socket Sub-D plug connector, 25-pin, pins

Tab. 4.3 Plug design [X1]

4.3.2 Pin assignment [X1]

See Technical data è section A.1.1 for connected loads of the inputs and outputs. In the firmware factory setting (delivery status) the control interface for CANopen is parameterised (bus settings via DIL switch) to enable a device to be replaced without FCT è Tab. 4.4.

[X1] Pin no. Desig

nation

13 DOUT3 Output freely parameterisable, optionally parameterisable as DIN11

25 DOUT2 Output freely parameterisable, optionally parameterisable as DIN10

12 DOUT1 Output freely parameterisable

24 DOUT0 Controller ready, output permanently assigned

11 DIN 9 Fieldbus data profile (CiA 402, FHPP), input freely parameterisable

23 DIN 8 Fieldbus activation communication, input freely parameterisable

10 DIN7 Limit switch 1 (blocks n  0), input permanently assigned

22 DIN6 Limit switch 0 (blocks n  0), input permanently assigned

9 DIN5 Controller enable, input permanently assigned

21 DIN4 End stage enable, input permanently assigned

8 DIN 3 Fieldbus offset node number bit 3, input freely parameterisable

20 DIN 2 Fieldbus offset node number bit 2, input freely parameterisable

7 DIN 1 Fieldbus offset node number bit 1, input freely parameterisable

19 DIN 0 Fieldbus offset node number bit 0, input freely parameterisable

6 GND24 Reference potential for digital I/Os

18 +24 V 24 V output

5 AOUT1 Analogue output freely parameterisable

17 AOUT0 Analogue output freely parameterisable

4 +VREF Reference output for setpoint potentiometer

16 DIN13 Fieldbus transmission rate bit 1, optionally parameterisable as AIN2

3 DIN12 Fieldbus transmission rate bit 0, optionally parameterisable as AIN1

15 #AIN0 Setpoint input 0, differential analogue input

2 AIN0

14 AGND Reference potential for analogue signals

1 AGND Screening for analogue signals, AGND

1) Configuration with FCT. Observe not è Abschnitt 4.3.3.

Tab. 4.4 Pin assignment: I/O communication [X1] (firmware factory setting)

Specification

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The standard assignment of the I/O interface in the FCT corresponds to è Tab. 4.5.

[X1]

Pin no. Desig

Specification

nation

13 DOUT3 Following error, output freely parameterisable, optionally paramet

erisable as DIN11

25 DOUT2 Brake unlocked, output freely parameterisable, optionally paramet

erisable as DIN10

12 DOUT1 Motion Complete, Output freely parameterisable

24 DOUT0 Controller ready, output permanently assigned

11 DIN 9 Flying measurement (sample)/reference switch, input freely para

meterisable

23 DIN 8 Start positioning task, input freely parameterisable

10 DIN7 Limit switch 1 (blocks n  0), input permanently assigned

22 DIN6 Limit switch 0 (blocks n  0), input permanently assigned

9 DIN5 Controller enable, input permanently assigned

21 DIN4 End stage enable, input permanently assigned

8 DIN 3 Position selector bit 3, input freely parameterisable

20 DIN 2 Position selector bit 2, input freely parameterisable

7 DIN 1 Position selector bit 1, input freely parameterisable

19 DIN 0 Position selector bit 0, input freely parameterisable

6 GND24 Reference potential for digital I/Os

18 +24 V 24 V output

5 AOUT1 Position setpoint value, analogue output freely parameterisable

17 AOUT0 Speed setpoint value, analogue output freely parameterisable

4 +VREF Reference output for setpoint potentiometer

16 AIN13 Setpoint input 2, single ended analogue input, optionally paramet

erisable as DIN13

3 AIN12 Setpoint input 1, single ended analogue input, optionally paramet

erisable as DIN12

15 #AIN0 Setpoint input 0, differential analogue input

2 AIN0

14 AGND Reference potential for analogue signals

1 AGND Screening for analogue signals, AGND

1) Configuration with FCT. Observe not è Section 4.3.3.

Tab. 4.5 Pin assignment: I/O communication [X1] (FCT factory setting)

4.3.3 Use analogue inputs as digital inputs

If the digital inputs AIN1 and ANI2 are used as digital inputs, then a ground reference from AGND to GND24 at plug X1 pins 14 and 6 must be established.

Note

Connecting AGND to GND24 renders the electronics overvoltage protection inoperable.

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Controller CMMP-AS-…-M0

AIN0 #AIN0

Pin no.

AIN0

#AIN0

AIN1

AIN2

+VREF

AIN1/AIN2

+VREF

AGND

+15 V DC

AGND

AOUT0

AOUT1

AGND

100 mA max!

+24 V DC

DIN 0

DIN9

DOUT0

AGND

100 mA max!

DOUT3

GND24

PE PE

Plug housing

Fig. 4.4 Basic circuit diagram of connection [X1]

AMON0/1

+24 V DC

GND24

AGND

AGNDGND

DINX

GND24

GND

+24 V DC

DOUTX

GND

GND24

Control cable and Sub-D plug connector è www.festo.com/catalogue.

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4.4 Connection: Resolver [X2A]

4.4.1 Plug [X2A]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 9-pin, socket Sub-D plug connector, 9-pin, pins

Tab. 4.6 Plug design [X2A]

4.4.2 Pin assignment [X2A]

[X2A] Pin no. Designation Value Specification

1 S2 3.5 V

6 S4

2 S1 3.5 V

7 S3

3 AGND 0 V Screening for signal pairs

8 MT- GND Reference potential for

4 R1 7 V

9 R2 GND

5 MT+ +3.3 V R

Tab. 4.7 Pin assignment [X2A]

5-10 kHz

eff

Ri  5 kΩ

5-10 kHz

eff

 5 kΩ

5-10 kHz

eff

IA  150 mA

= 2 kΩ Temperature sensor, motor

SINE tracking signal, differential COSINE tracking signal, differential

(inner screening)

temperature sensor Carrier signal for resolver

eff

temperature, N/C contact, PTC, KTY ...

The outer screening must always be connected to the PE (plug housing) of the motor controller. The inner screenings must be placed on one side on the motor controller CMMP-AS-...-M0 on PIN3 of [X2A].

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4.5 Connection: Encoder [X2B]

4.5.1 Plug [X2B]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 15-pin, socketSub-D plug connector, 15-pin, pins

Tab. 4.8 Plug design [X2B]

4.5.2 Pin assignment [X2B]

[X2B] Pin no. Designation Value Specification

1 MT+ +3.3 V R

9 U_SENS+ 5 V … 12 V

2 U_SENS-

RI L 1 kΩ

10 US 5 V/12 V ±10%

3 GND 0V Reference potential for en

11 R 0.2 VSS … 0.8 V

4 R#

RI L 120 Ω

12 COS_Z1 1) 1 V

5 COS_Z1# 1)

13 SIN_Z1

6 SIN_Z1# 1)

RI L 120 Ω

1 V RI L 120 Ω

14 COS_Z0 1) 1 VSS ±10%

7 COS_Z0# 1)

15 SIN_Z0

8 SIN_Z0# 1)

1) Heidenhain encoder: A=SIN_Z0; B=COS_Z0, C=SIN_Z1; D=COS_Z1

RI L 120 Ω

1 VSS ±10% RI L 120 Ω

Tab. 4.9 Pin assignment: Analogue incremental encoder – optional

= 2 kΩ Temperature sensor, motor

temperature, N/C contact, PTC, KTY ... Sensor cable for the encoder supply Operating voltage for high-res

= 300 mA

max

olution incremental encoder

coder supply and motor tem perature sensor Zero impulse tracking signal

(differential) from high-resolu tion incremental encoder

COSINE commutation signal (differential) from high-resolu tion increment generator

SINE commutation signal (differential) from high-resolu tion incremental encoder COSINE tracking signal (differential) from high-resolu tion incremental encoder SINE tracking signal (differential) from high-resolu tion incremental encoder

The outer screening must always be connected to the PE (plug housing) of the motor controller.

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[X2B] Pin no. Designation Value Specification

1 MT+ +3.3 V R

= 2 kΩ Temperature sensor, motor

temperature, N/C contact, PTC, KTY ...

9 U_SENS+ 5 V … 12 V

2 U_SENS-

RI L 1 kΩ

10 US 5 V/12 V ±10%

max

= 300 mA

Sensor cable for the encoder supply Operating voltage for high-res olution incremental encoder

3 GND 0V Reference potential for en

coder supply and motor tem perature sensor

11 –

4 –

12 DATA 5 V

5 DATA#

13 SCLK 5 V

6 SCLK#

14 COS_Z0 1) 1 VSS ±10%

7 COS_Z0 1)#

15 SIN_Z0

8 SIN_Z0 1)#

1) Heidenhain encoder: A=SIN_Z0; B=COS_Z0

RI L 120 Ω

1 VSS ±10% RI L 120 Ω

Bidirectional RS485 data cable (differential) RS485 clock output (differential) COSINE tracking signal (differential) from high-resolu tion incremental encoder SINE tracking signal (differential) from high-resolu tion incremental encoder

Tab. 4.10 Pin assignment: Incremental encoder with serial interface, e.g. EnDat – optional

The outer screening must always be connected to the PE (plug housing) of the motor controller.

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[X2B] Pin no. Designation Value Specification

1 MT+ +3.3 V R

= 2 kΩ Temperature sensor, motor

temperature, N/C contact, PTC, KTY ...

9 U_SENS+ 5 V … 12 V

2 U_SENS-

RI L 1 kΩ

10 US 5 V/12 V / ±10%

max

= 300 mA

Sensor cable for the encoder supply Operating voltage for highresolution incremental encoder

3 GND 0V Reference potential for

encoder supply and motor temperature sensor

11 N 2 VSS … 5 V

4 N#

RI L 120 Ω

12 H_U 0V/5V

L 2 kΩ

5 H_V Phase V Hall sensor for

at VCC

Zero impulse RS422 (differential) from digital incre ment generator Phase U Hall sensor for commutation

commutation

13 H_W Phase W Hall sensor for

commutation

6 –

14 A 2 VSS … 5 V

7 A#

15 B 2 VSS … 5 V

8 B#

RI L 120 Ω

A tracking signal RS422 (differential) from digital incre mental encoder B tracking signal RS422 (differential) from digital incre mental encoder

Tab. 4.11 Pin assignment: Digital incremental encoder – optional

The outer screening must always be connected to the PE (plug housing) of the motor controller.

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4.6 Connection: CAN bus [X4]

4.6.1 Plug [X4]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 9-pin, pin Sub-D plug connector, 9-pin, socket

Tab. 4.12 Plug design [X4]

4.6.2 Pin assignment [X4]

[X4] Pin no. Designation Value Description

1 – – Not assigned

6 CAN-GND – Galvanically connected to GND in the

motor controller

2 CAN-L – Negative CAN signal (dominant low)

7 CAN-H – Positive CAN signal (dominant high)

3 CAN-GND – Galvanically connected to GND in the

8 – – Not assigned

4 – – Not assigned

9 – – Not assigned

5 CAN shield – Screening

Tab. 4.13 Pin assignment for CAN-interface [X4]

motor controller

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4.7 Connection: Motor [X6]

4.7.1 Plug [X6]

CMMP-AS-... Design on the device / coding Counterplug / coding

...-C2-3A-M0 PHOENIX Contact ...-C5-3A-M0

MSTBA 2.5/9-G-5.08 BK ...-11A-P3-M0 PHOENIX Power-Combicon ...-C10-11A-P3-M0

PC 5/9-G-7.62 BK

Tab. 4.14 Plug design [X6]

4.7.2 Pin assignment [X6]

[X6]1) Pin no. Designation Value Specification

1 Br- 0 V brake Holding brake (motor), signal

2 BR+ 24 V brake

3 PE PE Cable shield for the holding

4 -MTdig GND Motor temperature sensor,

5 +MTdig +3.3 V 5 mA

6 PE PE Protective earth conductor

7 W Technical data

8 V

9 U

1) Representation of the plug on the device of the motor controller CMMP-AS-...-3A-M0

Tab. 4.15 Pin assignment [X6] connection: Motor

Pin 1 (BR-) PHOENIX Contact

MSTB 2.5/9-ST-5.08 BK

– PHOENIX Power-Combicon

PC 5/9-ST-7.62 BK

level dependent on switching status, high-side/low-side switch

brake and the temperature sensor (with Festo cables: n.c.)

N/C contact, N/O contact, PTC, KTY ...

from the motor

Connection of the three motor

è Tab. A.9

phases

Pin 9 (U)

–

The shielding for the motor cable must also be attached to the housing of the motor con troller (spring clip: Fig. 2.5 è Page 18).

A motor holding brake can be connected to terminals BR+ and BR-. The locking brake is supplied from the logic supply of the motor controller. The maximum output current provided by the CMMP-AS-...-M0 motor controller must be observed.

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To release the holding brake, care must be taken to maintain the voltage tolerances at the holding brake connection terminals. Also observe the specifications in Tab. A.4 è Page 66.

It may be necessary to insert a relay between the device and the holding brake, as shown in Fig. 4.5è Page 38:

BR+

Br-

CMMP-AS-...-M0

Resistor and Capacitor for

+24V power pack

Spark arresting

GND power pack

+24V brake

Free-wheeling diode

GND brake

Motor

Fig. 4.5 Connecting a high-current holding brake to the device

High voltages with spark formation are created when inductive direct currents are con nected via relays. For interference suppression, we recommend integrated RC interfer ence suppressors, e.g. from Evox RIFA, designation: PMR205AC6470M022 (RC element with 22 Ω in series with 0.47 μF).

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4.8 Connection: Voltage supply [X9]

The motor controller CMMP-AS-...-M0 receives its 24 V DC power supply for the control electronics via the plug connector [X9]. The main power supply for the motor controllers CMMP-AS-…-3A-M0 is 1-phase and for the motor con trollers CMMP-AS-…-11A-P3-M0 3-phase.

4.8.1 Plug

CMMP-AS-... Design on the device / coding Counterplug / coding

...-C2-3A-M0 PHOENIX Contact ...-C5-3A-M0

MSTBA 2.5/9-G-5.08-BK ...-C5-11A-P3-M0 PHOENIX Power-COMBICON ...-C10-11A-P3-M0

PC 5/11-G-7.62-BK

Tab. 4.16 Plug design [X9]

4.8.2 Pin assignment [X9] – single-phase

[X9]1) Pin no. Designation Value Specification

1 L 100 … 230 V AC 2 N Mains neutral conductor (refer

3 ZK+ 60 … 380 V DC Alternative supply:

4 ZK- GND_ZK Alternative supply:

5 BR-INT  460 V DC Internal braking resistor connec

6 BR-CH  460 V DC Brake chopper connection for

7 PE PE Connection for protective

8 +24 V +24 V DC ±20% Supply for control section, holding

9 GND24 V GND24 V DC Reference potential for supply 0V

1) Representation of the contact strip on the motor controller CMMP-AS-...-3A-M0

Tab. 4.17 Pin assignment [X9] – single-phase

Pin 9 (GND24V)

PHOENIX Contact MSTB 2.5/9-ST-5.08-BK

– PHOENIX Power-COMBICON

PC 5/11-ST-7.62-BK

Mains phase ±10% 50 … 60 Hz

ence potential)

Positive intermediate circuit

voltage

Negative intermediate circuit

voltage

tion (bridge after BR-CH when

using the internal resistor).

– internal braking resistor to

ward BR-INT – or –

– external braking resistor

against ZK+

conductor from the mains

brake and I/O

Pin 1 (L) –

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 39

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4.8.3 Pin assignment [X9] – triple-phase

[X9]1)

Pin no. Designation Value Specification

1 L1 230 … 480 V AC 2 L2 Mains phase 2 3 L3 Mains phase 3

4 ZK+ … 700 V DC Alternative supply: Positive in

±10% 50 … 60 Hz

5 ZK- GND_ZK Alternative supply: Negative in

6 BR-EXT  800 V DC Connection of the external

7 BR-CH  800 V DC Brake chopper connection for

8 BR-INT  800 V DC Internal braking resistor connec

9 PE PE Connection for protective con

10 +24V +24 V DC ±20 % Supply for control section,

11 GND24 V GND24 V DC Reference potential for supply

1) Representation of the contact strip on the motor controller CMMP-AS-...-11A-P3-M0

Tab. 4.18 Pin assignment [X9] – triple-phase

Mains phase 1

termediate circuit voltage

braking resistor

– internal braking resistor

against BR-INT – or –

– external braking resistor

against BR-EXT

tion (bridge after BR-CH with use of the internal resistor)

ductor from the mains

holding brake and I/O

Note

The DC power supply must be generated from a max. 230/400 V or a max. 277/480 V grid.

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4.8.4 Mains fuse

In the mains power supply cable, an automatic circuit breaker is installed for protection of the line:

Motor controller

Phases Mains fuse

CMMP-AS-C2-3A-M0 1 B10 CMMP-AS-C5-3A-M0 1 B16 CMMP-AS-C5-11A-P3-M0 3 B16 CMMP-AS-C10-11A-P3-M0 3 B16

1) The required fuse is dependent, among other things, on the cable cross section, ambient temperature and laying procedure.

Observe the following instructions!

Tab. 4.19 Required mains fuses

In designing the fuses, also observe the following standards:  EN 60204-1 “Safety of machinery – Electrical equipment of machines – Part 1:

General requirements”

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

– Regulations and standards, – Regulations of the testing organisations and insurers, – national specifications.

4.8.5 AC supply

Switch-on behaviour:

– As soon as the motor controller CMMP-AS-...-M0 is provided with mains voltage, the intermediate

circuit is charged ( 1 s) via the braking resistors, with the intermediate circuit relay deactivated.

– After the intermediate circuit has been pre-charged, the relay engages and the intermediate circuit

without resistors is connected directly to the mains supply.

AC supply with active PFC

The PFC step is available only for 1-phase motor controllers (CMMP-AS-...-3A-M0).

Note

Operation with mains line choke is not permissible, since the control circuit could be stimulated to oscillate.

Note

Operation with isolating transformer is not permissible as no reference potential (N) is available.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 41

4 Electrical installation

Note

When the load voltage is switched on, ensure that the reference potential (N) is switched before the phase (L1). This can be achieved through: – unswitched reference potential (N) – use of fuses with leading N when switching of the reference potential is specified.

DC supply - intermediate circuit coupling

A direct DC power supply can be used for the intermediate circuit as an alternative to AC power or for achieving intermediate circuit coupling. The intermediate circuits of several identically constructed motor controllers (CMMP-AS-...-3A-M0/-M3 or CMMP-AS-...-11A-P3-M0/-M3) can be connected via the terminals ZK+ and ZK- at plug connector [X9]. Coupling of the intermediate circuits is useful in applications where high braking energies occur or where motion must still be performed when the power supply fails.

Note

For 1-phase motor controllers (CMMP-AS-...-3A-M0), the PFC step must be deactivated when the motor controller is coupled through the intermediate circuit.

Note

If the intermediate circuits are coupled, it is imperative that all of the motor controllers are supplied via the same phase (e.g. L1) è Example Fig. 4.6. Otherwise, the motor controllers will be damaged due to the resulting voltage at the rectifiers. The maximum number of coupled motor controllers is limited by the power of the sup ply. Pay attention to a symmetrical load of the network here.

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+24 V

0 V

Power circuit breakers

Single-phase

Power circuit breakers

N ZK+ ZK

BR-INT BR-CH

PE 24V+ GND24V

Fig. 4.6 Example of intermediate circuit coupling with common supply, single-phase

Fig. 4.6 is a schematic representation; note the information for mains fuses in è Section 4.8.4.

4.8.6 Braking resistor

If no external braking resistor is used, a bridge to the internal braking resistor must be connected in order for the intermediate circuit quick discharge to function! è Tab. 4.17 or Tab. 4.18.

For larger braking power an external braking resistor must be connected [X9] è Section 4.7.2 and Fig. 4.5.

Single-phase

N ZK+ ZK

BR-INT BR-CH

PE 24V+ GND24V

The motor controller detects the external brake resistance automatically as soon as the intermediate circuit voltage rises above the response threshold (è A.1, Tab. A.6). After that, a connected external brake resistance can also be displayed in the configuration software.

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4.9 Connection: Incremental encoder input [X10]

4.9.1 Plug [X10]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 9-pin, socket Sub-D plug connector, 9-pin, pins

Tab. 4.20 Plug design [X10]

4.9.2 Pin assignment [X10]

[X10] Pin no. Designation Value Specification

1 A/CLK/CW 5 V RI L 120 Ω Incremental encoder signal A

Stepper motor signal CLK Pulses clockwise CW pos. polarity in accordance with RS422

6 A#/CLK#/CW# 5 V RI L 120 Ω Incremental encoder signal A

Step motor signal CLK Pulses clockwise CW neg. polarity in accordance with RS422

2 B/DIR/CCW 5 V RI L 120 Ω Incremental encoder signal B

Step motor signal DIR Pulses counterclockwise CCW pos. polarity in accordance with RS422

7 B#/DIR#/CCW# 5 V RI L 120 Ω Incremental encoder signal B

Step motor signal DIR Pulses counterclockwise CCW neg. polarity in accordance with RS422

3 N 5 V RI L 120 Ω Incremental encoder zero pulse N

pos. polarity in accordance with RS422

8 N# 5 V RI L 120 Ω Incremental encoder zero pulse N

neg. polarity in accordance with RS422

4 GND – Reference GND for encoder

9 GND – Screening for the connecting cable

5 VCC +5 V ±5%

100 mA

Tab. 4.21 Pin assignment X10: Incremental encoder input

Auxiliary supply, maximum load 100 mA, short-circuit proof!

When connecting two motor controllers in the master-slave mode via [X11] and [X10], the pins 5 (+5 V - auxiliary supply) must not be connected to each other.

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4 Electrical installation

4.9.3 Type and design of the cable [X10]

We recommend use of the encoder connection lines in which the incremental encoder signal is twisted by pairs and the individual pairs are screened.

4.9.4 Connection instructions [X10]

Input [X10] can be used for processing incremental encoder signals and also for pulse direction signals as generated by stepper motor controller cards. The input amplifier at the signal input is designed for processing differential signals as per the RS422 interface standard.

4.10 Connection: Incremental encoder output [X11]

4.10.1 Plug [X11]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 Sub-D plug connector, 9-pin, socket Sub-D plug connector, 9-pin, pins

Tab. 4.22 Plug design [X11]

4.10.2 Pin assignment [X11]

[X11] Pin no. Designation Value Specification

1 A 5 V RA L 66 Ω1) Incremental encoder signal A

6 A# 5 V RA L 66 Ω1) Incremental encoder signal A#

2 B 5 V RA L 66 Ω1) Incremental encoder signal B

7 B# 5 V RA L 66 Ω1) Incremental encoder signal B#

3 N 5 V RA L 66 Ω1) Incremental encoder zero

pulse N

8 N# 5 V RA L 66 Ω1) Incremental encoder zero

pulse N#

4 GND - Reference GND for encoder

9 GND - Screening for connecting

cable

5 VCC +5 V ±5% 100 mA Auxiliary supply, maximum

load 100 mA, short-circuit proof!

1) The specification for RA designates the differential output resistance

Tab. 4.23 Pin assignment [X11]: Incremental encoder output

The output driver at the signal output provides differential signals (5 V) as per the RS422 interface standard. Up to 32 other controllers can be addressed by one device.

When connecting two motor controllers in the master-slave mode via [X11] and [X10], the pins 5 (+5 V - auxiliary supply) must not be connected to each other.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 45

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4.11 FCT interfaces

4.11.1 Overview of interfaces

1 [X19]: USB 2 [X18]: Ethernet

Fig. 4.7 FCT interfaces

4.11.2 USB [X19]

The equipment of the series CMMP-AS-...-M0 have a USB interface for parametrisation. The USB inter face is used as a configuration interface for the FCT configuration. The following functions are supported: – Complete parametrisation of theCMMP-AS-...-M0 via FCT – Firmware download via FCT

Interface design

The plug connector is designed as a Type B terminal socket. All standard terminal cables up to a length of 5m can be used. If longer cables are required, the corresponding USB repeaters must be used. The USB interface is designed as a pure slave interface (the CMMP-AS…-M0 is the slave, the PC is the host). It meets the USB specification Rev. USB 1.1.

USB driver for the PC

The USB driver package is a component of the FCT installation. The following operating systems are supported through this: – Windows XP from Service Pack 2 – Windows Vista – Windows 7

46 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

4 Electrical installation

4.11.3 Ethernet TCP/IP [X18]

The equipment of the series CMMP-AS-...-M0 have a USB interface for parametrisation. The following functions are supported: – Point-to-point communication between PC and motor controller for parametrisation – Complete parametrisation of theCMMP-AS-...-M0 via FCT – Communication from one PC or one PLC to several CMMP-AS-...-M0 that are located in the same

local network for the purpose of monitoring, adaptation of the parametrisation or also process con trol of the controller via Modbus TCP.

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) – Security at physical access level (Port Security). For further information è Guidelines and standards for security in information techno logy, e.g. IEC 62443, ISO/IEC 27001.

Interface design

The interface in the device is designed as an 8P8C socket (RJ45). The connection has two LEDs with the following function: – Yellow Physical Link Detect (network connection available) – Green Data Connection (data connection / data exchange) The interface is designed to conform to the IEEE 802.3u specification. Cables of type FTP5 or high-order must be used with 100Base-TX. The interface supports the autosensing function for automatic identi fication of the connected cable. Both standard patch cables (1:1) and Crosslink (crossed) cables can be used.

Supported services

The following services are supported by the Ethernet interface: – TCP/IP – UDP/IP – DNS (ARP and BOOTP) – DHCP – AutoIP –TFTP

TFTP must be activated separately in Windows if necessary and a pass rule defined in the Firewall.

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4 Electrical installation

Address allocation

The network settings (IP address, subnetwork mask, gateway) can either be automatically obtained or manually specified: – Automatically via DHCP (the automatically obtained IP address lies in the IP range specified by the

DHCP server)

– Automatically via Auto IP (if no DHCP server was found, an address between 169.254.1.0 and

169.254.254.255 is selected pseudorandomly) – Manual IP assignment (manual setting of the network parameters via FCT) The following sequence applies for connection set-up:

1. DHCP

2. AutoIP

3. Static IP address If no IP address can be obtained via the higher-level service, the following service is used. Thus if no address can be obtained via DHCP, first an AutoIP and then a static address is used.

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4 Electrical installation

4.12 Connection: I/O interface for STO [X40]

4.12.1 Plug [X40]

Motor controller Design on the device Counterplug

CMMP-AS-...-M0 PHOENIX MINICOMBICON MC

1.5/8-GF-3.81 BK

Tab. 4.24 Plug design [X40]

4.12.2 Pin assignment [X40]

[X40]1) Pin no. Designation Value Specification

8 0 V 0 V Reference potential for auxiliary power

7 24 V +24 V DC Output for auxiliary power supply (24 V DC

6 C2 – Feedback contact for the status “STO” on 5 C1 4 0V-B 0V Reference potential for STO-B. 3 STO-B 0 V / 24 V Control port B for the function STO. 2 0V-A 0 V Reference potential for STO-A. 1 STO-A 0V / 24V Control port A for the function STO.

1) Representation of the plug on the device of the motor controller CMMP-AS-...-M0

Tab. 4.25 Pin assignment [X40]: I/O interface for STO

PHOENIX MINICOMBICON MC

1.5/8-STF-3.81 BK

supply.

logic supply of the motor controller brought out).

an external controller.

4.12.3 Circuitry with use of the STO safety function [X40]

To work safely with the safety function STO – “Safe Torque Off”, please observe the in

formation in the documentation è GDCP-CMMP-AS-M0-S1-... .

4.12.4 Circuitry without use of the STO safety function [X40]

If you do not need the integrated safety function STO in your application, to operate the motor controller you must connect the X40 interface, as depicted in Fig. 4.8.

This deactivates the integrated safety function!

When using this circuitry for the CMMP-AS-...-M0, safety in the application must be en sured through other appropriate measures.

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4 Electrical installation

Note Loss of the safety function!

Lack of the safety function can result in serious, irreversible injuries, e.g. due to uncon trolled movements of the connected actuator technology. Bypassing of safety equipment is impermissible.

Make sure that no jumpers or the like can be used parallel to safety wiring, e.g. through use of maximum wire cross sections or appropriate wire end sleeves with insulating collars. Use twin wire end sleeves for looping through lines between neighbouring equipment.

STO-A 0V-A

STO-B 0V-B

24V

1 Integrated safety function STO 2 Power output stage in CMMP-AS-…-M0

(only one phase shown)

3 Driver supply 4 Motor connection 5 Voltage supply

Fig. 4.8 Circuitry without use of the safety function – functional principle

+V DC

U, V, W

+VDC

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4 Electrical installation

4.13 Instructions on safe and EMC-compliant installation

4.13.1 Explanations and terms

Electromagnetic compatibility (EMC) or electromagnetic interference (EMI) involves the following re quirements:

Resistance to interference

Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space.

Emitted interference

Sufficiently low emitted interference of electrical, magnetic or electromagnetic interference of an elec trical system or an electrical device on other devices in the environment via cables and space.

Warning

All PE protective earth conductors must always be connected prior to commissioning for reasons of safety. The mains-side PE connection is made to the PE connection points (device rear wall) and [X9] of the CMMP-AS-...-M0. Make sure that the earth connections between devices and the mounting plate are of sufficiently large dimensions in order to be able to discharge HF interference.

4.13.2 General remarks on EMC

Interference emission and resistance to interference of a motor controller always depend on the com plete design of the drive, which consists of the following components: – Voltage supply – Motor controller – Motor – Electromechanical components – Design and type of wiring – Connection to the higher-order controller

Mains filter

Motor controllers and mains filters are provided to increase the interference immunity and to reduce the level of emitted interference.

Motor controller Mains filter

CMMP-AS-C2-3A-M0 In order to increase the interference immunity and decrease the

CMMP-AS-C5-3A-M0

CMMP-AS-C5-11A-P3-M0

CMMP-AS-C10-11A-P3-M0

Tab. 4.26 Mains filter

level of emitted interference, the motor controller already has integrated motor chokes and mains filters, which means that it can be operated without additional shielding and filters in most appli cations.

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4 Electrical installation

The motor controllers CMMP-AS-...-M0 have been checked in accordance with EMC product standard EN 61800-3 that is applicable to electric drives. The standard compon ents from the Festo accessories were used for qualification. EMC can only be guaranteed if the motor and encoder or resolver cables from Festo are used and not extended or changed in any other form. In the majority of cases, no external filter measures are required (è Section 4.13.3, Tab. 4.27). The declaration of conformity is available at è www.festo.com.

4.13.3 EMC areas: First and second environment

If installed correctly and if all connecting cables are wired correctly, the CMMP-AS-...-M0 motor control lers fulfil the specifications of the related product standard EN 61800-3. This standard no longer refers to limit value classes, but to so-called environments.

Note

The first environment (C2) includes electricity grids connected to residential housing; the second environment (C3) includes grids connected only to industrial plants.

The device may generate high frequency interference, which may make it necessary to implement interference suppression measures in residential areas.

Applicable for the motor controller CMMP-AS-...-M0:

EMC class Area Compliance with EMC requirements

Emitted interference

Second environ ment (industrial)

Motor cable lengths up to 25 m without external filters. A suitable mains filter must be installed when longer mo

tor cables of 25 … 50 m are used. Resistance to interference

Second environ ment (industrial)

Independent of the motor cable length.

Tab. 4.27 EMC requirements

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4 Electrical installation

4.13.4 EMC-compliant wiring

The following must be observed for EMC-compliant design of the drive system (see also chapter 4.2 è Page 25):

Cable interfaces on the CMMP-AS-...-M0

Port Interface Cable length [m] Comment

X1 I/O communication  5 Recommendation: Screened X2A Resolver  50 screened X2B Encoder  50 screened X4 CAN  40 at 1 Mbit/s (permissible line length

dependent on the bit rate) X6 Motor  25 screened (è Tab. 4.27) X9 Power supply  2 – X10 Increment generator input  30 screened X11 Increment generator output  5 screened X18 Ethernet  10 at least CAT-5 X19 USB  5 in accordance with USB specification

Rev. USB 1.1 X40 Safety function ST0  30 –

Tab. 4.28 Permissible cable lengths on the CMMP-AS-...-M0

1. To keep leaked current and losses in the motor cable as low as possible, the motor controller CMMP-AS-...-M0 should be placed as close to the motor as possible (è Chapter 4.13.5 è Page 55).

2. Motor and encoder cable must be screened.

3. The screening of the motor cable is attached to the housing of the motor controller CMMP-AS-...-M0 (screened connection terminals, spring clips). The cable screening is also always attached to the corresponding motor controller to prevent leaked current flowing back to the controller which caused it.

4. The mains-side PE connection is connected to the PE connection point of the power supply [X9] and to the PE connection of the housing.

5. The PE internal conductor of the motor cable is connected to the PE connection point of the motor connection [X6].

6. Signal lines must be separated as far as possible from the power cables. They should not be routed parallel to one another. If crossovers are unavoidable, they should be made as close to vertical (i.e. at a 90° angle) as possible.

7. For unscreened signal and control lines, safe/reliable operation cannot be guaranteed. If they must be used, they should at least be twisted.

8. Even screened cables always have short unscreened parts at both ends (unless a screened plug housing is used).

In general: – Connect the inner screenings to the pins of the plug connectors provided for the purpose; length

maximum 40 mm.

– Length of the unscreened wires with self-made cables, maximum 35 mm. – Connect entire screening on the controller side flush to the PE terminal; maximum length 40 mm.

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4 Electrical installation

– Connect entire screening flush at the motor to the plug or motor housing; length maximum 40 mm

(guaranteed with NEBM-...).

Danger

All PE protective earth conductors must always be connected prior to commissioning for reasons of safety. The regulations of EN 50178 and EN 60204-1 for protective grounding must always be observed during installation!

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4 Electrical installation

4.13.5 Operation with long motor cables

For applications in combination with long motor cables and/or if the wrong motor cables are selected with excessive cable capacity, the filters may be subjected to thermal overload. To avoid this, it is ne cessary to enter the cable length used in the application in the FCT parametrisation software. By using this information the FCT plug-in then automatically calculates the optimal cycle time for the current regulator and PWM control. The following restrictions are taken into consideration:

Cable length

Restrictions in the FCT plug-in CMMP

≤ 15 m – The minimum value for “cycle time current regulator” is 62.5 µs.1)

– The option “half output stage frequency” is set and can be edited.2)

, 15 m, ≤ 25 m – The minimum value for “cycle time current regulator” is 62.5 µs.1)

– The option “half output stage frequency” is set and cannot be edited.

, 25 m – The minimum value for “cycle time current regulator” is 125 µs and cannot be

edited.

– The option “half output stage frequency” is set and cannot be edited.

1) The actual value is automatically determined by the FCT based on the motor controller axis combination.

2) The ability to edit the option “half output stage frequency” does not apply to three-phase controllers.

Tab. 4.29 Restrictions in the FCT plug-in depending on the cable length

In addition, the following procedure is strongly recommended for applications in which long motor cables are required: – From a cable length of , 25 m, use only cables with a capacitance between the motor phase and

screening of < 200 pF/m, or better, < 150 pF/m and also use a mains filter!

Note

Longer cable lengths result in deviations to the current regulator amplification (line resistance).

4.13.6 ESD protection

Caution

Unused Sub-D plug connectors present a danger of damage to the device or to other parts of the system as a result of ESD (electrostatic discharge).

In the design of the motor controller CMMP-AS-...-M0, great importance has been placed on high resist ance to interference. For this reason, individual function blocks are galvanically separated from each other. Signal transmission within the device is performed via an optocoupler.

A distinction is made between the following separated areas: – Output stage with intermediate circuit and mains input – Control electronics with analogue signal processing – 24 V supply and digital inputs and outputs

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5 Commissioning

5.1 General connection instructions

As the installation of the connecting cables is critical for EMC, the preceding chapter

4.13.4 è Page 53 must be observed!

Observe the instructions on commissioning the safety function STO – “Safe Torque Off” in

the documentation è GDCP-CMMP-AS-M0-S1-... .

Warning

Non-compliance with the safety instructions in chapter 1 è Page 9 can result in materi al damage, injury, electric shock, or in extreme cases, fatality.

5.2 Tools / material

– Slotted head screwdriver size 1 – USB or EtherNet cable for parameterisation – Encoder cable – Motor cable – Power supply cable – Control cable

5.3 Connecting the motor

1. Connect motor cable on the motor side.

2. Insert the PHOENIX plug into the socket [X6] on the device.

3. Clamp the cable shields to the shield terminals (not suitable as strain-relief).

4. Connect encoder cable on the motor side.

5. Insert the Sub-D plug connector into socket [X2A] resolver or [X2B] encoder of the device and tight en the locking screws.

6. Check all plug connectors once again.

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5 Commissioning

5.4 Connect motor controller CMMP-AS-...-M0 to the power supply

Warning

Danger of electric shock. – When cables are not mounted to the plugs [X6] and [X9]. – When connecting cables are disconnected when powered. Touching live parts causes severe injuries and can lead to death. The product may only be operated in a built-in status and when all protective measures have been initiated. Before touching live parts during maintenance, repair and cleaning work and when there have been long service interruptions:

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

2. After switch-off, wait at least 5 minutes discharge time and check that power is turned off before accessing the controller.

1. Make sure that the power supply is switched off.

2. Connect the PE cable of the mains supply to the PE earth socket.

3. Insert the PHOENIX plug into the socket [X9] of the motor controller.

4. Connect 24 V connections with appropriate power pack.

5. Make the network power supply connections.

6. Check all plug connectors once again.

5.5 Connecting a PC

1. Connect PC via USB è 4.11.2 USB [X19] or Ethernet è 4.11.3 Ethernet TCP/IP [X18] to the motor controller.

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5 Commissioning

5.6 Check operating status

1. Make sure that the controller enable is switched off (controller enable: DIN 5 at [X1]).

2. Switch on the power supplies of all equipment. During the boot process, the point of the 7-segment display lights up. After completion of the boot process, the READY-LED lights up green.

If the READY LED lights up red, there is a malfunction. If an “E” appears in the 7-segment display followed by a sequence of numbers, this is an error message and you must rectify the cause of the error. In this case, continue to read in the chapter A è Page 65. If no indicator lights up on the device, execute the following steps:

1. Switch off the power supply.

2. Wait 5 minutes to allow the intermediate circuit to discharge.

3. Check all connecting cables.

4. Check that the 24 V power supply is functional.

5. Switch on the power supply again.

6. If still no indicator lights up è Device is defective.

58 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

6 Service functions and diagnostic messages

6.1 Protective and service functions

6.1.1 Overview

The motor controller CMMP-AS-...-M0 has a complex array of sensors that monitor the controller sec tion, power output stage, motor and external communication to ensure that they function excellently. All diagnostic events which occur are saved in the internal diagnostic memory. Most errors cause the controller section to switch off the motor controller and the power output stage. The motor controller cannot be switched back on until the error is remedied and then acknowledged. A complex system of sensors and numerous monitoring functions ensure operational reliability: – Measurement of the motor temperature – Measurement of the power output stage temperature – Earth fault detection (PE) – Detection of short-circuits between two motor phases – Detection of overvoltages in the intermediate circuit – Detection of faults in the internal voltage supply – Collapse of supply voltage – Detection of faults in conjunction with the functional safety engineering ( [X40] )

6.1.2 Phases and mains failure detection

The motor controllers CMMP-AS-...-11A-P3-M0 detect a phase failure in three-phase operation (phase failure detection) or failure of several phases (network failure detection) of the mains supply at the device.

6.1.3 Overload current and short-circuit monitoring

Overload current and short-circuit monitoring detects short circuits between two motor phases and short circuits at the motor output terminals against the positive and negative reference potential of the intermediate circuit and against PE. If the error control detects overload current, the power output stage shuts down immediately, guaranteeing protection against short circuits.

6.1.4 Overvoltage monitoring for the intermediate circuit

The overvoltage monitoring for the intermediate circuit takes effect as soon as the intermediate circuit voltage exceeds the operating voltage range. The power output stage is then deactivated.

6.1.5 Temperature monitoring for the heat sink

The heat sink temperature of the output end stage is measured with a linear temperature sensor. The temperature limit varies between the device performance classes è Tab. A.3 on page 66. A temperature warning is triggered approx. 5 °C below the limit value.

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6 Service functions and diagnostic messages

6.1.6 Monitoring of the motor

The motor controller CMMP-AS-...-M0 has the following protective functions for monitoring the motor and the connected shaft encoder:

Protective function Description

Monitoring the shaft encoder

An error of the shaft encoder results in switching off of the power output stage. For the resolver, for example, the tracking signal is monitored. For in cremental encoders, the commutation signals are checked. Generally true for intelligent encoders is that their various error messages are evaluated and

reported to the CMMP-AS-...-M0 as common error E 08-8. Measurement and monitoring of the motor temperature

The motor controller CMMP-AS-...-M0 has a digital and an analogue input for

recording and monitoring the motor temperature. They are selectable as tem

perature sensors.

– [X6]: Digital input for PTCs, N/C contacts and N/O contacts.

– [X2A] and

[X2B]:

N/C contact and KTY series analogue sensors. Other sensors (NTC, PTC) require a corresponding software adaptation as needed.

Tab. 6.1 Protective functions of the motor

6.1.7 I2t monitoring

The motor controller CMMP-AS-...-M0 has I2t monitoring to limit the average power loss in the power end stage and in the motor. Since the power loss that occurs in the power electronics and the motor can, in the worst case, grow at a rate equal to the square of the flowing current, the squared current value is taken as a measure for the power loss.

6.1.8 Power monitoring for the brake chopper

The braking resistors are monitored on the firmware side through the function I2t brake chopper. When the power monitoring “I²t brake chopper” of 100% is reached, the output of the internal braking resist or is limited to the rated output.

Note

As a result of this switch-back, the error “E 07-0” “Overvoltage in the intermediate circuit” is generated. If the braking process is not completed, the residual energy is fed back to the motor controller and results in an uncontrolled running out of the drive if no automatic lock ing mechanical system, clamping units or weight compensation is used. This can result in damage to the machine. Connection of an appropriate clamping unit to prevent an uncontrolled running out of the drive at the motor controller is recommended.

In addition, the brake chopper is protected by means of overcurrent detection. If a short circuit is detec ted via the braking resistor, the brake chopper controller is switched off.

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6 Service functions and diagnostic messages

6.1.9 Commissioning status

Motor controllers sent to Festo for servicing are loaded with other firmware and parameters for testing purposes. Before it is commissioned again at the location of the final customer, the motor controller CMMPAS-...-M0 must be parametrised. The parametrisation software queries the commissioning status and prompts the user to parameterise the motor controller. In parallel, the device signals through the visual indicator ‘A’ on the 7-segment display that, although it is ready for operation, it has not been paramet erised yet.

6.1.10 Rapid discharge of the intermediate circuit

When a mains supply failure is detected, the intermediate circuit is quickly discharged within the safety time specified in EN 60204-1. Delayed connection of the brake chopper by power class in parallel operation and when a mains failure occurs ensures that the main energy during rapid discharge of the intermediate circuit is taken over through the braking resistors of the higher power classes.

But the rapid discharge can be ineffective in certain device constellations, especially when several motor controllers are connected in parallel in the intermediate circuit or a brake resistance is not connected. The motor controllers may carry dangerous voltage for up to 5 minutes after being switched off (capacitor residual charge).

6.1.11 Detection of faults in conjunction with the functional safety engineering

– Discrepancy time monitoring STO – Driver supply monitoring

6.2 Operating mode and diagnostic messages

6.2.1 Operation and display components

The motor controller CMMP-AS-...-M0 has three LEDs on the front and one 7-segment display for show ing the operating statuses.

Element LED colour Function

7-segment display – Displays the operating mode and a coded error number

should an error occur è Section 6.2.2

LED1 Green Operating status

Red Error LED2 Green Controller enable LED3 Yellow CAN bus status display RESET button – Hardware reset for the processor

Tab. 6.2 Display components and RESET pushbutton

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6 Service functions and diagnostic messages

6.2.2 7-segment display

The display and the meaning of the symbols shown are illustrated in the following table:

Display

Meaning

A The motor controller must still be parameterised.

F Signals that firmware is currently being loaded into the flash.

. (flashes) Bootloader active (only the point flashes).

d Signals that a parameter set is currently being loaded from the SD card to

the controller.

H (flashes) “H”: The motor controller is in the “safe status”.

This does not have the same meaning as the information on the status of

the safety function STO (Safe Torque Off ). H E L L O Display for the function “Identify Controller”. (rotating) The outer segments are displayed “rotating” in the speed adjustment

operating mode. The display depends on the actual position or speed.

The middle bar is only active when controller enable is active. I Controlled torque operation.

P x x x Positioning (“xxx” stands for the record number, see below).

000 No positioning active.

001...255 Positioning record 001 ... 255 active. 259/260 Jog positive/negative. 262 CAM-IN / CAM-OUT (cam disc). 264/265 Direct records for manual travel via FCT or FHPP direct operation.

P H x Homing (“x” stands for the homing phase, see below).

0 Phase “Search for reference point”. 1 Phase “Crawl”. 2 Phase “Approach zero point”.

E x x y Error message with main index “xx” and sub-index “y”.

- x x y Warning message with main index “xx” and sub-index “y”. A warning is

shown at least twice on the 7-segments display.

1) Several characters are displayed one after the other.

Tab. 6.3 Operating mode and error display

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6 Service functions and diagnostic messages

6.2.3 Acknowledgement of error messages

Error messages can be acknowledged through: – the parametrisation interface – the fieldbus (control word) – a decreasing edge at DIN5 [X1]

Controller enable DIN5 [X1]

“Error active”

1L 80 ms

Fig. 6.1 Timing diagram: Acknowledge error

Diagnostic events that are parameterised as warnings are automatically acknowledged when the cause is no longer present.

6.2.4 Diagnostic messages

The significance and their measures for diagnostic messages are summarised in the following chapter: è Chapter A Technical appendix

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7 Maintenance, care, repair and replacement

7.1 Maintenance and care

Warning Danger of electric shock.

Touching live parts causes severe injuries and can lead to death. Do not disconnect connecting cables when powered. Before touching live parts during maintenance, repair and cleaning work and when there have been long service interruptions:

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

2. After switch-off, wait at least 5 minutes discharge time and check that power is turned off before accessing the controller.

If used as intended, the product is maintenance-free.  Clean the outside of the product with a soft cloth.

7.2 Repair

Repair or maintenance of the product is not permissible. If necessary, replace the com plete product.

7.3 Replacement and disposal

7.3.1 Dismounting and installation

When dismounting, please observe the safety instructions in section 7.1 Information regarding installation can be found here: – Mounting è Section 3.2. – Electrical installation è Chapter 4. – Commissioning è Chapter 5.

7.3.2 Disposal

Observe the local regulations for environmentally appropriate disposal of electronic mod ules. The product is RoHS-compliant.

64 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

A.1 Technical data CMMP-AS-...-M0

General technical data

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Type of mounting Screwed onto connecting plate Display 7-segment display Parameterisation interface USB 1.1

EtherCat TCP/IP Approvals CE marking (see declara tion of conformity)

Dimensions and weight Dimensions

(HxWxD) Mounting plate dimensions Weight [kg] 2.1 2.2 3.5

1) without plugs, shield screw and screw heads

Tab. A.1 Technical data: General

In accordance with EU Low Voltage Directive

In accordance with EU EMC Directive

In accordance with EU Machinery Directive

[mm] 202x66x207 227x66x207 252x79x247

[mm] 248x61 297x75

Transport and storage

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Temperature range

Tab. A.2 Technical data: Transport and storage

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[°C] -25 … +70

A Technical appendix

Operating and environmental conditions

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Permissible setup altitude above sea level

with rated

[m] 1000 output with power re

duction

[m] 1000 … 2000 (max.)

Air humidity [%] 0 … 90 (non-condensing) Protection class IP20 (with plugged-in plug connectors at X6 and X9)

IP10 (without plugged-in plug connectors at X6 and X9)

Degree of

2 contamination Operating tem

[°C] 0 … +40 perature Operating

[°C] +40 … +50 temperature with power reduction of 2.5 % per Kelvin Switch-off

[°C] 100 80 80 80 temperature, heat sink power section

1) Above 1000 m above sea level Performance reduction of 1% per 100 m

Tab. A.3 Technical data: Operating and environmental conditions

Electrical data logic supply

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Nominal voltage [V DC] 24 ±20% Nominal current1)[A] 0.55 0.65 1 Maximum current

[A] 1 2 for holding brake With higher power requirement of the holding brake è Fig. 4.5 page 38

1) plus current consumption from an existing holding brake and I/Os

Tab. A.4 Technical data: Logic supply

Note

With a warm motor and a supply voltage that is too low (outside of tolerance), the mo tor's brakes cannot open 100%, which can lead to premature wearing of the brake.

66 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

Electrical data load voltage

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Number of

1 3 phases Nominal voltage [V AC] 100 … 230 230 … 480 Nominal voltage

[%] ±10 ±10 tolerance Mains frequency [Hz] 50 … 60 In continuous

[A] 3 6 5.5 11 operation, max. effective nominal current Intermediate cir

[V DC] 310 … 320 560 … 570 cuit voltage (without PFC) Intermediate

[V DC] 360 … 380 – circuit voltage (with PFC) Alternative

[V DC] 60 … 380 60 … 700 DC supply Performance data of the PFC step with nominal supply voltage of 230 V AC ±10 % Continuous

[W] 500 1000 – output Peak power [W] 1000 2000 – Performance data of the PFC step with minimal supply voltage of 110 V AC Continuous

[W] 250 500 – output Peak power [W] 500 1000 –

Tab. A.5 Technical data: Load voltage

Below the nominal power supply voltage, the PFC stage power is linearly reduced. These power charac teristic curves are shown in the following figure.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 67

A Technical appendix

PFC output power (kW)

0,5

PFC power (peak power)

0,25

0,5

PFC power limited by I²t (50%)

Mains voltage (Veff )

CMMP-AS-C2-3A-...

CMMP-AS-C5-3A-...

110

200

255

Fig. A.1 Performance characteristics curve of the PFC level

Technical data for brake resistance

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Trigger level

[V DC] 389 760 (without PFC) Trigger level

[V DC] 440 – (with PFC) Max. voltage

[V DC] 400 800 (without PFC) Max. voltage

[V DC] 460 – (with PFC) Braking resistor, integrated Resistance value [Ω] 60 68 Pulse power [kW] 2.8 8.5 Continuous

[W] 10 20 110 output

Braking resistor, external Resistance value [Ω]  50  40 Operating voltage [V]  460  800 Continuous

[W]  2500  5000 output

Tab. A.6 Technical data for brake resistance

68 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

Motor cable

CMMP-AS- C2-3A-M0 C5-3A-M0 C5-11A-P3-M0 C10-11A-P3-M0

Max. motor cable

[m]  25 (without filter) length for second environment Cable capacity of

[pF/m]  200 one phase against screening

Tab. A.7 Technical data: Motor cable

Motor temperature monitoring

Digital sensor N/C contact: R

 500 Ω R

Cold

 100 kΩ

Hot

Analogue sensor Silicon temperature sensor, e.g. KTY81, 82 or similar.

R25 L 2000 Ω R100 L 3400 Ω

Tab. A.8 Technical data: Motor temperature monitoring

Output data

CMMP-AS- C2-3A-M0

C5-3A-M0

C5-11A-P3-M02)C10-11A-P3-M0

Voltage [V AC] 0 … 270 0 … 360 Nominal power [kVA] 0.5 1 3 6 Max. Power

[kVA] 1 2 6 12 for 5 seconds

1) Data for operation at 1x230 V AC [±10%], 50 … 60 Hz

2) Data for operation at 3x400 V AC [±10%], 50 … 60 Hz

Tab. A.9 Technical data: Output data

Note

The following tables Tab. A.10, Tab. A.11, Tab. A.12, Tab. A.13, Tab. A.14 and Tab. A.15 describe the maximum possible output data of the motor controller. The specified op tions “cycle time current regulator” and “half output stage frequency” are automatically calculated in the FCT plug-in based on the parameterised motor controller/motor-axis combination. This calculation determines the best values to prevent an overloading of the components. In addition, the length of the motor cable is also incorporated into the calculation in order to protect the mains filters contained in the motor controller è Section 4.13.5.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 69

A Technical appendix

CMMP-AS-C2-3A-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 2.5 2.2 2.5 2.5 Maximum output current for maximum time (effective value)

Max. output current [A] 5 4.4 5 5 Max. time [s] 5 5 5 5 Max. output current [A] 7.5 6.6 7.5 7.5 Max. time [s] 1.3 1.3 1.3 1.3 Max. output current [A] 10 8.8 10 10 Max. time [s] 0.5 0.5 0.5 0.5

1) Option with FCT able to be parametrised

Tab. A.10 Output data CMMP-AS-C2-3A-M0

CMMP-AS-C5-3A-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 5 4.4 5 5 Maximum output current for maximum time (effective value)

Max. output current [A] 10 8.8 10 10 Max. time [s] 5 5 5 5 Max. output current [A] 15 13.2 15 15 Max. time [s] 1.3 1.3 1.3 1.3 Max. output current, effective [A] 20 17.6 20 20 Max. time [s] 0.5 0.5 0.5 0.5

1) Option with FCT able to be parametrised

Tab. A.11 Output data CMMP-AS-C5-3A-M0

70 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

CMMP-AS-C5-11A-P3-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 5 2.5 5 5 Maximum output current for maximum time (effective value)

Max. output current [A] 10 5 10 10 Max. time [s] 5 5 5 5 Max. output current [A] 15 7.5 15 15 Max. time [s] 0.8 1.2 0.8 0.8 Max. output current [A] 20 10 20 20 Max. time [s] 0.1 0.15 0.1 0.1

1) Option with FCT able to be parametrised

Tab. A.12 Output data CMMP-AS-C5-11A-P3-M0 with electrical rotation frequency  5 Hz

CMMP-AS-C5-11A-P3-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 5 2.5 5 5 Maximum output current for maximum time (effective value)

Max. output current [A] 10 5 10 10 Max. time [s] 5 5 5 5 Max. output current [A] 15 7.5 15 15 Max. time [s] 2 2 2 2 Max. output current [A] 20 10 20 20 Max. time [s] 0.5 0.5 0.5 0.5

1) Option with FCT able to be parametrised

Tab. A.13 Output data CMMP-AS-C5-11A-P3-M0 with electrical rotation frequency  20 Hz

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 71

A Technical appendix

CMMP-AS-C10-11A-P3-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 8 3.45 10 8 Maximum output current for maximum time (effective value)

Max. output current [A] 16 6.9 20 16 Max. time [s] 5 5 5 5 Max. output current [A] 24 10.35 30 24 Max. time [s] 0.1 0.2 0.1 0.1 Max. output current [A] 32 13.8 40 32 Max. time [s] 0.07 0.15 0.07 0.07

1) Option with FCT able to be parametrised

Tab. A.14 Output data CMMP-AS-C10-11A-P3-M0 with electrical rotation frequency  5 Hz

CMMP-AS-C10-11A-P3-M0

Cycle time current regulator Half output stage frequency

[µs] 62.5 125

active inactive active inactive

Output stage frequency [kHz] 8 16 4 8 Rated output current, effective [A] 8 3.45 10 8 Maximum output current for maximum time (effective value)

Max. output current [A] 16 6.9 20 16 Max. time [s] 5 5 5 5 Max. output current [A] 24 10.35 30 24 Max. time [s] 2 2 2 2 Max. output current [A] 32 13.8 40 32 Max. time [s] 0.5 0.5 0.5 0.5

1) Option with FCT able to be parametrised

Tab. A.15 Output data CMMP-AS-C10-11A-P3-M0 with electrical rotation frequency  20 Hz

72 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

A.1.1 Interfaces

I/O interface [X1]

Digital I/O modules

Inputs DIN0 … DIN9 Outputs DOUT 0 … DOUT3

Input voltage [V ] 24 active high, conforming to Voltage range [V] 8 … 30 Output voltage [V] 24 active high, galvanically isolated Voltage range Max. output current [mA] 100 per output

Values Comment

EN 61131-2

[V] 8 … 30

+24 V Output voltage [V] 24 –

Max. output current [mA] 100

GND24 Voltage [V] 0 Reference potential for digital

I/Os

1) With use as digital input (configuration with FCT)

Tab. A.16 Technical data: Digital inputs/outputs [X1]

Analogue inputs/outputs Values Comment

AIN0 #AINO

Input section [V] ±10 differential – Resolution Bit 16 Time delay [μs]  250 Max. input

[V] 30 voltage R

[kΩ] 30

AIn1 Input section [V] ±10 Single-ended This input can be optionally para

Resolution Bit 10 Time delay [μs]  250

metrised also as a digital input DIN12 with an 8 V trigger level.

AIn2 Input section [V] ±10 Single-ended This input can be optionally para

Resolution [Bit] 10 Time delay [μs]  250

metrised also as a digital input DIN13 with an 8 V trigger level.

AOUT0, AOUT1 Output section [V] ±10 –

Resolution [Bit] 9 Critical frequency [kHz] 1

AGND Voltage [V] 0 Reference potential +VREF Output section [V] 0 … 10 Reference output for setpoint po

tentiometer

1) Configuration with FCT. Observe note è Section 4.3.3

Tab. A.17 Technical data: Analogue inputs/outputs [X1]

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 73

A Technical appendix

Resolver connection [X2A]

Resolver connection

S1 S3

Input voltage Input frequency [kHz] 5 … 10

[V] 3.5 COSI NE+

Values Meaning

COS INE-

Internal resistance Ri[kΩ]  5

Input voltage Input frequency [kHz] 5 … 10

[V] 3.5 SINE+

SINE-

Internal resistance Ri[kΩ]  5

R1 Voltage

[V] 7 Carrier signal Frequency [kHz) 5 … 10 Output current

[mA] IA  150

R2 GND MT+

Voltage [V] + 3.3 Motor temperature sensor,

N/C contact, PTC, KTY…

MT-

Internal resistance Ri[kΩ] 2

Reference potential for temperature sensor

1) Rms value

Tab. A.18 Technical data: Resolver [X2A]

Parameter Values

Transmission ratio 0.5 Carrier frequency [kHz] 5 … 10 Excitation voltage Excitation impedance (at

[V] 7, short circuit proof

[Ω]  (20 + j20) 10 kHz) Stator impedance [Ω]  (500 + j1000)

1) Rms value

Tab. A.19 Technical data: Resolver [X2A]

Parameter Values

Resolution [Bit] 16 Signal detection time delay [μs]  200 Speed resolution [min-1] approx. 4 Absolute accuracy of angle ac

[']  5 quisition max. speed [min-1] 16000

Tab. A.20 Technical data: Resolver evaluation [X2A]

74 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

Encoder connection [X2B]

Parameter

Value Comment

Encoder line count [Lines/R] 1 … 262144 can be parameterised Angular resolution/Interpola

[Bit/period] 10 tion Tracking signals

A, B [Vpp] 1 differential; 2.5 V offset N [Vpp] 0.2 … 1 differential; 2.5 V offset

Commutator tracks A1, B1

[Vpp] 1 differential; 2.5 V offset (optional) Track signal input impedance [Ω] 120 Differential input Critical frequency f

Crit

High-resolution track [kHz]  300 Commutation track [kHz] approx. 10 Additional communication interface

EnDat (Heidenhain), HIPERFACE (Stegmann) and BiSS

Output supply Current-limited, regulation via sensor cable

Voltage [V] 5 or 12 switchable via software Current [mA] max. 300

Tab. A.21 Technical data: Encoder connection [X2B]

CAN bus [X4]

Communication interface Values

CANopen controller ISO 11898, Full CAN controller, max. 1M baud CANopen protocol in accordance with CiA 301 and CiA 402

Tab. A.22 Technical data: CAN bus [X4]

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 75

A Technical appendix

Incremental encoder input [X10]

Feature

Number of lines [Lines/R] 1 … 2 Track signals

Value Comment

can be parameterised

in accordance with RS422 specification A, A#,B, B#, N, N# Maximum input frequency [kHz] 1000 Pulse direction interface

in accordance with RS422 specification CLK, CLK#, DIR, DIR#, RESET, RESET# Output

Voltage [V] 5 Current [mA] max. 100

Tab. A.23 Technical data: Incremental encoder input [X10]

Incremental encoder output [X11]

Feature Value Comment

Number of output lines [Lines/R] 1 … 8192, 16384 Connection level Differential in accordance with RS422

specification Track signals A, B, N Output impedance R Critical frequency f

Crit

o,diff

[Ω] 66 [MHz]  1.8 Lines/s

in accordance with

RS422 specification

N track can be switched off

Output supply

Voltage [V] 5 Current [mA] max. 100

Tab. A.24 Technical data: Incremental encoder output [X11]

76 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

Electrical data [X40]

Control ports STO-A, 0V-A / STO-B, 0V-B [X40]

Nominal voltage [V] 24 (related to 0V-A/B) Voltage range [V] 19.2 … 28.8 Permissible residual ripple [%] 2 (related to nominal voltage 24 V) Overvoltage discharge [V] 31 (disconnect in case of error) Nominal current [mA] 20 (typical; maximum 30) Starting current [mA] 450 (typical, duration approx. 2 ms; max. 600 at 28.8 V) Input voltage threshold

Switching on [V] approx. 18 Switching off [V] approx. 12.5

Switching time from High to

[ms] 10 (typical; maximal 20 at 28.8 V) Low (STO-A/B_OFF) Switching time from Low to

[ms] 1 (typical; maximum 5) High (STO-A/B_ON) Maximum positive test im pulse length at logic 0

[µs]  300 (related to 24 V nominal voltage and

intervals  2 s between impulses)

Tab. A.25 Technical data: Electrical data for the inputs STO-A and STO-B

Switch-off time to power output stage inactive and maximum tolerance time for test impulse

Input voltage (STO-A/B) [V] 19 20 21 22 23 24 25 26 27 28

Typical switch-off time

[ms] 4.0 4.5 5.0 6.0 6.5 7.0 7.5 8.0 8.5 9.5 (STO-A/B_OFF) Maximum tolerance time for

[ms] 2.0 2.0 2.0 2.5 3.0 3.5 4.5 5.0 5.5 6.0 test pulse at 24 V signal

Tab. A.26 Typical switch-off time and minimum tolerance time for test pulse (OSSD signals)

Acknowledgment contact C1, C2 [X40]

Version Relay contact, normally open Max. voltage [V DC]  30 (overvoltage-resistant up to 60 V) Nominal current [mA]  200 (not short-circuit proof) Voltage drop [V]  1 Residual current

[µA]  10 (contact open) Switching time closing

[ms]  (STO-A/B_OFF 1) + 5 ms) (T_C1/C2_ON) Switching time opening

[ms]  (STO-A/B_ON 1) + 5 ms) (T_C1/C2_OFF)

1) STO-A/B_OFF, STO-A/B_ONè Tab. A.25

Tab. A.27 Technical data: Electrical data of the acknowledgment contact C1/C2

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 77

A Technical appendix

Auxiliary supply 24 V, 0 V [X40] – output

Version Logic supply voltage routed out of the motor controller (fed

in at [X9], not additionally filtered or stabilised). Reverse-po

larity protected, overvoltage-proof up to 60 V DC. Nominal voltage DC [V] 24 Nominal current [mA] 100 (short circuit proof, max 300 mA) Voltage drop [V]  1 (for nominal current)

Tab. A.28 Technical data: Electrical data of the auxiliary supply output

Galvanic isolation

Galvanically isolated potential areas STO-A / 0V-A

STO-B / 0V-B

C1 / C2

24 V / 0 V (logic supply of the motor controller)

Tab. A.29 Technical data: Galvanic isolation [X40]

Cabling

Max. cable length [m] 30 Screening When wiring outside the control cabinet, use screened

cable. Guide screening into the control cabinet / attach to

the side of the control cabinet. Cable cross section (flexible conductors, wire end sleeve with insulating collar)

One conductor [mm²] 0.25 … 0.5 Two conductors [mm²] 2 x 0.25 (with twin wire end sleeves)

Tightening torque M2 [Nm] 0.22 … 0.25

Tab. A.30 Technical data: Cabling at [X40]

78 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

A Technical appendix

A.2 Supported encoders

Resolver

Type Protocol Interface Comment

Standard – [X2A] Transmission ratio 0.5 ±10 %,

excitation voltage 7 Vrms

Tab. A.31 Supported resolvers

Digital encoders

Type Protocol Interface Comment

Yaskawa ∑-encoder

Tab. A.32 Supported digital encoders

Analogue encoders

Type Protocol Interface Comment

ROD 400 ERO 1200, 1300, 1400 ERN 100, 400, 1100, 1300

Tab. A.33 Supported analogue encoders

YaskawaOEM protocol

– [X2B] Heidenhain, encoder with zero im

[X2B] Yaskawa Sigma-1 Type A

pulse and reference signal

EnDat encoders

Type Protocol Interface Comment

ROC 400 ECI 1100, 1300 ECN 100, 400, 1100, 1300 ROQ 400 EQI 1100, 1300 EQN 100, 400, 1100, 1300 LC 100, 400 EnDat 2.1 (01)

Tab. A.34 Supported EnDat encoders

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 79

EnDat 2.1 (01/21) EnDat 2.2 (22)

EnDat 2.2 (22)

[X2B] Heidenhain single-turn absolute en

coder with/without analogue signal

[X2B] Heidenhain multi-turn absolute en

coder with/without analogue signal

[X2B] Heidenhain absolute length measure

ment equipment

A Technical appendix

HIPERFACE encoders

Type Protocol Interface Comment

SCS60, 70 SCM60, 70

HIPERFACE [X2B] Stegmann single-/multi-turn encoder

with analogue incremental signal sine/cosine periods 512. Max. revolu

tions multi-turn: ±2048 R SRS 50, 60, 64 SCKxx SRM 50, 60, 64 SCLxx SKS36 SKM36

HIPERFACE [X2B] Stegmann single-/multi-turn encoder

with analogue incremental signals.

Sine/cosine periods 1024. Max. re

volutions multi-turn: ±2048 R

HIPERFACE [X2B] Stegmann single-/multi-turn encoder

with analogue incremental signals.

Sine/cosine periods 128. Max. re

volutions multi-turn: ±2048 R SEK37, 52 SEL37, 52

HIPERFACE [X2B] Stegmann single-/multi-turn encoder

with analogue incremental signals.

Sine/cosine periods 16. Max. revolu

tions multi-turn: ±2048 R L230 HIPERFACE [X2B] Stegmann absolute linear encoder

with analogue incremental signal

measurement step: 156.25 µm.

Measuring length max. approx. 40 m.

Tab. A.35 Supported HIPERFACE encoders

BiSS encoder

Type Protocol Interface Comment

ME 20.20-0.40 BiSS [X2B] ELGO magnetic incremental linear en

coder (use e.g. for ELGL-LAS...)

Tab. A.36 Supported BiSS encoders

80 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

If an error occurs, the motor controller CMMP-AS-...-M0 shows a diagnostic message cyclically in the 7-seg ment display. An error message consists of an E (for Error), a main index and sub-index, e.g.: - E 0 1 0 -. Warnings have the same number as an error message. In contrast to error messages, however, warn ings are preceded and followed by hyphens, e.g. - 1 7 0 -.

B.1 Explanations of the diagnostic messages

The following table summarises the significance of the diagnostic messages and the actions to be taken in response to them:

Terms Meaning

No. Main index (error group) and sub-index of the diagnostic message.

Shown in the display, in FCT or diagnostic memory via FHPP. Code The Code column includes the error code (Hex) via CiA 301. Message Message that is displayed in the FCT. Cause Possible causes for the message. Action Action by the user. Reaction The Reaction column includes the error response (default setting, partially

configurable):

– PS off (switch off output stage),

– MCStop (fast stop with maximum current),

– QStop (fast stop with parameterised ramp),

– Warn (warning),

– Ignore (No message, only entry in diagnostic memory),

– NoLog (No message and no entry in diagnostic memory).

Tab. B.1 Explanations of the diagnostic messages

A complete list of the diagnostic messages corresponding to the firmware statuses at the time of print ing of this document can be found in section B.2.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 81

B Diagnostic messages

B.2 Diagnostic messages with instructions for fault clearance

Error group 0 Information

No. Code Message Reaction

0-0 - Invalid error Ignore

Cause Information: An invalid error entry (corrupted) was found in the

diagnostic memory marked with this error number. The system time entry is set to 0.

Action –

0-1 - Invalid error detected and corrected Ignore

Cause Information: An invalid error entry (corrupted) was found in the

diagnostic memory and corrected. The additional information con tains the original error number. The system time entry includes the address of the corrupted error number.

Action –

0-2 - Error cleared Ignore

Cause Information: Active errors were acknowledged. Action –

0-7 - Subsequent entry Ignore

Cause Information: è Diagnostic memory entry. Action –

0-8 - Controller switched on Ignore

Cause Information: è Diagnostic memory entry. Action –

0-22 - Default parameter record loaded Ignore

Cause Information: è Diagnostic memory entry. Action –

Error group 1 Stack overflow

No. Code Message Reaction

1-0 6180h Stack overflow PSoff

Cause – Incorrect firmware?

– Sporadic high processor load due to cycle time being too short

and specific processor-intensive processes (save parameter set etc.).

Action  Load an approved firmware.

 Reduce the processor load.  Contact Technical Support.

82 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 2 Undervoltage in intermediate circuit

No. Code Message Reaction

2-0 3220h Undervoltage in intermediate circuit configurable

Cause Intermediate circuit voltage falls below the parameterised

threshold (è Additional information). Error priority set too high?

Action  Quick discharge due to switched-off mains supply.

 Check power supply.  Couple intermediate circuits if technically permissible.  Check intermediate circuit voltage (measure).

 Check undervoltage monitor (threshold value). Additional info

Additional information in PNU 203/213:

Upper 16 bits: Status number of internal state machine

Lower 16 bits: Intermediate circuit voltage (internal scaling approx.

17.1 digit/V).

Error group 3 Motor overtemperature

No. Code Message Reaction

3-0 4310h Analogue motor overtemperature QStop

Cause Motor overloaded, temperature too high.

– Motor too hot?

– Incorrect sensor?

– Sensor defective?

– Cable fracture? Action  Check parameters (current regulator, current limits).

 Check the parametrisation of the sensor or the sensor charac

teristics.

If the error persists when the sensor is bypassed: Device defective.

3-1 4310h Digital motor overtemperature configurable

Cause – Motor overloaded, temperature too high.

– Suitable sensor or sensor characteristics parametrised?

– Sensor defective? Action  Check parameters (current regulator, current limits).

 Check the parametrisation of the sensor or the sensor charac

teristics.

If the error persists when the sensor is bypassed: Device defective.

3-2 4310h Analogue motor overtemperature: Broken wire configurable

Cause The measured resistance value is above the threshold for wire

break detection. Action  Check the connecting cables of the temperature sensor for wire

breaks.

 Check the parametrisation (threshold value) for wire break

detection.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 83

B Diagnostic messages

Error group 3 Motor overtemperature

No. ReactionMessageCode

3-3 4310h Analogue motor overtemperature: Short circuit configurable

Cause The measured resistance value is below the threshold for short

circuit detection.

Action  Check the connecting cables of the temperature sensor for wire

breaks.

 Check the parametrisation (threshold value) for short circuit

detection.

Error group 4 Intermediate circuit/power unit over-temperature

No. Code Message Reaction

4-0 4210h Power end stage over-temperature configurable

Cause Device is overheated

– Temperature display plausible? – Device fan defective? – Device overloaded?

Action  Check installation conditions; are the control cabinet fan filters

dirty?

 Check the drive layout (due to possible overloading in continu

ous duty).

4-1 4280h Intermediate circuit overtemperature configurable

Cause Device is overheated

– Temperature display plausible? – Device fan defective? – Device overloaded?

Action  Check installation conditions; are the control cabinet fan filters

dirty?

 Check the drive layout (due to possible overloading in continu

ous duty).

Error group 5 Internal power supply

No. Code Message Reaction

5-0 5114h Failure of internal voltage 1 PSoff

Cause Monitoring of the internal power supply has recognised under

voltage. This is either due to an internal defect or an overload/ short circuit caused by connected peripherals.

Action  Check digital outputs and brake output for short circuit or spe

cified load.

 Separate device from the entire peripheral equipment and

check whether the error is still present after reset. If so, an internal defect is present è Repair by the manufacturer.

84 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 5 Internal power supply

No. ReactionMessageCode

5-1 5115h Failure of internal voltage 2 PSoff

Cause Monitoring of the internal power supply has recognised under

voltage. This is either due to an internal defect or an overload/

short circuit caused by connected peripherals. Action  Check digital outputs and brake output for short circuit or spe

cified load.

 Separate device from the entire peripheral equipment and

check whether the error is still present after reset. If so, an internal defect is present è Repair by the manufacturer.

5-2 5116h Failure of driver supply PSoff

Cause Monitoring of the internal power supply has recognised under

voltage. This is either due to an internal defect or an overload/

short circuit caused by connected peripherals. Action  Check digital outputs and brake output for short circuit or spe

cified load.

 Separate device from the entire peripheral equipment and

check whether the error is still present after reset. If so, an internal defect is present è Repair by the manufacturer.

5-3 5410h Undervoltage of digital I/O PSoff

Cause Overloading of the I/Os?

Defective peripheral device? Action  Check connected peripherals for short circuit / rated loads.

 Check connection of the brake (connected incorrectly?).

5-4 5410h Over-current of digital I/O PSoff

Cause Overloading of the I/Os?

Defective peripheral device? Action  Check connected peripherals for short circuit / rated loads.

 Check connection of the brake (connected incorrectly?).

5-5 - Voltage failure of module in Ext1/Ext2 PSoff

Cause Defect on the plugged-in interface. Action  Interface replacement è Repair by the manufacturer.

5-6 - X10, X11 and RS232 supply voltage failure PSoff

Cause Overloading through connected peripherals. Action  Check pin allocation of the connected peripherals.

 Short circuit?

5-7 - Safety module internal voltage failure PSoff

Cause Defect on the safety module. Action  Internal defect è Repair by the manufacturer.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 85

B Diagnostic messages

Error group 5 Internal power supply

No. ReactionMessageCode

5-8 - Internal undervoltage supply 3 (15V) PSoff

Cause Defect in the motor controller. Action  Internal defect è Repair by the manufacturer.

5-9 - Encoder supply defective PSoff

Cause Back measurement of the encoder voltage not OK. Action  Internal defect è Repair by the manufacturer.

86 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 6 Over-current

No. Code Message Reaction

6-0 2320h Output stage short circuit PSoff

Cause – Faulty motor, e.g. winding short circuit due to motor overheat

ing or short to PE inside motor.

– Short circuit in the cable or the connecting plugs, i.e. short

circuit between motor phases or to the screening/PE. – Output stage defective (short circuit). – Incorrect parameterisation of the current regulator.

Action Dependent on the status of the system è Additional information,

cases a) to f).

Additional info

Actions: a) Error only with active brake chopper: Check external braking

resistor for short circuit or insufficient resistance value. Check

circuitry of the brake chopper output at the motor controller

(bridge, etc.). b) Error message immediately when the power supply is connec

ted: Internal short circuit in the output stage (short circuit of a

complete half-bridge). The motor controller can no longer be

connected to the power supply; the internal (and possibly ex

ternal) fuses are tripped. Repair by the manufacturer required. c) Short circuit error message not until the output stage or control

ler is enabled. d) Disconnection of motor plug [X6] directly at the motor controller.

If the error still occurs, there is a fault in the motor controller.

Repair by the manufacturer required. e) If the error only occurs when the motor cable is connected:

Check the motor and cable for short circuits, e.g. with a multi

meter. f ) Check parameterisation of the current regulator. Oscillations in

an incorrectly parameterised current regulator can generate

currents up to the short circuit threshold, usually clearly aud

ible as a high-frequency whistling. Verification, if necessary,

with the trace in the FCT (actual active current value).

6-1 2320h Brake chopper over-current PSoff

Cause Over-current at the brake chopper output. Action  Check external braking resistor for short circuit or insufficient

resistance value.  Check circuitry of the brake chopper output at the motor con

troller (bridge, etc.).

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 87

B Diagnostic messages

Error group 7 Overvoltage in intermediate circuit

No. Code Message Reaction

7-0 3210h Overvoltage in intermediate circuit PSoff

Cause Braking resistor is overloaded; too much braking energy, which

cannot be dissipated quickly enough. – Resistor capacity is incorrect? – Resistor not connected correctly? – Check design (application).

Action  Check the design of the braking resistor; resistance value may

be too great.

 Check the connection to the braking resistor (internal/external).

Error group 8 Angle encoder

No. Code Message Reaction

8-0 7380h Resolver angular encoder error configurable

Cause Resolver signal amplitude is faulty. Action Step-by-step procedure è Additional information, cases a) to c). Additional info

a) If possible, test with a different (error-free) resolver (replace the

connecting cable, too). If the error still occurs, there is a fault in the motor controller. Repair by the manufacturer required.

b) If the error occurs only with a special resolver and its connecting

cable: Check resolver signals (carrier and SIN/COS signal), see specification. If the signals do not comply with the signal spe cifications, replace the resolver.

c) If the error recurs sporadically, check the screen bonding or

check whether the resolver simply has an insufficient transmis sion ratio (standard resolver: A = 0.5).

88 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 8 Angle encoder

No. ReactionMessageCode

8-1 - Sense of rotation of the serial and incremental position evalu

configurable

ation is not identical

Cause Only encoders with serial position transmission combined with an

analogue SIN/COS signal track: The directions of rotation for posi tion determination in the encoder and for incremental evaluation of the analogue track system in the motor controller are the wrong way round è Additional information.

Action Swap the following signals on the [X2B] angle encoder interface

(the wires in the connecting plug must be changed around), ob serving the technical data for the angle encoder where applicable: – Swap SIN/COS track. – Swap the SIN+/SIN- or COS+/COS- signals, as applicable.

Additional info

The encoder counts internally, for example positively in clockwise rotation, while the incremental evaluation counts in negative direc tion with the same mechanical rotation. The interchange of the direction of rotation is detected mechanically at the first movement of over 30°, and the error is triggered.

8-2 7382h Error in incremental encoder tracking signals Z0 configurable

Cause Signal amplitude of the Z0 track at [X2B] is faulty.

– Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check configuration of angle encoder interface:

a) Z0 evaluation activated, but no track signals connected or

present è Additional information. b) Encoder signals faulty? c) Test with another encoder. è Tab. B.2, page 120.

Additional info

For example, EnDat 2.2 or EnDat 2.1 without analogue track. Heidenhain encoder: Order codes EnDat 22 and EnDat 21. With these encoders there are no incremental signals, even when the cables are connected.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 89

B Diagnostic messages

Error group 8 Angle encoder

No. ReactionMessageCode

8-3 7383h Error in incremental encoder tracking signals Z1 configurable

Cause Signal amplitude of the Z1 track at X2B is faulty.

– Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check configuration of angle encoder interface:

a) Z1 evaluation activated but not connected. b) Encoder signals faulty? c) Test with another encoder. è Tab. B.2, page 120.

8-4 7384h Digital incremental encoder track signals error [X2B] configurable

Cause Faulty A, B, or N track signals at [X2B].

– Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check the configuration of the angle encoder interface.

b) Encoder signals faulty? b) Test with another encoder. è Tab. B.2, page 120.

8-5 7385h Error in incremental encoder of Hall-effect encoder signals configurable

Cause Hall encoder signals of a dig. Inc. at [X2B] faulty.

– Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check the configuration of the angle encoder interface.

b) Encoder signals faulty? b) Test with another encoder. è Tab. B.2, page 120.

90 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 8 Angle encoder

No. ReactionMessageCode

8-6 7386h Angle encoder communication fault configurable

Cause Communication to serial angle encoders is disrupted

(EnDat encoders, HIPERFACE encoders, BiSS encoders). – Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check configuration of the angle encoder interface, procedure

corresponding to a) to c): a) Serial encoder parameterised but not connected? Incorrect

serial protocol selected? b) Encoder signals faulty? c) Test with another encoder. è Tab. B.2, page 120.

8-7 7387h Signal amplitude of incremental tracks faulty [X10] configurable

Cause Faulty A, B, or N track signals at [X10].

– Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective?

Action Check the configuration of the angle encoder interface.

b) Encoder signals faulty? b) Test with another encoder. è Tab. B.2, page 120.

8-8 7388h Internal angle encoder error configurable

Cause Internal monitoring of the angle encoder [X2B] has detected an

error and forwarded it via serial communication to the controller. – Declining illumination intensity with visual encoders? – Excess rotational speed? – Angle encoder defective?

Action If the error occurs repeatedly, the encoder is defective.

è Replace encoder.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 91

B Diagnostic messages

Error group 8 Angle encoder

No. ReactionMessageCode

8-9 7389h Angle encoder at [X2B] is not supported configurable

Cause Angle encoder type read at [X2B], which is not supported or cannot

be used in the desired operating mode. – Incorrect or inappropriate protocol type selected? – Firmware does not support the connected encoder model?

Action Depending on the additional information of the error message

è Additional information:  Load appropriate firmware.  Check/correct the configuration for encoder evaluation.

 Connect an appropriate encoder type. Additional info

Additional info (PNU 203/213):

0001: HIPERFACE: Encoder type is not supported by the firmware

è Connect another encoder type or load more recent firmware, if applicable.

0002: EnDat: The address space in which the encoder parameter

would have to lie does not exist with the connected EnDat en coder è Check the encoder type.

0003: EnDat: Encoder type is not supported by the firmware

è Connect another encoder type or load more recent firmware, if applicable.

0004: EnDat: Encoder rating plate cannot be read from the connec

ted encoder. è Replace encoder or load more recent firmware, if applicable.

0005: EnDat: EnDat 2.2 interface parameterised, but connected

encoder supports only EnDat 2.1. è Change encoder type or reparameterise to EnDat 2.1.

0006: EnDat: EnDat2.1 interface with analogue track evaluation

parameterised, but according to rating plate the connected encoder does not support track signals. è Replace encoder or switch off Z0 track signal evaluation.

0007: Code length measuring system with EnDat2.1 connected,

but parameterised as a purely serial encoder. Purely serial eval uation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue tracking signal evaluation è Connect to analogue Z0 tracking signal evaluation.

92 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 9 Angle encoder parameter set

No. Code Message Reaction

9-0 73A1h Old angle encoder parameter set configurable

Cause Warning:

An encoder parameter record in an old format was found in the EEPROM of the connected encoder. This has now been converted and saved again.

Action No activity at this point. The warning should not re-appear when

the 24 V supply is switched back on.

9-1 73A2h Angle encoder parameter record cannot be decoded configurable

Cause Data in the EEPROM of the angle encoder could not be read com

pletely, or access to it was partly refused.

Action The EEPROM of the encoder contains data (communication ob

jects) which are not supported by the loaded firmware. The data in question is then discarded.  The parameter record can be adapted to the current firmware

by writing the encoder data to the encoder.

 Alternatively, load appropriate (more recent) firmware.

9-2 73A3h Unknown version of angle encoder parameter record configurable

Cause The data saved in EEPROM is not compatible with the current ver

sion. A data structure was found which is unable to decode the loaded firmware.

Action  Save the encoder parameters again in order to delete the paramet

er record in the encoder and replace it with a readable record (this will, however, delete the data in the encoder irreversibly).

 Alternatively, load appropriate (more recent) firmware.

9-3 73A4h Defective data structure in angle encoder parameter record configurable

Cause Data in EEPROM does not match the stored data structure. The

data structure was identified as valid but may be corrupted.

Action  Save the encoder parameters again in order to delete the paramet

er record in the encoder and replace it with a readable record. If the error still occurs after that, the encoder may be faulty.

 Replace the encoder as a test.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 93

B Diagnostic messages

Error group 9 Angle encoder parameter set

No. ReactionMessageCode

9-4 - EEPROM data: Erroneous custom specific configuration configurable

Cause Only with specialised motors:

The plausibility check returns an error, e.g. because the motor was

repaired or exchanged. Action  If motor repaired: Carry out homing again and save in the angle

encoder, after that (!) save in the motor controller.

 If motor exchanged: Parameterise the controller again, then

carry out homing again and save in the angle encoder, after that (!) save in the motor controller.

9-5 - Read/write error EEPROM parameter record configurable

Cause When reading or writing data to the internal sensor parameter

record, an error occurred. Action Occurs on Hiperface sensors: a data field in the sensor EEPROM is

not suitable for being interrogated by the firmware or for unknown

reasons, no data can be written to the sensor.

 Send motor to the manufacturer for inspection.

9-7 73A5h Write-protected EEPROM angle encoder configurable

Cause Data cannot be saved in the EEPROM of the angle encoder.

Occurs with Hiperface encoders. Action A data field in the encoder EEPROM is read-only (e.g. after opera

tion on a motor controller of another manufacturer). No solution

possible, encoder memory must be unlocked with a corresponding

parameterisation tool (from manufacturer).

9-9 73A6h Angle encoder’s EEPROM too small configurable

Cause It is not possible to save all the data in the EEPROM of the angle

encoder. Action  Reduce the number of data records to be saved. Please read

the documentation or contact Technical Support.

Error group 10 Velocity Violation

No. Code Message Reaction

10-0 - Velocity Violation configurable

Cause – Motor racing (“spinning”) because the commutation angle off

set is incorrect.

– Motor is parametrised correctly but the limit for spinning pro

tection is set too low.

Action  Check the commutation angle offset.

 Check the limit value setting in the parameters.

94 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 11 Homing

No. Code Message Reaction

11-0 8A80h Error when starting the homing run configurable

Cause Controller enable missing. Action Homing can only be started when closed-loop controller enable is

active.  Check the condition or sequence.

11-1 8A81h Error during homing configurable

Cause Homing was interrupted, e.g. by:

– Withdrawal of controller enable. – Reference switch is beyond the limit switch. – External stop signal (a phase was aborted during homing).

Action  Check homing sequence.

 Check arrangement of the switches.  If applicable, lock the stop input during homing if it is not desired.

11-2 8A82h Homing: No valid index pulse configurable

Cause Required zero impulse during homing missing. Action  Check the zero impulse signal.

 Check the angle encoder settings.

11-3 8A83h Homing: Timeout configurable

Cause The parameterised maximum time for the homing run was ex

ceeded before homing was completed.

Action  Check the time setting in the parameters.

11-4 8A84h Homing: Incorrect limit switch configurable

Cause – Relevant limit switch not connected.

– Limit switches swapped? – No reference switch found between the two limit switches. – Reference switch is at the limit switch. – Current position with zero impulse method: Limit switch active

in the area of the zero impulse (not permissible).

– Both limit switches active at the same time.

Action  Check whether the limit switches are connected in the correct

direction of travel or whether the limit switches have an effect

on the intended inputs.  Reference switch connected?  Check configuration of the reference switches.  Move limit switch so that it is not in the zero pulse area.  Check limit switch parametrisation (N/C contact/N/O contact).

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 95

B Diagnostic messages

Error group 11 Homing

No. ReactionMessageCode

11-5 8A85h Homing: I²t / following error configurable

Cause – Acceleration ramps inappropriately parametrised.

– Reversing due to premature triggering of following error; check

parametrisation of following error. – No reference switch reached between the end stops. – Zero pulse method: End stop reached (here not permissible).

Action  Parameterise the acceleration ramps so they are flatter.

 Check connection of a reference switch.  Method appropriate for the application?

11-6 8A86h Homing: End of search path configurable

Cause The maximum permissible path for the homing run has been trav

elled without reaching the point of reference or the homing run destination.

Action Fault in switch detection.

 Switch for homing is defective?

11-7 - Homing: Error in encoder difference monitoring configurable

Cause Deviation between the actual position value and commutation

position is too great. External angle encoder not connected or faulty?

Action  Deviation fluctuates, e.g. due to gear backlash; cut-off

threshold may need to be increased.  Check connection of the actual value encoder.

Error group 12 CAN communication

No. Code Message Reaction

12-0 8180h CAN: Double node number configurable

Cause Node number assigned twice. Action  Check the configuration of the stations on the CAN bus.

12-1 8120h CAN: Communication error, bus OFF configurable

Cause The CAN chip has switched off communication due to communica

tion errors (BUS OFF).

Action  Check wiring: Cable specification adhered to, broken cable,

maximum cable length exceeded, correct terminating resistors,

cable screening earthed, all signals terminated?  Replace device on a test basis. If a different device works

without errors with the same cabling, send the device to the

manufacturer for inspection.

96 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 12 CAN communication

No. ReactionMessageCode

12-2 8181h CAN: Communication error during transmission configurable

Cause The signals are corrupted when transmitting messages.

Device boot up is so fast that no other nodes on the bus have yet been detected when the boot-up message is sent.

Action  Check wiring: Cable specification adhered to, broken cable,

maximum cable length exceeded, correct terminating resistors, cable screening earthed, all signals terminated?

 Replace device on a test basis. If a different device works

without errors with the same cabling, send the device to the manufacturer for inspection.

12-3 8182h CAN: Communication error during reception configurable

Cause The signals are corrupted when receiving messages. Action  Check wiring: Cable specification adhered to, broken cable,

maximum cable length exceeded, correct terminating resistors, cable screening earthed, all signals terminated?

 Replace device on a test basis. If a different device works

without errors with the same cabling, send the device to the manufacturer for inspection.

12-4 - Node guarding telegram not received configurable

Cause Node guarding telegram not received within the parametrised

time. Signals corrupted?

Action  Compare cycle time of the remote frames with that of the

controller.

 Check: Failure of the controller?

12-5 - CAN: RPDO too short configurable

Cause A received RPDO does not contain the parameterised number of

bytes.

Action The number of parametrised bytes does not match the number of

bytes received.  Check the parametrisation and correct.

12-9 - CAN: Protocol error configurable

Cause Faulty bus protocol. Action  Check the parametrisation of the selected CAN bus protocol.

Error group 13 CAN bus timeout

No. Code Message Reaction

13-0 - CAN: Timeout configurable

Cause Error message from manufacturer-specific protocol. Action  Check the CAN parameters.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 97

B Diagnostic messages

Error group 14 Identification

No. Code Message Reaction

14-0 - Automatic identification of the current regulator: Insufficient

PSoff

intermediate circuit voltage

Cause Current regulator parameters cannot be determined (insufficient

supply).

Action The available intermediate circuit voltage is too low to carry out

the measurement.

14-1 - Automatic identification of the current regulator: Measure

PSoff

ment cycle insufficient

Cause Too few or too many measurement cycles required for the connec

ted motor.

Action Automatic determination of parameters has supplied a time con

stant outside the parameterisable value range.  The parameters must be manually optimised.

14-2 - Automatic identification of the current regulator: Output stage

PSoff

enable could not be issued

Cause The output stage has not been enabled. Action  Check the connection of DIN4.

14-3 - Automatic identification of the current regulator: Output stage

PSoff

was switched off prematurely

Cause Output stage enable was switched off while identification was in

progress.

Action  Check the sequence control.

14-5 - Automatic identification of the angle encoder: Zero impulse

PSoff

could not be found

Cause The zero impulse could not be found following execution of the

maximum permissible number of electrical revolutions.

Action  Check the index pulse signal.

 Angle encoder parametrised correctly?

14-6 - Automatic identification of the angle encoder: Hall signals

PSoff

invalid

Cause Hall signals faulty or invalid.

The pulse train and/or segmenting of the Hall signals is i nappropriate.

Action  Check connection.

 Refer to the technical data to check whether the encoder

shows three Hall signals with 1205 or 605 segments; if neces

sary, contact Technical Support.

98 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

B Diagnostic messages

Error group 14 Identification

No. ReactionMessageCode

14-7 - Automatic identification of the angle encoder: Identification

PSoff

not possible

Cause Angle encoder at a standstill. Action  Ensure sufficient intermediate circuit voltage.

 Encoder cable connected to the right motor?  Motor blocked, e.g. holding brake does not release?

14-8 - Automatic identification of the angle encoder: Invalid number

PSoff

of pole pairs

Cause The calculated number of pole pairs lies outside the parameteris

able range.

Action  Compare result with the technical data specifications for the

motor.

 Check the parametrised number of lines.

Error group 15 Invalid operation

No. Code Message Reaction

15-0 6185h Division by zero PSoff

Cause Internal firmware error. Division by 0 when using the math library. Action  Load factory settings.

 Check the firmware to make sure that released firmware has

been loaded.

15-1 6186h Mathematical overflow during division PSoff

Cause Internal firmware error. Overflow when using the math library. Action  Load factory settings.

 Check the firmware to make sure that released firmware has

been loaded.

15-2 - Mathematical underflow PSoff

Cause Internal firmware error. Internal correction factors could not be

calculated.

Action  Check the setting of the factor group for extreme values and

change if necessary.

Error group 16 Internal error

No. Code Message Reaction

16-0 6181h Error in program execution PSoff

Cause Internal firmware error. Error during program execution. Illegal CPU

command found in the program sequence.

Action  In case of repetition, load firmware again. If the error occurs

repeatedly, the hardware is defective.

Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 99

B Diagnostic messages

Error group 16 Internal error

No. ReactionMessageCode

16-1 6182h Illegal interrupt PSoff

Cause Error during program execution. An unused IRQ vector was used by

the CPU.

Action  In case of repetition, load firmware again. If the error occurs

repeatedly, the hardware is defective.

16-2 6187h Initialisation error PSoff

Cause Error in initialising the default parameters. Action  In case of repetition, load firmware again. If the error occurs

repeatedly, the hardware is defective.

16-3 6183h Unexpected state PSoff

Cause Error during periphery access within the CPU or error in the pro

gram sequence (illegal branching in case structures).

Action  In case of repetition, load firmware again. If the error occurs

repeatedly, the hardware is defective.

Error group 17 Contouring error limit value exceeded

No. Code Message Reaction

17-0 8611h Contouring error limit value exceeded configurable

Cause Comparison threshold for the limit value of the following error

exceeded.

Action  Enlarge error window.

 Parameterise acceleration to be less.  Motor overloaded (current limiter from the I²t monitoring active?).

17-1 8611h Encoder difference monitoring configurable

Cause Deviation between the actual position value and commutation

position is too great. External angle encoder not connected or faulty?

Action  Deviation fluctuates, e.g. due to gear backlash; cut-off

threshold may need to be increased.  Check connection of the actual value encoder.

Error group 18 Temperature warning threshold

No. Code Message Reaction

18-0 - Analogue motor temperature configurable

Cause Motor temperature (analogue) greater than 5° below T_max. Action  Check parametrisation of current regulator and/or speed

regulator.  Motor permanently overloaded?

100 Festo – GDCP-CMMP-M0-HW-EN – 1511c – English

Festo CMMP-AS-C5-3A-M0, CMMP-AS-***-M0 Series, CMMP-AS-C2-3A-M0, CMMP-AS-C5-11A-P3-M0, CMMP-AS-C10-11A-P3-M0 Mounting And Installation

Specifications and Main Features

Frequently Asked Questions

User Manual

Instructions on this documentation

Target group

Product identification, versions

Service

Specified standards/directives

Documentation

1 Safety and requirements for product use

1.1 Safety

1.1.1 Safety instructions for commissioning, repair and de-commissioning

1.1.2 Protection against electric shock through protective extra-low voltage (PELV)

1.1.3 Intended use

1.2 Requirements for product use

1.2.1 Transport and storage conditions

1.2.2 Technical requirements

1.2.3 Qualification of the specialists (requirements for the personnel)

1.2.4 Range of application and certifications

2 Product overview

2.1 The entire system for the CMMP-AS-...-M0

2.2 Scope of delivery

2.3 Device view

3 Mechanical installation

3.1 Important notes

3.2 Mounting

3.2.1 Motor controller

4 Electrical installation

4.1 Safety instructions

4.2 Allocation of the plug connectors

4.3 Connection: I/O communication [X1]

4.3.1 Plug [X1]:

4.3.2 Pin assignment [X1]

4.3.3 Use analogue inputs as digital inputs

4.4 Connection: Resolver [X2A]

4.4.1 Plug [X2A]

4.4.2 Pin assignment [X2A]

4.5 Connection: Encoder [X2B]

4.5.1 Plug [X2B]

4.5.2 Pin assignment [X2B]

4.6 Connection: CAN bus [X4]

4.6.1 Plug [X4]

4.6.2 Pin assignment [X4]

4.7 Connection: Motor [X6]

4.7.1 Plug [X6]

4.7.2 Pin assignment [X6]

4.8 Connection: Voltage supply [X9]

4.8.1 Plug

4.8.2 Pin assignment [X9] – single-phase

4.8.3 Pin assignment [X9] – triple-phase

4.8.4 Mains fuse

4.8.5 AC supply

4.8.6 Braking resistor

4.9 Connection: Incremental encoder input [X10]

4.9.1 Plug [X10]

4.9.2 Pin assignment [X10]

4.9.3 Type and design of the cable [X10]

4.9.4 Connection instructions [X10]

4.10 Connection: Incremental encoder output [X11]

4.10.1 Plug [X11]

4.10.2 Pin assignment [X11]

4.11 FCT interfaces

4.11.1 Overview of interfaces

4.11.2 USB [X19]

4.11.3 Ethernet TCP/IP [X18]

4.12 Connection: I/O interface for STO [X40]

4.12.1 Plug [X40]

4.12.2 Pin assignment [X40]

4.12.3 Circuitry with use of the STO safety function [X40]

4.12.4 Circuitry without use of the STO safety function [X40]

4.13 Instructions on safe and EMC-compliant installation

4.13.1 Explanations and terms

4.13.2 General remarks on EMC

4.13.3 EMC areas: First and second environment

4.13.4 EMC-compliant wiring

4.13.5 Operation with long motor cables

4.13.6 ESD protection

5 Commissioning

5.1 General connection instructions