Festo CMMS-AS Series, CMMS-ST-C8-7-G2, CMMD-AS Series, CMMS-ST Series, s CMMD-AS-C8-3A Description

Motor controller

CMMS-AS/CMMS-ST/CMMD-AS

Description

Fuctions and
commissioning

Firmware-Version
from 1.4.0.x.6

8040107

1404NH

[8034520]

CMMS-AS/CMMS-ST/CMMD -AS

Translation of the original instructions
GDCP-CMMS/D-FW-EN

®

CAN

,CANopen®,CiA®,CODESYS®, DeviceNet®,EnDat®,PROFIBUS®,Windows®are registered

trademarks of the respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that c an cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

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

2 Festo – GDCP-CMMS/D-FW-EN – 1404NH –

CMMS-AS/CMMS-ST/CMMD -AS

Table of contents – CMMS-AS/CMMS-ST/CMMD-AS

1 Safety and requirements for product use 13......................................

1.1 Safety 13..................................................................

1.1.1 Safety instructions 13................................................

1.1.2 Intended use 14.....................................................

1.2 Requirements for product use 15...............................................

1.2.1 Transport and storage conditions 15....................................

1.2.2 Technical requirements 15............................................

1.2.3 Qualification of trained personnel 15....................................

1.2.4 Range of application and certifications 16................................

2 Product overview 17.........................................................

2.1 Motor controller CMMS-AS-C4-3A-G2 17.........................................

2.1.1 Control, sensor and safety function interfaces 17..........................

2.1.2 Power supply, motor and motor encoder interfaces 19......................

2.1.3 Parameter/firmware interfaces 21......................................

2.1.4 LED indicators, seven-segment displays and DI L switches 23.................

2.2 Motor controller CMMS-ST-C8-7-G2 25...........................................

2.2.1 Control, sensor and safety function interfaces 25..........................

2.2.2 Power supply, motor and motor encoder interfaces 27......................

2.2.3 Parameter/firmware interfaces 29......................................

2.2.4 LED indicators, seven-segment displays and DI L switches 31.................

2.3 Motor controller CMMD-AS-C8-3A 33............................................

2.3.1 Control, sensor and safety function interfaces 33..........................

2.3.2 Power supply, motor and motor encoder interfaces 35......................

2.3.3 Parameter/firmware interfaces 37......................................

2.3.4 LED indicators, seven-segment displays and DI L switches 39.................

2.4 Control interfaces – operating modes – operational functions 41......................

2.4.1 Overview: Control interfaces/connections/device profiles/

operating modes/operational functions 41...............................

2.4.2 Positioning mode: Direct mode, individual record mode,

record linking mode and interpolated positioning mode 42...................

2.4.3 Positioning mode: Homing mode/jog mode/teach mode 43..................

2.4.4 Speed mode, force mode and torque mode 44............................

2.4.5 Synchronisation 45..................................................

2.4.6 Operational functions: Encoder emulation, flying measurement,

analogue monitor and endless positioning 46.............................

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 3

CMMS-AS/CMMS-ST/CMMD -AS

3 Control interfaces 47.........................................................

3.1 Digital, analogue, synchronisation and fieldbus interfaces 47.........................

3.1.1 Motor controller CMMS-AS-C4-3A-G2 47.................................

3.1.2 Motor controller CMMS-ST-C8-7-G2 48..................................

3.1.3 Motor controller CMMD-AS-C8-3A 49....................................

3.2 Digital interfaces [X1] [X1.1/X1.2/EXT1/EXT2] 50..................................

3.2.1 Digital I/O modules (DIN…/DOUT…) 50..................................

3.2.2 Selecting the operating mode/mode via digital input signals 50...............

3.2.3 Digital input/output signals as a function of the operating mode/mode 51......

3.2.4 Digital input signals 53...............................................

3.2.5 Digital output signals 57..............................................

3.2.6 Message “Target reached” 60..........................................

3.2.7 Message “Following error” 61..........................................

3.2.8 Message “Speed reached” 62.........................................

3.2.9 Message “Remaining distance” 65......................................

3.3 Analogue interface [X1] [X1.1/X1.2] 66...........................................

3.3.1 Analogue input/output (AIN0/AMON0) 66................................

3.3.2 Analogue input signal (analogue setpoint value specification) 66..............

3.3.3 Analogue output signal (analogue monitor) 67............................

3.4 Synchronisation interfaces [X1/X10] [X1.1/X1.2/X10.1/X10.2] 68.....................

3.4.1 Encoder input for synchronisation ( slave interface) 68......................

3.4.2 Encoder output for encoder emulation (master interface) 69.................

3.4.3 Incremental signals ( A/#A/B/#B/N/#N) 70...............................

3.4.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR) 71..........................

3.4.5 Forward/reverse signals (CW/#CW/CCW/#CCW) 72........................

3.5 Fieldbus interfaces [X4] [X5] [EXT/EXT1] 73.......................................

3.5.1 Suppo rted fieldbuses 73..............................................

3.5.2 Required digital inputs/outputs with a fieldbus activation 74.................

3.6 Device profiles for fieldbuses 75................................................

3.6.1 Device profile: Festo handling and positioning profile (FHPP) 75..............

3.6.2 Device profile: CANopen, CiA 402 (for electric drives) 75....................

4 Measuring system 76........................................................

4.1 Measuring system for electrical drives 76.........................................

4.1.1 Measuring system for linear drives 76...................................

4.1.2 Measuring system for rotative drives 77..................................

4.2 Calculation rules for the measuring system 78.....................................

4.3 Limit switch (hardware) and software end position 78...............................

4.3.1 Limit switch LSN/LSP (hardware) 78....................................

4.3.2 Software end position SLN/SLP 78......................................

4 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

CMMS-AS/CMMS-ST/CMMD -AS

5 Commissioning 79...........................................................

5.1 Configuration/parameterisation of the drive system and motor controller 79.............

5.1.1 Festo Configuration Tool (FCT) 79.......................................

5.1.2 Installing the FCT framework/plug-in 80..................................

5.1.3 Configuring/parameterising the Festo Configuration Tool (FCT) 80.............

5.1.4 FCT Help 81........................................................

5.1.5 Configuring fieldbus/firmware functions via DIL switch 82...................

5.1.6 Fieldbus address/MAC-ID configuration 83...............................

5.1.7 Firmware download activation from the memory c ard 84....................

5.1.8 Data rate configuration (CAN bus/DeviceNet) 84..........................

5.1.9 CAN bus activation 84................................................

5.1.10 Terminating resistor activation (CAN bus) 85..............................

5.2 Data interfaces (parameter/firmware) 86.........................................

5.2.1 Firmware file 87.....................................................

5.2.2 Downloading the firmware file ( FCT >> motor controller) 87...................

5.2.3 Downloading the firmware file ( .S) (memory card >> motor controller) 88........

5.2.4 Device data ( FCT) 90.................................................

5.2.5 Downloading/synchronising/uploading/saving device data

(FCT <</<=>/>> motor controller) 90......................................

5.2.6 Archiving/extracting device data (FCT >>/<< PC) 92..........................

5.2.7 Parameter file (.DCO) 93..............................................

5.2.8 Reading/writing/saving the parameter file ( .DCO)

(memory card >>/<< motor c ontroller) 94..................................

5.3 Commissioning the motor controller 95..........................................

5.3.1 Preparing for initial start -up 95.........................................

5.3.2 Required digital inputs/outputs for operation 96..........................

5.3.3 Status diagram of the motor controller 97................................

5.3.4 Switching on the power supply (Power ON) 98............................

5.3.5 Downloading device data (FCT) to the motor controller 100...................

5.3.6 Enabling the motor c ontroller via digital inputs 101..........................

5.3.7 Commutation finding by motor controller CMMS-ST-C8-7-G2 103...............

5.3.8 Checking motor and limit switch functionality 104...........................

5.3.9 Carrying out homing 105...............................................

5.4 Behaviour of the motor controller in the event of an interruption or disconnection 106......

5.4.1 Holding brake 106....................................................

5.4.2 Interruption of the mains supply 107.....................................

5.4.3 Switching off the motor controller via output stage enable (DIN4) 108..........

5.4.4 Switching off the motor controller via controller enable (DIN5) 109.............

5.5 Master control 110............................................................

5.5.1 Master control over the motor controller 110...............................

5.5.2 FCT master control over the motor controller 112...........................

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 5

CMMS-AS/CMMS-ST/CMMD -AS

6 Positioning mode 113.........................................................

6.1 Function: Position c ontrol 113...................................................

6.2 Record selection and positioning records 114......................................

6.2.1 Function: Record selection and positioning records 114......................

6.2.2 Record selection (positioning record) – control interface – operating mode 115...

6.3 Relative positioning 115.......................................................

6.4 Direct mode 116..............................................................

6.4.1 Function: Direct mode 116.............................................

6.4.2 Connection: Digital inputs/outputs 117...................................

6.4.3 Parameterising the direct mode 118......................................

6.5 Individual record mode 120.....................................................

6.5.1 Function: Individual record mode 120....................................

6.5.2 Connection: Digital inputs/outputs 121...................................

6.5.3 Timing diagram: Start/cancel individual record 123.........................

6.5.4 Parameterising the individual record mode 125.............................

6.6 Record linking mode 137.......................................................

6.6.1 Function: Record linking mode 137.......................................

6.6.2 Connection: Digital inputs/outputs 138...................................

6.6.3 Timing diagram: Start/interrupt/cancel record sequence 140.................

6.6.4 Parameterising the record linking mode 144...............................

6.7 Interpolated positioning mode 153...............................................

6.7.1 Function: Interpolated positioning mode 153..............................

6.7.2 Connection: Digital inputs/outputs 154...................................

6.8 Homing mode/homing 155.....................................................

6.8.1 Function: Homing mode 155............................................

6.8.2 Connection: Digital inputs/outputs 156...................................

6.8.3 Timing diagram: Cancelling homing to limit switch/stop 158..................

6.8.4 Configuring and parameterising the homing mode/homing 162................

6.9 Jog mode 172................................................................

6.9.1 Function: Jog mode 172................................................

6.9.2 Jog mode via Festo Configuration Tool (FCT) 173............................

6.9.3 Connection: Digital inputs/outputs 174...................................

6.9.4 Timing diagram: Jog travel via jog+/jog– 175...............................

6.9.5 Parameterise jog mode 177............................................

6.10 Teach mode 178..............................................................

6.10.1 Function: Teach mode 178.............................................

6.10.2 Connection: Digital inputs/outputs 179...................................

6.10.3 Timing diagram: Teaching the current actual position of the drive 181...........

6.10.4 Parameterising the teach mode 182......................................

6 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

CMMS-AS/CMMS-ST/CMMD -AS

7 Speed mode and force/torque mode 183..........................................

7.1 Speed mode 183.............................................................

7.1.1 Function: Speed adjustment 183........................................

7.1.2 Function: Speed mode 184.............................................

7.1.3 Connection: Analogue and digital inputs/outputs 185.......................

7.1.4 Parameterise speed mode 186..........................................

7.2 Force/torque mode 188........................................................

7.2.1 Function: Current regulation 188........................................

7.2.2 Function: Force/torque mode 189.......................................

7.2.3 Connection: Analogue and digital I/O modules 190..........................

7.2.4 Parameterise force/torque mode 191....................................

8 Synchronisation 193..........................................................

8.1 Synchronisation (slave mode) 193...............................................

8.1.1 Function: Synchronisation 193..........................................

8.1.2 Connection: Digital inputs/outputs (24 V) and encoder input (5 V) 195..........

8.1.3 Connection: Digital inputs/outputs (24 V) 196..............................

8.1.4 Timing diagram: Starting synchronisation via Start Sync signal 197.............

8.1.5 Configure/parameterise synchronisation 198..............................

9 Operational functions 199.....................................................

9.1 Encoder emulation (master operation) 199........................................

9.1.1 Function: Encoder emulation 199........................................

9.1.2 Connection: Encoder output (5 V) 200....................................

9.1.3 Configure/parameterise encoder emulation 200............................

9.2 Flying measurement (sampling) 201..............................................

9.2.1 Function: Flying measurement 201.......................................

9.2.2 Connection: Digital input 202...........................................

9.3 Analogue monitor 203.........................................................

9.3.1 Function: Analogue monitor 203.........................................

9.3.2 Connection: Analogue output 203.......................................

9.3.3 Configure/parameterise analogue monitor 204.............................

9.4 Endless positioning 206........................................................

9.4.1 Function: Endless positioning 206.......................................

9.5 Resonance filter (motor controller CMMS-ST-C8-7-G2) 208............................

9.5.1 Function: Resonance filter 208..........................................

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 7

CMMS-AS/CMMS-ST/CMMD -AS

10 Service 209.................................................................

10.1 Protective and service functions 209..............................................

10.1.1 Overload current and short-circuit monitoring of the motor output 210..........

10.1.2 Monitoring of interruption and failure of the mains supply 210.................

10.1.3 Overvoltage and undervoltage monitoring for the intermediate c ircuit 210.......

10.1.4 Output stage temperature monitoring 210.................................

10.1.5 Monitoring the motor and motor encoder 210..............................

10.1.6 I2t monitoring 211....................................................

10.2 Operating mode and error messages 213..........................................

10.2.1 LED indicators (Ready/CA N/Bus) 213....................................

10.2.2 Seven-segments display 213...........................................

10.3 Acknowledgement of error messages 215.........................................

10.3.1 Diagnostic messages 215..............................................

10.4 Dismantling and repairs 216....................................................

10.4.1 Saving the parameter set for the motor controller 216.......................

A Diagnostic messages 217......................................................

A.1 Explanations on the diagnostic messages 217......................................

A.2 Diagnostic messages with instructions for fault clearance 218.........................

A.3 Error codes via CiA 301/402 231.................................................

A.4 Profibus diagnostics 233.......................................................

B Serial interface RS232 (diagnostics/parameterisation interface) 236..................

B.1 Activating the motor controller via the interface RS232 236...........................

B.1.1 Master data of the interface RS 232 236...................................

B.1.2 Connect RS232 interface with a program 236..............................

B.1.3 Connection [X5]: Pin allocation of the RS232 interface 237...................

B.2 Commands/syntax of the RS232 interface 238......................................

B.2.1 General c ommands 238...............................................

B.2.2 Control motor controller via CAN-Interpreter (CI) 238........................

C Serial interface RS485 (control interface) 241.....................................

C.1 Activating the motor controller via the interface RS485 241...........................

C.1.1 Master data of the interface RS485 241...................................

C.1.2 Connection [X5]: Pin allocation of the RS 485 interface 241...................

C.2 Configure RS485 interface in the Festo Configuration Tool (FCT) 242....................

C.3 Commands/syntax o f the RS48 5 interface 243......................................

8 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

CMMS-AS/CMMS-ST/CMMD -AS

Instructions on this description

This documentation is intended to help you work safely with the motor controller CMMS-AS/CMMS-ST/

CMMD-AS and describes the functions, commissioning procedure and error messages.

Tar g et grou p

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.

Vers i ons

This documentation refers to the following versions:

Motor controller

Vers i on

CMMS-AS-... Motor controller CMMS-AS-C4-3A-G2: From Rev 03

Firmware: From version 1.4.0.2.6
FCT plug-in CMMS-AS: From version 2.0.0.x

CMMS-ST-... Motor controller CMMS-ST-C8-7-G2: From Rev 05

Firmware: From version 1.4.0.1.6
FCT plug-in CMMS-ST: From version 2.0.0.x

CMMD-AS-... Motor controller CMMD-AS-C8-3A: From Rev 03

Firmware: From version 1.4.0.3.6
FCT plug-in CMMD-AS: From version 2.0.0.x

Note

Before using a newer firmware version, check whether a newer version of the FCT plug­in or documentation is available
 Support portal: http:// www.festo.com/sp.

Service

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

Product identification

For additional information about the rating plate and manufacturing date  “Mounting and installa-

tion” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 9

CMMS-AS/CMMS-ST/CMMD -AS

Type codes CMMS-AS-C4-3A-G2

Interfaces

CMMS Motor controller, standard

Motor technology

AS AC synchronous

Nominal current

C4 4 A

Input voltage

3 A 230 V AC

Generation

G2 2nd generation

Fig. 1 Type codes CMMS-AS-C4-3A-G2

CMMS

AS C4 3 A G2

–

–––

Type codes CMMS-ST-C8-7-G2

Interfaces

CMMS Motor controller, standard

Motor technology

ST Stepper motor

Nominal current

C8 8 A

Input voltage

748VDC

Generation

G2 2nd generation

Fig. 2 Type codes CMMS-ST-C8-7-G2

CMMS

ST C8 7 G2

–

–––

10 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

CMMS-AS/CMMS-ST/CMMD -AS

Type codes CMMD-AS-C8-3A

Interfaces

CMMD Motor controller, double

Motor technology

AS AC synchronous

Nominal current

C8 8 A

Input voltage

3 A 230 V AC

Fig. 3 Type codes CMMD-A S -C8-3A

CMMD

AS C8 3 A

–

––

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 11

CMMS-AS/CMMS-ST/CMMD -AS

–

y

gg

Documentation

Additional information on the motor controllers CMMS-AS/CMMS-ST/CMMD-AS can be found in the
following documentation:

Documentation

Device

Contents

type

Assembly and
installation

GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting

GDCP-CMMD-AS-HW-... CMMD-AS

Installation (pin allocations)

– Error messages

Functions and
commissioning

GDCP-CMMS-ST-G2-HW-... CMMS-ST

GDCP-CMMS/D-FW-... CMMS-AS

CMMD-AS
CMMS-ST

– Technical data
– Control interfaces
– Operating modes/operational

functions
– Commissioning with FCT
– Error messages

STO safety
function

Device
profile FHPP

GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
GDCP-CMMS-ST-G2-S1-... CMMS-ST
GDCP-CMMS/D-C-HP-... CMMS-AS

CMMD-AS
CMMS-ST

the STO safety function (Safe

Torque Off )
– Description of the interfaces:

– CAN bus (CANopen)

–InterfaceCAMC-PB(PROFIBUS)

– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via

the device profile FHPP (Festo

Handling and Positioning Profile)

with PROFIBUS, DeviceNet or

CANopen.

Device profile
CiA 402

GDCP-CMMS/D-C-CO-... CMMS-AS

CMMD-AS
CMMS-ST

– Description of the interface:

– CAN bus (CANopen, DriveBus)
– Control and parameterisation via

the device profile CiA 402 (DS

402).

Software Help Help for the CMMS-AS plug-in CMMS-AS – User interface and functions in the

Help for the CMMD-AS plug-in CMMD-AS
Help for the CMMS-ST plug-in CMMS-ST

Festo Configuration Tool for the

plug-in

Tab. 1 Documentation on the motor c ontrollers

The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: www.festo.com/sp

12 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

1 Safety and requirements for product use

1 Safety and requirements f or product use

1.1 Safety

1.1.1 Safety instructions

Warning
Danger of electric shock

Touching live parts c auses severe injuries and can lead to death:
– when the module or c over plate is not mounted on the c ard slots [EXT]

(CMMS)/[EXT1/EXT2] (CMMD)

– when cables are not mounted to the plugs [X6] (CMMS)/[X6.1/X6.2] (CMMD) and

[X9]
– when connecting cables are disconnected when powered.
The product must be installed in a control cabinet and may only be used if all safeguard­ing has been initiated.
Before touching live par ts 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.

Caution
Danger of burns from hot surfaces

Dependent on the load of the motor controller, housing temperatures > 80 °C are pos­sible in operation.

• Protect hot surfaces from contact in operation.

• Touch them only in a switched-off, cooled-off status.

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 of safety equipment is impermissible.

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 13

1 Safety and requirements for product use

1.1.2 Intended use
Motor controller CMMS-AS:

The motor controller is intended for use as a controller for a 3-phase servo motor of the EMMS-AS
series in a closed loop ( with motor encoder/closed loop).

Motor controller CMMS-ST:

The motor controller CMMS-ST is intended for use as a controller for a 2-phase stepper motor of the
EMMS-ST/MTR-ST series in a c losed loop (with motor encoder/closed loop) or in an open loop (without
motor encoder/open loop).

Motor controller CMMD-AS:

The motor controller is intended for use as a controller for two 3-phase servo motors of the E MMS-AS
series in a closed loop ( with motor encoder/closed loop).

Motor controller CMMS-AS/CMMS-ST/CMMD-AS:

All motor controllers enable the regulation of current, speed and position, and they contain a position­ing controller with stored positioning records. The motor controller is designed for installation in a con­trol cabinet.
The product is intended for use in industrial environments. Outside of industrial environments, e.g. in
commercial and mixed-residential areas, actions to suppress interference may have to be taken.
Use exclusively:
– In faultless technical condition
– In original status without unauthorised modifications; only the expansions described in the docu-

mentation supplied with the product are permitted.

– Within the limits of the product defined through the technical data

 “Mounting and installation” description,

GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…
– In an industrial environment
– In a control cabinet.
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.
The motor controller supports the following safety function:
– “Safe torque off ” (STO)

Additional information  “STO safety function” description,

GDCP-CMMS-AS -G2-S1-.../GDCP-CMMS-ST-G2-S1-.../GDCP-CMMD-AS-S1-....

14 Festo – GDCP-CMMS/D-FW-EN – 1404NH – 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 organisations 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 atmosphere

• Store and transport the product in its original packaging. The original packaging of fers sufficient
protection from typical stresses.

1.2.2 Technical requirements

For correct and safe use of the product:

• Comply with the connection and ambient conditions of the product specified in the technical data
 “Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/
GDCP-CMMS-ST-G2-HW-…, Appendix A.1, and of all connected components. Compliance with the
limit values and load limits permits operation of the product in compliance with the relevant safety
regulations.

• Observe the instructions and warnings in this documentation.

1.2.3 Qualification of trained personnel

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

1.2.4 Range of application and certifications

The motor controller with integrated STO safety function is a safety-related part of the control systems.
The motor controller carries the CE marking; for standards and test values
 “Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/
GDCP-CMMS-ST-G2-HW-…, Appendix A.1.
The product-relevant EU directives can be found in the declaration of conformity.

Certificates and the declaration of conformity for this product  www.festo.com/sp

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 15

2Interfaces

2 Product overview

2.1 Motor controller CMMS-AS-C4-3A-G2

2.1.1 Control, sensor and safety function interfaces

1

X10

X1

EXT

 A/#A/B/#B/N/#N
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

 DIN0…13
 DOUT0…3
 AIN0/#AIN0
 AMON0
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

DeviceNet
PROFIBUS DP

2

3

4

5

X5

X4

X3

Fig. 2.1 Overview: Control, sensor and safety function interfaces

16 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

RS485

CANOpen
DriveBus

STO

6

7

8

2Interfaces

Interface Function Page

1 Motor controller CMMS-AS-

C4-3A-G2

Digital interface [X1]
– Digital inputs (DIN0…13) 50
– Digital outputs (DOUT0…3) 50
Analogue interface [X1]
– Analogue inputs (AIN0/#AIN0) 65
– Analogue output (AMON0) 66
Synchronisation interfaces [X1][X10]
– Encoder inputs 67
– Encoder outputs 68
– Incremental signals

69

(A/#A/B/#B/N/#N)

– Pulse/direction signals [X10]

70

(CLK/#CLK/DIR/#DIR)

– Forward/reverse signals [X10]

71

(CW/#CW/CCW/#CCW)
CAN interface [X4]
–CANopen 72
–DriveBus 72
Slot [EXT]
– Interface module CAMC-...  5 72
RS485 interface [ X5] 240

2 Control Master device
3 Motor controller CMM... Master or slave device
4 Sensors Limit switches 77

Sequence control (N EXT1/2) 148/

5 Interface module CAMC-... DeviceNet (CAMC-DN) 72

PROFIBUS DP ( CAMC-PB) 72

6 PC Master device, RS485 interface
7 Festo Configuration Tool (FCT) Jog/individual step 172
8 Safety switching device Safety function STO (Safe Torque Off) 12

Tab. 2.1 Overview: Control, sensor and safety function interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 17

2Interfaces

2.1.2 Power supply, motor and motor encoder interfaces

1 x 110 … 230 V AC

Power ON/OFF

24 V DC

X9

1

2

3
4

5

6

Fig. 2.2 Overview: Power supply, motor and motor encoder interfaces

18 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

X2

X6

GND

7

8

9

2Interfaces

Interface Function Page

1 Mains supply
2 Power switch
3 Fuse “control section” Application-dependent
4 Fuse “power section” Application-dependent
5 Power supply unit “control section” Output voltage: 24 V DC
6 External braking resistor

(optional)

–Resistance≥ 100 Ω
– Rated output ≤ 100 W
– Pulse power ≤ 1600 W
– Nominal voltage 400 V AC

7 Motor controller

CMMS-AS-C4-3A-G2

Protective earthing “ (housing) 12
Power supply [X9]
– Power section: 230 V AC (L1/N/PE)
– Control section: 24 V DC (24 V/0 V)
– External braking resistor (ZK+/BR-CH)
Motor interfaces [X6]
– Motor (U/V/W/PE)
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)
Motor encoder [X2]
–EnDatinterface
Terminal “motor cable screening GN D”
(connected with protective earthing “)

8 Motor encoder (closed loop) EnDat interface 12
9 Servo motor EMMS-AS – Motor (U/V/W/PE)

12
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)

Tab. 2.2 Overview: Power supply, motor and motor encoder interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 19

2Interfaces

2.1.3 Parameter/firmware interfaces

123

Festo Configuration Tool (FCT)

Framework/plug-in

Firmware files
Device-descriptive files

EDS/GSD

Function block files

CodeSys/Step7/RSLogix 5000

Documentation

www.festo.com/sp

S1.8

Fig. 2.3 Overview: Parameter/firmware interfaces

X5

M1

 Download
 Upload

 Read
 Write

56

4

20 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 Motor controller

CMMS-AS-C4-3A-G2

DIL switch [S1.8]
– Firmware download activation from the

83

memory card
RS232 interface [X5]
– Onlinedatainterface

235
Card slot [M1]
– Slot for memory card

2 CD-ROM Included in the scope of delivery
3 Internet Support Portal: www.festo.com/sp
4 Festo Configuration Tool (FCT) Parameterisation/configuration 79

Data transfer control
– Firmware file 86
– Device data (FCT) 89
– Parameter set data (motor controller) 92

5 PC Operating system “Windows ...”
6 Memory card – Supportedcardtype:

SD ( version 1 and 2)

– Supported file system:

FAT16 (max. 2 GB)
Data transfer control
Download firmware file (.S) 87
Read parameter file (.DCO) 93
Write parameter file (. DCO) 93

Tab. 2.3 Overview: Parameter/firmware interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 21

2Interfaces

2.1.4 LED indicators, seven-segment displays and DIL switches

Fig. 2.4 Overview: LED indicators, seven-segment displays and DIL switches

1

2

3

22 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 LED indicators Ready (green) 212

CAN communication (yellow)

2 Seven-segment displays Error/warning messages 212

Operating modes
Bootloader
Safety function

3 DIL switch [S1] Fieldbus address/MAC-ID configuration

82
[S1.1…7]
Firmware download activation from the memory

83
card [S1.8]
Data rate configuration [ S 1.9…10]

83
(CAN bus/DeviceNet)
CAN bus activation [S1.11] 83
Terminating resistor activation [S1.12]

84
(CAN bus)

Tab. 2.4 Overview: LED indicators, seven-segment displays and DIL switches

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 23

2Interfaces

2

3

2.2 Motor controller CMMS-ST-C8-7-G2

2.2.1 Control, sensor and safety function interfaces

1

X10

X1

EXT

X5

X4

 A/#A/B/#B/N/#N
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

 DIN0…13
 DOUT0…3
 AIN0/#AIN0
 AMON0
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

DeviceNet
PROFIBUS DP

RS485

CANOpen
DriveBus

4

5

6

7

X3

Fig. 2.5 Overview: Control, sensor and safety function interfaces

24 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

STO

8

2Interfaces

Interface Function Page

1 Motor controller CMMS-ST-C8-7-G2 Digital interface [X1]

– Digital inputs (DIN0…13) 50
– Digital outputs (DOUT0…3) 50
Analogue interface [X1]
– Analogue inputs (AIN0/#AIN0) 65
– Analogue output (AMON0) 66
Synchronisation interfaces [X1][X10]
– Encoder inputs 67
– Encoder outputs 68
– Incremental signals

69

(A/#A/B/#B/N/#N)

– Pulse/direction signals [X10]

70

(CLK/#CLK/DIR/#DIR)

– Forward/reverse signals [X10]

71

(CW/#CW/CCW/#CCW)
CAN interface [X4]
–CANopen 72
–DriveBus 72
Slot [EXT]
– Interface module CAMC-...  5 72
RS485 interface [ X5] 240

2 Control Master device
3 Motor controller CMM... Master or slave device
4 Sensors Limit switches 77

Sequence control (N EXT1/2) 148/

149

5 Interface module CAMC-... DeviceNet (CAMC-DN) 72

PROFIBUS DP ( CAMC-PB) 72

6 PC Master device, RS485 interface
7 Festo Configuration Tool (FCT) Jog/individual step 172
8 Safety switching device Safety function STO (Safe Torque Off) 12

Tab. 2.5 Overview: Control, sensor and safety function interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 25

2Interfaces

2.2.2 Power supply, motor and motor encoder interfaces

1 x 110 … 230 V AC/3x400 … 500 V AC

Power ON/OFF

24 V DC/
48 V DC

24 V DC

X9

1)

1

2

3
4

5

6

1) Dependent on the power supply “power supply unit power section”

Fig. 2.6 Overview: Power supply, motor and motor encoder interfaces

26 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

X2

X6

GND

7

8
9

2Interfaces

Interface Function Page

1 Mains supply
2 Power switch
3 Fuse “control section” Application-dependent
4 Fuse “power section” Application-dependent
5 Power supply unit “power section” Output voltage: 24/48 V DC
6 Power supply unit “control section” Output voltage: 24 V DC
7 Motor controller CMMS-ST-C8-7-G2 Protective earthing “ (housing) 12

Power supply [X9]
– Power section: 24/48 V DC (ZK+/0 V)
– Control section: 24 V DC (24 V/0 V)
Motor interfaces [X6]
– Motor string (A/#A/B/#B)
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)
Motor encoder [X2]
– Incremental signals (A/#A/B/#B/N/#N)
Terminal “motor cable screening GN D”
(connected with protective earthing “)

8 Motor encoder1)(closed loop) Incremental signals (A/#A/B/#B/N/#N) 12
9 Stepper motor EMMS-ST/MTR-ST – Motor string (A/#A/B/#B)

12
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)

1) I f the stepper motor is configured without a motor encoder in the Festo Configuration Tool (FCT), the motor controller is automatic-

ally operated in an open control circuit (open loop).

Tab. 2.6 Overview: Power supply, motor and motor encoder interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 27

2Interfaces

2.2.3 Parameter/firmware interfaces

123

Festo Configuration Tool (FCT)

Framework/plug-in

Firmware files
Device-descriptive files

EDS/GSD

Function block files

CodeSys/Step7/RSLogix 5000

Documentation

www.festo.com/sp

S1.8

 Download

X5

 Upload

 Read

M1

 Write

Fig. 2.7 Overview: Parameter/firmware interfaces

56

4

28 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 Motor controller CMMS-ST-C8-7-G2 DIL switch [S1.8]

83
– Firmware download activation from the

memory card
RS232 interface [X5]
– Onlinedatainterface

235
Card slot [M1]
– Slot for memory card

2 CD-ROM Included in the scope of delivery
3 Internet Support Portal: www.festo.com/sp
4 Festo Configuration Tool (FCT) Parameterisation/configuration 79

Data transfer control
– Firmware file 86
– Device data (FCT) 89
– Parameter set data (motor controller) 92

5 PC Operating system “Windows ...”
6 Memory card – Supportedcardtype:

SD ( version 1 and 2)

– Supported file system:

FAT16 (max. 2 GB)
Data transfer control
Download firmware file (.S) 87
Read parameter file (.DCO) 93
Write parameter file (. DCO) 93

Tab. 2.7 Overview: Parameter/firmware interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 29

2Interfaces

2.2.4 LED indicators, seven-segment displays and DIL switches

Fig. 2.8 Overview: LED indicators, seven-segment displays and DIL switches

1

2

3

30 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 LED indicators Ready (green) 212

BUS communication (yellow)

2 Seven-segment displays Error/warning messages 212

Operating modes
Bootloader
Safety function

3 DIL switch [S1] Fieldbus address/MAC-ID configuration

82
[S1.1…7]
Firmware download activation from the memory

83
card [S1.8]
Data rate configuration [ S 1.9…10]

83
(CAN bus/DeviceNet)
CAN bus activation [S1.11] 83
Terminating resistor activation [S1.12]

84
(CAN bus)

Tab. 2.8 Overview: LED indicators, seven-segment displays and DIL switches

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 31

2Interfaces

2.3 Motor controller CMMD-AS-C8-3A

2.3.1 Control, sensor and safety function interfaces

1

X10.1

X10.2

X1.1

X1.2

EXT2

EXT1

 A/#A/B/#B/N/#N
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

 DIN0…13
 DOUT0…3
 AIN0/#AIN0
 AMON0
 CLK/#CLK/DIR/#DIR
 CW/#CW/CCW/#CCW

 DOUT_EXT2.0…7

 DOUT_EXT1.0…7

DeviceNet
PROFIBUS DP

2

3

4

5

6

X5

X4

X3.2

X3.1

Fig. 2.9 Overview: Control, sensor and safety function interfaces

32 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

RS485

CANOpen
DriveBus

STO

7

8

2Interfaces

Interface Function Page

1 Motor controller CMMD-AS-C8-3A Digital interface [X1.1/X1.2]

– Digital inputs (DIN0…13) 50
– Digital outputs (DOUT0…3) 50
Analogue interface [X1.1/X1.2]
– Analogue inputs (AIN0/#AIN0) 65
– Analogue output (AMON0) 66
Synchronisation interfaces
[X1.1/X1.2][X10.1/X10.2]
– Encoder inputs 67
– Encoder outputs 68
– Incremental signals

69

(A/#A/B/#B/N/#N)

– Pulse/direction signals [X10.1/X10.2]

70

(CLK/#CLK/DIR/#DIR)

– Forward/reverse signals [X10.1/X10.2]

71

(CW/#CW/CCW/#CCW)
CAN interface [X4]
–CANopen 72
–DriveBus 72
Slots [EXT1/2]
– Interface module CAMC-...  5 72
– Input/output module CAMC-D-...  5
RS485 interface [ X5] 240

2 Control Master device
3 Motor controller CMM... Master or slave device
4 Sensors Limit switches 77

Sequence control (N EXT1/2) 148/

5 Interface module CAMC-...

Input/output module CAMC-D-...

DeviceNet (CAMC-DN) 72
PROFIBUS DP ( CAMC-PB) 72
Digital inputs/outputs (CAMC-D-8E8A)

1)

49

6 PC Master device
7 Festo Configuration Tool (FCT) Jog/individual step 172
8 Safety switching device Safety function STO (Safe Torque Off) 12

1) Digital inputs cannot be used.

Tab. 2.9 Control, sensor and safety function interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 33

2Interfaces

2.3.2 Power supply, motor and motor encoder interfaces

1 x 110 … 230 V AC

Power ON/OFF

24 V DC

X9

1

2

3
4

5

6

Fig. 2.10 Overview: Power supply, motor and motor encoder interfaces

34 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

X2.2

X6.2
GND

X2.1

X6.1
GND

7

8

Axis string 2

9

8

Axis string 1

9

2Interfaces

Interface Function Page

1 Mains supply
2 Power switch
3 Fuse “control section” Application-dependent
4 Fuse “power section” Application-dependent
5 Power supply unit “control section” Output voltage: 24 V DC
6 External braking resistor

(optional)

–Resistance≥ 100 Ω
– Rated output ≤ 100 W
– Pulse power ≤ 1600 W
– Nominal voltage 400 V AC

7 Motor controller CMMD-AS-C8-3A Protective earthing “ (housing) 12

Power supply [X9]
– Power section: 230 V AC (L1/N/PE)
– Control section: 24 V DC (24 V/0 V)
– External braking resistor (ZK+/BR-CH)
Motor interfaces [X6.1/X6.2]
– Motor (U/V/W/PE)
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)
Motor encoder [X2.1/X2.2]
–EnDatinterface
Terminal “motor cable screening GN D”
(connected with protective earthing “)

8 Motor encoder (closed loop) EnDat interface 12
9 Servo motor EMMS-AS – Motor (U/V/W/PE)

12
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)

Tab. 2.10 Overview: Power supply, motor and motor encoder interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 35

2Interfaces

2.3.3 Parameter/firmware interfaces

Festo Configuration Tool (FCT)

Framework/plug-in

Firmware files
Device-descriptive files

EDS/GSD

Function block files

CodeSys/Step7/RSLogix 5000

Documentation

1

S1.8

 Download

X5

 Upload

 Read

M1

 Write

Fig. 2.11 Overview: Parameter/firmware interfaces

23

www.festo.com/sp

56

4

36 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 Motor controller CMMD-AS-C8-3A DIL switch [S1.8]

83
– Firmware download activation from the

memory card
RS232 interface [X5]
– Onlinedatainterface

235
Card slot [M1]
– Slot for memory card

2 CD-ROM Included in the scope of delivery
3 Internet Support Portal: www.festo.com/sp
4 Festo Configuration Tool (FCT) Parameterisation/configuration 79

Data transfer control
– Firmware file 86
– Device data (FCT) 89
– Parameter set data (motor controller) 92

5 PC Operating system “Windows ...”
6 Memory card – Supportedcardtype:

SD ( version 1 and 2)

– Supported file system:

FAT16 (max. 2 GB)
Data transfer control
Download firmware file (.S) 87
Read parameter file (.DCO) 93
Write parameter file (. DCO) 93

Tab. 2.11 Overview: Parameter/firmware interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 37

2Interfaces

2.3.4 LED indicators, seven-segment displays and DIL switches

Fig. 2.12 Overview: LED indicators, seven-segment displays and DIL switches

1

2

3

38 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

Interface Function Page

1 LED indicators Ready (green) 212

BUS communication (yellow)

2 Seven-segment displays Error/warning messages 212

Operating modes
Bootloader
Safety function

3 DIL switch [S1] Fieldbus address/MAC-ID configuration

82
[S1.1…7]
Firmware download activation from the memory

83
card [S1.8]
Data rate configuration [ S 1.9…10]

83
(CAN bus/DeviceNet)
CAN bus activation [S1.11] 83
Terminating resistor activation [S1.12]

84
(CAN bus)

Tab. 2.12 Overview: LED indicators, seven-segment displays and DIL switches

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 39

2Interfaces

2.4 Control interfaces – operating modes – operational functions

The motor controller can be operated through a number of interfaces. Various operating modes and
operational functions are available, dependent on the selected control interface and the device profile
(only for fieldbus). The control interfaces are permanently assigned to the connections. You can take
the possible combinations from the following overviews.

2.4.1 Overview: Control interfaces/c onnections/device profiles/
operating modes/operational functions

Control interfaces

Fieldbus

DriveBus

CANOpen

PROFIBUS DP

DeviceNet

RS485

Digital I/O modules

Analogue input/output

Synchronisation

1)

CMMS/CMMD

Connections

X4

X4

EXT (CMMS)
EXT1 (CMMD)

EXT (CMMS)
EXT1 (CMMD)

X5

X12)(CMMS)
X1.1/X1.2

2)

(CMMD)

X13)(CMMS)
X1.1/X1.2

3)

(CMMD)

X12)(CMMS)

4)

X10

(CMMS)
X1.1/X1.2
X10.1/X10.2

2)

(CMMD)

4)

Device profiles

CiA402

FHPP

CI

5)

6)

7)

(CMMD)

Operating modes/functions

Operating modes:
– Positioning mode

•Directmode

• Individual record mode

• Record linking mode

• Interpolated positioning
mode

• Homing mode

•Jogmode

• Teach mode

– Speed mode
– Force/torque mode
– Synchronisation

Operational functions:
– Encoder emulation

– Flying measurement
– Analogue monitor
– Endless po sit io ning

1) Encoder input for the “synchronisation” operating mode

2) HTL signal (high transistor logic): High signal = 24 V

3) Analogue input signal: ± 10 V,

analogue output signal: + 10 V

Fig. 2.13 Overview: Control interfaces/connections/device profiles/operating modes/operational

functions

40 Festo – GDCP-CMMS/D-FW-EN – 1404N H – English

4) TTL signal (transistor-transistor logic): High signal = 5 V

5) CANopen device profile CiA 402

6) Festo handling and positioning profile (FHPP)

7) CAN-Interpreter

2Interfaces

2.4.2 Positioning mode: Direct mode, individual record mode,
record linking mode and interpolated positioning mode

Control interfaces  page 46

Inputs/outputs
Digital inputs/outputs DIN/DOUT, 24 V

Analogue input AIN, ± 10 V

Synchronisation (encoder input), 5 V

Fieldbus
DriveBus (Motion Control)

Device profile
– C = CiA 402 (CANopen)

C F/C F F CI

– CI = CA N-Interpreter (CiA 402, SDO)
– F = F HPP (Festo)

CANOpen

PROFIBUS DP

DeviceNet

RS485

Operating modes

Positioning mode (position control)  page 112

Direct mode  page 115

Direct application F/C F F CI

Individual record mode  page 119

Record selection

DIN F F F

(Positioning record 1…63)

Record linking mode  page 136

Record selection

DIN
(Positioning record 1…7)
Record selection

F F F

(Positioning record 1…63)

Interpolated positioning mode  page 152

Direct application C C

Tab. 2.13 Overview: Positioning mode “direct mode, individual record mode, record linking mode and

interpolated positioning mode”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 41

2Interfaces

2.4.3 Positioning mode: Homing mode/jog mode/teach mode

Control interfaces  page 46

Inputs/outputs
Digital inputs/outputs DIN/DOUT, 24 V

Analogue input AIN, ± 10 V

Synchronisation (encoder input), 5 V

Fieldbus
DriveBus (Motion Control)

Device profile
– C = CiA 402 (CANopen)

C F/C F F CI

– CI = CA N-Interpreter (CiA 402, SDO)
– F = F HPP (Festo)

CANOpen

PROFIBUS DP

DeviceNet

RS485

Operating modes

Positioning mode (position control)  page 112

Homing mode/homing  page 154

Direct application C F/C F F CI
Record selection

DIN

(Positioning record 0)

Jog mode  page 171

Direct application F F F
Digital inputs DIN

Teach mode  page 177

Direct application F F F
Record selection

DIN

(Positioning record 1…63)

Tab. 2.14 Overview: Positioning mode “homing mode/jog mode/teach mode”

42 Festo – GDCP-CMMS/D-FW-EN – 1404N H – English

2Interfaces

2.4.4 Speed mode, force mode and torque mode

Control interfaces  page 46

Inputs/outputs

Digital inputs/outputs DIN/DOUT, 24 V

Analogue input AIN, ± 10 V

Device profile

– C = CiA 402 (CANopen)
– CI = CA N-Interpreter (CiA 402, SDO)
– F = F HPP (Festo)

Synchronisation (encoder input), 5 V

Fieldbus
DriveBus (Motion Control)

CANOpen

PROFIBUS DP

DeviceNet

RS485

C F/C F F CI

Operating modes

Speed mode (speed adjustment)  page 182

Direct mode

Direct application F/C F F CI

Analogue setpoint value

Analogue input AIN

Force mode1)/torque mode2)(current control)  page 187

Direct mode

Direct application F/C F F CI

Analogue setpoint value

Analogue input AIN

1) Only for configuration “linear axis” active.

2) Only for configuration “rotative axis” active.

Tab. 2.15 Overview: Speed mode, force mode and torque mode

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 43

2Interfaces

2.4.5 Synchronisation

Control interfaces  page 46

Device profile

– C = CiA 402 (CANopen)
– CI = CA N-Interpreter (CiA 402, SDO)
– F = F HPP (Festo)

Inputs/outputs
Digital inputs/outputs DIN/DOUT, 24 V

Analogue input AIN, ± 10 V

Synchronisation (encoder input), 5 V

Fieldbus
DriveBus (Motion Control)

CANOpen

PROFIBUS DP

DeviceNet

RS485

C F/C F F CI

Operating mode

Synchronisation (position control)  page 192

Incremental signals (A/#A/B/#B/N/#N)

Incremental inputs IN

Pulse/direction signals (CLK/#CLK/DIR/#DIR)

Incremental inputs IN
Digital inputs DIN

Forward/reverse signals (CW/#CW/CCW/#CCW)

Incremental inputs IN
Digital inputs DIN

Tab. 2.16 Overview: Synchronisation

44 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

2Interfaces

2.4.6 Operational functions: Encoder emulation, flying measurement,
analogue monitor and endless positioning

Control interfaces  page 46

Inputs/outputs
Digital inputs/outputs DIN/DOUT, 24 V

Analogue input AIN, ± 10 V

Synchronisation (encoder input), 5 V

Fieldbus
DriveBus (Motion Control)

CANOpen

Operational functions

Encoder emulation  page 198

Incremental outputs yes yes no yes yes yes yes yes

Flying measurement  page 200

Digital input no no no yes yes yes yes yes

Analogue monitor (AMON0) [0…10 V]  page 202

Analogue output yes yes yes yes yes yes yes yes

Endless positioning  page 205

yes yes yes yes yes yes yes yes

Resonance filter (only for motor controller CMMS-ST-C8-7-G2)  page 207

yes yes yes yes yes yes yes yes

PROFIBUS DP

DeviceNet

RS485

Tab. 2.17 Operational functions: Encoder emulation, flying measurement, analogue monitor

and endless positioning

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 45

3 Control interfaces

3 Control interfaces

3.1 Digital, analogue, synchronisation and fieldbus interfaces

3.1.1 Motor controller CMMS-AS-C4-3A-G2

Digital interfaces:

– Digital inputs DIN0…13
– Digital outputs DOUT0…3

Analogue interfaces:

– Analogue inputs AIN0/#AIN0
– Analogue output AMON0

Synchronisation interfaces:

Encoder input:
– Incremental signals A/#A/B/#B/N/#N

– Pulse/direction signals CLK/#CLK/DIR/#DIR
– Forward/reverse signals CW/#CW/CCW/#CCW
Encoder output:

– Incremental signals A/#A/B/#B/N/#N

X1

X10

±10V

0…10 V

24 V

2)

5V

1)

Fieldbus interfaces:

X5

EXT

X4

1) HTL signal (high transistor logic): High signal = 24 V

2) TTL signal (transistor-transistor logic): High signal = 5 V

3) Interface module CAMC-... (optional)

–RS485

– DeviceNet
–PROFIBUSDP

3)

3)

–CANopen
–DriveBus

Fig. 3.1 Overview: Digital, analogue, synchronisation and fieldbus interfaces

46 Festo – GDCP-CMMS/D-FW-EN – 1404N H – English

3 Control interfaces

3.1.2 Motor controller CMMS-ST-C8-7-G2

Digital interfaces:

– Digital inputs DIN0…13
– Digital outputs DOUT0…3

Analogue interfaces:

– Analogue inputs AIN0/#AIN0
– Analogue output AMON0

Synchronisation interfaces:

X1

±10V

0…10 V

24 V

1)

Encoder input:
– Incremental signals A/#A/B/#B/N/#N

– Pulse/direction signals CLK/#CLK/DIR/#DIR
– Forward/reverse signals CW/#CW/CCW/#CCW

X10

5V

2)

Encoder output:
– Incremental signals A/#A/B/#B/N/#N

Fieldbus interfaces:

X5

EXT

–RS485

– DeviceNet
–PROFIBUSDP

3)

3)

–CANopen

X4

1) HTL signal (high transistor logic): High signal = 24 V

2) TTL signal (transistor-transistor logic): High signal = 5 V

3) Interface module CAMC-... (optional)

–DriveBus

Fig. 3.2 Overview: Digital, analogue, synchronisation and fieldbus interfaces

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 47

3 Control interfaces

3.1.3 Motor controller CMMD-AS-C8-3A

X1.1

±10V

0…10 V

X1.2

1)

24 V

X10.1

5V

2)

X10.2

Digital interfaces:

– Digital inputs DIN0…13
– Digital outputs DOUT0…3

Analogue interfaces:

– Analogue inputs AIN0/#AIN0
– Analogue output AMON0

Synchronisation interfaces:

Encoder input:
– Incremental signals A/#A/B/#B/N/#N

– Pulse/direction signals CLK/#CLK/DIR/#DIR
– Forward/reverse signals CW/#CW/CCW/#CCW
Encoder output:

– Incremental signals A/#A/B/#B/N/#N

Digital interfaces:

EXT2
EXT1

– Digital outputs EXT2-DOUT0…7
– Digital outputs EXT1-DOUT0…7

Fieldbus interfaces:

4)

4)

X5

X4

1) HTL signal (high transistor logic): High signal = 24 V

2) TTL signal (transistor-transistor logic): High signal = 5 V

3) I nput/output module CAMC-D-8E8A (optional)

4) Interface module CAMC-... (optional)

– DeviceNet
–PROFIBUSDP
–RS485
–CANopen
–DriveBus

Fig. 3.3 Overview: Digital, analogue, synchronisation and fieldbus interfaces

3)

3)

48 Festo – GDCP-CMMS/D-FW-EN – 1404N H – English

3 Control interfaces

3.2 Digital interfaces [X1] [X1.1/X1.2/EXT1/EXT2]

3.2.1 Digital I/O modules (DIN…/DOUT…)

Motor controller CMMS:

The motor controller has 14 digital inputs (DIN0…DIN13) and 4 digital outputs (DOUT0…3) at connec­tion [X1]. The digital input/output signals are dependent on the operating mode selected  page 50.

Motor controller CMMD:

The motor controller has 14 digital inputs (DIN0…DIN13) and 4 digital outputs (DOUT0…3) at each of
the connections [X1.1/X1.2]. The digital input/output signals are dependent on the operating mode
selected  page 50.
The motor controller can be optionally expanded by an input/output module CAMC-D-8E8A at
slots EXT1/EXT2. The digital outputs ( EXT1-DOUT0…7) and (EXT2-DOUT0…7) can be freely configured
and assigned to one of the two strings. The 8 digital inputs cannot be used by the motor controller for
operation.

3.2.2 Selecting the operating mode/mode via digital input signals

The following operating modes/modes can be selected via the digital input signals “Mode bit 0” and
“Mode bit 1”.

Operating mode

Mode Mode bit 1

1)

(DIN9)

Mode bit 0
(DIN12)

2)

Individual record/homing mode Mode 0 0 0
Jog/teach-in mode Mode 1 0 1
Record linking operation Mode 2 1 0
Synchronisation mode Mode 3 1 1

1) The digital input (DIN9) is used as a sample input with flying measurement.

2) The digital input (DIN12) is used as an analogue input “AIN0” in speed, force or torque mode.

Tab. 3.1 Overview: Selecting the operating mode/mode via digital input signals “Mode bit 0/1”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 49

3 Control interfaces

3.2.3 Digital input/output signals as a function of the operating mode/mode

Designa­tion

Pin
[X1.x]
[X1.1.x]

Mode 0
Individual record

Mode 1 Mode 2

Record linking

Jogging Teac hi ng

Mode 3
Synchronisation

[X1.2.x]

24 V DC [18] Supply voltage 24 V DC (output)

1)

GND 24 V [6] Load “DIN/DOUT”
DIN 0 [19] Record selection bit 0 –
DIN 1 [7] Record selection bit 1 –
DIN 2 [20] Record selection bit 2 CLK/CW_24
DIN 3 [8] Record selection bit 3 Halt record

DIR/CCW_24

sequence
DIN 4 [21] Output stage enable
DIN 5 [9] Controller enable
DIN 6 [22] Limit switch 0
DIN 7 [10] Limit switch 1
DIN 8 [23] Start positioning – Teach Start record

sequence

2)

DIN 9

[11] Mode bit 1 = 0 Mode bit 1 = 1

Start
synchronisation

(Sample)
DIN 10 [3] Record selection

bit 4

Jog+ Record

selection

NEXT1 –

bit 4

DIN 11 [16] Record selection

bit 5

Jog– Record

selection

NEXT2 –

bit 5

DIN 12

3)

[2] Mode bit 0 = 0 Mode bit 0 = 1 Mode bit 0 = 0 Mode bit 0 = 1
(AIN0)
DIN 13

3)

[15] Stop
(#AIN0)
DOUT0 [24] Controller ready for operation
DOUT1 [12] Motion complete (MC)

4)

Standstill
reached

DOUT2 [25] Start confirmed4)– Teach

confirmed

DOUT3 [13] Common error

4)

Start confirmed4)Position

synchronous

1) Internally connected with power supply “24 V DC” (input) at the connection [X9.6].

2) The digital input (DIN9) is used as a sample input with flying measurement.

3) The digital inputs (DIN12/DIN13) are used as analogue inputs (AIN0/#AIN0) in speed, force or torque mode.

4) The digital output can be freely configured (default setting in the Festo Configuration Tool (FCT)).

Tab. 3.2 Overview: Digital I/O modules dependent on the operating mode/mode

50 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

Timing diagram: Selecting the operating mode/mode via digital input signals

The timing diagram shows the dependency of the four operating mo des “Individual record (Mode 0)/
Jogging and teaching (Mode 1)/Rec ord linking (Mode 2)/Synchronisation (Mode 3)” on the digital input
signals “Mode bit 0/Mode bit 1”.

Controller ready for operation

(DOUT0)[X1.24]

Mode 0…2 Mode 3

 Mode bit 0
(DIN12)[X1.2]

t1

t1

t1t1

 Mode bit 1
(DIN9)[X1.11]

Motion Complete

Standstill reached

1)

2)

t1

(DOUT1)[X1.12]

Start confirmed

Position synchronous

1)

2)

(DOUT2)[X1.25]

Individual record, mode 0

Jog/teach, mode 1

Record linking, mode 2

0012

30

Synchronisation, mode 3

1) Only active for mode 0…2

2) Only active for mode 3

t1 ≤ 5ms

Fig. 3.4 Timing diagram: S electing the operating mode/mode via digital input signals “Mode bit 0/1”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 51

3 Control interfaces

3.2.4 Digital input signals

The digital input signals are permanently assigned to t he digital inputs (DIN0…13). The function is de­pendent on the selected operating mode/mode of the control interface “digital inputs/outputs”
 page 50.

Signal Description Signal

General operating signals
Enable Power
(DIN4)
[X1.21]/[X1.1.21/X1.2.21]

– High signal for release of the output stage (motor

energised)  page 101.

– Low signal for immediate blocking of the output stage

high
active

• The category 0 STOP function, EN 60204-1 can be
realised in combination with an external safety
switching device  desc ript ion “Safet y
function STO”,
– GDCP-CMMS-AS-G2-S1-...
– GDCP-CMMS-ST-G2-S1-...

– GDCP-CMMD-AS-S1-....

• Functional timing diagram of the input
 page 107.

Enable Control
(DIN5)
[X1.9]/[X1.1.9/X1.2.9]

– High signal for release of the controller  page 101.
– Low signal for blocking the controller enable function;

results in controlled braking of the motor

high
active

• The category 1 STOP function, EN 60204-1 can be
realised in combination with an external safety
switching device  desc ript ion “Safet y
function STO”,
– GDCP-CMMS-AS-G2-S1-...
– GDCP-CMMS-ST-G2-S1-...

– GDCP-CMMD-AS-S1-....

• Functional timing diagram of the input
 page 108.

– Low signal for acknowledgement of error messages

 page 214.
Stop
(DIN13)
[X1.15]/[X1.1.15/X1.2.15]

Low signal for controlled stopping of the current
movement

• The category 2 STOP function, EN 60204-1 can be

low active

realised in combination with an external safety
switching device for standstill monitoring.

• Functional timing diagram for
– Individual record operation  page 123
– Record linking operation  page 141
– Homing mode  page 159

52 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

Signal SignalDescription

Limit switches
Limit Switch 0
(DIN6)
[X1.22]/[X1.1.22/X1.2.22]
Limit Switch 1
(DIN7)
[X1.10]/[X1.1.10/X1.2.10]

Signal when the reference/end position is reached.
– With the configured edge of the limit switch 0,

reaching of the reference/end position is signaled.
Signal when the reference/end position is reached.
– With the configured edge of the limit switch 1,

reaching of the reference/end position is signaled.

Operating mode selection
Mode Select Bit 0
(DIN12)

Signals for selection of the operating mode/mode
 page 49.

[X1.2]/[X1.1.2/X1.2.2]
Mode Select Bit 1
(DIN9)
[X1.11]/[X1.1.11/X1.2.11]
Record selection
Record Select Bit 0…5

Bit 0…2: (DIN0/…/DIN2)
Bit 3…5: (DIN3/DI N10/DIN11)
[X1.x]/[X1.1.x/X1.2.x]

Signals for selecting (binary co de) the positioning record.
– Individual record operation: Bit 0…5 active

 page 121
– Record linking operation: Bit 0…2 active  page 138
– Homing mode: Bit 0…5 active  page 156
– Teach mode: Bit 0…5 active  page 179

Individual record operation (mode 0)
Start Positioning
(DIN8)
[X1.23]/[X1.1.23/X1.2.23]

Signal for starting the individual record  page 122.
– With the rising edge, the record selection is evaluated

and the paramet ers of the active positioning record

are executed by the controller-internal positioning

controller.

Record linking operation (mode 2)
Start Record Sequence
(DIN8)
[X1.23]/[X1.1.23/X1.2.23]

Signal for starting the record sequence  page 139.
– With the rising edge, the record selection is evaluated

and the parameters of the active record sequence are

executed by the controller-internal positioning

controller/drive.

Halt Record Sequence
(DIN3)
[X1.8]/[X1.1.8/X1.2.8]

Signal for interrupting the record sequence  page 140.
– With the low signal, the record sequence is stopped.
– With the high signal, the record sequence is

continued at the stopped position.

configur­able

configur­able

high
active

high
active

high
active

high
active

high
active

low active

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 53

3 Control interfaces

Signal SignalDescription

Sequence control
NEXT1
(DIN10)
[X1.3]/[X1.1.3/X1.2.3]

Signals for control of the sequence controller.
Through the configured input (NEXT1/2), continuation
can be controlled to the next positioning record. With the
configured edge (rising/falling) the record sequence is
continued.

– Positioning record parameter (FCT) “Command:
NEXT2
(DIN11)
[X1.16]/[X1.1.16/X1.2.16]

NRI/NFI”:
Continuation is executed immediately with the edge.

– Positioning record parameter (FCT) “Command:

NRS/NFS”:
Continuation is executed with the edge and the

output signal “Motion complete = high”.
Homing mode (mode 0, positioning record 0)
Start Positioning
(DIN8)
[X1.23]/[X1.1.23/X1.2.23]

Starting for starting homing  page 157.
– With the rising edge, homing is performed in

accordance with the parametrised homing method.
Jog operation (mode 1)
Jogging+
(DIN10)
[X1.3]/[X1.1.3/X1.2.3]

Signal for control of the positive jog travel  page 174.
– With the rising edge, jog travel (creep/jog speed) is

started.

– With the falling edge, jog travel is ended.
Jogging–
(DIN11)
[X1.16]/[X1.1.16/X1.2.16]

Signal for control of the negative jog travel  page 174.

– With the rising edge, jog travel (creep/jog speed) is

started.

– With the falling edge, jog travel is ended.
Teach operation (mode 1)
Teach
(DIN8)
[X1.23]/[X1.1.23/X1.2.23]

Signal for storing the teach/actual position  page 180.

– With the rising edge, teaching is prepared. The cur-

rent actual position of the drive and the record selec­tion (bit 0…5) are evaluated.

– With the falling edge, the current actual position is

temporarily stored in the selected positioning record.
The taught positions are not permanently stored until
there is a falling edge of the controller enable signal
(DIN5)[X1.9].

configur­able

configur­able

high
active

high
active

high
active

high
active

54 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

Signal SignalDescription

Synchronisation (mode 3)
Start Synchronisation
(DIN8)
[X1.23]/[X1.1.23/X1.2.23]
CLK/CW_24
(DIN2)
[X1.20]/[X1.1.20/X1.2.20]
DIR/CCW_24
(DIN3)
[X1.8]/[X1.1.8/X1.2.8]

Signal for starting synchronisation  page 196.
– With the high signal, synchronisation is started.
– With the low signal, synchronisation is stopped.
Encoder signals for synchronising the motor controller.
– CLK: Pulse signal
– CW: Forward signal
Encoder signals for synchronising the motor controller.
–DIR:Directionsignal

– CCW: Reverse signal
Flying measurement
Sampling
(DIN9)
[X1.11]/[X1.1.11/X1.2.11]

Signal for storing the actual position  page 200.

– With the configured edge of the sample signal, the

current actual position of the drive is taken over into
the sample memory. The higher-order controller can
interrogate the last stored actual position via the act­ive fieldbus.

high
active

configur­able

configur­able

configur­able edge
trigger

Tab. 3.3 Overview: Digital input signals

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 55

3 Control interfaces

3.2.5 Digital output signals

The configurable digital output signals can be freely assigned to the digital out puts
(DOUT1/2/3)[X1.12/25/13]. The digital outputs (EXT1-DOUT0…7) or (EXT2-DOUT0…7) can be option­ally configured by the motor controller CMMD with mounted input/output module CAMC-D-8E8A.

Signal

Operating status
Output stage active
(configurable)

Controller ready for
operation
(DOUT0)
[X1.24]/[X1.1.24/X1.2.24]

Quality
Enable power granted
(configurable)

Start
Acknowledge start
(configurable)

Description Signal

The signal is high as long as the following conditions are
met:

high

active
– The output stage enable signal (DIN4) is high
– The controller enable (DIN5) is high
– No error message is present
– The intermediate circuit is loaded
– Master control is issued
The signal is high as long as all of the following
conditions are met:

high

active
– The output stage enable signal (DIN4) is high
– The controller enable (DIN5) is high
– The stop signal (DIN13) is high

Exception (DIN13):
When using the “Analogue input” control interface,

theanalogueinput#AIN0isactive
– No error message is present
– The intermediate circuit is loaded
– Master control is issued

The signal returns the status of the digital input signal
“Output stage enable ( DIN4)”. This signal does not

high

active
contain the status of the output stage (see digital output
signal “Output stage active”)

The signal becomes low with the start of a positioning

low active
record.
– During individual record operation the signal remains

low until the digital input signal “Start positioning” is
withdrawn again.

– During record linking operation the signal is

automatically withdrawn ( approx. 16 ms) after setting
the digital input signal “Start record sequence”.

56 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

Signal SignalDescription

Speed
Target velocity reached
(configurable)

The signal is high as long as the actual speed is within the
parametrised message window (message “Speed
reached”) of the parametrised speed (positioning mode)

 page 61.
Declared velocity achieved
(configurable)

The signal is high as long as the actual speed is within the

parametrised message window and the parametrised

declared speed (message “Speed reached”)  page 62.
Standstill reached
(configurable)

The signal is high as long as the actual position is within

the parametrised message window (message “Speed

reached”) of the standstill status (0 mm/s)  page 63.
Item
Motion Complete “MC”
(configurable)

The signal becomes high if the actual position is within

the parametrised message window and the parametrised

damping time (message “Target reached”) has expired

 page 59.
Target position reached
(configurable)

The signal is high as long as the actual position is within

the parametrised message window (message “Target

reached”) related to the current setpoint position of the

positioning curve controller-internal positioning

controller  page 59.
Remaining distance
message
(configurable)

The signal is high as long as the actual position is within

the parametrised message window (message “Remaining

distance”)  page 64.
Homing
Homing mode complete
(configurable)

CMMS-AS/CMMD-AS:

– Single-turn absolute encoder (servo

motor EMMS-AS -...-TS...):
The signal becomes high as soon as homing has been
completed without error.

– Multi-turn absolute encoder (servo

motor EMMS-AS -...-TM...):
The signal is high. If homing is aborted due to an er-

ror, the signal becomes low.
CMMS-ST
– The signal becomes high as soon as homing has been

completed without error.

high
active

high
active

high
active

high
active

high
active

high
active

high
active

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 57

3 Control interfaces

Signal SignalDescription

Teaching
Teach Acknowledge
(DOUT2)
[X1.25]/[X1.1.25/X1.2.25]

The signal is low as long as the teach signal is high.
The signal becomes high after the parametrised
debounce time (for jog operatio n parameters) expires

 page 180.
Synchronisation
Position synchronous
(DOUT2)
[X1.25]/[X1.1.25/X1.2.25]

The signal is high as long as the actual position is within

the parametrised message window (message “Following

error”) of the “Synchronisation” setpoint value

specification  page 60.
Safety function
Safety halt active
(configurable)

The signal is h igh as long as the output stage enable

signal (DIN4)[X1.21] and the “Driver supply, impulse

block” (REL)[X3.2] = 0 V DC.
Error/warning
Error
(configurable)
Warning
(configurable)
Following error
(configurable)

The signal becomes low if at least one error message is

active.

The signal becomes high if at least one warning message

is active.

The signal becomes high as soon as the actual position is

outside the parametrised message window and the

parametrised response delay has expired (message:

Following error)  page 60.
I2t Motor/output stage
(configurable)

The signal becomes high as soon as the motor or output

stage workload has exceeded the critical range

 page 210.
Permanent signal
Off

The signal is permanently low (O V). low
(configurable)
On

The signal is permanently high (24 V). high
(configurable)

low active

high
active

high
active

low active

high
active
high
active

high
active

Tab. 3.4 Overview: Digital output signals

58 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.2.6 Message “Target reached”

The course of the digital output signals “Target position reached” and “Motion Complete (MC)” is de­termined via the message “Target reached”.

Timing diagram: Message “Target reached”

Message window “Target reached”

“Damping time” start

“Damping time” termination

Parameter “position”

Start

(DIN8)[X1.23]

Setpoint position reached

(DOUT1/2/3)[X1.12/25/13]

Damping time

Δs

+

–

“Damping time” start

Target position

Actual position

Setpoint position

t1

t1

Motion complete

(DOUT1/2/3)[X1.12/25/13]

Δs = +/– … mm (linear axis)

= +/– … R (rotative axis)
(FCT: D ependent on the parameter “Message
window” in the message “Target reached”)

Fig. 3.5 Timing diagram: Message “Target reached”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 59

t1 = … ms (FCT: Dependent on the parameter

“Damping time” in the message “Target
reached”)

3 Control interfaces

3.2.7 Message “Following error”

The course of the digital output signals “Following error” and “Position synchronous” is determined via
the message “Following error”.

Timing diagram: Message “Following error”

Example: Message “Following error” with the reaction “Warn”. For additional information regarding the
reactions  page 208.

Message window “Following error”

Start “Response delay”

Reaction “Warn”

Parameter “position”

Start

(DIN8)[X1.23]

Response delay

Following error

(DOUT1/2/3)[X1.12/25/13]

Following error

Message 170

Δs

+

Target position

Actual position

–

t1

t2

Setpoint position

Δs = +/– … mm (linear axis)

= +/– … R (rotative axis)
(FCT: D ependent on the parameter “Message
window” in the message “Following error”)

Fig. 3.6 Timing diagram: Message “Following error”

60 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

t1 = … ms (FCT: Dependent on the parameter

“Response delay” in the message “Following
error”)

t2 L 5 s (time after which the warning message

is automatically removed)

3 Control interfaces

3.2.8 Message “Speed reached”

The course of the digital output signals “Setpoint speed”, “Declared speed achieved” and “Standstill
reached” is determined via the message “Speed reached”.

Timing diagram: Digital output signal “Setpoint spe ed reached”

The timing diagram shows the dependency of the digital output signal “Setpoint speed” on the mes­sage window “Speed reached”.

Message window “Speed reached”

Parameter “speed”

+

Δv

Target speed

Actual speed

–

Target speed

Start

(DIN8)[X1.23]

Setpoint speed reached

(DOUT1/2/3)[X1.12/25/13]

Δv = +/– … mm/s (linear axis)

= +/– … rpm (rotative axis)
(FCT: D ependent on the parameter “Message window” in the message “Speed reached”)

Fig. 3.7 Timing diagram: Digital output signal “Setpoint speed reached”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 61

3 Control interfaces

Timing diagram: Digital output signal “Declared speed achieved”

The timing diagram shows the dependency of the digital output signal “Declared speed achieved” on
the message window “Speed reached”.

Message window “Speed reached”

+

Parameter “Declared

Δv

speed”

–

Actual speed

Start

(DIN8)[X1.23]

Declared speed reached

(DOUT1/2/3)[X1.12/25/13]

Δv = +/– … mm/s (linear axis) or

= +/– … rpm (rotative axis)
(FCT: D ependent on the parameter “Message window” in the message “Speed reached”)

Fig. 3.8 Timing diagram: Digital output signal “Declared speed achieved”

62 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

Timing diagram: Digital output signal “Standstill reached”

The timing diagram shows the dependency of the digital output signal “Standstill reached” on the mes­sage window “Speed reached”.

Parameter

Message window “Speed reached”

“speed”

+

Standstill

Δv

–

Start

(DIN8)[X1.23]

Standstill reached

(DOUT1/2/3)[X1.12/25/13]

Δv = +/– … mm/s (linear axis) or

= +/– … rpm (rotative axis)
(FCT: D ependent on the parameter “Message window” in the message “Speed reached”)

Fig. 3.9 Timing diagram: Digital output signal “Standstill reached”

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 63

3 Control interfaces

3.2.9 Message “Remaining distance”

The course of the digital output signal “Remaining distance message” is determined via the message
“Remaining distance”.

Timing diagram: Message “Remaining distance”

Message window “Remaining dista nce”

Parameter “position”

Δs

Target position

Actual position

Start

(DIN8)[X1.23]

Remaining distance mes-

sage

(DOUT1/2/3)[X1.12/25/13]

Δs = +/– … mm (linear axis) or

= +/– … R (rotative axis)
(FCT: D ependent on the parameter “Message window” in the message “Remaining distance“)

Fig. 3.10 Timing diagram: Message “Remaining distance”

64 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.3 Analogue interface [X1] [X1.1/X1.2]

3.3.1 Analogue input/output (AIN0/AMON0)
Motor controller CMMS:

The motor controller has a differential analogue input (AIN0/#AIN0) and an analogue output (AMON0)
at connection [X1].

Motor controller CMMD:

The motor controller has a differential analogue input (AIN0/#AIN0) and an analogue output (AMON0)
at each of the connections [X1.1/X1.2].

Overview: Analogue input/output

Designation

AIn0
(DIN12)

1)

Description

Analogue input, differential

[X1.2]/[X1.1.2/X1.2.2]
#AIN0
(DIN13)

1)

[X1.15]/[X1.1.15/X1.2.15]
+VREF

Reference voltage, 10 V DC
[X1.4]/[X1.1.4/X1.2.4]
AGND
[X1.14]/[X1.1.14/X1.2.14]

Analogue load, reference potential for

– Reference voltage +VREF

– Analogue monitor

– Analogue input
SGND

“Analogue signal” screening
[X1.1]/[X1.1.1/X1.2.1]
AMONO

Analogue monitor (output)
[X1.17]/[X1.1.17/X1.2.17]

1) The analogue inputs (AI N0/#AI N0) are used in the positioning mode or during synchronisation (master operation) as digital inputs

(DIN12, mode bit 1) and (DIN13, stop signal).

Tab. 3.5 Overview: Analogue input/output

3.3.2 Analogue input signal (analogue setpoint value specification)

Function

Positive analogue signal
(AIN0)
[X1.2]/[X1.1.2/X1.1.2]
Negative analogue signal
(#AIN0)
[X1.15]/[X1.1.15/X1.2.15]

Tab. 3.6 Function overview: Analogue input signals (setpoint value signal)

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 65

Description

Differential analogue signals (± 10 V, 12 bit resolution) for controlling

the motor controller in the operating modes:

– Speed mode (speed setpoint value)

– Force/torque mode (torque setpoint value)

3 Control interfaces

3.3.3 Analogue output signal (analogue monitor)

Function

Analogue monitor signal
(AMON0)

Description

Configurable monitor signal 0…10 V (Reference potential: Analogue
load “AGND”)  page 203.

[X1.17]/[X1.1.17/X1.2.17]

Tab. 3.7 Function overview: Analogue output signal (analogue monitor)

66 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.4 Synchronisation interfaces [X1/X10] [X1.1/X1.2/X10.1/X10.2]

3.4.1 Encoder input for synchronisation (slave interface)
Motor controller CMMS:

The motor controller has different encoder inputs at the c onnections [X1/X10]. The encoder signals are
used for the “synchronisation” mode of the motor controller.

Motor controller CMMD:

The motor controller has different encoder inputs at the c onnections [X1.1/X1.2/X10.1/X10.2]. The
encoder signals are used for the “synchronisation” mode of the motor controller.
The following encoder signals are available:

Encoder input signals [5 V, TTL]

Encoder input [X10] [X10.1/X10.2]

CMMS CMMD

Incremental signals A/#A

Pulse/direction signals CLK/#CLK

Forward/reverse signals CW/#CW

1) Differential signals in accordance with RS422

2) The encoder input is used as an encoder output during encoder emulation (master operation).

1)

1)

B/#B

1)

N/#N

DIR/#DIR

1)

CCW/#CCW

[X10.1/6]
[X10.2/7]
[X10.3/8]

1)

1)

1)

[X10.1/6]
[X10.2/7]

2)

2)

2)

[X10.1.1/6]2)/[X10.2.1/6]
[X10.1.2/7]2)/[X10.2.2/7]
[X10.1.3/8]2)/[X10.2.3/8]

[X10.1.1/6]/[X10.2.1/6]
[X10.1.2/7]/[X10.2.2/7]

Tab. 3.8 Overview: Encode r input signals at the encoder input

The following encoder signals are optionally available at connection [X1] [X1.1/X1.2]:

Encoder input signals [24 V, HTL]

Digital input [X1] [X1.1/X1.2]

CMMS CMMD

Pulse/direction signals CLK

DIR

[X1.20]

[X1.8]

[X1.1.20]/[X1.2.20]

[X1.1.8]/[X1.2.8]

Forward/reverse signals CW

CCW

2)

2)

2)

Tab. 3.9 Overview: Encoder input signals at the digital input

Max. cycle rate
The encoder signals can be operated with the following cycle rates:
Digital input [X1]: Max. 20 kHz
Encoder input [X10]: Max. 150 kHz

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 67

3 Control interfaces

3.4.2 Encoder output for encoder emulation (master interface)
Motor controller CMMS:

The motor controller has an encoder output at connection [X10]. Incremental signals
(A/#A/B/#B/N/#N) are generated by the encoder emulation ( operational function) and made available
via the encoder output.

Motor controller CMMD:

The motor controller has an encoder output at each of the connections [X10.1/X10.2]. Incremental
signals (A/#A/B/#B/N/#N) are generated by the encoder emulation ( operational function) and made
available via the encoder outputs.

Encoder output signals [5 V, TTL]

Encoder output [X10] [X10.1/X10.2]

CMMS CMMD

Incremental signals (A/#A)

(B/#B)
(N/#N)

1) Differential signals in accordance with RS422

2) The encoder output is used as an encoder input during synchronisation (slave operation).

1)

1)

1)

[X10.1/6]
[X10.2/7]
[X10.3/8]

2)

2)

2)

Tab. 3.10 Overview: Encoder output signals and control interface

[X10.1.1/6]2)/[X10.2.1/6]
[X10.1.2/7]2)/[X10.2.2/7]
[X10.1.3/8]2)/[X10.2.3/8]

2)

2)

2)

68 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.4.3 Incremental signals (A/#A/B/#B/N/#N)

Signal

A/B (positive)
#A/#B (negative)

Description

Incremental signals for controlling the rotational speed/direction.

– The signals “A/#A” and “B/#B” are out of phase. In the basic set-

ting, without reversing the direction of rotation, the A signals are
90° ahead of the B signals if the direction of rotation is positive. If
the direction of rotation is negative, the B signals are 90° ahead of
the A signals. Through the phase shift and edge sequence (rising/
falling) of the signals “A/#A/B/#B”, the motor controller can de-

termine the rotational speed/direction.
N (positive)
#N (negative)

Zero pulse signals for identification of a revolution.
– The signals “N/#N” serve as a reference mark for a revolution. In

the “Synchronisation” operating mode, these signals are used for

counting the revolutions. With each zero-pulse passage, counting

of the signals “A/#A/B/#B” is restarted.

Tab. 3.11 Overview: Incremental signal (A/#A/B/#B/N/#N)

Timing diagram: Incremental signal for direction of rotation t o the right (basic setting)

Signal period

Incremental signal: A

Incremental signal: #A

90°

Incremental signal: B

Incremental signal: #B

One revolution

Zero pulse signal: N

Zero pulse signal: #N

Fig. 3.11 Timing diagram: Incremental signal for direction of rotation to the right (basic setting)

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 69

3 Control interfaces

3.4.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR)

Through these signals, the motor controller can be controlled by a stepper motor control card.

Signal

Description

CLK/#CLK Pulse signals for control of the rotations/speed.
DIR/#DIR Direction signals for control of the direction of rotation.

– DIR = high: Positive direction of rotation
– DIR = low: Negative direction of rotation

Tab. 3.12 Pulse/direction signals (CLK/#CLK/DIR/#DIR)

Timing diagram: Pulse/direction signals

Pulse period

Pulse signal: CLK

Pulse signal:

#CLK

Direction of rotation “positive”

Direction of rotation “negative”

Direction signal: DIR

Direction signal: #DIR

Rotor position

Fig. 3.12 Timing diagram: Pulse/direction signals

70 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.4.5 Forward/reverse s ignals (CW/#CW/CCW/#CCW)

Signal

Description

CW/#CW Forward signals for control in a positive direction of rotation.
CCW/#CCW Reverse signals for control in a negative direction of rotation.

Tab. 3.13 Overview: Forward/reverse signals (CW/#CW/CCW/#CCW)

Timing diagram: Forward/reverse signals

Direction of rotation “positive”

Forward signal: CW

Forward signal: #CW

Pulse period

Direction of rotation “negative”

Reverse signal: CCW

Reverse signal: #CCW

Rotor position

Fig. 3.13 Timing diagram: Forward/reverse signals

Only one signal pair may be active for activation of the motor controller.
– Forward signals CW/#CW
– Reverse signals CCW/#CCW

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3 Control interfaces

3.5 Fieldbusinterfaces[X4][X5][EXT/EXT1]

3.5.1 Supported fieldbuses

The motor controller CMMS-AS/CMMS-ST/CMMD-AS can be controlled through various fieldbuses. As
standard, the fieldbuses “CANopen” or “DriveBus” can be controlled via the integrated CAN bus con­nection [X4] or the fieldbus “RS485” via the integrated RS232/RS485 connection [X5]. Optionally, the
fieldbuses “PROFIBUS DP” or “DeviceNet” can be controlled via the corresponding interface module at
the connection [E XT] (CMMS)/[EXT1] (CMMD).
Only one fieldbus may be used for activation of the motor controller.
The Festo Profile for Handling and Positioning (FHPP) and the CANopen device profile CiA 402 have
been implemented as the device profile (communication protocol) in the motor controller.
For every fieldbus, a factor group can be used so that application data can be transferred in user-specif­ic units.

Overview: Fieldbus and device profile

The fieldbus documentation is included in the following media:
– CD-ROM of the motor controller CMMS-AS/CMMS-ST/CMMD-AS (scope of delivery)
– Support Portal  www.festo.com/sp.

Fieldbus

Connection Interface module Device profile Documentation

CANopen [X4] — FHPP

CiA 402
DriveBus [X4] — CiA 402
PROFIBUS DP [Ext] (CMMS)

CAMC-PB FHPP

[Ext1] ( CMMD)

DeviceNet [Ext] (CMMS)

CAMC-DN FHPP

[Ext1] ( CMMD)

RS485 [X5] — CI

1) FHPP: Festo Handling and Positioning Profile  page 74

2) CiA 402: Device profile CiA 402  page 74

3) CI : CAN Interpreter, device profile CiA 402

3)

Tab. 3.14 Overview: Fieldbus and device profile

1)

2)

2)

1)

1)

GDCP-CMMS/D-C-HP-…
GDCP-CMMS/D-C-CO-…
GDCP-CMMS/D-C-CO-…
GDCP-CMMS/D-C-HP-…

GDCP-CMMS/D-C-HP-…

 page 240

72 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

3 Control interfaces

3.5.2 Required digital inputs/outputs with a fieldbus activation

The connection diagram shows the required digital inputs for drive enable and movement via the field­bus.

CMMS/CMMD

24 V DC

CANopen/DriveBus

RS485

PROFIBUS DP/DeviceNet

Output stage enable (D IN4)

Controller enable (DIN5)

Stop (DIN13)

Limitswitch0(DIN6)

Limitswitch1(DIN7)

Load “DIN/DOUT” / GN D 24 V

X4

X5

1)

EXT/EXT1

X1/X1.1/X1.2

21

9

15

2)3)

22

2)3)

10

6

1) Interface module CAMC-... (optional)

2) The limit switches are set by default to N/C contact (configuration over FCT)

3) Only required for applications with limited positioning range or homing methods with limit switch.

Fig. 3.14 Connection: Required digital inputs/outputs with fieldbus control

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 73

3 Control interfaces

3.6 Device profiles for fieldbuses

3.6.1 Device profile: Festo handling and positioning profile (FHPP)

Independent of the fieldbus used, a uniform control concept can be implemented through the device
profile “FHPP”. The user does not have to know the specific functions of the respective fieldbuses or
controllers, but can commission and control the drive in the shortest possible time through a uniform
profile.
FHPP distinguishes between the triggering methods “record selection” and “direct operation”.
With record selection, the positioning records parametrised in the motor controller are used.
In the direct mode, the following operating modes can be used:
– Positioning mode (position control)
– Speed mode (speed adjustment)
– Force/torque mode (current control)
The operating modes c an be switched over in direct operation as needed.
For additional information  “Device profile FHPP” description, GDCP-CMMS/D-C-HP-…

3.6.2 Device profile: CANopen, CiA 402 (for electric drives)

Through the device profile “CiA 402”, the following operating modes can be used:
– Positioning mode (CiA 402: Profile position mode)
– Homing mode (CiA 402: Homing mode)
– Interpolating position mode (CiA 402: Interpolated position mode)
– Speed mode (CiA 402: Profile velocity mode)
– Force/torque mode (CiA 402 : Profile torque mode)
Communication can take place either over SDOs ( service data objects) and/or PDOs ( process data
objects). Up to 2 PDOs are available for each sending direction ( transmit/receive).
For additional information  “Device profile CiA 402” description, GDCP-CMMS/D-C-CO-…

74 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

4 Dimension reference system

4 Measuring system

4.1 Measuring system for electrical drives

4.1.1 Measuring system for linear drives

Example: Homing method “limit switch”, negative direction

Run negative (–)

Run positive (+)

2

1

de

abc

M

REF AZ

SLN

PZ

TP/AP

LSN LSP
REF Homing point (reference point)
AZ Axis zero point

1)

1)

PZ Project zero point
SLN Negative software end position (SW limit negative)
SLP Positive software end position (SW limit positive)
LSN Limit switch (hardware) negative (Limit switch negative)
LSP Limit switch (hardware) positive (Limit switch positive)
SP Target position
AP Actual position1)
a Offset “axis zero point (AZ)”
b Offset “project zero point (PZ)”
c Offset “target/actual position (TP/AP)”
d Offset “Software end position negative (SLN)”
e Offset “Software end position positive (SLP)”

1 Effective stroke
2 Working stroke (no hardware limit switches)

SLP

1)

1)

1) Additional information  page 161.

Tab. 4.1 Measuring system for linear drives

Additional information  CD-ROM: Documentation “CMMS-AS_de.pdf/CMMS-ST_de.pdf/CMMD­AS_de.pdf ” or the Festo Configuration Tool (FCT): Dynamic/static plug-in help.

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 75

4 Dimension reference system

4.1.2 Measuring system for rotative drives

Example: Homing method “current position”

REF

2

1

AZ

PZ

Tur n ne ga t ive ( –)

M

Turn positive (+)

d

SLN

LSN

REF Homing point (reference point)
AZ Axis zero point

1)

1)

PZ Project zero point
SLN Negative software end position (SW limit negative)
SLP Positive software end position (SW limit positive)
LSN Limit switch (hardware) negative (Limit switch negative)
LSP Limit switch (hardware) positive (Limit switch positive)
SP Target position
AP Actual position

1)

a Offset “axis zero point (AZ)”
b Offset “project zero point (PZ)”
c Offset “target/actual position (TP/AP)”
d Optional: Offset “Software end position negative (SLN)”
e Optional: Offset “Software end position positive (SLP)”

1 Effective positioning range
2 Working positioning range (no hardware limit switches)

a

b

TP/AP

c

e

SLP

LSP

1)

1)

2)

2)

1) Additional information  page 161.

2) In the “Endless positioning” operational function, no limit switch can be parameterised.

Tab. 4.2 Measuring system for rotative drives

Additional information  CD-ROM: Documentation “CMMS-AS_de.pdf/CMMS-ST_de.pdf/
CMMD-AS_de.pdf ” or the Festo Configuration Tool (FCT): Dynamic/static plug-in help.

76 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

4 Dimension reference system

4.2 Calculation rules for the measuring system

Point of reference Calculation rule

Axis zero point AZ =REF+ a
Project zero point PZ =AZ+ b =REF+ a+b
Negative software end position SLN =AZ+ d =REF+ a + d
Positive software end position SLP =AZ+ e =REF+ a + e
Target position/actual position TP/AP =PZ+ c =AZ+ b + c =REF+ a + b+c

Tab. 4.3 Calculation rules for the measuring system

4.3 Limit switch (hardware) and software end position

4.3.1 Limit switch LSN/LSP (hardware)

If the axis (linear/rotative) is restricted, the negative limit switch (LSN) and the positive limit switch
(LSP) is supported. These limit the absolute effective stroke/effective positioning range of the drive.
The switching function “NC contact” or “N/O contact” can be parameterised dependent on the limit
switch type.

One limit switch active:

If one of the limit switch positions is reached, the drive is braked with the reaction parametrised in the
FCT error management “PS off/Qstop/Warn” of message “430/431”  page 208.
After that, the positioning direction of the respective active limit switch is blocked. That is, the drive can
only be run in the positioning direction of the inactive limit switch.

Both limit switches a ctive:

If both limit switches are active simultaneously, the drive is braked with the reaction parametrised in
the FCT error management “PS off/Qstop/Warn” of message “439” (the message “439” is configured
via message “430”)  page 208.

4.3.2 Software end position SLN/SLP

If the axis is restricted, the negative software end position (SLN) and the positive software end position
(SLP) for limitation of the working stroke/working positioning range can also be parameterised relative
to the axis zero point between the limit switches (hardware). As with the LSN/LSP limit switches ( hard­ware), here, too, the positioning range is blocked when the software end position is blocked. In addi­tion, before the software end position is reached, braking with the stop deceleration “limit switch” is
started so that the position of the software end position is not overtravelled.
Before starting, a check is made whether the target positions of the positioning records lie between the
software end positions SLN/SLP. If a target position lies outside this range, the positioning record is not
executed and the reaction parameterised in the FCT error management of messages “400…403” is
carried out.

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 77

5 Commissioning

5 Commissioning

5.1 Configuration/parameterisation of the drive system and motor
controller

5.1.1 Festo Configuration Tool (FCT)

The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, paramet­erisation and commissioning of different components and devices from Festo.
– Management of data/files via the RS232 data interface (online) or memory card

• Device data: FCT parameterisation

• Firmware file: Firmware data

• Parameter file: DCO file on memory card
– Manual operation (e.g. jog, etc.)
–Diagnostics
– Recording of measurement data
– Automatic calculation of the controller data for the selected motor-gear unit-axis combination
– Manual precision adjustment of the controller data
The FCT c onsists of the following c omponents:
– a framework with uniform project and data management for all supported types of equipment
– one plug-in for every type of equipment (e. g. CMMS-AS/CMMS-ST/CMMD-AS)
The plug-ins are managed and starte d from the framework. They support the execution of all necessary
steps for configuration/parameterisation of the drive system and commissioning of the motor control­ler. Parameterisation of the motor controller is executed offline (without RS232 connection) on a PC.
This enables preparation for the actual commissioning, for example in the planning office when a sys­tem is being planned.

78 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

5 Commissioning

5.1.2 Installing the FCT framework/plug-in

The FCT is installed on your PC with an installation programme:

1. Close all other programmes before starting installation.

2. Insert the “Festo Configuration Tool” CD in your CD-ROM drive.

• If Auto-Run is enabled: The installation process starts automatically.

• If Auto-Run is disabled: Manually launch the Setup.exe file on the CD-ROM.

Note

The operating system “Windows 2000/2003/XP/7/8” and Windows administrator
rights are required for installing the FCT framework.

3. Follow the instructions of the FCT wizard.

Note

The current FCT plug-in “CMMS-AS/CMMS-ST/CMMD-AS”, version 2.0.x, supports all
previous firmware versions ( up to 1.4.0.x.8).
For newer versions of t he motor controller, check whether there is an updated FCT plug­in “CMMS-AS/CMMS-ST/CMMD-AS” available. If necessary, consult Festo.

5.1.3 Configuring/parameterising the Festo Configuration T ool (FCT)

1. Start the FCT:
– Double click on the FCT icon on the desktop
– Select the following Windows path:

[Start] [Open Program Path] [Festo Software] [Festo Configuration Tool].

2. Create a new project or open an existing project.
– [Menu bar] [Project] [New].
– Double click the existing project in the workspace.
 Help for the FCT framewo rk: [Menu bar] [Help] [Contents FCT general].

3. Add a new component to the project as follows:
Menu bar [Component] [Add] [CMMS-AS/CMMS-ST/CMMD-AS].
 Help for the FCT framewo rk: [Menu bar] [Help] [Contents FCT general].

4. Configure and parameterise the components of the drive system (motor controller, motor, gear unit,
axis, etc.) and the operating parameters (control interface, operating mode, error management,
etc.). Complete all further steps in accordance with the plug-in help instructions, chapter “Working
with the plug-in”:
– Menu bar [Help] [Contents of installed plug-ins] [Festo ( manufacturer name)]

[CMMS-AS/CMMS-ST/CMMD-AS (plug-in name or component name)].
– CD-ROM: Documentation “CMMS-AS_de.pdf/CMMS-ST_de.pdf/CMMD-AS_de.pdf ”.
– Dynamic/static help for the FCT plug-in  page 80.

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 79

5 Commissioning

5.1.4 FCT Help

The following Help functions are available in the FCT:

Dynamic Help:

• Activate dynamic Help in the FCT user interface: [Menu bar] [Help] [Dynamic help]. When you click on
a field, Help is always displayed dynamically.

1 2 3

1 Menu bar: Help

3 Window: Dynamic Help

2 Button. Dynamic Help

Fig. 5.1 Overview: Dynamic Help in the Festo Configuration Tool (FCT)

Static Help:

– Click in the FCT user interface in a parameter/configuration field. When the F1 key is pressed, the

Static Help is displayed for the parameter/configuration field.

– Activate static Help in the FCT user interface:

[Menu bar] [Help] [Contents of installed plug-ins] [Festo] [CMMS-AS/CMMS-ST/CMMD-AS].
Clicking the button “CMMS-AS/CMMS-ST/CMMD -AS” displays the static Help.

Offline Help (PDF document):

– Print individual pages or all of the pages in a book directly from the Help contents by using the

“Print” button in the Help window.

– Print a prepared version of the help in Adobe PDF format:

Printed version

FCT help

Directory File

...(FCT installation directory)\Help\ – FCT_de.pdf
(framework)
Plug-in Help
CMMS-AS
Plug-in Help
CMMS-ST
Plug-in Help
CMMD-AS

...(FCT installation directory)\HardwareFamilies\

Festo\CMMS-AS \V...\Help\

…(FCT installation directory)\HardwareFamilies\

Festo\CMMS-ST\V…\Help\

…(FCT installation directory)\HardwareFamilies\

Festo\CMMD-AS\V…\Help\

– CMMS-AS_de.pdf

– CMMS-ST_de.pdf

– CMMD-AS_de.pdf

Tab. 5.1 Overview: Offline Help

80 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

5 Commissioning

5.1.5 Configuring fieldbus/firmware functions via DIL switch

The following fieldbus/firmware functions can be configured via the DIL switches.

Overview: DIL switches [S1.1…12]

Switch position

Off

On

1 S1.1…7

2 S1.8

3 S1.9…10
4 S1.11

5 S1.12

1 Fieldbus address/MAC-ID co nfiguration
2 Firmware download activation from the

memory card

Fig. 5.2 Overview: DIL switches [S1.1…12]

3 Data rate configuration (CAN bus/DeviceNet)
4 CAN bus activation
5 Terminating resistor activation (CAN bus)

Festo – GDCP-CMM S/D-FW-EN – 1404NH – English 81

5 Commissioning

5.1.6 Fieldbus address/MAC-ID configuration

The address/ID configuration is evaluated for each power ON procedure or controller reboot (FCT). The
address/MAC-ID can be configured via the DIL switches [S1.1…7].

Fieldbus

DIL switch

[S1.7] [S1.6] [S1.5] [S1.4] [S1.3] [S1.2] [S1.1]
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26=64 25=32 24=16 23=8 22=4 21=2 20=1

CANOpen
CAN address: 1…127 X X X X X X X
DriveBus
CAN address: 2…13 – – – X X X X
PROFIBUS DP
Bus address: 3…126

1)

X X X X X X X
DeviceNet
MAC-ID: 0…63 – X X X X X X
RS485
Address: 0…127 X X X X X X X

Example: 57 =
(Switch position)

1) The addresses “0…2” in Profibus DP are assigned to defined interfaces (e.g.: Higher-order controller, etc.).

+0

(OFF)

+32
(ON)

+16
(ON)

+8
(ON)

+0
(OFF)+0(OFF)+1(ON)

Tab. 5.2 Fieldbus address/MAC-ID configuration

Note the instructions for address/MAC-ID parameterisation of fieldbuses

 Description “device profile FHPP”, GDCP-CMMS/D-C-HP-...
 Description “device profile CiA 402”, GDCP-CMMS/D-C-CO-...

82 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

5 Commissioning

5.1.7 Firmware download activation from the memory card

The process for downloading firmware from the memory card c an be configured via DIL switch [S1.8]
 page 87.

Bootloader

DIL switch [S1.8]

ON OFF

Download firmware file (.S) from the memory card after Power ON/FCT:

active inactive

Reboot controller

Tab. 5.3 Firmware download activation from the memory card

5.1.8 Data rate c onfiguration (CAN bus/DeviceNet)

The data rate configuration is evaluated for each power ON procedure or controller reboot (FCT). The
bit/transmission rate c an be configured via the DIL switches [S1.9/S1.10] .

Fieldbus

Bit/transmission rate DIL switch

[S1.10] [S 1.9]

CANopen (CAN bus)/DeviceNet 125 KBit/s ( 125 kBaud) OFF OFF

250 KBit/s ( 250 kBaud) OFF ON
500 KBit/s ( 500 kBaud) ON OFF

CANopen (CAN bus) 1 MBit/s (1000 kBaud) ON ON

Tab. 5.4 Data rate configuration ( CAN bus/DeviceNet)

5.1.9 CAN bus activation

Activation of the CAN bus can be configured via DI L switch [S1.11] .

Fieldbus

Port DIL switch [S1.11]

ON OFF

CANOpen CAN bus active

1)

inactive

DriveBus

1) The CAN bus interface is disabled with installation of the interface module “CAMC-PB/PROFI BUS DP” or “CAMC-DN/DeviceNet”.

Tab. 5.5 CAN bus activation

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5.1.10 Terminating resistor activation (CAN bus)

The CAN bus is terminated at the ends via the terminating resistor. Final termination is to be ac tivated
at the end participants of the CAN bus.

DIL switch [S1.12] can be used exclusively for activation of the “CAN BUS” terminating
resistor.

Fieldbus

Note DIL switch

CANopen (CAN bus) Integrated terminating res­DriveBus (CA N bus)

istor (120 Ω)

Tab. 5.6 Terminating resistor activation (CAN bus)

In the PROFIBUS DP, the terminating resistor is integrated into the “CAMC-PB” interface
module.

The terminating resistor (120 Ω ) can be connected externally to the end par ticipant, if
required, for DeviceNet and RS485.

S1.12
ON OFF

active inactive

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5.2 Data interfaces (parameter/firmware)

CD-ROM/
www.festo.com/sp

Festo Configuration
T ool (FCT)

Framework

Plug-in file

Firmware

Firmware file

Save/
execute

Save/
execute

Save/
Execute/
FCT: Import

PC Me mory card

Parameter file

FCT software

Installation

(.DCO)

Firm-

FCT: Controller >> SD

ware
Installation/
update

Firmware file

Copy

FCT:

Firmware download

file

(.S)

DIL switch S1.8:

Switch position = ON

Archive file
(.ZIP)

FCT:
Archive

FCT:
Extract

M1

FCT: SD >> Controller

FCT: Read from SD after restart

Device descrip­tions (EDS/GSD)
and function ele­ments

EDS file:
–CANopen

– DeviceNet
–DriveBus

GSD file:
–PROFIBUSDP

Function element
file:
–CODESYS

–Step7
– RSLogix 5000

Save/
execute

Save/
execute

Save/
execute

Device data

Controller soft­ware

Controller
data manage­ment

FCT: Download

FCT: Synchronisation

FCT: Upload

FCT: Save

Download

Motor

X5

controller

X1/X4/EXT

Control/parameter
interface

Device profile:

–FHPP

–CiA402

Controller

Fig. 5.3 Overview: Data interfaces (parameter/firmware)

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5.2.1 Firmware file

The firmware for the motor controller is included in the firmware file. The firmware file can be updated
online from a PC or via the memory card.

Note
Loss of the parameter set in the motor controller

In the event of a firmware download, the parameter set of the motor controller is de­leted (“factory setting” status).
– Before downloading the firmware, back up the device data to the Festo Configura-

tion Tool (FCT) (Upload/Synchronisation) or save the current parameter set of the
motor controller to the memory c ard (FCT: Controller >> SD) as a parameter file
(.DCO).

– After downloading the firmware load the device data from the Festo Configuration

Tool (FCT) to the motor controller (Download) or load the parameter file (.DCO) from
the memory c ard to the motor controller (FCT: SD >> Controller).

5.2.2 Downloadingthefirmwarefile(FCT>>motorcontroller)

Theprocessfordownloadingthefirmwarefilecanbestartedviathefollowingbuttons.

FCT

Firmware file

Festo Configuration Tool (FCT)

RS232

2 Firmware download

1

2

CMMS/CMMD

X5

Permanent
memory

1 “Component” menu bar 2 Firmware Download
Fig. 5.4 Overview: Downloading the firmware file (FCT >> motor controller)

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5.2.3 Downloading the firmware file (.S) (memory card >> motor controller)

The process for downloading the firmware file (.S) from the memory card can be configured via DIL
switch [S1.8]. If the DIL switch position = ON, the process for downloading the firmware is restarted
with every Power ON procedure/controller reboot (FCT).

Memory card

Firmware file (.S)

DIL switch [S1.8]
Switch position = ON

CMMS/CMMD

M1

Permanent
memory

Fig. 5.5 Downloading the firmware file (.S ) (memory card >> motor controller)

To download the firmware from the memory card, proceed as follows:

1. Copy the firmware file (.S) from the PC to the memory card.

Note:
– Only one firmware file should be stored on the memory c ard.
– No subdirectories should be created o n the memory card.

File names

Example

Letters Format Extension

large/small 32.1 .S CMMS-AS: FW_CMMS-AS_V1p4p0p2p6.S

CMMS-ST: FW_CMMS-ST_V1p4p0p1p6.S
CMMD-AS: FW_CMMD-AS_V1p4p0p3p6.S

Tab. 5.7 Requirement for firmware file names

2. Insert the memory card into the card slot [M1].

3. Set the DIL switch [S 1.8] to the “ON” position.

4. Switch the “control section” power supply off and on.

5. During the boot procedure the motor controller performs a check (illuminated decimal point “.” on
the seven-segment display) to verify whether a memory card is inserted in the card slot [M1] and
whether the card contains a valid firmware version.

Possible causes of an error:
– Memory card is damaged
– Memory card is not inserted.
– Firmware file is damaged.
– The firmware version in the motor controller and on the memory card are identical.
If the errors listed above occur, the firmware is not downloaded and the firmware last
saved in the permanent memory is loaded.

6. The process for downloading the firmware file is executed ( flashing decimal point “.” on the seven­segment display) if a valid firmware file is present on the memory card and if this file is of a different
version to the firmware currently in use.

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If multiple firmware files are present on the memory card, the firmware file with the latest
date is loaded into the motor controller!

Whentheprocessfordownloadingthefirmwarestarts,thefirmwareinthepermanent
memory is initially deleted. If the download fa ils or if the power supply was interrupted
during the download process, no firmware will have been transferred to the permanent
memory. The firmware download process must be restarted again.

7. The newly loaded firmware star ts automatically.

8. Set the DIL switch [S 1.8] to the “OF F” position.

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5.2.4 Device data (FCT)

The device data contains all of the data that has been parameterised, configured and saved via the
Festo Configuration Tool (FCT).

5.2.5 Downloading/synchronising/uploading/saving device data

(FCT <</<=>/>> motor controller)

The device data can be transferred between the FCT and the motor controller as follows:
– Download (>>): From FCT to the motor controller
– Upload (<<): From the motor controller to the FCT
– Synchronisation (<=>): Between FCT and motor controller

Note
Loss of device data

If the “control section” power supply is interrupted, any modifications made to the
device data that have not been saved to the permanent memory will be lost.
– Save all modifications made to the device data in the permanent memory of the

motor controller (FCT: Save).

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The process for transferring device data can be started via the following buttons.

Festo Configuration Tool (FCT)

1
2
3
4

FCT

Device
data

RS232

1 Upload

2 Download

CMMS/CMMD

Main

X5

memory

4 Save

3 Synchronisation

1 Upload

The current device data on the motor
controller is loaded into the Festo
Configuration Tool (FCT).

2 Download

The current device data on the Festo
Configuration Tool (FCT) is loaded into the
motor controller.

3 Syncronisation

The device data on the Festo Configuration
Tool (FCT) and the motor controller is
synchronised.

4 Store

The device data is saved from the main
memory to the permanent memory of the
motor controller.

Fig. 5.6 Overview: Downloading/synchronising/uploading/saving device data

(FCT <</=/>> motor controller)

Permanent
memory

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5.2.6 Archiving/extracting device data (FCT >>/<< PC)

The process for transferring device data can be controlled via the following buttons.

Festo Configuration Tool (FCT)

1
2

FCT

Device data

1 Archive

2 Extract

1 Archive:

The device data from the Festo Configuration
Tool (FCT) is saved to the PC's hard disk as an
archive file (.ZIP).

2 Extract:

The archive file (.ZIP) containing the device
data is loaded from the PC's hard disk into
the Festo Configuration Tool (FCT).

Fig. 5.7 Overview: Archiving/extracting device data (FCT >>/<< PC)

PC
Hard disk

Archive file (.ZIP)

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5.2.7 Parameter file (.DCO)

The parameter file (.DCO) contains the complete parameter set for the motor controller.
The parameter file (.DCO) can be transferred between the memory card and motor controller as follows:
– SD>>Controller/after restart ... (read): From the memory card to the motor controller
– Controller>>SD (write): From the motor controller to the memory card

Requirement for parameter file names

File names

Example

Letters Format File name Extension

large 8.3 8-digit

1)

.DCO CMMS-AS: CMMSAS01.DCO

CMMS-ST: CMMSST01.DCO
CMMD-AS: CMMDAS01.DCO

1) xxxxxxnn.DCO:

x = digits 1–6 are used for the file name. Any ASCI I characters can be used here.

n = digits 7+8 are used for the consecutive number of the file. This increases automatically from “00”.

Tab. 5.8 Requirement for parameter file names

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5.2.8 Reading/writing/saving the parameter file (.DCO)

(memory card >>/<< motor controller)

The process for transferring a parameter file (.DCO) can be started via the following buttons or check
boxes.

Festo Configuration Tool (FCT)

1

2
3

4
6
6

2 Memory
card

CMMS/CMMD

Parameter
file (.DCO)

3 After restart ...
4 SD>>Controller

X5

Main
memory

1 Save

Perman­ent
memory

5 SD( ...)>>Controller

6 Controller>>SD

1 Store

In the motor controller, the current
parameter set is written from the main
memory and saved to the permanent
memory.

2 Memory Card
3 Read from SD after Startup:

If the check box is active (check mark set), a
search is conducted on the memory card for
the parameter file (.DCO) designated
“Latest” after every restart (Power ON/FCT:
Restart controller); when located, it is loaded
automatically into the main memory of the
motor controller.

4 SD>>Controller (SD>>Controller):

A search is conducted on the memory card
for the parameter file (.DCO) designated
“Latest”; when located, it is loaded
automatically into the main memory of the
motor controller.

5 SD(latest)>>Controller:

A search is conducted on the memory card
for the parameter file ( .DCO) with the latest
date; when located, it is loaded
automatically into the main memory of the
motor controller.

6 Controller>>SD:

The latest parameter set of the motor
controller is written to the memory card as a
parameter file (.DCO).

Fig. 5.8 Overview: Downloading/uploading the parameter file (.DCO) (memory card >>/<< motor

controller)

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5.3 Commissioning the motor controller

5.3.1 Preparing for initial start-up
CAMC module and cover plate:

• Check the installation of the module or cover plate on slot [EXT] [EXT1/EXT2].

• Motor controller CMMD:
The interface module CAMC (PROFIBUS DP/DeciveNet) should only be installed in slot [EXT1].

Electrical interfaces:

• Check the wiring of the system (controller/motor/motor encoder/limit switch/mains supply/safety
switching device/etc.).

• Check the pin allocation of the connector [X...] and the connection of the screening.

• Check the connection of the protective conductor (PE).

• Check all electrical connections for short circuit and disconnection.

For additional information  “Mounting and installation” description,
GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…

Fieldbus interfaces:

• Check the fieldbus address/MAC-I D  page 82.

• Check the data rate (CAN bus/DeviceNet)  page 83.

• Check CAN bus activation (CANopen/DriveBus)  page 83.

• Check the terminating resistor:
– The activation of the CA N bus terminating resistor (CANopen/DriveBus)  page 84.
– The activation of the PROFI BUS terminating resistor

 “Device profile FHPP” description, GDCP-CMMS/D-C-HP-….

– The connection of the external terminating resistor (DeviceNet/RS485)

 “Mounting and installation” description,
GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…

Firmware update:

• Check the status of the firmware version  Support portal: www.festo.com/sp.

Note

Before using a newer firmware version, check whether a newer version of the FCT plug­in or documentation is available  Support portal: http://www.festo.com/sp.

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5.3.2 Required digital inputs/outputs for operation

In order to operate the motor controller safely in all operating modes, the following digital inputs/out­puts are required.

Connection: Digital inputs/outputs for operation

24 V DC

Output stage enable ( DIN4)

Controller enable (DIN5)

Stop (DIN13)

1)

Controller ready for operation (DOUT 0)

Common error (DOUT3)

2)

Load “DIN/DOUT” (GND 24 V)

The connection diagram shows the switch positions in operation.

1) The digital input (DIN13) is used as an analogue input (#AIN0) in speed, force or torque mode.

2) Default setting, freely configurable in the Festo Configuration Tool (FCT).

Fig. 5.9 Connection: Digital inputs/outputs for operation

CMMS/CMMD
X1/X1.1/X1.2

21

9

15

24

13

6

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5.3.3 Status diagram of the motor controller

The status diagram shows the basic functions of the motor c ontroller. Detailed information regarding
the controller functions can be found in the respective operating modes.

–PowerON/
– FCT: Restart controller

All statuses

Firmware file

Device data (FCT)
Parameter file (.DCO)

Enable output
stage

Enable controller

Bootloader

Initialization

Intermediate circuit precharge
(CMMS-AS/CMMD-AS)

Ready for operation

Controller operating mode

Position

Rotational

speed

Error status

Acknowledge error

Block output stage
and controller

Current

Fig. 5.10 Status diagram of the motor c ontroller

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5.3.4 Switching on the power supply (Power ON)

The motor controller is supplied with the following voltage when the power switch is activated (Power
ON). The boot process of the motor controller is started automatically with the Power ON procedure.

Motor controller Control section Power section

CMMS-AS 24 V DC 230 V AC
CMMS-ST 24 V DC 24…48 V DC
CMMD-AS 24 V DC 230 V AC

Tab. 5.9 Overview: Power supply

Warning
Dangerous electrical voltage

Touching live parts will c ause an electric shock, which c an result in death or severe
injuries:
– atanopenslot:

– CMMS: [EXT]
– CMMD: [E XT1/E XT2]

– at the connection or connector:

– Motor [X6] (CMMS)/[X6.1/X6.2] (CMMD)
– Power supply [X9]

1. Equip the open slot [EXT] (CMMS)/[EXT1/EXT2] (CMMD) with the missing module or
cover plate.

2. Install the product in a control cabinet.

Caution
Unexpected movement of the drive

If the following conditions are fulfilled during the Power ON process:
– Output stage enable is enabled (DIN4 = 24 V)[X1.21][X1.1.21/X1.2.21]
– Controller enable is enabled (DI N5 = 24 V)[X1.9][X1.1.9/X1.2.9]
– Setpoint value specified via control interface “Fieldbus/analogue input”
the drive (motor/axis) will start moving; it is then capable of causing crush ing injuries in
the operating area of the drive.

• Make sure the controller enable (DIN5)[X1.9][X1.1.9/X1.2.9] is disabled during the
Power ON process (= 0 V).

Caution
Hot housing surfaces

The housing can reach a temperature of > 80° C during operation, which can cause
burns.

1. Install the product in a control cabinet.

2. Check the temperature of the housing before touching it (e.g. by slowing moving the
back of your hand towards the housing).

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Note
Impermissible voltage or overvoltage

The motor controller will be damaged if

1. the voltage exceeds the permissible range.
– Observe the maximum voltage level.

2. the mains phase (L1) is connected to connection [ X9] on the motor controller
“CMMS-AS/CMMD-AS” prior to the neutral conductor (N).
– Use a mains switch with leading neutral conductor (N).

3. the pins of the power supply have incorrect polarity at the connection “Power supply
[X9]”.
– Before switching on, c heck to ensure the power supply is connected to the cor-

4. the connections “Power supply [X9]” and “Motor [X6] [X6.1/X6.2]” are interchanged.
– Before switching on, c heck to ensure the power supply is connected to connec-

5. at the connection “Motor [X6] [X6.1/X6.2]” a motor phase has been short-circuited
with the PE conductor.
– Before switching on, check the motor phases at the connection “Motor

6. the grounding or screening element is insufficient or has not been connected.
– Before switching on, check to ensure the grounding and screening elements are

7. The plug connector is disconnected during operat io n.
– Do not disconnect any plug connectors during operation.

rect pins at connection [X9].

tion [X9] and the motor is c onnected to connection [X6] [X6.1/X6.2].

[X6] [X6.1/X6.2]” for PE short circuit.

connected.

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1. Block the controller enable function (DIN5)[X1.9][X1.1.9/X1.2.9] = 0 V.

2. Switch on the power supplies (Power ON).

• CMMS-AS/CMMD-AS: Control section 24 V DC/power section: 230 V AC

• CMMS-ST: Control section 24 V DC/power section: 24…48 V DC

If required, the process for do wnloading the firmware from the memory card c an be
activated via DIL switch [S1.8], switch position = ON.

The Ready LED on the front of the motor controller should now light up.

The following malfunctions can occur:
– The seven-segment display shows an error message (4-digit character sequence

“Exxx”)orawarningmessage(5-digitcharactersequence“–xxx–”) appendix A,
page 216.

– The LED (Ready/Bus (CMMS-ST/CMMD-AS) or CAN (CMMS-AS)) or seven segment

display do not light up.

Perform the following steps:

1. Measure the voltage levels at the input/output of the power supply unit and th e
power switch.

2. Switch off the power supplies (Power OFF).

3. Wait five minutes until the intermediate circuit voltage has discharged.

4. Check the cabling and the connection of the wires at the connection “Power supply”.

5. Switch on the power supplies (Power ON).

5.3.5 Downloading device data (FCT) to the motor controller

1. Connect the PC to the motor c ontroller.

Observe the pin allocation of the RS232 interfaces  page 235.

2. Start the Festo Configuration Tool (FCT).

3. Establish an online connection to the motor controller in the FCT.

Theonlinefirmwaredownloadprocesscanbeexecutedifrequired.

4. S tart downloading the device data ( FCT)  page 89

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5.3.6 Enabling the motor controller via digital inputs

When the output stage enable (DIN4) and controller enable (DIN 5) are activated, the specifications
issued by the controller are carried out by the drive.

Caution
Unexpected movement of the drive

If the following conditions are fulfilled:
– Activate output stage enable (DIN4 = 24 V)[ X1.21][X1.1.21/X1.2.21]
– Activate controller enable (DIN5 = 24 V)[ X1.9][X1.1.9/X1.2.9]
– Setpoint value specified via control interface “Fieldbus/analogue input”
the drive (motor/axis) will start moving; it is then capable of causing crush ing injuries in
the operating area of the drive.

• Make sure that no personnel are in the operating area of the drive.

• Make sure that the motor controller is only controlled by one control interface (mas­ter control).

Caution
Defective safety function STO (Safe Torque Off)

If the safety function at connection [X3][X3.1/X3.2] is bypassed, it means the motor
controller cannot be deactivated in the event of an emergency via safety components
(e.g. emergency off switch with safety switching device), which can result in crushing
injuries within the operating area of the drive.

• Parameterise the motor controller with the Festo Configuration Tool (FCT) before the
controller enable is enabled (DI N5)[X1.9][ X1.1.9/X1.2.9] (= 24 V).

• Bypassing of safety equipment is impermissible.
Recommendation for initial start-up without safety equipment:
– Minimum circuitry with emergency stop switching device at connection

[X3][X3.1/X3.2]

– Two-channel switch-off via control ports R EL [ X3.2][ X3.1.2/X3.2.2] and the out-

put stage enable (DIN4)[X1.21][X1.1.21/X1.2.21].

100 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English