Festo CMMT-AS-C2-3A Series, CMMT-AS-C4-3A Series Assembly And Installation Manual

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8075795

Servo drive CMMT-AS-C2/C4-3A-...

8075795 2018-02 [8075797]

Description| Assembly, Installation

Translation of the original instructions

EnDat®, EtherCAT®, EtherNet/IP®, DR. JOHANNES HEIDENHAIN®, Hiperface®, PI PROFIBUS PROFINET®, PHOENIX CONTACT® are registered trademarks of the respective trademark owners in certain countries.

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1 About this document................................................................................................... 5

1.1 Target group................................................................................................................. 5

1.2 Further applicable documents...................................................................................... 5

1.3 Product variants........................................................................................................... 5

1.4 Product labelling.......................................................................................................... 6

1.5 Specified standards...................................................................................................... 9

2 Safety........................................................................................................................... 9

2.1 Safety instructions........................................................................................................ 9

2.2 Intended use................................................................................................................ 10

2.2.1 Application areas.................................................................................................... 11

2.2.2 Permissible components.........................................................................................11

2.3 Training of skilled personnel........................................................................................ 11

2.4 Approvals and certifications......................................................................................... 11

3 Further information..................................................................................................... 12

4 Service..........................................................................................................................12

5 Product overview......................................................................................................... 12

5.1 Scope of delivery.......................................................................................................... 12

5.2 System structure.......................................................................................................... 12

5.2.1 Product design........................................................................................................14

5.2.2 Overview of connection technology........................................................................ 17

6 Transport and storage................................................................................................. 18

7 Assembly..................................................................................................................... 18

7.1 Mounting distances CMMT-AS-...-3A (1-phase)............................................................ 19

7.2 Installation................................................................................................................... 20

8 Installation.................................................................................................................. 21

8.1 Safety............................................................................................................................ 21

8.2 Residual current device................................................................................................ 22

8.3 Mains fuse.................................................................................................................... 22

8.4 Permissible and impermissible electrical network types................................................24

8.5 Connection of the mains side PE protective conductor.................................................. 27

8.6 Information on EMC-compliant installation................................................................... 28

8.7 Connection examples................................................................................................... 31

8.8 Interfaces..................................................................................................................... 33

8.8.1 [X1A], Inputs and outputs for the higher-order PLC.................................................33

8.8.2 [X1C], Inputs and outputs to the axle...................................................................... 41

8.8.3 [X2], Sensor interface 1...........................................................................................43

8.8.4 [X3], Sensor interface 2...........................................................................................49

8.8.5 [X10], SYNC IN/OUT................................................................................................ 52

8.8.6 [X18], standard Ethernet......................................................................................... 57

8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2....................................................59

Table of contents

8.9 Motor connection.......................................................................................................... 60

8.9.1 [X6A], Motor phase connection.............................................................................. 60

8.9.2 [X6B], Motor auxiliary connection.......................................................................... 62

8.9.3 Shield support of the motor cable.......................................................................... 63

8.10 Power and logic voltage supply..................................................................................... 66

8.10.1 [X9A], Power supply and intermediate circuit connection........................................66

8.10.2 [X9B], Connection, braking resistor........................................................................ 67

8.11 Cross wiring...................................................................................................................69

8.11.1 Cross wiring of the I/O signals at the connection [X1A]...........................................70

8.11.2 Cross wiring of the mains and logic voltage supply................................................ 72

9 Malfunctions................................................................................................................ 77

9.1 Diagnostics via LED....................................................................................................... 77

9.1.1 Device status displays........................................................................................... 78

9.1.2 Interface status [X2], [X3], [X10], [X18]................................................................... 81

9.1.3 Device and interface status EtherCAT.................................................................... 82

9.1.4 Device and interface status ProfiNet...................................................................... 83

9.1.5 Device and interface status EtherNet/IP................................................................ 84

10 Dismounting................................................................................................................. 86

11 Technical data.............................................................................................................. 87

11.1 Technical data product conformity and approvals......................................................... 87

11.2 General technical data...................................................................................................87

11.3 Technical data, electrical............................................................................................... 90

11.3.1 Load and logic voltage supply [X9A]....................................................................... 90

11.3.2 Electrical data for braking resistor (internal/external) [X9B]................................... 93

11.3.3 Power specifications, motor connection [X6A]....................................................... 94

11.3.4 Motor auxiliary connection [X6B]........................................................................... 96

11.3.5 Encoder interfaces [X2], [X3].................................................................................. 97

11.3.6 Inputs, outputs, ready contact at [X1A].................................................................. 102

11.3.7 Inputs and outputs to the axis [X1C]...................................................................... 109

11.3.8 SYNC IN/OUT [X10]................................................................................................ 111

11.3.9 Standard Ethernet [X18], parameterisation interface.............................................. 112

11.3.10 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])........................................................ 113

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1 About this document

1.1 Target group

The document is targeted towards individuals who perform assembly and installation and service work on the product.

1.2 Further applicable documents

All available documents for the product èwww.festo.com/pk.

The user documentation for the product also includes the following documents:

Designation Table of contents

Instruction manual CMMT-AS-... Instruction manual for assembly, installation,

and safety function

Description CMMT-AS-...-SY-... Description for assembly and installation

Descriptions CMMT-AS-... Descriptions on:

– Operating modes and operational functions – specifically for each bus protocol/activation:

Device profiles, controller and parameterisation

– Safety function, STO, SBC, SS1

Help for commissioning software Online help for:

– Function of the commissioning software – Commissioning and parameterisation of the

CMMT

Tab. 1 User documentation for the product

1.3 Product variants

The product is available in a range of variants. The order code indicates the equipment features of the product variant (order code è Tab. 3 Product labelling (example)). This documentation describes the following product variants:

Feature Order code Version

Servo drive CMMT- Servo drive, seriesT

Motor type AS- AC synchronous

C2- 2ANominal current

C4- 4A

Nominal input voltage 3A- 230VAC, 50…60 Hz

Number of phases

–

Single-phase

About this document

Feature Order code Version

EC- EtherCAT

EP EtherNet/IP

Bus protocol/activation

PN- PROFINET

Safety function S1 Standard safety

Cooling method

–

Integrated cooling element

–

Basic type

C..- Customer variant …

Firmware type

S..- Sales variant ...

–

Basic versionFirmware version

V..- Version …

Certification

–

CE-compliant basic version

Tab. 2 Product variants CMMT-AS-...-3A (e.g. CMMT-AS-C2-3A-EC-S1) This documentation refers to the following version:

– Servo drive CMMT-AS-...-S1, revisionR01 and higher, see product labelling. This is the first available revision.

• For later revisions of the product, check whether updated documentation is available èwww.festo.com/pk.

1.4 Product labelling

• Observe the specifications on the product.

The product labelling is located on the left side of the device. The product labelling enables identification of the product and shows the following information:

Product labelling (example) Meaning

CMMT-AS-C2-3A-EC-C000-V000-S1 Order code

5340819 J302  Rev00 Part number, serial number, revision (Rev)

Main input: 100VAC -20% … 230VAC +15% 48…62Hz 2.8A

RMS

Technical data on power supply (alternating current supply connection)

Motor out: 3 x 0…input VAC 0…599Hz 2A

RMS

350W

Technical data for the motor output (output voltage, max. output frequency, nominal current, nominal output power)

AMB

: max. 40°C Ambient temperature (T

AMB

)

SCCR: 10000A SCCR (short circuit current rating)

IP10/20 Degree of protection; without counterplug/with

attached counterplug X9A

MSIP-REM-FTO-KC-2017-1001 Certificate KC mark (test mark for Korea)

About this document

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Product labelling (example) Meaning

See manual for internal overload protection and required external circuit breaker

Reference to the existing user documentation, which contains information on overload protection and the necessary external circuit breaker.

Data matrix code, 123456789ABC... Product key as a data matrix code and an

11-character alphanumeric code

Festo AG&Co.KG Manufacturer

DE-73734 Esslingen Manufacturer’s address

Made in Germany Manufactured in Germany

Tab. 3 Product labelling (example)

Manufacturing period

In the product labelling, the first 2characters of the serial number indicate the manufacturing period in encrypted form. The letter specifies the manufacturing year and the character behind it (number or letter) indicates the month of production.

Year of manufacture (20-year cycle)

J Z 2017 K Z 2018 L Z 2019 M Z 2020 N Z 2021

P Z 2022 R Z 2023 S Z 2024 T Z 2025 U Z 2026

V Z 2027 W Z 2028 X Z 2029 A Z 2030 B Z 2031

C Z 2032 D Z 2033 E Z 2034 F Z 2035 H Z 2036

J Z 2037 … … … …

Tab. 4 Year of manufacture (20-year cycle)

Manufacturing month

1 Z January 2 Z February 3 Z March

4 Z April 5 Z May 6 Z June

7 Z July 8 Z August 9 Z September

O Z October N Z November D Z December

Tab. 5 Manufacturing month

Warning symbols on the front side of the product

The following warning symbols are located on the front side of the product:

About this document

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Attention! Hot surface

Attention! General danger point

Attention! Dangerous voltage

5 minutes (wait)

Fig. 1 Warning symbols on the front side of the product (example CMMT-AS-...-EC)

General meaning Meaning with the CMMT-AS-...

Attention! Hot surface Metallic housing parts of the device can have high temperatures

during operation. In case of error, internal components can be overloaded. Overloading of components can result in high temperatures and release of hot gases.

Attention! General danger point The touch current in the protective earth connector can exceed an

alternating current of 3.5mA or a DC current of 10mA. The minimum cross-section of the protective earth connector must comply with the local safety regulations for protective earth connectors for equipment with high leakage current.

Attention! Dangerous voltage The product is equipped with intermediate circuit capacitors,

which store dangerous voltage for up to 5minutes after the power supply is switched off. Do not touch power connections for 5minutes after the power supply is switched off.

5minutes (wait) After the power supply is switched off, wait at least 5minutes

until the intermediate circuit capacitors have discharged.

Tab. 6 Meaning of the warning symbols

About this document

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Warnings on the product

The following warnings are attached to the right side of the device:

Warnings on the product (en,fr) Meaning

CAUTION Risk of Electric Shock! Do not touch electrical connectors for 5minutes after switching power off! Read manual before installing! High leakage current! First connect to earth!

ATTENTION Risque de décharge électrique! Après la mise hors tension, ne pas toucher les connecteurs électriques pendant au moins 5minutes! Lire le manuel avant installation! Courant de défaut élevé! Relier tout d´abord à la terre!

VORSICHT Gefahr des elektrischen Schlags! Berühren Sie keine elektrischen Anschlüsse innerhalb 5Minuten nach dem Ausschalten! Lesen Sie das Handbuch vor der Installation! Hoher Ableitstrom nach PE! Gerät zuerst mit PE verbinden!

DANGER Risk of Electric Shock! Disconnect power and wait 5minutes before servicing.

Risque de décharge électrique! Débranchez l'alimentation et attendez 5min. avant de procéder à l'entretien.

Gefahr Gefahr des elektrischen Schlags! Vor dem Durchführen von Wartungsarbeiten die Stromversorgung trennen und 5Minuten warten.

Tab. 7 Warnings on the product

1.5 Specified standards

Version

IEC61800-5-1:2016 EN60204-1:2006+A1:2009+AC:2010

EN61800-3:2004+A1:2012 EN61131-2:2007

EN61800-5-2:2017 IEC60364-1:2005

EN61800-2:2015

–

Tab. 8 Standards specified in the document

2 Safety

2.1 Safety instructions

General safety instructions

– Assembly and installation should only be carried out by qualified personnel. – Only use the product if it is in perfect technical condition. – Only use the product in original status without unauthorised modifications. – Do not carry out repairs on the product. If defective, replace the device immediately. – Observe labelling on the product. – Take into consideration the ambient conditions at the location of use.

The safety functions might fail and malfunctions might occur if you do not comply with the parameters and conditions required for the surroundings and connections.

Safety

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– Wear required personal protective equipment during transport and during assembly and disas-

sembly of very heavy product versions.

– Never remove or insert a plug connector when powered. – Loosen only the following screws on the product:

– Earthing screw on the cooling element for mounting the PE connection on the mains side – Retaining screws of the shield clamp on the housing front – Only when used in IT networks: screw for connection of the internal mains filter to PE

– Install the product in a suitable control cabinet. The control cabinet requires at least degree of

protection IP54.

– Operate product only in an installed condition when all required protective measures have been

taken (è EN60204-1).

– Completely insulate conducting lines on the product. We recommend cable end sleeves with

plastic sleeves for wiring power connections.

– Ensure correct earth protection and shield connection. – Prior to commissioning, ensure that the resulting movements of the connected actuators cannot

endanger anyone.

– During commissioning: Systematically check all control functions and the communication and sig-

nal interface between controller and drive regulator.

– The product is equipped with intermediate circuit capacitors, which store dangerous voltage for

up to 5minutes after the power supply is switched off. Before working on the product, switch off the power supply via the master switch and secure it against being switched on again unintentionally. Before touching the power connections, wait at least5minutes.

– Take into consideration the legal regulations for the respective destination. – Keep the documentation throughout the entire product lifecycle. In the event of damage caused by unauthorised manipulation or any use other than that intended, the warranty is invalidated and the manufacturer is not liable for damages. In the event of damage caused by using unauthorised software or firmware with the device, the warranty is invalidated and the manufacturer is not liable for damages.

Safety instructions on the safety functions of the product ètextvar object does not exist.

2.2 Intended use

The servo drive CMMT-AS is intended for supply and control of AC servo motors. The integrated electronics permit regulation of torque (current), rotational speed and position. Use exclusively: – in perfect technical condition – in original status without unauthorised modifications; only the extensions described in the docu-

mentation supplied with the product are permitted

– within the limits of the product defined by the technical data è 11 Technical data – in an industrial environment The safety functions might fail and malfunctions might occur if you do not comply with the parameters and conditions required for the surroundings and connections.

Safety

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Intended use of the safety functions of the product ètextvar object does not exist.

2.2.1 Application areas

The device is intended for use in an industrial environment. Outside of industrial environments, measures may need to be implemented for radio interference suppression, e.g.in commercial and mixedresidential areas. The device is intended to be installed in a control cabinet. The control cabinet requires at least degree of protection IP54. The device can be operated in TN, TT and IT systems if certain requirements are met. Detailed information on allowed and prohibited electrical network types è 8.4 Permissible and impermissible electrical network types.

2.2.2 Permissible components

If holding brakes and clamping units without certification are used, the suitability for the related safety-oriented application must be determined through a risk assessment. The motors must fulfil the requirements of EN61800-5-2 appendix D.3.5 and D.3.6 and of EN60204-1. Motors approved or specified by Festo for the CMMT-AS fulfil the requirements. The motor cables and brake lines must fulfil the requirements of EN61800-5-2 appendix D.3.1 and of EN60204-1. Motor cables and brake lines approved by Festo for the CMMT-AS fulfil the requirements.

2.3 Training of skilled personnel

The product may be installed and placed in operation only by a qualified electro technician, who is familiar with the topics: – installation and operation of electrical control systems – applicable regulations for operating safety-engineering systems Work on safety-related systems may only be carried out by qualified personnel trained in safety engineering.

2.4 Approvals and certifications

The product has the CE marking. Guidelines see è 11.1 Technical data product conformity and approvals. The product-relevant EC directives and standards are listed in the declaration of conformity èwww.festo.com/sp. The product is a safety device in accordance with the Machinery Directive. Safety-oriented standards and test values that the product complies with and fulfils ètextvar object does not exist, technical data, safety engineering. Observe that compliance with the named standards is limited to the CMMTAS-...-S1. Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These configurations bear the following mark:

Fig. 2

Safety

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UL Recognized Component Mark for Canada and the United States. Only for connection to a NEC/CEC Class 2 supply. Raccorder Uniquement a un circuit de NEC/CEC Classe 2. During installation and operation of this product, comply with all safety requirements, statutes, codes, rules and standards relevant for the product, such as National Electrical Code (USA), Canadian Electrical Code (Canada), regulations of the US federal agency OSHA. When selecting the circuit breaker, comply with the maximum permissible electrical protection for UL.

3 Further information

– Accessories èwww.festo.com/catalogue – Spare parts èwww.festo.com/spareparts. – All available documents for the product and current versions of the firmware and commissioning

software èwww.festo.com/sp.

4 Service

Contact your regional Festo contact person if you have technical questions èwww.festo.com.

5 Product overview

5.1 Scope of delivery

Component Number

Servo drive CMMT-AS-... 1

Instruction manual CMMT-AS-... 1

Tab. 9 Scope of delivery Available as accessories are, forexample:

– Plug connector set for single wiring NEKM-C6-...-S – Plug connector set for double wiring NEKM-C6-...-D – External braking resistor CACR-... – Motor cable NEBM-... ,e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS – Sensor line,e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS – Patch line NEBC-..., e.g. for linkage of the RTE interface [X19A/B] – Display and operating unit CDSB-... – Mains filter

Up-to-date information on the accessories èwww.festo.com/catalogue.

5.2 System structure

The servo drive CMMT-AS is a 1-axis servo drive. Depending on the product variant, the following components, which are necessary for standard applications, are integrated into the device or into the cooling profile of the device: – Mains filter (guarantees immunity to interference and limits line-bound emitted interference) – Electronics for intermediate circuit voltage processing – Output stage (for motor activation)

Further information

12 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

– Braking resistor (integrated into the cooling element) – Brake chopper (switches the braking resistor in the intermediate circuit, as needed) – Temperature sensors (for monitoring the temperature of the power module and of the air in the

device) – Fan (dependent on the product variant in the cooling profile) The device has separate connections for logic and load voltage supply. The load voltage supply comes directly from the low voltage network. The logic supply must be provided through a PELV power supply unit (+24VDC). The servo drive offers the possibility to connect 2sensors. In addition, the device has 1switching output for direct connection of the holding brake in the motor and 1output for control of an external clamping unit. An external braking resistor can be connected instead of the internal braking resistor, if necessary. An Ethernet interface is available for parameterisation through a PC. The type of activations depends on the product design (e.g.over bus/network, over EtherCAT, EtherNet/IP or PROFINET). If required, the CDSB display and operating unit can be plugged in on top of the front side of the device. The CDSB displays, for example,diagnostic information as well as setpoint and actual values in plain text and permits updating of parameter record and firmware. For operation of several servo drives in a device compound, the intermediate circuits of several devices can be coupled and the power supplies and I/O signals of the devices can be linked through cross-wiring. The intermediate circuit coupling can increase the energy efficiency of the device compound.

Festo recommends use of servo motors, electromechanical drives, lines and accessories from the Festo accessory programme.

Product overview

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Bus/network

Master switch

Circuit breaker/fuses and all-current-sensitive fault current circuit interrupter (RCD) (optional)

Power supply unit for logic voltage supply 24V DC (PELV)

External braking resistor (optional)

Servo drive CMMT-AS

Servo motor (here EMME-AS)

PC with Ethernet connection for parameterisation

Fig. 3 System structure (example)

5.2.1 Product design

The device has a compact design. The connections are provided on the front side and top of the device as pin header, socket strip or RJ45 bushing. The shield clamp and strain relief for the motor cable are situated in the lower area of the front side.

Product overview

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Hood

Cooling element

Top

Blind plate

Front side

Shield clamp and strain relief

Fig. 4 Servo drive CMMT-AS-...-3A

The cooling element on the rear side of the device serves to dissipate the heat from internal components to the ambient air. The cooling element has one slot each on the top and bottom for mounting the device on the rear wall of the control cabinet. If a display and operating unit is not required, the upper area is covered with a blind plate. The rear side of the device is part of the cooling element. The integrated braking resistor is integrated in the air duct of the cooling element. The connecting cable for the braking resistor is passed from the cooling profile, emerging from the top of the cooling profile, and is connected to the connection [X9B].

Product overview

15Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Top slot (keyhole shape)

Retaining screw for braking resistor (2x)

Braking resistor

Bottom slot

Fig. 5 Rear side

Product overview

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5.2.2 Overview of connection technology

PE connection housing

[X9A] Mains voltage, intermediate circuit

voltage and logic voltage

[XF2 OUT] RTE interface port 2

[XF1 IN] RTE interface port 1

[X1C] Inputs/outputs to the axle

[X6B] Motor auxiliary connection

[X6A] Motor phase connection

[X2] Sensor connection 1

[X3] Sensor connection 2

[X10] Device synchronisation

[X18] Standard Ethernet

[X5] Connection for operating unit (behind the blind plate)

[X1A] I/O interface

[X9B] Braking resistor

Fig. 6 Connections of the CMMT-AS-...-3A

The blind plate can be pulled off by hand without tools. The CDSB display and operating unit can be plugged onto the free place (èDocumentation on the CDSB). If a display and operating unit is not used, the upper area must be sealed with the blind plate.

Product overview

17Festo — CMMT-AS-C2/C4-3A-... — 2018-02

6 Transport and storage

– Protect the product during transport and storage from excessive stress factors. Excessive stress

factorsinclude: – mechanical stresses – impermissible temperatures – moisture – aggressive atmospheres

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

protection from typical stresses.

7 Assembly

Dimensions

Fig. 7 Dimensions

Dimension L1 L2 L3 L4 L5 L6 L7

[mm] Approx.

212

170 200 22 10 6 9

Tab. 10 Dimensions part 1

Transport and storage

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Dimension

H1 H2 B1 B2 B3 D1 D2 D3

[mm] Approx.

183

170 Approx.5034 Approx.25R5.5 5.5 5.5

Tab. 11 Dimensions part 2

7.1 Mounting distances CMMT-AS-...-3A (1-phase)

The servo drives of the series CMMT-AS can be arrayed next to each other. When arraying devices, the required minimum distance must be maintained, so that the heat arising in operation can be removed through sufficient air flow.

Fig. 8 Mounting distances and installation clearance for CMMT-AS-...-3A (1-phase)

Servo drive H1 H2

L1 L2 L3

CMMT-AS-C2-3A-... [mm]

CMMT-AS-C4-3A-... [mm]

70 70 52 70 200

Tab. 12 Mounting distances and installation clearance

Assembly

19Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Servo drive H1 H2

L1 L2 L3

The required minimum lateral distance from neighbouring CMMT-AS devices is thus 2mm (52mm–50mm). For adjacent third-party devices, Festo recommends a distance of at least10mm (surface temperature of third-party device max.40°C). The double counterplug for cross wiring of the connection [X9A] projects approx.6…7mm over the right side of the device. But this is not an obstacle for arraying additional CMMT-AS.

7.2 Installation

The servo drive CMMT-AS is intended to be installed in a control cabinet. The cooling element of the device has one slot each on the top and on the bottom. The device is screwed vertically and flat to the mounting surface using the two slots.

Assembly instructions

– Use a control cabinet with at least degree of protection IP54. – Always install device vertically in the control cabinet (mains supply lines [X9A] point upwards). – Screw device flat to a sufficiently stable mounting surface so that a good heat transfer from the

cooling element to the mounting surface is ensured (e.g.to the rear wall of the control cabinet).

– Maintain minimum distances and installation clearance to ensure sufficient air flow. The surround-

ing air in the control cabinet must be able to flow through the device without hindrance.

– Take into account the required clearance for the wiring (connecting cables of the device are

guided in from above and from the front).

– Do not mount any temperature-sensitive components near the device. The device can become

very hot in operation (switch-off temperature of the temperature monitoringèTechnical data).

– When assembling several devices in a device compound, consider general rules for cross-wiring.

For intermediate circuit coupling, devices with greater power use must be placed closer to the

mains supply. For assembling to the rear panel of the control cabinet, the cooling element of the servo drive has a slot on top in the shape of a keyhole and on the bottom in the shape of a simple slot.

Assembly of the servo drive

WARNING!

Danger of burns through hot escaping gases and hot surfaces.

In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internal components can be overloaded. High temperatures can develop and hot gases can be released.

• Have an authorised electrician perform the installation according to the documentation.

WARNING!

Danger of burns from hot housing surfaces.

Metallic housing parts can accept high temperatures in operation. In particular, the braking resistor installed in the profile on the back side can become very hot. Contact with metal housing parts can cause burn injuries.

• Do not touch metallic housing parts.

• After the power supply is switched off, let the device cool off to room temperature.

Assembly

20 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

• Fasten the servo drive to the rear wall of the control cabinet with suitable screws while complying with the assembly instructions.

8 Installation

8.1 Safety

WARNING!

Risk of injury from electric shock.

Contact with conducting parts at the power connections [X6A], [X9A] and [X9B] can result in severe injuries or death.

• Do not pull power supply connectors when powered.

• Before touching, wait at least 5minutes until the intermediate circuit has discharged.

WARNING!

Risk of injury from electric shock.

The leakage current of the device to earth(PE) is >3.5mAAC or 10mADC. Touching the device if there is a fault can result in serious injuries or death. Before commissioning, also for brief measuring and test purposes:

• Connect PE connection to the mains side at the following positions: – Protective conductor connection (earthing screw) of the housing – Pin PE of the connection [X9A] (power supply)

The cross section of the protective conductor must equal at least the cross section of the outer conductor L [X9A].

• Connect motor cable to the connection [X6A] and the shield of the motor cable on the front side to PE via the shield clamp of the servo drive.

• Connect all additional PE protective conductors of the connections used.

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

WARNING!

Danger of burns through hot escaping gases and hot surfaces.

In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internal components can be overloaded. High temperatures can develop and hot gases can be released.

• Have an authorised electrician perform the installation according to the documentation.

WARNING!

Risk of injury from electric shock in case of incomplete insulation at the power connections [X6A], [X9A] and [X9B].

Before operating, plugging in or unplugging the display and operating unit CDSB or a connector from a hot-plug-capable interface, the following points must be fulfilled:

• The conducting lines at the device are completely insulated.

• The protective earth (PE) and the shield connection are correctly connected to the device.

• The housing is free of damage.

Installation

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8.2 Residual current device

WARNING!

Risk of injury from electric shock.

This product can cause a DC current in the residual-current conductor in case of error. In cases where a residual current device (RCD) or a residual current monitor (RCM) is used to protect against direct or indirect contact, only the typeB kind of RCD or RCM is permitted on the power supply side of this product.

The touch current in the protective earth connector can exceed an alternating current of 3.5mA or a DC current of 10mA. The minimum cross-section of the protective earth connector must comply with the local safety regulations for protective earth connectors for equipment with high leakage current. A residual current circuit breaker with 30mA tripping current can be suitable for a separately wired CMMT-AS servo drive, depending on configuration. As a rule, residual current protective devices with a rated leakage current >30mA are required for a device compound consisting of several servo drives. Festo recommends use of a residual current protective device with trigger delay, as high current leakage results when switched on. Residual current devices with trigger delay prevent unintended triggering when switched on.

8.3 Mains fuse

The CMMT-AS has no integrated fuse at the mains input or in the intermediate circuit. An external fuse at the mains supply of the device is required. Festo recommends the use of a line safety switch (circuit breaker). A device compound coupled in the intermediate circuit must be protected through a common line safety switch. Different requirements for line safety switches are specified for the UL approval and the CE approval.

• Use only line safety switches with corresponding approval and the specifications and fuse protections named in the following.

Line safety switch (circuit breaker)

Requirement Specification

Short circuit current rating SCCR

[kA] Min.10

PEAK

(peak let through) [kA] Max.7.5

Rated voltage [VAC] Min.230

Overvoltage category III

Degree of contamination

Characteristic C

Tab. 13 Requirements for the line safety switch The line safety switch is used for line protection. The rated current of the line safety switch must be

less than or equal to the permissible current carrying capacity of the selected conductor cross section.

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The line safety switch must also take into account the overload case and must not be triggered (overload case: a maximum of 3-fold input current for 2s).

Cable cross section at [X9A]

Mains fuseDescription

[mm2] CMMT-AS-C2-3A-... CMMT-AS-C4-3A-...

Possible minimum electrical protection

0.75 C6

In accordance with UL standard: C101.5

In accordance with IEC standard: C13

In accordance with UL standard: C15

Permissible maximum electrical protection

2.5

In accordance with IEC standard: C16

1) Data apply for an individual device and for the device compound

Tab. 14 Mains fuse

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8.4 Permissible and impermissible electrical network types

TN systems

TN systems Reference1) Information

TN-S system with separate neutral conductor and protective earth in overall system

Fig. 31A1 System is supported.

Connect device to the distribution network of the current source as follows: – either between a mains phase and N or between 2

mains phases (230VAC, LL) For DC link coupling, connect only one device directly to the distribution network of the current source. Connect the coupled devices to the same mains phase using cross wiring.

TN-S system with separate earthed outer conductor and protective earth in overall system

Fig. 31A2 System is not supported because the system voltage can

exceed 300V!

TN-S system with earthed protective conductor without neutral conductor in overall system

Fig. 31A3 System is not supported because a neutral conductor is

required!

TN-C system with neutral conductor and protective earth function combined in a single conductor, the PEN conductor

Fig. 31C System is supported.

Connect device to the distribution network of the current source as follows: – either between a mains phase and N or between 2

TN-C-S system with neutral conductor and protective earth function combined in a single conductor, the PEN conductor, in one part of the system

Fig. 31B1 System is not supported because the separate N con-

ductor may not be suitable for the load currents that occur.

è IEC60364-1, chapter 312.2.

2) For cross wiring, only 1 master switch and 1 circuit breaker is allowed for the compound device.

Tab. 15 Permissible and impermissible TN systems

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TT system

TT system Reference1)Information

TT system with separate neutral conductor and protective earth in the same system. The N conductor is connected directly to the current source.

Fig. 31F1 System is supported.

Connect device to the distribution network of the current source as follows: – either between a mains phase and N or between 2

è IEC60364-1, chapter 312.2.

2) For cross wiring, only one master switch and one circuit breaker is allowed for the compound device.

Tab. 16 TT system

IT system

IT system Reference1)Information

IT system with insulation of active parts separated from protective earth or connected via high impedance. The exposed conductive parts are connected to a local earth.

Fig. 31G1 System is supported.

– Connect device to the distribution network of the

current source between a mains phase and N. A device or compound device must not be connected between 2 mains phases. – The permissible system voltage of the CMMT-AS is

300V in accordance with IEC61800-5-1. Observe

the restrictions set out in IEC61800-5-1 when oper-

ating the CMMT-AS in an IT network! – Use insulation monitoring system so that insulation

faults can be detected immediately (earth-leakage

monitor). – Interrupt the internal connection of the internal

mains filter to PE

è Interrupting the connection of the internal mains

filter to PE (for IT networks only). – Use external filter measures that ensure CE conform-

ity. For DC link coupling, connect only one device directly to the distribution network of the current source. Connect the coupled devices to the same mains phase using cross wiring.

è IEC60364-1, chapter 312.2.

Tab. 17 IT system

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After removing the connection of the internal mains filter to PE, the device is not classified in respect of emitted interference in accordance with EN61800-3. External filter measures are required. When operating servo drives in IT networks, the distributor must provide an EMC concept for the overall system. This comprises as a minimum: – A concept for feeding the converter leakage currents back into the converter intermediate circuit

(Y capacitors to the intermediate circuit)

– Use of external filter measures such as mains filter and converter output filter

Earth-leakage monitor

For IT systems, an earth-leakage monitor is required so that an insulation fault between the mains phase and PE can be detected immediately. An insulation fault must be rectified immediately after detection.

Interrupting the connection of the internal mains filter to PE (for IT networks only)

Before using the CMMT-AS in IT networks, the internal connection of the integrated mains filter to PE must be interrupted. Interrupting the connection prevents unwanted disconnection on faults of the device and damage to the integrated filter. The connection of the mains filter to PE is interrupted by removing a screw in the lower area of the right-hand side of the housing. To unscrew the screw, lever out the housing element in front of the screw. A protective cap for sealing the recess in the housing is included in the delivery of the plug set NEKM-C6-...-S and NEKM-C6-...-D (accessories from Festo).

To interrupt the connection of the filter capacitors to PE:

1. Completely disconnect the servo drive from the power supply.

2. Wait 5minutes until the intermediate DC circuit has discharged.

Fig. 9 Levering out the housing element

3. Place a suitable screwdriver against the upper notch in the housing recess provided and carefully lever the housing element out using the screwdriver.

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Fig. 10 Undoing the screw

4. Carefully undo the screw completely using a size T10 screwdriver.

Fig. 11 Pushing in the protective cap

5. Push the protective cap fully into the housing recess as contact protection. For operation in other networks, the internal connection of the mains filter to PE must be re-established by screwing the screw back in (tightening torque 1.4Nm±15%).

8.5 Connection of the mains side PE protective conductor

All PE protective conductors must always be connected prior to commissioning for safety reasons. Observe the regulations of EN60204-1 when conducting protective earthing. Always connect PE connection on the mains side (PE rail in the control cabinet) at the following positions: – Pin PE of the connection [X9A] – PE connection (earthing screw) next to the upper slot of the cooling element The cross section of the protective conductor must equal at least the cross section of the outer conductor L [X9A]. For individually wired devices, carry out wiring in a star shape. For cross-wired devices, observe the requirements for cross wiring. Recommendation: Use copper earth strap (advantageous for EMC).

1. Equip protective conductors for the earthing screw with a suitable cable lug.

2. Tighten earthing screw with a TORX® screwdriver of size T20 (tightening torque 1.8Nm ±15%).

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PE connection (earthing screw)

Fig. 12 PE connection (earthing screw) at the cooling element

8.6 Information on EMC-compliant installation

A mains filter is integrated into the device. The mains filter fulfils the following tasks: – Guarantee of the immunity to interference of the device – Limitation of the line-bound emitted interference of the device If installed correctly and if all connecting cables are wired correctly, the device fulfils the specifications of the related product standard EN61800-3.

The category that the device fulfils is dependent on the filter measures used and the motor line length. The integrated mains filter is designed so that the device fulfils the following categories:

Order code Category PWM frequency [kHz] Max. permissible

length of the motor cable [m]

8 15C2

16 5

8 25

CMMT-AS-C2-3A CMMT-AS-C4-3A

16 25

1) To comply with the line harmonics in accordance with EN 61000-3-2, installation of line inductors in the mains supply lines L1 and N

(each L ³5mH) is required.

2) To comply with the malfunction limit values of the category C2 at 16 kHz cycle frequency, installation of a snap ferrite (Würth, art. no.

74272722 or compatible) on the motor phases U, V, W (without PE) is required. Perform flying leads 1x.

Tab. 18 Category dependent on the PWM frequency and the cable length – If set-up and commissioning is performed by a professional with the necessary experience for set-

up and commissioning of drive systems, including their EMC aspects, devices of category C2 can be used in the first environment (residential area).

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– For operation of devices of category C2, limit values for harmonic currents apply for the mains

supply (EN61000-3-2 or EN61000-3-12). Please check whether this is the case for your facility/system. As a rule, compliance with the limit values for harmonic currents requires the use of external filter measures, e.g.installation of a series line inductor.

– Devices of category C3 are intended only for use in the second environment (industrial environ-

ment). Use in the first environment is not permitted. This product can generate high frequency malfunctions, which may make it necessary to implement interference suppression measures in residential areas. For additional information on EMC-appropriate installation ètextvar object does not exist.

Line lengths and line shield

– Use only suitable lines that fulfil the normative requirements of EN60204-1. – Observe max. permissible cable lengths and requirements for shield. – Observe requirements for the shield support.

Connection Max. cable length [m] Line shield

[X1A] Inputs/outputs for the

higher-order PLC

3 Unshielded

[X1C] Inputs/outputs to the

axle

50 Unshielded/shielded

[X2] Sensor 1

[X3] Sensor 2

50 Shielded

[X6A] Motor phase connec-

tion

Dependent on category and PWM frequencyè Tab. 18 Category dependent on the PWM frequency and the cable length

Shielded

[X6B] Motor auxiliary connec-

tion

50 Shielded

[X9A] Power supply and inter-

mediate circuit connection

Individual device:2 Device compound:0.5

Unshielded

[X9B] Braking resistor 2

Shielded

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Connection Max. cable length [m] Line shield

[X10] Device synchronisation Individual device:3

Device compound:0.5

Double shielded (CAT5)

[X19] RTE (Port1 and Port2) 30 Double shielded

(CAT5)

[X18] Standard Ethernet 30 Double shielded

(CAT5)

1) Use a shielded cable outside the control cabinet for safety-related applications. Otherwise, a shield is not absolutely required, but is recommended.

2) With connection of an external braking resistor

Tab. 19 Line lengths and line shield Shielded cables without shielded plug housing necessarily have short unshielded cable ends at their

two ends. Make unshielded cable ends as short as possible. Maximum permissible length of unshielded wires at the connection: – [X6A] Max.100mm – [X6B] Max.100mm – [X1C] Max.35mm

Placing cables

Comply with general guidelines for EMC-appropriate installation,e.g.: – Do not run signal cables parallel to power cables. – Comply with required minimum distances between signal cables and power cables dependent on

the installation conditions. Signal cables must be physically separated as far as possible from the power cables.

– Avoid crossing signal cables with power cables or running them at a 90° angle.

EMC-correct installation of the motor cable and sensor cables

– Keep motor cable as short as possible so that current leakage and loss in the motor cable are kept

as low as possible.

– Place the motor cable over a large area under the shield clamp in the lower area of the front of the

housing. The shield of the motor cable must be placed on the related servo drive so that the current leakage can flow back into the servo drive controller that causes it.

– Connect the PE inner conductor of the motor cable to the PE connection point of the motor con-

nection [X6A].

– Connect shield of the motor cable to the PE over a large surface area on the motor side (e.g.over

the intended shield connection of the motor plug or the shield contact surface in the motor junction box).

– If separate cables are used for the holding brake and the temperature sensor, connect the

respective shield to the corresponding PE connection point of the motor auxiliary connection [X6B].

– Connect the shield of the sensor cable on both sides: on the device side to the respective plug

housing, on the motor side to the sensor or plug housing.

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– Guide the signal cables [X2], [X3], [X10], [X1C] and [X6B] downward and relieve strain with cable

binders at the cutouts of the shield clamp of the drive controller.

8.7 Connection examples

Connection plan, 1-phase mains connection

Braking resistor

Line safety switch

PELV power supply unit for 24V supply

Sensor 2 (optional)

Sensor 1

Fig. 13 Connection example, 1-phase mains connection

Installation

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Connection plan, 2-phase mains connection

NOTICE!

Damage to the servo drive with 2-phase connection to a low voltage network with a star voltage of 230V.

A low voltage network common in Europe with a nominal star voltage value of 230V has an interlinked voltage of approx.400V between the 2phases.

• Do not connect a servo drive to 2 phases of the low voltage mains common in Europe.

• Comply with the maximum permissible voltage between the phases.

Installation

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Brake resistor

Line safety switch

PELV power supply unit for 24V supply

Sensor 2 (optional)

Sensor 1

Fig. 14 Connection example, 2-phase mains connection

8.8 Interfaces

8.8.1 [X1A], Inputs and outputs for the higher-order PLC

The I/O interface [X1A] is located on the top of the device. This interface offers access to functional and safety-relevant inputs and outputs of the device. These include, forexample: – Digital inputs for 24V level (PNP logic) – Digital outputs for 24V level (PNP logic) – Signal contact for safety chain (RDY-C1, RDY-C2)

Installation

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– Differential analogue input ±10V control voltage The inputs and outputs of this I/O interface are used for coupling with a higher-order PLC. The safetyrelevant inputs and outputs are connected to a safety relay unit.

[X1A] Pin Function Description

24 RDY-C1

23 RDY-C2

Normally open contact: ready for operation message (Ready)

22 STA Diagnostic output Safe torque off

acknowledge

21 SBA Diagnostic output Safe brake con-

trol acknowledge

–

Reserved, do not connect

18 SIN4 Release brake request

17 GND Reference potential

16 TRG0 Fast output for triggering external

components, channel 0

15 TRG1 Like TRG0, but channel 1

14 CAP0 Fast input for position detection,

channel 0

13 CAP1 Like CAP0, but channel 1

12 #STO-A Control input Safe torque off,

channel A

11 #STO-B Control input Safe torque off,

channel B

10 #SBC-A Control input Safe brake control,

channel A

9 #SBC-B Control input Safe brake control,

channel B

–

Reserved, do not connect

4 ERR-RST Error acknowledgment

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[X1A] Pin Function Description

3 CTRL-EN Output stage enable

2 AIN0

1 #AIN0

Analogue input differential

Tab. 20 Inputs and outputs for the higher-order PLC

Requirements for the counterplugs (2 required)

Design FMC-1.5/12-ST-3.5 from

Phoenix Contact or compatible

Signal contacts 12 (12-pin, 1-row)

Nominal current 8A

Rated voltage (III/2) 160V

Grid dimension 3.5mm

Strip length 10mm

Tab. 21 Requirements for the counterplug

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Requirements for the connecting cable

Individual device Device compound

Shielding Unshielded

Min. conductor cross section incl. cable end sleeve with plastic sleeve

0.25mm

–

Max. conductor cross section incl. cable end sleeve with plastic sleeve

0.75mm

–

Min. conductor cross section incl. double cable end sleeve with plastic sleeve

–

0.25mm

Max. conductor cross section incl. double cable end sleeve with plastic sleeve

–

0.5mm

Max. length 3m 0.5m

Tab. 22 Requirements for the connecting cable

Brief description of inputs and outputs at the connection [X1A]

Signal name Name Function Can be para-

meterised

X1A.24 Ready 1 (RDY-

C1)

X1A.23 Ready 2 (RDY-

C2)

Normally open contact; ready If the device is ready for operation, the contact is closed. If there is an error, the contact is opened.

X1A.22 Safe torque off

acknowledge (STA)

Diagnostic output for the safety function STO; the output switches to high when the safety function STO is requested over 2 channels and the control of the power output stage is switched off safely over 2 channels (detailed information on this ètextvar object does not exist).

X1A.21 Safe brake

control acknowledge (SBA)

Diagnostic output for the safety function SBC; the output switches to high when the safety function SBC is requested over 2 channels and both brake outputs are switched off safely (detailed information on this ètextvar object does not exist).

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Signal name Name Function Can be para-

meterised

X1A.20 n. c.

X1A.19 n. c.

Reserved for future extensions; do not connect

X1A.18 Release brake

(SIN4)

With high level at this input, the brake can be released functionally if the function has been previously configured in the servo drive. But a requested SBC function has the higher priority in any case and results in the brake not being triggered/enabled.

Yes

X1A.17 0V (GND) Reference potential for I/O signals; internally connected with 0V

of the 24V logic supply. Therefore, use only when the I/O signals are galvanically separated from the 24V logic supply on the opposite side (controller).

X1A.16 Trigger 0

(TRG0)

Trigger output channel 0 (fast output for triggering external components) The output switches dependent on a reference position. Over the output, logical switching conditions can be output by virtual position switches, rotor position switches and cam controllers.

X1A.15 Trigger 1

(TRG1)

Trigger output channel 1 (like TRG0, but channel

X1A.14 Capture, chan-

nel 0 (CAP0)

Fast input for position detection, channel 0 The current actual position of the sensor is saved with the parameterised edge change. The higherorder controller can call up the stored actual positions via the active fieldbus.

X1A.13 Capture, chan-

nel 1 (CAP1)

Fast input for position detection, channel 1 (like CAP0, but channel 1)

Yes

X1A.12 Safe torque

off, channel A (#STO-A)

X1A.11 Safe torque

off, channel B (#STO-B)

The safety function STO is requested with low level at the inputs #STO-A and #STO-B. Control of the power output stage is then safely blocked. If the safety function STO is not required, both inputs must be switched to 24V, so that the motor can be moved (detailed information on this

ètextvar object does not exist).

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Signal name Name Function Can be para-

meterised

X1A.10 Safe brake

control, channel A (#SBC-A)

X1A.9 Safe brake

control, channel B (#SBC-B )

The safety function SBC is requested with low level at the inputs #SBC-A and #SBC-B. The control outputs for the motor holding brake and external clamping unit are then switched off. If the safety function SBC is not required, both inputs must be switched to 24V, so that the motor can be moved (detailed information on this

ètextvar object does not exist).

X1A.8 n. c.

X1A.7 n. c.

X1A.6 n. c.

X1A.5 n. c.

Reserved for future extensions; do not connect

X1A.4 Acknowledge

error (ERRRST)

Acknowledgeable error messages can be acknowledged through a rising edge at this input.

Installation

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Signal name Name Function Can be para-

meterised

X1A.3 Enable (CTRL-

EN)

Behaviour can be parameterised. – Behaviour 1: The closed-loop controller can

only be enabled over the drive profile when high level is present.

– Behaviour 2: With a rising edge, the control-

ler is enabled without taking into account the drive profile. The drive is energised and is in the operating mode requested in the signal transfer.

– Behaviour 3: Enabling of the controller can

only be controlled over the drive profile. If the request is withdrawn, the drive is braked with a behaviour of the stop category1. After the braking ramp ends, the brake is engaged and the output stage is switched off functionally.

Yes

X1A.2 AIN0

X1A.1 #AIN0

Differential analogue input for typical input level of ±10V Through the analogue input, the following setpoint values and limits can be specified in the form of analogue voltage: – Setpoint values for position, speed or

force/current – Limits for position or force/current

Yes

Tab. 23 Inputs and outputs at the connection [X1A]

Internal design of digital inputs (DIN) - does not apply for STO inputs

The following equivalent circuit shows an example of the internal design of a digital input (DIN). The digital inputs are designed for +24V level corresponding to type 3 in accordance with EN 61131-2. The digital inputs are not galvanically separated and have integrated EMC protective functions. Two-channel safe inputs correspond in their internal design to two 1-channel inputs. But the equivalent circuit is not valid for the STO inputs. Information on 2-channel safe inputs ètextvar object does not exist.

Installation

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µCDIN

Fig. 15 Internal design of digital inputs (DIN)

Internal design of digital outputs (DOUT)

The digital outputs TRG0 and TRG1 supply +24V signals, which are implemented with a high side driver.

Fig. 16 Internal design of digital outputs (DOUT)

Internal design of analogue input 0 (AIN0)

The analogue input AIN0 is a differential input for typical input levels of ±10V. The differential amplifier filters out high frequency interference signals.

Installation

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AIN

VREF

ADU

#AIN

Fig. 17 Internal design of analogue input 0 (AIN0)

8.8.2 [X1C], Inputs and outputs to the axle

The I/O interface [X1C] is located on the front side of the device. This interface makes available functional and safety-relevant inputs and outputs for components on the axle. The output BR-EXT is used in connection with the safety function Safe brake control ètextvar object does not exist.

[X1C] Pin Function Description

10 GND Reference potential

9 24V Power supply output for

sensors

8 GND Reference potential

7 LIM1 Digital input for limit

switches1 (PNP logic, 24VDC)

6 LIM0 Digital input for limit

switches0 (PNP logic, 24VDC)

5 GND Reference potential

4 24V Power supply output for

sensors

Installation

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[X1C] Pin Function Description

–

Reserved, do not connect

2 REF-A Digital input for reference

switches (PNP logic, 24VDC)

1 BR-EXT Output for connection of an

external clamping unit (high side switch, low test impulses at #SBC-B are transferred to BR-EXT)

Tab. 24 Inputs and outputs to the axle

Requirements for the counterplug

Design DFMC1.5/ 3-ST-3.5 from

Phoenix Contact or compatible

Signal contacts 10 (5-pin, 2-row)

Nominal current 8A

Rated voltage (III/2) 160V

Grid dimension 3.5mm

Strip length 10mm

Tab. 25 Requirements for the counterplug

Requirements for the cable

Shielding Unshielded/shielded

Min. conductor cross section including cable end sleeve with plastic sleeve

0.25mm

Max. conductor cross section including cable end sleeve with plastic sleeve

0.75mm

Max. length 50m

1) Use a shielded cable outside the control cabinet for safety-related applications. Otherwise, a shield is not absolutely required, but is recommended.

Tab. 26 Requirements for the cable

Requirements for the shield support

Put on shield

1. Place shield of the device-side cable on the shield clamp for the motor cable.

2. Place shield of the machine-side cable onto an earthed machine part.

Installation

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8.8.3 [X2], Sensor interface 1

The sensor interface [X2] is located on the front side of the device. The sensor interface [X2] primarily serves to connect the position sensor integrated into the motor.

Supported standards/protocols Supported sensors

Hiperface SEK/SEL37

SKS/SKM36

EnDat2.2 ECI1118/EBI1135

ECI1119/EQI1131 ECN1113/EQN1125 ECN1123/EQN1135

EnDat2.1 Only in connection with motors of the series

EMMS-AS from Festo that have an integrated sensor with EnDat 2.1 protocol

Digital incremental sensor with square wave signals and with RS422-compatible signal output (differential A, B, N signals)

ROD426 or compatible

Analogue SIN/COS incremental sensor with differential analogue signals with 1V

HEIDENHAINLS187/LS487 (20µm signal period) or compatible

Position sensor with asynchronous two-wire communication interface (RS485)

Nikon MAR-M50A or compatible (18bit data frames)

Tab. 27 Supported standards and protocols of the sensor interface [X2]

NOTICE!

Damage to the sensor when sensor type is changed.

The servo drive can provide 5V or 10V sensor supply. Through configuration of the sensor, the supply voltage is established for the sensor. The sensor can be damaged if the configuration is not adjusted before connection of another sensor type.

• When changing the sensor type: Comply with specified steps.

Change of the sensor type

1. Disconnect sensor from the device.

2. Set up and configure new sensor type in the CMMT-AS.

3. Save setting in the CMMT-AS.

4. Switch off CMMT-AS.

5. Connect new sensor type.

6. Switch CMMT-AS back on. At the connection [X2], voltage drops in the sensor cable are compensated for sensors with purely digital communication, which require a regulated +5V supply (EnDat2.1, Nikon). The connection [X2] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. For digital incremental sensors, the LED lights green when the sensor interface is active. For sensors with communication interface, the LED lights green when a connection to the sensor exists.

Installation

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Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or

compatible

Number of pins 8

Shielded Yes

Nominal current >1A

Rated voltage 120VAC

Degree of protection IP20

Tab. 28 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover >85% – Signal pairs separately twisted – Recommended design: (4 x (2 x 0.25mm2))

Max. cable length 50m

1) For sensors with no compensation for voltage drops, thicker supply lines may be required.

Tab. 29 Requirements for the connecting cable

Requirements for the shield support

Put on sensor cable shield

1. Place the sensor cable shield on the device side onto the plug housing.

2. Place the sensor cable shield on the motor side onto the sensor or sensor plug.

Pin assignment of EnDat sensor (EnDat2.1 and EnDat 2.2)

[X2] Pin Function Value Description

1 SCLK

2 #SCLK

5Vss, Ri=120W Cycle line, output,

RS485-conforming, differential

3 VCC-IN Measured value Only for EnDat2.1:

Back measurement sensor voltage, differential

4 DATA

5 #DATA

Differential signal: 5Vss, Ri=120W

Data cable, bidirectional, RS485-conforming, differential

Installation

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Pin assignment of EnDat sensor (EnDat2.1 and EnDat 2.2)

[X2] Pin Function Value Description

6 #VCC-IN Measured value Only for EnDat2.1:

Back measurement sensor voltage, differential, inverse

7 VCC1 – EnDat2.1:

5.00V…5.50V, max.250mA

– EnDat2.2:

9.50V…10.50V, max.250mA

Sensor supply, switchable – EnDat2.1: 5V – EnDat2.2: 10V

8 GND 0V Reference potential

of sensor supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 30 EnDat sensor

Hiperface sensor pin allocation

[X2] Pin Function Value Description

1 COS

2 #COS

1Vss, Ri=120W COS track signal

from the high resolution incremental sensor, RS485-conforming, differential

3 SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential

4 DATA

5 #DATA

5Vss, Ri=120W Hiperface data cable,

bidirectional, asynchronous, 115kbit/s RS485-conforming, differential

Installation

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Hiperface sensor pin allocation

[X2] Pin Function Value Description

6 #SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential, inverse

7 VCC1 9.50V…10.50V

Max.250mA

Sensor supply, switchable; Hiperface: 10V

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 31 Hiperface sensor

Digital incremental sensor pin allocation

[X2] Pin Function Value Description

1 A

2 #A

5Vss, Ri=120W A-track signal from

the incremental sensor, RS485-conforming, differential

3 B 5Vss, Ri=120W B-track signal from

the incremental sensor, RS485-conforming, differential

4 N

5 #N

5Vss, Ri=120W Zero impulse, or N-

track signal from the incremental sensor, RS485-conforming, differential

6 #B 5Vss, Ri=120W B-track signal from

the incremental sensor, RS485-conforming, inverse

Installation

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Digital incremental sensor pin allocation

[X2] Pin Function Value Description

7 VCC1 5.00V…5.50V,

max.250mA

Sensor supply, switchable; incremental sensor:5V Voltage drop in the sensor cable is not compensated

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 32 Digital incremental sensor

Pin allocation, analogue SIN/COS incremental sensor

[X2] Pin Function Value Description

1 COS

2 #COS

1Vss, Ri=120Ω COS track signal

from the high resolution incremental sensor, RS485-conforming, differential

3 SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential

4 N

5 #N

5Vss, Ri=120Ω Zero impulse, or N-

track signal from the incremental sensor, RS485-conforming, differential

6 #SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential, inverse

Installation

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Pin allocation, analogue SIN/COS incremental sensor

[X2] Pin Function Value Description

7 VCC1 5.00V…5.50V,

max.250mA

Sensor supply, switchable; SIN/COS sensor:5V Voltage drop in the sensor cable is not compensated

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 33 Analogue SIN/COS incremental sensor

Pin allocation, sensor with asynchronous communication interface

[X2] Pin Function Value Description

–

– –

3 VCC-IN Measured value Back measurement

sensor voltage, differential

4 DATA

5 #DATA

5Vss, Ri=120W Data cable, bidirec-

tional, asynchronous, max. 4000kbit/s, RS485-conforming, differential

6 #VCC-IN Measured value Back measurement

sensor voltage, differential, inverse

Installation

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Pin allocation, sensor with asynchronous communication interface

[X2] Pin Function Value Description

7 VCC1 5.00V…5.50V,

max.250mA

Sensor supply, switchable; 5V Voltage drop in the sensor cable is compensated

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 34 Sensor with asynchronous communication interface

8.8.4 [X3], Sensor interface 2

The sensor interface [X3] is located on the front side of the device. The sensor interface [X3] primarily serves to connect a second position sensor to the axle (e.g. as redundant measuring system of a safety function).

Supported standards/protocols Supported sensors

Digital incremental sensor with square wave signals and with RS422-compatible signal output (differential A, B, N signals)

ROD426 or compatible ELGOLMIX22

Analogue SIN/COS incremental sensor with differential analogue signals with 1V

HEIDENHAIN LS187/LS487 (20µm signal period) or compatible

Tab. 35 Supported standards and protocols of the sensor interface [X3] [X3] is designed to be electrically compatible with [X2], but does not support all sensors and functions

like [X2]. The connection [X3] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. The LED displays the connection status. If there is a connection to the sensor, the LED lights green.

Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or

compatible

Number of pins 8

Shielded Yes

Installation

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Requirements for the counterplug

Nominal current >1A

Rated voltage 120VAC

Degree of protection IP20

Tab. 36 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover >85% – Signal pairs separately twisted – Recommended design: (4 x (2 x 0.25mm2))

Max. cable length 50m

Tab. 37 Requirements for the connecting cable

Requirements for the shield support

Put on sensor cable shield

1. Place sensor cable shield on the device side onto the plug housing.

2. Place sensor cable shield on the motor side onto the sensor or sensor plug.

Digital incremental sensor pin allocation

[X3] Pin Function Value Description

1 A

2 #A

5Vss, Ri=20Ω A-track signal from

the incremental sensor, RS485-conforming, differential

3 B 5Vss, Ri=20Ω B-track signal from

the incremental sensor, RS485-conforming, differential

4 N

5 #N

5Vss, Ri=20Ω Zero impulse, or N-

track signal from the incremental sensor, RS485-conforming, differential

6 #B 5Vss, Ri=20Ω B-track signal from

the incremental sensor, RS485-conforming, inverse

Installation

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Digital incremental sensor pin allocation

[X3] Pin Function Value Description

7 VCC1 5.00V…5.50V,

max.250mA

Sensor supply, switchable; incremental sensor: 5V Voltage drop is not compensated

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 38 Digital incremental sensor

Pin allocation, analogue SIN/COS incremental sensor

[X3] Pin Function Value Description

1 COS

2 #COS

1Vss, Ri=120Ω COS track signal

from the high resolution incremental sensor, RS485-conforming, differential

3 SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential

4 N

5 #N

5Vss, Ri=20Ω Zero impulse, or N-

track signal from the incremental sensor, RS485-conforming, differential

6 #SIN 1Vss, Ri=120Ω SIN track signal from

the high resolution incremental sensor, RS485-conforming, differential, inverse

Installation

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Pin allocation, analogue SIN/COS incremental sensor

[X3] Pin Function Value Description

7 VCC1 5.00V…5.50V,

max.250mA

Sensor supply, switchable; SIN/COS sensor: 5V Voltage drop is not compensated

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 39 Analogue SIN/COS incremental sensor

8.8.5 [X10], SYNC IN/OUT

The interface [X10] is located on the front side of the device. The interface [X10] permits master-slave coupling. In the master-slave coupling, the axles of several devices (slave axles) are synchronised over a device (master axle). The function of the SYNC interface can be configured and is used as follows:

Possible functions Description

Incremental sensor output Output of a master axle that emulates encoder

signals (encoder emulation)

Incremental encoder input Input of a slave axle, through which the conduct-

ance values of a master axle are received

Pulse direction input Input of a slave axle, through which the pulse dir-

ection signals or count signals with upward/downward count impulses are received

Tab. 40 Possible functions of the connection [X10] The connection [X10] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. The LED

shows whether the interface has been activated. If the interface has been activated, the LED lights up green. The CMMT-AS cannot detect whether a sensor is attached.

Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or

compatible

Number of pins 8

Shielded Yes

Installation

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Requirements for the counterplug

Nominal current >1A

Rated voltage 120VAC

Degree of protection IP20

Tab. 41 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover >85% – Signal pairs separately twisted – Recommended design: (4 x (2 x 0.25mm2))

Max. cable length 3m

Tab. 42 Requirements for the connecting cable

Requirements for the shield support

Place both sides of the connecting cable shield onto the plug housings.

Possible connections

Connection possibilities Description

Direct connection of 2 devices Two devices can be connected directly with a

patch cable (point-to-point connection). Recommendation: Use patch cable of category Cat 5E; maximum length: 25cm

Connection of several devices over RJ45 T adapter and patch cables

A maximum of 16 devices may be connected. Recommendation: Use T adapter and patch cables of category Cat 5E; maximum length per cable: 25cm

Connection of several devices over patch cables and a connector box (accessories

èwww.festo.com/catalogue)

A maximum of 16 devices may be connected. Recommendation: Use patch cables of category Cat 5E, maximum length per cable: 100cm

Tab. 43 Connection possibilities

Installation

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Direct connection of 2 devices

Point-to-point connection

Fig. 18 Possible connection through the SYNC connection

Connection of several devices over RJ45 T adapter and patch cables

RJ45 T adapter

Fig. 19 Connection over RJ45 T adapter and patch cables

Installation

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Connection of several devices over patch cables and a connector box

Connection over a connector box

Fig. 20 Possible connection through the SYNC connection

Incremental sensor In/Out

[X10] Pin Function Description

1 A

2 #A

5 Vss, Ri = 120Ω A track signal1),

RS485-conforming, differential

3 B 5 Vss, Ri 120Ω B track signal1),

RS485-conforming, differential

4 Z

5 #Z

5 Vss, Ri = 120Ω Zero impulse or Z

track signal1), RS485-conforming, differential

6 #B 5Vss, Ri = 120Ω B track signal1),

RS485-conforming, differential, inverse

Installation

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Incremental sensor In/Out

[X10] Pin Function Description

7 n. c.

– –

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

1) of an input or output channel, depending on the configuration

Tab. 44 Incremental sensor In/Out

Pulse/direction input

[X10] Pin Function Description

1 CLK

2 #CLK

5Vss, Ri = 120Ω CLK signal from a

controller, RS485-conforming, differential

3 DIR 5Vss, Ri = 120Ω DIR signal from a

controller, RS485-conforming, differential

–

- Reserved, do not connect

6 #DIR 5Vss, Ri = 120Ω DIR signal from a

controller, RS485-conforming, differential, inverse

7 n. c.

– –

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

Tab. 45 Pulse/direction input

Installation

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Incremental encoder input CW/CCW

[X10] Pin Function Description

1 CW

2 #CW

5Vss, Ri = 120Ω CW signal from a

controller, RS485-conforming, differential

3 CCW

5Vss, Ri = 120Ω CCW signal from a

controller, RS485-conforming, differential

–

Reserved, do not connect

6 #CCW 5Vss, Ri = 120Ω CCW signal from a

controller, RS485-conforming, differential, inverse

7 n. c.

– –

8 GND 0V Reference potential

supply

Housing FE, connected to PE

–

The housing is used as a support of the cable shield and is connected to the PE.

1) signal CW: count impulse forward/upward (clockwise)

2) signal CCW: count impulse backward/downward (counterclockwise)

Tab. 46 Incremental encoder input CW/CCW

8.8.6 [X18], standard Ethernet

The interface [X18] is located on the front side of the device. Through the interface [X18], the following can be performed with the commissioning software: – Diagnostics – Parameterisation – Control – Firmware update The interface is designed to conform to the standard IEEE802.3. The interface is galvanically separated and intended for use with limited cable lengths è Tab. 49 Requirements for the connecting cable. Deviating from the IEEE802.3, the isolation coordination is therefore done according to the valid product standard IEC61800-5-1. The connection [X18] is designed as an RJ45 socket. TwoLEDs are integrated into the RJ45 socket. The green LED lights up if the interface is activated. The yellow LED flashes with communication activity.

Installation

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Standard Ethernet

[X18] Pin Function Description

1 TX+ Transmitted data+

2 TX- Transmitted data-

3 RX+ Received data+

4 n. c.

5 n. c.

Not connected

6 RX- Received data-

7 n. c.

8 n. c.

Not connected

Housing FE, connected to PE The housing is used as a

support of the cable shield and is connected to the PE.

Tab. 47 Standard Ethernet

Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 fromPhoenix Contact or

compatible

Number of pins 8

Shielded Yes

Nominal current >1A

Rated voltage 120VAC

Degree of protection IP20

Tab. 48 Requirements for the counterplug

Requirements for the connecting cable

Characteristics CAT5, patch cable, double shielded

Max. cable length 30m

Tab. 49 Requirements for the connecting cable Through the Ethernet interface, the following connections are possible:

Installation

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Connections Description

Point-to-point connection The device is connected directly to the PC via an

Ethernet cable.

Network connection The device is connected to an Ethernet network.

Tab. 50 Options for connection The device supports the following methods of IP configuration (based on IPv4):

Methods Description

Obtain IP address automatically (DHCP client) The device obtains its IP configuration from a

DHCP server in your network. This method is suitable for networks in which a DHCP server already exists.

Fixed IP configuration The device uses a fixed IP configuration.

The IP configuration of the device can be permanently assigned manually. However, the device can only be addressed if the assigned IP configuration matches the IP configuration of the PC. Factory setting: 192.168.0.1

Tab. 51 Options for IP configuration

1. Connect CMMT to your network or directly to the PC via a hub/switch.

2. Place both sides of the cable shield onto the plug housings.

8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2

The interface [X19] is located on the top of the device. The interface [X19] permits RTE communication. The following protocols are supported by the interface [X19], depending on the product design:

Product variant Supported protocol

CMMT-AS-...-EC EtherCAT

CMMT-AS-...-EP EtherNet/IP

CMMT-AS-...-PN PROFINET

Tab. 52 Supported protocol The physical level of the interface also fulfils the requirements according to IEEE 802.3. The interface

is galvanically separated and intended for use with limited cable lengths è Tab. 55 Requirements for the connecting cable. The interface [X19] makes 2 ports available. – Port 1, labelled on the device with [X19, XF1IN] – Port 2, labelled on the device with [X19, XF2OUT] Two LEDs are integrated into each of the two RJ45 sockets. The behaviour of the LEDs depends on the bus protocol. Both LEDs are not always used.

Installation

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Real-time Ethernet (RTE) port 1 and port 2

[X19] Pin Function Description

1 TX+ Transmitted data+

2 TX- Transmitted data-

3 RX+ Received data+

4 n. c.

5 n. c.

Not connected

6 RX- Received data-

7 n. c.

8 n. c.

Not connected

Housing FE, connected to PE The housing is used as a

support of the cable shield and is connected to the PE.

Tab. 53 [X19], RTE port 1 and port 2

Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or

compatible

Number of pins 8

Shielded Yes

Nominal current >1A

Rated voltage 120VAC

Degree of protection IP20

Tab. 54 Requirements for the counterplug

Requirements for the connecting cable

Characteristics CAT5, patch cable, double shielded

Max. cable length 30m

Tab. 55 Requirements for the connecting cable

1. Place both sides of the cable shield onto the plug housings.

2. If possible and supported by the bus protocol, plan for ring redundancy in the connection with the controller.

8.9 Motor connection

8.9.1 [X6A], Motor phase connection

The connection [X6A] is located on the front side of the device. The following connections to the motor are created through the connection [X6A]:

Installation

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– Motor phases U,V,W – PE connection

[X6A] Pin Function Description

4 PE Protective earth motor

3 W Third motor phase

2 V Second motor phase

1 U First motor phase

Tab. 56 Motor phase connection The cable shield of the motor cable is placed on the support surface on the lower part of the housing

and fastened with the shield clamp.

Requirements for the counterplug

Design FKIC 2.5 HC/4-ST-5.08 from

Phoenix Contact or compatible

Power contacts 4

Nominal current 16A

Rated voltage (III/2) 320V

Grid dimension 5.08mm

Strip length 10mm

Tab. 57 Requirements for the counterplug

Requirements for the connecting cable

Wires and shielding At least 8 wires

– 4 power wires shielded – 2 x holding brake, separately shielded – 2 x motor temperature, separately shielded

Design Use only cables for which safe separation is

ensured between the motor phases and the shielded signals of the holding brake and motor temperature sensor.

è 8.9.3 Shield support of the motor cable

Max. cable length èTechnical data for the integrated mains filter

Max. capacity <250pF/m

Installation

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Requirements for the connecting cable

Nominal cross section of power wires 0.75mm2…1.5mm²

Cable diameter of the stripped cable or shield sleeve (clamping area of the shield clamp)

11mm…15mm

Only motor cables are permitted that fulfil the requirements of EN61800-5-2 appendix D.3.1 and the requirements of EN60204-1.

Tab. 58 Requirements for the connecting cable Festo offers prefabricated motor cables as accessories èwww.festo.com/catalogue.

– Use only motor cables that have been approved for operation with the servo drive from Festo.

Motor cables of other manufacturers are permitted if they meet the specified requirements.

8.9.2 [X6B], Motor auxiliary connection

The connection [X6B] is located on the front side of the device. The holding brake of the motor and the motor temperature sensor can be connected to the connection [X6B]. The output for the holding brake is used both functionally and in connection with the safety function Safe brake control ètextvar object does not exist. To monitor the motor temperature, the following are supported: – N/C and N/O contacts – KTY 81…84 (silicon temperature sensors) – PTC (PTC resistor, positive temperature coefficient) – NTC (negative temperature coefficient) – Pt1000 (platinum measuring resistor) The servo drive monitors whether the motor temperature violates an upper or lower limit. With switching sensors, only the upper limit value can be monitored (e.g.with a normally closed contact). The limit values and the error reactions can be parameterised.

[X6B] Pin Function Description

6 MT– Motor temperature (negative

potential)

5 MT+ Motor temperature (positive

potential)

4 PE Protective earth

3 BR– Holding brake (negative

potential)

2 BR+ Holding brake (positive

potential)

1 PE Protective earth

Tab. 59 Motor auxiliary connection

Installation

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Requirements for the counterplug

Design DFMC 1.5/ 3-ST-3.5 from

Phoenix Contact or compatible

Signal contacts 6 (3-pin, 2-row)

Nominal current 8A

Rated voltage (III/2) 160V

Grid dimension 3.5mm

Strip length 10mm

Tab. 60 Requirements for the counterplug

Requirements for the connecting cable

Design – 2 wires for the line to the holding brake, twis-

ted in pairs, separately shielded

– 2 wires for the line to the temperature

sensor, twisted in pairs, separately shielded

Min. conductor cross section including cable end sleeve with plastic sleeve

0.25mm

Max. conductor cross section including cable end sleeve with plastic sleeve

0.75mm

Max. length 50m

Tab. 61 Requirements for the connecting cable

Requirement for the temperature sensor in the motor

– Electrically safe separation from the motor phases in accordance with IEC61800-5-1, voltage

classC, overvoltage category III.

Requirements for the shield support

– Make unshielded cable ends as short as possible (max.150mm). – Put in place both sides of the cable shield.

8.9.3 Shield support of the motor cable

Requirements for the device-side shield support of the motor cable

The type of shield support depends on the design of the motor cable. If, forexample, a hybrid cable is used to connect the motor, holding brake, and temperature sensor, the following options exist for placing the shield on the device side: Option 1: All motor cable shields are connected over a large surface with a shield sleeve at the cable end and placed below the shield clamp on the front side of the CMMT-AS.

Installation

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Shield sleeve

Fig. 21 Shared shield support of all cable shields (example)

Option 2: The outside shield of the motor cable is placed separately over a large area below the shield clamp on the front of the CMMT-AS. The inside shields are placed separately on the intended PE pin of the connection [X6B].

Inside shield placed separately

Shield sleeve

Fig. 22 Separate shield support of all cable shields (example)

• Make unshielded cable ends as short as possible.

Mounting the shield clamp

The lower area of the front of the housing serves as a shield support surface. The shield support surface, together with the shield clamp, permits large surface support of the motor cable shield.

1. Press the shield of the motor cable or the conducting shield end sleeve of the motor cable with the shield clamp onto the shield support surface of the housingè Fig.23.

Installation

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2. Tighten retaining screws (2x) of the shield clamp with a hexagon screwdriver of size 3mm. In doing so, comply with the following tightening torques. – Cable diameter 11mm (shield clamp in place): max. 1.8Nm ±15% – Cable diameter >11mm (shield clamp not in place): min. 0.5Nm ±15%

Retaining screws of the shield clamp

Motor cable

Cutout for fastening cable binders (2x)

Shield clamp

Shield of the motor cable is placed over a large area below the shield clamp

Fig. 23 Shield clamp of the motor cable

Motor-side shield support of the motor cable

Detailed information on the motor-side connection with motor cables from Festo èAssembly instructions of the motor cable used èwww.festo.com/sp.

Installation

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• Connect all shields on the motor side to PE over a large surface, e.g.over the intended shield connection of the motor plug or the shield contact surface in the motor junction box.

8.10 Power and logic voltage supply

8.10.1 [X9A], Power supply and intermediate circuit connection

The connection [X9A] is located on the top of the device. Through the connection [X9A], the control element and the power element of the device are supplied separately with electric voltage. In addition, the connection provides pins for intermediate circuit coupling. – Supply of the control element with 24VDC (PELV, logic voltage supply) – Supply of the power element with 1-phase mains voltage (100VAC…230VAC) – Optional: intermediate circuit coupling of 1-phase devices of the same CMMT-AS series Cross wiring of the mains and logic voltage supply is possible with and without intermediate circuit coupling è 8.11 Cross wiring.

Supply of the control element (logic voltage supply)

WARNING!

Risk of injury due to electric shock.

• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reliable separation from the mains network.

• Observe IEC60204-1/EN60204-1.

• Connect only PELV circuits with max. 25A output current. Otherwise, use a separate external fuse: 25A.

Power supply and intermediate circuit connection

[X9A] Pin Function Description

7 DC+ Intermediate circuit positive potential

6 DC- Intermediate circuit negative potential

5 L1 Mains supply phase L1

4 N For 1-phase mains connection: mains sup-

ply, neutral conductor For 2-phase mains connection: mains supply phase L2

3 PE Protective earth

2 24V Positive potential of the 24V logic voltage

1 0V Reference potential of the 24V logic

voltage

Tab. 62 Power supply and intermediate circuit connection

Installation

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counterplug Requirements for the counterplug

Design for single wiring FKC 2.5 HC/7-ST-5.08 from

Phoenix Contact or compatible

Design for cross-wiring TFKC 2.5 HC/7-ST-5.08 from

Phoenix Contact or compatible

Number of pins 7

Nominal current 16A

Rated voltage (III/2) 320V

Grid dimension 5.08mm

Strip length 10mm

Tab. 63 Requirements for the counterplug

Requirements for the connecting cable

Individual device Device compound

Number of wires and shielding 5wires, unshielded Without intermediate circuit

coupling: 5wires, unshielded With intermediate circuit coupling: 7wires, unshielded

Min. conductor cross section including cable end sleeve with plastic sleeve

0.5mm

1mm

Max. conductor cross section including cable end sleeve with plastic sleeve

2.5mm

Max. length 2m £0.5m

Tab. 64 Requirements for the connecting cable

8.10.2 [X9B], Connection, braking resistor

The connection [X9B] is located on the top of the device. The internal braking resistor or a suitable external braking resistor is attached to the connection [X9B]. During braking, the motor works as a generator. In these cases, the motor feeds electrical energy back into the intermediate circuit. The excess energy must be absorbed by the braking resistor and converted into heat.

Installation

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The braking resistor integrated into the device is sufficient for many applications with moderate cycle times and small moving loads. Therefore, frequently no external braking resistor is needed.

• Connect an external braking resistor if larger impulse or continuous loads have to be absorbed than the integrated braking resistor permits.

The braking resistor is also used as a precharging resistor for the intermediate circuit. The intermediate circuit cannot be loaded without a braking resistor. If no braking resistor is connected, the device reports an error.

[X9B] Pin Function Description

2 BR+Ch Braking resistor positive

connection

1 BR-Ch Braking resistor negative

connection

Tab. 65 Connection for the braking resistor

Requirements for the counterplug

Design GIC 2.5 HCV/2-ST-7.62 from

Phoenix Contact or compatible

Number of pins 2

Nominal current 16A

Rated voltage (III/2) 1000V

Grid dimension 7.62mm

Strip length 8mm

Tightening torque GIC 2.5 HCV/2-ST-7.62

0.5 ... 0.6 Nm

1) Specification of the manufacturer at the time the documentation was approved

Tab. 66 Requirements for the counterplug

Installation

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Requirements for the connecting cable

Number of wires and shielding 2wires, shielded

Min. conductor cross section incl. cable end sleeve with plastic sleeve

0.25mm

Max. conductor cross section incl. cable end sleeve with plastic sleeve

2.5mm

Max. cable length 2m

Wiring Within the control cabinet, shield on PE

1) with connection of an external braking resistor

Tab. 67 Requirements for the connecting cable

Requirements for the shield support with connection of an external braking resistor

• Place shield of the cable on the device side onto the earthing screw next to the upper slot of the cooling element.

Selection of suitable external braking resistors

The connected braking resistor must fulfil the following prerequisites: – External braking resistors must meet the normative requirements of IEC61800-5-1. – The braking resistor must be designed for operation with high pulse energy during braking. – The braking resistor must be suitable for the intermediate circuit voltage that occurs. – The resistance value of the braking resistor must be low enough so that the highest braking per-

formance can be absorbed (typically 2…2.5 times the nominal output of the motor).

– The resistance value of the braking resistor must be within the permitted range, so that the brake

chopper in the device is not overloaded. Therefore, use only suitable braking resistors that, with reference to the voltage, current and pulse energy capacity, are suitable for the power data of the output stage of the servo drive used.

Technical data for the integrated braking resistor and additional requirements for external braking resistors è 11.3.2 Electrical data for braking resistor (internal/external) [X9B]

Overload protection for external braking resistors

The external braking resistor can be monitored by the firmware of the device with the help of a thermal model calculation. The CMMT-AS must therefore be parameterised as follows: – Activation of external braking resistor – Input of the following data: resistance value, continuous power, and permissible impulse energy When the impulse energy limit is reached, the brake chopper is switched off. If the intermediate circuit voltage rises again as a result, the output stage switches off with the message “Overload in the intermediate circuit”.

8.11 Cross wiring

Cross wiring permits the design of a device compound, consisting of up to 10 CMMT-AS servo drives. The following cross wiring options are differentiated: – Cross wiring of I/O signals at the connection [X1A] – Cross wiring of the mains and logic voltage supply without intermediate circuit coupling – Cross wiring of the mains and logic voltage supply with intermediate circuit coupling

Installation

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8.11.1 Cross wiring of the I/O signals at the connection [X1A]

The following table shows which signals of the connection [X1A] in the device compound can be directly connected with the same signals of neighbouring devices:

Signal name Type Short identifier Function Information

X1A.24 RDY-C1

X1A.23

–

RDY-C2

Normally open contact: message ”ready for operation (Ready)“

Max. 10 devices, series connection of the contacts

X1A.22 DOUT STA Safe torque off

acknowledge

X1A.21 DOUT SBA Safe brake control

acknowledge

Max. 10 devices, parallel wiring

X1A.20

– –

X1A.19

– –

Reserved, do not connect

–

X1A.18 DIN SIN4 Release brake

request

Max. 10 devices, parallel wiring

X1A.17

–

GND Reference potential Max. 10 devices,

must be cross wired

X1A.16 DOUT TRG0 Like TRG1

X1A.15 DOUT TRG1 Fast output for trig-

gering external components

Use separately!

X1A.14 DIN CAP0 Like CAP1

X 1A.13 DIN CAP1 Fast input for posi-

tion detection

Intended for separate use, cross wiring normally does not make sense, max. 10 devices, parallel wiring

X1A.12 #STO-A Safe torque off,

channel A

X1A.11 DIN #STO-B Safe torque off,

channel B

X1A.10 #SBC-A Safe brake control,

channel A

X1A.9 DIN #SBC-B Safe brake control,

channel B

Max. 10 devices, parallel wiring

Installation

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Signal name Type Short identifier Function Information

X1A.8

X1A.7

X1A.6

X1A.5

– –

Reserved, do not connect

–

X1A.4 DIN ERR-RST Functional error

acknowledgment

X1A.3 DIN CTRL-EN Output stage enable

Max. 10 devices, parallel wiring

X1A.2 AIN0

X1A.1

AIN

#AIN0

Analogue input differential

Cross wiring only makes sense if several drive regulators should receive the same setpoint value over AIN0.

Tab. 68 Information on cross wiring of the I/O signals at the connection [X1A]

• Carry out cross wiring of the I/O signals at the connection [X1A] with the required counterplug in combination with double wire end sleeves.

Example for cross wiring of I/O signals

The following image schematically shows cross wiring with the example of the signal contact (RDY-…), a 1-channel input (here IN) and a 1-channel diagnostic output (here SOUT; digital output (OUT) of a safety function (S), e.g.SBA).

Fig. 24 Cross-wiring, example

Installation

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The signal contacts (RDY-...) are wired in series. For the condition “Contact closed”, there results an AND link. The link result is guided to a digital input (IN) of the higher-order PLC. 1-channel digital inputs (IN) are wired parallel to an output (OUT) of the PLC. If, forexample, all CTRLEN inputs of the device compound are wired in parallel to a digital output, enabling of the output stages of the device compound can be controlled over this one digital output. For cross-wired diagnostic outputs (e.g.STA and SBA), the condensed state results from a logical AND link. A high signal is present at the two inputs of the safety PLC (here SIN-A and SIN-B) only if all diagnostic outputs (here SOUT) deliver HIGH signals. A cable break can be detected in the PLC through the ring-shaped cross wiring of the diagnostic outputs with sensing at the beginning (SIN-A) and end (SIN-B) of the signal chain. In cross wiring of I/O signals, the following should also be cross wired: – reference potentials GND (X1A.17) of all cross-wired servo drives – Logic supply

8.11.2 Cross wiring of the mains and logic voltage supply

Cross wiring of the mains and logic voltage supply

Description

... without intermediate circuit coupling The connections for the mains and logic supply

are cross-wired and connected with the respective voltage source. The intermediate circuits are not connected.

... with intermediate circuit coupling The connections for the mains and logic supply

are cross-wired and connected with the respective voltage source. In addition, the intermediate circuits of the devices are cross-wired (intermediate circuit coupling).

Tab. 69 Options for cross wiring of the mains and logic voltage supply Cross wiring can be performed easily with the help of the counterplugs, available as accessories.

Installation

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Double counterplug

Fig. 25 Cross-wiring CMMT-AS-...-3A (schematic diagram)

Intermediate circuit coupling

If several servo drives of type CMMT-AS are used in an application, the intermediate circuit coupling can make sense. With intermediate circuit coupling, the energy regained during braking can be provided to other servo drives through the intermediate circuit instead of being converted almost completely into heat through braking resistors. This improves the energy efficiency of the device compound through use of the regained energy. In addition, the intermediate circuit coupling causes the following: – increase of the intermediate circuit capacity through shared use – increase of the braking energy to be absorbed through shared use of the braking resistors

Rules for cross wiring of the mains and logic voltage supply with and without intermediate circuit coupling

NOTICE!

Errors in the cross wiring can destroy the internal electronics.

• Always observe rules for cross wiring.

Installation

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– Only cross wire devices with the same mains voltage. The devices may therefore either be 1-phase

devices or only 3-phase devices with the same mains voltage supply and intermediate circuit voltage. Cross wiring of the mains and logic voltage supply between 1-phase devices and 3-phase

devices is not permitted and results directly in destruction of the servo drive! – For 1-phase devices: Connect all devices to the same mains phase. – For 3-phase devices: Connect all devices to the same 3 mains phases. – Place devices with greater power use closer to the mains infeed. – Insert a suitable fuse into the mains supply line for line protection and semiconductor protection. – Do not exceed the maximum number of devices in the device compound.

A device compound may consist of a maximum of 10devices. But the permitted number is

dependent on the output data of the devices used and the parameterised nominal currents of the

connected motors. The number is limited by the amount of the maximum permitted total current

and the maximum permitted total nominal power (dependent on the conductor cross section of

the cross wiring). – Always connect all devices with the mains supply, even with intermediate circuit coupling. It is not

permitted to connect only one device or only one part of the device compound to the mains sup-

ply. Such wiring can overload and destroy devices.

Braking resistors in the device compound

– A braking resistor must be attached to each device in the device compound (internal or external). – If devices with different output power are combined, dimension the braking resistors appropri-

ately to the output power of the devices. This is ensured if the internal braking resistors are used.

Electrical protection of a device compound

A shared external fuse is required at the mains connection of the devices. The fuse fulfils the following functions: – Cable protection; the rated current of the fuse must be less than or equal to the permissible cur-

rent carrying capacity of the selected conductor cross section. – Semiconductor protection; the diode rectifiers of the devices are not protected against short cir-

cuit currents in the DC intermediate circuit. Recommendation: – Use circuit breakers as line protection with appropriate tripping current and switching character-

istics C. For additional information è 8.3 Mains fuse.

Data for operation in the device compound (CMMT-AS-...-3A)

A device compound may consist of a maximum of 10devices. But the permitted number is dependent on the output data of the devices used. The number is limited by the amount of the maximum permitted total current and the maximum permitted total nominal power of the device compound and depends on the conductor cross section.

Choice of mains protection

1. Determine total mains current of the device compound.

2. Determine total current of the logic supply.

3. Select the required conductor cross section for the cross wiring.

4. Required mains protection, considering the conductor cross section and the standard classifica-

tion (according to UL or IEC). Permissible maximum values è Tab. 14 Mains fuse.

Installation

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Approximate calculation to determine the mains current

For 1-phase devices, the mains current can be calculated approximately as follows: I

mains

=0,008A/WxP

nom, out

mains

: mains current [A]; P

nom, out

: nominal power, outgoing Example Two servo drives CMMT-AS-C4-3A-... drive motors with a nominal power (Pnom) of 500 watts. Assumed degree of efficiency of the motors: 80%. P

nom, out

=2x500W¸0,8=1250W

mains

=0,008A/Wx1250W=10A

Fuse design is for I

mains

: 10A

eff

Examples of possible device combinations

The following table shows examples of possible device combinations with the required fuses a converter load with 100% nominal power:

Conductor cross section on [X9A]

Max. permitted current

Examples of device combinations

Required current [A

eff

]

Selected electrical protection

4 x CMMT-AS-C2-3A (each

2.8A

eff

)

11.2In accordance with IEC standard: 13A

2 x CMMT-AS-C4-3A (each

5.6A

eff

)

11.2

C13

3 x CMMT-AS-C2-3A (each

2.8A

eff

)

8.4

1.5mm

In accordance with UL standard: 10A

1 x CMMT-AS-C2-3A (each

2.8A

eff

)

1 x CMMT-AS-C4-3A (each

5.6A

eff

)

8.4

C10

5 x CMMT-AS-C2-3A (each

2.8A

eff

)

14In accordance with UL and IEC standard: 15A

3 x CMMT-AS-C2-3A (each

2.8A

eff

)

1 x CMMT-AS-C4-3A (each

5.6A

eff

)

C152.5mm

In accordance with IEC standard: 16A

With load at 90% nominal power: 3 x CMMT-AS-C4-3A (each

5.04A

eff

)

15.12 C16

Tab. 70 Examples of possible device combinations

Cross wiring without intermediate circuit coupling

Installation

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All contacts for the mains and logic supply are cross wired at the connection [X9A]. The intermediate circuits are not cross wired (DC+/DC-). The first device is connected with the two voltage sources. 1-phase devices with the same power class and 1-phase devices with different power classes can be connected.

Master switch

Line safety switch

Fig. 26 Cross wiring without intermediate circuit coupling

Cross wiring with intermediate circuit coupling

All contacts at the connection [X9A] are cross wired. The first device is connected with the voltage source. 1-phase devices with the same power class and 1-phase devices with different power classes can be connected.

Installation

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Master switch

Line safety switch

Fig. 27 Cross wiring with intermediate circuit coupling

9 Malfunctions

9.1 Diagnostics via LED

The device has 12 LEDs for the display of status information. Ten LEDs are located on the front side of the device. Two LEDs are located on the top of the device at the connection [X19], XF1 IN and XF2 OUT. The following image shows an example of the LEDs on the front side of the product variant CMMTAS-...-EC. Labelling and function of the LED Run and LED Error depend on the product variant.

Device status (4LED)

Run (example CMMT-AS-...-EC)

Error (example CMMT-AS-...-EC)

Ethernet interface activated [X18]

Communication activity [X18]

Sync interface activated [X10]

Sensor status, sensor interface [X3]

Sensor status, sensor interface [X2]

Fig. 28 LEDs on the front side (example CMMT-AS-...-EC)

Malfunctions

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9.1.1 Device status displays

LED Designation Brief description

Status LED Shows the general device status

Power LED Shows the status of the power supply

Safety LED Shows the status of the safety equipment

Application status LED Shows the identification sequence and is

reserved for future extensions

Tab. 71 Device status LEDs (status, power, safety and application status LED)

LED test

After the device is switched on, it runs through an initialisation phase. When the initialisation phase is complete, the device performs an LED test. In the LED test, the 4 device status LEDs run through the following colour sequence simultaneously: – Red – Yellow – Green The duration of each colour corresponds to a flash period. The test is ended after one pass. By observing them, one can tell if one of the 4 LEDs is defective.

Status LED, display of the device status

LED Meaning

Flashes red

An error is present.

Flashes yellow

A warning is present, or the servo drive is currently performing a firmware update.

Lights up yellow

The servo drive is in the initialisation phase.

Flashes green

The servo drive is ready and the output stage is switched off (Ready).

Lights up green

The output stage and the closed-loop controller are enabled.

Tab. 72 Status LED

Power LED, status of the power supply

Malfunctions

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LED Meaning

Flashes yellow

The logic voltage and AC supply are present. The intermediate circuit is loaded.

Lights up yellow

The logic voltage supply is present, but the AC supply is lacking.

Lights up green

The logic voltage supply is present and the intermediate circuit is loaded.

Tab. 73 Power LED

Safety LED, status of the safety equipment

Malfunctions in the safety functions are detected and displayed in the functional device. Detected are: – 1-channel requested safety functions (discrepancy monitoring) – Internal device errors that lead to impulse monitoring not being switched off or only switched off

one-channel

– Errors in the brake outputs or the external wiring that result in voltage on the brake output des-

pite requested safety function Malfunctions are reported by the functional part to the outside, also over the additional communication interfaces (fieldbus, commissioning software).

LED Meaning

Flashes red

Error in the safety part, or a safety condition is violated.

Flashes yellow

The safety function is requested, but not yet active.

Lights up yellow

The safety function is requested and active.

Flashes green

Output stage, brake outputs and safety diagnostic outputs are blocked (safety parameterisation is running).

Lights up green

Ready, no safety function is requested.

Tab. 74 Safety LED

Application status

Malfunctions

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LED Meaning

Flashes alternatingly red, yellow, green

Identification sequence active (for optical identification of the device in a network), which can be activated over the parameterisation software

Flashes yellow

Lights up yellow

Flashes green

Lights up green

Reserved for future extensions

Tab. 75 Application status LED

Special function of the start program (bootloader) during updating of the firmware

When the bootloader starts the update procedure, the status LEDs flash yellow at half-second intervals. The power LED, safety LED and application status LED remain dark. If the bootloader is waiting for inputs, e.g.over the CDSB, the status LED lights up yellow. The power LED, safety LED and application status LED remain dark. If an error occurs during update of the firmware, the status LED flashes red at one-second intervals. The frequency of flashing corresponds to the error number specified in the following table. After flashing, there is a pause of 3s. Then the procedure repeats.

Malfunctions

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Error number Description

1 The start program detected a CRC error in the firmware after switching on.

2 The start program detected a CRC error in the start program after switching on.

3 The start program is supposed to update the firmware but detected an error in the

system update file.

4 The start program is supposed to update itself and the firmware but detected a

defective start program in the system update file.

5 The start program cannot access the file system or the file for the system update, or

the file for the system update is defective.

Tab. 76 Error messages of the start program (bootloader)

9.1.2 Interface status [X2], [X3], [X10], [X18]

LED at [X2] and [X3]; encoder status

LED Meaning

Lights up green

– For digital incremental sensors: sensor evaluation active. – For sensors with communication interface: connection to the sensor exists.

Tab. 77 LED at [X2] and [X3]

LED at [X10]; sync-connection status

LED Meaning

Lights up green

Interface is activated.

Tab. 78 LED at [X10]

LEDs at [X18]; connection status of the Ethernet interface

LED Meaning (upper LED)

Off Interface is deactivated.

Lights up green

Interface is activated.

Tab. 79 Upper LED at [X18]

Malfunctions

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LED Meaning (lower LED)

Off No communication activity is present.

Flashes yellow

Communication activity is present.

Tab. 80 Lower LED at [X18]

9.1.3 Device and interface status EtherCAT

EtherCAT LED displays (only CMMT-AS-...-EC)

The Run LED and the Error LED on the front side display the bus/network status together with the 2LEDs on the upper side.

EtherCAT, Run LED; operating status

LED Meaning Remedy

Off The device is in the Init status (initialisa-

tion).

–

Flashes green

The device is in the pre-operational status.

–

Flashes green

The device is in the safe-operational status.

–

Lights up green

The device is in the operational status (normal operating status).

–

1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)

Tab. 81 Run LED

EtherCAT®, LED error; error status

Malfunctions

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LED Meaning Remedy

Off No error

–

Flashes red

Invalid configuration, general configuration error, a status change specified by the master is not possible.

– Eliminate configuration error.

Flashes red

Local error, the slave device application independently changed the EtherCAT status. This can have the following causes: – A host watchdog time-out occurred. – Synchronisation error, the device

changes automatically into the safeoperational status.

–

Flashes red

A process data watchdog time-out occurred.

–

1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)

2) Double flash: double short flash (2x flash, pause, 2x flash, etc.)

Tab. 82 LED error

EtherCAT, LED LINK/ACTIVITY; connection status at XF1 IN and XF2 OUT

LED Meaning Remedy

Off There is no network connection. – Check network connection.

Flickers green (approx. 10Hz)

Data traffic ongoing (traffic).

–

Lights up green

Network connection is OK (link).

–

Tab. 83 LED at XF1 IN and XF2 OUT

9.1.4 Device and interface status ProfiNet

PROFINET LED displays (only CMMT-AS-...-PN)

The NF LEDs on the front side, together with the 4LEDs on the upper side, display the bus/network status.

PROFINET, LED NF; bus error

Malfunctions

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LED Meaning Remedy

Off No error

–

Flashes red (2Hz)

Network error – No data transmission – No configuration – No network connection or network

connection is malfunctioning

– Check network configuration and

network connection.

Tab. 84 LED NF

PROFINET, LEDs at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy

Off No network connection – Check network connection.

Lights up green

Network connection is OK (link).

–

Tab. 85 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic

–

Lights up yellow

Data traffic ongoing (traffic).

–

Tab. 86 Yellow LED at XF1 IN and XF2 OUT

9.1.5 Device and interface status EtherNet/IP

LED displays EtherNet/IP (only CMMT-AS-...-EP)

The MS LED and the NS LED on the front side display the bus/network status together with the 4LEDs on the top (link/ activity).

EtherNet/IP, MS LED; module status

Malfunctions

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LED Meaning Remedy

Off Logic voltage supply lacking. – Check logic voltage supply.

Flashes green

Device is not configured. – Perform configuration.

Lights up green

Normal operating status

–

Flashes red/green

Device performs a self test.

–

Flashes red

Repairable error, a configuration error might be present.

– Check configuration.

Lights up red

Non-repairable error Contact Festo Service èwww.festo.com

Tab. 87 MS LED

EtherNet/IP, NS LED; network status

LED Meaning Remedy

Off The device is switched off or has no IP

address.

– Switch on device or check IP address

off.

Flashes green

The device has an IP address but no CIP connection. Perhaps the device is not assigned to a master/scanner.

– Eliminate configuration error.

Lights up green

Normal operating status. The device is online and has a CIP connection.

–

Malfunctions

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LED Meaning Remedy

Flashes red/green

Device performs a self test.

–

Flashes red

One or more “I/O connections” are in the “time-out status”.

– Check the physical connection to the

master/scanner.

Lights up red

The IP address of the device has already been assigned.

– Check IP addresses in the network

and correct.

Tab. 88 NS LED

EtherNet/IP, LED at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy

Off There is no network connection. – Check network connection.

Lights up green

Network connection is OK (link).

–

Tab. 89 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic

–

Flickers yellow

Data traffic ongoing (activity).

–

Tab. 90 Yellow LED at XF1 IN and XF2 OUT

10 Dismounting

Disassemble in reverse order of installation.

Before dismounting

1. Switch off the power supply at the master switch.

2. Protect the system from being switched back on accidentally.

3. Wait at least 5 minutes until the intermediate circuit has discharged.

4. Let the device cool off to room temperature.

5. Before touching the power connections [X6A], [X9A], [X9B], check to ensure they are free of voltage.

6. Disconnect all electrical lines.

To dismount the device

Dismounting

86 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

• Loosen retaining screws (2x) and remove the device from the attachment surface.

11 Technical data

11.1 Technical data product conformity and approvals

Product conformity and approvals

CE marking (declaration of conformity èwww.festo.com/sp)

In accordance with EU-EMC Directive

In accordance with EU Machinery Directive In accordance with EU Low Voltage Directive

Additional approvals For product variants with corresponding identification:

– UL/NEC – CSA/NEC – RCM

1) The component is intended for industrial use. Outside of industrial environments, e.g.in commercial and mixed-residential areas, actions to suppress interference may have to be taken.

Tab. 91 Product conformity and approvals

Safety specifications

Type test The functional safety engineering of the product has been certi-

fied by an independent testing body, see EC-type examination certificate èwww.festo.com/sp

Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035

Certificate no. 01/205/5640.00/18

Tab. 92 Safety specifications

11.2 General technical data

General technical data

Type name code CMMT

Type of mounting Screw-clamped to mounting plate

Mounting position Hanging vertically, with unhindered air flow from bottom to top

Dimensions (H*W*D) è Dimensions

Product weight [kg] CMMT-AS-C2-3A: 1.3

CMMT-AS-C4-3A: 1.4

Technical data

87Festo — CMMT-AS-C2/C4-3A-... — 2018-02

General technical data

Displays – Device status display: 4LEDs

– Bus-specific status: 2LEDs – Interface status [X19] (IN, OUT): 2LEDs – Interface status [X2], [X3], [X10], [X18]: 4LEDs – Interface activity [X18]: 1LED

Parameterisation interface

– [X18], Ethernet; parameterisation and configuration over

commissioning software (èwww.festo.com/sp)

– [X19] IN/OUT, RT-Ethernet; parameterisation and configura-

tion per bus protocol

– [X5], Configuration/date transfer over the removable display

and operating unit

Protocol RT Ethernet CMMT-AS-...-EC: EtherCAT

CMMT-AS-...-EP: EtherNet/IP CMMT-AS-...-PN: PROFINET

Tab. 93 General technical data

Ambient conditions, transport

Transport temperature [°C] −25…+70

Relative humidity [%] 5…95 (non-condensing)

Max. transportation duration

[d] 30

Permissible altitude [m] 12000 (above sea level) for 12h

Vibration resistance Vibration test and free fall in packaging in accordance with

EN61800-2

Tab. 94 Ambient conditions, transport

Ambient conditions, storage

Storage temperature [°C] −25…+55

Relative humidity [%] 5…95 (non-condensing)

Permissible altitude [m] 3000 (above sea level)

Tab. 95 Ambient conditions, storage

Technical data

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Ambient conditions for operation

Ambient temperature at nominal power

[°C] 0…+40

Ambient temperature with power reduction (–3%/°C at 40°C…50°C)

[°C] 0…+50

Cooling through surrounding air in the control cabinet

Temperature monitoring

Monitoring of: – Cooling element (power module) – Air in the device Switch off at temperature that is too high or too low

Relative humidity [%] 5…90 (not condensing) No corrosive media permitted near the

device

Permissible setup altitude above sea level at nominal power

[m] 0…1000

Permissible setup altitude above sea level with power reduction (–10%/1000m at 1000m…2000m)

[m] 0…2000

Operation above 2000m is not permitted!

Degree of protection IP20 (with plugged-in counterplug X9A, otherwise IP10);

use in a control cabinet with at least IP54, design as “closed electrical operating area” in accordance with IEC61800-5-1, Chap.3.5

Protection class I

Overvoltage category III

Degree of contamination

Vibration resistance in accordance with

IEC61800-5-1 and EN61800-2

Shock resistance in accordance with

EN61800-2

Tab. 96 Ambient conditions for operation

Technical data

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Service life

Service life of the device with nominal load in S1 operation

and 40°C ambient temperature

[h] 25000

Service life of the device with <50% nominal load in S1 operation1) and 40°C ambient temperature

[h] 50000

1) continuous operation with constant load

Tab. 97 Service life

Materials

Housing Polymer

Cooling profile Die-cast aluminium

Tab. 98 Materials

11.3 Technical data, electrical

11.3.1 Load and logic voltage supply [X9A]

Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A

Number of phases 1

Voltage range [VAC] 100V AC – 20% … 230V AC + 15%

Nominal voltage [VAC] 230

System voltage in accordance with IEC61800-5-1

[VAC] 300

Mains current consumption1) at nominal power approx.

RMS

] 2.8 5.6

Mains frequency [Hz] 48…62

Network connection/allowed electrical network types

LèN: TT, TN, IT L1èL2: TT, TN

Technical data

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Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A

Required quality of the mains supply

Corresponds to the requirements of EN61800-3, if not specified otherwise

Short circuit current rating (SCCR)

[A] 10000

Alternative DC supply feed

[VDC] 80…360

1) dependent on the network impedance; if a line inductor is used, somewhat less mains current results

Tab. 99 Load voltage supply

Electrical data, logic voltage supply

CMMT-AS- C2-3A C4-3A

Logic voltage range [VDC] 24 ±20%

Nominal voltage [VDC] 24

Current consumption (without holding brake, CDSB, digital I/Os and auxiliary supply outputs without load)

[A] 0.5

Current consumption (with holding brake)

[A] 1.3 1.5

Current consumption (with holding brake, with CDSB, digital I/Os and auxiliary supply outputs with load and with fan, if present)

[A] 2.1 2.3

Starting current (with

28.8V)

[A] <20

Protective functions – Overvoltage

– Polarity reversal – Short circuit to 0V (24V outputs)

Tab. 100 Logic supply

Intermediate circuit and brake chopper

Technical data

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Electrical data, intermediate circuit

CMMT-AS- C2-3A C4-3A

Intermediate circuit voltage with feed of nominal voltage at the mains input

[VDC] 310…320

Permitted maximum voltage

[VDC] <395

Tab. 101 Intermediate circuit The intermediate circuit voltage is continuously monitored by the firmware of the device. The switch-

ing thresholds can be parameterised. The device can thus be adapted to different feed voltages. Presetting of the switching thresholds as delivered: – Undervoltage: 250V – Overvoltage: 400V The preload time of the intermediate circuit is controlled and monitored by the firmware. The firmware monitors whether the intermediate circuit can be loaded in the correct time window. The soft-start relay is closed after 1s.

Electrical data, brake chopper

CMMT-AS- C2-3A C4-3A

Brake chopper switching threshold ON

[VDC] Typical380

Brake chopper hysteresis ON OFF

[VDC] Typical5

Protective function If an external braking resistor is used, correct parameterisation

of the data of this external braking resistor is required. – Short circuit detection against DC+ with fast switch-off of the

brake chopper and the power output stage

– Monitoring of the pulse energy and the continuous power of

the braking resistor by the firmware with switching off of the braking resistor and of the power output stage when the power limit is reached

Tab. 102 Brake chopper

Technical data

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11.3.2 Electrical data for braking resistor (internal/external) [X9B]

Integrated braking resistor [X9B]

CMMT-AS- C2-3A C4-3A

Resistor [Ω] 100

Pulse power

[W] 1600

Pulse energy [Ws] 230

Continuous power (specification according to IEC) at 70°C ambient temperature

[W] 23

Continuous power (specification for UL) at 70°C ambient temperature

[W] 15

1) Taking account the component tolerances (10%) at 370VDC DC-link voltage

2) Air temperature in cooling duct (assembly position of braking resistor)

Tab. 103 Integrated braking resistor [X9B]

Requirements on external braking resistor [X9B]

CMMT-AS- C2-3A C4-3A

Max. resistance [Ω] 160 100

Min. resistance [Ω] 100 70

Permissible continuous power of external resistor (or of brake chopper in device)

[W] 180 350

Pulse power [W] 1500 2000

Permissible pulse energy (for the brake chopper)

[Ws] 2000 4000

Operating voltage [VDC] ³500

Parasitic inductance [uH] £200

Thermal protection Yes, possible to monitor the power in the braking resistor in the

device firmware

Tab. 104 Requirements on external braking resistor [X9B]

Technical data

93Festo — CMMT-AS-C2/C4-3A-... — 2018-02

11.3.3 Power specifications, motor connection [X6A]

Internal protective functions detect short circuits between 2 motor phases and short circuits of a motor phase against PE. If a short circuit is detected, the PWM signals are switched off.

Parameters for the power specifications

CMMT-AS- C2-3A C4-3A

Nominal voltage of mains connection

RMS

] 230

Ambient temperature (air)

[°C] £40

Setup altitude [m] £1000

Tab. 105 Parameters

Power specifications in operation under the named parameters [X6A]

CMMT-AS- C2-3A C4-3A

PWM frequency [kHz] 8 16 8 16

Current regulator cycle time

[µs] 62.5

Nominal output power (S1 operation; cos(phi)

>0.8)

[W] 350 255 700 500

Nominal current (S1 operation)

RMS

] 2.0 1.5 4 2.5

Max. output power (S2 operation; cos(phi)

>0.8)

[W] 1000 700 2000 1400

Output voltage range [V

RMS

] 3 x 0V …Input

Output voltage with feeding of nominal voltage and nominal power

RMS

] 205

Output frequency [Hz] 0…599

Technical data

94 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Power specifications in operation under the named parameters [X6A]

CMMT-AS- C2-3A C4-3A

PWM frequency [kHz] 8 16 8 16

Maximum current [A

RMS

] 6 4.5 12 7.5

Duration for maximum current (fs >5Hz)

[s] 2

Duration for maximum current at standstill (fs£5Hz); minimum cycle time 1s!

[s] 0.2

Tab. 106 Power specifications, motor connection [X6A] If parameters deviate, the above specified power specifications are not achieved. The following power

reductions are then valid. The power reductions refer simultaneously to nominal output power, max. output power, nominal current and maximum current.

Power reduction

CMMT-AS- C2-3A C4-3A

Changed mains voltage 80V

RMS

…265V

RMS

– No power reduction with current – Reduced achievable rotary speed/speed and power with

reduced mains voltage

Ambient temperature (air) 40°C…50°C

[%] -3/°C

Setup altitude

>1000m

(1000m…2000m)

[%] -10/1000m

Tab. 107 Power reduction

Temperature monitoring

CMMT-AS- C2-3A C4-3A

Power section temperature

Warning [°C] 80 85

Shutdown [°C] >85 >90

Technical data

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Temperature monitoring

CMMT-AS- C2-3A C4-3A

Air temperature

Warning [°C] 70 75

Shutdown [°C] >75 >80

Shutdown if air temperature too low

[°C] 0

Tab. 108 Temperature monitoring

11.3.4 Motor auxiliary connection [X6B]

Motor temperature monitoring [X6B]

Analogue sensors Analogue temperature sensors with gain and offset

– KTY 81…84 (silicon temperature sensors) – PTC (PTC resistor, positive temperature coefficient) – NTC (negative temperature coefficient) – Pt1000 (platinum measuring resistor)

Digital sensors – N/C contact

– N/O contact

Tab. 109 Motor temperature monitoring [X6B]

Technical data

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Output of holding brake [X6B]

CMMT-AS- C2-3A C4-3A

Max. continuous output current

[A] 0.8 1

Max. voltage drop from +24V input at connection [X9A] to brake output at [X6B]

[VDC] 1.5

Max. permissible inductive load

[H] <5

Protective functions – Short circuit to 0V/PE

– Overvoltage-proof to 60V

– Thermal overload protection

Fault detection Voltage at output despite brake having shut down

Diagnostics possible via: – Output SBA – Error message on device

1) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.

Tab. 110 Output of holding brake [X6B]

11.3.5 Encoder interfaces [X2], [X3]

EnDat 2.1 encoder at [X2]

Parameterisable no. of encoder pulses

1…16777216 position values/revolution (24bit)

Angle resolution/interpolation

None; digital angle signal from encoder

Clock signal [MHz] RS422/485; max. 2

Data channel [MHz] RS422/485; max. 2

Input impedance data [Ω] RS422/485; 120

Output supply [mA] Max. 250 (at 5.00V…5.50V)

Support: mechanical multiturn encoder

Yes, up to 4096 revolutions

Support: battery-buffered multiturn encoder

Technical data

97Festo — CMMT-AS-C2/C4-3A-... — 2018-02

EnDat 2.1 encoder at [X2]

Support: encoder parameter memory

Yes, storing of controller parameters in encoder

Support: encoder error messages

Yes, supported

Encoder communication failure

Up to 2 corrupted/failed encoder messages tolerated. After this an error message will be generated.

Tab. 111 EnDat 2.1 encoder at [X2]

EnDat 2.2 encoder at [X2]

Parameterisable no. of encoder pulses

1…16777216 position values/revolution (24bit)

Angle resolution/interpolation

None; digital angle signal from encoder

Clock signal [MHz] RS422/485; max. 4

Data channel [MHz] RS422/485; max. 4

Input impedance data [Ω] RS422/485; 120

Output supply [mA] Max. 250 (at 9.50V…10.50V)

Support: mechanical multiturn encoder

Yes, up to 4096 revolutions

Support: battery-buffered multiturn encoder

Yes, up to 16bit; battery buffer not integrated in CMMT-AS (cable adapter/box required)

Support: encoder parameter memory

Yes, storing of controller parameters in encoder

Support: encoder error messages

Yes, supported

Encoder communication failure

Up to 2 corrupted/failed encoder messages tolerated. After this an error message will be generated.

Tab. 112 EnDat 2.2 encoder at [X2]

Technical data

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Hiperface encoder at [X2]

Parameterisable no. of encoder pulses

1…1024 periods/revolution (10bit)

Angle resolution/interpolation

Min. 10 bits/period

Data channel Hiperface [MHz] RS422/485; max. 4

(Hiperface 9.6kbit/s to 115kbit/s)

Input impedance for data channel

[Ω] RS422/485; 120

[V] 2.5±20% (DC offset on SIN, #SIN, COS, #COS)Tracking signals SIN,

COS

[Vss] 1±10% (differential signal SIN - #SIN, COS - #COS)

Input impedance SIN, COS

[Ω] 120 (differential input)

Critical frequency SIN, COS

[kHz] Approx. 50 (high-resolution tracking)

Noise-free angle resolution within one SIN, COS period

[bit] 10 (measured on noise-free SIN/COS signals)

Noise-free angle resolution with SEK/SEL37 per motor revolution

[bit] Min.12, typically13 (10m motor/encoder line, active drive con-

trol)

Noise-free angle resolution with SKS/SKM36 per motor revolution

[bit] Min.15, typically17 (10m motor/encoder line, active drive con-

trol)

[V] 10±10%Output supply

[mA] Max.250

Support: mechanical multiturn encoder

Yes, up to 4096 revolutions

Technical data

99Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Hiperface encoder at [X2]

Support: battery-buffered multiturn encoder

Yes, up to 16bit; battery buffer not integrated in CMMT-AS (cable adapter/box required)

Support: encoder parameter memory

Yes, storing of controller parameters in encoder

Encoder signal monitoring

Vector length monitoring for SIN/COS signals, signal amplitude range –30%...+20%, error message if position determination is no longer possible. A cyclical comparison of the position values of the SIN/COS signals with the absolute position read via the data channel detects miscounting by an entire signal period.

Tab. 113 Hiperface encoder at [X2]

SIN/COS encoder at [X2], [X3]

Parameterisable no. of encoder pulses

1…65536 periods/revolution (16bit)

Angle resolution/interpolation

Min.10bits/period

[V] 2.5±20% (DC offset on SIN, #SIN, COS, #COS)Tracking signals SIN,

COS

[Vss] 1±10% (differential signal SIN - #SIN, COS - #COS)

Input impedance SIN, COS

[Ω] 120(differential input)

Critical frequency f

crit

SIN, COS

[kHz] Approx.50 (high-resolution tracking)

Noise-free angle resolution within one SIN, COS period

[bit] 10 (measured on noise-free SIN/COS signals)

Noise-free angle resolution with LS187 (20µm signal period)

[nm] <100

[V] 5±5%Output supply

[mA] Max.250

Support: mechanical multiturn encoder

Technical data

100 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Festo CMMT-AS-C2-3A Series, CMMT-AS-C4-3A Series Assembly And Installation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual