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Festo CMMP-AS-C2-3A Mounting And Installation Manual Download Page 50

5. Functional safety engineering 

50 

 

Festo P.BE-CMMP-AS-3A-HW-EN 0708NH 

2. switch-off path: 

Interruption of the supply for the six end stage IGBTs via [X3] using a 
relay (the IGBT optocoupler drivers are removed from the power 
supply via a relay, thus preventing the PWM signals from reaching 
the IGBTs). 

A plausibility check between the relay control for the end stage 
driver supply and the monitoring of the driver supply is performed 
by the microprocessor. This is used for error detection of the pulse 
blocker and also for suppressing error messages occurring in nor-
mal operation E 05-2 ("Driver supply undervoltage"). 

Potential-free  
feedback contact: 

 

The integrated "Safe standstill" circuitry also has a potential-free 
feedback contact ([X3] Pins 5 and 6) for the existence of the driver 
supply. This is an NC contact. It must be connected to (e.g.) the 
higher level control system. At suitable intervals (e.g. PLC cycle time 
or on every "Safe standstill" request), the PLC must perform a plau-
sibility check between the relay control for the driver supply and the 
feedback contact (contact open = driver supply present). 

If an error occurs in the plausibility check, the control system must 
prevent further operation by (e.g.) removing the controller enable or 
switching off the mains circuit breaker. 

5.2.2

 

Secure stopping brake control 

When "Safe standstill" is activated, power is removed from the holding brake via two 
channels (brake engaged); (see block schematic). 

 

1. channel: 

The holding brake is controlled by DIN5 (controller enable) in nor-
mal operation (see following timing diagram). The 1st "end stage 
enable" switch-off path affects the brake driver via the micropro-
cessor and removes power from the holding brake (brake applied). 

2. channel: 

The 2nd "Relay control for driver supply" switch-off path directly 
controls a MOSFET that activates the holding brake (brake applied). 

 

 

Caution 

The user is responsible for the dimensioning and the reliable func-
tioning of the holding brake. The functioning of the brake must be 
ensured via a suitable braking test. 

 

Summary of Contents for CMMP-AS-C2-3A

Page 1: ...Beschneiden Oben 61 5 mm Unten 61 5 mm Links 43 5 mm Rechts 43 5 mm Motorcontroller CMMP Description Mounting and installation Type CMMP AS 3A Description 557 326 en 0708NH 723 739 ...

Page 2: ......

Page 3: ...KG D 73726 Esslingen Federal Republic of Germany 2006 Internet http www festo com E mail service_international festo com The reproduction of this document and disclosure to third parties and the utilisation or communication of its contents without explicit authorization is prohibited Offenders will be held liable for compensation of damages All rights reserved in particular the right to carry out ...

Page 4: ...Co KG Name of manual File name File saved at Consec no Description Index of revisions Date of amendment 1 24 04 08 Trade names Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corpo ration in the United States and or other countries SinCoder ...

Page 5: ... shock 20 2 4 5 Protection from dangerous movements 20 2 4 6 Protection against touching hot components 21 2 4 7 Protection when handling and assembling 22 3 Product description 23 3 1 General data 23 3 1 1 Switch on sequence 26 3 2 Power supply 27 3 2 1 Single phase AC supply with active PFC 27 3 2 2 Intermediate circuit coupling DC power supply 29 3 2 3 Mains fuse 29 3 3 Brake chopper 29 3 4 Com...

Page 6: ...4 3 3 Absolute positioning 42 4 3 4 Motion profile generator 42 4 3 5 Homing run 42 4 3 6 Positioning sequences 43 4 3 7 Optional Stop input 44 4 3 8 Contour control with linear interpolation 44 4 3 9 Time synchronised multi axis positioning 45 5 Functional safety engineering 46 5 1 General information and intended use 46 5 2 Integrated Safe standstill function 48 5 2 1 General information descrip...

Page 7: ...ction Resolver X2A 75 7 7 1 Layout on device X2A 75 7 7 2 Counterplug X2A 75 7 7 3 Pin assignments X2A 75 7 8 Connection Encoder X2B 76 7 8 1 Layout on device X2B 76 7 8 2 Counterplug X2B 76 7 9 Connection Increment encoder input X10 77 7 9 1 Layout on device X10 77 7 9 2 Counterplug X10 77 7 9 3 Pin assignments X10 77 7 9 4 Type and layout of cable X10 77 7 9 5 Connection notes X10 77 7 10 Connec...

Page 8: ...9 Service functions and error messages 89 9 1 Protective and service functions 89 9 1 1 Overview 89 9 1 2 Overload current and short circuit monitoring 89 9 1 3 Overvoltage monitoring for the intermediate circuit 89 9 1 4 Temperature monitoring for the heat sink 89 9 1 5 Motor monitoring 90 9 1 6 I t monitoring 90 9 1 7 Power monitoring for the brake chopper 90 9 1 8 l t monitoring of the PFC stag...

Page 9: ...0708NH 9 A 4 3 Encoder connection X2B for EMMS AS 105 A 5 Communication interfaces 106 A 5 1 RS232 X5 106 A 5 2 CAN bus X4 106 A 5 3 I O interface X1 107 A 5 4 Increment encoder input X10 108 A 5 5 Incremental encoder output X11 108 B Glossary 109 ...

Page 10: ...g controllers CANopen manual P BE CMMP CO SW CMMP AS Servo positioning controller De scription of the implemented CANopen protocol as per DSP402 PROFIBUS manual P BE CMMP FHPP PB SW CMMP AS servo positioning controller Description of the implemented PROFIBUS DP protocol SERCOS manual P BE CMMP SC SW CMMP AS servo positioning controller De scribes the implemented SERCOS functionality Ethernet manua...

Page 11: ... includes Number Delivery 1 x CMMP AS servo positioning controller Inserted plug for motor connection and power Table 1 1 Scope of delivery Counterplugs for control or shaft encoder connections are not in cluded in the standard scope of delivery However they can be or dered as accessories ...

Page 12: ...uctions contain reference to dangerous voltages which may occur 2 2 General information Festo AG Co KG is not liable for damage caused by failure to observe the warning instruc tions in these operating instructions Note Before commissioning the Safety instructions for electric drives and controllers from page 12 must be read and also chapter 7 13 Instructions on safe and EMC compliant installation...

Page 13: ...with the application requirements Training or instructions in using and maintaining suitable safety equipment in accor dance with technical safety standards Training in first aid The following instructions must be read before the system is commissioned for the first time to prevent injury and or material damage These safety instructions must be observed at all times Do not attempt to install or co...

Page 14: ... safety equipment can cause material damage injury electric shock and in extreme cases even be fatal 2 3 Danger through incorrect use Warning DANGER High electric voltage and high working current Danger of death or serious bodily injury due to electric shock Warning DANGER High electric voltage due to incorrect connection Danger of death or bodily injury due to electric shock Warning DANGER Surfac...

Page 15: ...g appropriate isolating equipment e g main switch contactor circuit breaker The servo drive controller can be fused with a 300 mA all current sensitive fault current circuit breaker RCD Residual Current pro tective Device Warning For switching the control contacts you should use gold plated con tacts or high pressure contacts Precautionary measures must be taken for preventing interference to swit...

Page 16: ...ions can lead to bodily injury death or considerable damage to property The following precautionary measures also apply without claim to completeness VDE 0100 Regulations for setting up high voltage systems up to 1 000 volts EN 60204 1 Electrical equipment for machines EN 50178 Equipping high voltage systems with electronic devices EN ISO 12100 Machine safety definitions general design guide lines...

Page 17: ...ment free of voltage via the main switch and make sure that it cannot be switched on again Wait until the intermediate circuit is discharged in the following cases Maintenance work and commissioning Cleaning Long shutdown periods Warning The external or internal braking resistance is live and can carry a dangerous intermediate circuit voltage for up to approx 5 minutes after the servo drive contro...

Page 18: ...ning Carry out commissioning with a free running motor in order to avoid mechanical damage e g due to incorrect direction of rotation Warning Electronic devices are never fail proof The user is responsible for ensuring that his system is brought into a safe state if the electric device fails Warning DANGER The servo drive controller and in particular the braking resistance external or internal can...

Page 19: ...ted so that the electric components cannot be touched The EN 60204 1 standard must be observed Warning Always connect the protective earth conductor of the electrical equipment and the devices firmly to the supply network Due to the integrated network filter the leakage current is greater than 3 5 mA Warning Before commissioning and also for brief measuring and test purposes always connect the pro...

Page 20: ...citor residual charge 2 4 4 Protection by low voltage PELV against electric shock All connections and terminals with voltages from 5 to 50 volts on the servo drive controller are PELVs designed to be safe to touch in accordance with the following standards Standards International IEC 60364 4 41 European EN 50178 and EN60204 1 Warning DANGER High electric voltage due to incorrect connection Danger ...

Page 21: ... on the operating state Warning DANGER Dangerous movements Danger of injury or death serious bodily injury or material damage For the above mentioned reasons the protection of human beings must be ensured with the aid of monitoring systems or by measures which are of higher order than the system These measures are foreseen depending on the specific features of a danger and fault analysis by the sy...

Page 22: ...shing shearing cutting pushing The following safety measures apply here Warning Observe the general regulations on setting up and safety when handling and assembling Use suitable assembly and transport devices Prevent clamping and squashing of fingers Use only suitable tools If specified use special tools Use lifting devices and tools in a correct manner If necessary use suitable protective equipm...

Page 23: ...re intended for connection to the 230 VAC mains grid and are equipped with an active PFC Power Factor Control stage The PFC stage is an ac tive mains power converter that is required for conformance to the relevant standards for limiting mains grid harmonics The PFC stage also performs active regulation of the inter mediate circuit voltage The PFC stage operates using the boost chopper principle a...

Page 24: ...stallation on standard switching cabinet mounting panels The devices have protection class IP20 Integration of all filters required to fulfil the EMC regulations during operation indus trial area in the device e g mains filter motor output filter filter for 24 V power sup ply and for the inputs and outputs The filters are designed for motor cable lengths of up to 25 m External filters must be used...

Page 25: ... O s User friendly parameterisation using the Festo Configuration Tool PC program Menu driven commissioning Automatic motor identification Simple connection to a higher level controller e g a PLC via the I O level or Fieldbus High resolution 16 bit analogue input Expansion socket for the following Fieldbuses Profibus DeviceNet Ethernet and Sercos Safe standstill option as per EN 954 1 safety categ...

Page 26: ...f boot program and application start t2 500 µs tcycP t3 30 ms Depends on the operating mode and the state of the drive t4a N x 10 ms Parameterisable Travel start delay tF braking parameter t4b 100 ms Optional for motors with angular encoders without commutator signals Time for determination of commutator position t5 10 ms t6 K x 250 µs tcycN Depending on the quick stop deceleration ramp t7 M x 10 ...

Page 27: ...rvo positioning controller allows dynamic changing between motor and generator operation in both directions without dead times No end user parameterising required Switch on behaviour As soon as the CMMP AS is provided with mains voltage the intermediate circuit is charged 1 s via the braking resistor with the intermediate circuit relay deactivated The PFC stage is not switched on at this point Aft...

Page 28: ...ed to pre control the PFC stage 3 phase power stage M 3 microcontroller voltage controller motion controller IC for power factor correction L D C u_q i_q PWM U_Zk i_v i_u T8 I_in U_in 100V 230V AC 10 F motor feedback Fig 3 1 Schematic structure of the PFC stage The control system encompasses the following Digital control of the intermediate circuit voltage to an average value of approx 360 VDC Ana...

Page 29: ...nised as open 3 2 3 Mains fuse A single phase 16 A slow blow B16 circuit breaker must be installed in the mains power supply cable Note If CE certification is required the following specifications for mains fusing must be observed Listed Circuit Breaker as per UL 489 rated 277 Vac 16 A SCR 10 kA 3 3 Brake chopper A brake chopper with a braking resistor is integrated in the power output stage If th...

Page 30: ...h is of central importance for connecting a PC and for using the parameterisation software The basic version of the CMMP AS servo positioning controller also has a CANopen inter face PROFIBUS DP and DeviceNet can also be used via pluggable expansion options In the version described here the servo positioning controller always operates as a Field bus slave 3 4 1 Festo profile for handling and posit...

Page 31: ...positioning controller in test situations 3 4 3 CAN bus The following profiles are available for communication via the CAN bus CANopen protocol in accordance with DS301 with application profile DSP402 or The Festo FHPP positioning profile The CMMP AS series no longer supports the specific Festo CAN protocol of the previous SEC AC family of devices 3 4 4 Profibus Support of PROFIBUS communication a...

Page 32: ...ces controllers DeviceNet is based on the CIP protocol Common Industrial Protocol and shares all common aspects of CIP with adaptations enabling the frame size of messages to be adapted to that of DeviceNet In order to make commissioning fast and simple the abilities of the DeviceNet interface of the motor controller are described in an EDS file By using a suitable configuration tool you can confi...

Page 33: ...cations The CMMP AS servo positioning controller has three analogue inputs for input levels rang ing from 10 VDC to 10 VDC One input is a differential input 16 bit ensuring a high de gree of protection against interference Two inputs 10 Bit are single ended The analogue signals are quantified and digitalised by the analogue digital converter at a resolution of 16 bits or 10 bits These analogue sig...

Page 34: ...tion t1 250 µs tcycN t2 N x 250 µs tcycN Depending on the quick stop deceleration ramp t3 10 ms t4 M x 250 µs tcycN Depending on the speed ramp Table 3 3 Switch on sequence timing Actual speed value 1 Permanent blocking of the direction of rotation by the end switch Actual speed value 2 No permanent blocking of the direction of rotation by the end switch ...

Page 35: ... encoder signals and the high clock frequency make the CMMP AS family of servo positioning controllers suitable for control ling non ferrous and iron core synchronous motors with low motor inductance 2 4mH 4 2 Functions of the CMMP AS servo positioning con troller 4 2 1 Compatibility From the user point of view for reasons of compatibility the control structure of the CMMP AS servo positioning con...

Page 36: ...lock frequency can be set to half that of the current regulator clock frequency The CMMP AS servo positioning controller also has a sinewave modulation or alterna tively third harmonic sinewave modulation This increases the effective converter output voltage The modulation type can be selected using the parameterising software The de fault setting is third harmonic sinewave modulation Converter ou...

Page 37: ...d regulation circuit cycle time of the CMMP AS servo positioning controller is 250 µs The speed controller is designed as a PI controller with an internal resolution of 12 bits per revolution min To suppress wind up effects the integrator function is stopped when subordinate limits are reached In the controlled speed mode the current regulator and the speed regulator are active Analogue setpoint i...

Page 38: ...vice has a PLL to allow synchronisation of the device regulation with external clock sources e g DeviceNet PROFIBUS MC In these cases the cycle time is variable within certain limits to allow synchronisation with the external clock signal 4 2 8 Load torque compensation for vertical axes For vertical axis applications the holding torque at standstill can be acquired and stored It is then used as a ...

Page 39: ...m the posi tioning or synchronisation control system The internal resolution is up to 32 bits per mo tor revolution depending on the encoder used Position Target reached Start positioning Positioning running DOUT1 MC Target position Actual position t1 t4 t2 t3 DIN0 DIN3 DIN10 DIN11 t5 Time Action t1 500 µs tcycP Impulse length of the START signal t2 1 ms tcycIPO Delay before the drive starts t3 N ...

Page 40: ...able delay times In the positioning mode an additional automatic braking function can be activated that switches off the end stage of the CMMP AS servo positioning controller after a parameterisable idle period and engages the brake The mode of operation is compatible with the functions of the previous SEC AC device family 4 3 Positioning control 4 3 1 Overview In the positioning mode a certain po...

Page 41: ...specified direction of movement Option Automatic braking when subsequent positioning is missing Option Travel speed continuously adjustable via analogue input during travel Various options for creating motion programs The positioning records can be accessed via all bus systems or the parameterising soft ware The positioning sequence can be controlled via digital inputs 4 3 2 Relative positioning W...

Page 42: ...the mechanics a t a t a t t t t v t t v t t v t t at time optimal jerk limit jerk limit Fig 4 2 Travel profile with the CMMP AS servo positioning controller t1 t2 t3 when amax 1 amax 2 and amax 3 are the same 4 3 5 Homing run Every positioning controller requires a defined zero point at the start of operation which is determined by a homing run The CMMP AS servo positioning controller can independ...

Page 43: ... can also be done time optimised or jerk free 4 3 6 Positioning sequences Positioning sequences are a number of sequentially organised positioning records These are travelled to one after another A positioning record can be made part of a path program via its path program options This results in a linked list of positions POS1 POS13 POS19 START END POS5 POS6 POS7 POS8 Fig 4 3 Route program The use...

Page 44: ...ing continues to the original target posi tion Since the existing digital inputs are normally occupied in normal applications the analogue inputs AIN1 AIN2 or the digital outputs DOUT2 and DOUT3 which can also be used as inputs can be used for this 4 3 8 Contour control with linear interpolation The implementation of interpolated position mode allows the specification of position setpoints in mult...

Page 45: ...e synchronised multi axis positioning In multi axis applications using the interpolated position mode clock synchronisation allows simultaneous motions All the CMMP AS servo positioning controllers i e the entire controller cascade are synchronised to the external clock signal Positioning values for multiple axes are read and executed without jitter at the same time For example the Sync message of...

Page 46: ...el of risk see Table 5 1 Category 1 Summary of requirements System behaviour 2 Principles for achieving safety B The safety relevant components and or protection mechanisms and your own components must be designed built selected assembled and combined in such a way as to conform with the relevant standards so that they can withstand the ex pected influences The occurrence of a fault can lead to a ...

Page 47: ...alysis is used to determine whether a complete or partial loss of safety function s due to faults is acceptable Table 5 1 Description of the category requirements as per EN 954 1 Among other issues the EN 60204 1 standard deals with the handling of emergencies and defines the terms EMERGENCY OFF and EMERGENCY STOP see Table 5 2 Handling Definition EN 60204 1 Danger case EMERGENCY OFF Electrical sa...

Page 48: ... thus cannot make any dangerous rotations With suspended loads additional measures must be taken to ensure that the load does not fall e g me chanical holding brake Monitoring of the standstill position must not be performed in the Safe standstill state There are 3 suitable measures for implementing Safe standstill Measures Circuit breaker between the mains grid and the drive system mains breaker ...

Page 49: ...ring of holding brake High lift brake active Low apply brake 9 21 1 shut down path 2 shut down path Floating feedback contact for driver supply X6 1 2 7 8 9 24V IO Fig 5 1 Safe standstill block schematic as per EN 954 1 Category 3 Caution If the Safe standstill function is not required then pins 1 and 2 of X3 must be bridged For Safe standstill as per EN 954 1 Category 3 a second channel is requir...

Page 50: ...or on every Safe standstill request the PLC must perform a plau sibility check between the relay control for the driver supply and the feedback contact contact open driver supply present If an error occurs in the plausibility check the control system must prevent further operation by e g removing the controller enable or switching off the mains circuit breaker 5 2 2 Secure stopping brake control W...

Page 51: ... engineering Festo P BE CMMP AS 3A HW EN 0708NH 51 5 2 3 Functional method Timing The following timing diagram illustrates the functional method of Safe standstill to gether with controller enabling and the stopping brake ...

Page 52: ...trolled by µP Set speed n n 0 n H H H Seven segment display Delay until brake is released Delay until brake is applied Timing of safe stop activation variable To be determined by user e g by means of safety switching devices depending on application 2 shut down path 1 shut down path Discharge curve of electrolytic capacitors for the supply of the pulse amplifiers safe stop safe stop OFF ON OFF Can...

Page 53: ...4 is largely freely selectable t4 t1 The enable may occur at the same time as the relay is controlled but it must occur approx 10 µs t5 t4 before the rising edge of the controller enable X1 DIN5 de pending on the application 6 The rising edge of the controller enable at time t5 releases the motor holding brake if present and the end stage enable occurs The brake can only be released when the relay...

Page 54: ... time can be set to 0 3 After this time the internal end stage enable is switched off by the microprocessor t10 The holding brake is always applied when the braking ramp time set switch off delay has expired even when the drive has not come to a stop within this time 4 From time t10 the Safe standstill can be activated driver supply relay and end stage enable switched off at the same time Time t11...

Page 55: ...uested or supply voltage switched off Feedback driver supply Output stage enabling X9 Power supply Fig 5 3 Emergency stop circuit as per EN 954 1 Category 3 and Stop Category 0 as per EN 60204 1 Mode of operation The EMERGENCY STOP request causes the EMERGENCY STOP switching device to block the end stage enable and the relay control for the IGBT end stage driver supply The drive runs to a standsti...

Page 56: ...available for the drive after the EMERGENCY STOP switching device is deactivated and the controller is enabled once more Connection of the motor and the optional holding brake is not shown here and can be found in chapter 7 Electrical installation Warning DANGER The motor brake must be designed to be capable of stopping the drive motion ...

Page 57: ...ains input 24V Input 24V Input µP 1 2 3 4 5 6 Triggering of relay n c NC1 NC2 DIN5 Controller enabling DIN4 Output stage enabling CMMP AS 3A 21 9 1 2 8 9 X9 Power supply Power contactor Controller enabling Output stage driver supply Output stage enabling Feedback driver supply Fig 5 4 Protective door monitoring as per EN 954 1 Category 3 and Stop Category 1 as per EN 60204 1 Mode of operation The ...

Page 58: ...is opened without a standstill request the drive runs to a stop as per EN 60204 1 stop category 0 and if present the motor holding brake is engaged The driver is then in the Safe standstill state and is protected against restarting A door position switch can also be used that keeps the protective door closed until the drive has stopped or the Driver supply feedback signal indicates a safe state an...

Page 59: ...ting clearance For sufficient ventilation 100 mm of clearance to other assem blies is required above and below the device The servo positioning controllers of the CMMP AS family are designed to be mounted on a heat dissipating mounting panel if used as intended and installed correctly We wish to point out that excessive heating can lead to premature aging and or damage to the device With high ther...

Page 60: ...6 Mechanical installation 60 Festo P BE CMMP AS 3A HW EN 0708NH Fig 6 1 Mounting clearances for the CMMP AS servo positioning controller ...

Page 61: ...ntrol connection for driver supply relay Safe standstill 4 Slots Ext 1 and Ext 2 for the Field bus modules 5 X4 Connection for the CANopen interface 6 X5 Connection for the RS232 serial interface 7 Status display 8 Ready LED 9 PE connection Fig 6 2 CMMP AS servo positioning controller Front view 1 3 8 2 7 4 6 5 9 ...

Page 62: ...installation 62 Festo P BE CMMP AS 3A HW EN 0708NH 1 X9 Supply 2 X11 Incremental en coder output 3 X10 Incremental en coder input 4 X1 I O communication Fig 6 3 CMMP AS servo positioning controller Top view 2 3 4 1 ...

Page 63: ...E CMMP AS 3A HW EN 0708NH 63 1 PE connection for the outer shield of the motor cable Spring terminal 2 X6 Motor connection 3 X2A Resolver connection 4 X2B Encoder connection Fig 6 4 CMMP AS servo positioning controller Lower view 3 4 1 2 ...

Page 64: ...ing control ler They are used to attach the servo positioning controller vertically to a control cabinet mounting plate The clips are part of the radiator profile ensuring an optimal heat transfer to the control cabinet plate Please use size M4 screws to attach the servo positioning controller Fig 6 5 CMMP AS servo positioning controller Mounting plate ...

Page 65: ...2B CMMP AS 24V Supply Motor feedback T Permanent magnet synchronous machine Ground conductor from motor 100VAC 230 VAC 10 L N PE 24V 0V F1 ZK ZK BR INT BR CH External brake resistor Bridge circuit for internal brake resistor alternative main fuse Fig 7 1 Connection to the power supply voltage and the motor For operating the CMMP AS servo positioning controller a 24 V power supply for the elec tron...

Page 66: ...oller must first be fully wired Only then can the operating voltages be activated for the intermediate circuit and the power supply If the polarity of the operating voltage connections is reversed or if the operating voltage is too high or the operating voltage and motor connections are incorrectly connected the CMMP AS servo positioning controller will be damaged 7 2 Entire CMMP AS system An enti...

Page 67: ... BE CMMP AS 3A HW EN 0708NH 67 1 Main switch 2 Circuit breaker 3 24 VDC power supply 4 External braking resistor optional 5 PC 6 EMMS AS motor with encoder 7 CMMP AS Fig 7 2 Complete structure of CMMP AS with motor and PC 1 2 6 7 3 4 5 ...

Page 68: ...10 50 60 Hz Mains phase 2 N Mains neutral conductor 3 ZK 440 VDC Positive intermediate circuit voltage 4 ZK GND_ZK Negative intermediate circuit voltage 5 BR INT 460 VDC Internal braking resistor connection bridge to BR CH when using the internal resistor 6 BR CH 460 VDC Brake chopper connection for internal braking resis tance to BR INT and external braking resistor to ZK 7 PE PE Protective condu...

Page 69: ...ng on PIN1 BR 7 4 3 Pin assignments X6 Pin no Description Value Specification 1 BR 0V Brake Holding brake Motor signal level de pends on switching state High side Low side switch 2 BR 24V Brake max 1 A 3 PE PE Cable shield for the stopping brake and the temperature sensor not used in Festo cables 4 MTdig GND Motor temperature sensor NC NO PTC KTY 5 Mtdig 3 3 V 5 mA 6 PE PE Protective conductor fro...

Page 70: ...4 To release the holding brake the voltage tolerances at the holding brake connection terminals must be maintained Observe the specifications in table A8 for this Br Br ARS 2100 Motor 24 V power supply GND power supply 24 V brake GND brake free wheeling diode Resistor and capacitor for spark extinguishing CMMP AS Fig 7 3 Connecting a high current 1 A lockable brake to the device Switching inductiv...

Page 71: ...ntial If the control system has differential outputs then these are to be con nected 1 1 to the differential inputs of the CMMP AS servo positioning controller The AGND reference potential is connected to the control system reference potential This is necessary to ensure the differential input of the CMMP AS servo positioning controller cannot be overloaded by common mode interference There are tw...

Page 72: ...0 DIN2 POS Bit2 Target selection positioning Bit2 8 DIN3 POS Bit3 Target selection positioning Bit3 21 DIN4 FG_E Output stage enable 9 DIN5 FG_R Controller enable input 22 DIN6 END0 Limit switch 0 input blocks n 0 10 DIN7 END1 Limit switch 1 input blocks n 0 23 DIN8 START Start positioning task input 11 DIN9 SAMP High speed input 24 DOUT0 READY 24 V 100 mA Ready for operation output 12 DOUT1 24 V ...

Page 73: ...tors should be shielded One end of the inner cable shied is connected to AGND Pin 1 or 14 of the CMMP AS servo positioning controller It can also be connected at both ends in order to achieve a connection between the control system and CMMP AS servo positioning controller reference potentials Pins 1 and 14 are directly connected to each other in the controller 7 5 5 Connection notes X1 The digital...

Page 74: ...D24 24VDC 24VDC GND GND24 PE PE 100 mA max 100 mA max Connector housing VREF AIN0 AIN0 AGND AIN1 AIN2 AGND 15V AGND AGND AMONx AGND GND AGND DINx GND24 GND Control system CMMP AS Fig 7 4 Schematic showing the main functions of the analogue inputs and outputs for cable x1 7 6 Connection Safe Standstill X3 The Safe standstill safety function is described in chapter 5 2 Integrated Safe stand still fu...

Page 75: ...closed contact Max 250 VAC switching voltage Potential free feedback contact for driver supply NC contact 6 Normally closed contact Table 7 4 Pin assignments X3 7 7 Connection Resolver X2A 7 7 1 Layout on device X2A 1 D SUB connector 9 pin female 7 7 2 Counterplug X2A D SUB connector 9 pin male Housing for 9 pin D SUB connector with locking screws 7 7 3 Pin assignments X2A Pin no Description Value...

Page 76: ...male Pin no Description Value Specification 1 MT 3 3 V Ri 2 k Motor temperature sensor NC PTC KTY not used in Festo cables 9 U_SENS 5 V 12 V RI 1 k Sensor cable for the encoder supply 2 U_SENS 10 US 5 V 12 V 10 Imax 300 mA Operating voltage for high resolution incremental encoder 3 GND 0 V Reference potential for encoder supply and motor temperature sensor 11 4 12 DATA 5 VSS RI 120 Bidirectional R...

Page 77: ...emental encoder signal B stepper motor signal CLK negative polarity as per RS422 3 N 5 V RI 120 Incremental encoder zero pulse N positive polarity as per RS422 8 N 5 V RI 120 Incremental encoder zero pulse N negative polarity as per RS422 4 GND Reference GND for encoder 9 GND Screen for the connecting cable 5 VCC 5 V 5 100 mA Auxiliary supply max load 100 mA but short circuit protected Table 7 7 P...

Page 78: ...ecification 1 O 5 V RA 66 Incremental encoder signal A 6 A 5 V RA 66 Incremental encoder signal A 2 B 5 V RA 66 Incremental encoder signal B 7 B 5 V RA 66 Incremental encoder signal B 3 N 5 V RA 66 Incremental encoder zero pulse N 8 N 5 V RA 66 Incremental encoder zero pulse N 4 GND Reference GND for encoder 9 GND Screen for the connecting cable 5 VCC 5 V 5 100 mA Auxiliary supply max load 100 mA ...

Page 79: ...ommend using metal film resistors with a 1 tolerance and a size of 0207 e g from BCC part no 232215621201 Table 7 9 Pin assignments for CAN bus X4 7 11 4 Connection notes X4 Note When cabling the controller via the CAN bus you should always observe the following information and instructions to ensure that you end up with a stable interference free system Incorrect ca bling can cause faults on the ...

Page 80: ...ed to the CAN shield connection at all nodes 7 The use of intermediate plugs is not recommended for CAN bus cabling If this is un avoidable then metallic plug housings should be used to connect the cable shields 8 In order to reduce the transmission of interference as much as possible always Do not lay motor cables parallel to signal cables The motor cables must conform to the Festo specifications...

Page 81: ... 10 V RI 2 k Receive conductor as per RS232 specification 7 Not assigned 3 TxD 10 V RA 2 k Transmit conductor as per RS232 specification 8 Not assigned 4 RS485 Reserved for optional RS485 operation 9 RS485 Reserved for optional RS485 operation 5 GND 0 V Interface GND electrically connected to GND of the digital unit Table 7 10 Pin assignments of RS232 interface X5 ...

Page 82: ...ntral PE connection of the CMMP AS The mains grid PE connection and the resolver and if present encoder cable shields must also be connected to this star point This star point must be connected to the central mass of the entire switching cabinet short cable to mounting panel using a cable with a large conductive area copper strap This connection strap is already included at the end of the Festo mo...

Page 83: ...e from Festo 7 13 4 EMC areas First and second environments When suitably installed and with suitable cabling for all connections the CMMP AS servo positioning controller conforms to the requirements of the corresponding EN 61800 3 product standard This standard no longer refers to limit value classes but rather to so called environments Note The first environment includes electricity grids connec...

Page 84: ...e motor connection X6 6 Signal lines must be separated as far as possible from the power cables They should not be routed parallel to one another If crossovers cannot be avoided they should be made as close to vertical i e at a 90 angle as possible 7 Unscreened signal and control lines should not be used If they must be used they should at least be twisted 8 Even screened lines always have short u...

Page 85: ...are used 7 13 7 ESD protection Caution Unused D SUB connector pins present a danger of damage to the device or to other parts of the system as a result of ESD electro static discharge In the design of the CMMP AS servo positioning controller great importance has been placed on high resistance to interference For this reason individual function blocks are electrically isolated from each other Signa...

Page 86: ...ities 8 2 Tools material Tool Screwdriver size 1 Serial interface cable Encoder cable Motor cable Power supply cable Controller enable cable 8 3 Connecting the motor Connecting the motor 1 Insert the motor cable plug in the corresponding socket on the motor and secure it 2 Insert the PHOENIX plug into the socket X6 on the device 3 Clamp the cable shields to the shield terminals not suitable as str...

Page 87: ... serial interface of the PC and secure the locking screws 2 Insert the D SUB plug of the serial interface cable into socket X5 RS232 COM for the CMMP AS servo positioning controller and secure the locking screws 3 Check all plug connectors once again 8 6 Checking readiness for operation Checking readiness to operate 1 Make sure that the controller release switch is switched off 2 Switch on the pow...

Page 88: ...N 0708NH No display lights up 1 Switch of the power supply 2 Wait 5 minutes to allow the intermediate circuit to discharge 3 Check all connecting cables 4 Check that the 24 V control voltage is functional 5 Switch on the supply voltage again ...

Page 89: ...ion of faults in the internal voltage supply Power supply collapse If the 24 VDC supply voltage fails approximately 20 ms remain to e g save parameters and shut down the controller in a defined manner 9 1 2 Overload current and short circuit monitoring The overload current and short circuit monitoring is triggered as soon as the current in the intermediate circuit exceeds twice the maximum current...

Page 90: ...sors NTC PTC may require corresponding SW adjustments 9 1 6 I t monitoring The CMMP AS servo positioning controller has l t monitoring to restrict the average power loss in the power output stage and in the motor As the power loss which occurs in the power electronics and in the motor increases by its square as the current flow increases in a worst case scenario the square of the current value is ...

Page 91: ...splay A Controlled torque mode seven segment display I P xxx Positioning xxx represents the position number The digits are sequentially displayed PH x Reference travel x represents the respective phase of the homing run 0 Search phase 1 Slow moving phase 2 Travel to zero position The digits are sequentially displayed E xxy Error message with index xx and sub index y xxy Warning message with main i...

Page 92: ...module exchange Information An exchangeable error store service module was plugged into another device No measures required 01 0 Stack overflow Wrong firmware Reload standard firmware if necessary Contact Technical Support 02 0 Undervoltage at intermediate circuit Error priority set too high Check the intermediate circuit voltage measure 03 0 Analogue motor overtempera ture Motor too hot Check the...

Page 93: ...defective Check configuration of angle encoder interface 1 Unequal rotational direction of the serial and incremental posi tion sensing 2 Error in incremental encoder tracking signal Z0 3 Error in incremental encoder tracking signal Z1 4 Error in incremental encoder tracking signal 5 Error in incremental encoder hall effect encoder signal 8 Internal angle encoder error Encoder signals faulty Check...

Page 94: ...ck the configuration of the CAN bus stations 1 CAN Communication error Bus OFF The CAN chip has switched off communication due to communication errors BUS OFF 2 CAN CAN communication transmit error The signals are interrupted when messages are sent 3 CAN CAN communication re ceive error The signals are interrupted when messages are re ceived 4 Node Guarding telegram not received with the parameter...

Page 95: ...ide the parameterisable range Check the motor technical data and if necessary contact Technical Support 9 Automatic parameter identifica tion General error Obtain additional information from the additional error data Please contact Technical Support 15 0 Division by 0 Please contact Technical Support 1 Range exceeded 2 Mathematical underrun 16 0 Error in program execution Please contact Technical ...

Page 96: ...esto The device must be sent to Festo for this 26 0 Missing user parameter record Load the default parameter record If the error persists send the servo positioning control ler to your sales partner 1 Checksum error Error cannot be rectified independently Please contact Technical Support 2 Flash Write error 3 Flash Deletion error 4 Flash Internal Flash error 5 Missing calibration data 6 Missing us...

Page 97: ...ulation Please contact Technical Support 34 0 No synchronisation via Fieldbus Synchronisation messages from master failed 1 Fieldbus synchronisation error Synchronisation messages from master failed Synchronisation interval parameterised too small 35 0 Linear motor spin protection Encoder signals are faulty Check installation for EMC recommendations 5 Error in determination of com mutator position...

Page 98: ...erating mode by the positioning record was not possible The calculated direction of rotation is not permitted for the round axis in the set mode Check the selected mode 5 Round axis Rotation direction not permitted 43 0 Limit switch Negative setpoint blocked The drive has left the intended range of motion Technical defect in the system 1 Limit switch Positive setpoint blocked 2 Limit switch Positi...

Page 99: ...IRQ overflow Please contact Technical Support 5 MDC IRQ overflow 82 0 Sequence control Internal sequence control Process was cancelled Information only no measures required 83 0 Invalid technology module Wrong slot Wrong HW version Check the technology module and if necessary contact Technical Support 1 Unsupported technology module Load the correct firmware If necessary contact Technical Support ...

Page 100: ...al specifications 100 Festo P BE CMMP AS 3A HW EN 0708NH 9 2 3 Acknowledge error After correcting the cause of the error the error can be acknowledged via a negative edge at input DIN5 controller enable Controller enable DIN5 No error t1 t1 70 ms ...

Page 101: ...ctive Further certifications UL Table A 3 Technical data Ambient conditions and qualification Type CMMP AS C2 3A Type CMMP AS C5 3A Device dimensions H W D 202 x 66 x 207 mm 227 x 66 x 207 mm Mounting plate dimensions 245 x 61 mm 245 x 61 mm Weights 2 0 kg 2 1 kg Table A 4 Technical data Dimensions and weight Area Type CMMP AS C2 3A Type CMMP AS C5 3A Maximum motor cable length for interference em...

Page 102: ... 4 A Alternative DC supply 60 380 VDC 24 V supply 24 VDC 6 10 0 55 A 24 VDC 6 10 0 65 A Intermediate circuit voltage with active PFC load independent 360 380 VDC plus the current consumption from holding brake and IOs if present Table A 8 Technical data Power data X9 Note With a warm motor and a supply voltage that is too low outside tolerance the motor brake cannot open 100 which can lead to prem...

Page 103: ... 11 PFC stage power data Below the nominal power supply voltage the PFC stage power is linearly reduced These power characteristic curves are shown in the following figure 100 255 200 2 Supply voltage Veff PFC power output kW CMMP AS C2 3A 1 1 0 5 0 25 0 5 PFC power output through I t limits 50 PFC power output Peak power output CMMP AS C5 3A Fig 9 1 PFC stage power characteristic curves For conne...

Page 104: ... tracking signals SinCos encoder single multi turn with HIPERFACE Multi turn absolute value encoder with EnDat The shaft encoder type is then defined using the parameterising software The feedback signal is available for subsequent drives via the incremental encoder output X11 It is possible to analyze two encoder systems in parallel When doing this the resolver for the current regulation is usual...

Page 105: ...es contact your sales partner A 4 3 Encoder connection X2B for EMMS AS Standard incremental encoder without commutation signals These encoders are used in low cost linear motors to reduce the cost of producing the commutation signal hall effect encoder With these encoders an automatic pole position determination is performed by the CMMP AS servo positioning controller at power on Standard incremen...

Page 106: ...S differential 2 5 V offset Track signal N 0 2 to 1 VSS differential 2 5 V offset Commutator tracks A1 B1 optional 1 VSS differential 2 5 V offset Track signal input impedance Differential input 120 Limit frequency fLimit 300 kHz high resolution track fLimit approx 10 kHz commutator track Additional communication interfaces EnDat Heidenhain and HIPERFACE Stegmann Output supply 5 V or 12 V max 300 ...

Page 107: ...UT1 Freely configurable 24 V max 100 mA DOUT2 Freely configurable optionally usable as input DIN10 24 V max 100 mA DOUT3 Freely configurable optionally usable as input DIN11 24 V max 100 mA DOUT4 X6 Holding brake 24 V max 1 A Table A 18 Technical data Digital inputs and outputs X1 Analogue inputs outputs Values High resolution analogue input AIN0 10 V input section 16 bit differential 250 µs delay...

Page 108: ... supply 5 V max 100 mA Table A 20 Technical data Increment encoder input X10 A 5 5 Incremental encoder output X11 The output provides incremental encoder signals for processing in higher level control systems The signals are generated with a freely programmable number of lines from the rotation angle of the encoder In addition to the A and B tracking signals the emulation also provides a zero impu...

Page 109: ... Sufficient interference immunity of an electrical system or electrical device against external electrical magnetic or electromagnetic noise via lines or space Interference emission Sufficiently low interference emission of electrical magnetic or electromagnetic interference of an electrical system or an electrical device on other devices in the environment via conductors and through the air ...

Page 110: ...AS 3A HW EN 0708NH INDEX C Contents 5 D Documentation 10 G Glossary 110 EMC Interference emission 110 Interference immunity 110 EMC 110 N Notes General information 12 S Safety instructions 15 Scope of delivery 11 Setpoint sources 37 ...

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