Festo CMMS-ST-C8-7 Assembly And Installation Manual Download Page 23

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3. Technical specificationsProduct description

Festo.P.BE-CMMS-ST-HW-EN 0903b

Integrated CANopen interface

Open interface in accordance with CANopen

Festo Handling and Positioning Profile (FHPP)

Protocol in accordance with the CANopen standards DS301 and DSP402

Contains "Interpolated position mode" for multiple-axis applications

Motion control

Operation as torque, speed or position controller

Integrated positioning control

Time-optimised (trapezoidal shape) or jerk-free positioning (S shape)

Absolute and relative movements

Point-to-point positioning

Location synchronization

Electronic gear

64 Position sets

8 Driving profiles

A wide range of homing methods

Integrated sequence control

Automatic sequence of position records without higher-level controller

Linear and cyclical position sequences

Adjustable delay times

Waiting positions and conditional jump targets

Definable stop positions for uncritical standstill points

Interpolating multi-axis movement

With an appropriate controller, the CMMS-ST can perform contour runs with interpolation
via CANopen.

To do this, position setpoints are specified by the controller in a fixed time slot pattern.
In between, the servo positioning controller independently interpolates the data values
between two support points.

Parameterization program "Festo Configuration Tool FCT"

Simplest start-up and diagnosis

Confiuration of motor controller, motor and axis

Automatic adjustment of all controller parameters with use of Festo Mechanics

2-channel oscilloscope function

English and German

Summary of Contents for CMMS-ST-C8-7

Page 1: ...Cut Above 61 5 mm Below 61 5 mm Left 43 5 mm Right 43 5 mm Motor controller Manual Assembly and installation Type CMMS ST C8 7 Manual 554 340 en 0903b 748 685 ...

Page 2: ......

Page 3: ...________ 554 340 Festo AG Co KG D 73726 Esslingen 2009 Internet http www festo com E mail service_international festo com The copying distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited Offenders will be held liable for compensation of damages All rights reserved in particular the right to carry out pate...

Page 4: ...esto AG Co KG Name of manual MOTORCONTROLLER CMMS ST C8 7 File name File saved at Consec no Description Index of revisions Date of amendment 001 Produced 0702NH 28 06 2007 002 Revision 0810a 30 10 2008 003 Revision Functional safety engineering 0903b 07 09 2009 ...

Page 5: ...ion by low voltage PELV against electric shock 19 2 4 5 Protection against dangerous movements 19 2 4 6 Protection aganst touching hot components 20 2 4 7 Protection during handling and installation 20 3 Product description 22 3 1 General information 22 3 2 Performance characteristics 22 3 3 Interfaces 24 3 3 1 Control interfaces 24 3 3 2 Overview of interfaces 24 3 3 3 Analogue setpoint specifica...

Page 6: ... 5 4 Suppression of ranges 50 3 5 5 I t function 50 3 5 6 Positioning controller 50 3 5 7 Homing run 52 3 5 8 Timing diagrams for homing run 55 3 5 9 Trajectory generator 57 3 5 10 I O sequence control 58 3 5 11 Fault messages 60 3 5 12 Behaviour when enable is switched off 60 3 5 13 Oscilloscope function 62 3 5 14 Jog and teach function I O 63 3 5 15 Position record linking with positioning torqu...

Page 7: ...10 99 6 4 8 SD card 100 6 4 9 Field bus settings and boot loader 100 6 5 Instructions on safe and EMC compliant installation 101 6 5 1 Explanations and terms 101 6 5 2 General information on EMC 101 6 5 3 EMC areas second environment 102 6 5 4 EMC compliant wiring 102 6 5 5 Operation with long motor cables 103 6 5 6 ESD protection 103 7 Preparations for commissioning 104 7 1 General connection ins...

Page 8: ...r monitoring for the brake chopper 108 8 1 7 Commissioning status 108 8 2 Operating mode and error messages 108 8 2 1 Operating mode and error display 108 8 2 2 Error messages 109 A Technical specifications 114 A 1 General information 114 A 2 Operation and display components 115 A 3 Interfaces 116 A 3 1 Power supply X9 116 A 3 2 Motor connection X6 116 A 3 3 Incremental encoder input X2 117 A 3 4 ...

Page 9: ...uals on the CMMx product family for further information CANopen manual P BE CMMS CO Description of the implemented CANopen protocol according to DSP402 PROFIBUS manual P BE CMMS FHPP PB Description of the implemented PROFIBUS DP protocol DeviceNet manual P BE CMMS FHPP DN Description of the implemented DeviceNet protocol FHPP manual P BE CMM FHPP Description of the implemented Festo profiles for h...

Page 10: ...N 0903b 1 3 Scope of delivery The delivery includes Number Delivery 1 Stepping motor controller CMMS ST C8 7 1 CD configuration software documentation S7 module GSD EDS firmware 1 Brief description 1 NEKM C 1 plug assortment Tab 1 1 Scope of delivery ...

Page 11: ...Important information and remarks Caution Failure to comply can result in severe property damage Warning Failure to comply can result in property damage and personal injury Warning DANGER Considerable property damage and personal injury can occur if these instructions are not observed Warning Dangerous voltage The safety instructions contain reference to dangerous voltages which may occur Accessor...

Page 12: ...e product itself technicians working with this product must be adequately familiar with the setting up mounting commissioning and operation of the product as well as with all warnings and precautionary measures in accordance with the operating instructions in this product manual and must be sufficiently qualified for this task Training and instructions on or authorization to switch on and switch o...

Page 13: ... must not open the stepping motor controller Correct planning is required for the stepping motor controller to function properly Warning DANGER Incorrect use of the stepping motor controller failure to follow the warnings in this manual and improper manipulation of safety equipment can cause material damage injury electric shock and in extreme cases even be fatal 2 3 Hazards due to improper use Wa...

Page 14: ... accessories and spare parts which are approved of by the manufacturer Warning In accordance with the EN standards and the VDE regulations the stepping motor controllers must be connected to the grid in such a way that they can be disconnected using appropriate isolating equipment e g main switch contactor circuit breaker Warning Gold contacts or contacts with high contact pressure should be used ...

Page 15: ...ntroller and absolutely must be observed Warning DANGER The general installation and safety regulations for working on high current systems e g DIN VDE EN IEC or other national and international regulations must be observed Failure to observe these regulations can lead to bodily injury death or considerable damage to property The following precautionary measures also apply without claim to complet...

Page 16: ...ally secured against falling or sliding down when the motor is switched off with e g mechanical locking of the vertical axis external braking safety catch or clamping devices or sufficient weight compensation of the axis Warning During operation and up to several minutes after the stepping motor controller is deactivated the internal brake resistance can cause dangerous intermediate circuit voltag...

Page 17: ...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 stepping motor controller and in particular the braking resistor can become very hot and can cause serious burns if t...

Page 18: ...the entire length of the protective earth conductor in accordance with standard EN 60617 Warning Before commissioning also for brief measuring and test purposes always connect the protective conductor to all electric devices or connect to an earth cable in accordance with the connection diagram Otherwise high voltages may occur on the housing These could cause an electric shock Warning Do not touc...

Page 19: ... or battery operation separate from the mains network 2 4 5 Protection against dangerous movements Dangerous movements can be caused by incorrect control of connected motors There are various causes Causes Unsafe or faulty circuitry or cabling Faults in operating the components Faults in the measured value and signal generators Faults or non EMC compliant components Faults in the software in the h...

Page 20: ...oiding or failing to activate safety devices 2 4 6 Protection aganst touching hot components Warning DANGER Surfaces of the device housing may be hot Danger of injury Danger of burns Warning Danger of burns Do not touch the surface of the housing in the vicinity of heat sources After switching devices off leave them for 10 minutes to cool down before touching them If you touch hot parts of the dev...

Page 21: ...when handling and mounting Use suitable mounting and transport devices Take suitable measures to 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 equipment e g protective glasses safety shoes safety gloves Do not stand under hanging loads Wipe up spilt liquids on t...

Page 22: ...emented via the technology module slot The parameterisation tool FCT Festo Configuration Tool makes possible simple operation and start up of the servo positioning controller Graphic depictions and pictograms make intuitive parameterization possible 3 2 Performance characteristics Compactness Smallest dimensions Complete integration of all components for controller und power section including RS23...

Page 23: ...grated sequence control Automatic sequence of position records without higher level controller Linear and cyclical position sequences Adjustable delay times Waiting positions and conditional jump targets Definable stop positions for uncritical standstill points Interpolating multi axis movement With an appropriate controller the CMMS ST can perform contour runs with interpolation via CANopen To do...

Page 24: ...ation via Function Operating mode Reference Analogue X1 10 V Analogue setpoint specification Speed control Torque control 1 1 1 Tab 6 2 ff Pulse direction of interface X1 24 V Mode 3 X10 5 V CW CCW CLK DIR Synchronization 3 3 4 Tab 6 5 Tab 6 13 A B signals I O mode 3 start synchronization X10 5 V Master slave slave Synchronization 3 3 4 Tab 6 13 Tab 6 5 I O X1 24 V Mode 0 1 2 Record selection Jog ...

Page 25: ... operating state The limit switches are set by default to opener configuration over FCT 3 3 4 Interfaces for direct synchronous operation The motor controller permits a master slave mode which hereafter is designated synchronization The controller can function either as a master or slave If the motor controller works as master it can provide RS422 A B signals to the incremental encoder output X10 ...

Page 26: ...ween 32 2048 Note For Firmware 1 2 0 1 1 To avoid rounding errors the number of lines per revolutionshould contain the factor 2n 32 64 1024 Changes to this interface only become effective after a Reset download secure reset An RS422 power driver provides the signals to X10 differentially Input Processing of frequency signals X10 The signals are evaluated optionally as A B tracking signals of an in...

Page 27: ...etting of synchronization via FCT the controller only reacts via the synchronization interface All other functions of the positioning operating mode are no longer available Note After the change of configuration via FCT the changed configura tions must be loaded into the motor controller using the Download buttons and saved permanently with the Save button The new configuration is activated with a...

Page 28: ... 0903b Required I O triggering during synchronization via mode switchover with 24 VDC frequency signals The connection plan shows the switch position in the active operating state The limit switches are set by default to opener configuration over FCT ...

Page 29: ...S ST HW EN 0903b 29 Required I O triggering during synchronization via mode switchover with 5 VDC frequency signals The connection plan shows the switch position in the active operating state The limit switches are set by default to opener configuration over FCT ...

Page 30: ...ramps tmc x ms dependent on MC window Fig 3 1 Signal sequence with Synchronization selection operation mode with activation of synchronization through START DIN8 Note Starting with Firmware 1 3 0 1 7 the message Position synchro nized is output at DOUT2 The signal MC is set as long as the drive is at standstill with active synchronization DIN8 START set That is the MC signal is set as long as the ...

Page 31: ...s serve to limit the range of motion for safety reasons During homing one of the two limit switches can serve as reference points for positioning control Sample input If a field bus is used for activation a high speed sampling input is available for time critical tasks for various applications position sensing special applications Analogue input The CMMS ST stepping motor controller has an analogu...

Page 32: ...which means that the device can be accessed for configuration at all times After reset the serial interface always has the following basic settings Parameters Value Baud rate 9600 baud Data bits 8 Parity None Stop bits 1 Tab 3 6 Default parameters To be able to operate an interface with a terminal program such as for test purposes the following settings are required recommendations Parameters Valu...

Page 33: ...t SSSS Subversion of the CM release hexadecimal format Tab 3 8 General commands Parameter commands The exchange of parameters and data takes place over communication objects CO They are used in a fixed syntax Special return values are defined for errors in a write or read access Command Syntax Reply Reading a CO OR nnnn nnnn HHHHHHHH or OR EEEEEEEE Writing a CO OW nnnn HHHHHHHH OK or OW EEEEEEEE R...

Page 34: ...ntroller enable To do this the controller enable logic must be set to DIN5 and RS232 OW 0061 00000002 OK bzw OW EEEEEEEE 1 Deactivate end stage To do this the controller enable logic must be set to DIN5 and RS232 OW 0061 00000003 OK bzw OW EEEEEEEE 1 Acknowledge fault OW 0030 00010000 OK 1 Faulty return values can be called up due to an inappropriately set controller enable logic an intermediate c...

Page 35: ...device that sends a data bit to the transfer device 4 DTR Data terminal ready End device Transfer device End device is ready for use 5 GND Ground earth None Reference potential at 0 V 6 DSR Data set ready Transfer device end device Transfer device is ready for use 7 RTS Request to send End device Transfer device End device displays that the remote station should send send request 8 CTS Clear to se...

Page 36: ... as with RS232 Only the syntax of the commands to read write the objects is expanded in comparison to the RS232 Syntax XTnn HH HH CC Meanings XT Fixed constants HH HH Data normal command syntax nn Node number 1 31 Note The reply sends the following characters to the first five characters XRnn with nn node number of the device All devices react to the node number 00 as Broadcast In this way each de...

Page 37: ... internal sectors must be set correctly thereby Command 606000 01 Profile Position Mode 3 Write position parameters The target position can be written over the COB 607A_00 target position The target position is thereby written in position units That means it depends on the set CAN factor group The default setting here is 1 216 revolutions 16 bit portion before the point 16 bit portion after the po...

Page 38: ...If required the node number is simply written in front of the command The node number is set via the DIP switches Command XT07 607100 000A0000 Target position 10 revolutions send to node 7 Example Homing Mode via RS232 With the CAN access simulated via RS232 the CMMS ST can also be operated in the CAN Homing Mode The following describes the sequence in principle 1 Changing of the controller enable...

Page 39: ...he rotor position is smoothed via a configurable PT1 filter The position counter for positioning has a data width of 32 bits The position within a motor rotation is resolved to max 16 bits This results in a maximum possible positioning range of 32767 rotations 3 3 9 Brake chopper A brake chopper with a braking resistor is integrated in the power output stage If the permitted load capacity of the i...

Page 40: ... V feed in feed out 6 GND24 Reference potential for digital I Os 19 DIN0 Record selection 0 high active Record selection 0 Record selection 0 7 DIN1 Record selection 1 high active Record selection 1 Record selection 1 20 DIN2 Record selection 2 high active Record selection 2 Record selection 2 CLK_24 8 DIN3 Record selection 3 high active Record selection 3 Stop record linking DIR_24 21 DIN4 End st...

Page 41: ...2 DIN9 1 DIN12 0 Mode 3 DIN9 1 DIN12 1 24 DOUT0 Ready for operation output high active 12 DOUT1 Default motion complete output high active Speed 0 reached 25 DOUT2 Default start ack output low active Teach ack Default start ack Position synchronized 13 DOUT3 Default error output Error Error Error Tab 3 14 Interface assignment ...

Page 42: ...ts for 24 V level following functions the inputs are occupied in their function depending on the mode selection 1 x end stage enable DIN4 1 x controller enable acknowledge error DIN5 2 x limit switch DIN6 DIN7 Mode 0 6 x position selection DIN0 3 DIN10 11 1 x start positioning DIN8 2 x MODE switchover DIN9 12 1 x stop DIN13 Mode 1 2 x jog mode DIN10 11 1 x teach DIN8 Mode 2 1 x stop record linking...

Page 43: ...e used either as an RS232 interface or alternatively as an RS 485 interface Simultaneous use is not possible since both interfaces use the same UART in the DSP 3 3 12 SD cardholder X12 To permit saving of control parameters as well as the complete controller firmware a connection possibility for an SD memory card popular storage medium for digital cameras has been incorporated The connection has b...

Page 44: ...busses can be used By default the CAN bus is permanently integrated in the controller with the CMMS ST Optionally the PROFIBUS or DeviceNet can be used via plug in modules But only one field bus can be active at any given time For all field busses the Festo Profile for Handling and Positioning FHPP has been implemented as the communication protocol Additionally for the CAN bus the communication pr...

Page 45: ...can be parameterized and activated deactivated via the DIP switches on the front side With the DIP switches the node address and baud rate can be set visibly from the outside In addition a termination resistor can be connected and the CAN bus switched on or off The controller supports baud rates up to 1 Mbit s If the communication protocol FHPP is used the above mentioned operating modes are avail...

Page 46: ...ed position mode 3 4 3 PROFIBUS The controller is connected to the PROFIBUS with a corresponding expansion module CAMC PB which can be plugged into the expansion slot X7 If the module is plugged in it automatically becomes active the next time the controller is switched on The slave address is configured over the DIP switches on the front side of the controller Baud rates up to 12 MBaud are suppor...

Page 47: ...is also controlled with the encoder Step loss is avoided by building up a drag interval in case of overload and monitoring takes place up to a maximum set amount In combination with the controller CMMS ST Servo Light operation is made possible closed loop The EMMS ST SB SEB possesses an integrated holding brake 3 5 Function overview 3 5 1 Operating modes Setpoint specification via incremental enco...

Page 48: ...gnals X1 24 V Mode3 X10 5 V CLK DIR Pulse direction signals X1 24 V Mode3 X10 5 V Field bus Direct mode Master Slave A B signals I O start synchronization X10 X1 Mode3 Positioning controller I O Record selection Field bus Direct mode Field bus Record selection Reference run I O Record selection Field bus Direct mode Field bus Record selection Jog mode I O Field bus Direct mode Teach in function vi...

Page 49: ... setpoint selection an additional setpoint can be plugged in via the correction value with the control interface RS 485 Depending on the prefix the speed setpoint is disabled via the signal of the corresponding limit switch input The limit switch inputs also affect the ramp generator for the speed setpoint The speed setpoint is converted by the controller into the corresponding frequency to actuat...

Page 50: ...of I t 80 the warning message 0190 I t at 80 occurs and the maximum current is limited to the rated current With a threshold of I t 100 the warning message 0310 I t fault motor occurs and the maximum current is limited to the rated current The I t time of the motor can be set via the FCT parameterization software 3 5 6 Positioning controller A positioning control system is set above the current co...

Page 51: ...an be started directly You can transition to a new position record without first coming to a standstill The parameter sets can be called up via digital inputs position record 0 63 RS232 interface for test purposes only or a field bus interface Required I O connection for positioning The connection plan shows the switch position in the active operating state The limit switches are set by default to...

Page 52: ...oming run Run to Positive method Negative method Graphical representation Dec Hex Dec Hex Limit switch with zero pulse evaluation 2 02 1 01 Fixed stop with zero pulse evaluation 2 FE 1 FF Limit switch 18 12 17 11 Fixed stop 18 EE 17 EF Zero pulse 34 22 33 21 Save current position 35 23 35 23 Tab 3 18 Homing run methods ...

Page 53: ... next index pulse This position is saved as a reference point If configured Run at travel speed to axis zero point 2 Positive stop with index pulse Run at search speed in positive direction to stop Run at crawl speed in negative direction to next index pulse This position is saved as a reference point If configured Run at travel speed to axis zero point 17 Negative limit switch If negative limit s...

Page 54: ...ce point If configured Run at travel speed to axis zero point 34 Index pulse in a negative direction Run at crawl speed in positive direction to index pulse This position is saved as a reference point If configured Run at travel speed to axis zero point 35 Current position The current position is saved as the reference point If configured Run at travel speed to axis zero point Note If the referenc...

Page 55: ... homing run Controller release START 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Limit switch E0 1 0 DOUT0 READY DOUT1 MC DOUT2 ACK DOUT3 ERROR Statusword referenced 1 Limit switch E1 0 1 0 t1 t1 tx tx tx tx t1 1 6 ms tx x ms dependent on ramps Fig 3 4 Signal sequence with start of the homing run and with positive design ...

Page 56: ...T 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Limit switch E0 1 0 DOUT0 READY DOUT1 MC DOUT2 ACK DOUT3 ERROR Statusword referenced 1 Limit switch E1 0 Drive is moving 1 0 neg pos t1 t1 tx tx tx tx t1 1 6 ms tx x ms dependent on ramps Fig 3 5 Signal sequence with faulty interruption contour error ...

Page 57: ... selected positioning record is loaded to the trajectory generator Based on the data record loaded the necessary internal pre calculations are made The pre calculations can take from 1 6 to 5 ms The following configurable options are available for processing the start signal After a start signal is detected during a current positioning run the run continues to the target position After a start sig...

Page 58: ... has been carried out successfully T4 DIN4 1 and DIN5 1 T22 T25 T24 T23 T20 T21 T18 T19 T17 T16 T15 T13 T10 T11 T9 T8 T5 T4 T3 T2 T1 RESET Power ON Boot program Firmware download Initialization Operational Initialise SD card Load save SD card parameters From all except RESET Power ON Fault status Acknowledge error Activate end stage Torque control Jog mode Homing run Deactivate end stage Position ...

Page 59: ...IN12 1 Jog DIN10 1 Jog DIN11 1 T10 Selection I O mode DIN9 0 DIN12 1 T11 Selection of the homing method and configuration of the speeds and accelerations in the commissioning software Selection of positioning record 0 Start for positioning process DIN8 1 T12 Drive is referenced T13 DIN5 0 T15 DIN5 0 T16 DIN5 0 T17 DIN4 0 T18 Write or read request to SD card such as Load parameters Save parameters ...

Page 60: ...increment generator only Homing run Overload current short circuit in the power end stage Encoder system Watchdog processor monitoring All error messages are documented in chapter 8 2 2 Error messages 3 5 12 Behaviour when enable is switched off Controller enable Drive is moving 1 0 1 0 1 0 1 0 Holding brake Current carrying 1 0 DOUT0 READY Output stage release 1 0 t1 tx Motor controlled ty t1 1 6...

Page 61: ... moving 1 0 1 0 1 0 1 0 Holding brake current carrying 1 0 DOUT0 READY Output stage release 1 Motor controlled 0 ty t1 t1 1 6 ms ty x ms dependent on set switch off delay Fig 3 8 Behaviour when end stage enable is switched off Note The holding brake of the EMMS ST SB SEB is not suitable for braking the motor ...

Page 62: ...scilloscope function The implemented oscilloscope function is an important aid to help the commissioning party optimise the controller settings without using a separate measuring device The function allows important signal sequences to be recorded over time It consists of three blocks The initialisation section which runs at low priority and performs pre calculations for the actual measurement pro...

Page 63: ... mode positive negative if there is a positive signal to the digital input The digital input DIN8 serves to take over the set target position The condition of the digital inputs DIN0 to DIN3 is thereby evaluated and the target position saved at the corresponding location General Information The first 15 positions of the position record table can be taught pos 1 15 With DIN8 the current position is...

Page 64: ...n 64 Festo P BE CMMS ST HW EN 0903b Necessary I O connection with jog teach The connection plan shows the switch position in the active operating state The limit switches are set by default to opener configuration over FCT ...

Page 65: ...cationsProduct description Festo P BE CMMS ST HW EN 0903b 65 Settings in the FCT The parameters set here are valid for jogging via I O interface and jogging via FCT The acceleration also applies with single step over FCT ...

Page 66: ...ms ENABLE START TEACH STOP DIN10 Jog Drive is moving 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 neg DIN11 Jog 1 0 pos DOUT0 READY DOUT1 MC DOUT2 ACK TEACH DOUT3 ERROR t1 t1 tx tx t1 1 6 ms tx x ms dependent on brake ramps Fig 3 10 Signal sequence with jogging positive and negative ...

Page 67: ...ACH STOP DIN10 Jog Drive is moving 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 DIN11 Jog 1 0 DOUT0 READY DOUT1 MC DOUT2 ACK TEACH DOUT3 ERROR t1 t1 tx tx t1 tx t1 t1 tx tx t1 1 6 ms tx x ms dependent on brake ramps Fig 3 11 Signal sequence when both signals are activated simultaneously briefly staggered ...

Page 68: ...nce These positions are travelled to one after another The characteristics of positioning record linking are All 63 position records of the position record table can be set Besides linear sequences ring shaped linkages are also allowed endless linkage For each step a free following position can be set As step criterion 2 digital inputs are available as Next 1 and Next 2 There are 7 possibilities t...

Page 69: ...d the programmed time for bridging the acceleration phase has expired Standstill here does not just mean the end of the position record MC but also running to the block at any desired location Time measurement starts when the position record starts 5 Time TIM Continues when the programmed time has expired Time measurement begins with the start of the position record 6 NEXT positive edge NRI Contin...

Page 70: ...les with end speed 0 Note Position record profiles that contain an end speed 0 must NOT be used for individual records since the drive would continue to run uncontrolled Activation of record linking Record linking is started in I O operation through selection of mode 2 ...

Page 71: ...opener configuration over FCT With removal of DIN3 Stop record linking the ongoing record linking is stopped at the current position If DIN3 returns the record linking is automatically continued from this position With removal of DIN9 Mode switchover the ongoing record linking is ended The ongoing position record is still run to the end With removal of DIN13 Stop record linking is interrupted Reco...

Page 72: ...RT STOP Positioning record Drive is moving 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 DOUT0 READY DOUT1 MC DOUT2 ACK DOUT3 ERROR t1 t1 t1 t1 t1 tx 1 t1 1 6 ms tx x ms dependent on positioning 1 Applies for positioning records with end speed 0 Fig 3 13 Signal sequence at the start of a sequence ...

Page 73: ...1 t1 t1 t1 t1 tx t1 t1 1 6 ms tx x ms dependent on brake ramps Fig 3 14 Signal sequence with interruption through Stop input ENABLE START STOP Positioning record Drive is moving 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 HALT 1 0 DOUT0 READY DOUT1 MC DOUT2 ACK DOUT3 ERROR t1 t1 t1 t1 t1 tx tx tx tx t1 1 6 ms tx x ms dependent on brake ramps Fig 3 15 Signal sequence with interruption and continuation thro...

Page 74: ...red is selected The On the Fly Measurement function supports continuous sampling i e the configured edge is monitored and the stored actual position values are overwritten with each sample event 3 5 17 Endless positioning For applications such as synchronised conveyor belt or rotary indexing table endless positioning is possible in one direction via relative positioning records No endless position...

Page 75: ...ps are deactivated 3 5 18 Relative positioning records When using relative positioning records observe the following The controller is a 16 bit controller That means the controller calculates internally with 65536 increments per revolution The controller calculates with whole numbers integers For positioning records that do not have a whole number as the result the controller rounds up to the next...

Page 76: ...ty function as per EN 61800 5 2 PILZ component Switch off behaviour Stop category as per EN 60204 1 STO Safe Torque OFF PNOZ X2P 0 SS1 Safe Stop 1 PNOZ XV2P 1 Table 4 1 Safety functions 4 2 STO Safe torque off Explanation With the Safe Torque Off function STO the power supply to the output stage is securely interrupted through switching off of the end stage enable and the intermediate circuit volt...

Page 77: ...Y UZK Holding brake current carrying Motor controlled t1 1 6 ms controller cycle time ty x ms dependent on set switch off delay Fig 4 1 Behaviour when the end stage enable is switched off Note If external forces e g hanging loads have an effect on the drive additional measures e g mechanical brakes are necessary to avoid hazards The Safe Stop 1 stop function SS1 in which the drive is brought to st...

Page 78: ...4 Functional safety engineering 78 Festo P BE CMMS ST HW EN 0903b Circuitry example ...

Page 79: ...he error 020 undervoltage in intermediate circuit Due to the described wiring a two channel operation with cross circuiting recognition is possible This permits recognition of Earth faults in the start and initial circuit Short circuits in the initial circuit start circuit Cross circuits in the initial circuit Removal of the end stage enable and switching off the intermediate circuit voltage cause...

Page 80: ...nt on set switch off delay tz t PNOZ XV2p Fig 4 2 Behaviour when the controller enable is switched off The switch off delay ty takes off as soon as a standstill is recognised by the motor controller Setting the switch off delay The switch off delay of the holding brake must be set in the FCT The set time is necessary as the brake does not close immediately due to the mechanical design If this set ...

Page 81: ...echnical specificationsFunctional safety engineering Festo P BE CMMS ST HW EN 0903b 81 Determination of the brake time The brake time can easily be determined through the FCT Trace function The brake time ...

Page 82: ... you remove the controller enable and so determine the brake time from the measurement curve This is stored under the point Measurement data FCT PlugIn Version V1 0 The maximum time until the drive stands still after controller enable at speed 0 is 499 2 ms If this time is exceeded the Quick Stop delay must be set to a higher value FCT PlugIn Version V1 1 The maximum time until the drive stands st...

Page 83: ...mally open contact of the PNOZ device Technical specifications such as max current etc can be found in the data sheet of the safety switch device EMERGENCY STOP request monitoring of protective door After the Emergency Stop button is actuated or the protective door is opened the normally open contact K1 13 14 opens immediately This results in the immediate withdrawal of the controller release This...

Page 84: ...ed off as follows mechanical locking of the vertical axis external braking safety catch clamping device or adequate weight compensation of the axis Note If EMERGENCY STOP is requested the external brake is immedi ately switched on if needed Note The holding brake of the EMMS ST SB SEB is not suitable for braking the motor and does not provide a safety function Restoration of normal operation Befor...

Page 85: ... controller as an integrated device for control cabinet assembly only The mounting position is vertical with the power supply lines X9 leading upwards Mount with the clip to the control cabinet plate Mounting clearance For sufficient ventilation 100 mm of clearance to other assemblies is required above and below the device Pay attention to the fastening interval of 69 mm ...

Page 86: ...5 Mechanical installation 86 Festo P BE CMMS ST HW EN 0903b Fig 5 1 CMMS ST stepping motor controller Installation clearance ...

Page 87: ... stepping motor controller They are used to attach the stepping motor 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 Use size M4 screws to attach the CMMS ST stepping motor controller Fig 5 2 CMMS ST stepping motor controller Assembly ...

Page 88: ... BE CMMS ST HW EN 0903b 6 Electrical installation 6 1 Device view 1 Status display 2 S1 Field bus settings and boot loader 3 Technology module optional 4 M1 SD memory card 5 X4 CAN bus 6 X5 RS232 485 Fig 6 1 CMMS ST view Front 4 1 2 3 5 6 ...

Page 89: ...Technical specificationsElectrical installation Festo P BE CMMS ST HW EN 0903b 89 1 Earthing bolt 2 X9 power supply 3 X10 Incremental encoder interface 4 X1 I O interface Fig 6 2 CMMS ST top view 4 1 2 3 ...

Page 90: ...cted to contacts ZK and 0 V The motor is connected with the four terminals A B The connection of the optional shaft encoder via the d sub plug to X2 is illustrated in the diagram Fig 6 4 The CMMS ST stepping motor controller 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 connecti...

Page 91: ...m is shown in Fig 6 4 The following components are required to operate the stepping motor controller Components Power pack for the control voltage Power pack for the power supply Stepper motor controller CMMS ST Motor with motor cable Increment generator cable for motors with increment generators A PC with a serial connection cable is required for parameterizing ...

Page 92: ...allation 92 Festo P BE CMMS ST HW EN 0903b 1 Main switch 2 Fuse 3 Power pack for control voltage 4 Power pack for power supply 5 CMMS ST 6 PC 7 Motor Fig 6 4 Complete structure of CMMS ST with motor and PC 7 4 1 2 3 5 6 ...

Page 93: ... 10 V 4 Reference output for setpoint potentiometer 5 free 6 GND24 Reference potential for digital inputs and outputs 7 DIN1 Record selection 1 high active 8 DIN3 Record selection 3 high active 9 DIN5 Controller release high active 10 DIN7 Limit switch 1 11 DIN9 High speed input 12 DOUT1 24 V 100 mA Output freely programmable default Motion complete high active 13 DOUT3 24 V 100 mA Output freely p...

Page 94: ...tive 8 DIN3 Record selection 3 high active 9 DIN5 Controller release high active 10 DIN7 Limit switch 1 11 DIN9 Mode switch 0 12 DOUT1 24 V 100 mA Output freely programmable default motion complete high active 13 DOUT3 24 V 100 mA Output freely programmable default error low active 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input low active 16 DIN11 Jog high active 17 A...

Page 95: ... DOUT1 24 V 100 mA Output freely programmable default motion complete high active 13 DOUT3 24 V 100 mA Output freely programmable default error low active 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input low active 16 DIN11 Next 2 17 AMON0 10 V 4 Analogue monitor output 0 18 24 V 24 V 100 mA 24 V feed in feed out 19 DIN0 Record selection 0 high active 20 DIN2 Record sel...

Page 96: ...tion 1 12 DOUT1 24 V 100 mA Output freely programmable default motion complete high active 13 DOUT3 24 V 100 mA Output freely programmable default error low active 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input low active 16 DIN11 17 AMON0 10 V 4 Analogue monitor output 0 18 24 V 24 V 100 mA 24 V feed in feed out 19 DIN0 20 DIN2 24 V Pulse_24 CW 21 DIN4 End stage enab...

Page 97: ...proof 6 A 5 V Ri 120 Ohm Increment generator signal A negative polarity 7 B 5 V Ri 120 Ohm Increment generator signal B negative polarity 8 N 5 V Ri 120 Ohm Increment generator zero pulse N negative polarity 9 GND Internal screen for the connecting cable Tab 6 6 Pin allocation Incremental encoder input X2 6 4 3 Field bus CAN X4 Pin Designation Value Specification 1 2 CANL 5 V Ri 60 Ohm CAN low sig...

Page 98: ...location RS232 RS 485 X5 6 4 5 Motor connection X6 Type on controller Counterplug Plugged optional plug set Material number Combicon 8 pin socket MSTB 2 5 8 ST 5 08 BK Blanking plug kit 547 452 Tab 6 9 Plug version Motor connection X6 Pin Designation Value Specification 1 String A Connection of the two motor strings The cable screen is fitted to the controller housing 2 String A 3 String B 4 Strin...

Page 99: ...rol signals in the slave axis mode Pin Designation Value Specification 1 A CLK CW 5 V Ri 120 Ohm Increment generator signal A Pulse CLK Clockwise cycles CW Positive polarity as per RS422 2 B DIR CCW 5 V Ri 120 Ohm Increment generator signal B Direction DIR Anticlockwise cycles CCW Positive polarity as per RS422 3 N 5 V Ri 120 Ohm Incremental encoder zero pulse N Positive polarity acc to RS422 4 GN...

Page 100: ... Type on device 1x12 pin SD card slot 6 4 9 Field bus settings and boot loader DIP switches Meaning 1 Node number 2 3 4 5 6 7 8 Bootloader If the switch is set to ON the system searches for new firmware on the SD card 9 Baud rate 10 11 Activation of the CAN interface 12 Terminating resistor Tab 6 14 Assignment of the DIP switches DIP switches ON OFF Meaning 1 ON DIP switch 1 is the lowest bit 1011...

Page 101: ...nterference 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 lines and space 6 5 2 General information on EMC Interference emission and resistance to interference of a stepping motor controller always depend on the complete design of the drive which consists...

Page 102: ...nment industrial Regardless of motor cable length Tab 6 17 EMC requirements Second environment 6 5 4 EMC compliant wiring The following must be observed for EMC compliant installation of the drive system see also chapter 6 Electrical installation page 88 1 In order to minimise current leakage and losses in the motor connection cable the CMMS ST stepping motor controller should be installed as clos...

Page 103: ...verload In order to avoid such problems we recommend the following procedure for applications in which long motor cables are required From a cable length of over 15 m only cables with a capacitance between the motor phase and screen of less than 200 pF m or if possible less than 150 pF m Please contact your motor cable vendor if necessary Use of a dU dt filter on the motor output Filter on the vol...

Page 104: ... in material damage injury electric shock or in extreme cases even to fatalities 7 2 Tools material Tool Screwdriver size 1 Serial interface cable Incremental encoder cable Motor cable Power supply cable Control cable 7 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...

Page 105: ...OM for the CMMS ST stepping motor controller and secure the locking screws 3 Check all plug connectors once again 7 6 Checking readiness for operation Checking readiness for operation 1 Make sure that the controller enable switch is switched off 2 Switch on the power supplies for all devices The READY LED on the front of the device should now light up If the READY LED does not light up there is a ...

Page 106: ...eed Setpoint Speed actual value t1 t2 t3 t4 a b Output stage release t2 DOUT0 READY t1 approx 500 ms Execution of boot program and application start t2 1 6 ms t3 10 ms Depends on the operating mode and the state of the drive t4a N x 1 6 ms Can be parameterized brake parameter run start delay tF t4b ca 300 ms Time for determination of commutator position Fig 7 1 Timing diagram switch on sequence ...

Page 107: ...of faults in the internal voltage supply If the 24 V supply voltage fails approximately 20 ms remain to save parameters and shut down the controller in a defined manner 8 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 of the controller It detects sh...

Page 108: ...efore it is commissioned again at the customer s premises The configuration software queries the commissioning status and prompts the user to configure the stepping motor controller At the same time the device indicates that it is ready for operation but has not yet been configured by displaying A on the seven segment display 8 2 Operating mode and error messages 8 2 1 Operating mode and error dis...

Page 109: ... below Error message Meaning of error message Measures Error reaction Main index Sub index 01 0 Stack overflow Wrong firmware Reload standard firmware if necessary Contact Technical Support PS off 02 0 Undervoltage in intermediate circuit Error priority set too high Check the intermediate circuit voltage measure PS off 1 03 0 Monitoring the motor temperature Motor too hot Check the parameterizatio...

Page 110: ...as switched off communication due to communication errors BUS OFF 2 CAN Communication error CAN while sending The signals are interrupted when messages are sent PS off 1 16 2 Initialization fault Please contact Technical Support PS off 3 Unexpected status 17 0 Contour error limit value exceeded Increase error window Acceleration parameter too large PS off 1 1 Pulse wheel angle monitoring PS off 1 ...

Page 111: ...S off 1 35 1 Time out with fast stop Increase Quick Stop ramp PS off 40 0 Software limit stop positive Warn 1 1 Software limit stop negative 2 Target position behind negative software end switch 3 Target position behind positive software end switch 41 8 Record linking Unknown command Unknown record linking extension found PS off 1 9 Record linking Jump target error Jump to a line outside permitted...

Page 112: ...lt PS off 1 6 DeviceNet communication error Common fault PS off 1 65 0 DeviceNet assembly error PS off 1 1 DeviceNet communication error Common fault PS off 1 70 2 General arithmetic error The FHPP factor group cannot be calculated correctly PS off 3 Fault in operating mode Change of operating mode with enabled end stage PS off 1 79 0 RS232 communication fault Common fault PS off 1 1 PS off Qstop ...

Page 113: ...ationsService functions and error messages Festo P BE CMMS ST HW EN 0903b 113 Note Starting with Firmware 1 3 0 1 7 errors that are parameterized as warnings are automatically acknowledged if the cause is no longer present ...

Page 114: ...10 1000 m Air humidity Relative humidity up to 90 non condensing Protection class IP20 Contamination class 1 CE conformity with low voltage guideline EMC law Current oscillations EN 50178 EN 61800 3 EN 61000 3 2 Further certifications UL CSA in preparation Tab A 1 Technical data Ambient conditions and qualifications Characteristics Values Device dimensions H W D 160x50x160 mm Weights 2 0 kg Tab A ...

Page 115: ...al sensor N C contact Rcold 1 k Rhot 10 k Analogue sensor Silicium temperature probe e g KTY81 84 R25 1 k or R25 2 k Tab A 5 Technical data Motor temperature monitoring in preparation A 2 Operation and display components The CMMS ST stepping motor controller has two LED s on the front and one seven segment display for showing the operating status Element Function Seven segment display Displays the...

Page 116: ...2 A Maximum current incl holding brake 1 5 A PWM frequency 50 kHz Tab A 7 Technical data Power data X9 Characteristics Values Internal braking resistor 17 Pulse power 500 W Continuous output 10 W Response threshold 58 30 V Maximum intermediate circuit voltage 10 above response threshold Hysteresis 3 V Tab A 8 Technical data Internal braking resistor X9 A 3 2 Motor connection X6 Output data Values ...

Page 117: ...tal sensor input Values Signal level of tracking signals A B N 5 V differential RS422 Angle resolution Max 12 bit Number of lines of the increment generator 500 Limit frequency 100 kHz Encoder power supply 5 V 5 100 mA Tab A 11 Incremental sensor input X2 A 3 4 Incremental sensor interface X10 Incremental encoder interface Values Operating modes A B or CLK DIR input signals A B N output signals An...

Page 118: ... CANopen DS301 DSP402 and FHPP Baud rate Max 1 MBaud Terminating resistor 120 Ω Tab A 14 Technical data CAN bus X4 A 3 7 I O interface X1 Digital inputs Values Signal level 18 30 V high active Number 14 Reaction time to input 1 6 ms Reaction time to sample input 100 µs Protective function Against polarity reversal Tab A 15 Technical data Digital inputs Digital outputs Values Signal level 24 V from...

Page 119: ...ogue outputs Values Signal level 0 10 V Version Single ended against AGND Output reaction time 250 µs Protective function Short circuit against AGND Tab A 18 Technical data Analogue outputs Analogue inputs outputs Values High resolution analogue input AIN0 10 V input section 12 bit differential 250 µs delay time Analogue outputs AOUT0 and AOUT1 10 V output range 9 bit resolution flimit 1kHz Tab A ...

Page 120: ...ference immunity 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 lines and space ...

Page 121: ...entation 9 Field bus control I O connection 44 Firmware download 44 Frequency ranges 50 Frequency signals A B 24 CLK DIR 24 CW CCW 24 G Glossary 120 EMC Interference emission 120 Interference immunity 120 EMC 120 H Holding brake 47 61 62 98 technical specifications 117 Homing run 52 homing run methods 52 timing 55 I I O connection analogue setpoint specification 25 field bus control 44 jog teach 6...

Page 122: ...onnection 51 Positioning controller 50 PROFIBUS Documentation 9 R Record linking I O connection 71 timing 72 Resonance 50 S Safe Stop 1 76 Safe Torque OFF 76 Safety instructions 11 14 Scope of delivery 10 SS1 76 Step criteria 69 STO 76 Stop category 76 Switching off of enable timing 60 Switch on sequence timing 106 Synchronization 25 activate 27 I O connection 28 29 timing 30 T Timing homing run 5...

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