Quick Guide
Original instructions
Motor controller CMMB
Festo AG & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
+49 711 347-0
www.festo.com
8068721
2017-07a
[8069599]
1
2
3
Front view of CMMB series motor controller
X1
Reserved connector
X2
Power & motor connector
X3
RS232 connector
X4
Multi function connector
X5
Encoder connector
1
Front panel
2
Ground
3
Charge lamp
L1C
L2C
L1
L2
U
V
W
PE
Motor
Power Cable
Motor Encoder Cable
Motor Brake Cable
RS232 Cable
Brake 24V
Power Supply
RB1
RB-
Braking
Resistor
220VAC
Power Supply
Circuit Breaker
(MCCB)
Noise Filter
(NF)
Magnetic
Contactor
(MC)
Fuse 1
Fuse 2
N
L
Easy Use function
The Easy Use function helps users set up the CMMB motor controller for
the main types of applications in a very short time. The LED panel guides
the user step by step through the settings of the few most important
parameters in order to prepare the controller for the desired application.
The servo control loops of the motor controller are pre-configured to use
-
ful default settings which are adequate for many applications at as they
are. A robust auto-tuning function can be used additionally to identify the
applied mechanical system more precisely. After that, the user only needs
to adjust the controller’s servo performance with the stiffness parameter.
Setup process with Easy Use function
The process for setting up the CMMB motor controller with the Easy Use
function follows a simple procedure.
Step 1: The parameters of the EASY panel menu have to be accessed and
confirmed, or set one by one. The auto-recognized motor type can be
confirmed, the control interface has to be selected, interface-related main
parameters have to be set and the mechanical and control application
types must be chosen. Afterwards, these parameter have to be stored
and the controller has to be rebooted. As a result of these settings, the
controller is configured for a suitable I/O setting and the servo control
loop parameters are set to matching defaults. The controller is ready for
use for a wide range of standard applications and can be tested.
Step 2: If the servo control performance of the controller has to be further
improved, the tunE panel menu must be accessed. With the help of the
functions in this menu, the controller can start an auto-tuning motor run
in order to identify motor load conditions and measure load inertia. The
controller detects the ratio of the load inertia relative to motor inertia and
tunes the servo loops according to one single parameter, namely stiff-
ness. Stiffness can be easily adjusted up or down in the tunE menu with
the panel buttons. during the application can be test-run via the selected
command interface. After finding the best value for stiffness, the tunE
parameters need to be stored and the controller is finally ready for use.
If adjustment of stiffness does not result in the required performance, the
PC software “CMMB configurator” can be used to for further optimisation.
Safety and requirements for product use
Warning
Danger of electric shock
•
If cables are not mounted to the plug (X2).
•
If connecting cables are disconnected when energised.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in the installed state and when all
safeguards have been initiated.
Before touching live parts during maintenance, repair and cleaning work
and after been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and
secure it against being switched on again.
2. After switching-off, allow to discharge for at least 5 minutes and check
that power is turned off before accessing the controller. Make sure that
the charge lamp on the front of the controller is off.
Warning
Danger of electric shock
Motor controllers are devices with increased leakage current (> 3.5 mA). If
wiring is incorrect or the device is defective, high voltage can occur on the
housing, which can result in serious injury or even death if the housing is
touched.
• Before commissioning, also for brief measuring and test purposes, con-
nect the PE protective conductor.
•
Observe the regulations of EN 60204-1 for the protective earthing.
1
2
1
Pin 1
2
Pin 19
X4 – Multi-function connector
Pin 1
OUT1+
Pin 19
AIN1+
Pin 2
COMI
Pin 20
OUT5
Pin 3
OUT1-
Pin 21
AIN1-
Pin 4
DIN1
Pin 22
+5V
Pin 5
OUT2+
Pin 23
AIN2+
Pin 6
DIN2
Pin 24
GND
Pin 7
OUT2-
Pin 25
AIN2-
Pin 8
DIN3
Pin 26
ENCO_Z
Pin 9
OUT3
Pin 27
MA+
Pin 10
DIN4
Pin 28
ENCO_/Z
Pin 11
OUT4
Pin 29
MA-
Pin 12
DIN5
Pin 30
ENCO_B
Pin 13
COMO
Pin 31
MB+
Pin 14
DIN6
Pin 32
ENCO_/B
Pin 15
VDD
Pin 33
MB-
Pin 16
DIN7
Pin 34
ENCO_A
Pin 17
VEE
Pin 35
MZ+
Pin 18
MZ-
Pin 36
ENCO_/A
1
X2 – Power connector
Pin 1
L1C
Control power input L/N
Pin 2
L2C
Pin 3
L1
Drive power input L/N
Pin 4
L2
Pin 5
DC+
/RB1
DC+ DC bus+
RB1 External braking resistor input
Pin 6
RB2
Internal braking resistor input
Pin 7
RB-
External braking resistor input
Pin 8
DC-
DC bus-
Pin 9
U
U/V/W phase power output for
servo motor
Pin 10 V
Pin 11 W
Short-circuit DC+ / RB1 and RB2 if choosing controller
internal braking resistor (power: 10 W).
Wire cross section for all pins:
AWG 22 (0.32 mm²) to AWG 14 (2.1 mm²)
1
Pin 1
Warning
It is forbidden to use the internal braking resistor if average brake power
is greater than 10 W.
Model
Fuse 1
Fuse 2
CMMB-AS-01
1 A
3.5 A
CMMB-AS-02
1 A
3.5 A
CMMB-AS-04
1 A
7 A
CMMB-AS-0
7
1 A
15 A
4
5
5
6
2
3
3
4
1
2
The following figure shows the wiring of X4 with
default
IO function. More
IO functions can be defined with the digital panel or PC software.
Digital
Input
Enable
Reset Errors
Start Homing
P limit +
P limit -
Home Signal
Input Common
PUL+ / CW+ / A+
PUL- / CW- / A-
DIR+ / CCW+ / B+
DIR- / CCW- / B-
Z+
Z-
Impulse
Command
(<500k)
Digital
Output
Ready
Motor Brake
Position Reached
Zero Speed
Error
Output Common
OUT1+
OUT1-
OUT2+
OUT2-
OUT3
OUT4
OUT5
COMO
1
3
5
7
9
11
20
13
ENCO_A
ENCO_/A
ENCO_B
ENCO_/B
ENCO_Z
ENCO_/Z
34
36
30
32
26
28
+5V
GND
22
24
+5V
GND
VDD
VEE
15
17
+24V
VEE
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
COMI
4
6
8
10
12
14
16
2
MA+
MA-
MB+
MB-
MZ+
MZ-
27
29
31
33
35
18
Self-adapt
Self-adapt
Self-adapt
Internal 24V
Output
Internal 24V
Internal 24V Output-
Internal 5V
Output
Internal 5V
Internal 5V Output-
Encoder
Output
Encoder Out A+
Encoder Out A-
Encoder Out B+
Encoder Out B-
Encoder Out Z+
Encoder Out Z-
Analog
Speed
Analog
Torque
Analog
Max.Torque
AIN1+
AIN1-
AIN2+
AIN2-
19
21
23
25
A/D
Electrical installation
2
Parameter description
5
Default I/O function
4
Pin connection
3
General information / Preparation
1
Note
For all available product documentation
www.festo.com/pk
Warning
Danger of electric shock
This product can cause a DC current in the protective ground conductor.
In cases where an error current protection unit (RCD) or an error current
monitoring device (RCM) is used to protect against direct or indirect con
-
tact, only the Type B kind of RCD or RCM is permitted on the power supply
side of this product.
Intended use
The CMMB is intended for:
• Use in control cabinets for power supply to AC servo motors and their
regulation of torques (current), rotational speed and position.
The CMMB is intended for installation in machines or automated systems
and may only be used:
• When in excellent technical condition
•
In original status without unauthorised modifications
•
Within the limits of the product defined by the technical data
•
In an industrial environment
The product is intended for use in industrial areas. When used outside an
industrial environment, e.g. in commercial and mixed residential areas,
measures for radio interference suppression may be necessary.
