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Festo — CMMP-AS-...-M0 — 2022-07c

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Table of contents

1

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

2

Safety and requirements for product use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1

Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1.1

General safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1.2

Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1.3

Achievable safety level, safety function in accordance with EN ISO 13849-1/
EN 61800-5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2

Requirements for product use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.2.1

Technical prerequisites. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.2.2

Qualification of the specialist technicians (requirements for staff). . . . . . . . . . 8

2.2.3

Diagnostic coverage (DC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.2.4

Range of application and approvals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3

Description of the safety function STO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1

Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1.1

Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1.2

Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.2

Function and application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.2.1

Description of the STO safety function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.2.2

Overview of interface [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.2.3

Control inputs STO-A, 0V-A/STO-B, 0V-B [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2.4

Feedback contact C1, C2 [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.2.5

24 V, 0 V auxiliary power supply [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.3

Functions in the motor controller CMMP-AS-...-M0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4

Time response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.4.1

STO basic time response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.4.2

Time response of activation of STO in operation with restart. . . . . . . . . . . . . . 17

3.4.3

Time response of activation of SS1 in operation with restart. . . . . . . . . . . . . . 18

4

Assembly and installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1

Mounting/removal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2

Electrical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2.1

Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2.2

Connection [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2.3

Minimum wiring for initial start-up [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.3

Sample circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3.1

Safe Torque Off (STO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3.2

Deceleration and Safe Torque Off (SS1, "Safe Stop 1"). . . . . . . . . . . . . . . . . . 24

5

Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.1

Prior to commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2

FCT support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2.1

Status display of the safety function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2.2

Displaying log file of the motor controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

5.3

Function test, validation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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Содержание CMMP-AS M0 Series

Страница 1: ...CMMP AS M0 Motor controller Manual Safety function STO 8179184 2022 07c 8179186 ...

Страница 2: ...Translation of the original instructions CiA is a registered trademark of its respective trademark holder in certain countries ...

Страница 3: ... of interface X40 12 3 2 3 Control inputs STO A 0V A STO B 0V B X40 13 3 2 4 Feedback contact C1 C2 X40 14 3 2 5 24 V 0 V auxiliary power supply X40 14 3 3 Functions in the motor controller CMMP AS M0 14 3 4 Time response 16 3 4 1 STO basic time response 16 3 4 2 Time response of activation of STO in operation with restart 17 3 4 3 Time response of activation of SS1 in operation with restart 18 4 ...

Страница 4: ...31 6 4 1 Status display 31 6 4 2 Error messages 31 7 Modification and replacement of the motor controller 33 7 1 Repair or replacement of the integrated safety circuit 33 7 2 Decommissioning and disposal 33 7 3 Replacement of the previous CMMP AS series with the CMMP AS M0 33 8 Technical appendix 35 8 1 Technical data 35 8 1 1 Safety engineering 35 8 1 2 General operating and environmental conditi...

Страница 5: ...mation on the rating plate in the hardware description GDCP CMMP M0 HW Service Please consult your regional Festo contact if you have any technical problems Specified standards directives Version EN 61800 5 1 2007 A1 2017 EN ISO 12100 1 2010 EN 61800 5 2 2017 EN ISO 13849 1 2015 EN 60204 1 2006 A1 2009 AC 2010 IEC 61131 2 2007 EN 62061 2005 AC 2010 A1 2013 A2 2015 IEC 61508 1 7 2010 Tab 1 Standard...

Страница 6: ...ice profile CiA 402 DS 402 CAM Editor manual P BE CMMP CAM SW Cam disc function CAM of the motor controller STO safety function manual GDCP CMMP AS M0 S1 Functional safety engineering for the motor controller with the STO safety function Help for the FCT CMMP AS plug in User interface and functions of the CMMP AS plug in for the Festo Configuration Tool è www festo com sp Tab 2 Documentation for t...

Страница 7: ...use The motor controller CMMP AS M0 supports the following safety function Safe Torque Off STO with SIL 3 in accordance with EN 61800 5 2 EN 62061 IEC 61508 and or category 4 PL e in accordance with EN ISO 13849 1 The motor controller CMMP AS M0 is intended for installation in machines or automation systems and to be used as follows in excellent technical condition in its original condition withou...

Страница 8: ...safety directives Observe the notes and warnings in this documentation 2 2 2 Qualification of the specialist technicians requirements for staff The device may only be set into operation by a qualified electrical technician who is familiar with the installation and operation of electrical control systems the applicable instructions for operating safety engineering systems the applicable instruction...

Страница 9: ...product use 9 Product conformity in accordance with EU EMC Directive in accordance with EU Machinery Directive in accordance with EU RoHS Directive to UK EMC Regulations to UK Supply of Machinery Regulations to UK RoHS Regulations Tab 3 Product conformity ...

Страница 10: ...ts the requirements of the controller and drive for optimised implementation of protective functions Planning and installation complexity is reduced The use of integrated functional safety engineering increases machine function ality and availability over the levels achieved by conventional safety engineering 3 1 2 Interface The motor controller CMMP AS M0 has a digital I O interface X40 for contr...

Страница 11: ...ety command device e g switch relay safety relay unit 2 STO integrated safety function 3 Power output stage in the CMMP AS M0 only one phase shown 4 Driver power supply 5 Motor connection 6 Feedback contact The power supply to the drive is safely disconnected when the STO Safe Torque Off safety function is active The drive cannot generate torque or force and so cannot perform any dangerous movemen...

Страница 12: ...nward compatible interface can be implemented in a mixed configuration consisting of CMMP AS previous series with the safe stop function via the X3 connection and the CMMP AS M0 è 7 3 Replacement of the previous CMMP AS series with the CMMP AS M0 The interface X40 allows direct connection of active and passive sensors because a 24 V supply voltage auxiliary supply with associated reference potenti...

Страница 13: ...cal data of the STO A and STO B inputs Tolerance ranges are defined for the input voltage range of the STO A and STO B control inputs The amount of energy stored in the components of the motor controller e g capacitors depends on the level of the input voltage This amount of energy must be charged or discharged during switching operations The input voltage dependent values are thus derived for the...

Страница 14: ...the DC and SFF values specified in the technical data the status of the feedback contact C1 C2 must be registered whenever the safety function is requested After the safety function has been requested there must be a signal change at the feedback contact within an application specific time In the event of a violation a safety oriented reaction must take place 3 2 5 24 V 0 V auxiliary power supply ...

Страница 15: ...f uncontrolled coasting could result in a hazard or damage additional measures are required NOTICE A clamping unit is actuated by the non safety relevant firmware of the motor controller CMMP AS M0 The holding brakes on Festo motors are not suitable for active deceleration only for holding a position A safe state with active control of the power semiconductors PWM can be requested The status of bo...

Страница 16: ...ng the failure of the driver power supply Signal evaluation and status indicator tReaction 10 ms Status transitions in the internal status machine triggering of an error message if necessary and showing the status on the display Tab 5 Driver supply voltage acquisition and reaction times 3 4 Time response The STO A and STO B inputs are functionally absolutely equivalent therefore the switching sequ...

Страница 17: ...ening T_DRIVE_V Delay of the CMMP AS M0 0 10 ms Tab 6 Time specifications for the basic time response 3 4 2 Time response of activation of STO in operation with restart The figure below shows the time response from switching off the control voltage at STO A B and the process required to restart the device The times can be found in the table below Notes The holding brake is controlled via the motor...

Страница 18: ...CMMP AS M0 0 10 ms T_BRAKE_V_ON Switch off delay of the holding brake Depending on the brake 1 T_BRAKE_V_OFF Switch on delay of the holding brake Depending on the brake 2 1 Physical delay time until the brake is activated 2 Minimum time physical delay time until the brake is released This time can be parameterised with a higher value in the controller Tab 7 Times for the time response when activat...

Страница 19: ...lay unit T_K1_V Delay time between S1 and opening of the off delayed contacts K1 Adjustable on the safety relay unit T_STO A B_OFF STO A B switching time from high to low è 8 1 3 Electrical data X40 è Tab 19 Technical data electrical data of the STO A and STO B inputs T_STO A B_ON STO A B switching time from low to high T_DRIVE_V Delay of the CMMP AS M0 0 10 ms T_DIN5_SU Time that DIN5 must still ...

Страница 20: ...ng on the brake 1 T_BRAKE_V_OFF Switch on delay of the holding brake Depending on the brake 2 1 Physical delay time until the brake is activated 2 Minimum time physical delay time until the brake is released This time can be parameterised with a higher value in the controller Tab 8 Times for the time response when activating the SS1 safety function ...

Страница 21: ...uipment of machines General requirements is guaranteed with the use of PELV circuits A 24 V fixed power supply used in the system must satisfy the requirements of EN 60204 1 for DC power supplies behaviour during power interruptions etc The cable is connected to a plug which makes it easier to replace the motor controller Make sure that bridges or the like cannot be inserted parallel to the safety...

Страница 22: ...g on the device The STO A and STO B control inputs must be connected in parallel over two channels to ensure the STO Safe Torque Off function è 4 3 1 Safe Torque Off STO è Fig 6 For example this interface can be part of an emergency stop circuit or a safety door installation 4 2 3 Minimum wiring for initial start up X40 For initial commissioning of the motor controller without safety engineering t...

Страница 23: ...op switch a safety door switch a light curtain or a safety relay unit The security requirement is made in 2 channels via the S1 switch and leads to the 2 channel switch off of the power stage If the power stage has been switched off it is output by the potential free contact C1 C2 Information on the sample circuit Detection of shorts across contacts is not integrated in the motor controller with i...

Страница 24: ...ch in the following figure can be an emergency stop switch a safety door switch or a light curtain The security requirement is made in 2 channels via the S1 switch and to the safety relay unit The safety relay unit switches off the controller release If the controller release of the motor controller is switched off the movement is automatically delayed the activation of the brake is delayed if the...

Страница 25: ...ht curtain 4 Safety door 5 Emergency stop switch Information on the sample circuit The safety relay unit must switch off the controller enable X1 9 DIN5 without time delay and the inputs STO A and STO B X40 1 3 with time delay The required time delay depends on the application and must be determined specific to the application The time delay must be designed in such a way that the drive is braked ...

Страница 26: ...r controller are located in the same control cabinet to enable fault exclusion for a cross or earth fault between the cables acceptance test of the control cabinet for fault free wiring The sample circuit has a 2 channel structure that is suitable for categories 3 and 4 with additional measures The additional measures required depends on the area of application and the safety concept of the machin...

Страница 27: ...select the circuitry and components accord ingly Observe the examples è 4 3 Sample circuits 5 1 Prior to commissioning Carry out the following steps in preparation for commissioning 1 Make sure that the motor controller is correctly mounted è 4 1 Mounting removal 2 Check the electrical installation connecting cables contact assignment è 4 2 Electrical installa tion All PE conductors connected 5 2 ...

Страница 28: ... This validation must be documented by the person who commissions the device To assist you with the commissioning questions for risk reduction are summarised below in the form of sample check lists The following check lists are no substitute for training in safety engineering The completeness of the check lists cannot be guaranteed No Questions Relevant Done 1 Have all operating conditions and int...

Страница 29: ... Yes 0 No 0 0 Tab 11 Questions for the validation in accordance with EN ISO 12100 1 2010 example No Questions Relevant Done 1 Has a risk assessment been carried out Yes 0 No 0 0 2 Have a list of issues and a validation plan been drawn up Yes 0 No 0 0 3 Has the validation plan including analysis and inspection been worked through and has a validation report been created The following must be inspec...

Страница 30: ...MMP AS M0 after the discrepancy time has expired Yes 0 No 0 0 Is a short circuit detected between STO A and STO B or is a suitable fault exclusion defined Yes 0 No 0 0 Only when using a safety relay unit with evaluation of the feedback contact C1 C2 Is the drive shut down if there is a short circuit from C1 to C2 Yes 0 No 0 0 Is the restart inhibited That means that there is no movement when the e...

Страница 31: ... and reverse polarity of the control voltage è 8 1 3 Electrical data X40 è Tab 19 Technical data electrical data of the STO A and STO B inputs The 24 V DC supply voltage of the motor controller connected to X40 is short circuit proof 6 4 Diagnostics and fault clearance 6 4 1 Status display Display on the motor controller Display Description H the motor controller is in the safe status This does no...

Страница 32: ...fective Internal voltage error of the STO circuit Safety circuit defective No action pos sible please contact Festo If possible replace with another motor controller 51 21 Reserved 51 31 Reserved 52 1 Safety function discrepancy time expired Control inputs STO A and STO B are not actuated simultaneously Control inputs STO A and STO B are not wired in the same direction Check discrepancy time 52 2 ...

Страница 33: ...e power semiconductors IGBTs via X3 using a relay The driver supply for the power semiconductors IGBT optocoupler is separated with a relay This prevents pulse patterns PWM signals from reaching the power semiconductors In addition the CMMP AS has a potential free feedback contact X3 pin 5 and 6 which as a diagnostic output indicates the presence of the driver supply CMMP AS M0 The devices of the ...

Страница 34: ...0 has a higher peak power than the CMMP AS This enables higher travel speeds depending on the application If this is applied it is a major change to the machine NOTICE The parameter set of CMMP AS must be transferred to the parameter set of CMMP AS M0 with the same values If these values increase and the risk increases as a result a new risk assessment of the machine must be carried out NOTICE Aft...

Страница 35: ...td Approved Body for Machinery No 2571 Certificate no 01 205U 5162 02 19 Tab 15 Approval information safety engineering Safety engineering Safety reference data Safety func tion STO Safe restart interlock STO Safe Torque Off in accord ance with EN 61800 5 2 with SIL 3 Safe restart interlock STO Safe Torque Off in accord ance with EN ISO 13849 1 with category 4 and PL e SIL SIL 3 Safety integrity l...

Страница 36: ...is intended for use in an industrial environment Measures for interference suppression may be required in residential areas Tab 17 General technical data Operating and environmental conditions for CMMP AS M0 Permissible setup altitude above mean sea level at nominal power m 1000 with power reduc tion m 1000 2000 Humidity 0 90 non condensing Degree of protection IP20 Pollution degree in accordance ...

Страница 37: ...sible residual ripple 2 based on nominal voltage 24 V Overvoltage shutdown V 31 shutdown in case of fault Nominal current mA 20 typical maximum 30 Starting current mA 450 typical duration approx 2 ms max 600 at 28 8 V Input voltage threshold Switching on V approx 18 Switching off V approx 12 5 Switching time from high to low STO A B_OFF ms 10 typical maximal 20 at 28 8 V Switching time from low to...

Страница 38: ...rent con tact open μA 10 Switching time for closing T_C1 C2_ON ms STO A B_OFF 5 ms STO A B_OFF è Tab 19 Technical data electrical data of the STO A and STO B inputs Switching time for opening T_C1 C2_OFF ms STO A B_ON 5 ms STO A B_ON è Tab 19 Technical data electrical data of the STO A and STO B inputs Tab 21 Technical data electrical data of the feedback contact C1 C2 Auxiliary supply 24V 0V outp...

Страница 39: ...le length m 30 Shielding Use shielded cable for wiring outside the control cabinet Guide shielding into the control cabinet attach to the side of the control cabinet Conductor cross section flexible conductors wire end sleeve with insulating collar one conductor mm2 0 25 0 5 two conductors mm2 2 x 0 25 with twin wire end sleeves Tightening torque M2 Nm 0 22 0 25 Tab 24 Technical data wiring at X40...

Страница 40: ...is intended to stop a process or a movement if this has created a hazard OSSD Output Signal Switching Device output signals with 24 V level cycle rates for error detection PFD Probability of Failure on Demand according to IEC 61508 PFH Probability of dangerous failures per hour in accordance with IEC 61508 PL Performance Level in accordance with EN ISO 13849 1 steps a e SFF Safe Failure Fraction r...

Страница 41: ......

Страница 42: ... 2022 all rights reserved to Festo SE Co KG Copyright Festo SE Co KG 73734 Esslingen Ruiter Straße 82 Deutschland Phone 49 711 347 0 Internet www festo com ...

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