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Festo CMMT-AS-C2-3A Series, Сборка и инструкция по установке

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Encoder with asynchronous communication interface at [X2]

Parameterisable no. of
encoder pulses

1 

…

 16777216 position values/revolution (24 bit) 

Angle resolution/inter-
polation

None; digital angle signal from encoder

Clock signal

[MHz]

None; asynchronous communication

Data channel

RS422/485, asynchronous communication
Bit rate: 1 MHz/2 MHz/4 MHz
18 bit/frame

Input impedance
A/B/N

[Ω]

RS422/485; 120

[V] 

5.00 

…

 5.50

Output supply

[mA]

Max. 250

Support: mechanical
multiturn encoder

[bit]

Yes, 16

Support: battery-buf-
fered multiturn
encoder

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

Support: encoder para-
meter memory

Yes, storing of controller parameters in encoder

Support: encoder error
messages

Yes, supported

Encoder signal monit-
oring

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

Tab. 116 Encoder with asynchronous communication interface at [X2]

11.3.6

Inputs, outputs, ready contact at [X1A]

Operating ranges of digital inputs drawing current

Technical data

102

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

Содержание CMMT-AS-C2-3A Series

Страница 1: ...8075795 Servo drive CMMT AS C2 C4 3A 8075795 2018 02 8075797 Description Assembly Installation...

Страница 2: ...instructions EnDat EtherCAT EtherNet IP DR JOHANNES HEIDENHAIN Hiperface PI PROFIBUS PROFINET PHOENIX CONTACT are registered trademarks of the respective trademark owners in certain coun tries 2 Fest...

Страница 3: ...of connection technology 17 6 Transport and storage 18 7 Assembly 18 7 1 Mounting distances CMMT AS 3A 1 phase 19 7 2 Installation 20 8 Installation 21 8 1 Safety 21 8 2 Residual current device 22 8 3...

Страница 4: ...status EtherCAT 82 9 1 4 Device and interface status ProfiNet 83 9 1 5 Device and interface status EtherNet IP 84 10 Dismounting 86 11 Technical data 87 11 1 Technical data product conformity and appr...

Страница 5: ...odes and operational functions specifically for each bus protocol activation Device profiles controller and parameterisa tion Safety function STO SBC SS1 Help for commissioning software Online help fo...

Страница 6: ...on the product The product labelling is located on the left side of the device The product labelling enables identifica tion of the product and shows the following information Product labelling exampl...

Страница 7: ...icate the manufacturing period in encrypted form The letter specifies the manufacturing year and the character behind it number or letter indicates the month of production Year of manufacture 20 year...

Страница 8: ...tor can exceed an alternating current of 3 5 mA or a DC current of 10 mA The minimum cross section of the protective earth connector must comply with the local safety regulations for protective earth...

Страница 9: ...ion et attendez 5 min avant de proc der l entretien Gefahr Gefahr des elektrischen Sch lags Vor dem Durchf hren von Wartungsarbeiten die Stromver sorgung trennen und 5 Minuten warten Tab 7 Warnings on...

Страница 10: ...hed off Before working on the product switch off the power supply via the master switch and secure it against being switched on again unintention ally Before touching the power connections wait at lea...

Страница 11: ...equirements of EN 61800 5 2 appendix D 3 1 and of EN 60204 1 Motor cables and brake lines approved by Festo for the CMMT AS fulfil the requirements 2 3 Training of skilled personnel The product may be...

Страница 12: ...pe of delivery Component Number Servo drive CMMT AS 1 Instruction manual CMMT AS 1 Tab 9 Scope of delivery Available as accessories are for example Plug connector set for single wiring NEKM C6 S Plug...

Страница 13: ...instead of the internal braking resistor if necessary An Ethernet interface is available for parameterisation through a PC The type of activations depends on the product design e g over bus network o...

Страница 14: ...CMMT AS 7 Servo motor here EMME AS 8 PC with Ethernet connection for paramet erisation Fig 3 System structure example 5 2 1 Product design The device has a compact design The connections are provided...

Страница 15: ...unting the device on the rear wall of the control cabinet If a display and operating unit is not required the upper area is covered with a blind plate The rear side of the device is part of the coolin...

Страница 16: ...1 Top slot keyhole shape 2 Retaining screw for braking resistor 2x 3 Braking resistor 4 Bottom slot Fig 5 Rear side Product overview 16 Festo CMMT AS C2 C4 3A 2018 02...

Страница 17: ...3 Sensor connection 2 10 X10 Device synchronisation 11 X18 Standard Ethernet 12 X5 Connection for operating unit behind the blind plate 13 X1A I O interface 14 X9B Braking resistor Fig 6 Connections o...

Страница 18: ...ible temperatures moisture aggressive atmospheres Store and transport the product in its original packaging The original packaging offers sufficient protection from typical stresses 7 Assembly Dimensi...

Страница 19: ...o each other When arraying devices the required minimum distance must be maintained so that the heat arising in operation can be removed through sufficient air flow Fig 8 Mounting distances and instal...

Страница 20: ...ired clearance for the wiring connecting cables of the device are guided in from above and from the front Do not mount any temperature sensitive components near the device The device can become very h...

Страница 21: ...f the out er conductor L X9A Connect motor cable to the connection X6A and the shield of the motor cable on the front side to PE via the shield clamp of the servo drive Connect all additional PE prote...

Страница 22: ...er delay as high current leak age results when switched on Residual current devices with trigger delay prevent unintended trigger ing when switched on 8 3 Mains fuse The CMMT AS has no integrated fuse...

Страница 23: ...m2 CMMT AS C2 3A CMMT AS C4 3A Possible minimum elec trical protection 0 75 C6 In accordance with UL standard C10 1 5 In accordance with IEC standard C13 In accordance with UL standard C15 Permissible...

Страница 24: ...stem is not supported because a neutral conductor is required TN C system with neutral conductor and protective earth function combined in a single conductor the PEN conductor Fig 31C System is suppor...

Страница 25: ...pedance The exposed conductive parts are connected to a local earth Fig 31G1 System is supported Connect device to the distribution network of the current source between a mains phase and N A device o...

Страница 26: ...PE for IT networks only Before using the CMMT AS in IT networks the internal connection of the integrated mains filter to PE must be interrupted Interrupting the connection prevents unwanted disconne...

Страница 27: ...hen conducting protective earthing Always connect PE connection on the mains side PE rail in the control cabinet at the following posi tions Pin PE of the connection X9A PE connection earthing screw n...

Страница 28: ...ories Order code Category PWM frequency kHz Max permissible length of the motor cable m 8 15 C21 16 52 8 25 CMMT AS C2 3A CMMT AS C4 3A C3 16 25 1 To comply with the line harmonics in accordance with...

Страница 29: ...l information on EMC appropriate installation textvar object does not exist Line lengths and line shield Use only suitable lines that fulfil the normative requirements of EN 60204 1 Observe max permis...

Страница 30: ...from the power cables Avoid crossing signal cables with power cables or running them at a 90 angle EMC correct installation of the motor cable and sensor cables Keep motor cable as short as possible s...

Страница 31: ...e shield clamp of the drive controller 8 7 Connection examples Connection plan 1 phase mains connection 1 Braking resistor 2 Line safety switch 3 PELV power supply unit for 24 V supply 4 Sensor 2 opti...

Страница 32: ...230 V A low voltage network common in Europe with a nominal star voltage value of 230 V has an inter linked voltage of approx 400 V between the 2 phases Do not connect a servo drive to 2 phases of the...

Страница 33: ...and outputs for the higher order PLC The I O interface X1A is located on the top of the device This interface offers access to functional and safety relevant inputs and outputs of the device These in...

Страница 34: ...brake con trol acknowledge 20 19 Reserved do not connect 18 SIN4 Release brake request 17 GND Reference potential 16 TRG0 Fast output for triggering external components channel 0 15 TRG1 Like TRG0 but...

Страница 35: ...the higher order PLC Requirements for the counterplugs 2 required Design FMC 1 5 12 ST 3 5 from Phoenix Contact or compatible Signal contacts 12 12 pin 1 row Nominal current 8 A Rated voltage III 2 16...

Страница 36: ...ady 1 RDY C1 X1A 23 Ready 2 RDY C2 Normally open contact ready If the device is ready for operation the contact is closed If there is an error the contact is opened X1A 22 Safe torque off acknowledge...

Страница 37: ...output logical switching con ditions can be output by virtual position switches rotor position switches and cam con trollers X1A 15 Trigger 1 TRG1 Trigger output channel 1 like TRG0 but channel 1 X1A...

Страница 38: ...ternal clamping unit are then switched off If the safety function SBC is not required both inputs must be switched to 24 V so that the motor can be moved detailed information on this textvar object do...

Страница 39: ...e input for typical input level of 10 V Through the analogue input the following set point values and limits can be specified in the form of analogue voltage Setpoint values for position speed or forc...

Страница 40: ...als which are implemented with a high side driver Fig 16 Internal design of digital outputs DOUT Internal design of analogue input 0 AIN0 The analogue input AIN0 is a differential input for typical in...

Страница 41: ...e axle The output BR EXT is used in connection with the safety function Safe brake control textvar object does not exist X1C Pin Function Description 10 GND Reference potential 9 24 V Power supply out...

Страница 42: ...Requirements for the counterplug Requirements for the cable Shielding Unshielded shielded1 Min conductor cross section including cable end sleeve with plastic sleeve 0 25 mm2 Max conductor cross sect...

Страница 43: ...and protocols of the sensor interface X2 NOTICE Damage to the sensor when sensor type is changed The servo drive can provide 5 V or 10 V sensor supply Through configuration of the sensor the sup ply v...

Страница 44: ...er supply lines may be required Tab 29 Requirements for the connecting cable Requirements for the shield support Put on sensor cable shield 1 Place the sensor cable shield on the device side onto the...

Страница 45: ...onnected to PE The housing is used as a support of the cable shield and is connected to the PE Tab 30 EnDat sensor Hiperface sensor pin allocation X2 Pin Function Value Description 1 COS 2 COS 1 Vss R...

Страница 46: ...hield and is connected to the PE Tab 31 Hiperface sensor Digital incremental sensor pin allocation X2 Pin Function Value Description 1 A 2 A 5 Vss Ri 120 W A track signal from the incremental sensor R...

Страница 47: ...Pin allocation analogue SIN COS incremental sensor X2 Pin Function Value Description 1 COS 2 COS 1 Vss Ri 120 COS track signal from the high resolu tion incremental sensor RS485 con forming differenti...

Страница 48: ...ort of the cable shield and is connected to the PE Tab 33 Analogue SIN COS incremental sensor Pin allocation sensor with asynchronous communication interface X2 Pin Function Value Description 1 2 3 VC...

Страница 49: ...ds protocols Supported sensors Digital incremental sensor with square wave sig nals and with RS422 compatible signal output differential A B N signals ROD 426 or compatible ELGO LMIX 22 Analogue SIN C...

Страница 50: ...ield 1 Place sensor cable shield on the device side onto the plug housing 2 Place sensor cable shield on the motor side onto the sensor or sensor plug Digital incremental sensor pin allocation X3 Pin...

Страница 51: ...tion analogue SIN COS incremental sensor X3 Pin Function Value Description 1 COS 2 COS 1 Vss Ri 120 COS track signal from the high resolu tion incremental sensor RS485 con forming differential 3 SIN 1...

Страница 52: ...as follows Possible functions Description Incremental sensor output Output of a master axle that emulates encoder signals encoder emulation Incremental encoder input Input of a slave axle through whic...

Страница 53: ...tion possibilities Description Direct connection of 2 devices Two devices can be connected directly with a patch cable point to point connection Recommendation Use patch cable of category Cat 5E maxim...

Страница 54: ...nnection Fig 18 Possible connection through the SYNC connection Connection of several devices over RJ45 T adapter and patch cables 1 RJ45 T adapter Fig 19 Connection over RJ45 T adapter and patch cabl...

Страница 55: ...nsor In Out X10 Pin Function Description 1 A 2 A 5 Vss Ri 120 A track signal1 RS485 conforming differential 3 B 5 Vss Ri 120 B track signal1 RS485 conforming differential 4 Z 5 Z 5 Vss Ri 120 Zero imp...

Страница 56: ...Pin Function Description 1 CLK 2 CLK 5 Vss Ri 120 CLK signal from a controller RS485 conforming differential 3 DIR 5 Vss Ri 120 DIR signal from a controller RS485 conforming differential 4 5 Reserved...

Страница 57: ...oder input CW CCW 8 8 6 X18 standard Ethernet The interface X18 is located on the front side of the device Through the interface X18 the following can be performed with the commissioning software Diag...

Страница 58: ...net Requirements for the counterplug Design VS 08 RJ45 5 Q IP20 fromPhoenix Contact or compatible Number of pins 8 Shielded Yes Nominal current 1 A Rated voltage 120 V AC Degree of protection IP20 Tab...

Страница 59: ...T to your network or directly to the PC via a hub switch 2 Place both sides of the cable shield onto the plug housings 8 8 7 X19 Real time Ethernet RTE port 1 and port 2 The interface X19 is located o...

Страница 60: ...nal current 1 A Rated voltage 120 V AC Degree of protection IP20 Tab 54 Requirements for the counterplug Requirements for the connecting cable Characteristics CAT 5 patch cable double shielded Max cab...

Страница 61: ...Nominal current 16 A Rated voltage III 2 320 V Grid dimension 5 08 mm Strip length 10 mm Tab 57 Requirements for the counterplug Requirements for the connecting cable Wires and shielding At least 8 wi...

Страница 62: ...connected to the connection X6B The output for the holding brake is used both functionally and in connection with the safety function Safe brake control textvar object does not exist To monitor the m...

Страница 63: ...able Requirement for the temperature sensor in the motor Electrically safe separation from the motor phases in accordance with IEC 61800 5 1 voltage class C overvoltage category III Requirements for t...

Страница 64: ...ly 3 Shield sleeve Fig 22 Separate shield support of all cable shields example Make unshielded cable ends as short as possible Mounting the shield clamp The lower area of the front of the housing serv...

Страница 65: ...5 1 Retaining screws of the shield clamp 2 Motor cable 3 Cutout for fastening cable binders 2x 4 Shield clamp 5 Shield of the motor cable is placed over a large area below the shield clamp Fig 23 Shie...

Страница 66: ...voltage supply is possible with and without intermediate circuit coupling 8 11 Cross wiring Supply of the control element logic voltage supply WARNING Risk of injury due to electric shock For the ele...

Страница 67: ...ate circuit coup ling 7 wires unshielded Min conductor cross section including cable end sleeve with plastic sleeve 0 5 mm2 1 mm2 Max conductor cross section including cable end sleeve with plastic sl...

Страница 68: ...out a braking resistor If no braking resistor is connected the device reports an error X9B Pin Function Description 2 BR Ch Braking resistor positive connection 1 BR Ch Braking resistor negative conne...

Страница 69: ...at the brake chopper in the device is not overloaded Therefore use only suitable braking resistors that with reference to the voltage current and pulse energy capacity are suitable for the power data...

Страница 70: ...llel wiring X1A 20 X1A 19 Reserved do not connect X1A 18 DIN SIN4 Release brake request Max 10 devices parallel wiring X1A 17 GND Reference potential Max 10 devices must be cross wired X1A 16 DOUT TRG...

Страница 71: ...int value over AIN0 Tab 68 Information on cross wiring of the I O signals at the connection X1A Carry out cross wiring of the I O signals at the connection X1A with the required counterplug in combina...

Страница 72: ...ts with sensing at the beginning SIN A and end SIN B of the signal chain In cross wiring of I O signals the following should also be cross wired reference potentials GND X1A 17 of all cross wired serv...

Страница 73: ...at through braking resistors This improves the energy efficiency of the device compound through use of the regained energy In addition the intermediate circuit coupling causes the following increase o...

Страница 74: ...he device compound internal or external If devices with different output power are combined dimension the braking resistors appropri ately to the output power of the devices This is ensured if the int...

Страница 75: ...onductor cross section on X9A Max permit ted current Examples of device combina tions Required cur rent Aeff Selected elec trical protec tion 4 x CMMT AS C2 3A each 2 8 Aeff 11 2 In accordance with IE...

Страница 76: ...es with different power classes can be connected 1 Master switch 2 Line safety switch Fig 26 Cross wiring without intermediate circuit coupling Cross wiring with intermediate circuit coupling All cont...

Страница 77: ...2 OUT The following image shows an example of the LEDs on the front side of the product variant CMMT AS EC Labelling and function of the LED Run and LED Error depend on the product variant 1 Device st...

Страница 78: ...ce status LEDs run through the following colour sequence simultaneously Red Yellow Green The duration of each colour corresponds to a flash period The test is ended after one pass By observing them on...

Страница 79: ...or only switched off one channel Errors in the brake outputs or the external wiring that result in voltage on the brake output des pite requested safety function Malfunctions are reported by the funct...

Страница 80: ...ootloader starts the update procedure the status LEDs flash yellow at half second inter vals The power LED safety LED and application status LED remain dark If the bootloader is waiting for inputs e g...

Страница 81: ...system update or the file for the system update is defective Tab 76 Error messages of the start program bootloader 9 1 2 Interface status X2 X3 X10 X18 LED at X2 and X3 encoder status LED Meaning Ligh...

Страница 82: ...her with the 2 LEDs on the upper side EtherCAT Run LED operating status LED Meaning Remedy Off The device is in the Init status initialisa tion Flash es green The device is in the pre operational stat...

Страница 83: ...ed 1 Single flash single short flashing 1x flash pause 1x flash etc 2 Double flash double short flash 2x flash pause 2x flash etc Tab 82 LED error EtherCAT LED LINK ACTIVITY connection status at XF1 I...

Страница 84: ...ection Check network connection Lights up green Network connection is OK link Tab 85 Green LED at XF1 IN and XF2 OUT LED Meaning of the yellow LED Remedy Off No data traffic Lights up yellow Data traf...

Страница 85: ...Lights up red Non repairable error Contact Festo Service www festo com Tab 87 MS LED EtherNet IP NS LED network status LED Meaning Remedy Off The device is switched off or has no IP address Switch on...

Страница 86: ...nection is OK link Tab 89 Green LED at XF1 IN and XF2 OUT LED Meaning of the yellow LED Remedy Off No data traffic Flick ers yellow Data traffic ongoing activity Tab 90 Yellow LED at XF1 IN and XF2 OU...

Страница 87: ...ential areas actions to suppress interference may have to be taken Tab 91 Product conformity and approvals Safety specifications Type test The functional safety engineering of the product has been cer...

Страница 88: ...ing unit Protocol RT Ethernet CMMT AS EC EtherCAT CMMT AS EP EtherNet IP CMMT AS PN PROFINET Tab 93 General technical data Ambient conditions transport Transport temperature C 25 70 Relative humidity...

Страница 89: ...ea level at nominal power m 0 1000 Permissible setup alti tude above sea level with power reduction 10 1000 m at 1000 m 2000 m m 0 2000 Operation above 2000 m is not permitted Degree of protection IP2...

Страница 90: ...ast aluminium Tab 98 Materials 11 3 Technical data electrical 11 3 1 Load and logic voltage supply X9A Electrical data load voltage supply X9A CMMT AS C2 3A C4 3A Number of phases 1 Voltage range V AC...

Страница 91: ...ge supply CMMT AS C2 3A C4 3A Logic voltage range V DC 24 20 Nominal voltage V DC 24 Current consumption without holding brake CDSB digital I Os and auxiliary supply out puts without load A 0 5 Curren...

Страница 92: ...monitors whether the intermediate circuit can be loaded in the correct time window The soft start relay is closed after 1 s Electrical data brake chopper CMMT AS C2 3A C4 3A Brake chopper switch ing t...

Страница 93: ...duct assembly position of braking resistor Tab 103 Integrated braking resistor X9B Requirements on external braking resistor X9B CMMT AS C2 3A C4 3A Max resistance 160 100 Min resistance 100 70 Permi...

Страница 94: ...ir C 40 Setup altitude m 1000 Tab 105 Parameters Power specifications in operation under the named parameters X6A CMMT AS C2 3A C4 3A PWM frequency kHz 8 16 8 16 Current regulator cycle time s 62 5 No...

Страница 95: ...following power reductions are then valid The power reductions refer simultaneously to nominal output power max output power nominal current and maximum current Power reduction CMMT AS C2 3A C4 3A Cha...

Страница 96: ...n X6B Motor temperature monitoring X6B Analogue sensors Analogue temperature sensors with gain and offset KTY 81 84 silicon temperature sensors PTC PTC resistor positive temperature coefficient NTC ne...

Страница 97: ...utput also shuts down in the event of a fault if there is an overvoltage on the logic supply Tab 110 Output of holding brake X6B 11 3 5 Encoder interfaces X2 X3 EnDat 2 1 encoder at X2 Parameterisable...

Страница 98: ...encoder Clock signal MHz RS422 485 max 4 Data channel MHz RS422 485 max 4 Input impedance data RS422 485 120 Output supply mA Max 250 at 9 50 V 10 50 V Support mechanical multiturn encoder Yes up to 4...

Страница 99: ...differential input Critical frequency SIN COS kHz Approx 50 high resolution tracking Noise free angle resol ution within one SIN COS period bit 10 measured on noise free SIN COS signals Noise free an...

Страница 100: ...counting by an entire signal period Tab 113 Hiperface encoder at X2 SIN COS encoder at X2 X3 Parameterisable no of encoder pulses 1 65536 periods revolution 16 bit Angle resolution inter polation Min...

Страница 101: ...2144 periods revolution 18 bit Angle resolution inter polation 4 fold evaluation as 4 steps 2 bits per period Tracking signals A B N MHz RS422 485 max 4 Input impedance A B N 120 differential input Cr...

Страница 102: ...mechanical multiturn encoder bit Yes 16 Support battery buf fered multiturn encoder Yes up to 16 bit battery buffer not integrated in CMMT AS cable adapter box required Support encoder para meter memo...

Страница 103: ...n Nominal voltage V DC 24 Permissible voltage range1 V DC 3 30 Max input voltage high level UH max V 28 8 Min input voltage high level UH min V 17 Max input voltage low level UL max V 5 Min input volt...

Страница 104: ...TO A B UL max ms 200 1 Each channel has a separate overvoltage monitor for the power supply at the input If the voltage at the input exceeds the permissible maximum value the channel is shut down 2 Hi...

Страница 105: ...at UH min USBC A B 20 V ms 200 Min time between low test pulses ms atUSBC A B 20 V ms 100 Tolerance for high test pulses1 Tolerated high test pulses tSBC TP up to max ms 1 Min time between high test p...

Страница 106: ...1 Current flows from outside via the internal low side switch to 0 V reference potential of 24 V supply 2 Requires connection of the output to a Type 3 input Tab 119 Diagnostic outputs STA and SBA at...

Страница 107: ...r remaining inputs Delay time in the hard ware s 200 Min permissible pulse length high or low s 1000 Tolerance for low test pulses ms 1 Min period length between test pulses ms 100 Tab 120 Digital inp...

Страница 108: ...a diagnostic pickoff Voltage range V DC 18 30 Permissible output cur rent with contact closed mA 50 Permissible leakage current with contact open A 100 Pull down resistance k Approx 50 Short circuit...

Страница 109: ...30 Tab 123 Analogue input AIN0 at X1A 11 3 7 Inputs and outputs to the axis X1C Inputs LIM0 LIM1 at X1C Specification Based on type 3 to EN 61131 2 deviating current consumption Nominal voltage V 24 P...

Страница 110: ...est pulse monitoring Voltage range V DC 18 30 Permissible output cur rent for high level mA 100 Voltage loss at high level V 3 Pull down resistance k 50 Protective function Short circuit proof Feedbac...

Страница 111: ...x 700 for low frequencies DC instance Approx 120 for high frequencies AC instance Encoder emulation incremental encoder output X10 No of output marks marks rev 1 16384 Angle resolution inter polation...

Страница 112: ...frequency signal termin ation Tab 128 Incremental encoder counter input X10 11 3 9 Standard Ethernet X18 parameterisation interface Standard Ethernet X18 parameterisation interface Design To IEEE 802...

Страница 113: ...rotocol CoE CANopen over EtherCAT EoE Ethernet over EtherCAT FoE file access over EtherCAT Drive profile CIA 402 Bus protocol EtherNet IP CMMT AS EP Protocol Implicit messaging Explicit messaging Bus...

Страница 114: ...ization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG 73734 Esslingen Ruiter S...

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