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Technical appendix

Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English

Braking resistor

Operating voltage range

[V DC]

380 … 400

Integrated braking resistor

Braking resistor

[Ω]

115

Pulse power (for 100 ms)

[W]

1400

Rated output

[W]

Rated trigger level

[V]

390

Hysteresis

[V]

Connection for external braking resistor

Braking resistor

[Ω]

≥

100

Pulse power (for 500 ms)

[W]

≤

1600

Nominal power

[W]

≤

100

Operating voltage

[V DC]

400

Tab. A.11 Technical data: braking resistor

Please note

•

Make sure the external braking resistor is provided with sufficient pulse power (

1600 Watt). The resistance value of the connected braking resistor must be at least

100 Ω.

The required impulse power must be calculated as follows: P

peak

2
dc

whereby:

peak

= pulse power;

= max. response voltage; R

= external brake resistor

Содержание s CMMD-AS-C8-3A

Страница 1: ...Description Mounting and installation 8040103 1404NH 8034480 Motor controller CMMD AS C8 3A...

Страница 2: ...ons on how to prevent them Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries or serious material damage Other symbols Note Material damage or loss...

Страница 3: ...ven segment display 15 2 4 2 LED indicators 16 2 4 3 DIL switch 16 2 4 4 Slot EXT 1 2 17 2 4 5 Card slot M1 for SD memory card 17 3 Mechanical installation 19 3 1 Installation dimensions 19 3 2 Mounti...

Страница 4: ...pdating repair and replacement 45 6 1 Maintenance and care 45 6 2 Repair 45 6 3 Replacement and disposal 45 6 3 1 Disassembly and installation 45 6 3 2 Disposal 46 A Technical appendix 47 A 1 Technica...

Страница 5: ...ersion check whether a newer version of the FCT plug in or user documentation is available for it www festo com sp servicing Please consult your regional Festo contact if you have any technical proble...

Страница 6: ...es the month of production Manufacturing year X 2009 A 2010 B 2011 C 2012 D 2013 E 2014 F 2015 H 2016 J 2017 K 2018 L 2019 M 2020 Tab 3 Manufacturing year 20 year cycle Manufacturing month 1 January 2...

Страница 7: ...nction STO safe torque off GDCP CMMS ST G2 S1 CMMS ST Device profile FHPP GDCP CMMS D C HP CMMS AS CMMD AS CMMS ST Description of the interfaces CAN bus CANopen Interface CAMC PB PROFIBUS Interface CA...

Страница 8: ...ng service interruptions 1 Switch off power to the electrical equipment via the mains switch and secure it against being switched on again 2 After switch off wait at least 5 minutes discharge time and...

Страница 9: ...ng records The motor controller is designed for installation in a control cabinet The product is intended for use in industrial environments Outside of industrial environments e g in commercial and mi...

Страница 10: ...ts For correct and safe use of the product Comply with the connection and environmental conditions of the product Appendix A and all connected components specified in the technical data Compliance wit...

Страница 11: ...witch 2 Fuse A 2 1 3 24 V power supply unit for control voltage 4 Motor controller CMMD AS C8 3A 5 PC with serial connecting cable for para meterisation and commissioning with the Festo Configuration...

Страница 12: ...following contents Parameterization software Festo Configuration Tool FCT Documentation on the product S7 module Configuration files for the supported bus systems e g device core data for PROFIB US GS...

Страница 13: ...ndex The fol lowing connections are therefore available once and are used together X9 Power supply and braking resistor X4 CAN bus X5 RS232 RS485 In this documentation the index 1 2 is written wheneve...

Страница 14: ...Slave bidirectional inter face axis 2 5 X9 Power supply and braking resistor 1 3 2 4 5 Fig 2 3 Top view of CMMD AS C8 3A 1 X3 1 STO interface axis 1 2 X3 2 STO interface axis 2 3 X2 1 Encoder axis 1 4...

Страница 15: ...ion limit switch or stop 1 Crawl to the reference point 2 Travel to the axis zero point Rotating outside segments Speed mode speed adjustment Display changes in response to rotor position and speed Mi...

Страница 16: ...5 The second axis gets the address of the first axis 1 NodeNumberSlave NodeNumberMaster 1 S1 8 Automatic loading of a new firmware file from the memory card by the start pro gramme bootloader 1 ON Dow...

Страница 17: ...e for DeviceNet EXT 1 Tab 2 7 A CAN interface is rigidly integrated in the motor controller As an option an interface for PROFIBUS or for DeviceNet can be integrated However a field bus interface can...

Страница 18: ...r set from the CMMD AS C8 3A to the memory card Copying loading firmware from the memory card to the CMMD AS C8 3A Bootloader Design on the device 1x12 pin SD card slot Supported card types SD1 versio...

Страница 19: ...nical installation 3 1 Installation dimensions Fig 3 1 Installation dimensions Dim B1 B2 B3 B4 D1 D2 H1 H2 H3 mm 112 87 8 60 26 10 5 5 160 155 6 19 7 Dim L1 L2 L3 L4 L5 L6 L7 L8 L9 mm 257 55 242 14 21...

Страница 20: ...peration Touch them only in a switched off cooled off status Please note Make sure that no metal shavings metal dust or mounting parts screws nuts pieces of wire fall into the motor controller when mo...

Страница 21: ...cient under the following conditions The motor is operated at a higher peak load in intermittent operation S3 S4 operation according to EN 60034 1 acceleration constant movement with a low load brakin...

Страница 22: ...e EN 60204 1 for the protective earthing Warning Danger of electric shock When the module or cover plate is not mounted on the card slot EXT1 2 When cables are not mounted to the plugs X6 1 2 und X9 W...

Страница 23: ...atalogue Lay all flexible lines so that they are free of kinks and free of mechanical stress if necessary use chain link trunking Please note ESD electrostatic discharge can cause damage to the device...

Страница 24: ...ermissible range of application Emitted interference Second environment industrial 1 Resistance to interference Second environment industrial 1 1 Locations outside of the residential area or industria...

Страница 25: ...creened X2 1 X2 2 Encoder axis 1 Encoder axis 2 25 Screened Apply the cable screening of the en coder cable flat on the plug housing of the encoder connection X2 1 2 Chapter 4 4 X3 1 X3 2 STO interfac...

Страница 26: ...nnect the PE protective conductor Fig 4 4 to the earthing screw of the motor controller housing to pin PE X9 5 power supply The cross section of the protective conductor at PE X9 5 must correspond at...

Страница 27: ...ww festo com catalogue 1 13 14 25 Fig 4 1 Connection X1 1 2 on motor controller Configuration of the I O interface The I O interface is configured in positioning mode for the following functions via t...

Страница 28: ...mon error low active 1 14 AGND 0 V Reference potential for analogue signals 15 DIN 13 Ri 20 k Stop low active AIN0 Reference potential for setpoint input 0 2 16 DIN 11 Record selection bit 5 high acti...

Страница 29: ...imit switch 1 11 DIN 9 Mode bit 1 0 12 DOUT1 24 V 100 mA Motion complete high active 1 13 DOUT3 24 V 100 mA Common error low active 1 14 AGND 0 V Reference potential for analogue signals 15 DIN 13 Sto...

Страница 30: ...te high active 1 13 DOUT3 24 V 100 mA Common error low active 1 14 AGND 0 V Reference potential for analogue signals 15 DIN 13 Stop low active 16 DIN 11 Next 2 17 AMON0 0 10 V 4 Analogue monitor outpu...

Страница 31: ...l reached high active 13 DOUT3 24 V 100 mA Output common error low active 1 14 AGND 0 V Reference potential for analogue signals 15 DIN 13 Stop low active 16 DIN 11 17 AMON0 0 10 V 4 Output analogue m...

Страница 32: ...V Reference potential of encoder power supply and motor temperature sensor 4 5 DATA USS 5 V 1 Ri 120 2 RS485 data transmission line differential 6 SCLK USS 5 V 1 Ri 120 2 Cycle output RS485 differenti...

Страница 33: ...the supply cable The wiring used for the supply cables is to be doubled depending on current consump tion and cable length Example when using encoder wiring that exhibits a cable diameter of 0 5 mm2...

Страница 34: ...1 24 V 24 V DC Voltage output 24 V DC logic supply carried out as auxiliary voltage 2 Rel 0 V 24 V Driver supply relay control 3 0 V 0 V Reference potential for digital inputs and outputs 4 5 1 NC1 M...

Страница 35: ...er Tab 4 13 Recommendation for initial start up without safety engineering Minimum circuitry with emergency stop switching device and two channel switch off via the control ports REL X3 1 2 Pin 2 DIN4...

Страница 36: ...X5 on the motor controller Sub D plug connector 9 pin pins Counterplug Sub D plug connector 9 pin sockets Tab 4 16 Connection RS232 RS485 X5 The CMMD AS has a serial interface for both axes If the CM...

Страница 37: ...0 V Reference potential 0 V DC not galvanically isolated 6 7 8 9 RS485_B Do not connect Tab 4 17 Pin allocation RS232 X5 X5 RS485 Pin Value Description 5 1 2 3 4 6 7 8 9 1 2 RS232_RxD Do not connect 3...

Страница 38: ...R 0 V For motors EMMS AS TSB TMB holding brake motor 2 2 BR 24 V 3 MT 0 V Temperature sensor1 2 Optional N C contact N O con tact PTC or KTY2 For EMMS AS motors PTC2 4 MT 3 3 V 5 mA 5 PE PE connection...

Страница 39: ...e complete screening of the motor cable at the screening connection terminal of the related motor controller so that the leaked current can flow back into the controller causing it Do not use the comp...

Страница 40: ...he motor controller Tab A 10 In the event of a high power requirement a relay must be connected between the motor controller and holding brake 24 V GND 24 V GND 2 3 4 4 5 BR BR 1 X6 1 2 1 Motor contro...

Страница 41: ...accordance with EN 60204 1 is ensured Electrical equipment of machines General require ments A 24 V power supply unit used in the system must meet the requirements of EN 60204 1 for DC power supply u...

Страница 42: ...reference potential for the logic power supply and control section Tab 4 22 Pin allocation voltage supply X9 4 9 3 Connection to the supply voltage Before establishing the connection make sure the po...

Страница 43: ...5 1 A CLK CW 5 V DC Ri 120 max 150 kHz Tracking signal A Pulse CLK Pulses clockwise CW Positive polarity in accordance with RS422 2 B DIR CCW 5 V Ri 120 max 150 kHz Tracking signal B Direction DIR Pu...

Страница 44: ...he motor circuit between the motor phases and PE Comply with the specified values for the supply voltage Before switching on check connections X9 and X6 1 2 Check to ensure there is no PE short in the...

Страница 45: ...t 5 minutes discharge time and check that power is turned off before accessing the controller Caution Danger of burns from hot surfaces Dependent on the load of the motor controller housing temperatur...

Страница 46: ...updating repair and replacement 46 Festo GDCP CMMD AS HW EN 1404NH English 6 3 2 Disposal Observe the local regulations for environmentally appropriate disposal of electronic mod ules The product is R...

Страница 47: ...iate circuit over undervoltage Temperature monitoring for motor and power section I2t monitoring with early reduction in current when motor shaft is blocked Dimensions and weight Dimensions Fig 3 1 an...

Страница 48: ...dity 0 90 non condensing Protection class IP20 Protection class I Overvoltage category III Degree of contamination 2 Ambient temperature with nominal power C 0 40 with power reduction 4 per K C 40 50...

Страница 49: ...8 Signal level V DC 0 28 8 PNP logic Nominal current mA typical 2 5 maximum 3 Voltage threshold High V DC 13 1 Low V DC 3 4 Input impedance k 10 5 13 5 Reaction time to input ms 5 Reaction time to sam...

Страница 50: ...Connection data I O interface X1 1 I O interface X1 2 Axis 2 Like I O interface X1 1 but for axis 2 Tab A 4 A 2 3 Encoder X2 1 X2 2 Encoder X2 1 axis 1 Communication protocol Heidenhain EnDat 2 1 and...

Страница 51: ...m 40 at 1 Mbit S 130 at 500 Kbit s 270 at 250 Kbit s 530 at 125 Kbit s Max fieldbus transmission rate Mbit s 1 Terminating resistor 120 can be activated via DIL switches Tab A 6 Connection data CAN Bu...

Страница 52: ...g torque Nm 0 5 0 6 Output data Output voltage range V AC 0 input voltage Nominal output current Ieff A Tab A 9 Peak current Ieff A 10 Section 4 8 2 Peak current duration with running motor s 2 with s...

Страница 53: ...hout insulating collar mm 0 25 2 5 Wire end sleeve with insulating collar mm 0 25 2 5 Terminal tightening torque Nm 0 5 0 6 Load supply Nominal operating voltage V AC 230 Input voltage range V AC 95 2...

Страница 54: ...aking resistor Braking resistor 100 Pulse power for 500 ms W 1600 Nominal power W 100 Operating voltage V DC 400 Tab A 11 Technical data braking resistor Please note Make sure the external braking res...

Страница 55: ...unction incremental encoder emulation cable Screened Slave function m l 30 Master function m l 5 Interface According to RS422 standard Input signals A B CW CCW CLK DIR Output signals A B N Angle resol...

Страница 56: ...ction Action by the user Reaction The Reaction column includes the error response default setting partially configurable PS off block output stage QStop quick stop with parametrised ramp Warn Warning...

Страница 57: ...ermediate circuit voltage falls below the parameterised threshold Action Quick discharge due to switched off mains supply Check mains voltage mains voltage level or network imped ance too high Check i...

Страница 58: ...ral equipment and check whether the error is still present after reset If so an internal defect is present Repair by the manufacturer 05 1 5115h Error in 24 V supply PS off Cause Monitoring of the int...

Страница 59: ...7386h Angle encoder communication fault PS off Cause Communication to serial angle encoders is disrupted EnDat encoders Angle encoder connected Angle encoder cable defective Angle encoder defective A...

Страница 60: ...ction Re start CAN controller Check CAN configuration in the controller Check wiring 12 1 8181h CAN error bus off configurable Cause Errors can occur if the CAN control malfunctions or is deliberately...

Страница 61: ...ror group 14 Motor identification no Code Message Reaction 14 9 6197h Error motor identification PS off Cause Error in automatic determination of the motor parameters Action Ensure sufficient intermed...

Страница 62: ...s cooling through the housing surface integrated heat sink and back wall Error group 19 I t monitoring no Code Message Reaction 19 0 2380h I t at 80 configurable Cause Of the maximum I t workload of t...

Страница 63: ...mware Error group 26 Data flash no Code Message Reaction 26 1 5581h Checksum error PS off Cause Checksum error of a parameter set Action Load factory setting If the error is still present the hardware...

Страница 64: ...oring of the controller has been triggered Action Check power dimensioning of drive package Error group 32 Intermediate circuit No Code Message Reaction 32 0 3280h Intermediate circuit charging time e...

Страница 65: ...ta Check positioning area 40 2 8612h Target position lies behind the negative software limit switch configurable Cause Start of a positioning task was suppressed because the target lies behind the neg...

Страница 66: ...a record PS off Cause An attempt is being made to start an unknown or deactivated position record The set acceleration is too small for the permissible maximum speed Danger of a calculation overflow i...

Страница 67: ...error occurs repeatedly when the STO is called Check firmware approved version If all the above options have been excluded the hardware of the motor controller is defective 45 2 8000h Error in driver...

Страница 68: ...is connected correctly and does not malfunction 64 6 7582h DeviceNet communication error PS off Cause Overflow in the CAN controller Action Increase the baud rate Reduce the number of nodes Reduce the...

Страница 69: ...col time out during transmission Action Check wiring Check whether the screening of the motor cable is correctly applied EMC problem If the SSIO communication is not unavoidably required e g no fieldb...

Страница 70: ...configurable 5114h 05 0 8 5 V electronics supply fault PS off 5115h 05 1 10 Error in 24 V supply PS off 5210h 21 0 12 Error offset current measurement PS off 5581h 26 1 62 Checksum error PS off 6081h...

Страница 71: ...2 DIN4 plausibility error PS off 8100h 76 0 41 Error SSIO communication axis 1 axis 2 configurable 76 1 40 Error SSIO communication axis 2 configurable 8130h 12 4 23 CAN Time out nodeguarding configur...

Страница 72: ...configurable 14 unknown 12 0 CAN general error configurable 12 1 CAN error bus off configurable 12 2 CAN Error when transmitting configurable 12 3 CAN Error when receiving configurable 12 5 CAN Error...

Страница 73: ...oftware limit switch configurable 40 E320 Loading time link overflow 32 0 Intermediate circuit charging time exceeded PS off 41 E328 Fail power supply ctr ena 32 8 Power supply failure during con trol...

Страница 74: ...tage in intermediate circuit PS off 58 E03x Overheating error motor 03 1 Temperature monitoring motor configurable 59 E040 Overtemperature power stage 04 0 Excess low temperature of power electronics...

Страница 75: ...message 15 ESD 23 F FCT 5 12 Fieldbus 17 Node number 16 Transmission rate 16 17 Fieldbus 36 Firmware 5 44 H Holding brake 38 39 I Installation clearance 21 Intended use 9 L LED 13 16 M Manufacturing...

Страница 76: ...tion is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach 73726 Esslingen G...

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