Festo CMMD-AS-C8-3A Mounting And Installation
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Festo CMMD-AS-C8-3A Mounting And Installation

Festo CMMD-AS-C8-3A Mounting And Installation

Motor controller
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Motor controller
CMMD-AS-C8-3A
Description
Mounting and
installation
8040103
1404NH
[8034480]

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Summary of Contents for Festo CMMD-AS-C8-3A

  • Page 1 Motor controller CMMD-AS-C8-3A Description Mounting and installation 8040103 1404NH [8034480]...
  • Page 2 Essential or useful accessories. Information on environmentally sound usage. Text designations: • Activities that may be carried out in any order. 1. Activities that should be carried out in the order stated. – General lists. Festo – GDCP-CMMD-AS-HW-EN – 1404NH –...

  • Page 3: Table Of Contents

    ............The entire system for the CMMD-AS-C8-3A .
  • Page 4 ............Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 5 CMMD-AS-C8-3A Instructions on this documentation This documentation is intended to help you safely work with the motor controller CMMD-AS-C8-3A and describes the functions, commissioning and error messages. Target group This documentation is intended exclusively for technicians trained in control and automation techno- logy, who have experience in installation, commissioning, programming and diagnostics of positioning systems.
  • Page 6 October November December Tab. 4 Manufacturing month Type codes CMMD – – – Interfaces CMMD Double motor controller Motor technology AC synchronous Nominal current Input voltage 230 V AC Fig. 1 Type codes Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 7 – Control and parameterisation via device profile CiA 402 (DS 402). Software help Help on the CMMS-AS plug-in CMMS-AS – Surface and functions in the Festo Configuration Tool for the plug-in Help on the CMMD-AS plug-in CMMD-AS Help for the CMMS-ST plug-in CMMS-ST Tab.

  • Page 8: Safety And Requirements For Product Use

    Dependent on the load of the motor controller, housing temperatures > 80 °C are pos- sible in operation. • Protect hot surfaces from contact in operation. • Touch them only in a switched-off, cooled-off status. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 9: Intended Use

    1.1.2 Intended use The motor controller CMMD-AS-C8-3A. is intended for use as a controller for servo motors of the EMMS-AS series. It enables closed loop control of torque (current), speed and position, as well as posi- tioning control with stored positioning records. The motor controller is designed for installation in a control cabinet.

  • Page 10: Requirements For Product Use

    The motor controller carries the CE marking; for standards and test values appendix A.1. The product-relevant EU directives can be found in the declaration of conformity. For certificates and the declaration of conformity for this product please refer to www.festo.com/sp. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 11: Product Overview

    Product Overview Product Overview The entire system for the CMMD-AS-C8-3A Power switch Fuse A.2.1 24 V power supply unit for control voltage Motor controller CMMD-AS-C8-3A PC with serial connecting cable for para- meterisation and commissioning with the Festo Configuration Tool (FCT), PlugIn CMMD-AS Motor –...

  • Page 12: Scope Of Delivery

    Motor controller CMMD-AS-C8-3A Operator package – Brief description – CD-ROM with 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 (GSD), electronic data sheet (EDS) for DeviceNet etc.)

  • Page 13: Device View

    Product Overview Device view The motor controller CMMD-AS-C8-3A provides the functionality of 2 motor controllers in one housing. The connection designations of the motor controller provide an assignment for connections to axes Fig. 2.3 and Fig. 2.4). Connections with the index '1' are assigned to axis 1 (e.g. [X1.1], connections with index '2' to axis 2 (e.g.
  • Page 14 [X2.2] Encoder - axis 2 [X6.1] Motor - axis 1 [X6.2] Motor - axis 2 Sheath connection terminal - axis 1 Sheath connection terminal - axis 2 Fig. 2.4 Bottom view of CMMD-AS-C8-3A Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 15: Display And Control Elements

    Number: Two-position main index (x x), single-position subindex (y). Example: - 1 7 0 - Appendix B. 1) Several characters are displayed one after the other. Fig. 2.2 2 ) Tab. 2.2 Seven-segment operation and error display ( Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 16: Led Indicators

    S1.1 … 7 ON/OFF (example) Significance DIL switch S1.1 is the low-order bit. Example: address = 1011011 = 91 1) Additional information Description of functions and commissioning, GDCP-CMMS/D-FW-..Tab. 2.5 CAN bus address or MAC-ID Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 17: Slot [Ext 1/2]

    1) Additional information Description of functions and commissioning, GDCP-CMMS/D-FW-..Tab. 2.6 CAN bus transmission rate 2.4.4 Slot [EXT 1/2] Fig. 2.2 4 ) enables the option of expanding CMMD-AS-C8-3A by other interfaces, e.g..: The slot ( Interface Brief description Permitted slot...
  • Page 18 (version 1 and 2) Supported file systems FAT16 Format filename 1) Recommended are industry-suitable memory cards from the Festo accessories programme. Fig. 2.2 5 ) Tab. 2.8 Characteristics of the memory card ( Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 19: Mechanical Installation

    Mechanical installation Mechanical installation Installation dimensions Fig. 3.1 Installation dimensions D1 @ D2 @ Dim. [mm] 87.8 155.6 19.7 Dim. [mm] 257.55 242.14 211.9 10.5 9.25 15.3 Tab. 3.1 CMMD-AS-C8-3A: Installation dimensions Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 20: Mounting

    • Mount motor controller in the control cabinet as follows: – The mounting position is vertical with the power supply lines [X9] leading upwards – Mounting to the mounting brackets with M5 screws. Fig. 3.2 Installation clearance Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 21: Disassembly

    Danger of burns from hot surfaces Dependent on the load of the motor controller, housing temperatures > 80 °C are pos- sible in operation. • Touch them only in a switched-off, cooled-off status. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 22: Electrical Installation

    (RCD) or an error current monitoring device (RCM) is used to protect against direct or indirect contact, only the Type B kind of RCD or RCM is permitted on the power supply side of this product. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 23 • Before installation: Earth the system parts and use appropriate ESD equipment (e.g. shoes, earthing straps etc.). • After installation: Seal unassigned D-sub plug connectors with protective caps (available at authorized dealers). • Observe the handling specifications for electrostatically sensitive devices. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 24: Instructions For Safe And Emc-Compliant Installation

    Instructions for safe and EMC-compliant installation The CMMD-AS-C8-3A motor controllers have been approved in accordance with product standard EN 61800-3 that is applicable to electric drives. Components from Festo have been used for this purpose (e.g. motor/encoder cables). The declaration of conformity for the EMC directive (electromagnetic compatibility) is available at www.festo.com.

  • Page 25: Emc-Compliant Wiring

    1) Permitted total line length of field bus at a bit rate of 1 Mbit/s. Observe details in the documentation of your control system or bus interface. 2) With additional EMC filter: cable length up to 25 m Tab. 4.2. Tab. 4.3 EMC-compliant wiring Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 26: Protective Earthing Of The Motor Controller

    • Apply the cable screening of the motor cable to the shield connection terminal of the motor controller Chapter 4.8.3. • Place cable sheath of encoder cable on connector housings of connections [X2.1] and [X2.2] around surface area Chapter 4.4. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 27: I/O-Interface [X1.1/2]

    DIN 12 Pin allocation Positioning (single record) Tab. 4.6 Jog/teach Tab. 4.7 Record linking Tab. 4.8 synchronization Tab. 4.9 1) Standard allocation of the I/O interface Tab. 4.5 Function-dependent configuration of the digital inputs Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 28 DOUT2 24 V 100 mA Start acknowledged (low active) 1) Default setting, configurable in the Festo Configuration Tool (FCT). 2) Pin allocation with control via analogue input 3) Pin allocation for flying measurement Tab. 4.6 Pin allocation of the I/O interface [X1 1/2], positioning (single record)
  • Page 29 Output: Controller ready for operation (high active) DOUT2 24 V 100 mA Teach confirmed 1) Default setting, configurable in the Festo Configuration Tool (FCT). Tab. 4.7 Pin allocation: I/O interface [X1 1/2], jog/teach Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 30 Output: Controller ready for operation (high active) DOUT2 24 V 100 mA Start confirmed (high active) 1) Default setting, configurable in the Festo Configuration Tool (FCT). Tab. 4.8 Pin allocation: I/O interface [X1 1/2], record linking Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 31 Output: Controller ready for operation (high active) DOUT2 24 V 100 mA Output: position synchronous (high active) 1) Default setting, configurable in the Festo Configuration Tool (FCT). Tab. 4.9 Pin allocation: I/O interface [X 1/21], synchronization Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 32: Encoder [X2.1/2]

    Cycle output RS485 (differential) for Ri = 120 Ω data transfer via the EnDat interface – – – – – – 1) U = Peak-to-peak voltage 2) R Internal resistance Tab. 4.11 Pin allocation: Encoder [X2.1/2] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 33 • Place cable sheaths on screened pairs (internal screens), separating from outer screen and only on controller side on Pin 3 of the related connection [X2.1] or [X.2.2] • Apply the complete screening to the plug housing on the motor and controller side. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 34: Sto Interface [X3.1/2]

    Pin 1 and Pin 2 at interface [X3 1/2] to operate the motor controller Tab. 4.13. This deactivates the integrated safety function! When using this circuitry for the CMMD-AS-C8-3A, safety in the application must be en- sured through other appropriate measures. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 35: Circuitry With Use Of The Sto Safety Function [X3 1/2]

    • Make sure that no jumpers or the like can be used parallel to the safety wiring, e.g. through the use of the maximum wire cross sections or appropriate wire end sleeves with insulating collars. • Use twin wire end sleeves for looping through lines between neighbouring devices. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 36: Can [X4]

    To prevent transmission faults caused by signal overlap: • When communicating via the serial interface only use separate lines that are con- figured according to the specified pin allocation for RS485 or RS232. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 37 Positive transmission and reception signal Reference potential 0 V DC, not galvanically isolated – – – – – – – – – RS485_B – Negative transmission and reception signal Tab. 4.18 Pin allocation RS485 [X5] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 38: Motor [X6.1/2]

    1) In the motor and connecting cable, reliable separation of the motor temperature sensor from the motor circuit must be ensured. 2) Use cables with individually twisted and screened pairs. 3) Cumulative nominal current for both axes ≤ 8 A Tab. 4.20 Pin allocation: Motor [X6.1/2] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 39: Output Power Per Axis

    • Connect the holding brake to the terminals BR+ (Pin 2) and BR- (Pin 1) of the related connection [X6.1] or [X6.2]. The brake is supplied from the logic supply of the motor controller. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 40 High voltages with spark formation are created when inductive direct currents are con- nected via relays. Recommendation: Use an integrated RC interference suppressor, e. g. – Company: Evox RIFA – RC element: 22 Ω in series with 0.47 μF – Designation: PMR205AC6470M022 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 41: Power Supply [X9]

    Alternatively, an external brak- ing resistor can be connected. If an external braking resistor is connected, this must be connected par- allel to the internal braking resistors. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 42: Connection To The Supply Voltage

    BR-CH +24 V +24 V GND 24 V Mains voltage 95 ... 250 V AC External braking resistor 24 V power supply unit Fuse Chapter A.2.1 Fig. 4.4 Connection to the supply voltage Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 43: Master/Slave Interface [X10.1/2]

    Ri = 120 Ω – Negative polarity in accordance with RS422 max. 150 kHz – Screening for the connecting cable 1) Pin 4 and pin 9 are connected internally Tab. 4.24 Pin allocation: Master/slave interface [X10.1/2] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 44: Commissioning

    Danger from unexpected movement of the motor or axis • Make sure that the movement does not endanger anyone. • Parameterize the motor controller with the Festo Configuration Tool (FCT) before enabling the controller via DIN5 [X1.1/2] Pin 9. – Bypassing of safety equipment is impermissible.

  • Page 45: Maintenance, Updating, Repair And Replacement

    Replacement and disposal Observe the disassembly instructions in section 3.3. 6.3.1 Disassembly and installation Information on removing and installing can be found here: – Assembly Section 3.2 – Disassembly Section 3.3. – Commissioning Section 5. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 46: Disposal

    Maintenance, updating, repair and replacement 6.3.2 Disposal Observe the local regulations for environmentally appropriate disposal of electronic mod- ules. The product is RoHS-compliant. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 47: A Technical Appendix

    1) The device is intended for use in an industrial environment. Outside of industrial environments, e.g. in commercial and mixed-res- idential areas, actions to suppress interference may have to be taken. Tab. A.1 Technical data, general Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 48 [°C] -25 … +70 Cooling Passive Switch-off temperature, heat sink [°C] Power section Vibration and shock resistance Operation in accordance with EN 61800-5-1, section 5.2.6.4 Tab. A.2 Technical data: Operating and ambient conditions Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 49: Connection Data

    Logic [V DC] Output reaction time [ms] Protective function Against polarity reversal, feedback Automatic shutdown of the output in the event of an overload; automatic restart when the short circuit has been remedied Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 50: Encoder [X2.1] , [X2.2]

    5 (-0 % … +5 %) Current [mA] Sense line for power supply not supported Tab. A.5 Connection data: Encoder [X2.1/2] (input) Encoder [X2.2] – axis 2 Like encoder [X2.1], but for axis 2 Tab. A.5 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 51: Sto Interface [X3.1], [X3.2]

    Transmission rate [bps] 9600…115200 Factory setting Transmission rate [bps] 9600 Data bits Parity none Stop bit ESD protection Driver protected against electrostatic discharge up to 15 kV Tab. A.7 Connection data: RS232/RS485 [X5] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 52: Motor [X6.1] , [X6.2]

    Digital sensor (N/C contact) Cold 1) In the motor and connecting cable, reliable separation of the motor temperature sensor from the motor circuit must be ensured. Tab. A.8 Connection data: Motor connection [X6.1] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 53: Power Supply And Braking Resistor [X9]

    24 ± 20% Max. ripple in input voltage 1.0 at 100 Hz current consumption – Outputs load-free – Without current for holding brake Peak current (incl. holding brake) Tab. A.10 Connection data: Power supply [X9] Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 54 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 whereby: = pulse power; = max. response voltage; R = external brake resistor P peak U dc Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 55: Master/Slave Interface [X10.1], [X10.2]

    Angle resolution/number of lines 1 … 2048 Output impedance [Ω] Critical frequency [kHz] Tab. A.12 Connection data: Master/Slave interface [X10.1] Master/Slave interface [X10.2] – Axis 2 Like Master/Slave interface [X10.1], but for axis 2 Tab. A.12 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 56: B Diagnostic Messages

    FCT, the standard values defined in the FCT or the configured reactions apply. For a complete list of the diagnostic messages that correspond to the firmware versions used at the time of printing this document, please refer to section B.2. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 57: Diagnostic Messages With Instructions For Fault Clearance

    Cause Motor overloaded, temperature too high. – Motor too hot. – Sensor defective? Action • Check parameters (current regulator, current limits). If the error persists when the sensor is bypassed: Device defective. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 58 Reaction 06-0 2320h Over-current of the intermediate circuit/output stage PS off Cause – Motor defective. – Short circuit in the cable. – Output stage defective. Action • Check motor, cable and motor controller. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 59 Possible causes: – Excess rotational speed. – Angle encoder defective. Measure If the error occurs repeatedly, the encoder is defective. Replace encoder including encoder cable. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 60 • Re-start CAN controller. • Check CAN configuration in the controller. • Check wiring: Cable specification adhered to, broken cable, maximum cable length exceeded, correct terminating resistors, cable screening earthed, all signals terminated? Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 61 The software has taken an unexpected status. For example, unknown status in the FHPP state machine. Action • In case of repetition, load firmware again. If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 62 If the error occurs repeatedly, the hardware is defective. • Send motor controller to the manufacturer. Error group 22 PROFIBUS Code Message Reaction 22-0 7500h Error in PROFIBUS initialization PS off Cause Fieldbus interface defective. Action • Please contact Technical Support. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 63 29-1 SD initialization error 7681h configurable Cause – Error during initialization. – Communication not possible. Action • Plug card back in. • Check card (file format FAT 16). • If necessary, format card. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 64 Repair by the manufacturer. 32-8 3285h Power supply failure during controller enable PS off Cause Interruption/power failure while the controller enable was active. Action • Check mains voltage/power supply. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 65 Unknown command found during record continuation. Action • Check parameterisation. 41-9 6192h Error in path program jump destination configurable Cause Jump to a positioning record outside the permitted range. Action • Check parameterisation. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 66 Positive hardware limit switch reached. Action • Check parameterisation, wiring and limit switches. 43-9 8612h Error in limit switch configurable Cause Both hardware limit switches are active simultaneously. Action • Check parameterisation, wiring and limit switches. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 67 24 V DC. 64-2 DeviceNet communication error 7582h PS off Cause – Receive buffer overflow. – Too many messages received within a short period. Action • Reduce the scan rate. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 68 • Check that the network is connected correctly and does not malfunction. 65-1 7582h DeviceNet communication error configurable Cause I/O connection timeout. No I/O message received within the expected time. Action • Please contact Technical Support. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 69 Actions and description for error response as with error 76-0. Error group 79 RS232 error Code Message Reaction 79-0 7510h RS232 communication error configurable Cause Overflow when receiving RS232 commands. Action • Check wiring. • Check the transmitted data. Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 70: Error Codes Via Cia 301/402

    Angle encoder communication error PS off 7388h 08-8 Internal angle encoder error PS off 7500h 22-0 Error in PROFIBUS initialization PS off 22-2 PROFIBUS communication error configurable 7510h 79-0 RS232 communication error configurable Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 71 43-0 Negative limit switch error configurable 43-1 Positive limit switch error configurable 43-9 Error in limit switch configurable 8681h 42-1 Positioning: Error in pre-computation configurable 8A81h 11-1 Homing error PS off Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...

  • Page 72: Profibus Diagnostics

    65-0 DeviceNet general error configurable 65-1 DeviceNet communication error configurable E220 “PROFIBUS assembly” 22-0 Error in PROFIBUS initialization PS off E351 “Time out: Quick stop” 35-1 Time out with fast stop PS off Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 73 “Offset current metering” 21-0 Error, offset current measure- PS off ment E060 “Overcurrent output stage” 06-0 Over-current of the intermediate PS off circuit/output stage E020 “Undervoltage power 02-0 Undervoltage in intermediate configurable stage” circuit Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 74 E040 “Overtemperature power 04-0 Excess/low temperature of power configurable stage” electronics E086 “SINCOS-RS485 commu- 08-6 Angle encoder communication PS off nication” error E088 “SINCOS track signals” 08-8 Internal angle encoder error PS off Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 75 Version ....... . Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English...
  • Page 76 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 e-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica- tion of its contents to others without express authorization is Internet: prohibited.

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