Festo CMMT-AS-C2-3A Series Assembly And Installation Manual
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Festo CMMT-AS-C2-3A Series Assembly And Installation Manual

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Servo drive
CMMT-AS-C2/C4-3A-...
Description |
Assembly, Installation
8075795
8075795
2018-02
[8075797]

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Summary of Contents for Festo CMMT-AS-C2-3A Series

  • Page 1 Servo drive CMMT-AS-C2/C4-3A-... Description | Assembly, Installation 8075795 8075795 2018-02 [8075797]...

  • Page 2: Festo — Cmmt-As-C2/C4-3A

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

  • Page 3: Table Of Contents

    [X1C], Inputs and outputs to the axle..............41 8.8.3 [X2], Sensor interface 1................... 43 8.8.4 [X3], Sensor interface 2................... 49 8.8.5 [X10], SYNC IN/OUT....................52 8.8.6 [X18], standard Ethernet..................57 8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2............59 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 4 Inputs, outputs, ready contact at [X1A]..............102 11.3.7 Inputs and outputs to the axis [X1C]..............109 11.3.8 SYNC IN/OUT [X10]....................111 11.3.9 Standard Ethernet [X18], parameterisation interface..........112 11.3.10 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])............113 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 5: About This Document

    The document is targeted towards individuals who perform assembly and installation and service work on the product. Further applicable documents  All available documents for the product è www.festo.com/pk. The user documentation for the product also includes the following documents: Designation Table of contents Instruction manual CMMT-AS-...

  • Page 6: Product Labelling

    : max. 40 °C Ambient temperature (T SCCR: 10000 A SCCR (short circuit current rating) IP10/20 Degree of protection; without counterplug/with attached counterplug X9A MSIP-REM-FTO-KC-2017-1001 Certificate KC mark (test mark for Korea) Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 7 March April June July August September October November December Tab. 5 Manufacturing month Warning symbols on the front side of the product The following warning symbols are located on the front side of the product: Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 8 5 minutes after the power supply is switched off. 5 minutes (wait) After the power supply is switched off, wait at least 5 minutes until the intermediate circuit capacitors have discharged. Tab. 6 Meaning of the warning symbols Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 9: Specified Standards

    Take into consideration the ambient conditions at the location of use. The safety functions might fail and malfunctions might occur if you do not comply with the para- meters and conditions required for the surroundings and connections. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 10: Intended Use

    è 11 Technical data – in an industrial environment The safety functions might fail and malfunctions might occur if you do not comply with the parameters and conditions required for the surroundings and connections. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 11: Application Areas

    EN 60204-1. Motors approved or specified by Festo for the CMMT-AS fulfil the requirements. The motor cables and brake lines must fulfil the requirements 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. Training of skilled personnel...

  • Page 12: Further Information

    Spare parts è www.festo.com/spareparts. – All available documents for the product and current versions of the firmware and commissioning software è www.festo.com/sp. Service Contact your regional Festo contact person if you have technical questions è www.festo.com. Product overview Scope of delivery Component Number Servo drive CMMT-AS-...
  • Page 13 I/O signals of the devices can be linked through cross-wiring. The intermediate circuit coupling can increase the energy efficiency of the device com- pound. Festo recommends use of servo motors, electromechanical drives, lines and accessories from the Festo accessory programme. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 14: Product Design

    The device has a compact design. The connections are provided on the front side and top of the device as pin header, socket strip or RJ45 bushing. The shield clamp and strain relief for the motor cable are situated in the lower area of the front side. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 15 The connecting cable for the braking resistor is passed from the cooling profile, emerging from the top of the cooling profile, and is connected to the connection [X9B]. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 16 Product overview 1 Top slot (keyhole shape) 2 Retaining screw for braking resistor (2x) 3 Braking resistor 4 Bottom slot Fig. 5 Rear side Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 17: Overview Of Connection Technology

    The blind plate can be pulled off by hand without tools. The CDSB display and operating unit can be plugged onto the free place (è Documentation on the CDSB). If a display and operating unit is not used, the upper area must be sealed with the blind plate. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 18: Transport And Storage

    – Store and transport the product in its original packaging. The original packaging offers sufficient protection from typical stresses. Assembly Dimensions Fig. 7 Dimensions Dimension L1 [mm] Approx. Tab. 10 Dimensions part 1 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 19: Mounting Distances Cmmt-As

    Fig. 8 Mounting distances and installation clearance for CMMT-AS-...-3A (1-phase) Servo drive CMMT-AS-C2-3A-... [mm] CMMT-AS-C4-3A-... [mm] Tab. 12 Mounting distances and installation clearance Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 20: Installation

    The required minimum lateral distance from neighbouring CMMT-AS devices is thus 2 mm (52 mm – 50 mm). For adjacent third-party devices, Festo recommends a distance of at least 10 mm (surface temperat- ure of third-party device max. 40 °C). The double counterplug for cross wiring of the connection [X9A] projects approx. 6 … 7 mm over the right side of the device.

  • Page 21: Installation

    • The conducting lines at the device are completely insulated. • The protective earth (PE) and the shield connection are correctly connected to the device. • The housing is free of damage. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 22: Residual Current Device

    The CMMT-AS has no integrated fuse at the mains input or in the intermediate circuit. An external fuse at the mains supply of the device is required. Festo recommends the use of a line safety switch (circuit breaker). A device compound coupled in the intermediate circuit must be protected through a common line safety switch.
  • Page 23 In accordance with IEC standard: C13 In accordance with UL standard: C15 In accordance with IEC standard: C16 1) Data apply for an individual device and for the device compound Tab. 14 Mains fuse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 24: Permissible And Impermissible Electrical Network Types

    è   IEC 60364-1, chapter 312.2. 2) For cross wiring, only 1 master switch and 1 circuit breaker is allowed for the compound device. Tab. 15 Permissible and impermissible TN systems Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 25 For DC link coupling, connect only one device directly to the distribution network of the current source. Connect the coupled devices to the same mains phase using cross wiring. è   IEC 60364-1, chapter 312.2. Tab. 17 IT system Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 26 2. Wait 5 minutes until the intermediate DC circuit has discharged. Fig. 9 Levering out the housing element 3. Place a suitable screwdriver against the upper notch in the housing recess provided and carefully lever the housing element out using the screwdriver. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 27: Connection Of The Mains Side Pe Protective Conductor

    Recommendation: Use copper earth strap (advantageous for EMC). 1. Equip protective conductors for the earthing screw with a suitable cable lug. 2. Tighten earthing screw with a TORX® screwdriver of size T20 (tightening torque 1.8 Nm ± 15 %). Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 28: Information On Emc-Compliant Installation

    If set-up and commissioning is performed by a professional with the necessary experience for set- up and commissioning of drive systems, including their EMC aspects, devices of category C2 can be used in the first environment (residential area). Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 29 è Category dependent on the PWM frequency and the cable length [X6B] Motor auxiliary connec- Shielded tion [X9A] Power supply and inter- Individual device: 2 Unshielded mediate circuit connec- Device compound: 0.5 tion [X9B] Braking resistor Shielded Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 30 PE connection point of the motor auxiliary connection [X6B]. – Connect the shield of the sensor cable on both sides: on the device side to the respective plug housing, on the motor side to the sensor or plug housing. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 31: Connection Examples

    Connection examples Connection plan, 1-phase mains connection 1 Braking resistor 4 Sensor 2 (optional) 2 Line safety switch 5 Sensor 1 3 PELV power supply unit for 24 V supply Fig. 13 Connection example, 1-phase mains connection Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 32 2 phases. • Do not connect a servo drive to 2 phases of the low voltage mains common in Europe. • Comply with the maximum permissible voltage between the phases. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 33: Interfaces

    These include, for example: – Digital inputs for 24 V level (PNP logic) – Digital outputs for 24 V level (PNP logic) – Signal contact for safety chain (RDY-C1, RDY-C2) Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 34 Control input Safe torque off, channel A #STO-B Control input Safe torque off, channel B #SBC-A Control input Safe brake control, channel A #SBC-B Control input Safe brake control, channel B – Reserved, do not connect ERR-RST Error acknowledgment Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 35 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) 160 V Grid dimension 3.5 mm Strip length 10 mm Tab. 21 Requirements for the counterplug Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 36 SBC is requested over 2 channels and both (SBA) brake outputs are switched off safely (detailed information on this  textvar object does not è exist). Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 37 STO is not required, both X1A.11 Safe torque inputs must be switched to 24 V, so that the off, channel B motor can be moved (detailed information on this (#STO-B)  textvar object does not exist). è Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 38 Reserved for future extensions; do not connect X1A.7 n. c. X1A.6 n. c. X1A.5 n. c. X1A.4 Acknowledge Acknowledgeable error messages can be error (ERR- acknowledged through a rising edge at this RST) input. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 39 The digital inputs are not galvanically separated and have integrated EMC protective functions. Two-channel safe inputs correspond in their internal design to two 1-channel inputs. But the equival- ent circuit is not valid for the STO inputs. Information on 2-channel safe inputs è textvar object does not exist. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 40 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 input levels of ± 10 V. The differential ampli- fier filters out high frequency interference signals. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 41: X1C], Inputs And Outputs To The Axle

    Reference potential 24 V Power supply output for sensors Reference potential LIM1 Digital input for limit switches 1 (PNP logic, 24 V DC) LIM0 Digital input for limit switches 0 (PNP logic, 24 V DC) Reference potential 24 V Power supply output for sensors Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 42 Requirements for the shield support Put on shield 1. Place shield of the device-side cable on the shield clamp for the motor cable. 2. Place shield of the machine-side cable onto an earthed machine part. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 43: X2], Sensor Interface 1

    ECI 1119/EQI 1131 ECN 1113/EQN 1125 ECN 1123/EQN 1135 EnDat 2.1 Only in connection with motors of the series EMMS-AS from Festo that have an integrated sensor with EnDat 2.1 protocol Digital incremental sensor with square wave sig- ROD 426 or compatible nals and with RS422-compatible signal output...
  • Page 44 Description SCLK 5 V  = 120  Cycle line, output, RS485-conforming, #SCLK differential VCC-IN Measured value Only for EnDat 2.1: Back measurement sensor voltage, dif- ferential DATA Differential signal: Data cable, bidirec- 5 V  = 120  tional, RS485-con- #DATA forming, differential Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 45 #COS tion incremental sensor, RS485-con- forming, differential 1 V  = 120 Ω SIN track signal from the high resolution incremental sensor, RS485-conforming, differential DATA 5 V  = 120  Hiperface data cable, bidirectional, asyn- #DATA chronous, 115 kbit/s RS485-conforming, differential Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 46  = 120  B-track signal from the incremental sensor, RS485-con- forming, differential 5 V  = 120  Zero impulse, or N- track signal from the incremental sensor, RS485-conforming, differential 5 V  = 120  B-track signal from the incremental sensor, RS485-con- forming, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 47 RS485-conforming, differential 5 V  = 120 Ω Zero impulse, or N- track signal from the incremental sensor, RS485-conforming, differential #SIN 1 V  = 120 Ω SIN track signal from the high resolution incremental sensor, RS485-conforming, differential, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 48 – – VCC-IN Measured value Back measurement sensor voltage, dif- ferential DATA 5 V  = 120  Data cable, bidirec- tional, asynchron- #DATA ous, max. 4000 kbit/s, RS485-conforming, differential #VCC-IN Measured value Back measurement sensor voltage, dif- ferential, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 49: X3], Sensor Interface 2

    The connection [X3] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. The LED displays the connection status. If there is a connection to the sensor, the LED lights green. Requirements for the counterplug Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or compatible Number of pins Shielded Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 50  = 20 Ω B-track signal from the incremental sensor, RS485-con- forming, differential 5 V  = 20 Ω Zero impulse, or N- track signal from the incremental sensor, RS485-conforming, differential 5 V  = 20 Ω B-track signal from the incremental sensor, RS485-con- forming, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 51 RS485-conforming, differential 5 V  = 20 Ω Zero impulse, or N- track signal from the incremental sensor, RS485-conforming, differential #SIN 1 V  = 120 Ω SIN track signal from the high resolution incremental sensor, RS485-conforming, differential, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 52: X10], Sync In/Out

    If the interface has been activated, the LED lights up green. The CMMT-AS cannot detect whether a sensor is attached. Requirements for the counterplug Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or compatible Number of pins Shielded Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 53 Connection of several devices over patch cables A maximum of 16 devices may be connected. and a connector box (accessories Recommendation: Use patch cables of category  www.festo.com/catalogue) Cat 5E, maximum length per cable: 100 cm è Tab. 43 Connection possibilities Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 54 1 Point-to-point connection 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 cables Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 55 = 120 Ω A track signal RS485-conforming, differential 120  B track signal Ω RS485-conforming, differential = 120 Ω Zero impulse or Z track signal RS485-conforming, differential 5 V , Ri = 120  B track signal Ω RS485-conforming, differential, inverse Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 56 – – n. c. 0 V Reference potential supply – Housing FE, connected to PE The housing is used as a support of the cable shield and is connected to the PE. Tab. 45 Pulse/direction input Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 57: X18], Standard Ethernet

    IEC 61800-5-1. The connection [X18] is designed as an RJ45 socket. Two LEDs are integrated into the RJ45 socket. The green LED lights up if the interface is activated. The yellow LED flashes with communication activity. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 58 Tab. 48 Requirements for the counterplug Requirements for the connecting cable Characteristics CAT 5, patch cable, double shielded Max. cable length 30 m Tab. 49 Requirements for the connecting cable Through the Ethernet interface, the following connections are possible: Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 59: X19], Real-Time Ethernet (Rte) Port 1 And Port 2

    Port 2, labelled on the device with [X19, XF2 OUT] Two LEDs are integrated into each of the two RJ45 sockets. The behaviour of the LEDs depends on the bus protocol. Both LEDs are not always used. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 60: Motor Connection

    2. If possible and supported by the bus protocol, plan for ring redundancy in the connection with the controller. Motor connection 8.9.1 [X6A], Motor phase connection The connection [X6A] is located on the front side of the device. The following connections to the motor are created through the connection [X6A]: Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 61 8.9.3 Shield support of the motor cable è Max. cable length Technical data for the integrated mains filter è Max. capacity  250 pF/m < Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 62: X6B], Motor Auxiliary Connection

    Tab. 58 Requirements for the connecting cable Festo offers prefabricated motor cables as accessories è www.festo.com/catalogue. – Use only motor cables that have been approved for operation with the servo drive from Festo. Motor cables of other manufacturers are permitted if they meet the specified requirements. 8.9.2 [X6B], Motor auxiliary connection The connection [X6B] is located on the front side of the device.

  • Page 63: Shield Support Of The Motor Cable

    Option 1: All motor cable shields are connected over a large surface with a shield sleeve at the cable end and placed below the shield clamp on the front side of the CMMT-AS. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 64 1. Press the shield of the motor cable or the conducting shield end sleeve of the motor cable with the shield clamp onto the shield support surface of the housing è Fig.23. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 65 Fig. 23 Shield clamp of the motor cable Motor-side shield support of the motor cable Detailed information on the motor-side connection with motor cables from Festo è Assembly instruc- tions of the motor cable used è www.festo.com/sp. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 66: Power And Logic Voltage Supply

    For 2-phase mains connection: mains sup- ply phase L2 Protective earth 24 V Positive potential of the 24 V logic voltage 0 V Reference potential of the 24 V logic voltage Tab. 62 Power supply and intermediate circuit connection Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 67: X9B], Connection, Braking Resistor

    During braking, the motor works as a generator. In these cases, the motor feeds electrical energy back into the intermediate circuit. The excess energy must be absorbed by the braking resistor and conver- ted into heat. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 68 Rated voltage (III/2) 1000 V Grid dimension 7.62 mm Strip length 8 mm Tightening torque GIC 2.5 0.5 ... 0.6 Nm HCV/2-ST-7.62 1) Specification of the manufacturer at the time the documentation was approved Tab. 66 Requirements for the counterplug Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 69: Cross Wiring

    Cross wiring of I/O signals at the connection [X1A] – Cross wiring of the mains and logic voltage supply without intermediate circuit coupling – Cross wiring of the mains and logic voltage supply with intermediate circuit coupling Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 70: Cross Wiring Of The I/O Signals At The Connection [X1A]

    X1A.12 #STO-A Safe torque off, Max. 10 devices, channel A parallel wiring X1A.11 #STO-B Safe torque off, channel B X1A.10 #SBC-A Safe brake control, channel A X1A.9 #SBC-B Safe brake control, channel B Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 71 The following image schematically shows cross wiring with the example of the signal contact (RDY-…), a 1-channel input (here IN) and a 1-channel diagnostic output (here SOUT; digital output (OUT) of a safety function (S), e.g. SBA). Fig. 24 Cross-wiring, example Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 72: Cross Wiring Of The Mains And Logic Voltage Supply

    In addition, the intermediate circuits of the devices are cross-wired (intermediate circuit coupling). Tab. 69 Options for cross wiring of the mains and logic voltage supply Cross wiring can be performed easily with the help of the counterplugs, available as accessories. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 73 Rules for cross wiring of the mains and logic voltage supply with and without intermediate circuit coupling NOTICE! Errors in the cross wiring can destroy the internal electronics. • Always observe rules for cross wiring. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 74 3. Select the required conductor cross section for the cross wiring. 4. Required mains protection, considering the conductor cross section and the standard classifica- tion (according to UL or IEC). Permissible maximum values è Tab. 14 Mains fuse. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 75 1 x CMMT-AS-C4-3A (each 5.6 A In accordance With load at 90 % nominal 15.12 with IEC stand- power: ard: 16 A 3 x CMMT-AS-C4-3A (each 5.04 A Tab. 70 Examples of possible device combinations Cross wiring without intermediate circuit coupling Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 76 All contacts at the connection [X9A] are cross wired. The first device is connected with the voltage source. 1-phase devices with the same power class and 1-phase devices with different power classes can be connected. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 77: Malfunctions

    4 Ethernet interface activated [X18] 5 Communication activity [X18] 6 Sync interface activated [X10] 7 Sensor status, sensor interface [X3] 8 Sensor status, sensor interface [X2] Fig. 28 LEDs on the front side (example CMMT-AS-...-EC) Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 78: Device Status Displays

    The servo drive is ready and the output stage is switched off (Ready). green Lights The output stage and the closed-loop controller are enabled. green Tab. 72 Status LED  Power LED, status of the power supply Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 79 The safety function is requested and active. yellow Flash- Output stage, brake outputs and safety diagnostic outputs are blocked (safety parameterisation is running). green Lights Ready, no safety function is requested. green Tab. 74 Safety LED  Application status Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 80 If an error occurs during update of the firmware, the status LED flashes red at one-second intervals. The frequency of flashing corresponds to the error number specified in the following table. After flash- ing, there is a pause of 3 s. Then the procedure repeats. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 81: Interface Status [X2], [X3], [X10], [X18]

    Interface is activated. green Tab. 78 LED at [X10] LEDs at [X18]; connection status of the Ethernet interface Meaning (upper LED) Interface is deactivated. Lights Interface is activated. green Tab. 79 Upper LED at [X18] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 82: Device And Interface Status Ethercat

    – Lights The device is in the operational status (normal operating status). green 1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.) Tab. 81 Run LED EtherCAT®, LED error; error status Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 83: Device And Interface Status Profinet

    9.1.4 Device and interface status ProfiNet PROFINET LED displays (only CMMT-AS-...-PN) The NF LEDs on the front side, together with the 4 LEDs on the upper side, display the bus/network status. PROFINET, LED NF; bus error Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 84: Device And Interface Status Ethernet/Ip

    Device and interface status EtherNet/IP LED displays EtherNet/IP (only CMMT-AS-...-EP) The MS LED and the NS LED on the front side display the bus/network status together with the 4 LEDs on the top (link/ activity). EtherNet/IP, MS LED; module status Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 85 The device has an IP address but no CIP – Eliminate configuration error. connection. green Perhaps the device is not assigned to a master/scanner. – Lights Normal operating status. The device is online and has a CIP con- green nection. Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 86: Dismounting

    4. Let the device cool off to room temperature. 5. Before touching the power connections [X6A], [X9A], [X9B], check to ensure they are free of voltage. 6. Disconnect all electrical lines. To dismount the device Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 87: Technical Data

    General technical data Type name code CMMT Type of mounting Screw-clamped to mounting plate Mounting position Hanging vertically, with unhindered air flow from bottom to top Dimensions (H*W*D) Dimensions è Product weight [kg] CMMT-AS-C2-3A: 1.3 CMMT-AS-C4-3A: 1.4 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 88 Vibration test and free fall in packaging in accordance with EN 61800-2 Tab. 94 Ambient conditions, transport Ambient conditions, storage Storage temperature [°C] −25   +55 … Relative humidity 5   95 (non-condensing) … Permissible altitude 3000 (above sea level) Tab. 95 Ambient conditions, storage Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 89 IEC 61800-5-1, Chap.3.5 Protection class Overvoltage category Degree of contamina- tion Vibration resistance in IEC 61800-5-1 and EN 61800-2 accordance with Shock resistance in EN 61800-2 accordance with Tab. 96 Ambient conditions for operation Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 90: Technical Data, Electrical

    [V AC] accordance with IEC61800-5-1 Mains current con- sumption at nominal power approx. Mains frequency [Hz] 48   62 … Network connec- L   N: TT, TN, IT è tion/allowed electrical L1   L2: TT, TN è network types Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 91 Starting current (with  20 < 28.8 V) Protective functions – Overvoltage – Polarity reversal – Short circuit to 0 V (24 V outputs) Tab. 100 Logic supply Intermediate circuit and brake chopper Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 92 Monitoring of the pulse energy and the continuous power of the braking resistor by the firmware with switching off of the braking resistor and of the power output stage when the power limit is reached Tab. 102 Brake chopper Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 93: Electrical Data For Braking Resistor (Internal/External) [X9B]

    Operating voltage [V DC]  500 ³ Parasitic inductance [uH]  200 £ Thermal protection Yes, possible to monitor the power in the braking resistor in the device firmware Tab. 104 Requirements on external braking resistor [X9B] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 94: Power Specifications, Motor Connection [X6A]

    Max. output power 1000 2000 1400 (S2 operation; cos(phi)  0.8) > Output voltage range 3 x 0 V    Input … Output voltage with feeding of nominal voltage and nominal power Output frequency [Hz] 0   599 … Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 95 Ambient temperature -3/°C (air) 40 °C   50 °C … Setup altitude -10/1000 m  1000 m > (1000 m   2000 m) … Tab. 107 Power reduction Temperature monitoring CMMT-AS- C2-3A C4-3A Power section temperature Warning [°C] Shutdown [°C] > 85 > 90 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 96: Motor Auxiliary Connection [X6B]

     84 (silicon temperature sensors) … – PTC (PTC resistor, positive temperature coefficient) – NTC (negative temperature coefficient) – Pt1000 (platinum measuring resistor) Digital sensors – N/C contact – N/O contact Tab. 109 Motor temperature monitoring [X6B] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 97: Encoder Interfaces [X2], [X3]

    Data channel [MHz] RS422/485; max. 2 Input impedance data RS422/485; 120 Ω Output supply [mA] Max. 250 (at 5.00 V   5.50 V) … Support: mechanical Yes, up to 4096 revolutions multiturn encoder Support: battery-buf- fered multiturn encoder Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 98 Yes, storing of controller parameters in encoder meter memory Support: encoder error Yes, supported messages Encoder communica- Up to 2 corrupted/failed encoder messages tolerated. After this tion failure an error message will be generated. Tab. 112 EnDat 2.2 encoder at [X2] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 99 Noise-free angle resol- [bit] Min. 15, typically 17 (10 m motor/encoder line, active drive con- ution with SKS/SKM 36 trol) per motor revolution Output supply 10 ± 10 % [mA] Max. 250 Support: mechanical Yes, up to 4096 revolutions multiturn encoder Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 100 Noise-free angle resol- [bit] 10 (measured on noise-free SIN/COS signals) ution within one SIN, COS period Noise-free angle resol- [nm]  100 < ution with LS 187 (20 µm signal period) Output supply 5 ± 5 % [mA] Max. 250 Support: mechanical multiturn encoder Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 101 Max. 250, unregulated (no Sense cable) Support: mechanical multiturn encoder Support: battery-buf- fered multiturn encoder Support: encoder para- meter memory Encoder signal monit- No, no direct encoder signal monitoring oring Tab. 115 Digital incremental sensor at [X2], [X3] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 102: Inputs, Outputs, Ready Contact At [X1A]

    Up to 2 corrupted/failed encoder messages tolerated. After this oring 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 Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 103 Max. input voltage low- level (U L max Min. input voltage low- – level (U L min Max. input current with [mA] high-level (I H max Min. input current with [mA] high-level (I H min Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 104 Based on type 3 to EN 61131-2 Nominal voltage [V DC] Permissible voltage [V DC] 3   30 – … range Max. input voltage high-level (U H max Min. input voltage high-level (U H min Max. input voltage low- level (U L max Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 105 1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset. Tab. 118 Control inputs #SBC-A and #SBC-B at [X1A] Diagnostic outputs STA and SBA at [X1A] Design Asymmetrical push-pull output Voltage range [V DC] 18   30 … Permissible output cur- [mA] rent for high-level Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 106 H max Min. input voltage high-level (U H min Max. input voltage low- level (U L max Min. input voltage low- – level (U L min Max. input current with [mA] high-level (I H max Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 107 High-side switch without test pulse monitoring Voltage range [V DC] 18   30 … Permissible output cur- [mA] rent for high-level Protective function – Short-circuit proof – Feedback-proof to 30 V – Automatic switch-off in event of over-temperature (  150°C) > Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 108 Inductive load [µH]  10 < Capacitive load [nF]  10 < Switching delay from [ms]  5 < control gate 1) Requires connection of the output to a Type 3 input Tab. 122 Ready contact at [X1A] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 109: Inputs And Outputs To The Axis [X1C]

    Min. input voltage low- – level (U L min Max. input current with [mA] high-level (I H max Min. input current with [mA] high-level (I H min Max. input current with [mA] low-level (I L max Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 110 Voltage at output despite brake having shut down Diagnostics possible via: – Output SBA – Error message on device Test pulse length The test pulses for control input #SBC-B are mapped to the out- put. Min. time between test [ms] pulses Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 111: Sync In/Out [X10]

    Differential 120 Ω A/B/N R a.diff Permissible load on FAN-OUT = 16 (16 inputs on other CMMT-AS) output Critical frequency [MHz] 4 (FAN-OUT = 1); 0.1 (FAN-OUT = 16) A/B/N Tab. 127 Encoder emulation/incremental encoder output [X10] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 112: Standard Ethernet [X18], Parameterisation Interface

    1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths. Deviating from IEEE 802.3, the isola- tion coordination is therefore done according to the valid product standard IEC 61800-5-1: DVC A, system voltage ≤ 50 V. Tab. 129 Standard Ethernet [X18] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...

  • Page 113: Real-Time Ethernet [X19] ([Xf1 In], [Xf2 Out])

    Bus protocol PROFINET: CMMT-AS-...-PN Protocol – PROFINET RT – PROFINET IRT Drive profile – PROFIdrive – PROFIenergy 1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths. Tab. 130 Real-time Ethernet [X19] Festo — CMMT-AS-C2/C4-3A-... — 2018-02...
  • Page 114 Copyright: Festo AG & Co. KG Ruiter Straße 82 73734 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 Reproduction, distribution or sale of this document or communic- e-mail: ation of its contents to others without express authorization is service_international@festo.com...

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