Festo CMMS-ST-*-G2 Series Assembly And Installation Manual
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Festo CMMS-ST-*-G2 Series Assembly And Installation Manual

Festo CMMS-ST-*-G2 Series Assembly And Installation Manual

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Motor controllers
Description
Assembly and
installation
Type
CMMS-ST-.-G2
Description
573 125
en 1008NH
[754 125]

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Summary of Contents for Festo CMMS-ST-*-G2 Series

  • Page 1 Motor controllers Description Assembly and installation Type CMMS-ST-.-G2 Description 573 125 en 1008NH [754 125]...
  • Page 2 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 3 Edition _____________________________________________________en 1008 Name _______________________________________P.BE-CMMS-ST-G2-HW-EN Order no. ____________________________________________________573 125  (Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2010) Internet: http://www.festo.com E-mail: service_international@festo.com The copying, distribution and utilization of this document as well as the communication of its contents to others without express authorization is prohibited.
  • Page 4 Index of revisions Author: Festo AG & Co. KG Name of manual: MOTOR CONTROLLERS CMMS-ST-C8-7-G2-G2 File name: File saved in: Description Index of revisions Date of change Produced: 1008NH 29.07.2010 ® ® ® ® ® Microsoft Windows , CANopen , CiA...

  • Page 5: Table Of Contents

    3.3.9 Brake chopper ..................41 3.3.10 Control interface [X1] ................41 3.3.11 Serial parameterisation interface RS232 and RS-485- [X5] ....44 3.3.12 SD cardholder – [X12] ................44 3.3.13 SD memory card .................. 44 Fieldbus interface ....................45 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 6 General remarks / description of “STO Safe Torque Off” ..... 82 4.2.2 STO timing diagram ................83 4.2.3 CMMS-ST STO sample circuit............... 85 4.2.4 Explanations of the sample circuit ............86 4.2.5 EMERGENCY STOP request, monitoring of protective doors ....86 4.2.6 Testing the safety function..............86 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 7 Power supply [X9] ................111 6.4.8 Increment generator interface / control signals [X10] ......112 6.4.9 SD card ....................112 6.4.10 Field bus settings and boot loader............. 113 Instructions on safe and EMC-compliant installation........114 6.5.1 Explanations and terms ..............114 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 8 I/O interface [X1]................130 A.3.2 Increment generator input [X2] ............131 A.3.3 CAN bus [X4] ..................131 A.3.4 RS232/RS-485 [X5] ................131 A.3.5 Motor connection [X6]................ 132 A.3.6 Power supply [X9] ................132 A.3.7 Increment generator interface [X10]........... 133 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 9 Glossary ......................134 INDEX ........................135 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 10: General Data

    CiA DSP 402 PROFIBUS manual “ P.BE-CMMS-FHPP-PB-…”: Description of the implemented PROFIBUS-DP protocol. DeviceNet manual “P.BE-CMMS-FHPP-DN-…”: Description of the implemented DeviceNet protocol. FHPP manual “P.BE-CMM-FHPP-…”: Description of the implemented Festo profiles for handling and positioning. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 11: Type Key Cmms-St-C8-7-G2

    Input voltage 48 V DC Configuration 2nd Generation Scope of delivery The delivery includes: Number Delivery CMMS-ST-C8-7-G2 stepping motor controller CD (configuration software, documentation, S7 module, GSD, EDS, firmware) Brief description NEKM-C-1 plug assortment Table 1.1 Scope of delivery Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 12: Safety Instructions For Electric Drives And Controllers

    Failure to comply can result in material damage and personal injury. Warning DANGER! Considerable material damage and personal injury can occur if these instructions are not observed. Warning Dangerous voltage! The safety instructions contain reference to dangerous voltages which may occur. Accessories Environment Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 13: General Information

    2. Safety instructions for electric drives and controllers General Information Festo AG & Co.KG is not liable for damage caused by failure to observe the warning instructions in these operating instructions. Note Before commissioning, the Safety instructions for electric drives and controllers must be read from page 12 and the chapter 6.5...

  • Page 14: Hazards Due To Improper Use

    Hazards due to improper use Warning DANGER! High electric voltage and high operating current! Danger of death or serious bodily injury due to electric shock! Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 15: Safety Instructions

    • In accordance with the EN standards and the VDE regulations, the stepping motor controllers must be connected to the grid in such a way that they can be disconnected using appropriate isolating equipment (e.g. main switch, contactor, circuit breaker). Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 16 • The general installation and safety regulations for working on high-current systems (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be observed. Failure to observe these regulations can lead to bodily injury, death or considerable damage to property. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 17: Safety Instructions For Assembly And Maintenance

    • Vertical axes must be additionally secured against falling or sliding down when the motor is switched off with, for example, - mechanical locking of the vertical axis, - external braking, safety catch or clamping devices or - sufficient weight compensation of the axis. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 18 In the event of a fault, this could lead to unintentional movement of the drive. Warning Commission the device with a free-running motor, in order to avoid mechanical damage, e.g. due to incorrect direction of rotation. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 19: Protection Against Touching Electric Components

    Regulations BGVA3 must be observed. Warning Ensure that the minimum copper cross section is observed for the entire length of the protective earth conductor in accordance with standard EN 60617. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 20: Protection By Low Voltage (Pelv) Against Electric Shock

    Danger of bodily injury or death due to electric shock Devices, electrical components and cables may only be connected to connections and terminals from 0 to 60 V, providing they have protective low voltage (PELV = Protective Extra Low Voltage). Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 21: Protection Against Dangerous Movements

    The safety regulations applicable to the system must be observed here as well. Undesired movements of the machine or other incorrect functions can occur as a result of switching off, avoiding or failing to activate safety devices. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 22: Protection Against Touching Hot Components

    • Use lifting devices and tools in a correct manner. • If necessary, use suitable protective equipment (e.g. protective glasses, safety shoes, safety gloves). • Do not stand under hanging loads. • Wipe up spilt liquids on the floor to avoid slipping. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 23: Product Description

    The CMMS-ST is intended for activating hybrid stepping motors with a maximum current of up to 8 A, in particular the MTR-STand EMMS-STseries by Festo. The MTR-ST and EMMS-ST series motors without encoders are controlled in an open control circuit ( open loop).
  • Page 24 Parametrisation program “Festo Configuration Tool FCT” • Simplest start-up and diagnosis • Configuration of motor controller, motor and axis • Automatic adjustment of all controller parameters with use of Festo Mechanics Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 25: Interfaces

    A/B signals + X10 (5 V) Master/slave Synchronisation 3.3.4 I/O mode 3 (start (slave) Table 6.14 synchronisation) Table 6.5 X1 (24V / Record Positioning controller 3.3.5 Mode 0/1/2) selection Table 6.2 ff Jog mode Linked positio- ning records Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 26: Analogue Setpoint Specification

    The analogue setpoint specification +/- 10VDC can be configured as setpoint specification Speed setpoint value Torque setpoint value Required connection with analogue setpoint specification The connection plan shows the switch position in the active operating state. *) The limit switches are set by default to opener (configuration over FCT) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 27: Interfaces For Direct Synchronous Operation

    / direction signals (CW/CCW or CLK/DIR) of a stepping motor control. The signal form is selected in the FCT. The number of steps per revolution can be parameterised. Beyond that, an additional electronic gear can be parameterised. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 28 “Download” buttons and saved permanently with the “Save” button. With a “Reset” (or switching off and back on) of the motor controller, the new configuration is activated. To ensure flexibility of the controller, synchronisation should be switched on over the I/O interface. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 29 Required I/O triggering during synchronisation via mode switchover with 24 VDC frequency signals The connection plan shows the switch position in the active operating state. *) The limit switches are set by default to opener (configuration over FCT) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 30 Required I/O triggering during synchronisation via mode switchover with 5 VDC frequency signals The connection plan shows the switch position in the active operating state. *) The limit switches are set by default to opener (configuration over FCT) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 31 The signal MC is set as long as the drive is at a standstill during active synchronisation (DIN8:START set). That is, the MC signal is set as long as the window for “DZ = 0” has not been left. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 32: I/O Functions And Device Control

    Sample input If a field bus is used for activation, a high-speed sampling input is available for time- critical tasks for various applications (position sensing, special applications, ...). Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 33: Rs232 Interface (Diagnosis/Parameterisation Interface)

    RS-485 communication is activated, which means that the device can be accessed for configuration at all times. After reset, the serial interface always has the following basic settings. Parameters Value Baud rate 9600 baud Data bits Parity None Stop bits Table 3.6 Default parameters Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 34 Table 3.8 General commands Parameter commands The exchange of parameters and data takes place over “communication objects” (CO). They are used in a fixed syntax. Special return values are defined for errors in a write or read access. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 35 “DIN5 and RS232”. Acknowledge error OW:0030:00010000 OK! Faulty return values can be called up due to an inappropriately set controller enable logic, an intermediate circuit that is not loaded, etc. Table 3.11 Function commands Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 36 Transfer device is ready for use. end device End device --> End device displays that the remote Request to send Transfer device station should send (send request). Transfer device --> Transfer device shows reception Clear to send end device readiness (send permission). Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 37 Then, with the “Download” buttons, load the changed configurations into the motor controller and save them permanently with the “Save” button. With a “Reset” (or switching off and back on) of the motor controller, the new configuration is activated. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 38 FCT or as described in chapter “Example “Homing Mode” via RS232”. With the CAN access simulated via RS232, the motor controller can also be operated in the CAN “Profile position mode”. The following describes the sequence in principle. 1. Changing of the controller enable logic Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 39 Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is taken over (0), or whether the ongoing positioning should be cancelled (1) Bit 6 establishes whether the positioning should be carried out Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 40: Multi-Firmware Strategy

    A firmware update can be achieved using any desired customer firmware through the built-in SD card reader. See chapter 3.3.13 SD memory card. 3.3.8 Increment generator input An optional increment generator mounted on the motor shaft is used to record the actual Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 41: Brake Chopper

    Next 1 (high active) DIN11 Record selection 5 Jog - Next 2 (high active) +VREF Reference output for setpoint potentiometer AMON0 Analogue monitor output 0 Unassig Unassigned Unassigned Unassigned Unassigned + 24 V 24 V supply carried out Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 42 Mode and Stop. (DIN12 and DIN13) (dependent on the parameterised control interface). DOUT0...DOUT3 Digital outputs with 24 V level, DOUT0 is permanently occupied with the function “Ready for operation”. Additional outputs can be configured (Target reached, Axis in motion, Target speed achieved..) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 43 As a result, a maximum of four different I/O assignments can be selected. These are described in the tables Table 6.2 Pin allocation: I/O interface [X1], Table 6.3 Pin allocation: I/O interface [X1], Table 6.4 Pin allocation: I/O interface [X1] Mode 2, Table 6.5 Pin allocation: I/O interface [X1] Mode 3. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 44: Serial Parameterisation Interface Rs232 And Rs-485- [X5]

    FLASH program. If the Load automatic parameter set is activated via the commissioning software, the system checks whether a card is inserted when the firmware is started and it is initialised if applicable. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 45: Fieldbus Interface

    But only one field bus can be active at any given time. For all field buses, the Festo Profile for Handling and Positioning (FHPP) has been implemented as the communication protocol. Additionally, for the CAN bus, the...

  • Page 46: Can Bus

    If the time slot pattern of the position setpoints is greater than the internal position controller cycle time of the controller, the controller automatically interpolates the data values between two prescribed position setpoints. The controller also calculates a corresponding speed pilot control. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 47: Profibus

    The MAC-ID and baud rate are configured over the DIP switches on the front side of the controller. Baud rates up to 500 kBaud are supported. FHPP with the above-described control and operating modes is used as communication protocol. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 48: Mtr-St Series Stepper Motors

    Simple connection via digital I/Os to a higher-order control system, e.g. a PLC. Jolt-limited or time-optimised positioning absolutely or relative to a reference point via the integrated trajectory generator. Position specification via the integrated fieldbus CANopen with automatic interpolation between the setpoints. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 49 [X10] I/O (start synchronisation) [X1] (Mode3) Positioning controller Record selection Fieldbus Direct mode Fieldbus Record selection Homing Record selection Fieldbus Direct mode Fieldbus Record selection Jog mode Fieldbus Direct mode Teach-in function via I/O Table 3.17 Operating modes Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 50: Timing Diagram Operation Mode Switchover

    Timing diagram operation mode switchover ENABLE START STOP DIN9 DIN12 DOUT0: READY DOUT1: MC DOUT2: ACK DOUT3: ERROR =1.6 ms Position Sequences / Record linking Jog / Teach Synchronisation Fig. 3.3 Timing for activation of the individual operating modes Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 51: Setpoint Processing

    When speeds close to the mechanical natural resonance are reached, there is a speed jump so that the resonance is skipped. The mechanical natural resonance and the bandwidth (hysteresis) can be set. Up to three speed ranges can be hidden. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 52: I²T Function

    The position records are made up of a position value and a motion profile. The following parameters can be set for the eight motion profiles: Travel speed Acceleration Deceleration Smoothing Time Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 53 RS232 interface (for test purposes only) or a Fieldbus interface Required I/O connection for positioning The connection plan shows the switch position in the active operating state. *) The limit switches are set by default to opener (configuration over FCT) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 54: Homing

    The following methods can be chosen for the homing run. Run to Positive Negative Graphical representation method method Dec Hex Dec Hex Limit switch with zero pulse evaluation Fixed stop with zero pulse evaluation Limit switch Fixed stop Zero pulse Save current position Table 3.18 Homing methods Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 55 If configured: Run at travel speed to axis zero point. Negative stop Run at search speed in negative direction to stop. This position is saved as the reference point. If configured: Run at travel speed to axis zero point. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 56 If configured: Run at travel speed to axis zero point. Note: if the reference system is shifted, runs to a limit switch or fixed stop are possible. They are therefore generally used for rotating axes. Table 3.19 Explanation of the homing methods Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 57: Timing Diagrams For Homing Run

    3. Product description 3.5.8 Timing diagrams for homing run = 1.6 ms = x ms (dependent on ramps) Fig. 3.4 Signal sequence with start of the homing run and with positive design Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 58 3. Product description = 1.6 ms = x ms (dependent on ramps) Fig. 3.5 Signal sequence with faulty interruption (contour error, ...) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 59: Trajectory Generator

    After a start signal is detected, positioning is cancelled and the drive runs at a constant speed. After pre-calculation is completed, the drive runs to the new target position. The trajectory generator sends the following messages: Target reached, (Default: digital output DOUT1 – MC) Remaining distance reached. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 60: 3.5.10 I/O Sequence Control

    Actions of the user RESET / Power ON Time out has expired or the firmware download is complete. The initialisation has been carried out successfully. DIN4=1 and DIN5=1 “Torque control” was selected in the commissioning Setpoint specification via AIN0/AGND software. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 61 Parameter record was loaded A fault has occurred which causes the end stage to be switched off Edge controlled fault acknowledgement DIN5: 1 - 0 The error was acknowledged and no other errors are pending. Table 3.20 I/O sequence control Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 62: 3.5.11 Error Messages

    Controller enable Output stage release Holding brake Current-carrying Motor controlled DOUT: READY Drive is moving = x ms (dependent on brake ramps) = x ms (dependent on set switch-off delay) Fig. 3.7 Behaviour when switching off controller enable Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 63 DOUT0: READY Drive is moving = 1.6 ms = x ms (dependent on set switch-off delay) Fig. 3.8 Behaviour when switching off end-stage enable Note The holding brake of the EMMS-ST-…-SB/-SEB is not suitable for braking the motor. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 64: 3.5.13 Oscilloscope Function

    • The measuring section runs at a high priority in the rule interrupt and records the measuring channels. If the trigger condition occurs, the measurement process is cancelled after a defined number of scan steps. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 65: 3.5.14 Jog And Teach Function I/O

    Final saving of the taught positions in the permanent memory takes place with falling edge from DIN5 controller enable. Note Make sure that the taught positions are written in the permanent memory before the controller is switched off.. Incorrect storing can make the parameter file invalid. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 66 “Read from SD after restart” must be inactive; otherwise, when the controller is restarted, the old values will be read off the SD card again. Activating jog/teach function The jog/teach function is started in I/O operation through selection of mode 1. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 67 3. Product description Necessary I/O connection with jog/teach The connection plan shows the switch position in the active operating state. *) The limit switches are set by default to opener (configuration over FCT) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 68 The parameters set here are valid for jogging via I/O interface, jogging via FCT and for jogging/teaching via field bus if no other values are specified via the field bus. The acceleration also applies with “individual step” via FCT. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 69 3. Product description I/O timing diagrams = 1.6 ms = x ms (dependent on brake ramps) Fig. 3.10 Signal sequence with jogging positive and negative Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 70 DOUT1: MC DOUT2: ACK-TEACH DOUT3: ERROR Drive is moving – – – – + – = 1.6 ms = x ms (dependent on brake ramps) Fig. 3.11 Signal sequence when both signals are activated simultaneously / briefly staggered Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 71: Position Record Linking With Positioning/Torque Control Switching

    7 different sequences are possible. Under FHPP, the entry is freely selectable and the number limited only by the maximum number of position sets. • The program lines are worked off every 1.6 ms. This ensures that a set output remains set for at least 1.6 ms. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 72 Continues after the motion complete message and a negative edge waiting on DIN10 (NEXT1) or DIN11 (NEXT2). Table 3.21 Step criteria Note The time specification for STS and TIM is the time entered in the motion profile. The time begins with execution of the position record. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 73 Position record profiles that contain an end speed <> 0 must NOT be used for individual records, since the drive would continue to run uncontrolled. Activation of record linking Record linking is started in I/O operation through selection of mode 2. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 74 With removal of DIN9 “Mode switchover”, the ongoing record linking is ended. The ongoing position record is still run to the end. With removal of DIN13 “Stop”, record linking is interrupted. Record linking must then be initialised again. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 75 Drive is moving = 1.6 ms = x ms (dependent on positioning) Applies for positioning records with end speed = 0 Fig. 3.13 Signal sequence at the start of a sequence with DIN0 ... DIN2 (positioning record 1 ... 7) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 76 = 1.6 ms = x ms (dependent on brake ramps) Fig. 3.14 Signal sequence with interruption through Stop input = 1.6 ms = x ms (dependent on brake ramps) Fig. 3.15 Signal sequence with interruption and continuation through HALT input Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 77: 3.5.16 On-The-Fly Measurement

    For relative position records, an overrun of the position counter is possible. That is, the position counter jumps from +32767 revolutions to -32768 revolutions, for example. To be able to use the Endless Positioning function, the following settings must be made during configuration. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 78: 3.5.18 Relative Positioning Records

    For positioning records that do not have a whole number as the result, the controller rounds up to the next whole number. This can result in deviations with endless positioning. Example: rotary indexing table 4 positions. (90°) 65536:4= 16384 ----> Integer 6 positions. (60°) 65536:6= 10922,666 ----> The controller positions at 10923. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 79: Functional Safety Engineering

    Starting point for evaluation of the risk reduction contribution Low contribution to risk reduction High contribution to risk reduction Required performance level Risk parameter Severity of injury Slight (generally reversible injury) Serious (generally irreversible injury, including death) Frequency and/or duration of the exposure to hazard Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 80 Table 4.1 EMERGENCY OFF and EMERGENCY STOP as per EN 60204-1 The standard EN 61800-5-2 describes various safety functions that can be used dependent on the application. For the position controllers of the CMMS-ST-G2 family, the STO and SS1 safety functions have been implemented through external circuitry. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 81 Controlled shutdown through switching EMERGENCY STOP off of the energy when a standstill has been reached. Controlled shutdown without switching Not suitable for EMERGENCY OFF or off the energy in standstill. EMERGENCY STOP Table 4.3 Stop categories Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 82: Integrated Function "Sto

    Less cabling effort and less space required in the control cabinet And so lower cost Another advantage is the availability of the system. The integrated solution allows the intermediate circuit of the controller to remain charged. This means no significant waiting time when the system is restarted. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 83: Sto Timing Diagram

    4. Functional safety engineering 4.2.2 STO timing diagram = 1.6 ms (controller cycle time) Fig. 4.2 Timing diagram for the STO safety function Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 84 If external forces (e.g. hanging loads) have an effect on the drive, additional measures (e.g. mechanical brakes) are necessary to avoid hazards. The Safe Stop 1 stop function (SS1), in which the drive is brought to standstill in a controlled manner, is then always preferred. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 85: Cmms-St Sto Sample Circuit

    4. Functional safety engineering 4.2.3 CMMS-ST STO sample circuit Fig. 4.3 Circuit diagram for STO safety function with CMMS-ST-G2 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 86: Explanations Of The Sample Circuit

    For each on-off cycle of the machine, the PILZ device PNOZ X2P checks whether the relays of the safety equipment open and close properly. The function of switching off the output stage enable must be checked regularly (e.g. monthly) via the PLC. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 87 4. Functional safety engineering Fig. 4.4 “Safe Torque Off” block diagram as per EN 61508, SIL 2 Caution If the “Safe torque off” function is not required, then pins 1 and 2 on [X3] must be bridged. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 88: Ss1, Safe Stop 1

    In the function “Safe Stop 1” (SS1), the drive is run down in a controlled way and, after that, the power supply to the final output stage is switched off. As a result, the drive cannot generate torque or any force at standstill and so cannot make any dangerous movements. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 89: Ss1 Timing Diagram

    4. Functional safety engineering 4.3.2 SS1 timing diagram Fig. 4.5 Timing diagram for the SS1 safety function = t(PNOZ XV2p) The switch-off delay tv takes off as soon as a standstill is recognised by the motor controller. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 90: Description Of The Timing Diagram

    For motors without a holding brake, this time can be set to 0. 7. At time t7 the drive has reached the set speed. The requires ramp settings can be parameterised using the FCT parameterising software. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 91: Activation Of "Safe Stop 1

    The switch-off delay of the holding brake must be set in the FCT. The set time is necessary, as the brake does not close immediately due to the mechanical design. If this set time = 0 or <= 10 ms, the vertically hanging load can briefly slip through. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 92: Parameterisation Example Fct

    4. Functional safety engineering 4.3.6 Parameterisation example FCT Fig. 4.6 Parameterisation example Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 93: Cmms-St-G2 Ss1 Sample Circuit

    4. Functional safety engineering 4.3.7 CMMS-ST-G2 SS1 sample circuit Fig. 4.7 Circuit diagram for SS1 safety function with CMMS-ST-G2 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 94: Explanations Of The Sample Circuit

    When the PILZ PNOZ XV2P is used, a two-channel operation with cross-circuit recognition is possible. This permits recognition of: • Earth faults in the start and initial circuit • Short circuits in the initial circuit / start circuit • Cross circuits in the initial circuit. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 95: 4.3.10 Restoration Of Normal Operation

    The brake time can easily be determined through the FCT Trace function. The brake time can vary greatly due to different loads. Determine the values for the maximum brake time. To do this, input the following settings under the point “Configure measurement data”. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 96 Quick Stop delay must be set to a higher value. FCT PlugIn version V1.1 The maximum time until the drive is at speed = 0 after the controller enable is removed can be set using the “Maximum switch-off delay” from 2 … 10000 ms. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 97: 4.3.13 Setting The Delay Time

    The delay time of the PILZ PNOZ XV2P can be set manually at the device. This delay time must be larger than the determined brake time. Otherwise, the drive would not brake in the defined manner, but run out uncontrollably. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 98: Mechanical Installation

    • Mount with the clip to the control cabinet plate • Mounting clearance: For sufficient ventilation, 100 mm of clearance to other assemblies is required above and below the device. • Pay attention to the fastening interval of 69 mm! Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 99 5. Mechanical installation Fig. 5.1 CMMS-ST stepping motor controller: Installation clearance Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 100: Assembly

    The clips are part of the radiator profile, ensuring an optimal heat transfer to the control cabinet plate. • Use size M4 screws to attach the CMMS-ST stepping motor controller. Fig. 5.2 CMMS-ST stepping motor controller: Assembly Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 101: Electrical Installation

    6. Electrical installation Electrical installation Device view 1 Status display 2 [S1]: Field bus settings and boot loader 3 Technology module (optional) 4 [M1]: SD memory card 5 [X4]: CAN bus 6 [X5]: RS232/485 Fig. 6.1 CMMS-ST view Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 102 6. Electrical installation 1 Earthing bolt 2 [X9] Power supply 3 [X10] Increment generator interface 4 [X1] I/O interface Fig. 6.2 CMMS-ST top view Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 103: Interfaces

    If the polarity of the operating voltage connections is reversed, or if the operating voltage is too high or the operating voltage and motor connections are incorrectly connected, the CMMS-ST stepping motor controller will be damaged. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 104: Cmms-St Complete System

    Power pack for the control voltage Power pack for the power supply Stepper motor controller CMMS-ST Motor with motor cable Increment generator cable (for motors with increment generators) A PC with a serial connection cable is required for parameterising. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 105 6. Electrical installation 1 Main switch 2 Fuse 3 Power pack for control voltage 4 Power pack for power supply 5 CMMS-ST 6 PC 7 Motor Fig. 6.4 Complete structure of CMMS-ST with motor and PC Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 106: Interfaces

    + 24 V 24 V 100 mA 24 V supply carried out DIN0 Record selection 0 (high active) DIN2 Record selection 2 (high active) DIN4 End stage enable (high active) DIN6 Limit switch 0 DIN8 Start for the positioning procedure Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 107 Teach ack Table 6.3 Pin allocation: I/O interface [X1] Name Value Mode = 2 - Record linking AGND Screen for analogue signals DIN12 Mode switch “0” DIN10 Next 1 +VREF +10 V ±4% Reference output for setpoint potentiometer Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 108 Reference potential for digital inputs and outputs DIN1 DIN3 24 V Direction_24 /CCW DIN5 Controller enable (high active) DIN7 Limit switch 1 DIN9 Slave synchronisation “1” DOUT1 24 V 100 mA Output freely programmable - default motion complete (high active) Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 109: Increment Generator Input [X2]

    5 V, Ri = 120 Ohm Increment generator signal B, negative polarity 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity Internal screen for the connecting cable Table 6.6 Pin allocation: Increment generator input [X2] Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 110: Plug Allocation For Safe Standstill [X3]

    Table 6.8 Pin allocation: Field bus CAN [X4] 6.4.5 RS232/RS-485 [X5] Name Value Specification RS232_RxD 10 V, Ri > 2 kOhm Reception line RS232_ TxD 10 V, Ra < 2 kOhm Transmission line RS485_A RS232/485 GND, galvanically connected to GND in the controller Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 111: Motor Connection [X6]

    12 … 58 V Intermediate circuit voltage 24 V +24 V / 1 A Power supply for the control section Common reference potential for the intermediate circuit and the control section Table 6.13 Pin allocation: Power supply [X9] Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 112: Increment Generator Interface / Control Signals [X10]

    SD card The optional SD card is intended for downloading firmware or saving parameters. The interface is allocated in accordance with the SD card specifications. Alternatively, an MMC card can be used. Type on device 1x12-pin SD card slot Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 113: 6.4.10 Field Bus Settings And Boot Loader

    DIP switch 1 is the lowest bit. 1011011=91 Table 6.16 Sample node number DIP switches ON / OFF Meaning Dip switch 9 is the low-value bit. 00=125 kBaud 01=250 kBaud (example) 10=500 kBaud 11=1000 kBaud Table 6.17 Sample baud rate Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 114: Instructions On Safe And Emc-Compliant Installation

    When suitably installed, and with suitable cabling for all connections, the CMMS-ST stepping motor controller conforms to the requirements of the corresponding EN 61800-3 product standard. This standard no longer refers to “limit value classes” but rather to so- Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 115: Emc-Compliant Wiring

    For applications with long motor cables and/or if the wrong motor cables are selected with excessive cable capacity, the filters may be subjected to thermal overload. In order to avoid such problems, we recommend the following procedure for applications in which long motor cables are required: Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 116: Esd Protection

    If non-assigned plug connectors are used, there is a danger that damage may occur to the device or to other parts of the system as a result of ESD (electrostatic discharge). Protective caps are available from specialised retailers to prevent such discharges. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 117: Preparations For Commissioning

    3. Insert the motor cable plug in the corresponding socket on the motor and secure it. 4. Insert the D-sub plug in socket [X2] of the device and secure the locking screws. 5. Check all plug connectors once again. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 118: Connecting The Cmms-St Stepping Motor Controller To The Power Supply

    No display lights up 1. Switch off the supply voltage. 2. Wait for one minute to allow the intermediate circuit to discharge. 3. Check all connecting cables. 4. Check that the 24 V control voltage is functional. 5. Switch on the supply voltage again. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 119: Timing Diagram Switch-On Sequence

    Depends on the operating mode and the state of the drive = N x 1.6 ms Can be parameterised (brake parameter run start delay tF) = approx. 300 ms Time for determination of commutator position Fig. 7.1 Timing diagram switch-on sequence Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 120: Service Functions And Error Messages

    Temperature monitoring for the heat sink The heat sink temperature of the power output stage is measured with a linear temperature sensor. Temperature monitoring is triggered at temperatures below – 40°C and above 85°C. A temperature warning is issued at 80℃. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 121: I²T Monitoring

    8.1.7 Commissioning status Stepping motor controllers sent to Festo for servicing have other firmware and parameters loaded for testing purposes. The CMMS-ST must be configured before it is commissioned again at the customer's premises. The configuration software queries the commissioning status and prompts the user to configure the stepping motor controller.

  • Page 122: Error Messages

    Motor temperature Fault in dig. motor temperature sensor PS off monitoring Over-/under-temperature Temperature display plausible? PS off in power electronics Check installation conditions (cooling: via the housing surface, the integrated heat sink and back wall). Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 123 End stage temperature The end stage temperature is greater than PS off 5℃ below maximum 80°C. I²t at 80% Common error: Warn 80% of the maximum I²t utilisation has been reached by the closed-loop controller or by the motor. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 124 Fault: SW limit switch Positive software limit switch reached. reached Fault: SW limit switch Target position is behind the negative reached software limit switch. Fault: SW limit switch Target position is behind the positive reached software limit switch. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 125 "safe standstill" signal is no longer active. Plausibility error DIN 4 Error during plausibility check of output PS off stage enable. The 24V bus voltage is missing PS off DeviceNet communication error DeviceNet communication Receive buffer overflow PS off error Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 126 FHPP, change in operating mode when output stage is released. RS232 communication Overrun when receiving RS232 commands. PS off error Changeable with FCT PS off Switch off power section QStop Fast stop Warn Warning Ignore Ignore Table 8.2 Error messages Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 127 Error messages can be acknowledged by: the configuration interface, the field bus (control word), a falling edge at DIN5 (controller enable). Note Starting with Firmware 1.3.0.1.7, errors that are parameterised as warnings are automatically acknowledged if the cause is no longer present. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 128: Technical Data

    Table A.1 Technical data: Ambient conditions and qualifications Features Values Device dimensions (H*W*D) 160x50x160 mm Weight 2.0 kg Table A.2 Technical data: Dimensions and weight Features Values Current regulator 20 μs Speed regulator 200 μs Position controller 400 μs Table A.3 Technical data: Cycle times Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 129: Operation And Display Components

    Element Function Seven segment display Displays the operating mode and an error code should an error occur Ready LED (green) Ready status BUS LED (yellow) CAN bus status display Table A.6 Display components Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 130: Interfaces

    Overvoltage to ±30 V Table A.9 Technical data: Analogue inputs Analogue outputs Values Signal level 0 … 10 V Configuration Single-ended against AGND Output reaction time < 250 μs Protective function Short circuit against AGND Table A.10 Technical data: Analogue outputs Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 131: Increment Generator Input [X2]

    Table A.13 Technical data: CAN bus [X4] A.3.4 RS232/RS-485 [X5] Communication interface Values RS232 According to RS232 specification RS-485 According to RS-485 specification Baud rate 9600 … 115 kBaud Protection ESD protected driver Table A.14 Technical data: RS232 [X5] Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 132: Motor Connection [X6]

    Maximum current (incl. holding brake) 1.5 A PWM frequency 50 kHz Table A.17 Technical data: Power data [X9] Features Values 17 Ω Internal braking resistor Pulse power 500 W Continuous output 10 W Response threshold 58 / 30 V Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

  • Page 133: Increment Generator Interface [X10]

    Increment generator interface Values Operating modes A/B or CLK/DIR input signals A,B,N output signals Angle resolution / number of lines 32 ... 2048 Tracking signals According to RS422 standard Output impedance 120 Ω Table A.19 Increment generator interface [X10] Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 134 Interference Sufficiently low interference emission of electrical, magnetic or emission electromagnetic interference of an electrical system or an electrical device on other devices in the environment via lines and space. Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 135 Jog / teach FCT............23 I/O connection........67 FHPP timing ..........69 Documentation......... 10 Field bus control I/O connection........45 Limit switch ......... 32 Firmware download ......44 Frequency ranges ........ 51 Mode ........41, 43, 106 MTR-ST ..........23 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...
  • Page 136 Positioning controller ......52 I/O connection......29, 30 PROFIBUS timing ..........31 Documentation......... 10 Timing homing run ........57 jog / teach ........69 record linking ........75 switching off of enable ..... 62 switch-on sequence......119 synchronisation ........ 31 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH...

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