Festo CMMS-ST-C8-7 Mounting And Installation
Motor controller
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Summary of Contents for Festo CMMS-ST-C8-7
- Page 1 Motor controller Description Mounting and installation Type CMMS-ST-C8-7 Description 554 340 en 0708NH [720 646]...
- Page 3 Output __________________________________________________ en 0708NH Designation ____________________________________ P.BE-CMMS-ST-HW-EN Order no. ___________________________________________________ 554 340 (Festo AG & Co KG., D-73726 Esslingen, 2007) Internet: h ttp://www.festo.com E-mail: service_international@festo.com The copying, distribution and utilisation of this document as well as the communication of its contents to others without expressed authorisation is prohibited. Violations give rise to compensation.
- Page 4 Directory of revisions Author: Festo AG & Co. KG Manual name: MOTORCONTROLLER CMMS-ST-C8-7 File name: P_BE-CMMS-ST-HW-EN.doc File location: Consec. no. Description Revisions index Date of change Written on 0708NH 01.08.2007 Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 5: Table Of Contents
1 3 8 H 3 .4 Function overview ....................3 4 H 1 3 9 H 3 .4.1 Operating modes ................3 5 H 1 4 0 H 3 .4.2 Setpoint processing ................3 6 H 1 4 1 H Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 6: General Information
5 .5.6 ESD protection ................... 7 3 H 1 7 8 H 6 . Preparations for commissioning ................7 4 H 1 7 9 H 6 .1 General connection instructions................7 5 H 1 8 0 H Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 7 A .3.7 I/O interface [X1] ................1 0 3 H 2 0 8 H B . Glossary ......................... 1 0 4 H 2 0 9 H C . INDEX ........................1 0 5 H 2 1 0 H Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 8: Documentation
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 profile for handling and positioning. 1.2 Scope of delivery The delivery includes: Number Delivery... -
Page 9: Accessories
1 3-pin DSUB plug, MSTB 2.5/3-ST-5.08 BK Power supply SVG-1/230VAC-24VDC-5A 547867 unit SVG-1/230VAC-24VDC-10A 547868 SVG-1/230VAC-48VDC-5A 542403 SVG-1/230VAC-48VDC-10A 542404 SVG-3/400VAC-48VDC-20A 542405 Control cable NEBC-S1G25-K-2.5N-LE26 552254 Encoder plug NECC-S-S1G9-C2M 552274 Profibus CAMC-PB 547450 Devicenet CAMC-DN 547451 SD card CAMC-M-S including firmware 547453 Table 1.2 Accessories Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 10 1. General information Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 11: Safety Instructions For Electrical Drives And Control Systems
Failure to comply with these instructions can result in material damage and personal injuries. Warning DANGER! Failure to comply with these instructions can result in major material damage and personal injuries. Warning Hazardous voltage! The safety instruction indicates potentially fatal voltage. Accessories Environment Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 12: General Instructions
2. Safety instructions for electrical drives and control systems 2.2 General instructions Festo AG & Co. KG will accept no liability for damage resulting from failure to comply with the warnings in these operating instructions. Note Before commissioning, the S afety instructions for electrical drives... -
Page 13: Danger From Incorrect Use
2.3 Danger from incorrect use Warning DANGER! High electrical voltage and high work working current! Risk of fatal or serious injury from electric shock! Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 14: Safety Instructions
(e.g. main switch, contactor, circuit breaker). Warning Gold-plated contacts or contacts with high contact pressure should be used to switch the control contacts. Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 15 Failure to do so could result in death, injury or serious material damage. The following precautionary measures also apply without claim to completeness: VDE 0100 Regulations for setting up high-voltage systems up to 1000 volts. EN 60204 Electrical equipment for machines. Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 16: Safety Instructions For Mounting And Maintenance
Secure vertical axes to prevent them falling or lowering after the motor is switched off using methods such as: - mechanical locking of the vertical axis, - external brake / arrester / clamp or - sufficient counterweight of the axis. Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 17 Deactivated output stage or deactivated controller release are not sufficient locks. If a fault occurs, the drive may move unintentio- nally. Warning Perform commissioning with idling motors to prevent mechanical damage e.g. via an incorrect direction of rotation. Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 18: Guards Preventing Contact With Electrical Components
The BGVA3 regulations must be complied with! 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-HW-EN 0708NH... -
Page 19: Protection Against Electric Shocks Via Pelv
Only devices, electrical components and lines with PELV (PELV = Protective Extra Low Voltage) may be connected to all connections and terminals with voltages from 0 to 50 volts. Only connect voltages and circuits which are safely isolated from hazardous voltages. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 20: Protection Against Hazardous Motions
Deactivating, bypassing or faulty activation of safety equipment can cause random motions of the machine or other malfunctions. 2.4.6 Guards preventing contact with hot parts Warning DANGER! Surfaces on the device housing can become hot! Danger of injury! Danger of burning! Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 21: Protection During Handling And Mounting
Use lifting devices and tools professionally. If necessary, use appropriate protective equipment (e.g. safety goggles, protective shoes, protective gloves). Do not stand under suspended loads. Remove leaked liquids on the floor immediately due to the danger of slipping. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 22: 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-ST and EMMS-ST series by Festo. The MTR-ST and EMMS-ST series motors without encoders are controlled in an open control circuit ( open loop). -
Page 23: Interfaces
RPM regulation X10 (5 V) Pulse/direction signals X1 (24 V / Mode 3) RPM regulation X10 (5 V) A/B signals + X10 (5 V) Master/slave (slave) RPM regulation I/O (start synchronisation) X1 (24 V / Mode 3) Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 24: I/O Functions And Device Control
The existing digital inputs are already allocated to the basic functions in standard applications. The analogue input AIN0 is also available as a digital input for use of further functions such as the jog function, route program and synchronisation. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 25: Increment Generator Input
The following profiles are available for communication via the CAN bus. CANopen protocol in accordance with DS301 with application profile DSP402 or the Festo FHPP positioning profile. In general there are two different access options for communication via the CAN bus:... -
Page 26: Profibus
Signals with a level of 5 V can be processed via the X10 interface. Interface X1 is intended for a signal level of 24 V. MODE 3 synchronisation must be activated via DIN9=1 and DIN12=1. 3.3.7 RS232 interface The RS232 interface is intended as a configuration interface. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 27: Rs485 Interface
Via the SD memory card, parameter records can be loaded or firmware can be down- loaded. A menu in the configuration software allows you to specify a set of parameters on the memory card, and load it or save it. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 28: Brake Chopper
Pulse/direction signals X1 (24 V / Mode 3) X10 (5 V) Field bus Direct mode Master/slave (slave) A/B signals + I/O (start synchronisation) X1 (Mode 3) Position control Field bus Interpolated position mode Field bus Direct mode Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 29: Setpoint Processing
(hysteresis) can be set. Up to three frequency ranges can be hidden. 3.4.4 I²T function An integrator monitors the current² time integral of the CMMS-ST controller. As soon as the configured time expires a warning is sent and the maximum current is limited to the nominal current. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 30: Positioning Controller
The parameter records can be called up via: Digital inputs (Position record 0 ... 63) RS232 interface (for test purposes only) or a Field bus interface. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 31: Homing
Limit switch with zero pulse evaluation Index Impuls Negativer Negative Limit Switch Endschalter Fixed stop with zero pulse evaluation Index Impuls Limit switches Negative Limit switch Fixed stop Zero pulse Save current position Table 3.5 Homing methods Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 32 If configured: Run at travel speed to axis zero point. 1)2) Negative stop Run at search speed in negative direction to stop. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 33: 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-HW-EN 0708NH... -
Page 34: I/O Sequence Control
Activities 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-HW-EN 0708NH... - Page 35 Parameter record was loaded A fault has occurred which causes the output stage to be switched off Edge controlled fault acknowledgement DIN5: 1 - 0 The error was acknowledge and no other errors are pending. Table 3.7 I/O sequence control Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 36: Safety Functions, Error Messages
Trigger source (current, speed, position, controller release, limit switch) Trigger level Trigger option (auto, normal, force, rising / falling edge) Measurement frequency 3.4.11 Jog and teach function I/O Requirements for use of the jog and teach function: Configuring via the commissioning software Slow moving speed Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 37: Route Program
Continues when the programmed time has expired. Time measurement starts when the position record starts. NEXT (positive edge) Continues after a positive edge on DIN10 (NEXT1) or DIN11 (NEXT2). NEXT (negative edge) Continues after a negative edge on DIN10 (NEXT1) or DIN11 (NEXT2). Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 38: Synchronisation
X10. The CMMS-ST controller can process incremental generator signals at interface X10 as speed setpoints as a slave. The following functions can be set via the commissioning tool: Master-slave function Encoder emulation Gear ratio. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 39: On-The-Fly Measurement
A fieldbus connection can be used to access the saved position data. 3.4.15 Endless positioning Endless positioning in one direction (rotary axis applications) can be implemented without a problem. The limit switch in put can be used as a reference switch input. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 40: Mechanical Installation
If the CMMS-ST stepping motor controller is subject to high thermal loads, a mounting clearance of 69 mm is required! Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 41 4. Mechanical installation Fig. 4.1 CMMS-ST stepping motor controller: Installation spacing Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 42: Mounting
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. 4.2 CMMS-ST stepping motor controller: Mounting Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 43: Electrical Installation
5. Electrical installation 5. Electrical installation 5.1 Device view 1 Status display 2 S1: Fieldbus settings and bootloader 3 Technology module (optional) 4 M1: SD memory card 5 X4: CAN bus 6 X5: RS232/485 Fig. 5.1 CMMS-ST view front Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 44: Interfaces 4
1 Earthing bolt 2 X9 power supply 3 X10 increment generator output 4 X1 I/O interface Fig. 5.2 CMMS-ST top view 1 X2 increment generator input 2 X6 motor connection 3 Screened connection Fig. 5.3 CMMS-ST bottom view Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 45: Interfaces
Power pack for the control voltage Power pack for the power supply CMMS-ST stepping motor controller Motor with motor cable Increment generator cable (for motors with increment generators) A PC with a serial connection cable is required for configuration. Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 46 5. 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. 5.4 Complete structure of CMMS-ST with motor and PC Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 47: Interfaces
Analogue monitor output 0 + 24 V 24 V 100 mA 24 V supply fed out DIN0 Record selection 0 (high active) DIN2 Record selection 2 (high active) DIN4 Output stage release (high active) DIN6 Limit switch 0 Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 48 Table 5.4 Pin allocation: I/O interface [X1] Mode 1 Designation Value Mode = 2 - Route program 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-HW-EN 0708NH...
- Page 49 Controller release (high active) DIN7 Limit switch 1 DIN9 Slave synchronisation "1" DOUT1 24 V 100 mA Output freely programmable – Default: Motion complete (high active) DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active) Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 50: 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 5.8 Pin allocation: Increment generator input [X2] Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 51: Fieldbus Can [X4]
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 +5 V_Fuse Via PTC on plug RS485_B Table 5.12 Pin allocation: RS232/RS485 [X5] Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 52: Motor Connection [X6]
A/B, CLK/DIR or CW/CCW control signals to be processed in the slave axis mode. Type on controller Counterplug Plugged/optional plug Material number D-sub socket, 9-pin Table 5.17 Plug version: Increment generator/ Pulse, direction input [X10] Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 53: Sd Card
Meaning Node number Bootloader (If the switch is set to ON, the system searches for new firmware on the SD card) Baud rate Activation of the CAN interface Terminating resistor Table 5.19 Assignment of the DIP switches Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 54: Instructions On Safe And Emc-Compliant Installation
Emitted Sufficiently low interference emission of electrical, magnetic or interference 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-HW-EN 0708NH... -
Page 55: General Information On Emc
The following must be observed for EMC-compliant installation of the drive system (see also Chapter E lectrical installation, Page 4 3): 2 2 1 H 2 2 2 H 2 2 3 H 1. In order to minimise current leakage and losses in the motor connection cable, the Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 56: Operation With Long Motor Cables
200 pF/m, or, if possible less than 150 pF/m! (Please contact your motor cable vendor if necessary) Use of a dU/dt filter on the motor output, Filter on the voltage supply connection, Mains filter. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 57: 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-HW-EN 0708NH... -
Page 58: 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-HW-EN 0708NH... -
Page 59: Connect 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-HW-EN 0708NH... -
Page 60: Service Functions And Error Messages
7.1.4 Temperature monitoring for the heat sink The heat sink temperature of the power output stage is measured with a linear tempera- ture sensor. Temperature monitoring is triggered at temperatures below -40°C and above 85°C. A temperature warning is issued at 80°C. Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 61: I²T Monitoring
There is a power monitoring system for the internal braking resistor in the operating software. 7.1.7 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. -
Page 62: Operating Mode And Error Messages
The numbers are shown in succession E xxy Error message with index "xx" and sub-index "y" -xxy- Warning with index "xx" and sub-index "y". Warnings are shown at least twice on the seven segment display. Table 7.1 Operating mode and error display Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 63: Error Messages
SINCOS-RS485 communication Generator signals are defective: Check installation for error EMC recommendations. SINCOS tracking signal error EEPROM angle generator too Please contact the technical support team. small Error during homing Homing interrupted, e.g. by withdrawal of controller release. Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 64 Parameter cannot be saved to CD as the memory capacity is not sufficient. I²t motor Motor blocked? I²t servo controller Check power dimensioning of drive package. Time out for quick stop Software limit stop positive Software limit stop negative Festo P.BE-CMMS-ST-HW-EN 0708NH...
- Page 65 Change in operating mode when output stage is released. RS232 communication error Common fault Table 7.2 Error messages Error messages can be acknowledged by: The configuration interface, The field bus (control word), A decreasing edge at DIN5 (controller release). Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 66: A . Technical Specifications 6
Digital sensor N/C contact: < 1 k > 10 k cold Analogue sensor Silicon temperature sensor, e.g. KTY81 ... 84 = 1 k or R = 2 k Table A.4 Technical data: Motor temperature monitoring (in preparation) Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 67: A .2 Operation And Display Components 6
Features Values Internal braking resistor Pulse power 500 W Continuous power 10 W Response threshold 96 V Hysteresis Table A.7 Technical data: Internal braking resistor [X9] Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 68: A .3.2 Motor Connection [X6] 6
Angle resolution Max. 12 bit Number of lines of the increment generator 1000 / 500 / 400 / 200 Limit frequency > 100 kHz Generator supply 5 V ±5% 100 mA Table A.10 Increment generator input X2 Festo P.BE-CMMS-ST-HW-EN 0708NH... -
Page 69: A .3.4 Increment Generator Interface [X10] 6
Digital inputs Values Signal level 18 ... 30 V (high active) Number Reaction time to input 1.6 ms Reaction time to sample input < 100 µs Protective function Against polarity reversal Table A.14 Technical data: Digital inputs Festo P.BE-CMMS-ST-HW-EN 0708NH... - Page 70 10 V input section, 12 bit, differential, AIN0 < 250 µs delay time Analogue outputs: 10 V output range, 9 bit resolution, f > 1 kHz limit AOUT0 and AOUT1 Table A.18 Technical data: Analogue inputs and outputs [X1] Festo P.BE-CMMS-ST-HW-EN 0708NH...
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Page 71: B . Glossary 7
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-HW-EN 0708NH... -
Page 72: C. Index
Frequency ranges Glossary Interference emission Interference immunity Homing Homing methods Interpolated position mode Notes General information Icons Safety Open loop Operating modes Overview of interfaces Positioning controller Safety instructions 11, 14 Scope of delivery Setpoint selectors Festo P.BE-CMMS-ST-HW-EN 0708NH...
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