Festo CMMT-ST-C8-1C-S0 Series Operating Instructions Manual page 2

– During commissioning: systematically check all control functions and the com-
munication and signal interface between controller and servo drive.
– Keep the documentation in a safe place throughout the entire product lifecycle.
If damage is caused by unauthorised manipulation or any use other than the
intended use, the guarantee will be invalidated and the manufacturer will not be
liable for damages.
If damage is caused by using unauthorised software or firmware with the device,
the warranty is invalidated, and the manufacturer is not liable for damages.
Safety instructions for the safety sub-functions
It is only possible to determine whether the product is suitable for specific appli-
cations by also assessing further components of the overall system.
Analyse and validate the safety function of the entire system.
Check the safety functions at adequate intervals for proper functioning. It is the
responsibility of the operator to choose the type and frequency of the checks
within the specified time period. The manner in which the test is conducted
must make it possible to verify that the safety device is functioning perfectly in
interaction with all components. Time period for cyclical test è 14.1 Technical
data, safety engineering.
Prior to initial commissioning, wire the control inputs of the safety sub-function
STO. The safety sub-function STO is always available without the need for any
additional parameterisation.
2.2 Intended use
The servo drive CMMT-ST is intended to supply power to and to regulate a stepper
motor or an EC motor. The integrated electronics permit regulation of torque
(current), rotational speed and position.
Use exclusively:
– in perfect technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined by the technical data è Technical data
– in an industrial environment
The safety function might fail, malfunctions might occur, and the connected
actuator technology might move unintentionally if you do not comply with the
parameters required for the ambient and connection conditions.
The CMMT-ST-...-S0 supports the following safety sub-functions in accordance
with EN 61800-5-2:
– safe torque off (STO/Safe torque off)
– safe stop 1 time controlled (SS1-t/Safe stop 1 time controlled) can only be
implemented with a suitable safety relay unit and appropriate servo drive
circuitry
The safety sub-function STO is intended to switch off the torque of the connected
motor, thereby preventing an unexpected restart of the motor.
The safety sub-function SS1-t is intended to perform a fast stop with subsequent
torque switch-off.
Ensure that wiring is cross-circuit proof in accordance with EN ISO 13849-1.
2.2.1 Range of application
The device is intended for use in an industrial environment.
Safety sub-functions may only be used for applications for which the stated safety
reference values are sufficient è Technical data.
2.2.2 Permissible components
The load and logic power supply must meet the requirements of EN 60204-1
(protective extra-low voltage, PELV).
Supported motors:
– Stepper motors
– EC motors
The servo drive supports motors with or without an integrated holding brake
(electrical spring-operated brake). The holding brake is actuated automatically by
the controller enable of the servo drive. The actuation concept is based on the
assumption that a drive that is already stationary is being held. The actuation
system is not designed for decelerating a moving drive. If a moving drive is
decelerated, this can cause excessive wear on the brake.
Motor configuration Behaviour following removal of controller enable
Motor without holding brake The drive can move freely.
Motor with holding brake The holding brake is applied and holds the motor and axis in
position.
Tab. 6: Example: removal of controller enable
The holding brake must be designed for the load torque to be stopped. Detailed
information about brake control è Online help for the CMMT-ST plug-in.
Supported encoders:
– BiSS-C encoders
– Incremental encoders
Additional information è www.festo.com/catalogue.
2.3 Foreseeable Misuse
Foreseeable misuse of the safety sub-function STO
– Use outside the limits of the product defined in the technical data.
– Bypassing of the safety function.
– Cross-wiring of the diagnostic feedback signals of more than 10 servo drives.
This applies to all devices that are wired together, regardless of the type of
equipment.
– Faults in the cross-wiring of passive diagnostic contacts and active diagnostic
outputs will result in incorrect diagnostic feedback. It is therefore important
to take extra care when carrying out the cross-wiring. Only wire devices as
follows: Always wire all devices with active diagnostic output, e.g. CMMT-AS, in
parallel as a group. Connect the signal from the active diagnostic outputs with
the first CMMT-ST. Wire the passive diagnostic contacts as a group in series and
connect the last passive diagnostic contact directly to the safe controller for
evaluation of the diagnostic information.
– Use of the diagnostic contact STA to switch a safety function.
The diagnostic contact STA must not be used to open a secure locking mecha-
nism directly, for example.
The diagnostic contact STA is not part of the safety circuit. The diagnostic
contact STA is used to improve diagnostic coverage of the related safety sub-
function. The diagnostic contact STA may only be used in combination with
the related safe control signals (AND operation) plus a reliable time monitoring
function in the safety relay unit for the purpose of switching additional safety-
critical functions.
– At low level, the safety relay unit used delivers a higher current than permis-
sible (maximum permissible input current exceeded with low level at STO-/A/B
è Tab. 51 Control inputs #STO-A and #STO-B at [X1A]). When this occurs, the
device cannot recognise when the safety sub-function is requested.
– Use of the safety sub-function STO without external measures for drive axes
influenced by external torques.
If external torques influence the drive axis, use of the safety sub-function STO
on its own is not suitable for stopping the axis safely. Additional measures are
required to prevent dangerous movements of the drive axis, such as use of a
mechanical brake.
– Operation of EC motors requiring a safety classification of SIL 3, cat. 3, Pl e
without evaluation of the diagnostic contact STA.
– Operation of the connected motor without the danger zone being restricted or
enclosed by suitable means.
The user must not be able to enter the danger zone without triggering the
safety function.
– The safety sub-function STO does not provide protection against electric shock,
only against dangerous movements.
– The safety sub-function STO cannot prevent non-safety-related sub-functions
from failing, e.g. the braking ramp for the SS1-t function or the device's temper-
ature monitoring function.
2.4 Training of qualified personnel
The product may be installed and commissioned only by a qualified electrical
engineer who is familiar with:
– The installation, operation and maintenance of electrical control systems
– The applicable regulations for operating safety-related systems
Work on safety-related systems may only be carried out by qualified personnel
trained in safety engineering.
2.5 CE marking
The product has the CE marking.
The product-related EU directives and standards are listed in the declaration of
conformity è www.festo.com/sp.
2.6 Safety engineering approval
The product is a safety device in accordance with the EC Machinery Directive. For
details of the safety-oriented standards and test values that the product complies
with and fulfils, see è 14.1 Technical data, safety engineering. Please note that
compliance with the listed standards is limited to the CMMT-ST-...-S0.
2.7 UL/CSA certification
Technical data and environmental conditions may be subject to change in order to
comply with Underwriters Laboratories Inc. (UL) certification requirements for the
USA and Canada.
Deviating values è 14.5 Technical data UL/CSA certification.
3 Additional information
– Contact the regional Festo contact if you have technical problems
è www.festo.com.
– Accessories and spare parts è www.festo.com/catalogue.
Firmware, software or configuration files è www.festo.com/sp.
4 Product overview
4.1 Scope of delivery
Component
Servo drive CMMT-ST-...
Assortment of plugs NEKM-C-22
H-rail clamp (premounted)
Operating instructions CMMT-ST-...
Tab. 7: Scope of delivery
Up-to-date information on the accessories è www.festo.com/catalogue.
4.2 System structure
The servo drive CMMT-ST is a 1-axis servo drive for controlling a stepper motor
or an EC motor with connected mechanisms, e.g. a Festo axis. The device is con-
trolled by a higher-level controller using the bus protocol EtherCAT, EtherNet/IP or
PROFINET, depending on the product version, via a real-time Ethernet interface.
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