Festo CMMP-AS M0 Series Manual
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Festo CMMP-AS M0 Series Manual

Motor controller safety function, sto
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CMMP-AS-...-M0
Motor controller
Manual | Safety
function, STO
8179184
2022-07c
[8179186]

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Summary of Contents for Festo CMMP-AS M0 Series

  • Page 1 CMMP-AS-...-M0 Motor controller Manual | Safety function, STO 8179184 2022-07c [8179186]...
  • Page 2 Translation of the original instructions is a registered trademark of its respective trademark holder in certain countries. ®...

  • Page 3: Table Of Contents

    Function test, validation........... . 28 Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 4 Glossary..............40 Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 5: About This Document

    • Motor controller CMMP-AS-…-M0, firmware from rev. 04. • Firmware from 4.0.1501.1.2 You can find the information on the rating plate in the hardware description, GDCP-CMMP-M0-HW-... Service Please consult your regional Festo contact if you have any technical problems. Specified standards/directives Version EN 61800-5-1:2007 + A1:2017...
  • Page 6 Functional safety engineering for the motor controller with the GDCP-CMMP-AS-M0-S1-... STO safety function. Help for the FCT CMMP-AS plug-in User interface and functions of the CMMP-AS plug-in for the Festo Configuration Tool è www.festo.com/sp. Tab. 2: Documentation for the motor controller CMMP-AS-...-M0 Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 7: Safety And Requirements For Product Use

    4/PL e in accordance with EN ISO 13849-1 and SIL 3 in accordance with EN 61800-5-2/EN 62061/IEC 61508. The achievable safety level depends on the other components used to implement a safety function. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 8: Requirements For Product Use

    The motor controller with integrated safety function is a safety-related part of controllers. For details of the safety-oriented standards and test values that the product complies with and fulfils, see è 8.1 Technical data. The product-relevant directives are listed in the declaration of conformity è www.festo.com/sp. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 9 EU EMC Directive in accordance with EU Machinery Directive in accordance with EU RoHS Directive to UK EMC Regulations to UK Supply of Machinery Regulations to UK RoHS Regulations Tab. 3: Product conformity Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 10: Description Of The Safety Function Sto

    – Achieving the “Safe Torque Off ” (STO) function, – Potential-free feedback contact for the operating status, The “Safe Stop 1” (SS1) function can be implemented with a suitable external safety relay unit and appropriate circuitry for the motor controller CMMS-AS-...-M0. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 11: Description Of The Sto Safety Function

    (e.g. mechanical holding brakes). The standstill position is not monitored in the STO “Safe Torque Off ” state. The machine must be brought to a standstill in a safe manner and secured, e.g. with a safety relay unit. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 12: Overview Of Interface [X40]

    – Feedback contact closed: "Safe Torque Off" (STO) active (Pin 7) Auxiliary power supply, e.g. for safety-oriented peripherals (24 V DC logic power (Pin 8) supply of the motor controller). Tab. 4: Function of the connections [X40] Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 13: Control Inputs Sto-A, 0V-A/Sto-B, 0V-B [X40]

    A discrepancy time of 100 ms is the default. Recommendation: always switch STO-A and STO-B simultaneously. Test pulses Test pulses from safety controllers are tolerated in a specific range and thus do not lead to the request of the STO function. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 14: Feedback Contact C1, C2 [X40]

    The integrated safety circuit exclusively controls the provision of the driver supply for the motor con- troller CMMP-AS-...-M0. The levels of the input voltage are monitored area by area, but the integrated safety circuit does not have its own error evaluation mechanisms or the option of an error display. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 15 A clamping unit is actuated by the non-safety-relevant firmware of the motor controller CMMP-AS-...-M0. The holding brakes on Festo motors are not suitable for active deceleration - only for holding a position! A safe state with active control of the power semiconductors (PWM) can be requested. The status of both driver supply voltages is recorded and evaluated in a 10 ms cycle.

  • Page 16: Time Response

    The figure below shows the basic time response of the integrated safety circuit. The times can be found in the table below. Fig. 3: Basic time response when activating and deactivating the STO safety function Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 17: Time Response Of Activation Of Sto In Operation With Restart

    – The coasting of the motor is shown, independent of activation/deactivation of the brake. – The setpoint value is only enabled when the holding brake delay T_BRAKE_V has expired. Fig. 4: Time response when activating the STO safety function with restart Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 18: Time Response Of Activation Of Ss1 In Operation With Restart

    The time response in the figure below is based on the sample circuit for SS1 in, based on the control signal S1 for K1 è 4.3.2 Deceleration and Safe Torque Off (SS1, "Safe Stop 1"). The times can be found in the table below. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 19 STO-A and STO-B inputs T_DRIVE_V Delay of the CMMP-AS-M0 0 … 10 ms >20 ms T_DIN5_SU Time that DIN5 must still be low after switching on STO-A/B again and changing the status of the STO module Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 20 2) Minimum time: physical delay time until the brake is released. This time can be parameterised with a higher value in the controller. Tab. 8: Times for the time response when activating the SS1 safety function Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 21: Assembly And Installation

    – Version on the device: PHOENIX MINICOMBICON MC 1.5/8-GF-3.81 BK – Connector (in scope of delivery): PHOENIX MINICOMBICON MC 1.5/8-STF-3.81 BK, connection according to section è 8.1.3 Electrical data [X40], è Tab. 24 Technical data: wiring at [X40]. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 22: Minimum Wiring For Initial Start-Up [X40]

    Safety functions must never be bypassed. Install the minimum circuits for the STO-A/STO-B and 0V-A/0V-B inputs for initial commissioning in such a way that they must be removed when the final safety circuitry is installed. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 23: Sample Circuits

    The direct wiring of light curtains means that detection of shorts across contacts is implemented by the light curtain, if it is designed for this purpose. – When using safety relay units, contact C1, C2 can be integrated into the feedback circuit of the safety relay unit. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 24: Deceleration And Safe Torque Off (Ss1, "Safe Stop 1")

    After a time set in the safety relay unit, the output stage is switched off via 2 channels via STO-A/B. If the power stage has been switched off, it is output by the potential-free contact C1-C2. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 25 The time delay must be designed in such a way that the drive is braked to zero even at the highest speed via the quick stop ramp in CMMP-AS...-M0 before STO-A/B are switched off. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 26 – The sample circuit has a 2-channel structure that is suitable for categories 3 and 4 with additional measures. – The additional measures required depends on the area of application and the safety concept of the machine. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 27: Commissioning

    Display of the input status Green Safety function not requested, STO-A = High Input X40.STO-B: Grey Safety function requested, STO-B = Low Display of the input status Green Safety function not requested, STO-B = High Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 28: Displaying Log File Of The Motor Controller

    Have the hazards been eliminated or the hazard risks Yes 0 No 0 reduced as far as practically possible? Can it be guaranteed that the implemented measures do not Yes 0 No 0 create new hazards? Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 29 Is the safety relay unit certified and wired in accord- Yes 0 No 0 ance with the application requirements? Functional tests: Yes 0 No 0 Actuation of the emergency stop button of the system. Yes 0 No 0 Is the drive stopped? Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 30 Tab. 12: Questions for validation in accordance with EN ISO 13849-1 and -2 (example) Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 31: Operation And Use

    Warnings have the same number as an error message. The difference is that a warning is displayed with a prefixed and suffixed hyphen, e.g. - 1 7 0 -. The error messages relevant for the functional safety in connection with the STO safety function are listed in the following tables. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 32 51-0 Reserved – – Safety circuit defective. No action pos- 51-1 Safety function: driver function defective – Internal voltage error of the STO circuit sible, please contact Festo. If possible, replace with another motor controller. 51-2 Reserved – 51-3 Reserved –...

  • Page 33: Modification And Replacement Of The Motor Controller

    Now run the driver supply wiring [X3.RELAY] to STO-B [X40.3]. Connect GNDB [X40.4] to 0 V [X40.8] to connect the reference potential. – Feedback contact: Switch the connection for the feedback contact [X3.5] and [X3.6] to [X40.5] and [X40.6]. Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 34 If these values increase and the risk increases as a result, a new risk assessment of the machine must be carried out. NOTICE After replacing the motor controller, the safety function must be validated in accordance with the machine manufacturer's specifications. Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 35: Technical Appendix

    Performance level in accordance with EN ISO 13849-1 DCavg Average diagnostic coverage Hardware fault tolerance 99.2 Safe failure fraction 1.27 x 10 Probability of dangerous failure per hour –10 2.54 x 10 Probability of dangerous failure on demand –5 Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 36: General, Operating And Environmental Conditions Cmmp-As

    (IP54). It must always be ensured by taking appropriate measures, e.g. by installation in a control cabinet. Operating temperature [°C] 0 … +40 Operating temperature [°C] +40 … +50 with power reduction 2.5% per K Storage temperature [°C] -25 … +70 Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 37: Electrical Data [X40]

    < 300 (related to nominal voltage 24 V and intervals > 2 s Maximum positive test [μs] pulse length with logic between pulses) Tab. 19: Technical data: electrical data of the STO-A and STO-B inputs Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 38 Nominal voltage Nominal current [mA] 100 (short-circuit-proof, max. 300 mA) £ 1 (at nominal current) Voltage drop Tab. 22: Technical data: electrical data of the auxiliary supply output Galvanic isolation Galvanically isolated STO-A/0V-A potential areas STO-B/0V-B Festo — CMMP-AS-...-M0 — 2022-07c...
  • Page 39 Conductor cross section (flexible conductors, wire end sleeve with insulating collar) – one conductor 0.25 … 0.5 – two conductors 2 x 0.25 (with twin wire end sleeves) Tightening torque M2 [Nm] 0.22 … 0.25 Tab. 24: Technical data: wiring at [X40] Festo — CMMP-AS-...-M0 — 2022-07c...

  • Page 40: Glossary

    DC avg Average Diagnostic Coverage, diagnostic coverage in accordance with IEC 61508 and EN 61800-5-2. Festo Configuration Tool, software for configuration and commissioning. Hardware Fault Tolerance in accordance with IEC 61508. Cat. Category in accordance with EN ISO 13849-1, steps 1-4.
  • Page 42 Copyright: Festo SE & Co. KG 73734 Esslingen Ruiter Straße 82 Deutschland Phone: +49 711 347-0 Internet: © 2022 all rights reserved to Festo SE & Co. KG www.festo.com...

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