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Motor controller
Description Mounting and installation Type CMMS-ST-C8-7
Description 554 340 en 0708NH [720 646]
Festo P.BE-CMMS-ST-HW-EN 0708NH 3
Output __________________________________________________ en 0708NH
Designation ____________________________________ P.BE-CMMS-ST-HW-EN
Order no. ___________________________________________________ 554 340
(Festo AG & Co KG., D-73726 Esslingen, 2007)
Internet: 0Hhttp://www.festo.com
E-mail: [email protected]
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. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations.
4 Festo P.BE-CMMS-ST-HW-EN 0708NH
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
001 Written on 0708NH 01.08.2007
Festo P.BE-CMMS-ST-HW-EN 0708NH 5
TABLE OF CONTENTS
1H1. General information ................................................................................................. 106H8
2H1.1 Documentation ......................................................................................................... 107H8
3H1.2 Scope of delivery ...................................................................................................... 108H8
4H1.3 Accessories .............................................................................................................. 109H9
5H2. Safety instructions for electrical drives and control systems ................................. 110H11
6H2.1 Icons used .............................................................................................................. 111H11
7H2.2 General instructions ............................................................................................... 112H12
8H2.3 Danger from incorrect use ....................................................................................... 113H13
9H2.4 Safety instructions .................................................................................................. 114H14
10H2.4.1 General safety information ................................................................. 115H14
11H2.4.2 Safety instructions for mounting and maintenance ............................. 116H16
12H2.4.3 Guards preventing contact with electrical components ....................... 117H18
13H2.4.4 Protection against electric shocks via PELV ........................................ 118H19
14H2.4.5 Protection against hazardous motions ............................................... 119H20
15H2.4.6 Guards preventing contact with hot parts ........................................... 120H20
16H2.4.7 Protection during handling and mounting ........................................... 121H21
17H3. Product description ................................................................................................ 122H22
18H3.1 General information ................................................................................................ 123H22
19H3.2 Features ................................................................................................................. 124H22
20H3.3 Interfaces ............................................................................................................... 125H23
21H3.3.1 Overview of interfaces ........................................................................ 126H23
22H3.3.2 I/O functions and device control ......................................................... 127H24
23H3.3.3 Increment generator input .................................................................. 128H25
24H3.3.4 CAN bus ............................................................................................. 129H25
25H3.3.5 Profibus ............................................................................................. 130H26
26H3.3.6 Synchronisation interface ................................................................... 131H26
27H3.3.7 RS232 interface .................................................................................. 132H26
28H3.3.8 RS485 interface .................................................................................. 133H27
29H3.3.9 MTR-ST series stepper motors ............................................................ 134H27
30H3.3.10 EMMS-ST series stepper motors ......................................................... 135H27
31H3.3.11 Power supply ..................................................................................... 136H27
32H3.3.12 SD memory card ................................................................................. 137H27
33H3.3.13 Brake chopper .................................................................................... 138H28
34H3.4 Function overview ................................................................................................... 139H28
35H3.4.1 Operating modes ................................................................................ 140H28
36H3.4.2 Setpoint processing ........................................................................... 141H29
6 Festo P.BE-CMMS-ST-HW-EN 0708NH
37H3.4.3 Hiding frequency ranges ..................................................................... 142H29
38H3.4.4 I²T function......................................................................................... 143H29
39H3.4.5 Positioning controller ......................................................................... 144H30
40H3.4.6 Homing .............................................................................................. 145H31
41H3.4.7 Trajectory generator ........................................................................... 146H33
42H3.4.8 I/O sequence control .......................................................................... 147H34
43H3.4.9 Safety functions, error messages........................................................ 148H36
44H3.4.10 Oscilloscope function ......................................................................... 149H36
45H3.4.11 Jog and teach function I/O .................................................................. 150H36
46H3.4.12 Route program ................................................................................... 151H37
47H3.4.13 Synchronisation ................................................................................. 152H38
48H3.4.14 On-the-fly measurement ..................................................................... 153H39
49H3.4.15 Endless positioning ............................................................................ 154H39
50H4. Mechanical installation ......................................................................................... 155H40
51H4.1 Important notes ...................................................................................................... 156H40
52H4.2 Mounting ................................................................................................................ 157H42
53H5. Electrical installation ............................................................................................. 158H43
54H5.1 Device view ............................................................................................................ 159H43
55H5.2 Interfaces ............................................................................................................... 160H45
56H5.3 CMMS-ST complete system ..................................................................................... 161H45
57H5.4 Interfaces ............................................................................................................... 162H47
58H5.4.1 I/O interface [X1] ................................................................................ 163H47
59H5.4.2 Increment generator input [X2] ........................................................... 164H50
60H5.4.3 Fieldbus CAN [X4] ............................................................................... 165H51
61H5.4.4 RS232/RS485 [X5] .............................................................................. 166H51
62H5.4.5 Motor connection [X6] ........................................................................ 167H52
63H5.4.6 Power supply [X9] ............................................................................... 168H52
64H5.4.7 Increment generator interface / control signals [X10] ......................... 169H52
65H5.4.8 SD card .............................................................................................. 170H53
66H5.4.9 Fieldbus settings and bootloader ....................................................... 171H53
67H5.5 Instructions on safe and EMC-compliant installation ............................................... 172H54
68H5.5.1 Explanations and terms ...................................................................... 173H54
69H5.5.2 General information on EMC ............................................................... 174H55
70H5.5.3 EMC areas: Second environment ........................................................ 175H55
71H5.5.4 EMC-compliant wiring ......................................................................... 176H55
72H5.5.5 Operation with long motor cables ....................................................... 177H56
73H5.5.6 ESD protection ................................................................................... 178H57
74H6. Preparations for commissioning ............................................................................ 179H58
75H6.1 General connection instructions.............................................................................. 180H58
Festo P.BE-CMMS-ST-HW-EN 0708NH 7
76H6.2 Tools / material ...................................................................................................... 181H58
77H6.3 Connecting the motor ............................................................................................. 182H58
78H6.4 Connect the CMMS-ST stepping motor controller to the power supply .................... 183H59
79H6.5 Connecting a PC ...................................................................................................... 184H59
80H6.6 Checking readiness for operation ............................................................................ 185H59
81H7. Service functions and error messages ................................................................... 186H60
82H7.1 Protective and service functions ............................................................................. 187H60
83H7.1.1 Overview ............................................................................................ 188H60
84H7.1.2 Overload current and short-circuit monitoring .................................... 189H60
85H7.1.3 Voltage monitoring for the intermediate circuit .................................. 190H60
86H7.1.4 Temperature monitoring for the heat sink .......................................... 191H60
87H7.1.5 I²t monitoring ..................................................................................... 192H61
88H7.1.6 Power monitoring for the brake chopper ............................................ 193H61
89H7.1.7 Commissioning status ........................................................................ 194H61
90H7.2 Operating mode and error messages ...................................................................... 195H62
91H7.2.1 Operating mode and error display ...................................................... 196H62
92H7.2.2 Error messages .................................................................................. 197H63
93HA. Technical specifications ......................................................................................... 198H66
94HA.1 General information ................................................................................................ 199H66
95HA.2 Operation and display components ........................................................................ 200H67
96HA.3 Interfaces ............................................................................................................... 201H67
97HA.3.1 Power supply [X9] ............................................................................... 202H67
98HA.3.2 Motor connection [X6] ........................................................................ 203H68
99HA.3.3 Increment generator input [X2] ........................................................... 204H68
100HA.3.4 Increment generator interface [X10].................................................... 205H69
101HA.3.5 RS232/RS485 [X5] .............................................................................. 206H69
102HA.3.6 CAN bus [X4]....................................................................................... 207H69
103HA.3.7 I/O interface [X1] ................................................................................ 208H69
104HB. Glossary ................................................................................................................. 209H71
105HC. INDEX ................................................................................................................... 210H72
1. General information
8 Festo P.BE-CMMS-ST-HW-EN 0708NH
1. General information
1.1 Documentation
This product manual is intended to help you operate CMMS-ST series stepping motor controllers safely. It contains safety instructions which must be followed.
This document provides information on:
- mechanical fitting
- electrical installation and an
- overview of the range of functions.
See the following manuals on the CMMx product family for further information:
- CANopen manual "P.BE-CMMS-CO-...": Description of the implemented CANopen protocol according to DSP402
- 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
1 Stepping motor controller CMMS-ST-C8-7
1 CD (configuration software, documentation, S7 module, GSD, EDS, firmware)
1 Brief description
1 NEKM-C-1 plug range
Table 1.1 Scope of delivery
1. General information
Festo P.BE-CMMS-ST-HW-EN 0708NH 9
1.3 Accessories
Number Type Order number
1 Plug range: NEKM-C-1 547452
1 8-pin DSUB plug, MSTB 2.5/8-ST-5.08 BK
1 3-pin DSUB plug, MSTB 2.5/3-ST-5.08 BK
1 Power supply
unit
SVG-1/230VAC-24VDC-5A 547867
SVG-1/230VAC-24VDC-10A 547868
SVG-1/230VAC-48VDC-5A 542403
SVG-1/230VAC-48VDC-10A 542404
SVG-3/400VAC-48VDC-20A 542405
1 Control cable NEBC-S1G25-K-2.5N-LE26 552254
1 Encoder plug NECC-S-S1G9-C2M 552274
1 Profibus CAMC-PB 547450
1 Devicenet CAMC-DN 547451
1 SD card CAMC-M-S including firmware 547453
Table 1.2 Accessories
1. General information
10 Festo P.BE-CMMS-ST-HW-EN 0708NH
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 11
2. Safety instructions for electrical drives and control systems
2.1 Icons used
Information
Note
Important information and instructions.
Caution
Failure to comply with these instructions can result in material damage.
Warning
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
2. Safety instructions for electrical drives and control systems
12 Festo P.BE-CMMS-ST-HW-EN 0708NH
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 211HSafety instructions for electrical drives and control systems must be read from page 212H11 and the chapter 213H5.5 214HInstructions on safe and EMC-compliant installation page 215H54.
If the documentation in the language in question cannot be understood fully, please contact your vendor and inform them.
In order for the stepping motor controller to operate without problems and safely, it must
be transported, stored, mounted, planned properly and correctly, taking the risks and protection and emergency measures into account, as well as operated and maintained with due care.
Note
Electrical installations may only be performed by qualified and trained electricians.
Qualified and trained personnel
In accordance with this product manual or the warnings on the product itself, anyone involved in planning, installing, mounting, commissioning and operating the product and
are sufficiently familiar with all warnings and precautionary measures in these operating instructions and who have the appropriate qualification for their work:
- Training and instruction or authorisation to activate/deactivate devices and systems in accordance with the safety technology standards, as well as earthing them and marking them in accordance with the working requirements.
- Training or instruction in accordance with the safety technology standards in main-taining and using appropriate safety equipment.
- Training in first aid.
The following instructions must be read before the system is commissioned for the first time to prevent injury and/or material damage:
These safety instructions must be complied with at all times.
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 13
Do not attempt to install or commission the stepping motor
controller until you have read all safety instructions related to electrical drives and control systems in this document.
These safety instructions and all other user instructions must be read before performing any work with the stepping motor controller.
If you do not have user instructions for the stepping motor controller, contact your local sales representative.
Ask them to send the documents to the person responsible for safe operation of the stepping motor controller immediately.
If the stepping motor controller is sold, rented and/or passed on in any other way, these safety instructions must also be passed on with it.
The operator may not open the stepping motor controller for safety and warranty reasons.
Correct planning is required for the stepping motor controller to function properly.
Warning
DANGER!
Incorrect use of the stepping motor controller and failure to follow the warnings in this manual, as well as incorrect manipulation of safety equipment can cause material damage, injury, electric shock, and in extreme cases, even be fatal.
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!
2. Safety instructions for electrical drives and control systems
14 Festo P.BE-CMMS-ST-HW-EN 0708NH
Warning
DANGER!
High voltage due to incorrect connection!
Risk of fatality or injury from electric shock!
Warning
DANGER!
Surfaces on the device housing can become hot!
Danger of injury! Danger of burning!
Warning
DANGER!
Hazardous motions!
Risk of fatality, serious injury or material damage due to unintentional motion of the motors!
2.4 Safety instructions
2.4.1 General safety information
Warning
The stepping motor controller conforms to protection class IP20, and contamination class 1.
You must ensure that the surrounding area complies with these protection and contamination classes.
Warning
Use accessories and spare parts approved by the manufacturer only.
Warning
In accordance with the EN standards and the VDE regulations, the stepping motor controllers must be connected to the grid such that they can be disconnected using appropriate isolating equipment (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.
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 15
As a precaution, measures must be taken to suppress interference for switching systems, such as connecting contactors and relays with RC elements or diodes.
The safety rules and regulations of the country in which the device is used must be complied with.
Warning
The ambient conditions specified in the product documentation
must be observed. Critical safety applications are not permitted unless they are expressly approved by the manufacturer.
See Chapter 216H5.5 217HInstructions on safe and EMC-compliant installation (Page 218H54) for the instructions for EMC-compliant installation.
The manufacturers of the system or machine are responsible for ensuring that the limits required by national regulations are complied with.
Warning
See this product manual for the specifications, connection and installation conditions for the stepping motor controller and absolutely must be observed.
Warning
DANGER!
The general installation and safety regulations for working on high voltage systems (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be observed.
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.
2. Safety instructions for electrical drives and control systems
16 Festo P.BE-CMMS-ST-HW-EN 0708NH
EN 50178 Equipping high-voltage systems with electronic
operating media.
EN ISO 12100 Machine safety – definitions, general design guidelines
EN 1050 Machine safety – risk evaluation guidelines
EN 1037 Machine safety – Preventing unexpected starts
EN 954-1 Safety related control system parts
2.4.2 Safety instructions for mounting and maintenance
For mounting and maintaining the system the relevant DIN, VDE, EN and IEC regulations
always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with:
Warning
The stepping motor controller may only be operated, maintained and/or serviced by persons qualified and trained to work on or with electrical devices.
Prevention of accidents, injury and/or material damage:
Warning
The motor holding brake supplied as standard, or an external motor holding brake controlled by the drive controller alone is is not suitable for protection of individuals!
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.
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 17
Warning
During operation and up to several minutes after the stepping motor controller is deactivated, the internal brake resistance can cause dangerous intermediate circuit voltage. If touched, this can lead to fatal or serious injuries.
Before any maintenance work is performed, you must ensure that the power supply is deactivated, locked and the inter-mediate circuit is discharged.
Disconnect the electrical equipment from the power supply using the main switch and secure it to prevent it being switched on again. Wait until the intermediate circuit has discharged before: - Maintenance and servicing work
- Cleaning - Extended downtime.
Warning
Mounting work must be performed with care. Ensure that no drilling chips, metal dust or mounting material (screws, nuts, wire cuttings) fall into the stepping motor controller during mounting work and subsequent operation.
Ensure that the external power supply of the controller (24 V) is switched off.
The intermediate circuit or the load voltage must always be switched off before the 24 V controller power supply is switched off.
Warning
Work in the vicinity of the machine may only be performed when the DC or AC power supply is switched off and locked.
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.
2. Safety instructions for electrical drives and control systems
18 Festo P.BE-CMMS-ST-HW-EN 0708NH
Warning
Electronic devices are never fail-safe.
The user is responsible for ensuring that the system is returned to a safe condition if the electrical device fails.
Warning
DANGER!
The stepping motor controller and, in particular, the braking resistor can become very hot, and can cause serious burns if touched.
2.4.3 Guards preventing contact with electrical components
This section only concerns devices and drive components with voltages over 50 volts. Touching parts with voltages greater than 50 volts can be dangerous and lead to an electric shock. When electrical devices are operated, certain parts of these devices must always carry dangerous voltages.
Warning
Hazardous voltage!
High voltage!
Risk of fatal or serious injury from electric shock!
For operation, the relevant DIN, VDE, EN and IEC regulations always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with:
Warning
Before activation, attach the covers and guards to prevent contact with the devices.
Integrated devices must be protected from direct contact by an external housing, e.g. a control cabinet.
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.
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 19
Warning
Before commissioning, even for brief measurements or tests, always connect the mains earth to all electrical devices in accordance with the connection diagram or with the earthing cable.
Otherwise the housing could carry high voltages which can cause electric shocks.
Warning
Do not touch electrical connection points of the components when they are switched on.
Warning
Disconnect the device from the mains or from the voltage supply before accessing electrical parts with voltages greater than 50 volts.
Secure them to prevent restarting.
Warning
The voltage of the intermediate circuit must be taken into account in particular for installation with regard to insulation and safety measures.
Proper earthing, line dimensioning and corresponding short circuit protection must be guaranteed.
2.4.4 Protection against electric shocks via PELV
All connections and terminals with voltages from 5 to 50 volts on the stepping motor controller are PELVs which are designed to be safe to touch in accordance with the following standards:
Standards - International: IEC 60364-4-41
- European countries in the EU: EN 50178/1998, Section 5.2.8.1.
Warning
DANGER!
High voltage due to incorrect connection!
Risk of fatality or injury from electric shock!
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.
2. Safety instructions for electrical drives and control systems
20 Festo P.BE-CMMS-ST-HW-EN 0708NH
Safe isolation is achieved via isolating transformers, secure optocouplers or non-mains
connected battery-powered operation.
2.4.5 Protection against hazardous motions
Hazardous motions can be caused by faulty activation of connected motors. The causes can be varied:
Causes - Disorderly or faulty wiring or cabling
- Incorrect operation of the components
- Faults in the measurement and signal generators
- Faults or non-EMC-compliant components
- Faults in the software of the higher-order control system
These faults can occur immediately after activation or after an unspecified period of operation.
The monitoring systems in the drive components rule out malfunctions in the connected drives to a great extent. With regard to protection of persons, and in particular injury and/or material damage, you cannot rely solely on this fact. Before the integrated monitoring systems take effect, faulty drive motions must always be expected. The degree depends on the type of controller and the operating condition.
Warning
DANGER!
Hazardous motions!
Danger of fatal or serious injury, or material damage!
For the reasons named above, personal protection must be guaranteed via monitoring systems or measures which are run by higher-order systems. These are determined by the system manufacturer in accordance with the specific conditions of the system and based on a hazard and fault analysis. The safety regulations which apply to the system are incorporated in this. 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!
2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 21
Warning
Danger of burning!
Do not touch the housing surface close to hot heat sources! Allow devices to cool for 10 minutes after they are switched off
before accessing them. Touching hot parts of the equipment which contain heat sink and resistors, such as the device housing, can result in burns!
2.4.7 Protection during handling and mounting
Handling and mounting certain parts and components in an unsuitable way can cause injuries under unfavourable conditions.
Warning
DANGER!
Danger of injury from incorrect handling!
Injury from crushing, shearing, cutting, pushing!
The general safety instructions apply:
Warning
Observe the general installation and safety regulations for handling and mounting.
Use appropriate mounting and transport devices. Take suitable measures to prevent constriction and crushing. Use suitable tools only. Use special tools where required. 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.
3. Product description
22 Festo P.BE-CMMS-ST-HW-EN 0708NH
3. Product description
3.1 General information
The CMMS-ST stepping motor controller is a fully digital servo positioning controller for activating two-phase hybrid stepping motors.
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).
The EMMS-ST series motors with encoders are operated in a closed control circuit (closed loop).
The device can be operated via digital and analogue control signals and networked via the integrated CAN bus. Other fieldbus systems can also be implemented via the technology slot.
The motors are actuated in microstep mode in the entire speed range.
The device is compactly designed and is intended for integration in a control cabinet as an individual device.
The CMMS-ST can also be used separately as a positioning controller. The number of inputs and outputs is adapted for this case.
The device supports the following modes: Speed adjustment with setpoint specification via pulse direction signals or incremen-
tal increment generator signals, suitable for frequencies up to 500 kHz. Speed adjustment with analogue speed setting with 12 bit resolution. Homing Simple connection via digital inputs and outputs to a higher-order control system,
e.g. a PLC. Jolt-limited or time-optimised positioning absolutely or relative to a reference point
(axis zero point) via the integrated trajectory generator. Position control using the interpolated position mode for position specification via the
integrated CANopen fieldbus with automatic interpolation between the nominal values.
In addition to the classic control method via pulse direction signals, this also allows the
typical control interfaces of servo drives to be supported.
3.2 Features
4 quadrant operation with constant transitions between the quadrants
Sine-wave current pulse in microstep operation, high interpolation factor up to 64x at low stepping speeds (thus > 4000 steps per rotation possible).
Current reduction at standstill can be programmed. Current boost of up to 150% for 2 s can be programmed for acceleration. The digital control facilitates fault-tolerant operation, i.e. faults are detected at an
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 23
early stage and regulated if possible.
Full integration of all components for the controller and power section, including rotary encoder evaluation on a board.
Integrated rotary encoder evaluation via an incremental generator with an RS422 signal level for the speed and position control mode.
CAN bus interface with CANopen integrated even in basic unit. Internal expansion slot, e.g. with Profibus interface or DeviceNet interface. Integration of all filters required to fulfil the EMC regulations during operation in the
device, e.g. interference suppression throttle, filter for 24 V power supply and the inputs and outputs. Specifically, the device is suitable for use in the second environ-ment (industrial sector) in accordance with EN 61800-3. In order to comply with the interference emission limits for the first environment (residential sector) with restricted availability, additional measures may be required.
Short cycle times in the controller:
The device has an analogue monitor output for displaying internal controller parameters.
The positioning control contains (max.) 63 freely configurable positions which can be
configured via the serial interface or the jog and teach function.
The status is displayed via a blue 7 segment display and a READY LED (as well as a yellow "Bus active" CAN-LED). The status can also optionally be displayed via the RS 232 interface or the field bus interface.
There is an integrated brake chopper with a braking resistor. There is a digital logic output for controlling a holding brake. Corresponding freewheel diodes for switching off inductive loads are integrated in the device.
The following features are planned, but not included in the basic unit. They are available as options:
- Function expansion via CAMC-PB (Profibus) interface
- Function expansion via CAMC-DN (DeviceNet) interface.
3.3 Interfaces
3.3.1 Overview of interfaces
Setpoint interface / Interface
Setpoint specification via
Function Operating mode
Analogue X1 (± 10 V) Regulating torque
RPM regulation
CW / CCW X1 (24 V / Mode 3)
X10 (5 V)
RPM regulation
Pulse/direction signals X1 (24 V / Mode 3)
X10 (5 V)
RPM regulation
A/B signals +
I/O (start synchronisation)
X10 (5 V)
X1 (24 V / Mode 3)
Master/slave (slave) RPM regulation
3. Product description
24 Festo P.BE-CMMS-ST-HW-EN 0708NH
Setpoint interface / Interface
Setpoint specification via
Function Operating mode
I/O X1 (24 V / Mode 1) Jog mode Positioning controller
Record Select Homing Positioning controller
Positioning controller
Field bus Direct mode Regulating torque
RPM regulation
Position control
Positioning controller
Homing Positioning controller
Jog mode Positioning controller
Record Select Positioning controller
Homing Positioning controller
Interpolated position
mode
Position control
Table 3.1 Interfaces
3.3.2 I/O functions and device control
The digital inputs provide the elementary control functions.
To allow positioning targets to be saved, the CMMS-ST stepping motor controller has a target table, in which positioning targets can be saved and called up later. Six digital inputs allow you to select the targets, another input is used as the start input.
The limit switches serve to limit the range of motion for safety reasons. During homing,
one of the two limit switches can serve as reference points for positioning control.
Two inputs are used to enable the hardware-side output stage and the regulator.
If a fieldbus is used for activation, a high-speed sampling input is available for time-critical tasks for various applications (position sensing, special applications, ...).
The CMMS-ST stepping motor controller has an analogue input for input levels in the range from +10 V to -10 V. The input is a differential input (12 bit) to guarantee a high
degree of protection against interferences. The analogue signals are quantified and digitalised by the analogue-digital converter at a resolution of 12 bits. These analogue signals serve to specify setpoints (speed or torque) for the 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.
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 25
MODE switching allows you to switch between the following default settings:
Mode Function
Mode 0 Positioning
Mode 1 Jog function
Mode 2 Route program
Mode 3 Synchronisation
Table 3.2 Mode switching
3.3.3 Increment generator input
An optional increment generator mounted on the motor shaft is used to record the actual
speed and position for EMMS-ST series motors. The actual speed is determined based on the measured rotor position. The rotor position is smoothed via a configurable PT1 filter.
The position counter for positioning has a data width of 32 bits. The position within a motor rotation is resolved to max. 16 bits. This results in a maximum possible positioning
range of ±32767 rotations.
3.3.4 CAN bus
Communication
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:
Object
SDO Service Data Object Used for configuring the controller
PDO (2 x transmit
and 2 x receive)
Process Data Object Rapid process data exchange with the control system
Table 3.3 CAN objects
Contour control with linear interpolation
The Interpolated position mode is available for specifying the setpoint position values via the CAN bus. It allows position setpoints to be specified in a multi-axis application of the controller. For this, position setpoints are specified by a higher-order control system in a fixed time slot pattern. If the cycle time of the position setpoints is greater than the posi-tion controller cycle time of the stepping motor controller, the controller automatically interpolates the data values between two prescribed position setpoints. The stepping motor controller also calculates a corresponding speed pilot control.
3. Product description
26 Festo P.BE-CMMS-ST-HW-EN 0708NH
1 Position set-
point time slot pattern
2 Position control
cycle time
3 Interpolated
sequence of the position
4 Interpolated
sequence of the position
Fig. 3.1 Interpolated position mode
3.3.5 Profibus
Support of PROFIBUS communication according to DP-V0.
The device can also be integrated into control systems via an I/O map via Profibus. This option facilitates advanced functions for the control system, like a standard PLC connec-tion via parallel wiring with the digital inputs and outputs of the device. Complete para-meter access is available.
3.3.6 Synchronisation interface
The following synchronisation signals can be processed:
- Pulse / direction signals (CLK / DIR) via interfaces X1 and X10
- CW / CCW signals via interfaces X1 and X10
- A / B signals via interface X10
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.
1
2
3
4
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 27
3.3.8 RS485 interface
The RS485 interface is on the same plug connector as the RS232 interface. Communi-cation must be activated separately by the user. RS232 messages can also be received when RS485 communication is activated, which means that the device can be accessed for configuration at all times.
Please contact the technical support team before using this interface.
3.3.9 MTR-ST series stepper motors
The MTR-ST series stepper motors are two-phase hybrid stepper motors. They are designed for controlled operation (open-loop).
3.3.10 EMMS-ST series stepper motors
The EMMS-ST series stepper motors are designed for both controlled and regulated operation (closed loop). For regulated operation, the optional encoder connected to the motor with 500 lines per rotation is required.
3.3.11 Power supply
The power section consists of the internally generated auxiliary power supply, two PWM controlled H-bridge circuits in MOSFET technology with corresponding high speed driver circuits and the required filter components. With regard to the use on industrial 24 V DC or 48 V DC (max. 75 V DC) power supplies, no activation current limit was used.
The temperature of the power section is recorded. If the temperature is too high or low, the power output stage is switched off.
The motor current in both H-bridges is measured separately and fed to the current controller. Current measurement is also used to detect short circuits and overload currents. The output stage is short circuit proof for short circuits between two motor phases.
Warning
If a common power pack is used to supply the power section and the control section, the voltage tolerances for supplying the control section cannot be maintained for high braking energies. This can damage the control section irreparably.
Always use separate power packs to supply the power section and the control section.
3.3.12 SD memory card
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.
3. Product description
28 Festo P.BE-CMMS-ST-HW-EN 0708NH
Also, a configuration word in the parameter record can be used to specify whether firm-
ware and/or a parameter record is to be loaded from the memory card automatically on activation.
If automatic firmware download (dip switch 8 = 1) is activated or there is no valid firmware in the controller, a check is performed on initialisation whether an SD memory card is inserted, and if so, it is initialised. If there is a firmware file on the card, it is checked first (checksum test). If no fault is found, the firmware is transferred from the card to the controller and saved in the program flash.
If the Load automatic parameter record 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. Depending on the setting, a certain or the latest parameter record file is loaded and saved in the data flash.
3.3.13 Brake chopper
A brake chopper with a braking resistor is integrated in the power output stage. If the permitted load capacity of the intermediate circuit is exceeded during the energy recovery, the braking energy may be converted to heat by the internal braking resistor. The brake chopper is actuated with software control. The internal braking resistor is protected against overloading via software and hardware.
3.4 Function overview
3.4.1 Operating modes
Operating mode Function Setpoint interface /
Interface Setpoint specification via
Regulating torque Analogue X1
Field bus Direct mode
RPM regulation Analogue X1
CW/CCW signals X1 (24 V / Mode 3)
X10 (5 V)
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)
X10
X1 (Mode 3)
Position control Field bus Interpolated position
mode
Field bus Direct mode
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 29
Operating mode Function Setpoint interface / Interface
Setpoint specification via
Positioning controller I/O Record Select
Field bus Direct mode
Field bus Record Select
Homing I/O Record Select
Field bus Direct mode
Field bus Record Select
Jog mode I/O
Field bus Direct mode
Table 3.4 Operating modes
3.4.2 Setpoint processing
Setpoint selectors allow you to switch setpoints from a range of sources to the correspon-ding controllers. The following setpoint selectors are implemented in the firmware:
- Selector for the speed setpoint
- Auxiliary value selector whose setpoint is added to the speed setpoint.
The position of the setpoint selectors is saved in non-volatile parameters.
The speed setpoint is disabled via the signal of the corresponding limit switch input
depending on the prefix (plus/minus). The limit switch inputs also affect the ramp generator for the speed setpoint.
The speed setpoint is converted by the controller into the corresponding step frequency to actuate the stepper motors.
The speed setpoint (without the auxiliary setpoint) is reached via a setpoint ramp. Four acceleration ramps can be configured in the range of one controller cycle of up to approx. 10 s. The setpoint ramp can be deactivated.
3.4.3 Hiding frequency ranges
A function allowing frequency ranges to be hidden is implemented in the firmware.
When step frequencies close to the mechanical natural resonance are reached, there is a frequency jump, so that the resonance is skipped. The mechanical natural resonance and the bandwidth (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.
3. Product description
30 Festo P.BE-CMMS-ST-HW-EN 0708NH
3.4.5 Positioning controller
A positioning control system is set above the current controller. Up to 64 positions (homing + 63 positions) can be selected and run via a trajectory generator. There are also volatile position data records for positioning via the fieldbus.
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:
- Positioning speed
- Acceleration
- Deceleration
- Smoothing
- Time
- Start delay
- Final speed
- Wait for current positioning, reject or ignore initial instruction.
From every position record, any other position record can be started directly. You can transition to a new position record without first coming to a standstill.
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.
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 31
3.4.6 Homing
You can choose either of the following methods which are based on DS402.
Run to Positive method
Negative method
Graphical representation
Dec Hex Dec Hex
Limit switch with zero pulse
evaluation
2 02 1 01
NegativerEndschalter
Index Impuls
1
Fixed stop with zero pulse
evaluation
-2 FE -1 FF
Index Impuls
-1
Limit switches 18 12 17 11
Fixed stop -18 EE -17 EF
-17
Zero pulse 34 22 33 21
Save current position 35 23 35 23
Table 3.5 Homing methods
Negative Limit Switch
Negative Limit switch
3. Product description
32 Festo P.BE-CMMS-ST-HW-EN 0708NH
Homing method
1 Negative limit switch with index pulse.
If the negative limit switch is inactive:
Run at search speed in negative direction to negative limit switch.
Run at crawl speed in positive direction until the limit switch becomes inactive, then on to
first index pulse. This position is saved as a reference point.
If configured: Run at travel speed to axis zero point.
2 Positive limit switch with index pulse.
If the positive limit switch is inactive:
Run at search speed in positive direction to positive limit switch.
Run at crawl speed in positive direction until the limit switch becomes inactive, then on to
first index pulse. This position is saved as a reference point.
If configured: Run at travel speed to axis zero point.
-1 Negative stop with index pulse 1)
Run at search speed in negative direction to stop.
Run at crawl speed in positive direction to next index pulse. This position is saved as a
reference point.
If configured: Run at travel speed to axis zero point.
-2 Positive stop with index pulse 1)
Run at search speed in positive direction to stop.
Run at crawl speed in negative direction to next index pulse. This position is saved as a
reference point.
If configured: Run at travel speed to axis zero point.
17 Negative limit switch
If the negative limit switch is inactive:
Run at search speed in negative direction to negative limit switch.
Run at crawl speed in positive direction until limit switch becomes inactive. This position
is saved as a reference point.
If configured: Run at travel speed to axis zero point.
18 Positive limit switch
If the positive limit switch is inactive:
Run at search speed in positive direction to positive limit switch.
Run at crawl speed in negative direction until limit switch becomes inactive. This position
is saved as a reference point.
If configured: Run at travel speed to axis zero point.
-17 Negative stop 1)2)
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.
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 33
Homing method
-18 Positive stop 1)2)
Run at search speed in positive direction to stop. This position is saved as a reference
point.
If configured: Run at travel speed to axis zero point.
33 Index pulse in a negative direction
Run at crawl speed in negative direction to index pulse. This position is saved as a
reference point.
If configured: Run at travel speed to axis zero point.
34 Index pulse in a positive direction
Run at crawl speed in positive direction to index pulse. This position is saved as a
reference point.
If configured: Run at travel speed to axis zero point.
35 Current position
The current position is saved as the reference point.
If configured: Run at travel speed to axis zero point.
Note: If the reference system is shifted, runs to the limit switch or fixed stop are possible. The
are therefore generally used for rotating axes.
Table 3.6 Explanation of the homing methods
3.4.7 Trajectory generator
For a start signal for a positioning record via DIN8, fieldbus or RS232 interface, the selected positioning record is loaded to the trajectory generator.
Based on the data record loaded, the necessary internal pre-calculations are made.
The pre-calculations can take up to 5 ms. The following configurable options are available for processing the start signal.
- After a start signal is detected during a current positioning run, the run continues to the target position.
- 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.
3. Product description
34 Festo P.BE-CMMS-ST-HW-EN 0708NH
3.4.8 I/O sequence control
T Conditions Activities of the user
T1 RESET / Power ON
T2 Time out has expired or the firmware download is
complete.
T3 The initialisation has been carried out successfully.
T4 DIN4=1 and DIN5=1
T5 Torque control was selected in the commissioning
software.
Setpoint specification via AIN0/AGND
T22
T25
T24
T23
T20
T21
T18
T19
T17
T16
T15
T13
T10
T11
T9
T8
T5
T4
T3
T2
T1
RESET Power ON
Boot program
Firmware download
Initialisation
Ready for operation
Initialise SD card
Load save SD card parameters
From all except RESET / Power ON
Fault status
Acknowledge Error
Activate output stage
Torque control
Speed control
Jog mode
Deactivate output stage
TT12
TT6
Homing
Positioning controller
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 35
T Conditions Activities of the user
T6 Speed control was selected in the commissioning
software.
Setpoint specification via AIN0/AGND
T8 Positioning was selected in the commissioning software. Record select via
DIN0 ... DIN3, DIN10, DIN11
Start for positioning process:
DIN8=1
T9 All parameters for the jog mode were set in the
commissioning software (e.g. max. speed,
acceleration ...).
Selection I/O mode:
DIN9=0, DIN12=1
Jog +: DIN10=1
Jog -: DIN11=1
T10 Selection I/O mode:
DIN9=0, DIN12=0
T11 Selection of the homing method and configuration of the
speeds and accelerations in the commissioning software.
Selection of positioning record 0
Start for positioning process:
DIN8=1
T12 The drive is referenced.
T13 DIN5=0
T15 DIN5=0
T16 DIN5=0
T17 DIN4=0
T18 Write or read request to SD card such
as:
- Load parameters
- Save parameters
- Download firmware.
T19 The SD card was initialised successfully.
T20 Load from SD after restart was selected in the
commissioning software.
T21 Parameter record was loaded
T22 A fault has occurred which causes the output stage to be
switched off
T23
T24 Edge controlled fault acknowledgement
DIN5: 1 - 0
T25 The error was acknowledge and no other errors are
pending.
Table 3.7 I/O sequence control
3. Product description
36 Festo P.BE-CMMS-ST-HW-EN 0708NH
3.4.9 Safety functions, error messages
The following conditions are monitored for safe operation of the CMMS-ST:
- Output stage temperature,
- Motor temperature,
- Min. and max. values of intermediate circuit voltage,
- Initialisation errors,
- Checksum error on parameter transfer,
- Communication error,
- Contouring error / Step loss (with increment generator only)
- Homing,
- Overload current / short circuit in the power output stage,
- Encoder system,
- Watchdog (processor monitoring).
3.4.10 Oscilloscope function
The oscilloscope function implemented in the firmware of the controller is an important aid to help the commissioning party to optimise the controller settings without using a separate measuring device. The function allows important signal sequences to be recorded over time. It consists of three blocks:
The initialisation section which runs at low priority and performs pre-calculations for the actual measurement process.
The data transfer section also has low priority. It is integrated in the time slice of the serial communication.
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.
Two channels with 256 16 bit values each can be recorded. The following can be configured:
- 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
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 37
- Slow moving time
- Maximum speed
- Delay
- Smoothing and
- debounce time if DINs after teaching.
I/O control
- Selection MODE1 - jog mode with DIN9=0 and DIN12=1
- Jog+ with DIN10
- Jog- with DIN11
- Teach with DIN8
- Record select via DIN0 ... DIN3
The jog and teach function is configured via the commissioning software or a fieldbus object.
After activating the tip and teach function, digital inputs DIN10 and DIN11 serve to control the motor. The jog control overrides the current control system in this mode.
For speed control, the motor is moved at the slow moving speed when the digital input is active. After the slow moving time expires, the speed is switched to the maximum.
A position record is selected via digital inputs DIN0 ... DIN3. If there is a positive edge at teach input DIN8, the current position is saved in the selected position record. The saved
data is copied to the permanent memory after the controller release is deactivated and activated again.
3.4.12 Route program
The route program allows multiple positioning jobs to be linked. This allows a travel profile to be defined, e.g. switching to another speed after a position is reached. The route program is started by one of the position records 1 ... 7. The following step criteria are possible:
Value Condition Description
0 No automatic continuation.
1 Motion complete Continues when the motion complete condition is fulfilled. Thus the axis is
at a standstill for a moment during positioning.
4 Standstill Continues when the drive reaches a standstill and the programmed time
has expired.
5 Time Continues when the programmed time has expired.
Time measurement starts when the position record starts.
6 NEXT (positive edge) Continues after a positive edge on DIN10 (NEXT1) or DIN11 (NEXT2).
7 NEXT (negative edge) Continues after a negative edge on DIN10 (NEXT1) or DIN11 (NEXT2).
3. Product description
38 Festo P.BE-CMMS-ST-HW-EN 0708NH
Value Condition Description
9 NEXT (positive edge),
waiting
Continues after the motion complete message and a positive edge on
DIN10 (NEXT1) or DIN11 (NEXT2).
10 NEXT (negative edge),
waiting
Continues after the motion complete message and a negative edge on
DIN10 (NEXT1) or DIN11 (NEXT2).
Table 3.8 Step criteria for the route program
The next input (DIN10/DIN11) and the start input (DIN8) can only be used if the route program mode (mode 2) is activated for the digital inputs via DIN9.
The DIN3 input, Stop route program, can interrupt current positioning by setting the digital input. When the digital input is withdrawn, positioning continues to the original target position.
3.4.13 Synchronisation
1 CMMS-ST
master
2 Screening
3 CMMS-ST slave
Slave
X10
Master
X10
1 A+
2 B+
3 N+
4 GND
6 A-
7 B-
8 N-
9 GND
A+ 1
B+ 2
N+ 3
GND 4
A- 6
B- 7
N- 8
GND 9
Slave
X10
Master
X10
1 A+
2 B+
3 N+
4 GND
6 A-
7 B-
8 N-
9 GND
A+ 1
B+ 2
N+ 3
GND 4
A- 6
B- 7
N- 8
GND 9
Fig. 3.2 Master-slave connection
The CMMS-ST stepping motor controller facilitates master-slave mode, which shall be referred to as synchronisation from now on. The controller can function either as a master or slave.
If the CMMS-ST controller functions as a master, it can provide its current speed as incremental generator signals to a slave at interface 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.
1
2
3
3. Product description
Festo P.BE-CMMS-ST-HW-EN 0708NH 39
3.4.14 On-the-fly measurement
The actual position can be recorded at any given time via high-speed input DIN9. The rising or falling edge is evaluated for this. The maximum delay time in position recording is no more than a few microseconds. 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.
4. Mechanical installation
40 Festo P.BE-CMMS-ST-HW-EN 0708NH
4. Mechanical installation
4.1 Important notes
Note
Use the CMMS-ST stepping motor controller as an integrated device for control cabinet installation only.
The mounting position is vertical with the power supply lines [X9] leading upwards
Mount with the clip to the control cabinet plate Installation spacing:
100 mm of clearance to other assemblies is required above and below the device for sufficient ventilation.
The stepping motor controllers of the CMMx series are designed such that they can be mounted on a heat-dissipating mounting panel if used as intended and installed correctly. We wish to point out that excessive heating can lead to premature aging and/or damage to the device. If the CMMS-ST stepping motor controller is subject to high thermal loads, a mounting clearance of 69 mm is required!
4. Mechanical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 41
Fig. 4.1 CMMS-ST stepping motor controller: Installation spacing
4. Mechanical installation
42 Festo P.BE-CMMS-ST-HW-EN 0708NH
4.2 Mounting
There are clips at the top and bottom of the CMMS-ST stepping motor controller. They are used to attach the stepping motor controller vertically to a control cabinet mounting plate. 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
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 43
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
4
1
2
3
5
6
5. Electrical installation
44 Festo P.BE-CMMS-ST-HW-EN 0708NH
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
4
1
2
3
1
2
3
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 45
5.2 Interfaces
In order to operate the CMMS-ST stepping motor controller a 24 V-power source to supply the electronics systems. It is connected to terminals +24 V and 0 V.
The supply voltage for the power output stage is connected to contacts ZK+ and 0 V.
The motor is connected with the four terminals A ... B/. The motor temperature sensor is connected to the TEMP+ and TEMP- terminals (PTC, SI sensor or N/C contact). KTY81 ... KTY84 can be used as analogue temperature sensors.
The connection of the optional shaft encoder via the d-sub plug to [X2] is illustrated in the 219HFig. 5.4 diagram.
The CMMS-ST stepping motor controller must first be fully wired. Only then can the opera-ting voltages be activated for the intermediate circuit and the power supply. 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.
5.3 CMMS-ST complete system
A complete CMMS-ST stepping motor controller system is shown in 220HFig. 5.4. The following components are required to operate the stepping motor controller:
Components - 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.
5. Electrical installation
46 Festo P.BE-CMMS-ST-HW-EN 0708NH
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
7
4
1
2
3
5
6
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 47
5.4 Interfaces
5.4.1 I/O interface [X1] Type on controller Counterplug Cross
section Plugged/optional plug set
Material number
D-sub 25-pin socket
Table 5.1 Plug version: I/O interface [X1]
Mode switching allows the X1 interface to be allocated more than once.
Mode DIN9 DIN12
Mode 0 – Positioning 0 0
Mode 1 – Jog mode 0 1
Mode 2 – Route program 1 0
Mode 3 – Synchronisation 1 1
Table 5.2 Mode switching
Pin Designation Value Mode = 0 – Positioning
1 AGND 0 V Screen for analogue signals
2 AIN0 ±10 V Setpoint input 0, differential, maximum 30 V input voltage
3 DIN10 Record selection 4 (high active)
4 +VREF +10 V ± 4% Reference output for setpoint potentiometer
5 Unassigned
6 GND24 Reference potential for digital inputs and outputs
7 DIN1 Record selection 1 (high active)
8 DIN3 Record selection 3 (high active)
9 DIN5 Controller release (high active)
10 DIN7 Limit switch 1
11 DIN9 High-speed input
12 DOUT1 24 V 100 mA Output freely programmable – Default: Motion complete (high active)
13 DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active)
14 AGND 0 V Reference potential for the analogue signals
15 DIN13 Ri = 20k Stop input (low active)
16 DIN11 Record selection 5 (high active)
17 AMON0 ±10 V ±4% Analogue monitor output 0
18 + 24 V 24 V 100 mA 24 V supply fed out
19 DIN0 Record selection 0 (high active)
20 DIN2 Record selection 2 (high active)
21 DIN4 Output stage release (high active)
22 DIN6 Limit switch 0
5. Electrical installation
48 Festo P.BE-CMMS-ST-HW-EN 0708NH
Pin Designation Value Mode = 0 – Positioning
23 DIN8 Start for the positioning procedure
24 DOUT0 24 V 100 mA Ready for operation output (high active)
25 DOUT2 24 V 100 mA Output freely programmable – Default: Start ack (low active)
Table 5.3 Pin allocation: I/O interface [X1] Mode 0
Pin Designation Value Mode = 1 – Jog mode
1 AGND 0 V Screen for analogue signals
2 DIN12 24 V Mode switch "1" = Jog mode
3 DIN10 Jog + (high active)
4 +VREF +10 V ±4% Reference output for setpoint potentiometer
5 Unassigned
6 GND24 Reference potential for digital inputs and outputs
7 DIN1 Record selection 1 (high active)
8 DIN3 Record selection 3 (high active)
9 DIN5 Controller release (high active)
10 DIN7 Limit switch 1
11 DIN9 Mode switch "0"
12 DOUT1 24 V 100 mA Output freely programmable – Default: Motion complete (high active)
13 DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active)
14 AGND 0 V Reference potential for the analogue signals
15 DIN13 Stop input (low active)
16 DIN11 Jog – (high active)
17 AMON0 ±10 V ±4% Analogue monitor output 0
18 + 24 V 24 V 100 mA 24 V supply fed out
19 DIN0 Record selection 0 (high active)
20 DIN2 Record selection 2 (high active)
21 DIN4 Output stage release (high active)
22 DIN6 Limit switch 0
23 DIN8 Teach (high active)
24 DOUT0 24 V 100 mA Ready for operation output (high active)
25 DOUT2 24 V 100 mA Teach ack
Table 5.4 Pin allocation: I/O interface [X1] Mode 1
Pin Designation Value Mode = 2 - Route program
1 AGND 0 V Screen for analogue signals
2 DIN12 Mode switch "0"
3 DIN10 Next 1
4 +VREF +10 V ±4% Reference output for setpoint potentiometer
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 49
Pin Designation Value Mode = 2 - Route program
5 Unassigned
6 GND24 Reference potential for digital inputs and outputs
7 DIN1 Record selection 1 (high active)
8 DIN3 Stop route program
9 DIN5 Controller release (high active)
10 DIN7 Limit switch 1
11 DIN9 Mode switch route program "1"
12 DOUT1 24 V 100 mA Output freely programmable
Default: Motion complete (high active)
13 DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active)
14 AGND 0 V Reference potential for the analogue signals
15 DIN13 Stop input (low active)
16 DIN11 Next 2
17 AMON0 ±10 V ±4% Analogue monitor output 0
18 + 24 V 24 V 100 mA 24 V supply fed out
19 DIN0 Record selection 0 (high active)
20 DIN2 Record selection 2 (high active)
21 DIN4 Output stage release (high active)
22 DIN6 Limit switch 0
23 DIN8 Start route program
24 DOUT0 24 V 100 mA Ready for operation output (high active)
25 DOUT2 24 V 100 mA Output freely programmable – Default: Start ack (high active)
Table 5.5 Pin allocation: I/O interface [X1] Mode 2
Pin Designation Value Mode = 3 – Synchronisation
1 AGND 0 V Screen for analogue signals
2 DIN12 Slave synchronisation "1"
3 DIN10
4 +VREF +10 V ±4% Reference output for setpoint potentiometer
5 Unassigned
6 GND24 Reference potential for digital inputs and outputs
7 DIN1 Record selection 1 (high active)
8 DIN3 24 V Direction_24 /CCW
9 DIN5 Controller release (high active)
10 DIN7 Limit switch 1
11 DIN9 Slave synchronisation "1"
12 DOUT1 24 V 100 mA Output freely programmable – Default: Motion complete (high active)
13 DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active)
5. Electrical installation
50 Festo P.BE-CMMS-ST-HW-EN 0708NH
Pin Designation Value Mode = 3 – Synchronisation
14 AGND 0 V Reference potential for the analogue signals
15 DIN13 Stop input (low active)
16 DIN11
17 AMON0 ±10 V ±4% Analogue monitor output 0
18 + 24 V 24 V 100 mA 24 V supply fed out
19 DIN0 Record selection 0 (high active)
20 DIN2 24 V Pulse_24 / CW
21 DIN4 Output stage release (high active)
22 DIN6 Limit switch 0
23 DIN8 Start synchronisation
24 DOUT0 24 V 100 mA Ready for operation output (high active)
25 DOUT2 24 V 100 mA Setpoint reached output (high active)
Table 5.6 Pin allocation: I/O interface [X1] Mode 3
5.4.2 Increment generator input [X2]
Type on controller Counterplug Plugged/optional plug set
Material number
D-sub socket, 9-pin
Table 5.7 Plug version: Increment generator input [X2]
Pin Designation Value Specification
1 A+ 5 V, Ri = 120 Ohm Increment generator signal A, positive polarity
2 B+ 5 V, Ri = 120 Ohm Increment generator signal B, positive polarity
3 N+ 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity
4 GND - Reference GND for the generator
5 VCC +5 V +-5% 100 mA Auxiliary supply, max. load 100 mA, short-circuit
proof.
6 A- 5 V, Ri = 120 Ohm Increment generator signal A, negative polarity
7 B- 5 V, Ri = 120 Ohm Increment generator signal B, negative polarity
8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity
9 GND - Internal screen for the connecting cable
Table 5.8 Pin allocation: Increment generator input [X2]
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 51
5.4.3 Fieldbus CAN [X4]
Type on controller Counterplug Plugged/optional plug set
Material number
D-sub pins, 9-pin
Table 5.9 Plug version: Fieldbus CAN [X4]
Pin Designation Value Specification
1 -
2 CANL 5 V, Ri = 60 Ohm CAN-low signal line
3 GND - CAN-GND, galvanically connected to GND in the
controller
4 - - -
5 Screen - Connection for the cable screen
6 GND - CAN-GND, galvanically connected to GND in the
controller
7 CANH 5 V, Ri = 60 Ohm CAN-high signal line
8 - - -
9 - - -
Table 5.10 Pin allocation: Fieldbus CAN [X4]
5.4.4 RS232/RS485 [X5]
Type on controller Counterplug Plugged/optional plug set
Material number
D-sub pins, 9-pin
Table 5.11 Plug version: RS232/RS485 [X5]
Pin Designation Value Specification
1 -
2 RS232_RxD 10 V, Ri > 2 kOhm Reception line
3 RS232_ TxD 10 V, Ra < 2 kOhm Transmission line
4 RS485_A - -
5 GND 0 V RS232/485 GND, galvanically connected to GND in
the controller
6 - - -
7 - - -
8 +5 V_Fuse 5 V Via PTC on plug
9 RS485_B - -
Table 5.12 Pin allocation: RS232/RS485 [X5]
5. Electrical installation
52 Festo P.BE-CMMS-ST-HW-EN 0708NH
5.4.5 Motor connection [X6] Type on controller Counterplug Plugged/optional plug
set Material number
Combicon 8-pin socket MSTB 2.5/8-ST-5.08 BK Plug set 547 452
Table 5.13 Plug version: Motor connection [X6]
Pin Designation Value Specification
1 String A - Connection of the two motor strings. The cable
screen is fitted to the controller housing. 2 String A / -
3 String B -
4 String B / -
5 T + - Motor temperature sensor, either N/C contact or PTC
(in preparation) 6 T - -
7 BR + - Motor holding brake
8 BR - -
Table 5.14 Pin allocation: Motor connection [X6]
5.4.6 Power supply [X9] Type on controller Counterplug Plugged/optional plug
set Material number
Combicon 3-pin socket MSTB 2.5/3-ST-5.08 BK Plugged 547 452
Table 5.15 Plug version: Power supply [X9]
Pin Designation Value Specification
1 ZK + 24 ... 75 V Intermediate circuit voltage
2 24 V +24 V / 1 A Power supply for the control section
3 GND 0 V Common reference potential for the intermediate
circuit and the control section
Table 5.16 Pin allocation: Power supply [X9]
5.4.7 Increment generator interface / control signals [X10]
The interface is bidirectional. It allows A/B tracking signals to be output in the master axis mode, or A/B, CLK/DIR or CW/CCW control signals to be processed in the slave axis mode.
Type on controller Counterplug Plugged/optional plug set
Material number
D-sub socket, 9-pin
Table 5.17 Plug version: Increment generator/ Pulse, direction input [X10]
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 53
Pin Designation Value Specification
1 A/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal pulse / CW,
positive polarity acc. to RS422
2 B/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal direction,
positive polarity acc. to RS422
3 N 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity acc. to RS422
4 GND - Reference GND for the generator
5 VCC +5 V +-5%, 100 mA Auxiliary supply, max. load 100 mA, short-circuit proof
6 A-/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal CLK,
negative polarity acc. to RS422 / CCW
7 B-/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal DIR,
negative polarity acc. to RS422
8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity acc. to RS422
9 GND - Screen for the connecting cable
Table 5.18 Pin allocation: Increment generator output / Pulse, direction input [X10]
5.4.8 SD card The optional SC 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.
5.4.9 Fieldbus settings and bootloader
Dip switches Meaning
1 Node number
2
3
4
5
6
7
8 Bootloader (If the switch is set to ON,
the system searches for new firmware
on the SD card)
9 Baud rate
10
11 Activation of the CAN interface
12 Terminating resistor
Table 5.19 Assignment of the DIP switches
5. Electrical installation
54 Festo P.BE-CMMS-ST-HW-EN 0708NH
DIP switches ON/OFF Meaning
1 ON DIP switch 1 is the lowest
bit. 1011011=91 2 ON
3 OFF
4 ON
5 ON
6 OFF
7 ON
Table 5.20 Sample node number
DIP switch ON/OFF Meaning
9 ON DIP switch 9 is the lowest
bit.
00=125 kBaud
01=250 kBaud (example)
10=500 kBaud
11=1000 kBaud
10 OFF
Table 5.21 Sample baud rate
5.5 Instructions on safe and EMC-compliant installation
5.5.1 Explanations and terms
Electromagnetic compatibility (often abbreviated to EMC) or electromagnetic interference (EMI) involves the following requirements:
Interference immunity
Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space.
Emitted
interference
Sufficiently low interference emission of electrical, magnetic or
electromagnetic interference of an electrical system or an electrical device on other devices in the environment via lines and space.
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 55
5.5.2 General information on EMC
Interference emission and resistance to interference of a stepping motor controller always depend on the complete design of the drive, which consists of the following components:
Components - Power supply
- Stepping motor controller
- Motor
- Electromechanics
- Design and type of wiring
- Higher-order control system
In order to increase the interference immunity and decrease the interference emission, the CMMS-ST already has integrated motor throttles and mains filters, which means that the CMMS-ST stepping motor controller can be operated without additional screens and filters in most applications.
The CMMS-ST stepping motor controllers were qualified in accordance with product standard EN 61800-3 which applies to electrical drives.
In the majority of cases, no external filter measures are required (see below).
The conformity declaration to EMC directive 89/336/EEC is available from the manufacturer.
5.5.3 EMC areas: Second environment
If installed correctly and all connection lines are wired correctly, the CMMS-ST stepping motor controllers fulfil the requirements of the corresponding product standard EN 61800-3. This standard does not refer to limit value classes, but to so-called environ-ments. The first environment includes electricity grids connected to residential housing. The second environment includes grids connected only to industrial companies.
Without filter measures, the following applies to stepping motor controller CMMS-ST:
EMC class Area Compliance with EMC requirements
Interference emission Second environment (industrial) Motor cable length up to 25 m
Interference immunity Second environment (industrial) Regardless of motor cable length
Table 5.22 EMC requirements: Second environment
5.5.4 EMC-compliant wiring
The following must be observed for EMC-compliant installation of the drive system (see also Chapter 221H5 222HElectrical installation, Page 223H43):
1. In order to minimise current leakage and losses in the motor connection cable, the
5. Electrical installation
56 Festo P.BE-CMMS-ST-HW-EN 0708NH
CMMS-ST stepping motor controller should be installed as close as possible to the
motor (see also Chapter 224H5.5.5 225HOperation with long motor cables, Page 226H56 below).
2. The motor and angle generator cables must be screened.
3. The screen of the motor cable is fitted to the housing of the CMMS-ST stepping motor controller (screen connection terminals). The cable screen is also always fitted to the corresponding stepping motor controller to prevent leaked current flowing back to the controller which caused it.
4. Signal lines must be separated as far as possible from the power cables. They should not be routed parallel to one another. If crossovers cannot be avoided, they should be made as close to vertical (i.e. at a 90° angle) as possible.
5. Unscreened signal and control lines should not be used. If they must be used, they
should at least be twisted.
6. Even screened lines always have short unscreened parts at either end (unless a screened plug housing is used).
In general: - Connect the inner screens to the pins of the plug connector
provided for the purpose; length max. 40 mm.
- Max. length of unscreened wires: 35 mm
- Connect total screen flat on motor side to the plug or motor housing; length max. 40 mm.
5.5.5 Operation with long motor cables
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:
- From a cable length of over 15 m, only cables with a capacitance between the motor phase and screen of less than 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.
5. Electrical installation
Festo P.BE-CMMS-ST-HW-EN 0708NH 57
5.5.6 ESD protection
Caution
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.
6. Preparations for commissioning
58 Festo P.BE-CMMS-ST-HW-EN 0708NH
6. Preparations for commissioning
6.1 General connection instructions
As the routing of the connecting cables is critical for EMC, it is essential that you read Chapter 227H5.5.4 228HEMC-compliant wiring (Page 229H55)!
Warning
DANGER!
Failure to follow the instructions in Chapter 230H2 231HSafety instructions for electrical drives and control systems (Page 232H11) can result in material damage, injury, electric shock, or in extreme cases, even to fatalities.
6.2 Tools / material
Tool - Screwdriver size 1
- Serial interface cable
- Increment generator cable
- Motor cable
- Power supply cable
- Control cable
6.3 Connecting the motor
Connecting the motor
1. Insert the motor cable plug in the corresponding socket on the motor and secure it.
2. Insert the PHOENIX plug into the socket [X3] on the device.
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.
6. Preparations for commissioning
Festo P.BE-CMMS-ST-HW-EN 0708NH 59
6.4 Connect the CMMS-ST stepping motor controller to the power supply
Connect the stepping motor controller
1. Make sure that the power supply is switched off.
2. Insert the PHOENIX plug into the socket [X9] on the device.
3. Connect the 14 V connections to a suitable power pack.
4. Connect the power supply unit.
5. Check all plug connectors once again.
6.5 Connecting a PC
Connecting a PC 1. Insert the D-sub plug of the serial interface cable into the socket for the serial interface of the PC and secure the locking screws.
2. Insert the D-sub plug of the serial interface cable into socket [X5] RS232/COM for the CMMS-ST stepping motor controller and secure the locking screws.
3. Check all plug connectors once again.
6.6 Checking readiness for operation
Checking readiness for operation
1. Make sure that the controller release switch is switched off.
2. Switch on the voltage supply of all devices. The READY LED on the front of the device should light up.
If the READY LED does not light up, there is a fault. If the seven segment display shows a number sequence, this is an error message. You must rectify the cause of the message. If this is the case, see Chapter 233H7.2 234HError messages (Page 235H63). If no display lights up on the device, proceed as follows:
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.
7. Service functions and error messages
60 Festo P.BE-CMMS-ST-HW-EN 0708NH
7. Service functions and error messages
7.1 Protective and service functions
7.1.1 Overview
The CMMS-ST has a comprehensive array of sensors which monitor the controller section, power output stage, motor and external communication to ensure that they function per-fectly. All errors which occur are saved in the internal error memory. Most errors cause the controller section to deactivate the stepping motor controller and the power output stage to switch off. The stepping motor controller can only be switched on again when the error memory has been cleared by acknowledging the errors and the errors have been rectified
or are no longer present.
The following monitoring functions guarantee operational safety:
- Evaluation of the motor temperature
- Evaluation of the power section temperature
- Earth fault detection
- Detection of short-circuits between two motor phases
- Detection of overvoltages in the intermediate circuit
- Detection of faults in the internal voltage supply.
If the 24 V supply voltage fails, approximately 20 ms remain to save parameters and shut
down the controller in a defined manner.
7.1.2 Overload current and short-circuit monitoring
The overload current and short-circuit monitoring is triggered as soon as the current in the intermediate circuit exceeds twice the maximum current of the controller. It detects short circuits between two motor phases and short circuits at the motor output terminals against the positive and negative reference potential of the intermediate circuit and against PE. If the error monitor detects overload current, the power output stage shuts down immediately, guaranteeing that the system is short-circuit proof.
7.1.3 Voltage monitoring for the intermediate circuit
Voltage monitoring for the intermediate circuit is triggered as soon as the intermediate circuit voltage leaves the operating voltage range. The power output stage is then deactivated.
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.
7. Service functions and error messages
Festo P.BE-CMMS-ST-HW-EN 0708NH 61
Motor monitoring
The CMMS-ST stepping motor controller has the following protective functions to monitor the motor and the connected shaft encoder:
Shaft encoder monitoring:
Faults in the shaft encoder causes the power output stage to be switched off. The supply voltage is checked for increment generators.
Measurement and monitoring of the motor temperature:
The CMMS-ST stepping motor controller has a digital input for monitoring the motor temperature.
[X6]: Digital input for PTCs, N/C contacts and N/O contacts.
7.1.5 I²t monitoring
The CMMS-ST stepping motor controller has l²t monitoring to restrict the average power
loss in the power output stage and in the motor. As the power loss which occurs in the power electronics and in the motor increases by its square as the current flow increases in a worst case scenario, the square of the current value is usually assumed for the power loss.
7.1.6 Power monitoring for the brake chopper
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. The configuration software queries the commissioning status and prompts the user to configure the stepping motor controller. At the same time, the device indicates that it is ready for operation but has not yet been configured by displaying ‘A‘ on the seven segment display.
7. Service functions and error messages
62 Festo P.BE-CMMS-ST-HW-EN 0708NH
7.2 Operating mode and error messages
7.2.1 Operating mode and error display
A seven segment display is supported. The display and the meaning of the symbols shown are illustrated in the following table:
Display Meaning
The external segments rotate on the display in this operating mode. The display
depends on the current actual position or speed.
The central bar is also active when the controller release is active.
The CMMS-ST stepping motor controller has not yet been configured.
(Seven segment display = "A")
Controlled torque mode.
(Seven segment display = "I")
P xxx Positioning ("xxx" is the position number)
The numbers are shown in succession
PH x Homing. "x" is the respective phase of the homing run:
0 : Search phase
1 : Slow moving phase
2 : Run to zero position
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
7. Service functions and error messages
Festo P.BE-CMMS-ST-HW-EN 0708NH 63
7.2.2 Error messages
When a fault occurs, the CMMS-ST displays an error message cyclically in the seven segment display. The error message is made up of an E (for Error), and a main index and sub-index, e.g.: E 01 0.
The meaning and the measures for the error messages are compiled in the table below:
Error message Meaning of error message Measures
Main index
Sub-index
01 0 Stack overflow Incorrect firmware?
Reload standard firmware if necessary.
Contact the technical support team.
02 0 Undervoltage at intermediate
circuit
Error priority set too high?
Check intermediate circuit voltage (measure)
03 0 Motor temperature monitoring Motor too hot? Check parameters (current regulator,
current limits)
Right sensor?
Sensor defective?
If the error remains even when the sensor is bridged:
Device defective.
1 Motor temperature monitoring
04 0 Power section temperature
monitoring
Temperature display plausible?
Check installation conditions, fans soiled?
Device fan defective?
05 0 5 V supply fault Fault cannot be rectified independently.
Send stepping motor controller to your local sales
partner.
1 24 V supply fault
2 12 V supply fault
06 0 Output stage short circuit Motor defective?
Short circuit in the cable?
Output stage defective?
07 0 Overvoltage in the intermediate
circuit
Check the connection to the braking resistor.
Check design (application).
08 0 Resolver tracking signals fault /
carrier failure
Angle generator connected:
Angle generator defective?
Angle generator defective?
Check configuration of angle generator interface.
Generator signals are defective: Check installation for
EMC recommendations.
2 Generator supply fault
6 SINCOS-RS485 communication
error
8 SINCOS tracking signal error
9 EEPROM angle generator too
small
Please contact the technical support team.
11 1 Error during homing Homing interrupted, e.g. by withdrawal of controller
release.
7. Service functions and error messages
64 Festo P.BE-CMMS-ST-HW-EN 0708NH
Error message Meaning of error message Measures
Main index
Sub-index
12 1 CAN:
Communication error, Bus OFF
The CAN chip has switched off communication due to
communication errors (BUS OFF).
2 CAN: CAN communication error
on transmission
The signals are interrupted when messages are sent.
16 2 Initialisation error Please contact the technical support team.
3 Unexpected status
17 0 Contouring error limit exceeded Enlarge error window.
Acceleration parameter too large.
1 Pulse wheel angle monitoring
18 0 Motor temperature 5°C below
maximum
1 Output stage temperature 5°C
below maximum
19 0 I²T at 80%
21 0 Offset current measurement
error
Fault cannot be rectified independently.
Stepping motor controller must be sent to your local
sales partner.
22 0 PROFIBUS:
Error on initialisation
Technology module defective?
Please contact the technical support team.
2 PROFIBUS communication error Check slave address set.
Check bus termination
Check wiring
26 1 Checksum error Fault cannot be rectified independently.
Please contact the technical support team.
29 0 No SD Tried to access missing SD card.
1 SD initialisation error Error on initialisation / communication not possible.
2 SD parameter record error Checksum incorrect / File missing / Incorrect file
format
3 SD full error Parameter cannot be saved to CD as the memory
capacity is not sufficient.
31 0 I²t motor Motor blocked?
1 I²t servo controller Check power dimensioning of drive package.
35 1 Time out for quick stop
40 0 Software limit stop positive
1 Software limit stop negative
7. Technical specificationsService functions and error messages
Festo P.BE-CMMS-ST-HW-EN 0708NH 65
Error message Meaning of error message Measures
Main index
Sub-index
41 8 Route program: Unknown
command
Unknown route program extension found
9 Route program: Jump target
error
Jump to a line outside permitted range.
42 1 Positioning: Error in pre-
calculation
The positioning target cannot be reached via the
positioning options or due to the parameters.
Check parameters of the position records in question.
9 Positioning: Position data record
error
Acceleration too low for v_max.
43 9
Limit switches: Both active Check parameters, wiring and limit switches.
64 0 DeviceNet initialisation error
1 DeviceNet assembly error
2 DeviceNet communication error Common fault
3 DeviceNet communication error Common fault
4 DeviceNet communication error Common fault
5 DeviceNet communication error Common fault
6 DeviceNet communication error Common fault
65 0 DeviceNet assembly error
1 DeviceNet communication error Common fault
70 2 General arithmetic error The FHPP factor group cannot be calculated correctly.
3 Operating mode error Change in operating mode when output stage is
released.
79 0 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).
A. Technical specifications
66 Festo P.BE-CMMS-ST-HW-EN 0708NH
A. Technical specifications
A.1 General information Area Values
Permitted temperature ranges Storage
temperature:
-25°C to +70°C
Operating
temperature:
0°C to +40°C
+40°C to +50°C with power reduction 4% / K
Permitted installation height Up to 1000 m over sea level
1000 to 3000 m over sea level with power reduction
10% / 1000 m
Humidity Rel. humidity up to 90%, non-condensing
Protection class IP20
Contamination class 1
CE conformity: low voltage directive:
EMC law: Current harmonic oscillation:
EN 50 178
EN 61 800 - 3
EN 61 000 - 3 - 2
Further certifications UL/CSA in preparation
Table A.1 Technical data: Ambient conditions and qualification
Key features Values
Device dimensions (H*W*D) 160x50x160 mm
Weight 2.0 kg
Table A.2 Technical data: Dimensions and weight
Area Values
Maximum motor cable length for interference emissions acc. to
EN 61800-3 (conforms to EN 55011, EN 55022)
Second environment
(Industrial)
l 25 m
Cable capacity of one phase against
screen or between two lines
C‘ 200 pF/m
Table A.3 Technical data: Cable data
Sensors Values
Digital sensor N/C contact: Rcold < 1 k Rhot > 10 k
Analogue sensor Silicon temperature sensor, e.g. KTY81 ... 84
R25 = 1 k
or R25 = 2 k
Table A.4 Technical data: Motor temperature monitoring (in preparation)
A. Technical specifications
Festo P.BE-CMMS-ST-HW-EN 0708NH 67
A.2 Operation and display components
The CMMS-ST stepping motor controller has two LED‘s on the front and one seven segment display for showing the operating status.
Component Function
Seven segment display Displays the operating mode and an error code
should an error occur
Ready LED (green) Readiness to operate
BUS LED (yellow) CAN bus status display
Table A.5 Display components
A.3 Interfaces
A.3.1 Power supply [X9]
Features Values
Load supply voltage 48 VDC
Alternative DC supply 24 ... 75 VDC
Nominal input current 8 A
Minimum intermediate circuit voltage 20 V (configurable)
Maximum intermediate circuit voltage 100 V
Control section supply voltage 24 VDC [± 20%]
Control section nominal current 0.2 A
Maximum current (incl. holding brake) 1.5 A
PWM frequency 50 kHz
Table A.6 Technical data: Power data [X9]
Note
In order to release the holding brake, you must make sure that the voltage tolerances at the connecting terminals of the holding brake are observed.
Features Values
Internal braking resistor 17
Pulse power 500 W
Continuous power 10 W
Response threshold 96 V
Hysteresis 3 V
Table A.7 Technical data: Internal braking resistor [X9]
A. Technical specifications
68 Festo P.BE-CMMS-ST-HW-EN 0708NH
A.3.2 Motor connection [X6] Output data Values
Output current 8 Aeff
Max. output current for 2 x 12 Aeff
Max. output frequency 50 kHz
Table A.8 Technical data: Motor connection data [X6]
Key features Values
Voltage range 18 ... 30 V
Output current 0.5 A
Voltage loss ≤ 1 V
Short circuit / overcurrent protection > 4 A
Temperature protection TJ > 150°C
Loads - R > 24 Ω
- L approx. 10 H
- C < 10 nF
Switching delay < 1 ms
Table A.9 Technical data: Holding brake
A.3.3 Increment generator input [X2] Increment generator input Values
Signal level of tracking signals A, B, N 5 V differential, RS422
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
A. Technical specifications
Festo P.BE-CMMS-ST-HW-EN 0708NH 69
A.3.4 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 Programmable steps / 32, 64, 128, 256, 512, 1024
Tracking signals According to RS422 standard
Output impedance 120 Ω
Table A.11 Increment generator interface X10
A.3.5 RS232/RS485 [X5] Communication interface Values
RS232 According to RS232 specification
RS485 According to RS485 specification
Baud rate 9600 ... 115 kBaud
Protection ESD protected driver
Table A.12 Technical data: RS232 [X5]
A.3.6 CAN bus [X4] Communication interface Values
Signal level ±2 V
Protection -3 ... +24 V
Protocol CanOpen DS301, DSP402 and FHPP
Baud rate Max. 1 MBaud
Terminating resistor 120 Ω
Table A.13 Technical data: CAN bus [X4]
A.3.7 I/O interface [X1] Digital inputs Values
Signal level 18 ... 30 V (high active)
Number 14
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
A. Technical specifications
70 Festo P.BE-CMMS-ST-HW-EN 0708NH
Digital outputs Values
Signal level 24 V (from logic supply)
Output current > 100 mA
Number 4
Output reaction time < 2 ms
Protective function Polarity reversal, short circuit, inductive load
Table A.15 Technical data: Digital outputs
Analogue inputs Values
Signal level -10 ... +10 V
Design Differential input
Input reaction time < 250 µs
Protective function Overvoltage to ±30 V
Table A.16 Technical data: Analogue inputs
Analogue outputs Values
Signal level 0 ... 10 V
Design Single-Ended against AGND
Output reaction time < 250 µs
Protective function Short circuit against AGND
Table A.17 Technical data: Analogue outputs
Analogue inputs/outputs Values
High-resolution analogue input:
AIN0
10 V input section, 12 bit, differential,
< 250 µs delay time
Analogue outputs:
AOUT0 and AOUT1
10 V output range, 9 bit resolution, flimit > 1 kHz
Table A.18 Technical data: Analogue inputs and outputs [X1]
B. Glossary
Festo P.BE-CMMS-ST-HW-EN 0708NH 71
B. Glossary
EMC
Electromagnetic compatibility (often abbreviated to EMC) or electromagnetic interference (EMI) involves the following requirements:
Interference immunity
Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space.
Interference emission
Sufficiently low interference emission of electrical, magnetic or electromagnetic interference of an electrical system or an electrical
device on other devices in the environment via lines and space.
C. INDEX
72 Festo P.BE-CMMS-ST-HW-EN 0708NH
C. INDEX C
Closed loop 27 Content 5
D
Documentation 8
E
Error 63 Error message 59, 63, 65
acknowledge 65
F
Frequency ranges 29
G
Glossary 71 EMC 71
Interference emission 71 Interference immunity 71
H
Homing 31 Homing methods 31
I
Interpolated position mode 25
N
Notes General information 12 Icons 11 Safety 11
O
Open loop 27
Operating modes 28 Overview of interfaces 23
P
Positioning controller 30
S
Safety instructions 11, 14 Scope of delivery 8 Setpoint selectors 29