Festo CAMC-G-S1 User manual

CAMC-G-S1
Safety module
Manual | Safety
function, STO
8179141
2022-07d
[8179143]

Translation of the original instructions
CANopen®, DEVICENET®, EtherCAT®, EtherNet/IP®, PI PROFIBUS PROFINET® are registered trade-
marks of the respective trademark owners in certain countries.

Festo — CAMC-G-S1 — 2022-07d
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Table of contents
1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Safety and requirements for product use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.1 General safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.2 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.3 Foreseeable misuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.4 Achievable safety level, safety function in accordance with EN ISO 13849-1/
EN 61800-5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Requirements for product use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.1 Technical prerequisites. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.2 Qualification of the specialist technicians (requirements for staff). . . . . . . . . . 9
2.2.3 Diagnostic coverage (DC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.4 Range of application and approvals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Product description of safety module CAMC-G-S1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.1 Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.2 Supported devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.3 Operating elements and connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.4 Scope of delivery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 Function and application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.1 Description of the STO safety function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.2 Overview of interface [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2.3 Control inputs STO-A, 0V-A/STO-B, 0V-B [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.4 Feedback contact C1, C2 [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.5 24 V, 0 V auxiliary power supply [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.6 Status indicator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.7 DIL switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Functions in the motor controller CMMP-AS-...-M3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.4 Time response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4.1 STO basic time response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4.2 Time response of activation of STO in operation with restart. . . . . . . . . . . . . . 19
3.4.3 Time response of activation of SS1 in operation with restart. . . . . . . . . . . . . . 21
4 Assembly and installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 Mounting/removal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 Electrical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2.1 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2.2 Connection [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2.3 Minimum wiring for initial start-up [X40]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3 Sample circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3.1 Safe Torque Off (STO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3.2 Deceleration and Safe Torque Off (SS1, "Safe Stop 1"). . . . . . . . . . . . . . . . . . 27

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5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.1 Prior to commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 DIL switch setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.3 Parameterisation with FCT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.3.1 Setting the configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.3.2 Apply module and status display of the module. . . . . . . . . . . . . . . . . . . . . . . . 31
5.3.3 Display permanent diagnostic memory of the motor controller. . . . . . . . . . . . 32
5.4 Function test, validation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6Operation and use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.1 Obligations of the operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.2 Maintenance and care. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.3 Protective functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.3.1 Voltage monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.3.2 Overvoltage and reverse polarity protection. . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.4 Diagnostics and fault clearance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.4.1 Status display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.4.2 Error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7 Modification and module replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.1 Replacement of the safety module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.1.1 Repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.1.2 Disassembly and installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.2 Decommissioning and disposal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3 Replacement of the previous CMMP-AS series with the CMMP-AS-…-M3. . . . . . . . . . . . 41
8Technical appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.1 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.1.1 Safety engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.1.2 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8.1.3 Operating and environmental conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.4 Electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

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About this document
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1 About this document
Notes regarding this documentation
This documentation is intended to ensure that operators can work safely with the safety function STO
– "Safe Torque Off" in accordance with EN 61800-5-2 by using the safety module CAMC-G-S1 for the
motor controller CMMP-AS-...-M3.
–In addition, always observe the general safety regulations for the motor controller CMMP-AS-...-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the hardware documentation,
GDCP-CMMP-M3-HW-... è Tab. 6 Documentation for the motor controller CMMP-AS-...-M3.
Observe the information regarding safety and the requirements for product use in è 2.2 Requirements
for product use.
Product identification
This documentation refers to the following versions:
• Safety module CAMC-G-S1, from revision 03.
• Motor controller CMMP-AS-…-M3, firmware from version 4.0.1501.1.1.
• FCT plug-in CMMP-AS from version 2.3.x.
Rating plate (example) Meaning
Order reference CAMC-G-S1
Part number 1501330
Production date XX
Serial number #nnnnn
Revision status Rev XX
Tab. 1: Rating plate CAMC-G-S1
Service
Please consult your regional Festo contact if you have any technical problems.
Specified standards/directives
Version
EN 61800-5-1:2007 + A1:2017 EN ISO 12100-1:2010
EN 61800-5-2:2007 EN ISO 13849-1:2015
EN 60204-1:2006 + A1:2009 + AC:2010 IEC 61131-2:2007
EN 62061:2005 + AC:2010 + A1:2013 + A2:2015 IEC 61508-1/.../-7:2010
Tab. 2: Standards/directives specified in the document

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About this document
Manufacturing period
The first 2 characters of the serial number on the rating plate indicate the manufacturing period in
encrypted form è Tab. 1 Rating plate CAMC-G-S1. The letter specifies the manufacturing year and the
character after it (number or letter) indicates the manufacturing month.
Manufacturing year
X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015
H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022
R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029
Tab. 3: Year of manufacture (20-year cycle)
Manufacturing month
1 January 2 February
3 March 4 April
5 May 6 June
7 July 8 August
9 September O October
N November D December
Tab. 4: Manufacturing month
Type codes
Type CAMC-G-S1
CAMC Electric plug-in cards
G Safety module
S1 Safe torque off
Tab. 5: Type codes
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation for the motor controller CMMP-AS-...-M3
Name, type Table of contents
Hardware manual,
GDCP-CMMP-M3-HW-...
Assembly and installation of motor controller CMMP-AS-...-M3
for all variants/performance classes (1-phase, 3-phase), pin
allocations, error messages, maintenance.
Functions manual,
GDCP-CMMP-M3-FW-...
Functional description (firmware) CMMP-AS-...-M3, notes for
commissioning.

Festo — CAMC-G-S1 — 2022-07d
About this document
7
User documentation for the motor controller CMMP-AS-...-M3
Name, type Table of contents
FHPP manual,
GDCP-CMMP-M3/-M0-C-HP-...
Control and parameterisation of the motor controller via the
Festo FHPP profile.
–Motor controller CMMP-AS-...-M3 with the following field-
buses: CANopen, PROFINET, PROFIBUS, EtherNet/IP, DEVI-
CENET, EtherCAT.
–Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
CiA 402 (DS 402) manual,
GDCP-CMMP-M3/-M0-C-CO-...
Control and parameterisation of the motor controller via the
device profile CiA 402 (DS 402)
–Motor controller CMMP-AS-...-M3 with the following field-
buses: CANopen and EtherCAT.
–Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
CAM Editor manual,
P.BE-CMMP-CAM-SW-...
Cam disc functions (CAM) of the motor controller CMMP-
AS-...-M3/-M0.
Safety module manual,
GDCP-CAMC-G-S1-...
Functional safety engineering for the motor controller with the
STO safety function.
Safety module manual,
GDCP-CAMC-G-S3-...
Functional safety engineering for the motor controller with the
STO, SS1, SS2, SOS, SBC, SLS, SSR, SSM safety functions.
Help for the FCT CMMP-AS plug-in User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool è www.festo.com/sp.
Tab. 6: Documentation for the motor controller CMMP-AS-...-M3

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Safety and requirements for product use
2 Safety and requirements for product use
2.1 Safety
2.1.1 General safety instructions
–Also always observe the general safety regulations for the motor controller CMMP-AS-...-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the hardware documentation,
GDCP-CMMP-M3-HW-... è Tab. 6 Documentation for the motor controller CMMP-AS-...-M3.
NOTICE
Failure of the safety function!
The safety functions might fail if you do not comply with the parameters required for the surroundings
and connections.
• Observe the specified environmental and connection conditions, in particular the input voltage
tolerances è 8.1 Technical data.
NOTICE
Incorrect handling may damage the safety module or motor controller.
Incorrect handling may cause damage.
• Switch off the power supply before mounting and installation work. Do not switch on the supply
voltages until mounting and installation work is completely finished.
•Never unplug or plug the module from/into the motor controller when powered!
•Observe the handling specifications for electrostatically sensitive devices.
2.1.2 Intended use
The safety module CAMC-G-S1 is an extension of the motor controller CMMP-AS-...-M3 for implemen-
tation of the safety function:
–Safe Torque Off (STO) with SIL 3 in accordance with EN 61800-5-2/EN 62061/IEC 61508 and/or
category 4/PL e in accordance with EN ISO 13849-1.
The motor controller CMMP-AS-...-M3 with safety module CAMC-G-S1 is a product with safety-related
functions and intended for installation in machines or automation systems and to be used as follows:
–in excellent technical condition,
–in its original condition, without unauthorised modifications,
–within the limits of the product defined by the technical data è 8.1 Technical data,
–in an industrial environment.
The safety module CAMC-G-S1 can be operated in all motor controllers CMMP-AS-...-M3 that have the
Ext3 slot for safety engineering. It cannot be plugged into one of the Ext1 or Ext2 slots for interfaces.
NOTICE
In the event of damage caused by unauthorised manipulation or use other than the intended use, the
guarantee will be invalidated and the manufacturer will not be liable for damages.
2.1.3 Foreseeable misuse
The following are examples of foreseeable misuse and are not approved as intended use:
–use in a device other than the CMMP-AS-…-M3,
–use outdoors,

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Safety and requirements for product use
9
–use in non-industrial areas (residential areas),
–use in applications where switching off can result in hazardous movements or conditions.
NOTICE
• The STO function must not be used as the sole safety function for drives subject to permanent
torque (e.g. suspended loads).
• Safety devices must not be bypassed.
• Repairs on the module are prohibited!
The STO (Safe Torque Off) function does not provide protection against electric shock, only against
dangerous movements!
è Hardware documentation, GDCP-CMMP-M3-HW-...
2.1.4 Achievable safety level, safety function in accordance with EN ISO 13849-1/EN 61800-5-2
The safety module fulfils the requirements for
–category 4/PL e in accordance with EN ISO 13849-1,
–SIL CL 3 in accordance with EN 62061,
and can be used in applications up to cat. 4/PL e in accordance with EN ISO 13849-1 and SIL 3 in
accordance with EN 61800-5-2/EN 62061/IEC 61508.
The achievable safety level depends on the other components used to implement a safety function.
2.2 Requirements for product use
–Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
–Make sure that the specifications in the documentation are observed at all times. When so doing,
also take into account the documentation for the other components and modules (e.g. motor
controller, cables etc.).
–Take into account the legal regulations applicable for the location as well as:
–instructions and standards,
–regulations of testing organisations and insurers,
–national specifications.
–If the safety function is required, protection against automatic restart in accordance with the
required category must be installed. For example, an external safety relay unit can be used.
2.2.1 Technical prerequisites
General information on correct and safe use of the product, which must be observed at all times:
–Observe the connection and ambient conditions of the safety module (è 8.1 Technical data), the
motor controller and all connected components as specified in the technical data.
Only compliance with the limit values and/or load limits will enable operation of the product in
accordance with the relevant safety directives.
–Observe the notes and warnings in this documentation.
2.2.2 Qualification of the specialist technicians (requirements for staff)
The device may only be set into operation by a qualified electrical technician who is familiar with:

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Safety and requirements for product use
–the installation and operation of electrical control systems,
–the applicable instructions for operating safety engineering systems,
–the applicable instructions for accident prevention and occupational safety and
–the documentation for the product.
2.2.3 Diagnostic coverage (DC)
Diagnostic coverage depends on the integration of the motor controller with the safety module into
the control loop system as well as the implemented diagnostics measures è 6.4 Diagnostics and fault
clearance.
If a potentially dangerous malfunction is recognised during diagnostics, appropriate measures must
be taken to maintain the safety level.
NOTICE
Check whether detection of shorts across contacts of the input circuit and the connection wiring is
required in your application.
If necessary, use a safety relay unit with detection of shorts across contacts to control the safety
module.
2.2.4 Range of application and approvals
The motor controller with integrated safety module is a safety device. For details of the safety-oriented
standards and test values that the product complies with and fulfils, see è 8.1 Technical data.
The product-relevant directives are listed in the declaration of conformity è www.festo.com/sp.
Product conformity
in accordance with EU EMC Directive
in accordance with EU Machinery Directive
in accordance with EU RoHS Directive
to UK EMC Regulations
to UK Supply of Machinery Regulations
to UK RoHS Regulations
Tab. 7: Product conformity