Festo CAMC-G-S3 User manual

CAMC-G-S3
Description
Safety functions
– STO,
– SS1,
– SS2,
– SOS,
– SBC,
– SLS,
– SSR,
– SSM
in accordance with
EN 61800-5-2
for motor controller
CMMP-AS-...-M3
759296
1406NH
Safety module

CAMC-G-S3
2 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
Translation of the original instructions
GDCP-CAMC-G-S3-EN
Heidenhain®, EnDat®, PHOENIX®are registered trademarks of the respective trademark owners in
certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
 Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.

CAMC-G-S3
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 3
Table of Contents – CAMC-G-S3
1 Safety and requirements for product use 13......................................
1.1 Safety 13..................................................................
1.1.1 General safety information 13..........................................
1.1.2 Intended use 13.....................................................
1.1.3 Foreseeable misuse 14...............................................
1.1.4 Achievable safety level,
safety function in accordance with EN ISO 13849-1 / EN 61800-5-2 15.........
1.2 Requirements for product use 16...............................................
1.2.1 Technical prerequisites 16............................................
1.2.2 Qualification of the specialised personnel (personnel requirements) 16........
1.2.3 Diagnostic coverage (DC) 16...........................................
1.2.4 Range of application and certifications 17................................
2 Product description of safety module CAMC-G-S3 18...............................
2.1 Product overview 18.........................................................
2.1.1 Purpose 18........................................................
2.1.2 Performance characteristics 18........................................
2.1.3 Supported devices 19................................................
2.1.4 Operating elements and connections 20.................................
2.1.5 Scope of delivery 20.................................................
2.2 Function and application 21....................................................
2.2.1 System overview 21.................................................
2.2.2 Circuitry of the safety module [X40] 23...................................
2.2.3 Overview of the supported safety functions 25............................
2.2.4 Functional diagram of the safety module 26..............................
2.2.5 Overview of supported position encoders 30..............................
2.2.6 Data exchange and control of the motor controller 33.......................
2.2.7 Configuration of the safety functions with the SafetyTool 36.................
2.3 Data transfer from the motor controller 37........................................
2.3.1 Basic information 38.................................................
2.3.2 Configuration of the encoders 40.......................................
2.3.3 Parameters for the position encoder 41..................................
2.3.4 Parameter for encoder monitoring and rotational speed measuring 43.........
2.3.5 List of all parameters for encoder configuration 46.........................
2.4 Digital inputs 48.............................................................
2.4.1 Overview 48........................................................
2.4.2 Two-channel safe inputs DIN40 … DIN43 [X40] 53..........................
2.4.3 Single-channel (partially-safe) digital inputs DIN44 … DIN49 [X40] 59..........

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2.5 Safety functions 63..........................................................
2.5.1 STO – Safe Torque Off 66..............................................
2.5.2 SBC – Safe Brake Control 69...........................................
2.5.3 SS1 – Safe Stop 1 77.................................................
2.5.4 SS2 – Safe Stop 2 84.................................................
2.5.5 SOS – Safe Operating Stop 91.........................................
2.5.6 USF – Universal safety functions 95.....................................
2.5.7 SSF – Safe speed functions 95.........................................
2.5.8 SLS – Safely-Limited Speed 103.........................................
2.5.9 SSR – Safe Speed Range 104...........................................
2.5.10 SSM – Safe Speed Monitor 105.........................................
2.6 Logic functions 106...........................................................
2.6.1 Mode selector switch 106..............................................
2.6.2 Two-handed control device 108.........................................
2.6.3 Advanced Logic Functions – ALF 110......................................
2.7 Restart 111..................................................................
2.7.1 Function range 111...................................................
2.7.2 Examples and special notes on implementation 112.........................
2.8 Error management and error acknowledgment 114..................................
2.8.1 Triggering errors and error classes 114....................................
2.8.2 Parameterisation of the error response of the safety module 117..............
2.8.3 Logic for error acknowledgment 118.....................................
2.9 Digital outputs 120...........................................................
2.9.1 Two-channel safe outputs DOUT40 … DOUT42 [X40] 120.....................
2.9.2 Internal brake control of the motor controller [X6] 124.......................
2.9.3 Signal contact C1, C2 [X40] 127.........................................
2.9.4 Auxiliary supply +24 V [X40] 129.........................................
2.10 Operating status and status displays 130..........................................
2.10.1 Statuses of the system / finite state machine 130...........................
2.10.2 Status display on the safety module 134..................................
2.10.3 7-segment display of the motor controller 135.............................
2.11 Permanent and temporary diagnostic memory in the motor controller 135................
2.12 Runtime performance 137......................................................
2.12.1 Sampling times 137...................................................
2.12.2 Reaction time on request of a safety function 137...........................
2.12.3 Reaction time on violation of a safety function 139..........................
2.12.4 Other times for error detection and communication 141......................
2.13 DIL switches 141.............................................................

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3 Mounting and installation 142..................................................
3.1 Mounting / removing 142.......................................................
3.2 Electrical installation 144.......................................................
3.2.1 Safety instructions 144................................................
3.2.2 Functional earth 145..................................................
3.2.3 Connection [X40] 145.................................................
3.2.4 Minimum wiring for commissioning [X40] 147..............................
3.3 Sample circuits 148...........................................................
3.3.1 Safety request via devices with switch contacts 149.........................
3.3.2 Safety request via devices with semi-conductor outputs 150..................
3.3.3 Safety request via a safety switching device 151............................
3.3.4 Linking of multiple CMMP-AS-…-M3 with CAMC-G-S3 153.....................
3.3.5 Activating a clamping unit 155..........................................
3.3.6 Activating a 2-channel clamping unit 156..................................
3.3.7 Connection of encoders for dynamic safety functions 157.....................
3.3.8 Activation of a 2-channel valve control block with safety functions 158..........
4 Commissioning 161...........................................................
4.1 Prior to commissioning 162.....................................................
4.2 DIP switch settings 162........................................................
4.3 Notes on parameterisation with the FCT plug-in CMMP-AS 163.........................
4.3.1 Setting the configuration 163...........................................
4.3.2 Setting the encoder configuration 163....................................
4.3.3 Specifying the units of measurement (optional) 164.........................
4.3.4 Accepting the safety module 164........................................
4.3.5 Status display 165....................................................
4.3.6 Display permanent diagnostic memory of the motor controller 165.............
4.4 Basic principles of parameterisation of the safety module 168.........................
4.4.1 Factory setting 168...................................................
4.4.2 Delivery status 170...................................................
4.4.3 FCT PlugIn CMMP-AS and SafetyTool 170..................................
4.5 Safe parameterisation with the SafetyTool 171.....................................
4.5.1 Starting the program 171..............................................
4.5.2 Selection of the session types - Configuration wizard 171.....................
4.5.3 Online parameterisation 172...........................................
4.5.4 Offline parameterisation 174...........................................
4.5.5 Basic rules for parameterisation with the SafetyTool 175.....................
4.5.6 Behaviour in case of invalid parameterisation 178...........................
4.5.7 Parameter set version 178.............................................

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4.6 Sequence of parameterisation with the SafetyTool (example) 179......................
4.6.1 Selection of the session variant in the Wizard 180...........................
4.6.2 Data transfer and synchronisation 181....................................
4.6.3 Starting parameterisation 183..........................................
4.6.4 Checking the data transfer 184..........................................
4.6.5 Basic information 184.................................................
4.6.6 Encoder configuration 184.............................................
4.6.7 Configuring digital inputs 185...........................................
4.6.8 Selection and parameterisation of the safety functions 186...................
4.6.9 Logic functions 190...................................................
4.6.10 Logic error acknowledgment 191........................................
4.6.11 Digital outputs 191...................................................
4.6.12 Error management 191................................................
4.6.13 Finishing parameterisation 191.........................................
4.7 Special functions of the SafetyTool 193...........................................
4.7.1 Changing a password 193..............................................
4.7.2 Setting the factory settings 193.........................................
4.7.3 Plausibility check 193.................................................
4.7.4 Overview of parameters 194............................................
4.7.5 Diagnostic fault 195..................................................
4.8 Performance test, validation 197.................................................
5 Operation 200...............................................................
5.1 Obligations of the operator 200.................................................
5.2 Maintenance and care 200......................................................
5.3 Protective functions 200.......................................................
5.3.1 Supply - Overvoltage and reverse polarity protection voltage monitoring 200.....
5.3.2 Power supply for the internal electronics 200..............................
5.3.3 Fail-safe mode power supply 201........................................
5.3.4 Protective functions for the digital outputs 201.............................
5.3.5 Protective functions for the digital inputs 201..............................
5.3.6 Protective functions for the brake activation 201............................
5.3.7 Protective functions of the supply for driver activation 202....................
5.3.8 Protective function for the connected position encoder 202...................
5.3.9 Internal protective function of the electronics on the safety module 202.........
5.3.10 Monitoring compliance with the requested safety functions 203...............
5.4 Diagnostics and fault clearance 204..............................................
5.4.1 LED indicator on the safety module 204...................................
5.4.2 7-segment display of the motor controller 205.............................
5.5 Error messages and error handling 207............................................
5.5.1 Error numbers 207....................................................
5.5.2 Error acknowledgment 207.............................................
5.5.3 Diagnostic messages 208..............................................
5.6 Diagnostic messages with instructions for fault clearance 209.........................

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6 Service, repair, replacement, waste management 226...............................
6.1 Service 226.................................................................
6.2 Repair 226..................................................................
6.3 Replacement of the safety module 226............................................
6.3.1 Disassembly and installation 227........................................
6.3.2 Accepting safety module 227...........................................
6.3.3 Recommissioning with the SafetyTool 227.................................
6.4 De-commissioning and disposal 228..............................................
A Technical appendix 229........................................................
A.1 Technical data 229............................................................
A.1.1 Safety engineering 229................................................
A.1.2 General 230.........................................................
A.1.3 Operating and ambient conditions 231....................................
A.1.4 Digital inputs DIN40A/B to DIN43A/B and DIN44 to DIN49 [X40] 233...........
A.1.5 Digital outputs DOUT40A/B to DOUT42A/B [X40] 234.......................
A.1.6 Signal contact C1/C2 [X40] 235.........................................
A.1.7 24 V auxiliary voltage [X40] 235.........................................
A.1.8 Version of the connecting cable [X40] 236.................................
A.1.9 Digital output for a holding brake on the basic unit [X6] 236...................
A.2 Safety data 238..............................................................
A.2.1 Safety functions 238..................................................
A.2.2 Digital inputs 239....................................................
A.2.3 Encoder systems 241.................................................
A.2.4 Digital outputs 258...................................................
A.3 System precision and reaction time 260...........................................
A.3.1 Accuracy of position monitoring (SOS) from the point of view of the application 261
A.3.2 Accuracy of speed monitoring (SLS, SSR)
from the point of view of the application 262...............................
A.3.3 Specification of the relevant parameters for Safe Speed Function (with SLS, SSR) ....
263
A.3.4 Requirements for encoder errors from the point of view of the application 264....
A.3.5 Vector length monitoring of analogue encoder signals (resolver, SIN/COS encoder) . .
267
A.3.6 Impact of an angle error within the error limits of
vector length monitoring on the speed signal 270...........................
A.3.7 Basis for observation of system accuracy 272..............................
A.4 Status messages, diagnostics via fieldbus 274......................................
A.4.1 Output of status messages via the digital outputs of the basic unit 274..........
A.4.2 Status signals via fieldbus – protocol CiA 402 275...........................
A.4.3 Status signals via fieldbus – protocol FHPP 279.............................

CAMC-G-S3
8 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
A.5 Recording trace data - “Trace” 282...............................................
A.5.1 Overview 282........................................................
A.5.2 Configure 282.......................................................
A.5.3 Start trace 284......................................................
A.5.4 Example 284........................................................
B Reference list for control signals and parameters 286...............................
B.1 List of all logic signals 286......................................................
B.1.1 Logical inputs LIN 286.................................................
B.1.2 Virtual inputs VIN 289.................................................
B.1.3 Virtual outputs VOUT 290..............................................
B.1.4 Logical outputs LOUT 292..............................................
B.1.5 Status words for the data exchange / diagnostics via fieldbuses 293............
B.2 List of additional parameters 295................................................
B.3 List of important communication objects in the basic unit 302.........................
C Glossary 305................................................................
C.1 Safety terms and abbreviations 305..............................................
C.2 Terms for the SafetyTool and for safe parameterisation 307...........................

CAMC-G-S3
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 9
Notes on this documentation
This documentation is intended to help you safely work with the safety functions
– STO – Safe Torque Off
– SS1 – Safe Stop 1
– SS2 – Safe Stop 2
– SOS – Safe Operating Stop
– SLS – Safely-Limited Speed
– SSR – Safe Speed Range
– SSM – Safe Speed Monitor
– SBC – Safe Brake Control
in accordance with EN 61800-5-2 through the usage of the safety module CAMC-G-S3 for the motor
controller CMMP-AS-...-M3.
 In addition, always observe the general safety regulations for the CMMP-AS-…-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the hardware
description “Mounting and installation”, GDCP-CMMP-M3-HW-... èTab. 3.
Observe the information regarding safety and on the requirements for product use in
Section 1.2.
Product identification
This documentation refers to the following versions:
– Safety module CAMC-G-S3, from revision 01 (overall revision 1.1)
– Motor controller CMMP-AS-...-M3 with firmware from version 4.0.1501.2.1 and hard
ware version from 6.0 (CMMP-AS-C2-3A-M3, CMMP-AS-C5-3A-M3) or from 4.1
(CMMP-AS-C5-11A-P3-M3, CMMP-AS-C10-11A-P3-M3)
– FCT PlugIn CMMP-AS from version 2.4.x.x with SafetyTool from version 1.0.x.x
These are the first available of supported versions. In the case of more versions or the
replacement of the safety module, check whether the versions are compatible
èsee documentation of the appropriate version used.
Rating plate (example) Function
CAMC-G-S3
1501331 XX
P0012345
Rev XX
ESD
1
23 4
5
[XX]
1Order code (type designation)
2Part number1)
3Two-digit code for unique identification of the
production date2)
4Module revision (overall revision, i.e. combina
tion of hardware and firmware states)
5Continuous serial number2)
1) Part number of the safety module CAMC-G-S3
2) Permits traceability of the product
Tab. 1 Rating plate CAMC-G-S3

CAMC-G-S3
10 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
Service
Please consult your regional Festo contact if you have any technical problems.
Issue status of the specified standards
Standard: Issue status
EN 50178:1997 EN ISO 13849-1:2008
EN 61326-3-1:2008 EN ISO 13849-2:2012
EN 61800-3:2004 + A1:2012 EN 62061:2005
EN 61800-5-1:2007 EN 61508-1 to -7:2010
EN 61800-5-2:2007
Tab. 2 Issue statuses

CAMC-G-S3
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 11
Documentation
You will find information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type Table of contents
Hardware description,
GDCP-CMMP-M3-HW-...
Assembly and installation of the motor controller CMMP-
AS-...-M3 for all variants/output classes (1-phase, 3-phase), pin
allocations, error messages, maintenance.
Function descriptions,
GDCP-CMMP-M3-FW-...
Functional description (firmware) CMMP-AS-...-M3, Instructions
on commissioning.
Description FHPP,
GDCP-CMMP-M3/-M0-C-HP-...
Control and parameterisation of the motor controller via the
FHPP Festo profile.
– Motor controller CMMP-AS-...-M3 with the following field
busses: CANopen, PROFINET, PROFIBUS, EtherNet/IP, Devi
ceNet, EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
Description CiA 402 (DS 402),
GDCP-CMMP-M3/-M0-C-CO-...
Control and parameterisation of the motor controller via the
device profile CiA 402 (DS402)
– Motor controller CMMP-AS-...-M3 with the following field
busses: CANopen and EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
Description of CAM Editor,
P.BE-CMMP-CAM-SW-...
Cam disc function (CAM) of the motor controller CMMP-
AS-...-M3/-M0.
Description of safety module,
GDCP-CAMC-G-S1-...
Functional safety engineering for the motor controller CMMP-
AS-...-M3 with the safety function STO.
Description of safety module,
GDCP-CAMC-G-S3-...
Functional safety engineering for the motor controller CMMP-
AS-...-M3 with the safety functions STO, SS1, SS2, SOS, SLS,
SSR, SSM, SBC.
Description for exchange and pro
ject conversion
GDCP-CMMP-M3-RP-...
Motor controller CMMP-AS-...-M3 as a replacement device for
previous motor controller CMMP-AS. Changes to the electrical
installation and description of project conversion.
Help for the FCT PlugIn CMMP-AS User interface and functions of the CMMP-AS PlugIn for the
Festo Configuration Tool.
èwww.festo.com
SafetyTool Help User interface and functions of the SafetyTools for paramet
erisation of the safety module CAMC-G-S3.
Tab. 3 Documentation on the motor controller CMMP-AS-...-M3
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: èwww.festo.com/sp

CAMC-G-S3
12 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
Safety engineering system symbols used
Inputs and outputs
Input, two-channel Output, two-channel
Output, single-channel Relay output
Sensor types
Mode selector switch Start button
Holding brake Exit safety function (restart)
Light curtain Door lock/safety guard
Emergency stop switches Enabling buttons
Acknowledgment Two-hand control device
Reliable reference switch Position encoder
Safety functions
STO – Safe Torque Off USF – Universal safety function
SS1 – Safe stop 1 SLS – Safely-Limited Speed
SS1 – Safe stop 2 SSR – Safe Speed Range
SOS – Safe Operating Stop SSM – Safe Speed Monitor
SBC – Safe Brake Control ALF – Advanced Logic Function, not
a safety function
(Advanced Logic Function)
Tab. 4 Safety engineering systems symbols

1 Safety and requirements for product use
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 13
1 Safety and requirements for product use
1.1 Safety
1.1.1 General safety information
 In addition, always observe the general safety regulations for the CMMP-AS-…-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the hardware
description, GDCP-CMMP-M3-HW-..., èTab. 3, page 11 .
Please note
Failure of the safety function.
The safety functions might fail if you do not comply with the parameters and conditions
required for the surroundings and connections.
 In particular, you must provide input voltages within the specified tolerances
èTechnical data, Appendix A.1.
Please note
Incorrect handling can damage the safety module or motor controller.
 Switch off the supply voltage before mounting and installation work. Switch on the
supply voltage only when mounting and installation work are completely finished.
 Never unplug the safety module from, or plug it into the motor controller when
powered!
 Observe the specifications for handling electrostatically sensitive devices.
1.1.2 Intended use
The safety module CAMC-G-S3 serves as an expansion of the motor controller CMMP-AS-...-M3 to im
plement the safety function:
– STO – Safe Torque Off
– SS1 – Safe Stop 1
– SS2 – Safe Stop 2
– SOS – Safe Operating Stop
– SLS – Safely-Limited Speed
– SSR – Safe Speed Range
– SSM – Safe Speed Monitor
– SBC – Safe Brake Control

1 Safety and requirements for product use
14 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
When suitable position transmitters are used and with suitable activation of the safety module, the
requirements are fulfilled in accordance with EN 61800-5-2 up to and including SIL3 and in accordance
with EN ISO 13849-1 up to and including Category 4 / PL e.
Depending on the encoders used for position recording, it is possible that only SIL2 is implemented
èSection 1.1.4.
The motor controller CMMP-AS-...-M3 with safety module CAMC-G-S3 is a product with safety-relevant
functions and is intended for installation in machines or automation systems. Use it only:
– in excellent technical condition,
– in its original state without unauthorised modifications,
– within the product's limits as defined by the technical data èAppendix A.1,
– in an industrial environment.
The safety module CAMC-G-S3 can be operated in all motor controllers CMMP-AS-...-M3 that have an
Ext3 slot for safety equipment. It cannot be plugged into one of the Ext1 or Ext2 slots for interfaces.
Please note
In the event of damage caused by unauthorised manipulation or improper use, the guar
antee is invalidated and the manufacturer is not liable for damages.
1.1.3 Foreseeable misuse
The following misuses are among those not approved as intended use:
– use in a device other than the CMMP-AS-…-M3,
– use outdoors,
– use in non-industrial areas (residential areas),
– use outside the limits of the product defined in the technical data,
– unauthorised modifications.
Please note
– The STO function must not be used as the sole safety function for drives subject to
permanent torque (e.g. suspended loads). Take this into account through the use of
suitable measures, e. g. a clamping unit.
– Bypassing of safety equipment is not allowed.
– Repairs to the safety module are not allowed! A professional replacement of the
safety module is permissible.
The STO (Safe Torque Off ) function does not provide protection from electric shock, only
from hazardous movements! The drive is not disconnected from the power supply as is
required for electrical safety èhardware description, GDCP-CMMP-M3-HW-...

1 Safety and requirements for product use
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 15
1.1.4 Achievable safety level,
safety function in accordance with EN ISO 13849-1 / EN 61800-5-2
The safety module fulfills the basic test requirements
– 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 up to SIL 3 in
accordance with EN 62061 / IEC 61508.
The achievable safety level depends on the other components used to implement a safety function.
Motor
controller Safety module
Inputs/out
puts
Encoder 1
Encoder 2
CAMC-G-S3:
Cat. 4 / PL e, SIL 3
Peripheral:
Cat. ... / PL ..., SIL ... èAppendix A.2
Fig. 1.1 Safety level CAMC-G-S3 and complete system
Take into account the approved combinations of position encoders along with the corres
ponding notes èSection 2.2.5, Tab. 2.7.
You can find information on the characteristic safety values, which can be implemented
with the corresponding peripherals, for the different safety functions in èAppendix A.2

1 Safety and requirements for product use
16 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
1.2 Requirements for product use
 Make the complete documentation available to the design engineer, installation technician and
personnel responsible for commissioning the machine or system in which this product is used.
 Make sure that the specifications of the documentation are always complied with. When so doing,
also take into account the documentation for the other components and modules (e. g. motor con
troller, circuits etc.).
 Take into consideration the legal regulations applicable at the installation site, as well as:
– regulations and standards,
– regulations of the testing organisations and insurers,
– national specifications.
 The safety module fulfils the requirements of EN 61800-5-2. Additional regulations, standards and
directives apply to the other safety devices used in the machine and their use, and must also be
taken into account.
 For emergency stop applications, protection from automatic restart corresponding to the required
category must be planned. This can be achieved, for example, with an external safety switching
device or suitable parameterisation of the safety module CAMC-G-S3 èSection 2.7.
1.2.1 Technical prerequisites
General information for the correct and safe use of the product, which must be observed at all times:
 Comply with the connection and environmental conditions of the safety module (èappendix A.1),
the motor controller and all connected components.
The product can only be operated in compliance with the relevant safety regulations if you comply
with the limit values and load limits.
 Observe the instructions and warnings in this documentation.
1.2.2 Qualification of the specialised personnel (personnel requirements)
The device may only be set into operation by a qualified electrical technician who is familiar with:
– how to install and operate electrical control systems,
– the applicable regulations for operating safety-engineered systems,
– the applicable regulations for accident protection and operational reliability, and
– the documentation for the product.
1.2.3 Diagnostic coverage (DC)
Diagnostic coverage depends on the integration of the motor controller with safety module into the
control loop system, the motors/position encoders used, as well as the implemented diagnostic
measures.

1 Safety and requirements for product use
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 17
If a malfunction is detected during the diagnostics, appropriate measures must be taken to maintain
the safety level.
Please note
The reaction of the safety module to detected faults can be parameterised accordingly,
e.g. activate the safety functions SS1 and SBC if there is a cross-circuit of safe input
signals.
Please note
Check whether cross-circuit detection of the input circle and the connection wiring is
required in your application.
If needed, use a safety switching device with cross-circuit detection to activate the
safety module or use the safe outputs of the safety module for the supply of passive
switching devices together with the corresponding monitoring functions of the safe
inputs.
1.2.4 Range of application and certifications
The motor controller with built-in safety module is a safety device in accordance with the EC Machinery
Directive 2006/42/EC; the motor controller has the CE logo.
Safety-orientated standards and test values, which the product must comply with and fulfil, can be
found in the section “Technical data” èAppendix A.1. The product-relevant EC directives and stand
ards can be found in the declaration of conformity.
Certificates and declaration of conformity on this product can be found at
èwww.festo.com/sp.

2 Product description of safety module CAMC-G-S3
18 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
2 Product description of safety module CAMC-G-S3
2.1 Product overview
2.1.1 Purpose
As processes become increasingly automated, protecting people from potentially hazardous move
ments is gaining in importance. Functional safety refers to measures required of electrical or electronic
equipment to reduce or eliminate malfunction-induced dangers. In normal operation, protective
devices prevent human access to hazardous areas. In certain operating modes, during set-up, for ex
ample, people need to be in hazardous areas. In such situations, the machine operator must be protec
ted by drive and internal control measures.
The functional safety engineering integrated with the safety module CAMC-G-S3 in the motor controller
CMMP-AS-...-M3 meets the requirements of the controller and drive for optimised implementation of
protective functions. Planning and installation complexity are reduced. The use of integrated functional
safety engineering produces extended machine functionality and better availability over the levels
achieved by conventional safety engineering.
The motor controllers of the CMMP-AS-...-M3 series can be equipped with plug-in modules for integ
rated functional safety technology. The following modules are available:
Type Description
CAMC-DS-M1 Micro switch module with DIL switches, no safety functions.
CAMC-G-S1 Safety module with DIP switches and STO function.
CAMC-G-S3 Safety module with the STO, SS1, SS2, SOS, SBC, SLS, SSR, SSM functions and
DIP switches.
Tab. 2.1 Overview of the safety and micro switch modules for the CMMP-AS-...-M3
2.1.2 Performance characteristics
The safety module CAMC-G-S3 has the following performance characteristics:
– Implementation of one or more of the safety functions:
– STO – Safe Torque Off
– SS1 – Safe Stop 1
– SS2 – Safe Stop 2
– SOS – Safe Operating Stop
– SLS – Safely-Limited Speed
– SSR – Safe Speed Range
– SSM – Safe Speed Monitor
– SBC – Safe Brake Control
– two-channel and single-channel inputs to request the safety function.
– two-channel safe outputs to control additional safety elements and functions.
– potential-free acknowledgement contact for the operating status.

2 Product description of safety module CAMC-G-S3
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 19
– design as a module that can be plugged in from the outside thus enabling retrofits.
This functional safety engineering integrated in the motor controller allows:
– shortest reaction times through more rapid detection of possibly hazardous statuses.
– comprehensive detection of hazards through rapid, direct access to a wide range of signals and
measured variables in the motor controller.
– analysis of a wide range of position transmitters, such as resolvers, SIN/COS encoders, Hiperface
encoders, and also the analysis of position transmitters with purely serial protocols (ENDAT 2.2,
BISS, etc.)
– if necessary, rapid, direct manipulation of the setpoints / control system of the drive controller. An
axle can also be safety and precisely brought to idle without action by the functional controller / PLC
or braked to a limited speed.
– Direct interaction between the sequence control in the motor controller and the safety module. In
this way, for example, the clamping unit or holding brake, after a request of the SBC safety function
and the subsequent restart, is only opened when the motor controller is actively controlling the
position. This avoids “dropping” of vertical axles and there is no need to program a sequence in the
function controller.
2.1.3 Supported devices
The safety module CAMC-G-S3 can only be used in motor controllers in conformity with section 1.1.2.
The motor controllers CMMP-AS-...-M3 are delivered without a safety or micro switch module in slot
Ext3 for safety modules.
The use of safety module CAMC-G-S3 enables the safety functions described in this documentation for the
integrated functional safety of safety-relevant motion monitoring and motion control to be expanded.
If no safety functions are required, the switch module CAMC-DS-M1 must be ordered and
inserted in the Ext3 slot for safety modules.

2 Product description of safety module CAMC-G-S3
20 Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
2.1.4 Operating elements and connections
The safety module CAMC-G-S3 has the following control sections, connections and display components:
5
6
2
3 4
1
Pin 13
7
Pin 24
Pin 1
Pin 12
1Motor controller CMMP-AS-...-M3 with slot
Ext3
27-segment display of the motor controller to
display the active safety function or error
messages of the safety module
3Safety module CAMC-G-S3
4I/O interface [X40A] and [X40B] to control the
safety functions
5LED for display of the operating status
(status of functional safety)
6DIP switch (activation/configuration of the
fieldbus communication in the motor controller)
7Functional earth connection (flat plug
6.3 mm)
Fig. 2.1 Control section and connections CAMC-G-S3
2.1.5 Scope of delivery
Safety module CAMC-G-S3
Safety module with mounting accessories
(2 screws with spring washer)
Module for safety functions STO, SS1, SS2, SOS,
SLS, SSR, SSM, SBC
2 plugs for I/O interface [X40A], [X40B]
(also available separately as an assortment of
plugs NEKM-C-9)
PHOENIX Mini-Combicon MC1.5_12-ST-3.81-BK
Brief description with mounting instructions German / English / Spanish / French / Italian /
Chinese
Tab. 2.2 Scope of delivery