Festo CMMO-ST-C5-1-DIOP User manual

CMMO-ST-C5-1-DIOP/DION
Festo AG & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
[phone]
www.festo.com
Brief description
Original instructions
8071645
2017-05a
[8071647]
Motor controller CMMO-ST English......................................
For all available product documentation èwww.festo.com/sp
This brief description is intended solely for initial information. The full description
of the motor controller CMMO-ST-C5-1-DIOP/DION includes the following docu
ments:
Designation Contents
Brief description
CMMO-ST-...1)
Brief equipment and functional description of the motor controller
for initial information
Manual
GDCP-CMMO-ST-EA-SY-...
Equipment and functional description of the motor controller for all
product variants
– Mounting
– Commissioning via web server/Festo Configuration Tool (FCT)
– Communication via I/O interface
– Technical data
Help system for the FCT
software
Descriptions of the Festo Configuration Tool (FCT) for
commissioning and parameterisation of:
– Configurable axis/motor combinations
– Positioning systems in Festo's Optimised Motion Series (OMS)
Description
GDCP-CMMO-ST-EA-S1-...
Use of the STO safety function (“Safe Torque Off”)
Parameter lists List with standard settings of the parameter files for positioning
systems in Festo's Optimised Motion Series (OMS)
Special documentation
CMMO-ST_SPU L1)
Requirements for operating the product in the USA and Canada in
accordance with certification by Underwriters Laboratories Inc. (UL).
1) The documentation is enclosed in printed format.
Fig. 1 Documentation on the CMMO-ST
1 Safety
 Observe the safety instructions and warnings in the documentation of the motor
controller and the documentation of the other components used.
 Before mounting and installation work: Switch off the supply voltage. Secure
against accidental reactivation. Only switch on the supply voltage again when
mounting and installation work is complete.
 Never remove or insert a plug connector when the motor controller is powered.
 Observe the handling specifications for electrostatically sensitive devices.
 Only enable the controller if the drive has been professionally installed and fully
parameterised.
 Do not perform any repairs on the motor controller. In the event of a defect:
Replace the complete motor controller.
Warning
Serious injury or damage to components as a result of collisions.
 Make sure that there are no objects in the positioning range while the system
is connected to a source of electric power.
 Make sure that nobody is in, or is able to reach into, the operating area of the
connected actuators
 Secure the danger zone through suitable safeguarding measures, e.g. guards
and warnings.
Caution
Personal injury and material damage.
Falling loads in the event of a voltage failure or disconnection of the power sup
ply when installing the drive in an inclined or vertical position.
 Secure loads through external safety measures (e.g. toothed latches or mov
able bolts).
Caution
High temperatures on the housing surfaces.
Touching the surface may cause a person to be startled and react in an uncon
trolled manner, with subsequent damages.
 Protect the motor controller to prevent accidental touching.
 Inform operating and maintenance staff about any potential hazards.
 Before touching the product, e. g. for mounting or installation: Allow the mo
tor controller to cool down to room temperature.
1.1 Intended use of the CMMO-ST
The motor controller CMMO-ST is intended for controlling the following drives with
2-phase stepper motors from Festo:
– Positioning systems in the Optimised Motion Series (OMS) with axis/motor units
from Festo
– Configured drives (rotary/linear):
– Axes from Festo e.g. EGC, DNCE, DGE
– User-defined axes
 Observe the specified standards as well as the regulations of the trade associ
ations, the German Technical Control Board (TÜV), the VDE regulations or the
relevant national regulations.
 Observe the limit values for all additional components (e.g. sensors, actuators).
Use the CMMO-ST only as follows
– in perfect technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined through the technical data
– within the specified service life of the switching elements for the safety function
– as an installed device in a control cabinet
Use outside the control cabinet is possible if all of the plug connectors are connec
ted and all unused interfaces are sealed with protective caps.
1.2 Intended use of the STO function
The STO function (“Safe Torque Off”) according to EN61800-5-2 is intended to
disconnect the torque from a motor that is connected to the CMMO-ST. The STO
function prevents an unexpected start-up of the connected motor. The STO func
tion should only be used for applications in which the specified safety characterist
ics suffice.
Safety characteristics
The STO function of the CMMO-ST fulfils the requirements for the following safety
characteristics:
– PL e/Cat. 3 according to ENISO13849-1
– SIL 3 according to EN61800-5-2
– SILCL3 according to EN62061
The achievable safety level depends on the other components used to implement
the safety function.
To protect against unintended motor start-up, the motor controller must be activ
ated via the connection [X3] with the category required for the application accord
ing to EN ISO 13849-1, e.g. via an external safety switching device.
Qualification of specialists (personnel requirements)
The product may only be placed in operation by a qualified electrotechnician who
is familiar with:
– installation and operation of electrical control systems
– the applicable regulations for operating safety-engineered systems
– the applicable regulations for accident prevention and occupational safety
– the documentation for the product
Diagnostic coverage (DC) for the safety function
Diagnostic coverage depends on the interconnection of the motor controller with
the control loop system as well as the implemented diagnostics measures.
If a potentially dangerous malfunction is recognised during the diagnostics, appro
priate measures must be taken to maintain the safety level.
Note
The motor controller cannot detect a cross circuit in the input circuit by itself.
 If required, use a safety switching device with cross-circuit detection.

1.3 Possible misuse of the STO function
The following misuses are among those not approved as intended use:
– Bridging of the STO function
– Use in applications where switching off can result in hazardous movements or
conditions.
Note
The STO function must not be used as the sole safety function for drives that are
subject to permanent torque or force (e.g. suspended loads, vertical axes).
The STO function does not provide protection against electric shock, only
against dangerous movements!
2 Requirements for product use
 Provide the complete product documentation to the following personnel:
– the design engineer and the installer of the machine or system
– the personnel responsible for commissioning
 Keep this documentation safe throughout the entire product lifecycle.
 Ensure compliance with the specifications in this documentation. Also comply
with the documentation for the other components and modules (e.g. motor
controller, circuits, etc.).
 Take into consideration all of the legal regulations that are applicable for the
installation site, as well as the following documents:
– Regulations and standards
– Regulations of the testing organisations and insurers
– national regulations.
For correct and safe use of the STO function:
 Conduct a risk assessment for your machine.
 Comply with the specified safety characteristics (èChapter 7, Technical data).
Range of applications and certifications
The motor controller with integrated STO safety function is a safety-related part of
the control systems. The motor controller carries the CE mark. Certain configura
tions of the product have been certified by Underwriters Laboratories Inc. (UL).
Certificates and the declaration of conformity relating to this product can
be found online èwww.festo.com/sp
Specified standards
Version status
ENISO13849-1:2008-06/AC:2009-03
EN 61800-5-2:2007-10
EN62061:2005-04
Fig. 2 Standards specified in the document
2.1 Transport and storage conditions
 Protect the product during transport and storage from excessive stress factors,
such as:
– Mechanical loads
– Temperatures that are too high or too low
– Moisture
– Aggressive atmospheres.
 Store and transport the product in its original packaging. The original pack
aging offers sufficient protection from typical stresses.
2.2 Technical prerequisites
For correct and safe use of the product:
 Conduct a risk assessment for your machine or system.
 Comply with the specified safety characteristics èChapter 7
 Comply with the specified connection and operating conditions for all of the
connected components èChapter 7. Only compliance with the limit values or
load limits will enable operation of the product in compliance with the relevant
safety regulations.
3 Product description
3.1 Product overview
1[X9] Load/logic voltage
2[X1] I/O interface for control
system with SPC/IPC
3Front view with 7-segment display
4[X18] Parameterisation interface,
Ethernet RJ-45
5[X1A] Reference switch
6[X3] STO
7[X2] Encoder RS422
8[X6] Motor
9Functional earth
aJ Surface for reverse side mounting
aA Surface for side mounting
1
2
3
4
56 7 8 9
aA aJ
Fig. 3 Components of the CMMO-ST
3.2 Scope of delivery
Number Component
1Motor controller CMMO-ST
1Operator package
– Brief description
– CD-ROM with following contents:
– Parameterisation software “Festo Configuration Tool” (FCT)
– Product documentation
– Parameter lists for supported positioning systems
1Assortment of plugs NEKM-C-10 with 5 plug connectors for motor, encoder, power
supply, reference switch and for switching signals of the STO function
1H-rail clip
Fig. 4 Scope of delivery
4 Mounting
Caution
Unexpected and unintended movement of the drive during mounting, installation
and maintenance work.
 Before starting work: Switch off power supplies.
 Secure the power supplies against accidental reactivation.
4.1 Mounting the controller
The controller can be mounted with an H-rail or on a flat surface.
max. 5mm
41mm
61.35mm
Fig. 5 Mounting on an H-rail
Mount the CMMO-ST on the H-rail as follows:
1. Hang the CMMO-ST over the hook of the H-rail clip and into the H-rail from
above.
2. Press the lower part of the CMMO-ST onto the H-rail until it clicks into place.
Mount the CMMO-ST on a flat surface as follows:
1Remove the H-rail
clip
2Reverse side
mounting surface
3Notches (x3) for
reverse side
mounting
4Side mounting
surface
5Recesses (x4) for
side mounting
3
4
5
1
2
Fig. 6 Mounting on a side or reverse side mounting surface

5 Electrical installation
Caution
Unexpected and unintended movement of the drive during mounting, installation
and maintenance work.
 Before starting work: Switch off power supplies. Cancelling the enable signal
on the controller is not sufficient.
 Secure the power supplies against accidental reactivation.
5.1 Connections and cables
Caution
Unexpected and unintended movement of the drive as a result of incorrectly
assembled cables.
 Only use the plug connectors provided and preferably the cables listed in the
specified accessories èwww.festo.com/catalogue.
 Lay all flexible cables so that they are free of kinks and mechanical stress; if
necessary in a drag chain. Observe the instructions for the axis and the addi
tional components.
ESD protection
At unassigned plug connectors, damage can occur to the device or to
other system parts as a result of ESD (electrostatic discharge).
 Observe the handling specifications for electrostatically sensitive
devices.
 Seal unassigned plug connectors with protective caps.
 Earth system parts prior to installation.
 Use appropriate ESD equipment (e.g. shoes, earthing straps, etc.).
The plug connectors used for connecting the motor controller are included in the
scope of delivery (assortment of plugs NEKM-C-10).
Additional accessories:
Control cable for the higher-order controller (I/O interface)
– Control cable
– 25-pin Sub-D plug
NEBC-S1G25-K-3.2-N-LE25
NEFC-S1G25-C2W25-S6
Connecting the I/O interface via a connection block
– Connection block
– Cable CMMO-ST/connection block
S1G25-C2W25-S7
NEBC-S1G25-K-...-N-S1G25
Motor and encoder cables
NEBM according to the drive configuration in various connector types and lengths
èwww.festo.com/catalogue
5.2 [X1] I/O interface
Communication with the higher-order controller (PLC/IPC) occurs via the I/O inter
face.
The switching logic of the inputs and outputs is dependent on the interface variant
of the controller:
– CMMO-ST-...-DIOP: Positive logic PNP
– CMMO-ST-...-DION: Negative logic NPN
Connection
1
114 25
13
X1
Pin 1 2 … 11 12 13 ... 22 23 24 25
Input (I) Output (A) –LOGIC
OUT1)
GND
01 02 …11 01 02 ... 11 –+24 V 0 V
1) Not overload-proof! Max. 100 mA permissible.
Fig. 7 I/O interface connection [X1]
5.3 [X1A] Reference switch
Connection Pin Function
13
13
X1A
1+24 V
LOGIC
OUT
Voltage output for supplying the reference switch.
Not overload-proof! Max. 100 mA permissible.
2SIGNAL
REF
CMMO-ST-...-DIOP:
– Input for PNP switch
– switches to +24 V
– NO/NC version
CMMO-ST-...-DION:
– Input for NPN switch
– switches to GND
– NO/NC version
3GND Reference potential (ground)
Fig. 8 Reference switch connection [X1A]
5.4 [X2] Encoder
Connection Pin Function
X2
18
18
1A 1) Incremental encoder signal A+
2A/ 1) Incremental encoder signal A–
3B 1) Incremental encoder signal B+
4B/ 1) Incremental encoder signal B–
5N 1) Incremental encoder signal zero pulse N+
6N/ 1) Incremental encoder signal zero pulse N-
75 V
(± 10 %)
Supply of the encoder.
Not overload-proof! Max. 100 mA
permissible.
80 V Reference potential
1) At each pin: 5 V and Ri = approx. 120 Ω
Fig. 9 Encoder connection [X2]
5.5 [X3] STO
The STO safety function (“Safe Torque Off”) is described in detail in the document
GDCP-CMMO-ST-STO-…. The STO function should only be used in the manner de
scribed in this document.
Recommendation for initial motor start-up without safety equipment:
– The setup must at least include an emergency stop switching device
– Two-channel switch-off via control ports STO1 [X3.2] andSTO2[X3.3]
Connection Pin Function
X3
15
15
1+24 V
LOGIC
OUT
Logic voltage output [X9]
Not overload-proof! Max. 100 mA
permissible.
2STO1 Control port for STO function: Channel 1
3STO2 Control port for STO function: Channel 2
4DIAG1 The acknowledgment contact is closed (low
impedance) when the STO function is
active.
5DIAG2
Fig. 10 STO connection [X3]
5.6 [X6] Motor
Connection Pin Function
X6
16
16
1String A Connection of the two motor strings
2String A/
3String B
4String B/
5BR+ Connection of the holding brake
Short-circuit- and overload-proof. 24 V,
max. 1.4 A è33 W. BR– = GND,
BR+ is switched (24 V load)
6BR–
Fig. 11 Motor connection [X6]
5.7 [X9] Power supply
Warning
Electric shock
Injury to people, damage to the machine and system.
 For the electrical power supply, use only PELV circuits in accordance with
IEC 602041 (Protective Extra-Low Voltage, PELV).
 Also observe the general requirements for PELV circuits IEC60204-1.
 Use only voltage sources which guarantee reliable electrical isolation of the
operating and load voltage in accordance with IEC60204-1.
Connection Pin Function
X9
51
51
1Do not connect!
2Do not connect!
3Supply of the control electronics (logic
supply)
4Reference potential (0 V) for operating
voltage, logic voltage, STO and
controller interface
5Supply of the power output stage and
the motor (load voltage)
Fig. 12 Connection [X9] with plug connector (assortment of plugs NEKM-C-10)

5.8 [X18] Ethernet interface
Note
Unauthorised access to the device can cause damage or malfunctions. When
connecting the device to a network:
 Protect the network from unauthorised access.
Measures for protecting the network include:
– Firewall
– Intrusion Prevention System (IPS)
– Network segmentation
– Virtual LAN (VLAN)
– Virtual Private Network (VPN)
– Security at a physical access level (Port Security).
Additional information èGuidelines and standards for security in information
technology, e.g. IEC 62443, ISO/IEC 27001.
Connection Pin Function
X18
8
1
1TD+ Transmitted data +
2TD– Transmitted data –
3RD+ Received data +
4 – not connected
5 – not connected
6RD– Received data +
7 – not connected
8 – not connected
Fig. 13 Ethernet interface connection [X18]
6 Commissioning
 Connect the CMMO-ST directly to the computer/notebook via an Ethernet cable
(point-to-point connection).
 Simplified commissioning for positioning systems (OMS) via integrated web
server with English-language parameterisation and diagnostics website
(http://192.168.178.1)
 Complete commissioning of configured motor/axis combinations with FCT
(Festo Configuration Tool)
The complete commissioning process for the motor controller is described
in the manual GDCP-CMMO-ST-EA-SY-… and in the Online Help for the
CMMO-ST plug-in of the FCT software.
7 Technical data
Safety reference data and safety specifications
Safety function STO Safe Torque Off
(Safe torque off)
Category 3according to EN ISO 13849-1
Performance Level PLe according to EN ISO 13849-1
Safety Integrity Level SIL3 according to EN 61800-5-2
(Safety integrity level)
SIL Claim Limit SILCL3 according to EN 62061
(SIL Claim Limit)
DCavg [%] 90 Average Diagnostic Coverage
(Average diagnostic coverage)
MTTFd[Years] 4500 Mean Time To dangerous Failure
(Mean time to dangerous failure)
HFT 1Hardware Failure Tolerance
(Hardware fault tolerance)
PFH [1/hr.] 1.3 x 10-10 Probability of dangerous failure per hour
(Probability of dangerous failure per hour)
T
Proof Test Interval [Years] 20 Test interval
Duration of use [Years] 20 according to EN ISO 13849-1
Type test The STO function has been certified by an independent testing
body. CMMO-ST certificate èwww.festo.com/sp
Component/function Suitable for use in category-1 systems and above according
to ENISO138491
Fig. 14 Safety reference data and safety specifications
General technical data
Power supply [VDC] 24 ± 15 %
Protection against electric shock PELV circuit
(Protected Extra Low Voltage)
Current load voltage (pin 5) [A] 5.7 Nominal current
[A] 8Peak current
Current logic supply (pin 3) [A] 0.3 Nominal current (without power supply for outputs)
Supply of the outputs for the I/O interface: Max.
0.1 A for each output: i.e. up to 1.1 A.
Max. total current
consumption
[A] 9.4 Depending on system configuration
Fault signal LED
Parameterisation interface Ethernet interface
Parameterisation software – Festo Configuration Tool (FCT)
– Web server
Control interfaces
Digital I/O
– Valve profile
– Binary profile
– DIN1 … DIN4, DOUT1 … DOUT2
– DIN1 … DIN11, DOUT1 … DOUT11
Optional: Ethernet – Control via Ethernet (CVE)
Protective functions –I
2t monitoring
– Power section temperature monitoring
– Current monitoring
– Voltage failure detection
– Undervoltage monitoring
– Following error monitoring
– Software end-position detection
Degree of protection IP40 (with full pin allocation)
CE marking (declaration of conformity
èwww.festo.com/sp)
according to EU EMC Directive 2014/30/EU1)
according to EU Machinery Directive 2006/42/EC
Max. cable length [m] 30
Additional certifications UL/RCM Mark
Type of mounting – H-rail
– Mounting plate
1) The component is intended for industrial use.
Fig. 15 General technical data
8 Diagnostics
8.1 7-segment display
The 7-segment display on the CMMO-ST
provides information about the current
operating mode, errors and warnings.
4 characters are always displayed in
succession, followed by a space.
The numbers of diagnostic messages for the error or warning categories are coded
in hexadecimal format.
During a firmware update the display
alternates between vertical and horizontal
segments.
The wave function enables a motor
controller to be identified within a
network that has multiple motor
controllers.
The point flashes in the display of the
selected motor controller; the motor
controller “nods”.
1
1Point for wave function
(Identification in the network)
Display Operating mode/
event
Priority
B L E Bootloader error 1Error during the firmware update.
 Switch the device off and back on again (reset).
 Restart the firmware download process.
If the error occurs repeatedly, please contact your
local Festo Service.
Exxx1) Error 2Error messages interrupt messages with a lower
priority and must be acknowledged.
Axxx1) Warning 3Warnings have a lower priority than errors and are
not displayed if they occur when an error is
already displayed. Otherwise they are displayed
twice in succession. Warnings do not have to be
confirmed (acknowledged).
HHHH STO – Safe torque off 4The STO function has been requested.
P000 Homing 5Normal operation
P070 Inch positive
P071 Inch negative
P1xx2) Positioning mode
P2xx2) High-power mode
P3xx2) High-speed mode
1) xxx =Fault number, hexadecimal
2) xx =Record number, decimal
Fig. 16 Messages on the 7-segment display