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

Description
Motor controller with
I/O interface
CMMO-ST-C5-1-DIOP
CMMO-ST-C5-1-DION
8071657
2017-05c
[8071659]
CMMOST-...-DION/DIOP
Motor controller

CMMOST-...-DION/DIOP
2 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c –
Original instructions
GDCP-CMMO-ST-EA-SY-EN
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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.
Software markings:
<xxx> Buttons in the software
[xxx][xxx] References to menu and sub-menu structures in the software
FCT […][xxx] FCT PlugIn meny for components in the “Workplace” window
FCT menu [xxx] FCT-main menu

CMMOST-...-DION/DIOP
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 3
Table of Contents – CMMOST-...-DION/DIOP
Service 7.......................................................................
Motor controller documentation 7...................................................
1 Safety and requirements for product use 9......................................
1.1 Safety 9..................................................................
1.1.1 General safety instructions 9.........................................
1.1.2 Use for intended purpose 10...........................................
1.2 Requirements for product use 11...............................................
1.2.1 Operating conditions 11..............................................
1.2.2 Transport and storage conditions 11....................................
1.2.3 Technical prerequisites 11............................................
1.2.4 Qualified specialists 11...............................................
1.2.5 Product conformity and certifications 12.................................
1.2.6 Safety function Safe Torque Off 12......................................
2 Product description 13.......................................................
2.1 System structure 13..........................................................
2.2 Product overview 14.........................................................
2.2.1 Components 14.....................................................
2.2.2 Product identification 14..............................................
2.2.3 Scope of delivery and accessories 16....................................
2.2.4 Product features 17..................................................
2.2.5 Supported motor configurations 18.....................................
2.3 Software for configuration and commissioning 20..................................
2.3.1 FCT (Festo Configuration Tool) 20.......................................
2.3.2 Web servers 22.....................................................
2.3.3 Password protection 23..............................................
2.4 Parameterisation and control interfaces 24.......................................
2.4.1 Ethernet interface 24.................................................
2.4.2 Control profiles of the I/O interface (valve, binary) 26.......................
2.4.3 Device control (master control) 27......................................
2.4.4 Time-out characteristics 28...........................................
2.5 Drive functions 29...........................................................
2.5.1 Measuring reference system 30........................................
2.5.2 Homing 33.........................................................
2.5.3 Jogging 41.........................................................
2.5.4 Teaching 43........................................................
2.5.5 Stopping 44........................................................

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2.5.6 Actuating the holding brake 45.........................................
2.5.7 Positioning mode 47.................................................
2.5.8 Velocity mode 49....................................................
2.5.9 Force mode 52......................................................
2.6 Operational principle for record selection 53......................................
2.6.1 Command records 53................................................
2.6.2 Record switching 55.................................................
2.6.3 Record linking 57....................................................
2.7 Monitoring of the actuator behaviour 60.........................................
2.7.1 Dispatches 60......................................................
2.7.2 Comparators 63.....................................................
2.7.3 Protective functions 64...............................................
3 Mounting 65...............................................................
3.1 Installation dimensions 65.....................................................
3.2 Mounting on an H-rail 66......................................................
3.3 Mounting on a mounting plate 67...............................................
4 Electrical installation 68......................................................
4.1 EMC-compliant wiring 68......................................................
4.2 Functional earth FE 68........................................................
4.3 Connections and cables 69....................................................
4.3.1 [X1] I/O interface 71.................................................
4.3.2 [X1A] Reference switch 73.............................................
4.3.3 [X2] Encoder 74.....................................................
4.3.4 [X3] STO 75........................................................
4.3.5 [X6] Motor 76.......................................................
4.3.6 [X9] Power supply 77.................................................
4.3.7 [X18] Ethernet interface 78............................................
5 Commissioning 79...........................................................
5.1 Notes on commissioning 79....................................................
5.2 Establish an Ethernet connection 80.............................................
5.3 Commissioning via web server 82...............................................
5.3.1 Web server call 83...................................................
5.3.2 Access via web browser to the motor controller 84.........................
5.3.3 Configuring and parameterising the actuator 85...........................
5.3.4 Executing a homing run 86............................................
5.3.5 Creating and testing sets of commands 87................................
5.3.6 Completing commissioning 88.........................................

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5.4 Commissioning with FCT (Festo Configuration Tool) 89..............................
5.4.1 Installing FCT 89....................................................
5.4.2 Configuring and parameterising the actuator 90...........................
5.4.3 Access via FCT to the motor controller 90.................................
5.4.4 Executing a homing run 92............................................
5.4.5 Creating and testing command records 93................................
5.4.6 Completing commissioning 94.........................................
5.5 Control via I/O control unit profile (valve) 96......................................
5.5.1 Digital inputs/outputs 96.............................................
5.5.2 Establish ready status (READY) 99......................................
5.5.3 Acknowledge error (RESET) 100.........................................
5.5.4 Controller enable (CONTROL ENABLE) 101.................................
5.5.5 Carrying out homing (REF) 102..........................................
5.5.6 Execute command records (RECORD) 103.................................
5.6 Control via I/O control unit profile (binary) 105.....................................
5.6.1 Digital inputs/outputs 106.............................................
5.6.2 Establish ready status (READY) 110......................................
5.6.3 Change between record selection and jog/teach (MODE) 111.................
5.6.4 Acknowledge error (RESET) 112.........................................
5.6.5 Controller enable (CONTROL ENABLE) 113.................................
5.6.6 Carrying out homing (REF) 114..........................................
5.6.7 Teaching (TEACH) 115.................................................
5.6.8 Execute command records (RECORD) 117.................................
5.7 Instructions on operation 120...................................................
5.7.1 Recording of trace data with FCT (Trace) 120...............................
5.7.2 Restore factory setting 120.............................................
5.7.3 Loading firmware 120.................................................
5.7.4 Integration in a network 121............................................
6 Diagnostics 122..............................................................
6.1 7-segment display 122.........................................................
6.1.1 Display of diagnostic messages 122......................................
6.1.2 Display during a firmware update 123....................................
6.1.3 Waving function 123..................................................
6.2 Diagnostic memory 124........................................................
6.3 Diagnostic messages 125......................................................
6.3.1 Error management 125................................................
6.3.2 Tables 126..........................................................
6.4 Problems with the Ethernet connection 140........................................
6.5 Other problems and remedies 141...............................................

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7 Maintenance, care, repair and replacement 142....................................
7.1 Maintenance and care 142......................................................
7.2 Repair 142..................................................................
7.3 Replacement 143.............................................................
7.4 Disposal 143................................................................
A Technical appendix 144........................................................
A.1 Technical data 144............................................................
A.1.1 General technical data 144.............................................
A.1.2 Operating and Environmental Conditions 145..............................
A.1.3 Product conformity and certifications 146.................................
A.2 Connection data 147..........................................................
A.2.1 General connection data 147...........................................
A.2.2 [X1] I/O interface 147.................................................
A.2.3 [X1] Logic auxiliary power supply +24 V OUT [X1.24] GND [X1.25] 147...........
A.2.4 [X9] power supply 148.................................................
A.2.5 [X18] Ethernet interface 148............................................
B Control via Ethernet (CVE) 149..................................................
B.1 Basic principles 149...........................................................
B.1.1 Communication principle 149...........................................
B.1.2 CVE protocol 150.....................................................
B.1.3 Controlling the drive 156...............................................
B.2 Explanation of increments 164..................................................
B.3 List of CVE objects 165.........................................................

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Service
Please consult your regional Festo contact if you have any technical problems.
Motor controller documentation
For all available product documentation èwww.festo.com/sp
This documentation (GDCP-CMMO-ST-EA-SY-...) describes the functions of the motor controller
CMMO-ST-C5-1-DIOP/DION. The full description of the motor controller includes the following
documents:
Designation Table of contents
Short description CMMO-ST-... 1) Brief equipment and functional description of the motor
controller for initial information
Manual
GDCP-CMMO-ST-EA-SY-...2)
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 software2) 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-...2)
Use of the STO safety function (“Safe Torque Off”)
Parameter lists2)
OMS_Parameter_xxxx_de_en.pdf
List with default settings of the parameter files for positioning
systems in Festo's Optimised Motion Series (OMS)
Special documentation
CMMO-ST_SPUL1)
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.
2) The documentation can be found on the accompanying CD-ROM.
Tab. 1 Documentation for the motor controller
Target group
This documentation is intended exclusively for technicians trained in control and automation techno
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.

CMMOST-...-DION/DIOP
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Additional information about the product:
– Brief documentation (Quick Start Guide) for initial start-up and diagnostics of posi
tioning systems in Festo's Optimised Motion Series (OMS) with the web server of the
CMMO-ST (in scope of delivery)
– Overview of accessories (catalogue) èwww.festo.com/catalogue
– Operating instructions for configurable actuators and the positioning systems from
Festo (e.g. EPCO) èwww.festo.com/sp
– Function elements for CODESYS èwww.festo.com/sp
– Certificates, declaration of conformity èwww.festo.com/sp
Version status
This documentation refers to the following version of motor controller:
– Firmware: V 1.2.x and above
– FCT plug-in: CMMO-ST V 1.2.x and above
Firmware What's new? Which FCT plug-in?
V 1.0.x and
above
The motor controller supports
– the positioning system for EPCO electric cylinders
– Festo actuators with stepper motor EMMS-ST
– user-defined actuators
CMMO-ST from V 1.0.x
From V 1.1.x Advanced parameter settings for positioning systems via
web browser
CMMO-ST from V 1.1.x
From V 1.2.x The motor controller supports additional positioning
systems, such as:
– Toothed belt axis ELGR
CMMO-ST from V 1.2.1
– Electric semi-rotary drive ERMO
– Electric cylinder EPCO-...-KF
CMMO-ST from V 1.3.0
Tab. 2 Version statuses of firmware and related FCT PlugIns
The following details are displayed in the software with an active online connection:
– Firmware version and MAC-ID èDiagnostics page “Diagnosis” for the integrated web
servers
– Hardware version, firmware version èFCT (“Controller” page)
If at this time there is no online connection, the information from the most recent
connection is displayed.
Additional version details e.g. Revision: èProduct labelling of the motor controller
Note
Before using a newer firmware version:
 Check whether a newer version of the FCT plug-in or user documentation is available
(èwww.festo.com/sp).

1 Safety and requirements for product use
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1 Safety and requirements for product use
1.1 Safety
1.1.1 General safety instructions
Warning
Serious injury or damage to components as a result of collisions
 Ensure that nobody can place their hand in the positioning range of the axes or other
connected actuators and that there are no objects in the positioning path while the
system is connected to energy sources.
 Make sure that nobody is in the operating area of the connected actuators.
 Secure the danger zone through suitable safeguarding measures, e.g. guards and
warnings.
Caution
Injuries as a result of automatic movement of the passive actuators as a result of
– voltage failure
– switching off the power supply
– Switching off the output stage
During installation of the actuator in an inclined or vertical position, falling loads!
 Secure loads through external safety measures (e.g. toothed pawls or moved pivot
pins). This especially applies to vertical axes without automatic locking mechanics,
clamping units or counterbalancing.
 Prevent movement of the passive motor in particular with suspended loads or other
external forces, e.g. with a holding brake.
Caution
High temperatures on the housing surface of the motor controller
Touching the surface may cause a person to be startled or to react in an uncontrolled
manner, causing subsequent secondary damage.
 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 motor con
troller to cool down to room temperature.

1 Safety and requirements for product use
10 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
During start-up of electric actuators, observe the safety instructions and warnings in the documenta
tion of the motor controller and the documentation of the other components used.
 Switch off the supply voltage before mounting and installation work. Secure against accidental
reactivation.
 Never remove or insert a plug connector when the motor controller is powered.
 Observe the handling specifications for electrostatically sensitive devices.
 Only switch on the supply voltage when mounting and installation work are completely finished.
 Only enable the controller if the electric actuator has been professionally installed and fully para
meterised.
 Do not perform any repairs on the motor controller. In the event of a defect: Replace the complete
motor controller.
1.1.2 Use for intended purpose
The motor controller CMMO-ST is intended for controlling the following actuators:
– Positioning systems in the Optimised Motion Series (OMS) with axis/motor units from Festo, e.g.
EPCO electric cylinder
– Configurable actuators with the following components
– Festo 2-phase stepper motor (EMMS-ST)
– Festo rotary or linear shaft, e.g. EGC, DNCE, DGE or
– User Defined Axis
The motor controller supports the STO safety function (Safe Torque Off ).
Only use the motor controller as follows
– In perfect technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined through the technical data
– In an industrial environment
– as an installed device in a control cabinet
Use outside the control cabinet is possible if all of the plug connectors are connected or sealed with
protective caps.

1 Safety and requirements for product use
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 11
1.2 Requirements for product use
1.2.1 Operating conditions
For correct and safe use of the product in a machine or system:
 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 the documentation safe throughout the entire product lifecycle.
 Ensure compliance with all of the specifications in the documentation for the motor controller. Take
into consideration the documentation for the other components and modules (e.g. motor, cables,
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 specifications
For correct and safe use of the STO function:
 Observe the additional notes in the manual for the GDCP-CMMO-ST-EA-S1-
1.2.2 Transport and storage conditions
 Protect the product during transport and storage from excessive stress factors, such as:
– mechanical loads
– impermissible temperatures
– moisture
– aggressive atmospheres
 Store and transport the product in its original packaging. The original packaging offers sufficient
protection from typical stresses.
1.2.3 Technical prerequisites
For correct and safe use of the product:
 Comply with the connection and ambient conditions of the product (èAppendix A), and all connec
ted components specified in the technical data. Compliance with the limit values and load limits
permits operation of the product in compliance with the relevant safety regulations.
 Observe the notes and warnings in this documentation.
1.2.4 Qualified specialists
The steps described in this documentation may only be carried out by qualified specialists. The trained
personnel must be familiar with:
– electrical control technology
– the applicable regulations for operating safety-engineered systems
– the applicable regulations for accident prevention and industrial safety
– the documentation for the product

1 Safety and requirements for product use
12 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
1.2.5 Product conformity and certifications
The motor controller with integrated safety function Safe Torque Off (STO) is a safety component. The
motor controller is labelled with CE marking.
Guideline for Standard
2006/42/EC EN ISO 13849-1:2008
EN ISO 13849-2:2008
EN 1037:1995+A1:2008
2004/108/EC EN 61800-3:2004
EN 61326-1:2006
Tab. 1.1 Listed directives and standards (declaration of conformity)
Certain configurations of the product have been certified by Underwriters
Laboratories Inc. (UL) for the USA and Canada and are labelled with the
symbol shown here:
– UL Listing Mark for Canada and the United States
Rules for observing the UL certification can be found in the separate UL
special documentation. The technical data stated therein take priority. The
technical data in this documentation may show values deviating from this.
Additional information:
– Certificates and the declaration of conformity for this product èwww.festo.com/sp
– Other standards and test values èAppendix A.1
1.2.6 Safety function Safe Torque Off
The safety function enables two-channel switching off of the voltage supply to the motor and therefore
Safe Torque Off (STO) via connection [X3].
The STO safety function is described in detail in document GDCP-CMMO-ST-EA-S1-.... The
safety function STO should only be used in the manner described in this document.

2 Product description
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 13
2 Product description
2.1 System structure
1
2
3
4
5
6
1Motor controller CMMO-ST
2PC with Ethernet LAN connection for
commissioning and diagnostics with
software support by the web server or FCT
(Festo Configuration Tool) integrated in
CMMO-ST
3Higher-order controller (SPS/IPC) for control
via I/O interface e.g. CECC
4PELV power supply unit for 24 V supply
voltage
5Actuator (here: electric cylinder EPCO with
encoder)
6Functional earth with earth plate (protective
ground èSpecial documentation
CMMO-ST_SPUL)
Fig. 2.1 System structure (example)

2 Product description
14 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
2.2 Product overview
2.2.1 Components
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 (3x)
aJ Mounting surface (H-rail)
aA Mounting surface
1
2
3
4
56789
aA aJ
Fig. 2.2 Components of the CMMO
2.2.2 Product identification
Product labelling Example Function
MAC-ID 00-0E-F0-40-C5-49
CMMO-ST-C5-1-DIOP
1512316 CD02
Rev 03
234567
00000001
24 V DC max. 5.7 A
CMMO-ST-C5-1-DIOP Type code (èTab. 2.2)
1512316 Part number
CD02 Serial number (èTab. 2.3)
Rev 03 Revision (hardware/firmware
status on delivery)
MAC-ID
00-0E-F0-40-C5-49
MAC (MediaAccessControl)
address
24 V DC. max. 5.7 A Connection data
Data matrix code Coded serial number
(corresponds to the number
below the code)
Tab. 2.1 Product labelling of motor controller (example)

2 Product description
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 15
The product key of the product can be entered as a search term in the Festo Support Portal to determ
ine the revision of the device (èwww.festo.com/sp).
The type code on the product labelling indicates the equipment features of the various versions of the
motor controller. This documentation describes the following product variants:
Feature Type code Specification
Motor controller CMMO- motor with controller, series A
Motor technology ST- Stepper motor
Nominal current C5 5.7 A
Nominal operating voltage 124 V DC
Activation DIOP Digital I/O interface, PNP switching logic
DION Digital I/O interface, NPN switching logic
Tab. 2.2 Type codes
Serial number
On the type plate, both characters of the serial number indicate the production period in encrypted
form. Example: serial number CD èYear of manufacture C=2012, month of manufacture D=Decem
ber.
1st character = year of manufacture
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. 2.3 Manufacturing year (20-year cycle)
2nd character = month of manufacture
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. 2.4 Manufacturing month

2 Product description
16 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
2.2.3 Scope of delivery and accessories
Quantity Component
1Motor controller CMMOST-...-DION/DIOP
1Operator package
– Brief description
– CD-ROM with following contents:
– Documentation about the product èTab. 1
– Parameter files for supported positioning systems (e.g. EPCO, ELGR)
1Assortment of plugs NEKM-C-10 with 5 plug connectors for
– Reference switch [X1A]
– Safety function STO [X3]
– Encoder [X2]
– Motor [X6]
– Power supply [X9]
2H-rail clip (pre-assembled)
Tab. 2.5 Scope of delivery
Current information on accessories èwww.festo.com/catalogue.
You will, for example, need the following cables and components as 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
NEFC-S1G25-C2W25-S7
NEBC-S1G25-K-...-.0-N-S1G25
– Motor and encoder cables NEBM-... in accordance with the actuator configuration in
various plug connector versions and lengths
– I/O simulation box CDSM-S3-P/N with manual control unit, interconnecting cable, user
manual

2 Product description
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 17
2.2.4 Product features
Feature Description
Electronics – Electronic control unit with
– cascade control for current, speed and position
– Commutation control1)
– Pulse width modulation
– Encoder connection (RS422 signals) for closed-loop operation
– Digital 3-pin input for reference signal
– Safety function STO (Safe Torque Off)
– Integrated brake resistance (brake chopper)
Power supply Separate load and logic supply2)
– Load supply 24 V DC
– Logic supply 24 V DC
– Maximum motor current 5.7 A
Mounting –H-rail
– Mounting plate
Functions – Process control with up to 31 parameterisable sets of commands.
– Position linking for workflow sequences
– Acceleration with jerk limitation
– Monitoring of different process variables (torque, speed, position,
time)
Commissioning – Parameterisation via Ethernet interface TCP/IP
– Software support: FCT, web server
Open-loop control Via I/O interface
Optional control via Ethernet (CVE)
Diagnostics – Operating mode and error display via 7-segment display
– Diagnostic memory via web server and FCT
1) Current regulation in accordance with actual load leads to lower levels of heat generation.
2) No new homing is required, e.g. after emergency stop.
Tab. 2.6 Product features

2 Product description
18 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
Write cycles to the permanent data memory
A flash memory is integrated in the motor controller as a non-volatile memory element. With the fol
lowing procedures, entries are written to the flash memory:
– Download of a parameter file
– Firmware update
– Teaching with automatic storage
– Backing up of parameters via FCT
– Configuration of fault properties / error responses
– Recording of movements with the trace function in FCT
The number of usable sectors declines with flash storage in terms of write/delete operations. The
FLASH memory used by the CMMO-ST is designed for 100,000 write cycles.
Note
Damage to the FLASH memory
In positioning mode, the target positions for absolute sets of commands can be taught
and saved automatically via the I/O interface.
 Do not use the TEACH function in combination with “automatic storage” in continu
ous operation. This would otherwise rapidly use up the permitted number of write
cycles.
 Disable automatic saving after saving via FCT èFCT [...][Controller][I/O Configura
tion]
2.2.5 Supported motor configurations
Step motor and holding brake
The motor controller supports
– Motors without a holding brake
– Motors with an integrated holding brake (electrically actuated spring accumulator brake)
The holding brake is not suitable for braking moving masses or loads.
The holding brake is actuated automatically by the controller enable of the motor controller.
Motor configuration Function
Without holding brake The actuator can move freely once the controller has been inhibited.
With holding brake After inhibiting the controller, the actuator is maintained in position by the
holding brake.
Tab. 2.7 Motor configuration: holding brake

2 Product description
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 19
Step motor and encoder
If a step motor is operated without an encoder the motor must always be operated below its perform
ance limits. If for example the motor is operated by the driving mass to its performance limit during
fast acceleration, this can have the following consequences:
– The rotor may no longer be able to follow the rotary field (load torque > motor torque).
– The resultant step losses lead to incorrect position values.
If a step motor is controlled by an encoder, it can be loaded up to its performance limit. The encoder
must have the same rotor position and it reports this back to the position controller. This prevents
imprecise positioning caused by step losses.
The motor controller supports
– Step motors with encoder in closed-loop operation (optional: in open-loop operation)
– Step motors without encoder in open-loop operation
Motor configuration Function
Motor with encoder1) Controlled operation
(closed-loop operation)
Only the energy needed to move the load is
directed into the motor. The motor works in
an energy-optimised way and produces less
heat. The motor is position-controlled when
stationary. Standstill monitoring is active.
Motor without encoder Controlled operation
(open-loop operation)
The motor is always operated with the set
driving current when travelling. When at a
standstill, the motor is maintained in its posi
tion at the set holding current.
The following functions are not supported:
– Homing/driving to stop
– Force Comparator
– Force mode
1) For specific applications, the “open-loop operation” function can be set with FCT. This function corresponds to that of a motor
without encoder.
Tab. 2.8 Motor configuration: encoder

2 Product description
20 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
2.3 Software for configuration and commissioning
2.3.1 FCT (Festo Configuration Tool)
The Festo Configuration Tool (FCT) is the Windows-based software platform for parameterisation, com
missioning and diagnosis of actuators with configurable motor-axis combinations and positioning
systems (OMS). To prepare for commissioning, parameterisation on the PC can take place without a
connection to the controller (“offline”). For commissioning, a connection is required via the paramet
erisation interface (“online”).
FCT is included in the scope of delivery (CD-ROM) and is installed using an installation program. More
recent versions are available as downloads èwww.festo.com/sp , CMMO-ST.
The FCT comprises the following modules:
– the framework with general control elements and software functions
– extension modules integrated in the framework (PlugIns) for every implemented type of device
The framework facilitates consistent project and data management of all supported types of device.
The plug-ins are managed and started from the framework. The PlugIn of a type of device supports the
structured delivery of all necessary steps to commission the actuator.
The software Help system contains detailed manuals relating to the FCT. The FCT online
help also has information about possible commissioning scenarios and initial start-up.
These contents are also available as PDF files (de/en).
General help (framework):
Information about work on projects and for adding a device to a project
– FCT: menu [Help][General FCT content][Festo]
– PDF: (FCT table of contents)\Help\FCT_de.pdf
Help for PlugIn:
Detailed information about configuration, parameterisation and commissioning
– FCT: Menu [Help][Content of installed PlugIns][Festo][PlugIn name]
– PDF: (FCT installation directory)\HardwareFamilies\Festo\(device
type)\V…\Help\CMMO-ST_....pdf
With the “Print” button in the Help window, individual topics from the FCT online help
can be printed out. To view and print out these PDF files, it is advisable to have the pro
gram Adobe Reader.