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

CMMO-ST-C5-1-LKP
Motor controller
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Deutschland
[phone]
www.festo.com
Brief instruction
8178197
2022-05c
[8178199]
Translation of the original instructions
© 2022 all rights reserved to Festo SE & Co. KG
IO-Link®, MODBUS® are registered trademarks of the respective trademark
owners in certain countries.
1About this document
1.1 Applicable documents
All available documents for the product è www.festo.com/sp.
This brief description is intended solely for initial information. The complete
description includes the following documents:
Designation Contents
Brief instructions
CMMO-ST-LK...1)
Brief product and functional description of the motor controller for
initial information
Manual
GDCP-CMMO-ST-LK-SY-...
Product and functional description of the motor controller:
–Mounting
–Commissioning via web server/Festo Configuration Tool (FCT)
–Diagnostics
–Technical data
Manual
GDCP-CMMO-ST-LK-C-HP-...
Description of the controller and parameterisation with the FHPP
device profile (Festo Handling and Positioning Profile) via IO-Link,
I-Port or Modbus TCP
Description
GDCP-CMMO-ST-LK-S1-...
Use of the STO safety function (Safe Torque Off)
Help system for the FCT
software
Complete description of parameterisation and commissioning with the
FCT (Festo Configuration Tool).
–configured drives (Festo motor with axis)
–Positioning systems in the Optimised Motion Series OMS (Festo
axis/motor units)
Special documentation
CMMO-ST_UL1)
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.
Tab. 1: Documentation on the CMMO-ST
1.2 Specified standards
Specified standards
Version
EN ISO 13849-1:2015-12 EN 62061:2005-04 + AC:2010-02 +
A1:2013-02+A2:2015-08
EN 61800-5-2:2017-04
Tab. 2: Standards specified in the document
2Safety
–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. Lock to
prevent accidental reactivation. Only switch on the supply voltages again when
mounting and installation work is complete.
–Never remove or insert a plug when the power is switched on.
–Observe the handling specifications for electrostatically sensitive devices.
–Do not enable the closed-loop controller until 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 motion path while the system is
connected to a source of electric power.
• Make sure that nobody is in or able to reach into the operating area of the
connected actuators.
• Secure the danger zone with suitable protective measures, e.g. guards and
warnings.
CAUTION
Personal injury and material damage
Falling loads in the event of a power failure or when the power supply is switched
off when the drive is installed in an inclined or vertical position.
• Secure loads by external safety measures (e.g. toothed latches or moveable
bolts).
CAUTION
High temperatures on the housing surfaces.
Touching the surface may cause a person to be startled and to react in an uncon-
trolled manner, causing subsequent secondary damage.
• Protect the product to prevent accidental touching.
• Before touching the product, e.g. for mounting or installation: allow the motor
controller to cool down to room temperature.
2.1 Intended use of the CMMO-ST
The motor controller CMMO-ST is intended for controlling the following drives
with Festo 2-phase stepper motors:
–Positioning systems in the Optimised Motion Series (OMS) with Festo axis/
motor units.
–Configured drives (rotary/linear):
–Festo axes, e.g. EGC, DNCE, DGE
–User-defined axes
•Observe the specified standards as well as the regulations of the trade asso-
ciations, 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, actua-
tors).
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 by the technical data
–within the specified service life of the switching elements for the safety func-
tion
–as an installed device in a control cabinet
Use outside the control cabinet is possible if all of the plugs are connected and all
unused interfaces are sealed with protective caps.
2.2 Intended use of the STO function
The STO function ("Safe Torque Off") in accordance with EN 61800-5-2 is intended
to shut off the torque of a motor connected to the CMMO-ST. The STO function
prevents an unexpected start-up of the connected motor. The STO function should
only be used for applications for which the stated safety characteristics are suffi-
cient.
Safety characteristics
The STO function of the CMMO-ST satisfies the requirements for the following
safety characteristics:
–PL e/Cat. 3 in accordance with EN ISO 13849-1
–SIL 3 in accordance with EN 61800-5-2
–SIL CL 3 in accordance with EN 62061
The achievable safety level depends on the other components used to implement
a safety function.
To protect against unintended motor start-up, the motor controller must be acti-
vated via the connection [X3] with the category required for the application in
accordance with EN ISO 13849-1, e.g. via an external safety relay unit.
Qualification of the specialist technicians (requirements for staff)
The product may be placed in operation only by a qualified electrotechnician, who
is familiar with:
–The installation and operation of electrical control systems.
–The applicable instructions for operating safety engineering systems.
–The applicable regulations for accident prevention and occupational safety.
–The documentation for the product.
Diagnostic coverage (DC) for the safety function
The diagnostic coverage depends on the integration of the motor controller in the
control chain as well as the implemented diagnostics measures. If a potentially
dangerous malfunction is recognised during diagnostics, appropriate measures
must be taken to maintain the safety level.
NOTICE
The motor controller cannot detect a cross circuit in the input circuit by itself.
• If required, use a safety relay unit with detection of shorts across contacts.

2.3 Foreseeable misuse of the STO function
The following are examples of foreseeable misuse and are not approved as
intended use:
–Bridging of the STO function.
–Use in applications where switching off can result in hazardous movements or
conditions.
NOTICE
The STO function is not sufficient as the sole safety function for drives that are
subject to permanent torque or force (e.g. suspended loads, vertical axes).
Note
The STO function does not provide protection against electric shock, only against
dangerous movements!
2.4 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.).
–Observe all of the legal regulations applicable for the installation site and 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 è 8 Technical data.
2.5 Product conformity
The motor controller with integrated STO safety function is a safety-related part of
the control systems. Certain configurations of the product have been certified by
Underwriters Laboratories Inc. (UL).
The product-relevant directives are listed in the declaration of conformity
è www.festo.com/sp.
Product conformity
in accordance with EU EMC Directive
in accordance with EU Machinery Directive
in accordance with EU RoHS Directive
to UK EMC Regulations
to UK Supply of Machinery Regulations
to UK RoHS Regulations
Tab. 3: Product conformity
2.6 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.
2.7 Technical prerequisites
For correct and safe use of the product:
–Carry out a risk assessment for your machine or system.
–Comply with the specified safety characteristics è 8 Technical data.
–Comply with the specified connection and ambient conditions for all connected
components è 8 Technical data. Only compliance with the limit values and/or
load limits will enable operation of the product in accordance with the relevant
safety directives.
3Product overview
3.1 Scope of delivery
Component Number
Motor controller CMMO-ST-C5-1-LKP 1
Documentation for the product:
–Brief documentation for the CMMO-ST + quick guide for positioning systems
(OMS)
–Special documentation corresponding to the certifications of the product
1
Assortment of plugs NEKM-C-14 with 6 connectors for control interface [X1], refer-
ence switch [X1A], safety function STO [X3], encoder [X2], motor [X6], power supply
[X9]
1
H-rail bracket, pre-assembled 1
Tab. 4: Scope of delivery
3.2 Product design
1
2
3
4
6 7 8 9 10
1112
5
Fig. 1: Components of the CMMO-ST
1
[X9] Load/logic voltage
2
[X1] control interface to open-loop
control with PLC/IPC
– IO-Link/I-Port
– optional: digital I/Os
3
7-segment display
4
[X18] Ethernet (RJ-45)
– TCP/IP parameterisation interface
– Modbus TCP control interface
5
Link/activity LED C/Q
– LED green: communication OK
– LED red: communication error
– LED off: IO-Link/I-Port is not config-
ured as control interface
6
[X1A] reference switch
7
[X3] STO (Safe torque off)
8
[X2] encoder RS422
9
[X6] motor
10
FE functional earth (3x)
11
Mounting surface (H-rail)
12
Mounting surface
4Mounting
CAUTION
Unexpected and unintended movement of the drive during mounting, installation
and maintenance work.
• Before starting work: switch off power supplies.
• Lock the power supplies to prevent accidental reactivation.
4.1 Mounting the motor controller
The controller can be mounted with an H-rail or on an even surface.
Fig. 2: Mounting on an H-rail
Mount the CMMO-ST on the H-rail as follows:
1. Attach the CMMO-ST to the H-rail from above with the hook of the H-rail clip.
2. Press down on the H-rail until the CMMO-ST clicks into place.
Mount the CMMO-ST on the side or rear mounting surface as follows:
1
2
3
4
5
Fig. 3: Mounting on an even surface
1
Remove the H-rail bracket
2
Rear mounting surface
3
Notches (3x) for rear mounting
4
Side mounting surface
5
Recesses (4x) for side mounting
5Electrical 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.
• Lock the power supplies to prevent accidental reactivation.

5.1 Connections and cables
CAUTION
Unexpected and unintended movement of the drive as a result of incorrectly
assembled cables.
• Use only the supplied plugs and preferably the cables listed in the specified
accessories è www.festo.com/catalogue.
• Lay all flexible cables so that they are free of kinks and mechanical stress, if
necessary in an energy chain. Observe the instructions for the axis and the
additional components.
ESD protection
Damage may be caused to the device or to other system parts at unassigned
plugs as a result of ESD (electrostatic discharge).
•Comply with the handling specifications for electrostatically sensitive compo-
nents.
• Seal unassigned plugs 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-14). Other accessories: NEBM
according to the drive configuration in various connector types and lengths
è www.festo.com/catalogue.
5.2 [X1] IO-Link/I-Port control interface and digital I/Os
NOTICE
The IO-Link/I-Port interface is not galvanically isolated. Under certain circum-
stances, the CMMO-ST can bypass the galvanic isolation of an IO-Link Master.
Connection [X1] Pin Function
Digital I/Os (DIN/DOUT)
1 +24 V
(OUT)
Output +24 V e.g. power supply to a poten-
tial-free relay contact for the ENABLE input. Not
overload-proof! Max. 100 mA permissible.
2 0 V
(GND)
Reference potential for output signals
3 DOUT2 Output 2, parameterisable
4 DOUT1 Output 1, parameterisable
5 Ready Output “ready for operation”
6 ENABLE Input “controller enable”1)
7 – No function, not connected internally2)
8 –
IO-Link/I-Port
9 L– 0 Volt (GND)
10 C/Q IO-Link/I-Port signal
11 L+ 24 V of the IO-Link/I-Port IC (not connected to
the logic supply at X9)
1) The required signals for controller enable are parameterisable.
2) Pin 7 and 8 can be used for the 4th and 5th conductor of the I-Port/IO-Link cable.
Tab. 5: Connection of [X1] control interface with plug
5.3 [X1A] reference switch
Connection
[X1A]
Pin Function
1 3
1 3
X1A
1 + 24 V LOGIC OUT Power supply for the reference switch. Not over-
load-proof! Max. 100 mA permissible.
2 SIGNAL REF –Input for PNP switch
–switches at + 24 V
–NO/NC version
3 GND Reference potential (ground)
Tab. 6: Connection [X1A] reference switch with plug
5.4 [X2] Encoder
Connection [X2] Pin Function
X2
1 8
18
1 A1) Incremental encoder signal A+
2 A/1) Incremental encoder signal A–
3 B1) Incremental encoder signal B+
4 B/1) Incremental encoder signal B–
5 N1) Incremental encoder signal zero pulse N+
6 N/1) Incremental encoder signal zero pulse N–
7 5 V
± 10%
Supply of the encoder.
Not overload-proof! Max. 100 mA permissible.
8 0 V Reference potential
1) each 5 V and Ri = approx. 120 Ω
Tab. 7: Connection [X2] encoder with plug
5.5 [X3] STO
The STO safety function ("Safe Torque Off") is described in the document GDCP-
CMMO-ST-STO-... in detail. The STO function should only be used in the manner
described in this document.
Recommendation for initial motor start-up without safety engineering:
–Minimum circuitry with emergency stop switching device.
–Two-channel switch-off via control inputs STO1 [X3.2] and STO2 [X3.3].
Connection [X3] Pin Function
X3
1 5
1 5
1 + 24 V
LOGIC
OUT
Logic voltage output [X9]
Not overload-proof! Max. 100 mA permissible.
2 STO1 Control input for STO function: channel 1
3 STO2 Control input for STO function: channel 2
4 DIAG1 The acknowledgment contact is closed (low
impedance) when the STO function is active.
5 DIAG2
Tab. 8: Connection [X3] STO with plug
5.6 [X6] motor
Connection [X6] Pin Function
X6
1 6
1 6
1 String A Connection of the two motor strings
2 String
A/
3 String
B
4 String
B/
5 BR+ Connection of the holding brake
Short-circuit and overload-protected. 24 V, max.
1.4 A à 33 W. BR– = GND; BR+ is switched (24 V
load)
6 BR–
Tab. 9: Connection [X6] motor with plug
5.7 [X9] Power supply
WARNING
Electric shock.
Injury to people, damage to the machine and system.
• Use only PELV circuits in accordance with IEC 60204-1 (protective extra-low
voltage (PELV)) for the electrical power supply.
• Also observe the general requirements for PELV circuits IEC 60204-1.
• Use only voltage sources that guarantee reliable electrical isolation of the
operating and load voltage in accordance with IEC 60204-1.
Connection [X9] Pin Function
X9
51
51
1 Do not connect!
2 Do not connect!
3 Supply of the control electronics (logic supply)
4 Reference potential (0 V) for load voltage, logic voltage,
STO and controller interface
5 Supply of the power output stage and the motor (load
voltage)
Tab. 10: Connection [X9] with plug
5.8 [X18] Ethernet interface
NOTICE
Unauthorised Access to the Device Can Cause Damage or Malfunction.
• When connecting the device to a network, protect the network from unauthor-
ised access.
Standards for security in information technology can be used for network pro-
tection measures, e.g. IEC 62443, ISO/IEC 27001.
Connection [X18] Pin Function
1 TD+ Transmitted data +
2 TD– Transmitted data –
3 RD+ Received data +
4 – not connected
5 – not connected
6 RD– Received data –
7 – not connected
8 – not connected
Tab. 11: Ethernet interface connection [X18]

6 Commissioning
To commission the CMMO-ST (DHCP server) with Ethernet cable via parameterisa-
tion interface directly with the computer/notebook (DHCP client) (point-to-point
connection). 2 variants for commissioning:
–Simplified commissioning of positioning systems (OMS) via integrated
webserver with English-language parameterisation and diagnostics website
(http://192.168.178.1)
–Complete commissioning of positioning systems and of configured drives with
FCT (Festo Configuration Tool)
The compete commissioning process for the motor controller is described in the
GDCP-CMMO-ST-LK-SY-… manual and in the Online Help for the FCT software
plug-in.
The process control of the motor unit is performed by the control interface with
device profile FHPP (Festo Handling and Positioning Profile):
• Information on the FHPP è Description GDCP-CMMO-ST-LK-C-HP-...
• Function elements (CODESYS, ...) è www.festo.com/sp
Before integrating into a network:
–Do not connect the motor controller to the networks as a DHCP server if another
DHCP server is active in the network.
–For inclusion in a network, change the IP configuration of the motor controller
with FCT or webserver.
7 Diagnostics
7-segment display
The 7-segment display on the CMMO-ST provides information about the current
operating mode, errors and warnings.
Example Meaning
Four characters are always displayed in succession, followed by a
space.
The numbers of diagnostic messages in the Error or Warning catego-
ries are coded in hexadecimal.
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
“waves”.
Tab. 12: 7-segment display
Display Operating mode/
event
Priority
BLE Bootloader error 1 Error during firmware update.
–Switch the device off and back on again (reset).
–Restart the firmware download process.
If the error occurs repeatedly, contact your local Festo
service.
Exxx1) Errors 2 Error messages interrupt messages with a lower priority
and must be acknowledged.
Axxx1) Warning 3 Warnings have a lower priority than errors and are not
displayed if they occur when an error is already dis-
played. Otherwise, they are displayed twice in succes-
sion. Warnings do not have to be confirmed (acknowl-
edged).
HHHH STO – safe torque off 4 The STO function has been requested.
P000 Referencing 5 Normal operation
P070 Positive jogging
P071 Negative jogging
P1xx2) Positioning mode
P2xx2) High-power mode
P3xx2) Velocity mode
1) xxx = fault number, hexadecimal
2) xx = record number, decimal
Tab. 13: Messages on the 7-segment display
8 Technical data
Approval information, safety engineering
CE
Type-examination The functional safety engineering of the product has been cer-
tified by an independent testing body, see EC-type examination
certificate è www.festo.com/sp
Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035
Certificate no. 01/205/5252.02/20
UKCA
Type-examination The functional safety engineering of the product has been
certified by an independent body, see UK-type examination
certificate è www.festo.com/sp
Certificate issuing authority TUV Rheinland UK Ltd, Approved Body for Machinery, No. 2571
Certificate no. 01/205U/5252.00/22
Tab. 14: Approval information, safety engineering
Safety reference data and safety specifications
Safety function STO Safe torque off
(safe torque off)
Category 3 In accordance with EN ISO 13849-1
Performance Level PL e In accordance with EN ISO 13849-1
Safety Integrity Level SIL 3 In accordance with EN 61800-5-2
(Safety Integrity Level)
SIL Claim Limit SIL CL 3 in accordance with EN 62061
(SIL Claim Limit)
DCavg [%] 90 Average Diagnostic Coverage
(average diagnostic coverage)
MTTFd[years] 4500 Mean Time To dangerous Failure
(mean time until a dangerous failure)
HFT 1 Hardware Failure Tolerance
(hardware fault tolerance)
PFH [1/h] 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
T duration of use [years] 20 In accordance with EN ISO 13849-1
Component/function Suitable for use in category-1 systems and above in accord-
ance with EN ISO 13849-1
Tab. 15: Safety reference data and safety specifications
General technical data
Certificates, declaration of con-
formity
è www.festo.com/sp
The component is intended for operation in the industrial
sector.
Power supply [V DC] 24 ± 15%
Protection against
electric shock
PELV circuit (Protected Extra-Low Voltage)
Current load voltage
(X9.5)
[A] 5.7 Nominal current
[A] 8 Peak current
Current logic supply
(X9.3)
[A] 0.3 Nominal current (without supply of the outputs)
supply of the outputs of the I/O interface: per
output max. 0.1 A: i.e. up to 1.1 A.
Max. total current
consumption
[A] 9.4 Depending on the system configuration
Max. cable length [m] 30
Degree of protection IP40 (with full pin allocation)
Protective functions –I²t monitoring
–Power unit temperature monitoring
–Current monitoring
–Voltage failure detection
–Undervoltage monitoring
–Following error monitoring
–Software end-position detection
Additional approvals UL/RCM mark
Type of mounting –H-rail
–Mounting plate
Fault message 7-segment display, LED C/Q
Parameterisation
interface
Ethernet TCP/IP IEEE802.3
Parameterisation soft-
ware
–Festo Configuration Tool (FCT)
–Web servers
Control interfaces
IO-Link/I-Port IEC 61131-9
Modbus TCP IEC 61158
Digital I/O (optional) –DIN ENABLE/DOUT READY
–2 x DOUT (parameterisable) protective functions
Tab. 16: General technical data