Festo CMMP Series Operating and installation instructions

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PROFIBUS for motor controller
CMMP…
Description
PROFIBUS
CMMP…
Description
557 338
de 0708NH
[723 751]

Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 3
Edition __________________________________________________ de 0708NH
Description________________________________ P.BE-CMMS-FHPP-PB-SW-EN
Order no ____________________________________________________557 338
(Festo AG & Co KG., D-73726 Esslingen, 2008)
Internet: http://www.festo.com
E-mail: [email protected]
The copying, distribution and utilization of this document as well as the communication of
its contents to others without expressed authorization is prohibited. Offenders will be held
liable for compensation of damages. All rights reserved, in particular the right to carry out
patent, utility model or ornamental design registrations.

4 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
Index of revisions
Author:
Name of manual:
File name:
File saved at:
Consec. no.
Description
Index of revisions
Date of amendment
001
Produced
0708NH
21.04.2008
Trade names
PROFIBUS, PROFIBUS-DP® are registered trade marks of PROFIBUS International
(P.I.)
SIMATIC® is registered trade mark of Siemens AG

1. General information
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 5
Table of contents
1. General information................................................................................................ 6
1.1 Documentation...................................................................................................... 6
1.2 Festo Profile for Handling and Positioning (FHPP) ................................................. 6
1.3 Data exchange in the PROFIBUS............................................................................ 7
2. Safety instructions for electric drives and controllers............................................ 8
2.1 Icons and signs...................................................................................................... 8
2.2 General instructions .............................................................................................. 8
2.3 Dangers due to incorrect use............................................................................... 10
2.4 Safety instructions .............................................................................................. 11
2.4.1 General safety information .................................................................. 11
2.4.2 Safety instructions for assembly and maintenance.............................. 12
2.4.3 Protection aganst touching electric components ................................. 14
2.4.4 Protection by low voltage (PELV) against electric shock ...................... 16
2.4.5 Protection from dangerous movements............................................... 16
2.4.6 Protection aganst touching hot components ....................................... 17
2.4.7 Protection when handling and assembling .......................................... 18
3. Assembly and installation .................................................................................... 19
3.1 Connecting and display elements........................................................................ 19
3.2 Assembly............................................................................................................. 20
3.3 Installation .......................................................................................................... 21
3.3.1 Pin assignment of PROFIBUS interface................................................. 22
3.3.2 Termination and bus terminating resistors .......................................... 23
4. Configuration of the PROFIBUS module ............................................................... 24
4.1 Setting the slave address .................................................................................... 25
4.2 PROFIBUS communication................................................................................... 25
4.3 PROFIBUS configuration...................................................................................... 26
4.4 PROFIBUS slave configuration............................................................................. 26
4.5 PROFIBUS master configuration .......................................................................... 26
4.5.1 Configuration with SIMATIC manager .................................................. 27
5. Diagnosis .............................................................................................................. 30
5.1 Network status LED ............................................................................................. 30
5.2 PROFIBUS error codes ......................................................................................... 30
A. Technical specifications........................................................................................ 32

1. General information
6 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
1. General information
1.1 Documentation
This documentation describes how to connect the field bus to the CMMP motor controller
in a PROFIBUS-DP network. It describes how to configure the PROFIBUS and explains the
user protocol FHPP. A detailed description of the FHPP can be found in the FHPP manual.
Further information can be found in the following CMMP manuals:
-Product manual CMMP-AS-…-3A:
Description of the technical specifications and device functions as well as instructions
on installing and operating the servo positioning controller CMMP-AS-C10-3A-P3 for 1-
phase servo positioning controllers.
-Product manual "Servo positioning controller P-BE-CMMP-AS-…-11A":
Description of the technical specifications and device functions as well as instructions
on installing and operating the servo positioning controller CMMP-AS-C10-11A-P3 for
3-phase servo positioning controllers.
-FHPP manual "P.BE-CMM-FHPP-SW-…":
Description of the implemented Festo profiles for handling and positioning.
-Manual P.BE-CMMP-AS-PB-S7
This manual is intended for people who are already familiar with this motor controller
series and the DeviceNet protocol.
The documentation contains safety instructions which must be observed.
1.2 Festo Profile for Handling and Positioning (FHPP)
Festo has developed an optimised data profile, the "Festo Handling and Positioning Profile
(FHPP)", tailored to the target applications for handling and positioning tasks.
The FHPP enables uniform control and programming for the various field bus systems and
controllers from Festo.
In addition it defines the following for the user:
the operating modes
the I/O data structure
the parameter objects
the sequence control.

1. General information
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 7
Field bus communication
Record select
Direct mode
Parameter channel
1
2
…
n
Modes
Position
Velocity
Free access to
all parameters
for reading and
writing
Tab. 1.1: The FHPP principle
Information on the FHPP profile (parameters, device data…) can be found in the
documentation P.BE-CMM-FHPP-SW-EN.
1.3 Data exchange in the PROFIBUS
PROFIBUS (PROcess Field BUS) is a standard developed by the PROFIBUS User
Organisation. A complete description of the field bus system can be found in the following
standard:
IEC 61158 "Digital data communication for measurement and control –Field bus for use in
industrial control systems": This standard contains several parts and defines 10 "field bus
protocol types." PROFIBUS is specified amongst these as type 3. PROFIBUS exists in two
designs. PROFIBUS-DP can be found for fast data exchange in manufacturing technology
and building automation (DP = decentral periphery). The incorporation into the ISO/OSI
layer model is also described in this standard.
Further information, contact addresses etc. can be found under www.PROFIBUS.com

2. Safety instructions for electric drives and controllers
8 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
2. Safety instructions for electric drives and
controllers
2.1 Icons and signs
Note
Important information and instructions
Caution
Considerable damage to property may occur if these instructions
are not observed.
Warning
DANGER!
Considerable damage to property and injury to human beings may
occur if these instructions are not observed.
Warning
Dangerous voltage
The safety instructions contain reference to dangerous voltages
which may occur.
2.2 General instructions
Festo AG & Co. KG is not liable for damage caused by failure to observe the warning
instructions in these operating instructions.
Note
Before commissioning you must read the “Safety instructions for
electric drives and controllers”as from page 8.
If the documentation is not clearly understood in this language version, please inform the
supplier.
The faultless and reliable operation of the motor controller depends on its correct trans-
port, storage, mounting and installation as well as on careful operation and maintenance.

2. Safety instructions for electric drives and controllers
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 9
Note
Only trained and qualified personnel should be allowed to handle
the electric systems.
Trained and qualified personnel
For the purpose of this manual and the warning instructions on the product itself, techni-
cians working with this product must be adequately familiar with the setting up, mounting,
commissioning and operation of the product as well as with all warnings and precautionary
measures in accordance with the operating instructions in this product manual, and must
be sufficiently qualified for this task:
-Training and instructions on or authorization to switch on and switch off devices/
systems in accordance with technical safety standards, and to earth and mark them
appropriately in accordance with the application requirements.
-Training or instructions in using and maintaining suitable safety equipment in
accordance with technical safety standards.
-Training in first aid.
The following instructions must be read before the first commissioning of the sytem in
order that bodily injuries and/or damage to property can be avoided.
These safety instructions must be observed at all times.
Do not try to install or commission the motor controller before
you have carefully read through all safety instructions for
electric drives and controllers in this documentation.
You must read through these safety instructions and all other user
instructions before working with the motor controller.
If you do not have any user instructions for the motor controller,
please contact your relevant sales representative.
Request that the operating instructions are sent immediately to
the responsible person, in order that the motor controller can
be operated correctly and safely.
These safety instructions must also be provided if the motor
controller is sold, lent and/or passed on to third parties.

2. Safety instructions for electric drives and controllers
10 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
For safety and guarantee reasons it is not permitted for the motor
controller to be opened by the user.
The prerequisite for faultless functioning of the motor controller is
skilled project planning.
Warning
DANGER!
Incorrect handling of the motor controller and failure to observe the
specified warning instructions, as well as unskilled interference
with the safety devices can lead to damage to property, bodily
injury, electric shock or in extreme cases to death.
2.3 Dangers due to incorrect use
Warning
DANGER!
High electric voltage and high working current.
Danger of death or serious bodily injury due to electric shock!
Warning
DANGER!
High electric voltage due to incorrect connection.
Danger of death or bodily injury due to electric shock!
Warning
DANGER!
Surfaces of the device housing may be hot.
Danger of injury. Danger of burning.
Warning
DANGER!
Dangerous movements.
Danger of death, serious bodily injury or damage to property due to
unintentional movement of the motors.

2. Safety instructions for electric drives and controllers
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 11
2.4 Safety instructions
2.4.1 General safety information
Warning
The motor controller complies with protection class IP20.
Warning
Use only accessories and spare parts which are approved of by the
manufacturer.
Warning
The motor controllers must be connected to the mains network in
accordance with EN standards and appropriate national regula-
tions, so that they can be disconnected with suitable uncoupling
devices (e.g. main switch, fuse, circuit breaker).
The motor controller can be fused with a 300 mA all-current sensi-
tive FI protective switch (RCD = Residual Current protective Device).
Warning
For switching the control contacts you should use gold-plated
contacts or high-pressure contacts.
Precautionary measures must be taken for preventing interference
to switching systems, e.g. switching protective switches and relays
with RC elements or diodes.
You must observe the safety regulations and directives of the
country in which the device is to be used.
Warning
The environmental conditions specified in the product
documentation must be observed.
Safety-critical applications are not permitted if they are not
explicitly approved of by the manufacturer.

2. Safety instructions for electric drives and controllers
12 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
Instructions for EMC-approved installations can be found in the
product manuals for the CMMP family.
The manufacturer of the system or machine is responsible for
ensuring that the limit values requested by the national regulations
are observed.
Warning
The technical specifications as well as the connection and installa-
tion conditions for the motor controller can be found in this product
manual. These specifications must be observed at all times.
Warning
DANGER!
The general installation and safety regulations for working on
high-current systems (e.g. DIN, VDE, EN, IEC or other national
and international regulations) must be observed here.
Failure to observe these regulations can lead to bodily injury, death
or considerable damage to property.
The following precautionary measures also apply without claim to
completeness:
-VDE 0100 Regulation for setting up high-voltage systems
up to 1000 volts
-EN 60204 Electrical equipment for machines
-EN 50178 Equipping high-voltage systems with electronic
operating media
2.4.2 Safety instructions for assembly and maintenance
For assembling and maintaining the system, the relevant DIN, VDE, EN and IEC regulations,
as well as all national and local safety and accident prevention regulations must always be
observed. The system manufacturer or the user is responsible for ensuring that these
regulations are observed.
Warning
The operation, maintenance and/or commissioning of the motor
controller may only be carried out by trained qualified personnel
and with electrical appliances suited for this work.

2. Safety instructions for electric drives and controllers
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 13
Avoiding accidents, bodily injury and/or material damage:
Warning
The series-supplied motor holding brake or an external motor-
holding brake controlled by the drive controller alone is not
suitable for protecting human beings.
Vertical axes must be additionally secured against falling or
sliding down when the motor is switched off with e.g.
- mechanical locking of the vertical axis,
- external braking, safety catch or clamping devices or
- sufficient weight compensation of the axis.
Warning
The external or internal braking resistance is activated and can
carry a dangerous intermediate circuit voltage for up to approx.
5 minute after the motor controller has been switched off. Ths can
cause serious bodily injury or even death if it is touched.
Before carrying out maintenance work, make sure that the
power supply is switched off and locked and that the
intermediate circuit is discharged.
Switch the electrical equipment free of voltage via the main
switch and make sure that it cannot be switched on again.
Wait until the intermediate circuit is discharged after
- maintenance work and repairs
- cleaning
- long periods out of use.
Warning
Proceed carefully with mounting. Make sure that during mounting
as well as later during the operation of the drive that no drilling
shavings, metal dust or mounting parts (screws, nuts, pieces of
wire) can fall into the motor controller.
Make sure also that the external voltage supply of the controller
(24 V) is switched off.
The intermediate circuit or the mains voltage must always be
switched off before the 24 V controller supply is switched off.

2. Safety instructions for electric drives and controllers
14 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
Warning
Other work in the vicinity of the machine must only be carried
out when the AC or DC supply is switched off and locked.
Switched-off final stage or switched-off controller enable are not
suitable locking conditions. In the event of a fault, this could lead
to unintentional movement of the drive.
Warning
Carry out commissioning with a free-running motor, in order to
avoid mechanical damage, e.g. due to incorrect direction of
rotation.
Warning
Electronic devices are never fail-proof.
The user is responsible for ensuring that his system is brought
into a safe state if the electric device fails.
Warning
DANGER!
The servo drive controller and in particular the braking resistance,
external or internal, can become very hot. This can cause serious
burning if the devices are touched.
2.4.3 Protection aganst touching electric components
This section concerns only devices and drive components with voltages over 50 V. It is
dangerous to touch components with voltages of more than 50 V, as this can cause an
electric shock. When electric devices are operated, certain components in these devices
are always under dangerous tension.
Warning
Dangerous voltage
High electric voltage!
Danger of death or serious bodily injury due to electric shock!
For operation the relevant DIN, VDE, EN und IEC regulations, as well as all national and
local safety and accident prevention regulations must always be observed. The system
manufacturer or the user is responsible for ensuring that these regulations are observed.

2. Safety instructions for electric drives and controllers
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 15
Warning
Before switching the device on, fit the covers and protective
screens so that the device cannot be touched.
For devices which are to be fitted in a control cabinet, make sure
that a housing is fitted so that the electric components cannot be
touched.
Regulation VGB4 must be observed.
Warning
Always connect the protective earth conductor of the electrical
equipment and the devices firmly to the supply network.
Due to the integrated network filter the leakage current is greater
than 3.5 mA.
Warning
Note the minimum copper cross section for the protective
conductor during the complete sequence in accordance with
standard EN 60617.
Warning
Before commissioning, also for brief measuring and test pur-
poses, always connect the protective conductor to all electric
devices or connect to an earth cable in accordance with the
connection diagram.
Otherwise, high voltages may occur on the housing. These could
cause an electric shock.
Warning
Do not touch the electrical connection points of the components
when the device is switched on.
Warning
Before touching electric components with voltages over 50 V,
disconnect the device from the mains or voltage source.
Protect the device against being switched on again.
Warning
During installation note the amount of intermediate circuit
voltage, especially with regard to insulation and protective
measures.
Make sure that the earthing, the cross section size of the conductor
and the corresponding short-circuit protection are correct.

2. Safety instructions for electric drives and controllers
16 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
Warning
The device has an intermediate fast discharge circuit in accordance
with EN 60204, section 6.2.4. In certain device constellations, par-
ticularly where several motor controllers are switched parallel in
the intermediate circuit or with a non-connected braking resistance,
the fast discharge may not have any effect. The motor controllers
can stand under dangerous tension for up to 1 minute after being
switched off (capacitor residual charge).
2.4.4 Protection by low voltage (PELV) against electric shock
Voltages from 5 to 50 V on the connections and terminals of the motor controller are
protective small voltages which can be touched without danger in accordance with the
following standards:
-International: IEC 60364-4-41
-European countries in the EU: EN 50178/1998, section 5.2.8.1
Warning
DANGER!
High electric voltage due to incorrect connection.
Danger of bodily injury or death due to electric shock!
Devices, electrical components and cables may only be connected to connections and
terminals from 0 to 50 V, providing they have a protective low voltage (PELV = Protective
Extra Low Voltage).
Connect only voltages and current circuits which have reliable separation of dangerous
voltages.
Such separation is achieved e.g. with isolating transformers, reliable optocouplers or
battery operation separate from the mains network.
2.4.5 Protection from dangerous movements
Dangerous movements can be caused by incorrect control of connected motors. There are
various causes:
-Unsafe or faulty circuitry or cabling
-Faults in operating the components
-Faults in the measured value and signal generators
-Defective or non-EMC valid components
-Faults in the software in the higher-order control system
These faults can occur immediately after the device is switched on or after a certain period
of operation.

2. Safety instructions for electric drives and controllers
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 17
The monitoring functions in the drive components exclude to a large extent the possibility
of incorrect operation of the connected drives. WIth regard to the protection of human
beings, especially the danger of bodily injury and/or material damage, one must not rely
on these circumstances alone. Until the fitted monitoring functions become effective, you
must reckon with at least one incorrect drive movement, the extent of which depends on
the type of control and on the operating state.
Warning
DANGER!
Dangerous movements.
Danger of injury or death, serious bodily injury or material damage.
For the above-mentioned reasons, the protection of human beings must be ensured with
the aid of monitoring systems or by measures which are of higher order than the system.
These measures are foreseen depending on the specific features of a danger and fault
analysis by the system manufacturer. The safety regulations applicable to the system must
be observed here as well. Undesired movements of the machine or other incorrect func-
tions can occur as a result of switching off, avoiding or failing to activate safety devices.
2.4.6 Protection aganst touching hot components
Warning
DANGER!
Surfaces of the device housing may be hot.
Danger of injury. Danger of burning.
Warning
Danger of burning.
Do not touch the surface of the housing in the vicinity of hot
sources.
After switching devices off, leave them for 10 minutes to cool
down before touching them.
If you touch hot parts of the device such as the housing which
contains the heat sink and resistors, you may burn yourself.

2. Safety instructions for electric drives and controllers
18 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
2.4.7 Protection when handling and assembling
Handling and assembling certain components in an unsuitable manner can under
circumstances cause injury.
Warning
DANGER!
Danger of injury as a result of incorrect handling.
Bodily injury caused by squeezing, cutting, pushing.
The following safety measures apply here:
Warning
Observe the general regulations on setting up and safety when
handling and assembling.
Use suitable assembly and transport devices.
Prevent clamping and squashing (of fingers).
Use only suitable tools. If specified, use special tools.
Use lifting devices and tools in a correct manner.
If necessary, use suitable protective equipment
(e.g. protective glasses, safety shoes, safety gloves).
Do not stand under hanging loads.
Wipe up spilt liquids on the floor to avoid slipping.

3. Assembly and installation
Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH 19
3. Assembly and installation
The PROFIBUS interface is implemented in the device family CMMP by an optional interface
module CAMC-PB.
The PROFIBUS bus connection is designed as a 9-pin sub-D socket on the CAMC-PB as per
EN 50170.
3.1 Connecting and display elements
The following elements can be found on the front plate of the CAMC-PB.
-a green LED for the bus readiness message
-a 9-pin sub-D socket
-two DIP switches for actuating the terminating resistors.
1 Two DIP
switches
2 9-pin sub-D
socket
3LED for the bus
readiness
message
Fig. 3.1: Connecting and display elements on the PROFIBUS-DP interface
2
1
3

3. Assembly and installation
20 Festo P.BE-CMMS-FHPP-PB-SW-EN en 0708NH
3.2 Assembly
Caution
The motor controller must be disconnected from all current carrying
cables before an additional module is fitted. After switching off the
operating voltage, you must wait 1 minute before the capacitors in
the motor controller are fully discharged.
Caution
Make sure that measures for ESD protection are taken when
handling the additional module.
Use a suitable screwdriver to remove the front cover over the module shaft of the motor
controller (Fig. 3/2). The additional module is now placed in the open module shaft so that
the printed circuit board slides into the guides on the sides of the module shaft (Fig. 3.3).
Push the board in as far as possible. The front plate of the additional modue is then
screwed to the motor controller housing with a Philips screw. Make sure that the front
plate fits flush with the front in order that it has conductive contact with the housing.
1 Front cover
Fig. 3.2: Unscrew front cover
1