Festo CMMS-AS G2 Series Instruction Manual

Description
Assembly and
installation
8026141
1310NH
Motorcontroller
CMMS-AS-...-G2

CMMS-AS-...-G2
2 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
Translation of the original instructions
GDCP-CMMS-AS-G2-HW-EN
CANopen
®
, DeviceNet
®
,EnDat
®
, Heidenhain
®
,PHOENIX
®,
PROFIBUS
®
are registered trademarks of
the respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 3
Table of contents – CMMS-AS-...-G2
1 Safety and requirements for product use 8......................................
1.1 Safety 8..................................................................
1.1.1 Safety regulations 8................................................
1.1.2 Intended use 9.....................................................
1.2 Requirements for product use 10...............................................
1.2.1 Technical requirements 10............................................
1.2.2 Qualification of trained personnel 10....................................
1.2.3 Range of application and certifications 10................................
2 Product Overview 11.........................................................
2.1 The entire system for the CMMS-AS-...-G2 11......................................
2.2 Scope of delivery 12..........................................................
2.3 Device view 13..............................................................
2.4 Display and control elements 15................................................
2.4.1 Seven-segment display 15............................................
2.4.2 LED displays 16.....................................................
2.4.3 DIP switches 16.....................................................
2.4.4 Slot [EXT] 17.......................................................
2.4.5 Card slot [M1] for SD memory card 17...................................
3 Mechanical installation 18....................................................
3.1 Installation dimensions 18.....................................................
3.2 Assembly 19................................................................
3.3 Dismantling 21..............................................................
4 Electrical installation 22......................................................
4.1 Safety regulations 22.........................................................
4.2 Instructions for safe and EMC-compliant installation 23.............................
4.2.1 Interference emission and interference immunity 23........................
4.2.2 EMC-compliant wiring 24.............................................
4.2.3 Protective earthing of the motor controller 25.............................
4.2.4 Protective earthing of the motor 25.....................................
4.3 I/O interface [X1] 26..........................................................
4.4 Encoder [X2] 31.............................................................
4.5 STO interface [X3] 33.........................................................
4.5.1 Pin allocation 33....................................................
4.5.2 Circuitry without use of the STO safety function [X3] 33.....................
4.5.3 Circuitry with use of the STO safety function [X3] 34........................
4.6 CAN [X4] 35................................................................

CMMS-AS-...-G2
4 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
4.7 Serial interface RS232/RS485 [X5] 36...........................................
4.8 Motor [X6] 37...............................................................
4.8.1 Pin allocation 37....................................................
4.8.2 Connecting the screening of the motor cable 38...........................
4.8.3 Connection of a holding brake 38.......................................
4.9 Power supply [X9] 40.........................................................
4.9.1 Protection against electric shock through protective extra-low voltage (PELV): 40
4.9.2 Pin allocation 40....................................................
4.9.3 Connection to the supply voltage 41....................................
4.10 Master/slave interface [X10] 42................................................
5 Commissioning 43...........................................................
A Technical appendix 44........................................................
A.1 Technical data 44............................................................
A.2 Connection data 46..........................................................
A.2.1 Mains fuse 46......................................................
A.2.2 I/O interface [X1] 46.................................................
A.2.3 Encoder [X2] 47.....................................................
A.2.4 STO interface [X3] 48.................................................
A.2.5 CAN [X4] 49........................................................
A.2.6 RS232/RS485 [X5] 49................................................
A.2.7 Motor [X6] 50.......................................................
A.2.8 Power supply [X9] 51.................................................
A.2.9 Master/slave interface [X10] 52........................................
B Diagnostic messages 53......................................................
B.1 Explanations of the diagnostic messages 53......................................
B.2 Diagnostic messages with instructions for trouble-shooting 54.......................
B.3 Error codes via CiA 301/402 67.................................................
B.4 PROFIBUS diagnostics 69.....................................................

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 5
Instructions on this documentation
This documentation is intended to help you work safely with the motor controller CMMS-AS-…-G2 and it
describes the functions, start-up procedure and error messages.
Tar get 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.
Versions
This documentation refers to the following versions:
– Motor controller CMMS-AS-C4-3A-G2: from Rev. 02
– Firmware: from version 1.4.0.2.6
– Configuration/parameterisation software (Festo Configuration Tool): FCT plug-in
“CMMS-AS”, from version 2.0.0.x
Note
Before using a newer firmware version, check to see if a newer version of the FCT plug-in
or user documentation is available
Support Portal: http://www.festo.com/sp.
Service
Please consult your regional Festo contact if you have any technical problems.
Product identification
Rating plate CMMS-AS-…-G2 Meaning
…
CMMS-AS-…-G2
572986
CN98 P0021912
Rev 02
In: 1k(95…250)V AC
(50…60)Hz 4A
Out: 3k(0…Input Voltage)V AC
(0…1000)Hz 4 A
Type designation CMMS-AS-…-G2
Part number e.g. 572986
Revision e.g. Rev 02
Serial number e.g. CN98 P0021912
Input voltage (In) 95 … 250 V AC ±10%
50 … 60 Hz, 4 A
Output voltage (Out) 0 … input voltage V AC
0 … 1000 Hz, 4 A
Tab. 1 Rating plate for CMMS-AS-…-G2 (example)

CMMS-AS-...-G2
6 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
Type codes
cmms –
Interfaces
AS C4 3A G2
–––
cmms Motor controller, standard
Motor technology
AS AC synchronous
Nominal current
C4 4 A
Input voltage
3A 230 V AC
Generation
G2 Second generation
Fig. 1 Type codes

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 7
Documentation
Information regarding the motor controller can be found in the following documentation:
Name, type Contents
Description of hardware,
GDCP-CMMS-AS-G2-HW-...
Assembly, installation, pin allocation and error messages
Description of the STO safety
function, GDCP-CMMS-AS-G2-S1-...
Functional safety engineering for the motor controller with the
STO safety function
Description of function,
GDCP-CMMS-AS-G2-FW-...
– Functional description and commissioning with FCT
– Control interfaces and device profiles
Description of device profile FHPP,
P.BE-CMM-FHPP-SW-...
Control and parameterisation of the motor controller via the
device profile FHPP from Festo
Description
Device profile CiA 402,
P.BE-CMMS-FHPP-CO-SW-...
– Description of the CAN interface of the motor controller
– Control and parameterisation of the motor controller via the
device profile CiA 402 (DS 402)
PROFIBUS description,
P.BE-CMM-FHPP-PB-SW-...
Description of the PROFIBUS interface of the motor controller
DeviceNet description,
P.BE-CMMS-FHPP-DN-SW-...
Description of the DeviceNet interface of the motor controller
Help on the FCT plug-in CMMS-AS User interface and functions of the CMMS-AS plug-in for the
Festo Configuration Tool www.festo.com
Tab. 2 Documentation for the motor controller CMMS-AS-...-G2

1 Safety and requirements for product use
8 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety regulations
Warning
Danger of electric shock
Touching live parts causes severe injuries and can lead to death:
– if the module or cover plate is not mounted on the card slot [EXT]
– if cables are not mounted to the plugs [X6] and [X9]
– if connecting cables are disconnected when powered.
The product must be installed in a control cabinet and may only be used if all safety
measures have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
Caution
Danger of burns from hot surfaces
Dependent on the load of the motor controller, housing temperatures > 80 °C are pos-
sible in operation.
• Protect hot surfaces from contact during operation.
• Only touch in a switched-off, cooled-off state.
Note
Danger from unexpected movement of the motor or axis
• Make sure that the movement does not endanger anyone.
• Perform a risk assessment in accordance with the EC machinery directive.
• Based on this risk assessment, design the safety system for the entire machine,
taking into account all integrated components. This also includes the electric drives.
Bypassing of safety equipment is impermissible.

1 Safety and requirements for product use
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 9
1.1.2 Intended use
The motor controller CMMS-AS-...-G2. is a digital positioning controller for servo motors for
– supply and activation of the motor
– regulation of speed (current), torque and position.
The motor controller supports the following safety function:
– “Safe Torque Off ” (STO)
Category 3/PL d in accordance with EN ISO 13849-1.
Use exclusively:
– in faultless technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data (Appendix A.1)
– in an industrial environment
– as an installed device in a control cabinet.
In the event of damage caused by unauthorised manipulation or other than intended use,
the guarantee is invalidated and the manufacturer is not liable for damages.

1 Safety and requirements for product use
10 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
1.2 Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
1.2.1 Technical requirements
For correct and safe use of the product:
• Comply with the connection and environmental conditions of the product (Appendix A) and all
connected 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 instructions and warnings in this documentation.
1.2.2 Qualification of trained personnel
The product may only be placed in operation by a qualified electrotechnician who is familiar with:
– the installation and operation of electrical control systems,
– the applicable regulations for operating safety-engineered systems,
– the applicable regulations for accident protection and occupational safety and
– the documentation for the product.
1.2.3 Range of application 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 marking; for standards and test values Appendix A.1.
The EU directives that are relevant for the product can be found in the declaration of conformity.
Certificates and the declaration of conformity for this product www.festo.com.

2 Product Overview
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 11
2 Product Overview
2.1 The entire system for the CMMS-AS-...-G2
1Power switch
2Fuse A.2.1
324 V power supply unit for the control
voltage
4Motor controller CMMS-AS-...-G2
5PC with serial connecting cable for
parameterisation and commissioning with
the Festo Configuration Tool (FCT), plug-in
CMMS-AS
6Motor EMMS-AS with encoder, cable set
(motor and encoder cable NEBM)
5
6
1
2
3
4
Fig. 2.1 Complete structure CMMS-AS-...-G2

2 Product Overview
12 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
2.2 Scope of delivery
Number Component
1Motor controller CMMS-AS-...-G2
1Operator package
– Brief description
– CD-ROM with parameterisation software “Festo Configuration Tool” (FCT), product
documentation, S7 module, PROFIBUS device master data (GSD), electronic data sheet
(EDS), firmware
1Plug assortment NEKM-C-4 (plugged onto connections)
2Mounting bracket
Tab. 2.1 Scope of delivery

2 Product Overview
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 13
2.3 Device view
1LED status display
2Seven-segment display
3[S1]: DIP switches for fieldbus settings and
firmware update
4[EXT]: Slot for optional control interfaces
(PROFIBUS DP, DeviceNet)
5[M1]: SD- memory card
6[X4]: CAN-Bus
7[X5]: RS232/RS485
8Earthing screw (central PE connection)
1
2
3
4
5
6
7
8
Fig. 2.2 Front view of CMMS-AS-...-G2

2 Product Overview
14 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
1[X9] Power supply
2[X10] Master/slave (bi-directional interface)
3[X1] I/O interface
1
3
2
Fig. 2.3 Top view of CMMS-AS-...-G2
1[X3] STO interface
2[X2] Encoder
3[X6] Motor
4Shield connection terminal 1
2
3
4
Fig. 2.4 Bottom view of CMMS-AS-...-G2

2 Product Overview
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 15
2.4 Display and control elements
2.4.1 Seven-segment display
Display
1)
Meaning
Rotating outside
segments
Speed mode (speed adjustment):
Display changes corresponding to rotor position and speed.
Middle segment Controller enable active (motor is energised).
IForce mode (current control)
Pxxx Positioning mode, record number x x x
000 – No positioning record active
001...063 – Positioning record 001 ... 063 active
070/071 – Jogging+/jogging–
064 – Manual travel via FCT or FHPP direct record (direct operation)
PHx Homing phase x
0– Searching travel to the primary destination (limit switch or stop)
1– Creep to the reference point
2– Move to the axis zero point
HTwo-channel safety function requested (DIN4 [X1.21] and Rel [X3.2])
Dot Start program (Bootloader) active
Flashing point – Firmware file (memory card) is being read
– Display of errors through the start programme
Exxy Error (E = error)
Number: two-position main index (x x), single-position subindex (y)
Example: E 0 1 0 Appendix B.
–xxy– Warning
Number: two-position main index (x x), single-position subindex (y).
Example:-170-Appendix B.
1) Several characters are displayed one after the other.
Tab. 2.2 Seven-segment operation and error display (Fig. 2.2 2)
Warnings are automatically acknowledged when the cause is no longer present. Error
messages are acknowledged via:
– the parameterisation software FCT
– the fieldbus (control word)
– or a decreasing edge at [X1] DIN5.

2 Product Overview
16 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
2.4.2 LED displays
LED LED colour Function
Ready Green Operating status/controller enable
Flashing green Parameter file xxx.DCO (memory card) is being red/written
CAN Yellow CAN bus status display illuminates when CAN communication is
taking place
Tab. 2.3 LED status display (Fig. 2.2 1)
2.4.3 DIP switches
DIP switch Function
S1.1 … 7 CAN bus address or MAC-ID Example Tab. 2.5
S1.8 Automatic loading of a new firmware file from the memory card by the start
programme (bootloader):
1)
– ON: Download from the SD memory card to the controller
– OFF: No download.
S1.9 … 10 Setting the CAN-bus transmission rate Example Tab. 2.6
S1.11 Activation of the CAN-bus interface
S1.12 Terminating resistor for CAN-bus
1) For additional information regarding the firmware download Functional description GDCP-CMMS-AS-G2-FW-...
Tab. 2.4 Function of the DIP switches (Fig. 2.2 3)
S1.1 … 7 ON/OFF (example) Significance
1)
1ON 1 DIP switch S1.1 is the low-order bit.
Example: address = 1011011 =91
2ON 1
3OFF 0
4ON 1
5ON 1
6OFF 0
7ON 1
1) Additional information Functional description GDCP-CMMS-AS-G2-FW-...: fieldbus configuration.
Tab. 2.5 CAN bus address or MAC-ID
S1.9 … 10 ON/OFF (example) Significance
1)
9ON 1 DIP switch S1.9 is the low-order bit.
00: 125 kBit/s
01: 250 kBit/s (example)
10: 500 kBit/s
11: 1000 kBit/s
10 OFF 0
1) Additional information Functional description GDCP-CMMS-AS-G2-FW-...: fieldbus configuration.
Tab. 2.6 CAN-Bus transmission rate

2 Product Overview
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 17
2.4.4 Slot [EXT]
The slot (Fig. 2.2 4) enables the CMMS-AS-...-G2 to be expanded by the following optional inter-
faces:
– CAMC-PB: Interface for PROFIBUS DP
– CAMC-DN: Interface for DeviceNet.
For installation, please observe the assembly instructions for the CAMC interface. If the
interface is installed, it is automatically activated the next time the motor controller is
switched on. Information regarding functionality can be found in the respective fieldbus
manual
– PROFIBUS P.BE-CMM-FHPP-PB-SW-...
– DeviceNet P.BE-CMMS-FHPP-DN-SW-...
2.4.5 Card slot [M1] for SD memory card
A parameter set can be loaded from/saved onto the memory card by using the FCT
software. Additional information can be found in the help section for the FCT plug-in
CMMS-AS and in the description GDCP-CMMS-AS-G2-FW-...
SD memory card Description
Functions Copying/loading a parameter set from the memory card to the
CMMS-AS-...-G2.
Copying/saving a parameter set from the CMMS-AS-...-G2 to the
memory card.
Copying (loading) firmware from the memory card to the
CMMS-AS-...-G2 (Bootloader)
Design on the device 1x12-pin SD card slot
Supported card types SD
1)
(version 1 and 2)
Supported file systems FAT16
Format filename 8.3
1) Recommended are industry-suitable memory cards from the Festo accessories programme.
Tab. 2.7 Characteristics of the memory card (Fig. 2.2 5)

3 Mechanical installation
18 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
3 Mechanical installation
3.1 Installation dimensions
Fig. 3.1 Installation dimensions
Dim. B1 B2 B3 B4 D1 @D2 @H1 H2 H3
[mm] 60.1 30 22 35.8 10 5.5 160 155 19.7
Dim. L1 L2 L3 L4 L5 L6 L7 L8 L9
[mm] 257 242 211.85 181 10 10.5 9.25 201 15.3
Tab. 3.1 CMMS-AS-...-G2: Installation dimensions

3 Mechanical installation
Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English 19
3.2 Assembly
Warning
Danger of electric shock.
Touching live parts causes severe injuries and can lead to death. Do not disconnect
connecting cables when powered. Before mounting and installation work:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
Caution
Danger of burns from hot surfaces
Dependent on the load of the motor controller, housing temperatures > 80° C are pos-
sible in operation.
• Only touch in a switched-off, cooled-off state.
Note
Make sure that no metal shavings, metal dust or mounting parts (screws, nuts, pieces of
wire) fall into the motor controller when mounting and during operation.

3 Mechanical installation
20 Festo – GDCP-CMMS-AS-G2-HW-EN – 1310NH – English
For vertical mounting onto a control cabinet mounting plate:
• Mount the accompanying mounting brackets to the
CMMS-AS-...-G2 motor controller.
The two mounting brackets are part of the radiator profile and
transfer heat to the mounting plate.
The motor controllers of the CMMx family are designed in such
a way that they can be mounted on a heat-dissipating mount-
ing plate if used as intended and installed correctly.
• Use the motor controller exclusively as an installed device
in a control cabinet:
– The mounting position is vertical with the power supply
lines [X9] leading upwards
– Mount to the mounting brackets with M5 screws.
Fig. 3.2 Installation clearance
Note
An excessive temperature increase results in premature aging or damage to the motor
controller.
• Observe the specified installation clearances to ensure sufficient ventilation
(Tab. 3.2).
Installation clearance H1
1)
L1 L2
– at an output of 400 W [mm] 100 70 10
– at a rated output of 600 W [mm] 100 140 80
1) Recommendation for optimum wiring of the motor and encoder cable: Installation clearance H1 at the bottom = 150 mm.
Tab. 3.2 Installation clearance
The specified installation clearance L1 = 70 mm relates to an average motor output in
continuous operation (S1 operation according to IEC 60034-1). When subjected to a high-
er output, the clearance L1 = 70 mm is sufficient under the following conditions:
– The motor is operated at a higher peak load in intermittent operation (S3/S4 opera-
tion according to IEC 60034-1: acceleration, constant movement with a low load, brak-
ing).
– An excessive temperature increase of the motor controller is prevented by forced
ventilation.