Festo CMMS-AS Series Operating and installation instructions

Description
Fuctions and
commissioning
Firmware-Version
from 1.4.0.x.6
8040107
1404NH
[8034520]
Motor controller
CMMS-AS/CMMS-ST/CMMD-AS

CMMS-AS/CMMS-ST/CMMD-AS
2 Festo – GDCP-CMMS/D-FW-EN – 1404NH –
Translation of the original instructions
GDCP-CMMS/D-FW-EN
CAN
®
,CANopen
®
,CiA
®
,CODESYS
®
, DeviceNet
®
,EnDat
®
,PROFIBUS
®
,Windows
®
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/CMMS-ST/CMMD-AS
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 3
Table of contents – CMMS-AS/CMMS-ST/CMMD-AS
1 Safety and requirements for product use 13......................................
1.1 Safety 13..................................................................
1.1.1 Safety instructions 13................................................
1.1.2 Intended use 14.....................................................
1.2 Requirements for product use 15...............................................
1.2.1 Transport and storage conditions 15....................................
1.2.2 Technical requirements 15............................................
1.2.3 Qualification of trained personnel 15....................................
1.2.4 Range of application and certifications 16................................
2 Product overview 17.........................................................
2.1 Motor controller CMMS-AS-C4-3A-G2 17.........................................
2.1.1 Control, sensor and safety function interfaces 17..........................
2.1.2 Power supply, motor and motor encoder interfaces 19......................
2.1.3 Parameter/firmware interfaces 21......................................
2.1.4 LED indicators, seven-segment displays and DIL switches 23.................
2.2 Motor controller CMMS-ST-C8-7-G2 25...........................................
2.2.1 Control, sensor and safety function interfaces 25..........................
2.2.2 Power supply, motor and motor encoder interfaces 27......................
2.2.3 Parameter/firmware interfaces 29......................................
2.2.4 LED indicators, seven-segment displays and DIL switches 31.................
2.3 Motor controller CMMD-AS-C8-3A 33............................................
2.3.1 Control, sensor and safety function interfaces 33..........................
2.3.2 Power supply, motor and motor encoder interfaces 35......................
2.3.3 Parameter/firmware interfaces 37......................................
2.3.4 LED indicators, seven-segment displays and DIL switches 39.................
2.4 Control interfaces – operating modes – operational functions 41......................
2.4.1 Overview: Control interfaces/connections/device profiles/
operating modes/operational functions 41...............................
2.4.2 Positioning mode: Direct mode, individual record mode,
record linking mode and interpolated positioning mode 42...................
2.4.3 Positioning mode: Homing mode/jog mode/teach mode 43..................
2.4.4 Speed mode, force mode and torque mode 44............................
2.4.5 Synchronisation 45..................................................
2.4.6 Operational functions: Encoder emulation, flying measurement,
analogue monitor and endless positioning 46.............................

CMMS-AS/CMMS-ST/CMMD-AS
4 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
3 Control interfaces 47.........................................................
3.1 Digital, analogue, synchronisation and fieldbus interfaces 47.........................
3.1.1 Motor controller CMMS-AS-C4-3A-G2 47.................................
3.1.2 Motor controller CMMS-ST-C8-7-G2 48..................................
3.1.3 Motor controller CMMD-AS-C8-3A 49....................................
3.2 Digital interfaces [X1] [X1.1/X1.2/EXT1/EXT2] 50..................................
3.2.1 Digital I/O modules (DIN…/DOUT…) 50..................................
3.2.2 Selecting the operating mode/mode via digital input signals 50...............
3.2.3 Digital input/output signals as a function of the operating mode/mode 51......
3.2.4 Digital input signals 53...............................................
3.2.5 Digital output signals 57..............................................
3.2.6 Message “Target reached” 60..........................................
3.2.7 Message “Following error” 61..........................................
3.2.8 Message “Speed reached” 62.........................................
3.2.9 Message “Remaining distance” 65......................................
3.3 Analogue interface [X1] [X1.1/X1.2] 66...........................................
3.3.1 Analogue input/output (AIN0/AMON0) 66................................
3.3.2 Analogue input signal (analogue setpoint value specification) 66..............
3.3.3 Analogue output signal (analogue monitor) 67............................
3.4 Synchronisation interfaces [X1/X10] [X1.1/X1.2/X10.1/X10.2] 68.....................
3.4.1 Encoder input for synchronisation (slave interface) 68......................
3.4.2 Encoder output for encoder emulation (master interface) 69.................
3.4.3 Incremental signals (A/#A/B/#B/N/#N) 70...............................
3.4.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR) 71..........................
3.4.5 Forward/reverse signals (CW/#CW/CCW/#CCW) 72........................
3.5 Fieldbus interfaces [X4] [X5] [EXT/EXT1] 73.......................................
3.5.1 Supported fieldbuses 73..............................................
3.5.2 Required digital inputs/outputs with a fieldbus activation 74.................
3.6 Device profiles for fieldbuses 75................................................
3.6.1 Device profile: Festo handling and positioning profile (FHPP) 75..............
3.6.2 Device profile: CANopen, CiA 402 (for electric drives) 75....................
4 Measuring system 76........................................................
4.1 Measuring system for electrical drives 76.........................................
4.1.1 Measuring system for linear drives 76...................................
4.1.2 Measuring system for rotative drives 77..................................
4.2 Calculation rules for the measuring system 78.....................................
4.3 Limit switch (hardware) and software end position 78...............................
4.3.1 Limit switch LSN/LSP (hardware) 78....................................
4.3.2 Software end position SLN/SLP 78......................................

CMMS-AS/CMMS-ST/CMMD-AS
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 5
5 Commissioning 79...........................................................
5.1 Configuration/parameterisation of the drive system and motor controller 79.............
5.1.1 Festo Configuration Tool (FCT) 79.......................................
5.1.2 Installing the FCT framework/plug-in 80..................................
5.1.3 Configuring/parameterising the Festo Configuration Tool (FCT) 80.............
5.1.4 FCT Help 81........................................................
5.1.5 Configuring fieldbus/firmware functions via DIL switch 82...................
5.1.6 Fieldbus address/MAC-ID configuration 83...............................
5.1.7 Firmware download activation from the memory card 84....................
5.1.8 Data rate configuration (CAN bus/DeviceNet) 84..........................
5.1.9 CAN bus activation 84................................................
5.1.10 Terminating resistor activation (CAN bus) 85..............................
5.2 Data interfaces (parameter/firmware) 86.........................................
5.2.1 Firmware file 87.....................................................
5.2.2 Downloading the firmware file (FCT >> motor controller) 87...................
5.2.3 Downloading the firmware file (.S) (memory card >> motor controller) 88........
5.2.4 Device data (FCT) 90.................................................
5.2.5 Downloading/synchronising/uploading/saving device data
(FCT <</<=>/>> motor controller) 90......................................
5.2.6 Archiving/extracting device data (FCT >>/<< PC) 92..........................
5.2.7 Parameter file (.DCO) 93..............................................
5.2.8 Reading/writing/saving the parameter file (.DCO)
(memory card >>/<< motor controller) 94..................................
5.3 Commissioning the motor controller 95..........................................
5.3.1 Preparing for initial start-up 95.........................................
5.3.2 Required digital inputs/outputs for operation 96..........................
5.3.3 Status diagram of the motor controller 97................................
5.3.4 Switching on the power supply (Power ON) 98............................
5.3.5 Downloading device data (FCT) to the motor controller 100...................
5.3.6 Enabling the motor controller via digital inputs 101..........................
5.3.7 Commutation finding by motor controller CMMS-ST-C8-7-G2 103...............
5.3.8 Checking motor and limit switch functionality 104...........................
5.3.9 Carrying out homing 105...............................................
5.4 Behaviour of the motor controller in the event of an interruption or disconnection 106......
5.4.1 Holding brake 106....................................................
5.4.2 Interruption of the mains supply 107.....................................
5.4.3 Switching off the motor controller via output stage enable (DIN4) 108..........
5.4.4 Switching off the motor controller via controller enable (DIN5) 109.............
5.5 Master control 110............................................................
5.5.1 Master control over the motor controller 110...............................
5.5.2 FCT master control over the motor controller 112...........................

CMMS-AS/CMMS-ST/CMMD-AS
6 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
6 Positioning mode 113.........................................................
6.1 Function: Position control 113...................................................
6.2 Record selection and positioning records 114......................................
6.2.1 Function: Record selection and positioning records 114......................
6.2.2 Record selection (positioning record) – control interface – operating mode 115...
6.3 Relative positioning 115.......................................................
6.4 Direct mode 116..............................................................
6.4.1 Function: Direct mode 116.............................................
6.4.2 Connection: Digital inputs/outputs 117...................................
6.4.3 Parameterising the direct mode 118......................................
6.5 Individual record mode 120.....................................................
6.5.1 Function: Individual record mode 120....................................
6.5.2 Connection: Digital inputs/outputs 121...................................
6.5.3 Timing diagram: Start/cancel individual record 123.........................
6.5.4 Parameterising the individual record mode 125.............................
6.6 Record linking mode 137.......................................................
6.6.1 Function: Record linking mode 137.......................................
6.6.2 Connection: Digital inputs/outputs 138...................................
6.6.3 Timing diagram: Start/interrupt/cancel record sequence 140.................
6.6.4 Parameterising the record linking mode 144...............................
6.7 Interpolated positioning mode 153...............................................
6.7.1 Function: Interpolated positioning mode 153..............................
6.7.2 Connection: Digital inputs/outputs 154...................................
6.8 Homing mode/homing 155.....................................................
6.8.1 Function: Homing mode 155............................................
6.8.2 Connection: Digital inputs/outputs 156...................................
6.8.3 Timing diagram: Cancelling homing to limit switch/stop 158..................
6.8.4 Configuring and parameterising the homing mode/homing 162................
6.9 Jog mode 172................................................................
6.9.1 Function: Jog mode 172................................................
6.9.2 Jog mode via Festo Configuration Tool (FCT) 173............................
6.9.3 Connection: Digital inputs/outputs 174...................................
6.9.4 Timing diagram: Jog travel via jog+/jog– 175...............................
6.9.5 Parameterise jog mode 177............................................
6.10 Teach mode 178..............................................................
6.10.1 Function: Teach mode 178.............................................
6.10.2 Connection: Digital inputs/outputs 179...................................
6.10.3 Timing diagram: Teaching the current actual position of the drive 181...........
6.10.4 Parameterising the teach mode 182......................................

CMMS-AS/CMMS-ST/CMMD-AS
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 7
7 Speed mode and force/torque mode 183..........................................
7.1 Speed mode 183.............................................................
7.1.1 Function: Speed adjustment 183........................................
7.1.2 Function: Speed mode 184.............................................
7.1.3 Connection: Analogue and digital inputs/outputs 185.......................
7.1.4 Parameterise speed mode 186..........................................
7.2 Force/torque mode 188........................................................
7.2.1 Function: Current regulation 188........................................
7.2.2 Function: Force/torque mode 189.......................................
7.2.3 Connection: Analogue and digital I/O modules 190..........................
7.2.4 Parameterise force/torque mode 191....................................
8 Synchronisation 193..........................................................
8.1 Synchronisation (slave mode) 193...............................................
8.1.1 Function: Synchronisation 193..........................................
8.1.2 Connection: Digital inputs/outputs (24 V) and encoder input (5 V) 195..........
8.1.3 Connection: Digital inputs/outputs (24 V) 196..............................
8.1.4 Timing diagram: Starting synchronisation via Start Sync signal 197.............
8.1.5 Configure/parameterise synchronisation 198..............................
9 Operational functions 199.....................................................
9.1 Encoder emulation (master operation) 199........................................
9.1.1 Function: Encoder emulation 199........................................
9.1.2 Connection: Encoder output (5 V) 200....................................
9.1.3 Configure/parameterise encoder emulation 200............................
9.2 Flying measurement (sampling) 201..............................................
9.2.1 Function: Flying measurement 201.......................................
9.2.2 Connection: Digital input 202...........................................
9.3 Analogue monitor 203.........................................................
9.3.1 Function: Analogue monitor 203.........................................
9.3.2 Connection: Analogue output 203.......................................
9.3.3 Configure/parameterise analogue monitor 204.............................
9.4 Endless positioning 206........................................................
9.4.1 Function: Endless positioning 206.......................................
9.5 Resonance filter (motor controller CMMS-ST-C8-7-G2) 208............................
9.5.1 Function: Resonance filter 208..........................................

CMMS-AS/CMMS-ST/CMMD-AS
8 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
10 Service 209.................................................................
10.1 Protective and service functions 209..............................................
10.1.1 Overload current and short-circuit monitoring of the motor output 210..........
10.1.2 Monitoring of interruption and failure of the mains supply 210.................
10.1.3 Overvoltage and undervoltage monitoring for the intermediate circuit 210.......
10.1.4 Output stage temperature monitoring 210.................................
10.1.5 Monitoring the motor and motor encoder 210..............................
10.1.6 I2t monitoring 211....................................................
10.2 Operating mode and error messages 213..........................................
10.2.1 LED indicators (Ready/CAN/Bus) 213....................................
10.2.2 Seven-segments display 213...........................................
10.3 Acknowledgement of error messages 215.........................................
10.3.1 Diagnostic messages 215..............................................
10.4 Dismantling and repairs 216....................................................
10.4.1 Saving the parameter set for the motor controller 216.......................
A Diagnostic messages 217......................................................
A.1 Explanations on the diagnostic messages 217......................................
A.2 Diagnostic messages with instructions for fault clearance 218.........................
A.3 Error codes via CiA 301/402 231.................................................
A.4 Profibus diagnostics 233.......................................................
B Serial interface RS232 (diagnostics/parameterisation interface) 236..................
B.1 Activating the motor controller via the interface RS232 236...........................
B.1.1 Master data of the interface RS232 236...................................
B.1.2 Connect RS232 interface with a program 236..............................
B.1.3 Connection [X5]: Pin allocation of the RS232 interface 237...................
B.2 Commands/syntax of the RS232 interface 238......................................
B.2.1 General commands 238...............................................
B.2.2 Control motor controller via CAN-Interpreter (CI) 238........................
C Serial interface RS485 (control interface) 241.....................................
C.1 Activating the motor controller via the interface RS485 241...........................
C.1.1 Master data of the interface RS485 241...................................
C.1.2 Connection [X5]: Pin allocation of the RS485 interface 241...................
C.2 Configure RS485 interface in the Festo Configuration Tool (FCT) 242....................
C.3 Commands/syntax of the RS485 interface 243......................................

CMMS-AS/CMMS-ST/CMMD-AS
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 9
Instructions on this description
This documentation is intended to help you work safely with the motor controller CMMS-AS/CMMS-ST/
CMMD-AS and describes the functions, commissioning 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 Version
CMMS-AS-... Motor controller CMMS-AS-C4-3A-G2: From Rev 03
Firmware: From version 1.4.0.2.6
FCT plug-in CMMS-AS: From version 2.0.0.x
CMMS-ST-... Motor controller CMMS-ST-C8-7-G2: From Rev 05
Firmware: From version 1.4.0.1.6
FCT plug-in CMMS-ST: From version 2.0.0.x
CMMD-AS-... Motor controller CMMD-AS-C8-3A: From Rev 03
Firmware: From version 1.4.0.3.6
FCT plug-in CMMD-AS: From version 2.0.0.x
Note
Before using a newer firmware version, check whether a newer version of the FCT plug-
in or 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
For additional information about the rating plate and manufacturing date “Mounting and installa-
tion” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…

CMMS-AS/CMMS-ST/CMMD-AS
10 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
Type codes CMMS-AS-C4-3A-G2
CMMS –
Interfaces
AS C4 3 A G2
–––
CMMS Motor controller, standard
Motor technology
AS AC synchronous
Nominal current
C4 4 A
Input voltage
3 A 230 V AC
Generation
G2 2nd generation
Fig. 1 Type codes CMMS-AS-C4-3A-G2
Type codes CMMS-ST-C8-7-G2
CMMS –
Interfaces
ST C8 7 G2
–––
CMMS Motor controller, standard
Motor technology
ST Stepper motor
Nominal current
C8 8 A
Input voltage
748VDC
Generation
G2 2nd generation
Fig. 2 Type codes CMMS-ST-C8-7-G2

CMMS-AS/CMMS-ST/CMMD-AS
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 11
Type codes CMMD-AS-C8-3A
CMMD –
Interfaces
AS C8 3 A
––
CMMD Motor controller, double
Motor technology
AS AC synchronous
Nominal current
C8 8 A
Input voltage
3 A 230 V AC
Fig. 3 Type codes CMMD-AS-C8-3A

CMMS-AS/CMMS-ST/CMMD-AS
12 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
Documentation
Additional information on the motor controllers CMMS-AS/CMMS-ST/CMMD-AS can be found in the
following documentation:
Documentation Device
type
Contents
Assembly and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting
Itllti
(i
ll ti )
GDCP-CMMD-AS-HW-... CMMD-AS
–
Installation (
p
in allocations)
– Error messages
– Technical data
GDCP-CMMS-ST-G2-HW-... CMMS-ST
Functions and
commissioning
GDCP-CMMS/D-FW-... CMMS-AS
CMMD-AS
CMMS-ST
– Control interfaces
– Operating modes/operational
functions
– Commissioning with FCT
– Error messages
STO safety
function
GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
y
gg
the STO safety function (Safe
Torque Off )
GDCP-CMMS-ST-G2-S1-... CMMS-ST
Device
profile FHPP
GDCP-CMMS/D-C-HP-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interfaces:
– CAN bus (CANopen)
–InterfaceCAMC-PB(PROFIBUS)
– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via
the device profile FHPP (Festo
Handling and Positioning Profile)
with PROFIBUS, DeviceNet or
CANopen.
Device profile
CiA 402
GDCP-CMMS/D-C-CO-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interface:
– CAN bus (CANopen, DriveBus)
– Control and parameterisation via
the device profile CiA 402 (DS
402).
Software Help Help for the CMMS-AS plug-in CMMS-AS – User interface and functions in the
Help for the CMMD-AS plug-in CMMD-AS Festo Configuration Tool for the
plug-in
Help for the CMMS-ST plug-in CMMS-ST
Tab. 1 Documentation on the motor controllers
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: www.festo.com/sp

1 Safety and requirements for product use
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 13
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions
Warning
Danger of electric shock
Touching live parts causes severe injuries and can lead to death:
– when the module or cover plate is not mounted on the card slots [EXT]
(CMMS)/[EXT1/EXT2] (CMMD)
– when cables are not mounted to the plugs [X6] (CMMS)/[X6.1/X6.2] (CMMD) and
[X9]
– when connecting cables are disconnected when powered.
The product must be installed in a control cabinet and may only be used if all safeguard-
ing has 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 in operation.
• Touch them only in a switched-off, cooled-off status.
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
14 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
1.1.2 Intended use
Motor controller CMMS-AS:
The motor controller is intended for use as a controller for a 3-phase servo motor of the EMMS-AS
series in a closed loop (with motor encoder/closed loop).
Motor controller CMMS-ST:
The motor controller CMMS-ST is intended for use as a controller for a 2-phase stepper motor of the
EMMS-ST/MTR-ST series in a closed loop (with motor encoder/closed loop) or in an open loop (without
motor encoder/open loop).
Motor controller CMMD-AS:
The motor controller is intended for use as a controller for two 3-phase servo motors of the EMMS-AS
series in a closed loop (with motor encoder/closed loop).
Motor controller CMMS-AS/CMMS-ST/CMMD-AS:
All motor controllers enable the regulation of current, speed and position, and they contain a position-
ing controller with stored positioning records. The motor controller is designed for installation in a con-
trol cabinet.
The product is intended for use in industrial environments. Outside of industrial environments, e.g. in
commercial and mixed-residential areas, actions to suppress interference may have to be taken.
Use exclusively:
– In faultless technical condition
– In original status without unauthorised modifications; only the expansions described in the docu-
mentation supplied with the product are permitted.
– Within the limits of the product defined through the technical data
“Mounting and installation” description,
GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-…
– In an industrial environment
– In a control cabinet.
In the event of damage caused by unauthorised manipulation or other than intended use, the guaran-
tee is invalidated and the manufacturer is not liable for damages.
The motor controller supports the following safety function:
– “Safe torque off ” (STO)
Additional information “STO safety function” description,
GDCP-CMMS-AS-G2-S1-.../GDCP-CMMS-ST-G2-S1-.../GDCP-CMMD-AS-S1-....

1 Safety and requirements for product use
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 15
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 organisations and insurers,
– National specifications.
1.2.1 Transport and storage conditions
• Protect the product during transport and storage from impermissible burdens, such as:
– Mechanical loads
– Impermissible temperatures
– Moisture
– Aggressive atmosphere
• Store and transport the product in its original packaging. The original packaging offers sufficient
protection from typical stresses.
1.2.2 Technical requirements
For correct and safe use of the product:
• Comply with the connection and ambient conditions of the product specified in the technical data
“Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/
GDCP-CMMS-ST-G2-HW-…, Appendix A.1, and of all connected components. 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.
1.2.3 Qualification of trained personnel
The product may only be placed in operation by a qualified electrotechnician who is familiar with:
– Installation and operation of electrical control systems,
– The applicable regulations for operating safety-engineered systems,
– The applicable regulations for accident protection and operational reliability, and
– The documentation for the product.
1.2.4 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
“Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/
GDCP-CMMS-ST-G2-HW-…, Appendix A.1.
The product-relevant EU directives can be found in the declaration of conformity.
Certificates and the declaration of conformity for this product www.festo.com/sp

2Interfaces
16 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
2 Product overview
2.1 Motor controller CMMS-AS-C4-3A-G2
2.1.1 Control, sensor and safety function interfaces
X1
X5
X4
EXT
X10
X3
DeviceNet
PROFIBUS DP
CANOpen
DriveBus
RS485
DIN0…13
DOUT0…3
AIN0/#AIN0
AMON0
CLK/#CLK/DIR/#DIR
CW/#CW/CCW/#CCW
 A/#A/B/#B/N/#N
CLK/#CLK/DIR/#DIR
CW/#CW/CCW/#CCW
2
1
STO
3
4
5
6
7
8
Fig. 2.1 Overview: Control, sensor and safety function interfaces

2Interfaces
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 17
Interface Function Page
1Motor controller CMMS-AS-
C4-3A-G2
Digital interface [X1]
– Digital inputs (DIN0…13) 50
– Digital outputs (DOUT0…3) 50
Analogue interface [X1]
– Analogue inputs (AIN0/#AIN0) 65
– Analogue output (AMON0) 66
Synchronisation interfaces [X1][X10]
– Encoder inputs 67
– Encoder outputs 68
– Incremental signals
(A/#A/B/#B/N/#N)
69
– Pulse/direction signals [X10]
(CLK/#CLK/DIR/#DIR)
70
– Forward/reverse signals [X10]
(CW/#CW/CCW/#CCW)
71
CAN interface [X4]
–CANopen 72
–DriveBus 72
Slot [EXT]
– Interface module CAMC-... 572
RS485 interface [X5] 240
2Control Master device
3Motor controller CMM... Master or slave device
4Sensors Limit switches 77
Sequence control (NEXT1/2) 148/
5Interface module CAMC-... DeviceNet (CAMC-DN) 72
PROFIBUS DP (CAMC-PB) 72
6PC Master device, RS485 interface
7Festo Configuration Tool (FCT) Jog/individual step 172
8Safety switching device Safety function STO (Safe Torque Off) 12
Tab. 2.1 Overview: Control, sensor and safety function interfaces

2Interfaces
18 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
2.1.2 Power supply, motor and motor encoder interfaces
X9
X6
1 x 110 … 230 V AC
1
2
3
4
5
6
7
24 V DC
Power ON/OFF
X2
9
GND
8
Fig. 2.2 Overview: Power supply, motor and motor encoder interfaces

2Interfaces
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 19
Interface Function Page
1Mains supply
2Power switch
3Fuse “control section” Application-dependent
4Fuse “power section” Application-dependent
5Power supply unit “control section” Output voltage: 24 V DC
6External braking resistor
(optional)
–Resistance≥100 Ω
– Rated output ≤100 W
– Pulse power ≤1600 W
– Nominal voltage 400 V AC
7Motor controller
CMMS-AS-C4-3A-G2
Protective earthing “(housing) 12
Power supply [X9]
– Power section: 230 V AC (L1/N/PE)
– Control section: 24 V DC (24 V/0 V)
– External braking resistor (ZK+/BR-CH)
Motor interfaces [X6]
– Motor (U/V/W/PE)
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)
Motor encoder [X2]
–EnDatinterface
Terminal “motor cable screening GND”
(connected with protective earthing “)
8Motor encoder (closed loop) EnDat interface 12
9Servo motor EMMS-AS – Motor (U/V/W/PE)
– Holding brake (BR+/BR–)
– Motor temperature sensor (MT+/MT–)
12
Tab. 2.2 Overview: Power supply, motor and motor encoder interfaces

2Interfaces
20 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
2.1.3 Parameter/firmware interfaces
X5
M1
S1.8
123
4
56
Festo Configuration Tool (FCT)
Framework/plug-in
Firmware files
Device-descriptive files
EDS/GSD
Function block files
CodeSys/Step7/RSLogix 5000
Documentation
www.festo.com/sp
Download
Upload
Read
Write
Fig. 2.3 Overview: Parameter/firmware interfaces