Festo CMMS-ST-C8-7 Guide

Beschneiden:
Oben: 61,5 mm
Unten: 61,5 mm
Links: 43,5 mm
Rechts: 43,5 mm
Motor controller
Description
Mounting and
installation
Type
CMMS-ST-C8-7
Description
554 340
en 0708NH
[720 646]

Festo P.BE-CMMS-ST-HW-EN 0708NH 3
Output __________________________________________________ en 0708NH
Designation____________________________________ P.BE-CMMS-ST-HW-EN
Order no. ___________________________________________________554 340
(Festo AG & Co KG., D-73726 Esslingen, 2007)
Internet: 0Hhttp://www.festo.com
E-mail: [email protected]
The copying, distribution and utilisation of this document as well as the communication of
its contents to others without expressed authorisation is prohibited. Violations give rise to
compensation. All rights reserved, in particular the right to carry out patent, utility model
or ornamental design registrations.

4 Festo P.BE-CMMS-ST-HW-EN 0708NH
Directory of revisions
Author:
Festo AG & Co. KG
Manual name:
MOTORCONTROLLER CMMS-ST-C8-7
File name:
P_BE-CMMS-ST-HW-EN.doc
File location:
Consec. no.
Description
Revisions index
Date of change
001
Written on
0708NH
01.08.2007

Festo P.BE-CMMS-ST-HW-EN 0708NH 5
TABLE OF CONTENTS
1H1. General information ................................................................................................. 106H8
2H1.1 Documentation......................................................................................................... 107H8
3H1.2 Scope of delivery ...................................................................................................... 108H8
4H1.3 Accessories .............................................................................................................. 109H9
5H2. Safety instructions for electrical drives and control systems................................. 110H11
6H2.1 Icons used .............................................................................................................. 111H11
7H2.2 General instructions ............................................................................................... 112H12
8H2.3 Danger from incorrect use....................................................................................... 113H13
9H2.4 Safety instructions.................................................................................................. 114H14
10H2.4.1 General safety information ................................................................. 115H14
11H2.4.2 Safety instructions for mounting and maintenance............................. 116H16
12H2.4.3 Guards preventing contact with electrical components....................... 117H18
13H2.4.4 Protection against electric shocks via PELV ........................................ 118H19
14H2.4.5 Protection against hazardous motions ............................................... 119H20
15H2.4.6 Guards preventing contact with hot parts ........................................... 120H20
16H2.4.7 Protection during handling and mounting........................................... 121H21
17H3. Product description................................................................................................ 122H22
18H3.1 General information................................................................................................ 123H22
19H3.2 Features ................................................................................................................. 124H22
20H3.3 Interfaces ............................................................................................................... 125H23
21H3.3.1 Overview of interfaces........................................................................ 126H23
22H3.3.2 I/O functions and device control......................................................... 127H24
23H3.3.3 Increment generator input.................................................................. 128H25
24H3.3.4 CAN bus ............................................................................................. 129H25
25H3.3.5 Profibus ............................................................................................. 130H26
26H3.3.6 Synchronisation interface................................................................... 131H26
27H3.3.7 RS232 interface.................................................................................. 132H26
28H3.3.8 RS485 interface.................................................................................. 133H27
29H3.3.9 MTR-ST series stepper motors............................................................ 134H27
30H3.3.10 EMMS-ST series stepper motors......................................................... 135H27
31H3.3.11 Power supply ..................................................................................... 136H27
32H3.3.12 SD memory card................................................................................. 137H27
33H3.3.13 Brake chopper.................................................................................... 138H28
34H3.4 Function overview................................................................................................... 139H28
35H3.4.1 Operating modes................................................................................ 140H28
36H3.4.2 Setpoint processing ........................................................................... 141H29

6 Festo P.BE-CMMS-ST-HW-EN 0708NH
37H3.4.3 Hiding frequency ranges..................................................................... 142H29
38H3.4.4 I²T function......................................................................................... 143H29
39H3.4.5 Positioning controller ......................................................................... 144H30
40H3.4.6 Homing .............................................................................................. 145H31
41H3.4.7 Trajectory generator........................................................................... 146H33
42H3.4.8 I/O sequence control.......................................................................... 147H34
43H3.4.9 Safety functions, error messages........................................................ 148H36
44H3.4.10 Oscilloscope function ......................................................................... 149H36
45H3.4.11 Jog and teach function I/O.................................................................. 150H36
46H3.4.12 Route program ................................................................................... 151H37
47H3.4.13 Synchronisation ................................................................................. 152H38
48H3.4.14 On-the-fly measurement..................................................................... 153H39
49H3.4.15 Endless positioning ............................................................................ 154H39
50H4. Mechanical installation ......................................................................................... 155H40
51H4.1 Important notes...................................................................................................... 156H40
52H4.2 Mounting................................................................................................................ 157H42
53H5. Electrical installation............................................................................................. 158H43
54H5.1 Device view ............................................................................................................ 159H43
55H5.2 Interfaces ............................................................................................................... 160H45
56H5.3 CMMS-ST complete system..................................................................................... 161H45
57H5.4 Interfaces ............................................................................................................... 162H47
58H5.4.1 I/O interface [X1] ................................................................................ 163H47
59H5.4.2 Increment generator input [X2] ........................................................... 164H50
60H5.4.3 Fieldbus CAN [X4] ............................................................................... 165H51
61H5.4.4 RS232/RS485 [X5].............................................................................. 166H51
62H5.4.5 Motor connection [X6] ........................................................................ 167H52
63H5.4.6 Power supply [X9]............................................................................... 168H52
64H5.4.7 Increment generator interface / control signals [X10] ......................... 169H52
65H5.4.8 SD card .............................................................................................. 170H53
66H5.4.9 Fieldbus settings and bootloader ....................................................... 171H53
67H5.5 Instructions on safe and EMC-compliant installation............................................... 172H54
68H5.5.1 Explanations and terms ...................................................................... 173H54
69H5.5.2 General information on EMC............................................................... 174H55
70H5.5.3 EMC areas: Second environment ........................................................ 175H55
71H5.5.4 EMC-compliant wiring......................................................................... 176H55
72H5.5.5 Operation with long motor cables....................................................... 177H56
73H5.5.6 ESD protection ................................................................................... 178H57
74H6. Preparations for commissioning ............................................................................ 179H58
75H6.1General connection instructions.............................................................................. 180H58

Festo P.BE-CMMS-ST-HW-EN 0708NH 7
76H6.2 Tools / material ...................................................................................................... 181H58
77H6.3 Connecting the motor ............................................................................................. 182H58
78H6.4 Connect the CMMS-ST stepping motor controller to the power supply .................... 183H59
79H6.5 Connecting a PC...................................................................................................... 184H59
80H6.6 Checking readiness for operation............................................................................ 185H59
81H7. Service functions and error messages ................................................................... 186H60
82H7.1 Protective and service functions ............................................................................. 187H60
83H7.1.1 Overview............................................................................................ 188H60
84H7.1.2 Overload current and short-circuit monitoring .................................... 189H60
85H7.1.3 Voltage monitoring for the intermediate circuit .................................. 190H60
86H7.1.4 Temperature monitoring for the heat sink .......................................... 191H60
87H7.1.5 I²t monitoring..................................................................................... 192H61
88H7.1.6 Power monitoring for the brake chopper ............................................ 193H61
89H7.1.7 Commissioning status ........................................................................ 194H61
90H7.2 Operating mode and error messages ...................................................................... 195H62
91H7.2.1 Operating mode and error display ...................................................... 196H62
92H7.2.2 Error messages .................................................................................. 197H63
93HA. Technical specifications......................................................................................... 198H66
94HA.1 General information................................................................................................ 199H66
95HA.2 Operation and display components ........................................................................ 200H67
96HA.3 Interfaces ............................................................................................................... 201H67
97HA.3.1 Power supply [X9]............................................................................... 202H67
98HA.3.2 Motor connection [X6] ........................................................................ 203H68
99HA.3.3 Increment generator input [X2] ........................................................... 204H68
100HA.3.4 Increment generator interface [X10].................................................... 205H69
101HA.3.5 RS232/RS485 [X5].............................................................................. 206H69
102HA.3.6 CAN bus [X4]....................................................................................... 207H69
103HA.3.7 I/O interface [X1] ................................................................................ 208H69
104HB. Glossary................................................................................................................. 209H71
105HC. INDEX ................................................................................................................... 210H72

1. General information
8 Festo P.BE-CMMS-ST-HW-EN 0708NH
1. General information
1.1 Documentation
This product manual is intended to help you operate CMMS-ST series stepping motor
controllers safely. It contains safety instructions which must be followed.
This document provides information on:
-mechanical fitting
-electrical installation and an
-overview of the range of functions.
See the following manuals on the CMMx product family for further information:
-CANopen manual "P.BE-CMMS-CO-...": Description of the implemented CANopen
protocol according to DSP402
-PROFIBUS manual "P.BE-CMMS-FHPP-PB-...": Description of the implemented
PROFIBUS-DP protocol.
-DeviceNet manual "P.BE-CMMS-FHPP-DN-...": Description of the implemented
DeviceNet protocol.
-FHPP manual "P.BE-CMM-FHPP-...": Description of the implemented Festo profile for
handling and positioning.
1.2 Scope of delivery
The delivery includes:
Number
Delivery
1
Stepping motor controller CMMS-ST-C8-7
1
CD (configuration software, documentation, S7 module, GSD, EDS, firmware)
1
Brief description
1
NEKM-C-1 plug range
Table 1.1 Scope of delivery

1. General information
Festo P.BE-CMMS-ST-HW-EN 0708NH 9
1.3 Accessories
Number
Type
Order number
1
Plug range: NEKM-C-1
547452
1
8-pin DSUB plug, MSTB 2.5/8-ST-5.08 BK
1
3-pin DSUB plug, MSTB 2.5/3-ST-5.08 BK
1
Power supply
unit
SVG-1/230VAC-24VDC-5A
547867
SVG-1/230VAC-24VDC-10A
547868
SVG-1/230VAC-48VDC-5A
542403
SVG-1/230VAC-48VDC-10A
542404
SVG-3/400VAC-48VDC-20A
542405
1
Control cable
NEBC-S1G25-K-2.5N-LE26
552254
1
Encoder plug
NECC-S-S1G9-C2M
552274
1
Profibus
CAMC-PB
547450
1
Devicenet
CAMC-DN
547451
1
SD card
CAMC-M-S including firmware
547453
Table 1.2 Accessories

1. General information
10 Festo P.BE-CMMS-ST-HW-EN 0708NH

2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 11
2. Safety instructions for electrical drives and control
systems
2.1 Icons used
Information
Note
Important information and instructions.
Caution
Failure to comply with these instructions can result in material
damage.
Warning
Failure to comply with these instructions can result in material
damage and personal injuries.
Warning
DANGER!
Failure to comply with these instructions can result in major
material damage and personal injuries.
Warning
Hazardous voltage!
The safety instruction indicates potentially fatal voltage.
Accessories
Environment

2. Safety instructions for electrical drives and control systems
12 Festo P.BE-CMMS-ST-HW-EN 0708NH
2.2 General instructions
Festo AG & Co. KG will accept no liability for damage resulting from failure to comply with
the warnings in these operating instructions.
Note
Before commissioning, the 211HSafety instructions for electrical drives
and control systems must be read from page 212H11 and the chapter 213H5.5
214HInstructions on safe and EMC-compliant installation page 215H54.
If the documentation in the language in question cannot be understood fully, please
contact your vendor and inform them.
In order for the stepping motor controller to operate without problems and safely, it must
be transported, stored, mounted, planned properly and correctly, taking the risks and
protection and emergency measures into account, as well as operated and maintained
with due care.
Note
Electrical installations may only be performed by qualified and
trained electricians.
Qualified and trained personnel
In accordance with this product manual or the warnings on the product itself, anyone
involved in planning, installing, mounting, commissioning and operating the product and
are sufficiently familiar with all warnings and precautionary measures in these operating
instructions and who have the appropriate qualification for their work:
-Training and instruction or authorisation to activate/deactivate devices and systems
in accordance with the safety technology standards, as well as earthing them and
marking them in accordance with the working requirements.
-Training or instruction in accordance with the safety technology standards in main-
taining and using appropriate safety equipment.
-Training in first aid.
The following instructions must be read before the system is commissioned for the first
time to prevent injury and/or material damage:
These safety instructions must be complied with at all times.

2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 13
Do not attempt to install or commission the stepping motor
controller until you have read all safety instructions related to
electrical drives and control systems in this document.
These safety instructions and all other user instructions must be
read before performing any work with the stepping motor
controller.
If you do not have user instructions for the stepping motor
controller, contact your local sales representative.
Ask them to send the documents to the person responsible for
safe operation of the stepping motor controller immediately.
If the stepping motor controller is sold, rented and/or passed on in
any other way, these safety instructions must also be passed on
with it.
The operator may not open the stepping motor controller for safety
and warranty reasons.
Correct planning is required for the stepping motor controller to
function properly.
Warning
DANGER!
Incorrect use of the stepping motor controller and failure to follow
the warnings in this manual, as well as incorrect manipulation of
safety equipment can cause material damage, injury, electric
shock, and in extreme cases, even be fatal.
2.3 Danger from incorrect use
Warning
DANGER!
High electrical voltage and high work working current!
Risk of fatal or serious injury from electric shock!

2. Safety instructions for electrical drives and control systems
14 Festo P.BE-CMMS-ST-HW-EN 0708NH
Warning
DANGER!
High voltage due to incorrect connection!
Risk of fatality or injury from electric shock!
Warning
DANGER!
Surfaces on the device housing can become hot!
Danger of injury! Danger of burning!
Warning
DANGER!
Hazardous motions!
Risk of fatality, serious injury or material damage due to
unintentional motion of the motors!
2.4 Safety instructions
2.4.1 General safety information
Warning
The stepping motor controller conforms to protection class IP20,
and contamination class 1.
You must ensure that the surrounding area complies with these
protection and contamination classes.
Warning
Use accessories and spare parts approved by the manufacturer
only.
Warning
In accordance with the EN standards and the VDE regulations,
the stepping motor controllers must be connected to the grid
such that they can be disconnected using appropriate isolating
equipment (e.g. main switch, contactor, circuit breaker).
Warning
Gold-plated contacts or contacts with high contact pressure should
be used to switch the control contacts.

2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 15
As a precaution, measures must be taken to suppress interference
for switching systems, such as connecting contactors and relays
with RC elements or diodes.
The safety rules and regulations of the country in which the device
is used must be complied with.
Warning
The ambient conditions specified in the product documentation
must be observed.
Critical safety applications are not permitted unless they are
expressly approved by the manufacturer.
See Chapter 216H5.5 217HInstructions on safe and EMC-compliant
installation (Page 218H54) for the instructions for EMC-compliant
installation.
The manufacturers of the system or machine are responsible for
ensuring that the limits required by national regulations are
complied with.
Warning
See this product manual for the specifications, connection and
installation conditions for the stepping motor controller and
absolutely must be observed.
Warning
DANGER!
The general installation and safety regulations for working on
high voltage systems (e.g. DIN, VDE, EN, IEC or other national
and international regulations) must be observed.
Failure to do so could result in death, injury or serious material
damage.
The following precautionary measures also apply without claim to
completeness:
VDE 0100
Regulations for setting up high-voltage systems up
to 1000 volts.
EN 60204
Electrical equipment for machines.

2. Safety instructions for electrical drives and control systems
16 Festo P.BE-CMMS-ST-HW-EN 0708NH
EN 50178
Equipping high-voltage systems with electronic
operating media.
EN ISO 12100
Machine safety –definitions, general design
guidelines
EN 1050
Machine safety –risk evaluation guidelines
EN 1037
Machine safety –Preventing unexpected starts
EN 954-1
Safety related control system parts
2.4.2 Safety instructions for mounting and maintenance
For mounting and maintaining the system the relevant DIN, VDE, EN and IEC regulations
always apply, as do all state and local safety and accident-prevention regulations. The
system manufacturer or operator must ensure that these regulations are complied with:
Warning
The stepping motor controller may only be operated, maintained
and/or serviced by persons qualified and trained to work on or with
electrical devices.
Prevention of accidents, injury and/or material damage:
Warning
The motor holding brake supplied as standard, or an external motor
holding brake controlled by the drive controller alone is is not
suitable for protection of individuals!
Secure vertical axes to prevent them falling or lowering after
the motor is switched off using methods such as:
- mechanical locking of the vertical axis,
- external brake / arrester / clamp or
- sufficient counterweight of the axis.

2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 17
Warning
During operation and up to several minutes after the stepping
motor controller is deactivated, the internal brake resistance can
cause dangerous intermediate circuit voltage. If touched, this can
lead to fatal or serious injuries.
Before any maintenance work is performed, you must ensure
that the power supply is deactivated, locked and the inter-
mediate circuit is discharged.
Disconnect the electrical equipment from the power supply
using the main switch and secure it to prevent it being switched
on again. Wait until the intermediate circuit has discharged
before:
- Maintenance and servicing work
- Cleaning
- Extended downtime.
Warning
Mounting work must be performed with care. Ensure that no drilling
chips, metal dust or mounting material (screws, nuts, wire cuttings)
fall into the stepping motor controller during mounting work and
subsequent operation.
Ensure that the external power supply of the controller (24 V) is
switched off.
The intermediate circuit or the load voltage must always be
switched off before the 24 V controller power supply is switched
off.
Warning
Work in the vicinity of the machine may only be performed
when the DC or AC power supply is switched off and locked.
Deactivated output stage or deactivated controller release are not
sufficient locks. If a fault occurs, the drive may move unintentio-
nally.
Warning
Perform commissioning with idling motors to prevent mechanical
damage e.g. via an incorrect direction of rotation.

2. Safety instructions for electrical drives and control systems
18 Festo P.BE-CMMS-ST-HW-EN 0708NH
Warning
Electronic devices are never fail-safe.
The user is responsible for ensuring that the system is returned to
a safe condition if the electrical device fails.
Warning
DANGER!
The stepping motor controller and, in particular, the braking
resistor can become very hot, and can cause serious burns if
touched.
2.4.3 Guards preventing contact with electrical components
This section only concerns devices and drive components with voltages over 50 volts.
Touching parts with voltages greater than 50 volts can be dangerous and lead to an
electric shock. When electrical devices are operated, certain parts of these devices must
always carry dangerous voltages.
Warning
Hazardous voltage!
High voltage!
Risk of fatal or serious injury from electric shock!
For operation, the relevant DIN, VDE, EN and IEC regulations always apply, as do all state
and local safety and accident-prevention regulations. The system manufacturer or
operator must ensure that these regulations are complied with:
Warning
Before activation, attach the covers and guards to prevent
contact with the devices.
Integrated devices must be protected from direct contact by an
external housing, e.g. a control cabinet.
The BGVA3 regulations must be complied with!
Warning
Ensure that the minimum copper cross section is observed for the
entire length of the protective earth conductor in accordance with
standard EN 60617.

2. Safety instructions for electrical drives and control systems
Festo P.BE-CMMS-ST-HW-EN 0708NH 19
Warning
Before commissioning, even for brief measurements or tests,
always connect the mains earth to all electrical devices in
accordance with the connection diagram or with the earthing
cable.
Otherwise the housing could carry high voltages which can cause
electric shocks.
Warning
Do not touch electrical connection points of the components when
they are switched on.
Warning
Disconnect the device from the mains or from the voltage
supply before accessing electrical parts with voltages greater
than 50 volts.
Secure them to prevent restarting.
Warning
The voltage of the intermediate circuit must be taken into
account in particular for installation with regard to insulation
and safety measures.
Proper earthing, line dimensioning and corresponding short circuit
protection must be guaranteed.
2.4.4 Protection against electric shocks via PELV
All connections and terminals with voltages from 5 to 50 volts on the stepping motor
controller are PELVs which are designed to be safe to touch in accordance with the
following standards:
Standards
-International: IEC 60364-4-41
-European countries in the EU: EN 50178/1998, Section 5.2.8.1.
Warning
DANGER!
High voltage due to incorrect connection!
Risk of fatality or injury from electric shock!
Only devices, electrical components and lines with PELV (PELV = Protective Extra Low
Voltage) may be connected to all connections and terminals with voltages from 0 to
50 volts.
Only connect voltages and circuits which are safely isolated from hazardous voltages.

2. Safety instructions for electrical drives and control systems
20 Festo P.BE-CMMS-ST-HW-EN 0708NH
Safe isolation is achieved via isolating transformers, secure optocouplers or non-mains
connected battery-powered operation.
2.4.5 Protection against hazardous motions
Hazardous motions can be caused by faulty activation of connected motors. The causes
can be varied:
Causes
-Disorderly or faulty wiring or cabling
-Incorrect operation of the components
-Faults in the measurement and signal generators
-Faults or non-EMC-compliant components
-Faults in the software of the higher-order control system
These faults can occur immediately after activation or after an unspecified period of
operation.
The monitoring systems in the drive components rule out malfunctions in the connected
drives to a great extent. With regard to protection of persons, and in particular injury
and/or material damage, you cannot rely solely on this fact. Before the integrated
monitoring systems take effect, faulty drive motions must always be expected. The degree
depends on the type of controller and the operating condition.
Warning
DANGER!
Hazardous motions!
Danger of fatal or serious injury, or material damage!
For the reasons named above, personal protection must be guaranteed via monitoring
systems or measures which are run by higher-order systems. These are determined by the
system manufacturer in accordance with the specific conditions of the system and based
on a hazard and fault analysis. The safety regulations which apply to the system are
incorporated in this. Deactivating, bypassing or faulty activation of safety equipment can
cause random motions of the machine or other malfunctions.
2.4.6 Guards preventing contact with hot parts
Warning
DANGER!
Surfaces on the device housing can become hot!
Danger of injury! Danger of burning!