Festo CMMS-ST-*-G2 Series Instruction Manual

Trimming:
On top: 61.5 mm
Underneath: 61.5 mm
Left: 43.5 mm
Right: 43.5 mm
Motor controllers
Description
Assembly and
installation
Type
CMMS-ST-.-G2
Description
573 125
en 1008NH
[754 125]

4 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3
Edition _____________________________________________________en 1008
Name _______________________________________P.BE-CMMS-ST-G2-HW-EN
Order no. ____________________________________________________573 125
(Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2010)
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 express authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights reserved, in particular the right to file patent,
utility model and registered design applications.

4 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
Index of revisions
Author: Festo AG & Co. KG
Name of manual: MOTOR CONTROLLERS CMMS-ST-C8-7-G2-G2
File name:
File saved in:
No. Description Index of revisions Date of change
001 Produced: 1008NH 29.07.2010
Microsoft®Windows®, CANopen®, CiA®and PROFIBUS®are registered brands of the
respective trademark owners in certain countries.

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 5
TABLE OF CONTENTS
1. General data ......................................................................................................... 10
1.1 Documentation.................................................................................................... 10
1.2 Type key CMMS-ST-C8-7-G2 ................................................................................ 11
1.3 Scope of delivery................................................................................................. 11
2. Safety instructions for electric drives and controllers.......................................... 12
2.1 Icons used ........................................................................................................... 12
2.2 General Information ............................................................................................ 13
2.3 Hazards due to improper use .............................................................................. 14
2.4 Safety instructions .............................................................................................. 15
2.4.1 General safety instructions .................................................................. 15
2.4.2 Safety instructions for assembly and maintenance.............................. 17
2.4.3 Protection against touching electric components ................................ 19
2.4.4 Protection by low voltage (PELV) against electric shock ...................... 20
2.4.5 Protection against dangerous movements........................................... 21
2.4.6 Protection against touching hot components ...................................... 22
2.4.7 Protection when handling and assembling .......................................... 22
3. Product description............................................................................................... 23
3.1 General data........................................................................................................ 23
3.2 Performance characteristics ................................................................................ 23
3.3 Interfaces ............................................................................................................ 25
3.3.1 Control interfaces ................................................................................ 25
3.3.2 Overview of interfaces ......................................................................... 25
3.3.3 Analogue setpoint specification........................................................... 26
3.3.4 Interfaces for direct synchronous operation ........................................ 27
3.3.5 I/O functions and device control.......................................................... 32
3.3.6 RS232 interface (diagnosis/parameterisation interface) ..................... 33
3.3.7 Multi-firmware strategy ....................................................................... 40
3.3.8 Increment generator input ................................................................... 40
3.3.9 Brake chopper ..................................................................................... 41
3.3.10 Control interface [X1] ........................................................................... 41
3.3.11 Serial parameterisation interface RS232 and RS-485- [X5] .................. 44
3.3.12 SD cardholder – [X12] .......................................................................... 44
3.3.13 SD memory card .................................................................................. 44
3.4 Fieldbus interface................................................................................................ 45

6 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
3.4.1 FHPP .................................................................................................... 45
3.4.2 CAN bus ............................................................................................... 46
3.4.3 PROFIBUS ............................................................................................ 47
3.4.4 DeviceNet ............................................................................................ 47
3.4.5 MTR-ST series stepper motors............................................................. 48
3.4.6 EMMS-ST series stepper motors.......................................................... 48
3.5 Function overview ............................................................................................... 48
3.5.1 Operating modes ................................................................................. 48
3.5.2 Timing diagram operation mode switchover........................................ 50
3.5.3 Setpoint processing............................................................................. 51
3.5.4 Suppression of ranges ......................................................................... 51
3.5.5 I²t function........................................................................................... 52
3.5.6 Positioning controller........................................................................... 52
3.5.7 Homing ................................................................................................ 54
3.5.8 Timing diagrams for homing run .......................................................... 57
3.5.9 Trajectory generator ............................................................................ 59
3.5.10 I/O sequence control ........................................................................... 60
3.5.11 Error messages .................................................................................... 62
3.5.12 Behaviour when switching off enable .................................................. 62
3.5.13 Oscilloscope function .......................................................................... 64
3.5.14 Jog and teach function I/O ................................................................... 65
3.5.15 Position record linking with positioning/torque control switching....... 71
3.5.16 On-the-fly measurement ...................................................................... 77
3.5.17 Endless positioning.............................................................................. 77
3.5.18 Relative positioning records ................................................................ 78
4. Functional safety engineering .............................................................................. 79
4.1 General remarks and intended use...................................................................... 79
4.2 Integrated function “STO”................................................................................... 82
4.2.1 General remarks / description of “STO Safe Torque Off”..................... 82
4.2.2 STO timing diagram ............................................................................. 83
4.2.3 CMMS-ST STO sample circuit............................................................... 85
4.2.4 Explanations of the sample circuit ....................................................... 86
4.2.5 EMERGENCY STOP request, monitoring of protective doors ................ 86
4.2.6 Testing the safety function................................................................... 86

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4.3 SS1, Safe Stop 1.................................................................................................. 88
4.3.1 Explanation.......................................................................................... 88
4.3.2 SS1 timing diagram ............................................................................. 89
4.3.3 Description of the timing diagram: ...................................................... 90
4.3.4 Activation of “Safe Stop 1” .................................................................. 91
4.3.5 Setting the switch-off delay ................................................................. 91
4.3.6 Parameterisation example FCT............................................................. 92
4.3.7 CMMS-ST-G2 SS1 sample circuit.......................................................... 93
4.3.8 Explanations of the sample circuit ....................................................... 94
4.3.9 EMERGENCY STOP request, monitoring of protective doors ................ 94
4.3.10 Restoration of normal operation.......................................................... 95
4.3.11 Testing the safety function................................................................... 95
4.3.12 Determination of the brake time .......................................................... 95
4.3.13 Setting the delay time.......................................................................... 97
5. Mechanical installation ........................................................................................ 98
5.1 Important information ......................................................................................... 98
5.2 Assembly........................................................................................................... 100
6. Electrical installation.......................................................................................... 101
6.1 Device view ....................................................................................................... 101
6.2 Interfaces .......................................................................................................... 103
6.3 CMMS-ST complete system ............................................................................... 104
6.4 Interfaces .......................................................................................................... 106
6.4.1 I/O interface [X1]................................................................................ 106
6.4.2 Increment generator input [X2] .......................................................... 109
6.4.3 Plug allocation for Safe standstill [X3] ............................................... 110
6.4.4 Field bus CAN [X4].............................................................................. 110
6.4.5 RS232/RS-485 [X5] ............................................................................ 110
6.4.6 Motor connection [X6]........................................................................ 111
6.4.7 Power supply [X9] .............................................................................. 111
6.4.8 Increment generator interface / control signals [X10] ........................ 112
6.4.9 SD card .............................................................................................. 112
6.4.10 Field bus settings and boot loader..................................................... 113
6.5 Instructions on safe and EMC-compliant installation........................................ 114
6.5.1 Explanations and terms ..................................................................... 114

8 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
6.5.2 General information on EMC .............................................................. 114
6.5.3 EMC areas: second environment........................................................ 114
6.5.4 EMC-compliant wiring ........................................................................ 115
6.5.5 Operation with long motor cables...................................................... 115
6.5.6 ESD protection................................................................................... 116
7. Preparations for commissioning......................................................................... 117
7.1 General connection instructions........................................................................ 117
7.2 Tools / material ................................................................................................. 117
7.3 Connecting the motor........................................................................................ 117
7.4 Connecting the CMMS-ST stepping motor controller to the power supply......... 118
7.5 Connecting a PC................................................................................................. 118
7.6 Checking readiness for operation...................................................................... 118
7.7 Timing diagram switch-on sequence ................................................................. 119
8. Service functions and error messages................................................................ 120
8.1 Protective and service functions........................................................................ 120
8.1.1 Overview............................................................................................ 120
8.1.2 Overload current and short-circuit monitoring................................... 120
8.1.3 Voltage monitoring for the intermediate circuit ................................. 120
8.1.4 Temperature monitoring for the heat sink ......................................... 120
8.1.5 I²t monitoring..................................................................................... 121
8.1.6 Power monitoring for the brake chopper ........................................... 121
8.1.7 Commissioning status........................................................................ 121
8.2 Operating mode and error messages ................................................................ 121
8.2.1 Operating mode and error display ..................................................... 121
8.2.2 Error messages .................................................................................. 122
A. Technical data..................................................................................................... 128
A.1 General information........................................................................................... 128
A.2 Operation and display components................................................................... 129
A.3 Interfaces .......................................................................................................... 130
A.3.1 I/O interface [X1]................................................................................ 130
A.3.2 Increment generator input [X2] .......................................................... 131
A.3.3 CAN bus [X4] ...................................................................................... 131
A.3.4 RS232/RS-485 [X5] ............................................................................ 131
A.3.5 Motor connection [X6]........................................................................ 132
A.3.6 Power supply [X9] .............................................................................. 132
A.3.7 Increment generator interface [X10]................................................... 133

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B. Glossary .............................................................................................................. 134
C. INDEX .................................................................................................................. 135

1. General data
10 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
1. General data
1.1 Documentation
This product manual is meant to promote safe work with the CMMS-ST-series stepping
motor controller. 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 as per CiA DSP 402
-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 profiles for
handling and positioning.