Festo s CMMD-AS-C8-3A Guide

Description
Mounting and
installation
8040103
1404NH
[8034480]
Motor controller
CMMD-AS-C8-3A

CMMD-AS-C8-3A
2 Festo – GDCP-CMMD-AS-HW-EN – 1404NH –
Translation of the original instructions
GDCP-CMMD-AS-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.

CMMD-AS-C8-3A
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 3
Table of Contents – CMMD-AS-C8-3A
1 Safety and requirements for product use 8......................................
1.1 Security 8.................................................................
1.1.1 Safety instructions 8................................................
1.1.2 Intended use 9.....................................................
1.2 Requirements for product use 10...............................................
1.2.1 Transport and storage conditions 10....................................
1.2.2 Technical requirements 10............................................
1.2.3 Qualification of trained personnel 10....................................
1.2.4 Range of application and certifications 10................................
2 Product Overview 11.........................................................
2.1 The entire system for the CMMD-AS-C8-3A 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 indicators 16....................................................
2.4.3 DIL switch 16.......................................................
2.4.4 Slot [EXT 1/2] 17....................................................
2.4.5 Card slot [M1] for SD memory card 17...................................
3 Mechanical installation 19....................................................
3.1 Installation dimensions 19.....................................................
3.2 Mounting 20................................................................
3.3 Disassembly 21.............................................................
4 Electrical installation 22......................................................
4.1 Safety instructions 22........................................................
4.2 Instructions for safe and EMC-compliant installation 24.............................
4.2.1 Interference emission and resistance to interference 24.....................
4.2.2 EMC-compliant wiring 25.............................................
4.2.3 Protective earthing of the motor controller 26.............................
4.2.4 Protective earthing of the motor 26.....................................
4.3 I/O-interface [X1.1/2] 27......................................................
4.4 Encoder [X2.1/2] 32..........................................................
4.5 STO interface [X3.1/2] 34.....................................................
4.5.1 Pin allocation 34....................................................
4.5.2 Circuitry without use of the STO safety function [X3.1/2] 34..................
4.5.3 Circuitry with use of the STO safety function [X3 1/2] 35....................

CMMD-AS-C8-3A
4 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
4.6 CAN [X4] 36................................................................
4.7 Serial interface RS232/RS485 [X5] 36...........................................
4.8 Motor [X6.1/2] 38...........................................................
4.8.1 Pin allocation 38....................................................
4.8.2 Output power per axis 39.............................................
4.8.3 Connecting the screening of the motor cable 39...........................
4.8.4 Connection of a holding brake 39.......................................
4.9 Power supply [X9] 41.........................................................
4.9.1 Logic power supply – protective extra-low voltage (PELV) 41.................
4.9.2 Pin allocation 41....................................................
4.9.3 Connection to the supply voltage 42....................................
4.10 Master/slave interface [X10.1/2] 43.............................................
5 Commissioning 44...........................................................
6 Maintenance, updating, repair and replacement 45................................
6.1 Maintenance and care 45......................................................
6.2 Repair 45..................................................................
6.3 Replacement and disposal 45..................................................
6.3.1 Disassembly and installation 45........................................
6.3.2 Disposal 46........................................................
A Technical appendix 47........................................................
A.1 Technical data 47............................................................
A.2 Connection data 49..........................................................
A.2.1 Mains fuse 49......................................................
A.2.2 I/O interface [X1.1], [X1.2] 49..........................................
A.2.3 Encoder [X2.1] , [X2.2] 50.............................................
A.2.4 STO interface [X3.1], [X3.2] 51.........................................
A.2.5 CAN [X4] 51........................................................
A.2.6 RS232/RS485 [X5] 51................................................
A.2.7 Motor [X6.1] , [X6.2] 52...............................................
A.2.8 Power supply and braking resistor [X9] 53................................
A.2.9 Master/Slave interface [X10.1], [X10.2] 55...............................
B Diagnostic messages 56......................................................
B.1 Explanations of the diagnostic messages 56......................................
B.2 Diagnostic messages with instructions for fault clearance 57.........................
B.3 Error codes via CiA 301/402 70.................................................
B.4 Profibus diagnostics 72.......................................................

CMMD-AS-C8-3A
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 5
Instructions on this documentation
This documentation is intended to help you safely work with the motor controller CMMD-AS-C8-3A and
describes the functions, commissioning and error messages.
Target 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 CMMD-AS-C8-3A from Rev 02 (Type plate).
Please note
Before using a newer firmware version, check whether a newer version of the FCT plug-
in or user documentation is available for it (www.festo.com/sp).
servicing
Please consult your regional Festo contact if you have any technical problems.
Product identification
Rating plate CMMD-AS-C8-3A Function
…
CMMD-AS-C8-3A
561406
CN98 P0021912
Rev 02
In: 1 k(95…250) V AC
(50…60) Hz 8 A
Out 1/2:
3k(0…to Input Voltage) V AC
(0…1000) Hz 4 A
Type designation CMMD-AS-C8-3A
Part number e.g. 561406
Revision status e.g. Rev 02
Serial number e.g. CN98 P0021912
Input (In) 1-phase
95 … 250 V AC
50…60Hz,8A
Output 1, 2 (Out 1/2) 3-phase
0 … Input voltage V AC
0 … 1000 Hz, 4 A
Tab. 1 Rating plate CMMD-AS-C8-3A (example)
Issue status of the specified standards
Standard: issue status
EN 60034-1:2010-10 EN 61800-3:2004-12 + A1:2012-03
EN 60204-1:2006/A1:2009-02 EN 61800-5-1:2007-09
Tab. 2 Issue statuses

CMMD-AS-C8-3A
6 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
Production time period
On the type plate, the first 2 characters of the serial number indicate the production period in encryp-
ted form (Tab. 1) The letter specifies the manufacturing year and the character behind it (number or
letter) indicates the month of production.
Manufacturing year
X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014
F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020
Tab. 3 Manufacturing year (20-year cycle)
Manufacturing month
1January 2 February
3March 4April
5May 6June
7July 8August
9September OOctober
NNovember DDecember
Tab. 4 Manufacturing month
Type codes
CMMD –
Interfaces
AS C8 3 A
––
CMMD Double motor controller
Motor technology
AS AC synchronous
Nominal current
C8 8 A
Input voltage
3 A 230 V AC
Fig. 1 Type codes

CMMD-AS-C8-3A
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 7
Documentation
Additional information on the motor controllers can be found in the following documentation:
Documentation Device
type
Table of contents
Mounting and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting
Itllti
(i
ll ti )
GDCP-CMMD-AS-HW-... CMMD-AS
–
Installation (
p
in allocation)
– 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 safety function STO (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 pro-
file for handling and positioning)
with PROFIBUS, DeviceNet or CAN-
open.
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
device profile CiA 402 (DS 402).
Software help Help on the CMMS-AS plug-in CMMS-AS – Surface and functions in the Festo
Help on the CMMD-AS plug-in CMMD-AS Configuration Tool for the plug-in
Help for the CMMS-ST plug-in CMMS-ST
Tab. 5 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
8 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
1 Safety and requirements for product use
1.1 Security
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 slot [EXT]
– When cables are not mounted to the plugs [X6.1], [X6.2] 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 motor controller.
Warning
Danger of electric shock
This product can cause a DC current in the protective ground conductor. In cases where
an error current protection unit (RCD) or an error current monitoring device (RCM) is
used to protect against direct or indirect contact, only the Type B kind of RCD or RCM is
permitted on the power supply side of this product.
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.

1 Safety and requirements for product use
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 9
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.
1.1.2 Intended use
The motor controller CMMD-AS-C8-3A. is intended for use as a controller for servo motors of the
EMMS-AS series. It enables closed loop control of torque (current), speed and position, as well as posi-
tioning control with stored positioning records. The motor controller is designed for installation in a
control 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 by the technical data (Appendix A.1)
– 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 – “Safe Torque Off ” (STO)
Additional information STO safety function description, GDCP-CMMD-AS-S1-....

1 Safety and requirements for product use
10 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – 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 Transport and storage conditions
• Protect the product during transport and storage from impermissible burdens, such as:
– mechanical loads
– impermissible temperatures
– moisture
– aggressive atmospheres
• 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 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.
1.2.3 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.
1.2.4 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
appendix A.1.
The product-relevant EU directives can be found in the declaration of conformity.
For certificates and the declaration of conformity for this product please refer to
www.festo.com/sp.

2 Product Overview
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 11
2 Product Overview
2.1 The entire system for the CMMD-AS-C8-3A
1Power switch
2Fuse A.2.1
324 V power supply unit for control voltage
4Motor controller CMMD-AS-C8-3A
5PC with serial connecting cable for para-
meterisation and commissioning with the
Festo Configuration Tool (FCT), PlugIn
CMMD-AS
6Motor – EMMS-AS with encoder (motor
and encoder cable NEBM)
1
2
3
4
5
6
Fig. 2.1 Complete structure CMMD-AS-C8-3A

2 Product Overview
12 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
2.2 Scope of delivery
Number Component
1Motor controller CMMD-AS-C8-3A
1Operator package
– Brief description
– CD-ROM with following contents:
– Parameterization software 'Festo Configuration Tool' (FCT)
– Documentation on the product
– S7 module
– Configuration files for the supported bus systems (e.g. device core data for PROFIB-
US (GSD), electronic data sheet (EDS) for DeviceNet etc.)
– Firmware
1Assortment of plugs (plugged into connections)
2Mounting bracket
Tab. 2.1 Scope of delivery
Accessories www.festo.com/catalogue

2 Product Overview
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 13
2.3 Device view
The motor controller CMMD-AS-C8-3A provides the functionality of 2 motor controllers in one housing.
The connection designations of the motor controller provide an assignment for connections to axes
(Fig. 2.3 and Fig. 2.4). Connections with the index '1' are assigned to axis 1 (e.g. [X1.1], connections
with index '2' to axis 2 (e.g. [X1.2]. Connections that are used together do not have an index. The fol-
lowing connections are therefore available once and are used together:
– [X9] Power supply and braking resistor
– [X4]: CAN bus
– [X5]: RS232/RS485.
In this documentation the index '1/2' is written whenever both connections are meant. [X1.1/2] stands
for connection [X1.1] and [X1.2].
1LED status indicator - axis 1
2LED status indicator - axis 2
3Seven-segment display - axis 1
4Seven-segment display - axis 2
5[S1]: DIL switches for fieldbus settings and
firmware update
6[EXT 1/2]: slots for expansion options
7[M1]: card slot for SD memory card
8[X4]: CAN bus
9[X5]: RS232/RS485
aJ Earthing screw (central PE connection)
6
7
8
9
aJ
1
2
3
4
5
Fig. 2.2 Front view of CMMD-AS-C8-3A

2 Product Overview
14 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
1[X1.1] I/O interface - axis 1
2[X1.2] I/O interface - axis 2
3[X10.1] Master/Slave (bidirectional inter-
face) - axis 1
4[X10.2] Master/Slave (bidirectional inter-
face) - axis 2
5[X9] Power supply and braking resistor
1
3
2
4
5
Fig. 2.3 Top view of CMMD-AS-C8-3A
1[X3.1] STO interface - axis 1
2[X3.2] STO interface - axis 2
3[X2.1] Encoder - axis 1
4[X2.2] Encoder - axis 2
5[X6.1] Motor - axis 1
6[X6.2] Motor - axis 2
7Sheath connection terminal - axis 1
8Sheath connection terminal - axis 2
12
34
56
78
Fig. 2.4 Bottom view of CMMD-AS-C8-3A

2 Product Overview
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 15
2.4 Display and control elements
2.4.1 Seven-segment display
Display
1)
Significance
Starting program
Dot Start programme (bootloader) active
Flashing point – Firmware file (memory card) is being read
Operating modes
Pxxx Positioning mode, record number x x x
000 – No positioning record active
001...063 – Positioning record 001 ... 063 active
064 – Manual procedure via FCT or FHPP direct record (direct operation)
070/071 –Jog+/jog–
PHx Homing phase x
0– Searching travel to the primary destination (limit switch or stop)
1– Crawl to the reference point
2– Travel to the axis zero point
Rotating outside
segments
Speed mode (speed adjustment):
Display changes in response to rotor position and speed.
Middle segment Controller enable active (motor is energised).
IForce/torque mode (current control)
Safety function
HTwo-channel safety function requested (DIN4 [X1.1/2] Pin 21 and Rel
[X3 1/2] Pin 2)
Error/warning messages
Exxy Error (E = error)
Number: Two-position main index (x x), single-position sub-index (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)

2 Product Overview
16 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
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 [X1.1/2] DIN5.
2.4.2 LED indicators
LED LED colour Function
Ready Green Operating status/controller enable
Flashing green Parameter file *.DCO (memory card) is being read/written
Bus Yellow Bus status display lights up whenever CAN communication is
taking place
Tab. 2.3 LED status indicator (Fig. 2.2 1)
2.4.3 DIL switch
DIL switch Function
S1.1 … 7 Bus address or MAC-ID on first axis Example Tab. 2.5
The second axis gets the address of the first axis +1
NodeNumberSlave = NodeNumberMaster +1
S1.8 Automatic loading of a new firmware file from the memory card by the start pro-
gramme (bootloader):
1)
– ON: Download from the SD memory card to the motor controller.
– OFF: No download.
S1.9 … 10 Setting the bus transmission rate Example Tab. 2.6
S1.11 Activation of the CAN-bus interface
S1.12 Terminating resistor for CAN-bus
1) Additional information can be found in the firmware download Description of functions and commissioning, GDCP-CMMS/D-FW-....
Tab. 2.4 Function of the DIL switches (Fig. 2.2 3)
S1.1 … 7 ON/OFF (example) Significance
1)
1ON 1 DIL 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 Description of functions and commissioning, GDCP-CMMS/D-FW-....
Tab. 2.5 CAN bus address or MAC-ID

2 Product Overview
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 17
S1.9 … 10 ON/OFF (example) Significance
1)
9ON 1 DIL 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 Description of functions and commissioning, GDCP-CMMS/D-FW-....
Tab. 2.6 CAN bus transmission rate
2.4.4 Slot [EXT 1/2]
The slot (Fig. 2.2 4) enables the option of expanding CMMD-AS-C8-3A by other interfaces, e.g..:
Interface Brief description Permitted slot
CAMC-D-8E8A Interface for additional I/O EXT 1 EXT 2
CAMC-PB Interface for PROFIBUS DP EXT 1 –
CAMC-DN Interface for DeviceNet EXT 1 –
Tab. 2 .7
A CAN interface is rigidly integrated in the motor controller. As an option, an interface for PROFIBUS or
for DeviceNet can be integrated. However, a field bus interface can always be used for both axes. This
must be located in the slot [Ext 1].
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 about function can be found in the FHPP device profile descrip-
tion, GDCP-CMMS-/D-C-HP-...
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 soft-
ware. Additional information Help for FCT plugIn CMMD-AS and description of function
and commissioning, GDCP-CMMS/D-FW-....

2 Product Overview
18 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
SD memory card Description
Functions Copying/loading a parameter set from the memory card to the
CMMD-AS-C8-3A.
Copying/saving a parameter set from the CMMD-AS-C8-3A to the
memory card.
Copying (loading) firmware from the memory card to the CMMD-
AS-C8-3A (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. 2.8 Characteristics of the memory card (Fig. 2.2 5)

3 Mechanical installation
Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English 19
3 Mechanical installation
3.1 Installation dimensions
Fig. 3.1 Installation dimensions
Dim. B1 B2 B3 B4 D1 @D2 @H1 H2 H3
[mm] 112 87.8 60 26 10 5.5 160 155.6 19.7
Dim. L1 L2 L3 L4 L5 L6 L7 L8 L9
[mm] 257.55 242.14 211.9 181 200 10.5 10 9.25 15.3
Tab. 3.1 CMMD-AS-C8-3A: Installation dimensions

3 Mechanical installation
20 Festo – GDCP-CMMD-AS-HW-EN – 1404NH – English
3.2 Mounting
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 motor 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.
• Touch them only in a switched-off, cooled-off status.
Please 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.
For vertical mounting onto a control cabinet mounting plate:
• Mount the accompanying mounting bracket to the 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.
• Mount motor controller in the control cabinet as follows:
– The mounting position is vertical with the power supply
lines [X9] leading upwards
– Mounting to the mounting brackets with M5 screws.
Fig. 3.2 Installation clearance