Festo ERMO User manual

en Operating
instructions
8076313
2017-11a
[8076315]
Rotary drive
ERMO

ERMO
2Festo – ERMO – 2017-11a
Translation of the original instructions
Symbols: Installation and commissioning may only be per
formed in accordance with these instructions by
technicians with appropriate qualifications.
Warning
Caution
Note
Environment
Accessories
English 3.........................................................................

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English – Rotary drive ERMO
Table of contents
1 Configuration 4............................................................
2 Safety 5..................................................................
2.1 Intended use 5.............................................................
2.2 General safety information 5..................................................
2.3 Mounting and connecting 5...................................................
2.4 Qualification of specialized personnel 5.........................................
3 Function 5................................................................
4 Transport 6...............................................................
5 Installation 6..............................................................
5.1 Installation, mechanical 6....................................................
5.1.1 Mount drive 7.....................................................
5.1.2 Mount attachment component 8......................................
5.1.3 Mount accessories 8................................................
5.2 Installation, electric 9.......................................................
6 Commissioning 11...........................................................
7 Maintenance 12.............................................................
8 Disassembly and repair 12....................................................
9 Disposal 12................................................................
10 Accessories 12..............................................................
11 Fault clearance 13...........................................................
12 Technical data 14............................................................
12.1 Mechanical data 14..........................................................
12.2 Electrical data 15............................................................
13 Characteristic curves 15......................................................

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Documentation on the product
For all available product documentation èwww.festo.com/pk
1 Configuration
ERMO-25/32 ERMO-12/16
264531
7
8
6
5
1Thread/centring holes for attachment
components
2Rotating plate
3Thread for mounting
4Motor
5Connection for the motor/holding brake
6Encoder connection
7Thread for proximity sensor (reverse side)
8Thread for mounting
Fig. 1
Note
You receive specially preconfigured drive and controller combinations with the OMS
system (Optimized Motion Series èwww.festo.com).

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2 Safety
2.1 Intended use
The ERMO rotary drive in combination with the controllers CMMO-ST or CMMS-ST is intended for swivel
ling payloads (permissible controller èwww.festo.com/catalogue). The product is intended for use in
industrial environments. Measures for interference suppression may need to be implemented in resid
ential areas.
2.2 General safety information
 Take into consideration the legal regulations applicable for the location.
 Only use the product if it is in its original status and in an excellent technical status.
 Use the product only within the defined values (è12 Technical data and 13 Characteristic curves).
 Take into account the labelling on the product.
 Do not make any unauthorised modifications to the product.
 Observe other applicable documents.
 Take into consideration the ambient conditions at the location of use.
 Protect the product during storage and operation from damaging influences. These influences in
clude:
– Wetness or moisture
– Corrosive coolant or other materials (e.g. ozone)
– UV radiation
– Oils, greases and grease-solvent vapours
– Grinding dust
– Glowing chips or sparks
2.3 Mounting and connecting
 Observe tightening torques. Unless otherwise specified, the tolerance is ± 20 %.
2.4 Qualification of specialized personnel
Only qualified personnel may perform installation, commissioning, maintenance and disassembly of the
drive. The qualified personnel must be familiar with installation and operation of electrical control sys
tems.
3 Function
The rotation of the motor is transferred over a helical gear unit to the rotary table. The reference posi
tion of the rotary table can be detected with the help of accessories (è5.1.3 Mount accessories).

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4 Transport
Note
The rotary drive without holding brake is not braked in the de-energised status and can
move unexpectedly. Prevent an accidental rotary movement:
 Use motors with integrated holding brake (only available with ERMO-16 … 32
èwww.festo.com/catalogue).
 Take product weight into account (è12 Technical data).
5 Installation
WARNING
In case of external movement of the rotary table, open electrical connections can con
duct dangerous voltage potentials (generator principle).
 Move the rotary table only with cabled connections.
5.1 Installation, mechanical
Requirements
Note
Loss of the homing position with:
– dismounting of the motor (e.g. turning of the motor)
After this, for ERMO with order variant OMS (Optimized Motion Series), the index
signal must be adjusted again to the reference switch. This adjustment is possible
via the FCT (Festo Configuration Tool).
– replacement of reference switch
– position change of stop
 After completion of mounting, start homing (è6 Commissioning).
 Do not modify the screws and threaded pins.
Exception: Direct request in these operating instructions to make changes.
 Connect motor cables only after the drive is mounted.

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Mounting position, vertical or diagonal
WARNING
Uncontrolled payload if there is a power failure.
Injury due to electric shock, impact, or pinching.
 For eccentric attachment components, use only motors with holding brake.
 Check whether safety measures are required to prevent falling (e.g. toothed latches,
bolts or emergency buffer).
Take appropriate measures, if necessary.
5.1.1 Mount drive
Requirements
 Place the product in such a way that its control sections are accessible (e.g. proximity sensors).
Interfaces for mounting components to the profile
On the side From the front/rear
Fig. 2
 Select mounting components or accessories (èwww.festo.com/catalogue).
 Make sure that mounting components are outside the positioning range.
 Fasten the drive.
 Tighten screws evenly.
Size 12 16 25 32
Screw M4 M5 M6 M8
Tightening torque [Nm] 3 5 8 24
Centring hole [mm] @7H7 @7H7 @9H7 @12H7
Max. screw-in depth
(Side mounting)
[mm] 7 8 9.5 15
Tab. 1

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5.1.2 Mount attachment component
 Fasten the attachment component to the rotary table with
screws and centring sleeves. Observe maximum screw-in depth
and tightening torque (èTab. 2).
Fig. 3
Size 12 16 25 32
Screw M3 M4 M5 M5
Max. screw-in depth [mm] 7 8 8.5 10
Tightening torque [Nm] 1 3 5 5
Centring
Screw drill hole [mm] @5H7 @7H7
Central drill hole [mm] @12H8 @12H8 @15H8 @20H8
Tab. 2
5.1.3 Mount accessories
For use of the proximity sensors as reference switches:
Select proximity sensors corresponding to the input logic of the
used controller (PNP/NPN) (èwww.festo.com/catalogue).
 Mount proximity sensors:
1. Loosen threaded pin 1of the clamping component and remove
both.
2. Turn rotary table slowly until the marking 3has reached the
position below the drill hole of the threaded pin 1.
As a result, the screw head for the switch contact in the
threaded hole is visible.
3. Screw the proximity sensor 2into the thread up to the stop on
the screw head.
4. Unscrew the proximity sensor approx. 1.5 turns.
This results in a distance of 1.5 mm to the screw head of the
switch contact.
5. Tighten threaded pin in the clamping component (ß2.5 mm).
Tightening torque:
– ERMO-12: 0.2 Nm,
– ERMO-16/25/32: 0.8 Nm.
Fig. 4
1
2
3

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5.2 Installation, electric
Note
If unused plug connectors are touched, there is a danger that damage may occur to the
ERMO or to other parts of the system as a result of electrostatic discharge (ESD).
 To avoid such discharges: Use protective caps on unused ports.
Note
To ensure compliance with EMC safety:
The maximum length of the individual cables should not exceed 30 m.
1. Switch off power to the controller and secure it from being restarted accidentally.
Cancelling the enable signal on the controller is not sufficient.
2. Wire the motor to the controller in accordance with the following tables.
The pre-assembled cables from Festo offer sufficiently large cable cross-sections as well as screen
ing of the motor/encoder cable with earth contact on both sides (è10 Accessories).
Motor connection/holding brake: round plug (8−pin)/Sub-D plug connector (9−pin, 5èFig. 1)
Pin Allocation ERMO-12/16 ERMO-25/32
1String A
2String A/
3String B
4String B/
5 n.c.
6 n.c.
7Holding brake +24 V1)
8Holding brake GND1)
9 n.c.
1) Only for motors with holding brake ERMO−16/25/32−ST-EB
Tab. 3

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Encoder connection: round plug (8−pin, 6èFig. 1)1)
Pin Allocation ERMO-12/16/25/32
1Signal trace A
2Signal trace A/
3Signal trace B
4Signal trace B/
5GND encoder
6Signal trace N
7Signal trace N/
8VCC auxiliary supply 5 V
1) Only for motors with encoder ERMO−...−ST-E
Tab. 4

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6 Commissioning
WARNING
Unexpected movement of components.
Injury due to electric shock, impact, or pinching.
 Protect positioning range from access (e.g. with
protective guards).
 Make sure that no foreign objects are present in
the positioning range.
 Carry out commissioning with low speeds and
torques. Fig. 5
Note
Commissioning of the preconfigured drive and controller combination with the OMS
system (Optimized Motion Series) is described in the fast start instructions
(èwww.festo.com/sp).
Procedure Purpose Note
1. Check travel Determining the
approach direction of
the motor
Even with identical control, motors of the same
design can turn in opposite directions due to
different wiring.
2. Homing Comparison of the real
situation to the image
in the controller
Homing takes place:
– to the reference switch
– against an end stop (e.g. with stop kit EADP).
Comply with max. impact energy (èTab. 6)
– to the limit switch (only for controller CMMS-ST).
Observe additional information (èOperating
instructions of the drive system).
3. Test run Checking the overall
behaviour
Check the following requirements:
– Rotary table moves through the intended
positioning cycle completely.
– If present, the rotary table stops when the
limit switch is reached.
After a successful test run, the rotary drive is
ready for operation.
Tab. 5
Size 12 16 25 32
Max. impact energy [J] 0.2 x 10-4 0.7 x 10-4 1.6 x 10-4 2.9 x 10-4
Tab. 6

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7 Maintenance
WARNING
Unexpected movement of components.
Injury due to electric shock, impact, or pinching.
 For all work on the drive, switch off power to the system and secure it from being
restarted accidentally.
 Clean the drive as required with a soft cloth. Do not use aggressive cleaning agents.
8 Disassembly and repair
WARNING
Unexpected movement of components.
Injury due to electric shock, impact, or pinching.
 For all work on the drive, switch off power to the system and secure it from being
restarted accidentally.
 Observe notes on transport (è4 Transport).
 Remove motor cables and mounting screws.
In case of repair:
 Send drive to Festo or contact Festo service (èwww.festo.com/sp).
Festo carries out the required repairs, fine adjustments and checks.
 Information about spare parts and accessories (èwww.festo.com/spareparts).
9 Disposal
 Dispose of the packaging and the drive at the end of its useful life through environmentally friendly
recycling in accordance with applicable regulations.
10 Accessories
èwww.festo.com/catalogue

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11 Fault clearance
Malfunction Possible cause Remedy
Squeaking noises,
vibrations or the
drive is not running
smoothly.
Tension Change arrangement of the tool/payload.
Change travel speed.
Controller incorrectly set Change controller parameters.
Rotating plate does
not move.
Loads too high Reduce payload/torques.
Fastening screws of the tool too
long
Observe max. screw-in depth
(è5.1.2 Mount attachment component).
Brake closed Check wiring, open brake.
Rotary table runs
over reference
position.
Proximity switch does not switch. Check proximity switch, connections,
controller and control system.
Tab. 7

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12 Technical data
12.1 Mechanical data
Size1) 12 16 25 32
Design Electromechanical rotary drive with stepper motor
and integrated gear unit
Mounting position Any
Max. axial force [N] 180 290 350 450
Max. radial force [N] 200 300 450 550
Nominal torque2) [Nm] 0.15 0.8 2.5 5
Holding torque [Nm] 0.33 0.8 4 7
Nominal rotary speed [rpm] 100 66 50
Max. speed [rpm] 200 150 100
Permissible mass moment of inertia [kgcm2] 3 13 65 164
Repetition accuracy [°] ±0.05 ±0.1
Torsional backlash (new) [°] 0.2
Ambient temperature [°C] 0 … +50
Storage temperature [°C] –20 … +60
Relative air humidity [%] 0 … 85 (non-condensing)
Degree of protection IP40
Vibration and shock resistance
Vibration
in accordance with IEC 60068-2-6:2007-12
0.15 mm, 10 ... 58 Hz
20 m/s2, 58 … 150 Hz
Shock
in accordance with IEC 60068-2-27:2008-02
150 m/s2, 11 ms
Continuous shock
in accordance with IEC 60068-2-27:2008-02
150 m/s2, 6 ms
Note on materials Contains paint-wetting impairment substances
Materials
Housing, clamping ring, rotary table Anodised aluminium
Sealing ring NBR
Ball bearing, screws Steel
Product weight
Without brake [kg] 0.475 0.90 1.35 2.20
With brake [kg] – 0.96 1.50 2.38
1) The PositioningDrives engineering software is available for sizing (èwww.festo.com/sp).
2) Theoretical torque at nominal rotary speed
Tab. 8

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12.2 Electrical data
Size 12 16 25 32
Motor ERMO-…-ST
Nominal operating voltage DC [V] 24
Nominal current [A] 0.8 1.4 3.0 4.2
Step angle with full step [°] 1.8 ± 5 %
Brake ERMO-…ST-B
Operating voltage DC [V] – 24 ± 10 %
Rated output [W] – 8
Holding torque [Nm] – 1 2.5 2.5
Mass moment of inertia [kgcm2] – 0.69 1.3 1.3
Encoder ERMO-…ST-E
Rotary position encoder Encoder, optical, incremental
Rotary position encoder interface RS422 TTL AB-chan. + zero index
Pulses/revolution 500
Zero pulse Yes
Nominal DC operating voltage [V] 5
Insulation protection class B (130 °C)
CE marking (see declaration of conformity)1)2) according to EU EMC Directive
1) The device is intended for use in an industrial environment.
Measures for interference suppression may need to be implemented in residential areas.
2) Maximum length of the individual connecting cables: 30 m
Tab. 9
13 Characteristic curves
Torque M as a function of speed n
ERMO-12
ERMO-16
ERMO-25
ERMO-32
Fig. 6

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Copyright:
Festo AG & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
Phone:
[phone]
Fax:
[phone]
E-mail:
[e-mail]
Internet:
www.festo.com