Festo CMMT-ST-C8-1C-...-S0 Series User manual

Translation of the original instructions
BISS®, EtherCAT®, EtherNet/IP®, PI PROFIBUS PROFINET®, PHOENIX CONTACT®
are registered trademarks of the respective trademark owners in certain coun
tries.
1 About this document
1.1 Target group
The document is targeted towards individuals who mount and operate the
product. It is additionally targeted towards individuals who are entrusted with the
planning and application of the product in a safetyrelated system (safety manual
in accordance with EN61508).
1.2 Applicable documents
All available documents for the product èwww.festo.com/pk.
The user documentation for the product also includes the following documents:
Designation Contents
Product instruction manual Installation, safety subfunction
Detailed description of assembly, installationProduct descriptions
Detailed description of safety subfunction
Description/online help plugin Plugin:
– Functions and operation of the software
– Initial commissioning assistant
Firmware functions:
– Configuration and parameterisation
– Operating modes and operational functions
– Diagnostics and optimisation
Bus protocol/control:
– Device profile
– Controller and parameterisation
Festo Automation Suite online
help
– Function of the Festo Automation Suite
– Management and integration of devicespecific plugins
Tab. 1 User documentation for the product
1.3 Product variants
The product is available in 3 fieldbus variants. The following order code indicates
the equipment features of the product variant.
Feature Order code Type
Servo drive CMMT Servo drive, seriesT
Motor type ST Stepper motor or EC motor
Nominal current C8 8A
Nominal input voltage 1C 24…48VDC
EC EtherCAT
EP EtherNet/IP
Bus protocol/activation
PN PROFINET
Safety function S0 Basic safety
Tab. 2 Product variants CMMTST... (e.g.CMMTSTC81CECS0)
This documentation refers to the following version:
– Servo drive CMMTST...S0, revision1 and higher, see product labelling.
This is the first available revision.
• For later revisions of the product, check whether updated documentation is
available èwww.festo.com/pk.
1.4 Product labelling
• Observe the specifications on the product.
The product labelling is located on the right side of the device. The product
labelling enables identification of the product and shows the following informa
tion:
Product labelling (example) Meaning
CMMTSTC81CECS0 Order code
8084005 MMYYYY:XX  Rev01 Part number, serial number (manufacturing
month, manufacturing year, plant number), revi
sion
Main Input: 24…48VDC8A Technical data for the power supply (PELV fixed
power supply)
Motor Out: 0…Input VAC8ARMS 300W Technical data for the motor output (output
voltage, nominal current, nominal output power)
TAMB: max. 50°C Ambient temperature (TAMB)
IP20 Degree of protection
MACID: XF1 IN XXXXXXXXXXXX First MAC address of the device for RTE commu
nication XF1IN, also represented as a barcode
RRFTOKC20181092 KC mark certificate (test mark for Korea)
01/205/5696.00/19 TÜV certificate number
Data matrix code, 123456789AB Product key as a data matrix code and an
11character alphanumeric code
Festo AG&Co.KG Manufacturer
DE73734 Esslingen Manufacturer’s address
Made in Germany Manufactured in Germany
Tab. 3 Product labelling (example)
Warning symbol on the front of the product
The following warning symbol can be seen on the front of the product:
1Attention! Hot surface
Fig. 1 Warning symbol on the front of the product (example CMMTST…EC)
General meaning Meaning for the CMMT-ST
Attention! Hot surface Metallic housing parts of the device can reach high temperatures
during operation.
Tab. 4 Meaning of the warning symbol
1.5 Specified standards
Version
ENISO138491:2015 EN618002:2015
ENISO14118:201802 EN6180051:2007+A1:2017
EN602041:201809 EN6180052:2017
EN60715:201711 EN62061:2005+AC:2010+A1:2013+A2:2015
EN61508 Parts 17:2010 –
Tab. 5 Standards specified in the document
2 Safety
2.1 Safety instructions
General safety instructions
– Assembly and installation should only be carried out by qualified personnel.
– Only use the product if it is in perfect technical condition.
– Only use the product in original status without unauthorised modifications.
– Do not carry out repairs on the product. If defective, replace the product
immediately.
– Observe labelling on the product.
– Take into consideration the ambient conditions at the location of use.
The safety function might fail, and malfunctions might occur if you do not
comply with the parameters required for the ambient and connection condi
tions.
– Never remove or insert a plug when the power is switched on.
8097145
CMMT-ST-C8-1C-...-S0
Servo drive
8097145
201901
[8097147]
Instructions| Installation, Safety subfunction
Festo AG & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
[phone]0
www.festo.com

– Install the product in a suitable control cabinet. The minimum degree of pro
tection required for the control cabinet is IP54.
– Prior to commissioning, ensure that the resulting movements of the connec
ted actuators cannot endanger anyone.
– During commissioning: systematically check all control functions and the
communication and signal interface between controller and drive regulator.
– Keep the documentation somewhere safe throughout the entire product life
cycle.
In the event of damage caused by unauthorised manipulation or any form of use
other than that intended, the warranty is invalidated, and the manufacturer is not
liable for damages.
In the event of damage caused by using unauthorised software or firmware with
the device, the warranty is invalidated, and the manufacturer is not liable for dam
ages.
Safety instructions for the safety sub-functions
It is only possible to determine whether the product is suitable for specific applic
ations by also assessing further components of the overall system.
Analyse and validate the safety function of the entire system.
Check the safety functions at adequate intervals for proper functioning. It is the
responsibility of the operator to choose the type and frequency of the checks
within the specified time period. The manner in which the test is conducted must
make it possible to verify that the safety device is functioning perfectly in interac
tion with all components. Time period for cyclical test
è 15.1 Technical data, safety engineering.
Prior to initial commissioning, wire the control inputs of the safety subfunction
STO. The safety subfunction STO is always available without the need for any
additional parameterisation.
2.2 Intended use
The servo drive CMMTST is intended to supply a stepper motor or an EC motor
with power, as well as to regulate them. The integrated electronics permit regula
tion of torque (current), rotational speed and position.
Use exclusively:
– In perfect technical condition
– In its original condition, without unauthorised modifications
– Within the limits of the product defined by the technical data
è 15 Technical data
– In an industrial environment
The safety function might fail, malfunctions might occur, and the connected actu
ators might move unintentionally if you do not comply with the parameters
required for the ambient and connection conditions.
The CMMTST...S0 supports the following safety subfunctions in accordance
with EN6180052:
– Safe torque off (STO/Safe torque off)
– Safe stop 1 time controlled (SS1t/Safe stop 1 time controlled), can only be
implemented with a suitable safety relay unit and appropriate servo drive cir
cuitry
The safety subfunction STO is intended to switch off the torque of the connected
motor, thereby preventing an unexpected restart of the motor.
The safety subfunction SS1t is intended to perform a rapid stop with subsequent
torque switchoff.
Ensure that wiring is crosscircuit proof in accordance with ENISO138491.
2.2.1 Range of application
Safety subfunctions may only be used for applications for which the stated safety
reference values are sufficient è 15 Technical data.
2.2.2 Permissible components
The load and logic power supply must meet the requirements of EN602041 (pro
tective extralow voltage, PELV).
Supported motors:
– Stepper motors
– EC motors
The servo drive supports motors with or without an integrated holding brake
(electrical springoperated brake). The holding brake is actuated automatically by
the controller enable of the servo drive. The actuation concept is based on the
assumption that a drive that is already stationary is being held. The actuation sys
tem is not designed for decelerating a moving drive. If a moving drive is deceler
ated, this can cause excessive wear on the brake.
Motor configuration Behaviour following removal of controller enable
Motor without holding brake The drive can move freely.
Motor with holding brake The holding brake is applied and holds the motor and axis in posi
tion.
Tab. 6 Example: removal of controller enable
The holding brake must be designed for the load torque to be stopped. Detailed
information about brake control èOnline help for the CMMTST plugin.
Supported encoders:
– BiSSC encoders
– Incremental encoders
Additional information èwww.festo.com/catalogue.
2.3 Foreseeable misuse
Foreseeable misuse of the safety sub-function STO
– Use outside the limits of the product defined in the technical data.
– Bypassing of the safety function.
– Crosswiring of the diagnostic feedback signals of more than 10 servo drives.
– Use of the diagnostic contact STA to switch a safety function.
The diagnostic contact STA must not be used to open a secure locking mech
anism directly, forexample.
The diagnostic contact STA is not part of the safety circuit. The diagnostic
contact STA is used to improve diagnostic coverage of the related safety sub
function. The diagnostic contact STA may only be used in combination with
the related safe control signals (AND operation) plus a reliable time monitor
ing function in the safety relay unit for the purpose of switching additional
safetycritical functions.
– Use of the safety subfunction STO without external measures for drive axes
influenced by external torques.
If external torques influence the drive axis, use of the safety subfunction STO
on its own is not suitable for stopping the axis safely. Additional measures
are required to prevent dangerous movements of the drive axis, suchas use
of a mechanical brake.
– Operation of EC motors requiring a safety classification of SIL3, cat.3, Ple
without evaluation of the diagnostic contact STA.
– Operation of the connected motor without the danger zone being restricted or
enclosed by suitable means.
The user must not be able to enter the danger zone without triggering the
safety function.
– The safety subfunction STO does not provide protection against electric
shock, only against dangerous movements.
– The safety subfunction STO cannot prevent nonsafetyrelated subfunctions
from failing, e.g.the braking ramp for the SS1t function or the device's tem
perature monitoring function.
2.4 Training of qualified personnel
The product may be installed and commissioned only by a qualified electrical
engineer who is familiar with:
– The installation, operation and maintenance of electrical control systems
– The applicable regulations for operating safetyrelated systems
Work on safetyrelated systems may only be carried out by qualified personnel
trained in safety engineering.
2.5 Approvals and certifications
The product has the CE marking. For details of directives, see
è 15.2 Technical data, product conformity and approvals.
The productrelated EU directives and standards are listed in the declaration of
conformity èwww.festo.com/sp.
The product is a safety device in accordance with the Machinery Directive. For
details of the safetyoriented standards and test values that the product complies
with and fulfils, see è 15.1 Technical data, safety engineering. Please note that
compliance with the named standards is limited to the CMMTST...S0.
Certain configurations of the product have been certified by Underwriters Laborat
ories Inc. (UL) for the USA and Canada.
These configurations bear the following mark:
Fig. 2
cUL Listed Mark for Canada and the United States.
During installation and operation of this product, comply with all safety require
ments, statutes, codes, rules and standards relevant for the product, such as the
National Electrical Code (USA), Canadian Electrical Code (Canada) and regulations
of the US federal agency OSHA. When selecting the circuit breaker, comply with
the maximum permissible electrical protection for UL.
3 Additional information
– Accessories èwww.festo.com/catalogue.
– Spare parts èwww.festo.com/spareparts.
– All available documents for the product and current versions of the firmware
and commissioning software èwww.festo.com/sp.
4 Service
Contact your regional Festo contact person if you have technical questions
èwww.festo.com.
5 Product overview
5.1 Scope of delivery
Component Number
Servo drive CMMTST... 1
Assortment of plugs NEKMC22 1
Hrail clamp (premounted) 1
Instruction manual CMMTST... 1
Tab. 7 Scope of delivery
Uptodate information on the accessories èwww.festo.com/catalogue.

5.2 System structure
The servo drive CMMTST is a 1axis servo drive for controlling a stepper motor or
an EC motor with connected mechanisms, e.g.an axis from Festo. The device is
controlled by a higherlevel controller using the bus protocol EtherCAT, Ether
Net/IP or PROFINET, depending on the product version, via a real time Ethernet
interface.
The device can be parameterised via a PC using either the realtime Ethernet inter
face or the separate standard Ethernet interface.
The device is an extralowvoltage controller. The load and logic power supply
must be provided by a PELV fixed power supply.
1Servo drive CMMTST
2Stepper motor or EC motor with
drive
3Fixed power supply (or supplies)
for logic and load voltage (PELV)
4PC with Ethernet connection for
parameterisation
5Bus/network
Fig. 3 System structure (example)
5.2.1 Overview of connection technology
1Functional earth marking
2Functional earth connection
3[XF2 OUT] RTE interface port 2
4[XF1 IN] RTE interface port 1
5[X18] Standard Ethernet
6[X1A] I/O interface
7[X2] Encoder connection
8[X6] Motor connection
9[X1C] Connection for the reference
switch or limit switch
10 [X9] Load and logic voltage (under
neath)
Fig. 4 Connections of the CMMTST (example CMMTSTC81CEC)
5.3 Safety sub-functions
5.3.1 Function and application
The servo drive CMMTST...S0 has the following safetyrelated performance fea
tures:
– Safe torque off (STO/Safe torque off)
– Safe stop 1 time controlled (SS1t/Safe stop 1 time controlled) with use of a
suitable external safety relay unit and appropriate servo drive circuitry
– Diagnostic contact STA for feedback of the active safety subfunction STO
5.3.2 Safety sub-function STO
Function and application of STO
The safety subfunction STO switches off the driver power supply for the power
semiconductor, thus preventing the power output stage from supplying the
energy required by the motor. The power supply to the drive is safely disconnec
ted when the safety subfunction STO is active. The drive cannot generate torque
and so cannot perform any dangerous movements.
With suspended loads or other external forces, additional measures must be put
in place to prevent movements being performed (e.g.mechanical clamping units).
In the STO state, the standstill position is not monitored.
The machines must be stopped and locked in a safe manner. This especially
applies to vertical axes without automatic locking mechanisms, clamping units or
counterbalancing.
STO request
The safety subfunction STO is requested on 2 channels by simultaneously switch
ing off the control voltage at both control inputs #STOA and #STOB.
The signals of inputs #STOA/B are low active, so they are marked with #.
The safe state is achieved after the safety subfunction STO has been requested if
all motor coils are switched off and current cannot flow through them.
NOTICE!
Detent movement if the output stage fails
If the output stage of the device fails when a safety subfunction STO is active, it
may result in the drive jerking with a limited detent movement of the rotor. The
maximum rotation angle/travel corresponds to the pole pitch of the motor used.
• Take this behaviour into account when designing the system's safety func
tion.
After the safety subfunction STO has been requested and the request completed,
the functional controller enable must be activated.
Feedback via diagnostic contact STA
The state of the safety subfunction STO can be reported to the safety relay unit
via the diagnostic contact STA.
If the safety classification of SIL3, cat.3, Ple is required for operation with an EC
motor, the diagnostic contact STA must be evaluated.

The diagnostic feedback signal STA has been designed as a potentialfree contact
(opto relay). The diagnostic contact STA is only closed (conductive) when STO is
requested on 2 channels via the control inputs #STOA and #STOB. If the contact
is closed (conductive), the STO state has been achieved (safe state).
#STO-A #STO-B STA-C1/C2
Low level Low level Diagnostic contact closed (low resistance)
Low level High level
High level Low level
High level High level
Diagnostic contact open (high resistance)
Tab. 8 State of the diagnostic contact STA
If the safety subfunction STO is not requested but protective functions are
triggered simultaneously on both channels (#STOA and #STOB), e.g.if the
voltage at #STOA and #STOB is too high, the internal protective functions switch
off the channels as if STO had been requested and the diagnostic contact STA is
closed (safe state feedback).
Recommendation: The safety relay unit should check the state of the diagnostic
contact whenever there is an STO request. The state of STA must change accord
ing to the logictable. The safety relay unit can cyclically test the #STOA and
#STOB signals for high level with low testpulses and for low level with high test
pulses, within the specified limits è 5.3.5 Safety relay unit.
The diagnostic contact STA is not evaluated in terms of safety engineering.
5.3.3 Safety sub-function SS1
Together with a suitable safety relay unit, the following can be achieved:
– Safe stop 1 time controlled (SS1t); triggering of motor deceleration and, after
an applicationspecific time delay, triggering of the safety subfunction STO
Safety subfunction SS1 èDescription Safety subfunction
5.3.4 Fault exclusion
Put suitable measures in place to prevent faulty wiring:
– Exclude wiring faults in accordance with EN6180052
– Configure the safety relay unit to monitor the outputs of the safety relay unit
and wiring up to the servo drive
5.3.5 Safety relay unit
Use suitable safety relay units with the following characteristics:
– 2channel outputs with
– Crosscircuit detection
– Required output current (also for STO)
– Evaluation of the diagnostic contact of the servo drive
Safety relay units with test pulses can be used with the following restrictions:
– High test pulses up to a maximum length of 1ms
– Low test pulses up to a maximum length of 1ms
– Test pulses are not simultaneous/overlapping on #STOA/B
6 Transport and storage
– Protect the product during transport and storage from excessive stress
factors. Excessive stress factorsinclude:
– Mechanical stresses
– Impermissible temperatures
– Moisture
– Aggressive atmospheres
– Store and transport the product in its original packaging or installed in the
control cabinet. The original packaging offers sufficient protection from typic
al stresses.
7 Assembly
Dimensions
Fig. 5 Dimensions [mm]
7.1 Mounting clearances
The servo drives of the series CMMTST can be arrayed next to each other.
For effective output currents > 4.5A, mounting clearances may be required on
both sides so that the heat generated during operation can be removed by allow
ing sufficient air to flow.
Detailed information about the required mounting clearances and any power
reduction that may be necessary as a function of the ambient temperature
è Fig.9
The table below shows the mounting clearances for standard output currents and
ambient temperatures.
Ambient operating temperatureExamples
30°C 40°C 50°C
Continuous, constant
output current in con
trolled operation [A]
Mounting clearances
4 0mm
5 3mm
6
0mm
10mm
7 3mm
8
0mm
15mm
Impermissible
Tab. 9 Required mounting clearances (examples)
7.2 Installation
Assembly instructions
– Always install the device vertically in the control cabinet (mains supply line
[X9] underneath).
– Maintain minimum distances and mounting clearance to guarantee sufficient
air flow. The ambient air in the control cabinet must be able to flow through
the device from bottom to top without hindrance. Detailed information about
the required mounting clearances and any power reduction that may be
necessary as a function of the ambient temperature è Fig.9.
– Take into account the required clearance for the wiring (connecting cables of
the device must be routed from above, from below and from the front).
– Do not mount any temperaturesensitive components near the device. The
device can become very hot during operation (switchoff temperature of the
temperature monitoring functionèTechnical data).
– When mounting on an Hrail: use a DIN mounting rail TH357.5 or TH3515
in accordance with EN60715.
– When mounting on the backwall of the control cabinet: screw the device on
vertically and flat to the mounting surface.
Mounting the H-rail clamp
• If the Hrail clamp is not premounted, screw it onto the back using the original
screw.
Mounting on an H-rail
1. Attach the device by hooking the top of the Hrail clamp onto the Hrail from
above.
2. Press the lower part of the device onto the Hrail until the Hrail clamp clicks
into place on the Hrail.

Wall mounting
The backwall of the device has a hole at the top and a cutout at the bottom. The
device is screwed vertically and flat to the mounting surface using the hole and
the cutout.
1. If an Hrail clamp is mounted on the back, remove it.
2. Mount the servo drive on the backwall of the control cabinet with suitable
screws while complying with the assembly instructions.
8 Installation
8.1 Safety
WARNING!
Danger of burns from hot housing surfaces.
Metallic housing parts can reach high temperatures during operation.
Contact with metal housing parts can cause burn injuries.
• Do not touch metallic housing parts.
• After the power supply is switched off, let the device cool down to room tem
perature.
Information for operation with safety functions
NOTICE!
Check the safety functions to conclude the installation process and after every
modification to the installation.
During installation of safetyrelated inputs and outputs, also observe the follow
ing:
– Meet all specified requirements,e.g.:
– Surrounding area (EMC)
– Logic and load power supply
– Mating plug
– Connecting cables
– Crosswiring
Additional information èDescription Assembly, Installation.
– The maximum permissible cable length between the safety relay unit and the
plug of the I/O interface is 25m.
– During installation, make sure you meet the requirements of EN602041
relating to the use of PELV fixed power supplies. In the event of a fault, the
voltage must not exceed 60VDC. The safety relay unit must switch off its
outputs in the event of a fault.
– A PELV fixed power supply must be used for the safety relay unit and the logic
power supply of the CMMTST. The GND (0V) of both fixed power supplies
must also be connected to one another. The device power supply and the
power supply of the STO inputs must refer to the same GND potential.
– Carry out wiring between the safety relay unit and the I/O interface of the
servo drive in such a way as to exclude the risk of a short circuit between the
conductors or to 24V, as well as a cross circuit èEN6180052, Annex
D.3.1. Otherwise, the safety relay unit must feature crosscircuit detection
and, in the event of a fault, must switch off the control signals on 2 channels.
– Only use suitable mating plugs and connecting cables èDescription
Assembly, Installation. Use cable end sleeves for multicore wires.
– Avoid conductive contamination between neighbouring plug pins.
– Make sure that no bridges or the likecan be inserted parallel to the safety
wiring. For example,use the maximum wire cross section or appropriate
plastic cable end sleeves.
– To crosswire safetyrelated inputs, use twin cable end sleeves. When cross
wiring diagnostic contacts STA, a maximum of 10 devices may be crosswired
èDescription Assembly, Installation.
– The safety relay unit and its inputs and outputs must meet the necessary
safety classification of the safety function that is required in each case.
– Connect each of the control inputs to the safety relay unit on 2 channels.
– If the feedback signal STA of the safety subfunction STO has to be evaluated:
connect diagnostic contact directly to the safety relay unit. It is not permitted
to connect the diagnostic contacts in parallel, since a device like this with an
active safety subfunction would report a safe state for all devices.
– Whether the diagnostic contact needs to be evaluated depends on the type of
motor that is connected and the desired safety classification.
– If diagnostic contacts are crosswired for a device compound: wire diagnostic
contacts in series.
Basic circuitry concept
– Safe sensors – e.g.emergency stop switches, light curtains – are routed to
the safety relay unit (or the safety PLC).
– The safety relay unit requests the safety subfunction on the servo drive via 2
channels and evaluates the feedback signal STA.
8.2 EMC-compliant installation
A nonEMCcompliant installation can lead to signal interference on the encoder,
motor or communication cables.
Cable lengths and cable shield
– Only use suitable cables that fulfil the requirements of standard EN602041.
– Comply with maximum permissible cable lengths.
Connection Max. cable
length [m]
Cable shield
[X1A] Inputs/outputs for the higher
order PLC
25
[X1C] Inputs/outputs for the refer
ence/limit switches
25
Not required
[X2] Encoder 251) Not required but twisted in
pairs2)
[X6] Motor phase connection 25 Not required but twisted in
pairs2)
[X9] Logic power supply and load
power supply
30 Not required
[X18] Standard Ethernet
[XF1 IN] RTE (port1)
[XF2 OUT] RTE (port2)
30 Double shielded (CAT5)
1) Adhere to the maximum permissible cable length for the encoder used.
2) Shielded cables from Festo can be used. The shield can only be connected on the motor side.
Tab. 10 Cable lengths and cable shield
Laying cables
Comply with general guidelines for EMCcompliant installation,e.g.:
– Do not run signal cables parallel to power cables.
– Comply with required minimum distances between signal cables and power
cables dependent on the installation conditions. Signal cables must be phys
ically separated from the power cables to the maximum possible extent.
– Wherever possible, avoid crossing signal cables with power cables or running
them at only a 90° angle in relation to one another.
8.3 Connection example
1BiSSC or incremental encoder
2EC motor or stepper motor
3PELV fixed power supply for logic
voltage (24V)
4PELV fixed power supply for load
voltage (24V … 48V)
Fig. 6 Connection example
STO connection example
In this example, the safety subfunction STO (safe torque off) is triggered by an
input device that makes the safety request (e.g.light curtain).

1Input device for safety request
(e.g.light curtain)
2Safety relay unit
3Servo drive
4Drive axis
Fig. 7 STO sample circuit
Information on the sample circuit
The safety request is passed on to the servo drive on 2 channels via the inputs
#STOA and #STOB at the connection [X1A]. This safety request results in the
2channel switchoff of the driver supply to the servo drive's power output stage.
The safety relay unit can use the diagnostic contact STA to monitor whether the
safe state has been reached for the safety subfunction STO.
The CTRLEN wiring shown is not required for the safety subfunction STO.
8.4 Interfaces
Observe the requirements for mating plugs èDescription Assembly, Installation.
8.4.1 [X1A], inputs and outputs for the higher-order PLC
The I/O interface [X1A] is located on the front of the device. This interface fea
tures:
– 2 freely configurable digital outputs (parameterisable switching logic, PNP
logic or NPN logic)
– 2 freely configurable digital inputs (parameterisable switching logic, PNP
logic or NPN logic)
– 1 digital input for the enable output stage and reset error functions; whether
or not the function will be used can be parameterised in the plugin (paramet
erisable switching logic, PNP logic or NPN logic)
– 2 inputs for wiring the safety subfunction STO (#STOA, #STOB)
– 2 contacts for wiring the diagnostic contact of the safety subfunction STO
(STAC1, STAC2)
Detailed information on the circuitry of the product safety subfunctions can be
found in the Description Safety subfunction è 1.2 Applicable documents.
The functional inputs and outputs of this I/O interface are used for coupling to a
higherorder PLC, forexample. The devices connected to the CMMTST all need to
have the same switching logic (PNP/NPN). The configuration
PNP and NPN logic
– PNP logic means that a potential is switched.
– NPN logic means that earth is switched.
The required switching logic can be parameterised using the CMMTST plugin
èdescription of or online help for the CMMTST plugin.
Signal Level Input Output
Logic 0 0V Internal via pulldown resistor Internal via pulldown resistor
Logic 1 24V – Via highside driver (delivers cur
rent)
Tab. 11 PNP logic
Signal Level Input Output
Logic 0 24V Internal via pullup resistor Internal via pullup resistor
Logic 1 0V – Via lowside driver (consumes cur
rent)
Tab. 12 NPN logic
[X1A] Pin Function Description Mating plug
labelling
1 +24V, out +24VDC output (fused) 1
2 #STOA Control input Safe torque
off, channel A
STOA
3 #STOB Control input Safe torque
off, channel B
STOB
4 STAC1
5 STAC2
Diagnostic contact STA
Safe torque off acknow
ledge
STA
6 CTRLEN Enable output
stage/acknowledge error
6
7 Basic in 01 Configurable input 7
8 Basic in 02 Configurable input 8
9 Basic out
01
Configurable output 9
10 Basic out
02
Configurable output 10
Tab. 13 Inputs and outputs for the higherorder PLC
The inputs and outputs are configured using the CMMTST plugin èdescription
of or online help for the CMMTST plugin.
The signals of inputs STOA/B are low active, so they are marked with #.
Connecting cable requirements
Shielding Not required
Min. conductor cross section incl. plastic cable end sleeve1) 0.2mm2
Max. conductor cross section incl. plastic cable end sleeve 1.5mm2
Max. length 25m
1) The conductor cross section used must be suitable for the currents that arise. If flexible flying leads are
used with plastic cable end sleeves, minimum cross sections of 0.14mm² are possible.
Tab. 14 Connecting cable requirements
8.4.2 [X1C], reference switch/limit switch
The connection [X1C] is located on the front of the device and is used to connect
the reference switch or a limit switch. The switching logic of the input can be para
meterised (PNP logic or NPN logic).
[X1C] Pin Function Description Mating plug
labelling
1 +24V, out +24VDC output (fused) +
2 REF/IN Reference signal/limit
switch signal
IN
3 0V/GND Reference potential, ref
erence switch

Tab. 15 Connection for the reference switch/limit switch
Cable requirements
Shielding Not required
Min. conductor cross section incl. plastic cable end sleeve1) 0.14mm2
Max. conductor cross section incl. plastic cable end sleeve 1.5mm2
Max. length 25m
1) The conductor cross section used must be suitable for the currents that arise.
Tab. 16 Cable requirements
8.4.3 [X2], encoder interface
The encoder interface [X2] is located on the front of the device. Communication
with the encoder is performed via this interface. The encoder signals are received,
and the encoder is supplied with voltage.
The following encoders are supported:
– Incremental encoders with AB signals (quadrature encoder)
– Absolute encoders with BiSS C protocol
[X2] Pin Function Description Mating plug
labelling
1 A_IN A signal input 1
2 B_IN B signal input 2
3 IDX_IN Index signal input 3
4 +5V 5V encoder supply 4
5 #A_IN A signal input, inverse 5
6 #B_IN B signal input, inverse 6
7 #IDX_IN Index signal input,
inverse
7
8 GND Reference potential of
encoder supply
8
Tab. 17 Incremental encoders with AB signals (quadrature encoder)

[X2] Pin Function Description Mating plug
labelling
1 – – 1
2 MA+ Clock line BiSS C, output 2
3 SLO+ Data transmission line
BiSS C, input
3
4 +5V 5V encoder supply 4
5 – – 5
6 MA– Clock line BiSS C, output
inverse
6
7 SLO– Data transmission line
BiSS C, input inverse
7
8 GND Reference potential of
encoder supply
8
Tab. 18 Absolute encoders with BiSS C protocol
Connecting cable requirements
Shielding Not required but twisted in pairs1)
Min. conductor cross section2) 0.2mm2
Max. conductor cross section 1.5mm2
Max. length 25m
1) Shielded cables from Festo can be used. The shield can only be connected on the motor side.
2) The conductor cross section used must be suitable for the currents that arise. If flexible flying leads are
used with plastic cable end sleeves, minimum cross sections of 0.14mm² are possible.
Tab. 19 Connecting cable requirements
8.4.4 [X18], standard Ethernet
The interface [X18] is located on the front of the device. The following can be per
formed via the interface [X18] using the commissioning software:
– Diagnostics
– Parameterisation
– Control
– Firmware update
The interface fulfils the requirements of standard IEEE802.3:2012. The interface
is galvanically isolated and intended for use with limited cable lengths.
The connection [X18] is designed as an RJ45 bushing. 2LEDs are integrated into
the RJ45 bushing. The green LED lights up if the interface is activated. The yellow
LED flashes when communication activity is detected.
Connecting cable requirements
Characteristics CAT5, patch cable, double shielded
Max. cable length 30m
Tab. 20 Connecting cable requirements
The following connections are possible via the Ethernet interface:
Connections Description
Pointtopoint connection The device is connected directly to the PC via an
Ethernet cable.
Network connection The device is connected to an Ethernet network.
Tab. 21 Options for connection
The device supports the following methods of IP configuration (based on IPv4):
Methods Description
Obtain IP address automatically (DHCP client) The device obtains its IP configuration from a
DHCP server in your network. This method is
suitable for networks in which a DHCP server
already exists.
Fixed IP configuration The device uses a fixed IP configuration.
The IP configuration of the device can be per
manently assigned manually. However, the
device can only be addressed if the assigned IP
configuration matches the IP configuration of the
PC.
Factory setting: 192.168.0.1
Tab. 22 Options for IP configuration
8.4.5 [XF1 IN] and [XF2 OUT], real-time Ethernet (RTE) port 1 and 2
The realtime Ethernet interface [XF1IN] and [XF2OUT] is located on the top of
the device. The interface permits RTE communication. The following protocols are
supported, depending on the product version:
Product variant Supported protocol
CMMTST...EC EtherCAT
CMMTST...EP EtherNet/IP
CMMTST...PN PROFINET
Tab. 23 Supported protocol
The physical level of the interface fulfils the requirements according to
IEEE 802.3:201200. The interface is galvanically isolated and intended for use
with limited cable lengths.
2LEDs are integrated into the RJ45 bushings. The behaviour of the LEDs depends
on the bus protocol. Use is not always made of both LEDs.
Connecting cable requirements
Characteristics CAT5, patch cable, double shielded
Max. cable length 30m
Tab. 24 Connecting cable requirements
8.5 Motor connection
The connection [X6] is located on the front of the device. The following functions
are carried out via the connection [X6]:
– Supply motor coils with current
– Actuate optional holding brake of the motor
As a rule, the brakes used are holding brakes. This means the brakes are well
suited to keeping the motor at a standstill. The holding brake must be designed
for the load torque to be stopped. Holding brakes are not usually suitable for
braking moving masses or loads.
• Check that the holding brake used is suitable for the application.
The servo drive controls the output for the holding brake automatically. Informa
tion about brake control è Online help for the CMMTST plugin.
Pin allocation for connecting a stepper motor:
[X6] Pin Function Description Mating plug
labelling
1 A String A A
2 A/ String A/ A/
3 B String B B
4 B/ String B/ B/
5 Br+ Brake +24V Br+
6 Br/0V Brake 0V Br/
Tab. 25 Motor phase connection for connecting a stepper motor
Pin allocation for connecting an EC motor:
[X6] Pin Function Description Mating plug
labelling
1 U Phase U A
2 V Phase V A/
3 W Phase W B
4 Reserved Do not connect B/
5 Br+ Brake +24V Br+
6 Br/0V Brake 0V Br/
Tab. 26 Motor phase connection for connecting an EC motor
Connecting cable requirements
Shielding Not required but twisted in pairs1)
Min. conductor cross section2) incl. plastic
cable end sleeve
0.2mm2
Max. conductor cross section without cable end
sleeve
2.5mm2
Max. length 25m
1) Shielded cables from Festo can be used. The shield can only be connected on the motor side.
2) The conductor cross section used must be suitable for the currents that arise.
Tab. 27 Connecting cable requirements
Festo offers prefabricated motor cables as accessories
èwww.festo.com/catalogue.
8.6 Load and logic power supply
Power supply
WARNING!
Risk of injury due to electric shock.
• For the electrical power supply with extralow voltages, use only SELV circuits
that ensure a reliable separation from the mains network.
• Observe IEC602041/EN602041.

Power supply
[X9] Pin Function Description Mating plug
labelling
1 + 48V Power supply for the
load circuit 24VDC to
48VDC
48V
2 0V Reference potential for
the load and logic
voltage
0V
3 +24V Power supply for the
logic circuit 24VDC
24V
Tab. 28 Power supply
Connecting cable requirements
Shielding Not required
Min. conductor cross section1) incl. plastic cable end sleeve 0.2mm2
Max. conductor cross section incl. plastic cable end sleeve 2.5mm2
Max. length 30m
1) The conductor cross section used must be suitable for the currents that arise.
Tab. 29 Connecting cable requirements
8.7 Cross-wiring of several servo drives
Crosswiring enables a device compound to be created.
• When crosswiring configurable inputs/outputs, observe the current rating of
the cables and the mating plugs.
Whether crosswiring of the diagnostic contact is permissible depends on the
safety classification required.
The diagnostic contact must be evaluated separately for EC motors with the clas
sification SIL 3, cat. 3, PL e. It is not permissible to crosswire the diagnostic con
tact. In all other cases, the following rules apply when crosswiring several servo
drives:
– Wire inputs #STOA and #STOB in parallel in each case.
– Wire diagnostic contacts STAC1/C2 in series in each case.
– Wire the diagnostic contacts of a maximum of 10 servo drives in series. The
maximum cable length applies to the entire line, from the safety relay unit to
the final device.
Example of crosswiring èwww.festo.com/sp, Expert knowledge tab (Applica
tion note).
It is not recommended to perform mixed crosswiring of diagnostic contacts and
diagnostic outputs.
The connections for the load and logic power supply can be crosswired to create
a device compound. Twin cable end sleeves or double mating plugs can be used
for crosswiring.
According to the mating plug data sheet, conductor cross sections of maximum 2x
1mm² per contact are possible using twin cable end sleeves. With the double
mating plug TFKC 2,5/ 3ST5,08 from Phoenix Contact, conductor cross sections
of maximum 2x 1.5mm² per contact are possible.
Cross-wiring Twin cable end sleeve Double mating plug
TFKC 2,5/ 3-ST-5,08
Max. conductor cross section
per cable (2)
1mm² 1.5mm²
Max. permissible current with
heatresistant cable
19A 24A, according to mating plug
data sheet max. 10A for cUL
Tab. 30 Max. permissible current
Recommendation:
– Insert a suitable fuse for line protection. The rated current of the fuse must be
less than or equal to the permissible current rating of the selected conductor
cross section.
– The number of devices that can be crosswired depends on the current con
sumption of the devices.
8.8 STO installation
Inputs and outputs for the safety sub-function STO
The 2channel request for the safety subfunction is made via the digital inputs
#STOA and #STOB. The digital input #STOA must not be connected to the digit
al input #STOB. Make sure that no bridges or the like can be used parallel to the
safety subfunction.
The diagnostic contact STA indicates whether the safe state has been reached for
the safety subfunction STO.
[X1A] Pin Type Identifier Function
X1A.2 #STOA Safe torque off,
channel A
X1A.3
Digital input
#STOB Safe torque off,
channel B
X1A.4 STAC1
X1A.5
Contact
STAC2
Safe torque off
acknowledge, dia
gnostic contact
Tab. 31 Inputs and outputs for the safety subfunction STO
The motor controller cannot detect a cross circuit in the input circuit by itself.
1. Find out if crosscircuit detection is needed for the input circuit and diagnostic
contact wiring in the application.
2. If required, use a safety relay unit with crosscircuit detection.
Information on using EC and stepper motors
When using stepper motors with a safety classification of SIL3, cat.3, Ple and EC
motors with a safety classification of SIL2, cat.3, Pld, it is not mandatory to
have a safety relay unit or to evaluate the feedback signal STA. The following com
ponents can be connected to the control inputs #STOA and #STOB to request
the safety subfunction STO:
– Safe semiconductor outputs (electronic safety relay units, active safety
sensors, e.g.light curtains with OSSD signals; OSSD = "Output Signal
Switching Device")
– Switch contacts (safety relay units with relay outputs, passive safety sensors,
e.g.forced position switches)
When using EC motors that require a safety classification of SIL3, cat.3, Ple, it is
necessary to have a safety relay unit and to evaluate the feedback signal STA via
the diagnostic contact STA. It is not permitted to connect safe sensors directly.
8.9 SS1-t installation
Inputs and outputs for the safety sub-function SS1-t
The safety subfunction SS1t is wired like the safety subfunction STO but is sup
plemented by an emergency stop request (either directly by wiring CTRLEN or
indirectly via another functional controller) so that the braking ramp can be activ
ated by the safety relay unit.
8.10 Installation for operation without safety function
For operation without the safety subfunction, wire inputs X1A.2 to X1A.5 as fol
lows:
[X1A] Pin Type Identifier Function
X1A.2 #STOA
X1A.3
Digital input
#STOB
Supplies each one
with 24V
X1A.4 STAC1
X1A.5
Contact
STAC2
Do not connect
Tab. 32 Circuitry of inputs and outputs without safety subfunction
9 Commissioning
9.1 Safety
WARNING!
Severe, irreversible injuries from accidental movements of the connected actu-
ator technology.
Unintentional movements of the connected actuator technology can result from
exchanging the connecting cables of a servo drive or between servo drives.
• Before commissioning: All cables must be correctly assigned and connected.
NOTICE!
During commissioning: Keep the range of movement of the connected actuators
clear, so that no persons are endangered.
Use of safety functions
NOTICE!
The safety subfunction STO is already available on the servo drive on delivery
without the need for any additional parameterisation. Prior to initial commission
ing, wire the safety subfunction STO as a minimum.
1. Make sure that each safety function of the system is analysed and validated.
It is the responsibility of the operator to determine and verify the required
safety classification (safety integrity level, performance level and category) of
the system.
2. Put the servo drive into operation and validate its behaviour in a test run.
During integration of the PDS, observe the measures stipulated by standard
ENISO138491, Chapter G.4:
– Functional test
– Project management
– Documentation
– Performance of a blackbox test

NOTICE!
Unauthorised access to the device can cause damage or malfunctions.
When connecting the device to a network, protect the network from unauthorised
access.
Measures to protect the network include:
• Firewall
• Intrusion prevention system (IPS)
• Network segmentation
• Virtual LAN (VLAN)
• Virtual private network (VPN)
• Security at physical access level (port security)
Further informationèDirectives and standards for security in information tech
nology, e.g.IEC62443, ISO/IEC27001.
9.2 Preparation for commissioning
For initial commissioning, you will need to have the Festo Automation Suite soft
ware installed along with the CMMTST pluginèwww.festo.com/sp.
Prepare for commissioning as follows:
1. Check wiring of the CMMTST.
2. Install Festo Automation Suite plus CMMTST plugin on the PC.
3. Create project and add CMMTST device.
4. Establish connection to the CMMTST and set network configuration.
5. Identify the technical data of the components that is required for configura
tion.
9.3 Commissioning steps
NOTICE!
Unwanted drive movements or damage to components.
Incorrect parameterisation may result in unwanted drive movements or overload
when the closedloop controller is enabled or may lead to connected components
becoming overloaded or damaged.
• Do not enable the closedloop controller until the configured components
(servo drive, motor, axis, etc.) match those that are connected exactly.
During initial commissioning with the Festo Automation Suite with the CMMTST
plugin installed, the following steps must be performed, forexample:
1. Perform configuration and parameterisation with the CMMTST plugin (hard
ware configuration, critical limits and parameters).
2. If the safety function is being used, check functioning of the safety function
èDescription Safety subfunction STO.
3. Check signal behaviour of the digital inputs/outputs (e.g.limit/reference
switch).
4. Provide required control signals.
5. Check direction of rotation/direction of travel of the electromechanical drive
(e.g.in jog operation).
6. Carry out homing.
7. Test positioning behaviour (test mode, èhelp for the CMMTST plugin).
8. If necessary, optimise controller setting (optional, èhelp for the CMMTST
plugin).
9. Perform fieldbus configuration and test control profile (èdescription of the
device profile used).
10. Complete commissioning (e.g.save project with Festo Automation Suite and
archive project).
10 Operation
Check the safety functions at adequate intervals for proper functioning. It is the
responsibility of the operator to choose the type and frequency of the checks
within the specified time period. The manner in which the test is conducted must
make it possible to verify that the safety device is functioning perfectly in interac
tion with all components. Time period for cyclical test (PTI)
è 15.1 Technical data, safety engineering.
After the safety subfunction STO has been requested and the request completed,
the functional controller enable must be reactivated.
Have qualified personnel regularly check and document the function of the dia
gnostic contact. The machine manufacturer must specify the exact interval, based
on their application.
The CMMTST is maintenancefree during its period of use and specified service
life.
The machine manufacturer must ensure the device is protected against restart
according to the ENISO14118 standard “Safety of machinery – Prevention of
unexpected startup”.
With suspended axes, additional measures must be put in place to protect against
falling loads. The device does not feature a safety subfunction SBC (Safe brake
control).
Measures must be put in place to protect against loads that are coasting down.
We recommend decelerating the drive to a standstill before applying a brake. See
information on implementing the safety function SS1t.
11 Maintenance and care
If used as intended, the product is maintenancefree.
11.1 Cleaning
• Clean the outside of the product with a soft cloth.
12 Malfunctions
12.1 Diagnostics via LEDs
The device has LEDs for displaying status information on the top and in the RJ45
bushings [XF1 IN], [XF2 OUT] and [X18].
The following image shows an example of the LEDs on the front of product variant
CMMTST...EC. The functions of the RTE network status LEDs 2 differ by product
version.
1Device status LEDs (4x)
2RTE network status LEDs
(example)
3Ethernet status LEDs
Fig. 8 LEDs on the front (example CMMTST...EC)
12.1.1 Device status displays
LED Designation Brief description
Status LED Indicates the general device status
Power LED Indicates the status of the power supply
Safety LED Indicates the status of the safety equip
ment
Application status LED Indicates the identification sequence and is
reserved for future extensions
Tab. 33 Device status LEDs (status, power, safety and application status LEDs)
Status LED, display of the device status
LED Meaning
Flashes
red
An error is present.
Flashes
yellow
A warning is present, or the servo drive is currently performing a firmware
update.
Lights
up yel
low
The servo drive is in the initialisation phase.
Flashes
green
The servo drive is ready, and the output stage is switched off (Ready).
Lights
up
green
The output stage and the closedloop controller are enabled.
Tab. 34 Status LED
Power LED, status of the power supply
LED Meaning
Illumin
ated
yellow
The logic power supply is present, but the load power supply is lacking or is
currently being measured.
Illumin
ated
green
The load power supply and the logic power supply are present.
Tab. 35 Power LED
Safety LED, functional status of the safety engineering
Malfunctions of the safety subfunction are detected and displayed in the func
tional device. The following are detected:
– Safety subfunction STO requested via 1 channel (discrepancy monitoring)
– Plausibility check of STO channel switchoff

Malfunctions are externally reported by the functional part, including via the addi
tional communication interfaces (bus, commissioning software).
LED Meaning
Flashes
red
Error in the safety part, or a safety condition has been violated.
Illumin
ated
yellow
The safety subfunction has been requested and is active.
Illumin
ated
green
Ready, no safety subfunction has been requested.
Tab. 36 Safety LED
12.2 Repair
Repair or maintenance of the product is not permissible. If necessary, replace the
complete product.
1. If there is a defect: always replace the product.
2. Send the defective product unchanged, together with a description of the
fault and application, back to Festo.
3. Check with your regional Festo contact person to clarify the conditions for the
return shipment.
4. Validate the safety function after any modification to the installation. For val
idation check lists, see Description Safety subfunction
è 1.2 Applicable documents.
13 Disassembly
WARNING!
Danger of burns from hot housing surfaces.
Metallic housing parts can reach high temperatures during operation.
Contact with metal housing parts can cause burn injuries.
• Do not touch metallic housing parts.
• After the power supply is switched off, let the device cool down to room tem
perature.
Disassemble in reverse order of installation.
Before disassembly
1. Switch off the power supply at the main switch.
2. Secure the system against accidental reactivation.
3. Let the device cool down to room temperature.
4. Disconnect all electrical cables.
Disassembly for wall mounting
• Loosen retaining screws (2x) and remove the device from the mounting sur
face.
Disassembly for H-rail mounting
• Carefully tilt the servo drive upwards and remove it from the Hrail.
14 Disposal
ENVIRONMENT!
The material used in the packaging has been specifically chosen for its recyclabil
ity.
• For final disposal of the product, please contact a certified waste manage
ment company for electronic waste.
15 Technical data
15.1 Technical data, safety engineering
General safety reference data
Request rate in accordance
with EN61508
High request rate
Reaction time when the
safety subfunction is
requested (tSTO,In)
[ms] Max. 11 (typical 6)
Tab. 37 Safety reference data and safety specifications
Safety reference data for the safety sub-function STO
Circuitry Stepper
motor
EC motor
without eval
uation of STA
EC motor
with evalu
ation of STA
Safety subfunction in
accordance with
EN6180052
Safe torque off (STO)
Safety integrity level in
accordance with EN61508
SIL3 SIL2 SIL3
SIL claim limit for a subsys
tem in accordance with
EN62061
SILCL3 SILCL2 SILCL3
Category in accordance with
ENISO138491
Cat.3
Safety reference data for the safety sub-function STO
Circuitry Stepper
motor
EC motor
without eval
uation of STA
EC motor
with evalu
ation of STA
Performance level in accord
ance with ENISO138491
PLe PLd PLe
Probability of dangerous fail
ure per hour in accordance
with EN61508, PFH
[1/h] 6*1011 8*109 3*109
Mean time to dangerous fail
ure in accordance with
ENISO138491, MTTFd
[a] >12,000 >5000
Average diagnostic coverage
in accordance with
ENISO138491, DCAVG
[%] 91 72 90
Diagnostic coverage in
accordance with EN61508,
DC
[%] 99 85 95
Operating life (mission time)
in accordance with
ENISO138491, TM
[a] 20
Proof test interval in accord
ance with EN6180052,
PTI1)
[a] 202) 203) 0.254)
Classification of components
in accordance with EN61508
Type B
Safe failure fraction SFF in
accordance with EN61508
[%] 99
Hardware fault tolerance in
accordance with EN61508,
HFT
1
Common cause factor for
dangerous undetected fail
ures β in accordance with
EN61508
[%] 5
1) Depending on the desired safety classification, evaluation of the diagnostic contact STA by the safety relay
unit is either mandatory or optional.
2) Evaluation of the diagnostic contact STA is optional to achieve the safety classification SIL3, cat.3, PLe
with a stepper motor. An annual test interval is recommended.
3) Evaluation of the diagnostic contact STA is optional to achieve the safety classification SIL2, cat.3, PLd
with an EC motor. An annual test interval is recommended.
4) Evaluation of the diagnostic contact STA is mandatory to achieve the safety classification SIL3, cat.3, PLe
with an EC motor. This requires a cyclical test that involves dynamically changing the input signals and
then evaluating STA in accordance with EN138491 at least once every 3 months in accordance with
EN6180052.
Tab. 38 Safety reference data for the safety subfunction STO
The technical data for the safety subfunction SS1t must be calculated individu
ally according to the application. Use the specified safety reference data for STO
for the calculation.
15.2 Technical data, product conformity and approvals
Product conformity and approvals
CE marking (declaration of conformity
èwww.festo.com/sp)
In accordance with EU EMC Directive1)
In accordance with EU Machinery Directive
In accordance with EU RoHS Directive
1) The component is intended for industrial use. Outside of industrial environments, e.g.in commercial and
residential/mixeduse areas, it may be necessary to take measures to suppress radio interference.
Tab. 39 Product conformity and approvals
Safety specifications
Type test The functional safety engineering of the product has
been certified by an independent testing body, see EC
type examination certificate èwww.festo.com/sp.
Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB
0035
Certificate no. 01/205/5696.00/19
Tab. 40 Safety specifications
15.3 Technical data, general
General technical data
Type name code CMMTST
Type of mounting Mounting plate, attached with screws
Hrail mounting
Mounting position Vertical, free convection with unhindered air flow from
bottom to top
Product weight [kg] Approx. 0.35
Tab. 41 General technical data
Ambient conditions, transport in original packaging or in control cabinet
Transport temperature [°C] −25…+70
Relative humidity [%] 5…95 (noncondensing)

Ambient conditions, transport in original packaging or in control cabinet
Max. transportation duration [d] 56 at 70°C
Permissible altitude [m] 12,000 (above sea level) for 12h
Vibration resistance Vibration test and free fall in packaging in accordance
with EN618002
Tab. 42 Ambient conditions, transport
Ambient conditions, storage in original packaging or in control cabinet
Storage temperature [°C] −25…+55
Relative humidity [%] 5…95 (noncondensing)
Permissible altitude [m] 3000 (above sea level)
Tab. 43 Ambient conditions, storage
Ambient conditions, operation
Ambient temperature [°C] 0…+50
Relative humidity [%] 5…90 (noncondensing)
No corrosive media permitted near the device
Permissible installation alti
tude above sea level
[m] 0…2000
Operation above 2000m is not permitted!
Degree of protection IP20
Use in a control cabinet with at least IP54, design as
“closed electrical operating area” in accordance with
EN6180051, Chap. 3.5
Protection class III (protective extralow voltage)
Overvoltage category I
Degree of contamination 2
Vibration resistance in accordance with EN6180051 and EN618002
Shock resistance in accordance with EN618002
EMC in accordance with EN6180052
Tab. 44 Ambient conditions, operation
Service life
Service life of the device at
rated load
[h] 25,000
Dependent on the required current and the ambient
temperature in compliance with the necessary mount
ing clearances and power reduction è Fig.9
Tab. 45 Service life
15.4 Technical data, electrical
15.4.1 Load and logic power supply [X9]
Electrical data, load power supply [X9], pin 1
Voltage range [VDC] 24–15% … 48+15%
Nominal operating voltage [VDC] 24…48
Nominal current [A] 8
Peak current [A] 10 for 3s
Nominal power [W] 300 at 48V
Load efficiency [%] 96.5 at nominal power 300W
Short circuit current rating
(SCCR)
[A] 5000
Protective functions – Protection against polarity reversal
– Overcurrent protection input (15A fuse, cannot be
reset)
– Adjustable protection against feedback on inter
mediate circuit rise
Tab. 46 Load power supply
Electrical data, logic power supply [X9], pin 3
Logic voltage range [VDC] 24 ±15%
Nominal voltage [VDC] 24
Current consumption
(without holding brake)
[A] 1
Current consumption (with
holding brake)
[A] 2
Logic efficiency [%] 82
Protective functions – Protection against polarity reversal
– Overvoltage protection (from approx. 32V)
– Overcurrent protection input (4A fuse, cannot be
reset)
– Overcurrent protection +24VDC output [X1A] pin
1 and [X1C] pin 1 (0.5A fuse, can be reset, PTC)
Tab. 47 Logic supply
15.4.2 Power specifications, motor connection [X6]
Power specifications during operation
Nominal output current [A] 8
Tab. 48 Power specifications during operation
Any power reduction that may be necessary as a function of the ambient temper
ature è Fig.9.
The CMMTST does not have any builtin electronic overload and overtemperature
protection functions for the motor. An I²t monitoring function can be paramet
erised for the motor current in order to protect the motor, using the devicespecif
ic plugin, forexample.
Power section temperature monitoring (parameterisable)
Warning [°C] 85
Shutdown [°C] >95
Tab. 49 Temperature monitoring
Output of holding brake at [X6]
Design Highside switch
Max. continuous output cur
rent
[A] 1 (parameterisable holding current reduction)
Max. voltage drop from
+24V input at connection
[X9] to brake output at [X6]
[VDC] 1
Protective functions Shortcircuit and overloadprotected
Tab. 50 Output of holding brake at [X6]
15.4.3 Digital inputs and outputs [X1A]
Control inputs #STO-A and #STO-B at [X1A]
Specification Based on type 3 to EN611312; deviating current con
sumption
Nominal voltage [VDC] 24 (relative to 0V at X9)
Permissible voltage range1) [VDC] –3…30
Max. input voltage, high level
(UHmax)
[V] 28.8
Min. input voltage, high level
(UHmin)
[V] 17
Max. input voltage, low level
(ULmax)
[V] 5
Min. input voltage, low level
(ULmin)
[V] –3
Max. input current with high
level (IHmax)
[mA] 15
Min. input current with high
level (IHmin)
[mA] 8
Max. input current with low
level (ILmax)
[mA] 0.6
Min. input current in trans
ition range (ITmin)
[mA] 0.4
Tolerance for low test pulses
Tolerated low test pulses
(tSTO,TP) up to max.
[ms] 1
Min. time between low test
pulses
[ms] 50
Tolerance for high test pulses2)
Tolerated high test pulses
(tSTO,TP) up to max.
[ms] 1
Min. time between high test
pulses at USTOA/B < ULmax
[ms] 50
1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the
input exceeds the permissible maximum value, the channel is shut down.
2) High test pulses must never occur simultaneously at inputs #STOA and #STOB, but only with a time off
set.
Tab. 51 Control inputs #STOA and #STOB at [X1A]
Diagnostic contact STA at [X1A]
Design Potentialfree contact
Voltage range [VDC] 18 …30
Max. current [mA] 100 (not shortcircuit proof)
Max. internal resistance [Ω] <6
Offstate current (contact
open)
[µA] <2
Closing reaction time tSTA,Rise [ms] .80 (typ.20)
Opening reaction time tSTA,Fall [ms] ≤35 (typ.16)
Galvanic isolation Via optocoupler
Protective functions Overvoltageresistant up to 60VDC
Tab. 52 Diagnostic contact STAC1/C2 at [X1A]
15.5 Additional technical data
Additional technical data on the product and detailed descriptions of all interfaces
èDescription Assembly, Installation.

15.6 Characteristic curves
Required power reduction
Mounting clearances may be required at output currents >4.6A to ensure the
device reaches its specified service life. The required mounting clearances depend
on the ambient temperature and the output current.
Mounting clearances from 0mm are possible for a device compound consisting of
several servo drives CMMTST. The following characteristic curves show the max
imum permissible effective currents for the lateral mounting clearances 0mm,
3mm, 10mm and 15mm.
1Mounting clearance 15mm
2Mounting clearance 10mm
3Mounting clearance 3mm
4Mounting clearance 0mm
Fig. 9 Power reduction as a function of the ambient temperature and mounting
clearance