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

CMMT-ST-C8-1C-...-S0
Servo drive
Manual | Assembly,
Installation
8154442
2021-04b
[8154444]

Translation of the original instructions
AKULON®, BISS®, CiA®, EtherCAT®, EtherNet/IP®, PI PROFIBUS PROFINET®, PHOENIX CONTACT® are
registered trademarks of the respective trademark owners in certain countries.

Festo — CMMT-ST-C8-1C-...-S0 — 2021-04b
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Table of contents
1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Target group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Applicable documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Product variants. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Product labelling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Specified standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.1 Range of application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.2 Permissible components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Training of qualified personnel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 CE marking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 Safety engineering approval. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.6 UL/CSA certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3Additional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.1 Scope of delivery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2 System structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2.1 Product design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2.2 Overview of connection technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5 Transport and storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6 Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
6.1 Mounting clearances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
6.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.1 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.2 EMC-compliant installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.3 Connection example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.4 Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.4.1 [X1A], inputs and outputs for the higher-order PLC. . . . . . . . . . . . . . . . . . . . . . 23
7.4.2 [X1C], reference switch/limit switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.4.3 [X2], encoder interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.4.4 [X18], standard Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7.4.5 [XF1 IN] and [XF2 OUT], real-time Ethernet (RTE) port 1 and 2. . . . . . . . . . . . . 31
7.5 Motor connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.6 Load and logic power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.7 Cross-wiring of several servo drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8Malfunctions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.1 Diagnostics via LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.1.1 Device status displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.1.2 Interface status [X18]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.1.3 Device and interface status, EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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8.1.4 Device and interface status, ProfiNet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1.5 Device and interface status, EtherNet/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9 Disassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
10 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
10.1 Technical data, general. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
10.2 Technical data, electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
10.2.1 Load and logic power supply [X9]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
10.2.2 Power specifications, motor connection [X6]. . . . . . . . . . . . . . . . . . . . . . . . . . . 49
10.2.3 Encoder interfaces [X2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
10.2.4 Digital inputs and outputs [X1A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
10.2.5 Reference switch [X1C]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
10.2.6 Standard Ethernet [X18], parameterisation interface. . . . . . . . . . . . . . . . . . . . 55
10.2.7 Real-time Ethernet [XF1 IN], [XF2 OUT]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
10.3 Characteristic curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
10.4 Technical data UL/CSA certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

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About this document
5
1 About this document
1.1 Target group
The document is targeted towards individuals who perform assembly, installation and service work on
the product.
1.2 Applicable documents
All available documents for the product è www.festo.com/sp.
The user documentation for the product also includes the following documents:
Identifier Table of contents
Operating instructions for the
product
Installation, safety sub-function
Manuals for the product Detailed description of assembly, installation
Detailed description of safety sub-function
Manual/online help plug-in Plug-in:
–Functions and operation of the software
–Initial commissioning wizard
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.
Characteristic 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

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About this document
Characteristic Order code Type
Bus protocol/control EC- EtherCAT
EP- EtherNet/IP
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 3 Addi-
tional information.
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 identifi-
cation of the product and shows the following information:
Product labelling (example) Meaning
CMMT-ST-C8-1C-EC-S0 Order code
8084005 MM-YYYY:XX SNM Rev 01SNW Part number, serial number (manufacturing
month, manufacturing year, plant number),
revision
Main input: 1x 24 … 48 V DC 8 A Technical data for the power supply (PELV fixed
power supply)
Motor out: 4x 0 … input V AC 0 … 20 kHz 8 ARMS
300 W
Technical data for the motor output (output
voltage, output frequency, nominal current,
nominal output power)
TAMB: max. 50 °C Ambient temperature (TAMB)
IP20 PD2 Degree of protection, pollution degree
MAC-ID: XF1 IN XX-XX-XX-XX-XX-XX First MAC address of the device for RTE com-
munication XF1 IN, also represented as a bar-
code
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 SE & Co. KG Manufacturer

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Safety
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Product labelling (example) Meaning
DE-73734 Esslingen Manufacturer’s address
Made in Germany Country of origin Germany
Tab. 3: Product labelling (example)
Warning symbol on the front of the product
The following warning symbol is applied to the front of the product (CMMT-ST-...-EC shown as
example):
1
Fig. 1: Warning symbol on the front of the
product
1
Attention! Hot surface
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 60204-1:2018-09 EN 61800-3:2004+A1:2012
EN 61131-2:2007 EN 61800-5-2:2017
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.

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Safety
–Do not carry out repairs on the product. If defective, replace the product immediately.
–Observe labelling on the product.
–This product can generate high frequency malfunctions, which may make it necessary to implement
interference suppression measures in residential areas.
–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 parame-
ters required for the ambient and connection conditions.
–Never remove or insert a plug when the power is switched on.
–Install the product in a suitable control cabinet. The minimum degree of protection required for the
control cabinet is IP54.
–Prior to commissioning, ensure that the resulting movements of the connected actuator technology
cannot endanger anyone.
–During commissioning: systematically check all control functions and the communication and signal
interface between controller and servo drive.
–Keep the documentation in a safe place throughout the entire product lifecycle.
If damage is caused by unauthorised manipulation or any use other than the intended use, the
guarantee will be invalidated and the manufacturer will not be liable for damages.
If damage is caused by using unauthorised software or firmware with the device, the warranty is
invalidated, and the manufacturer is not liable for damages.
Safety instructions for the safety sub-functions of the product è Manual Safety sub-function.
2.2 Intended use
The servo drive CMMT-ST is intended to supply power to and to regulate a stepper motor or an EC
motor. The integrated electronics permit regulation 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 Technical data
–in an industrial environment
Intended use of the safety sub-functions for the product è Manual Safety sub-function.
2.2.1 Range of application
The device is intended for use in an industrial environment.
The device is intended to be installed in a control cabinet. The minimum degree of protection required
for the control cabinet is IP54.
2.2.2 Permissible components
Supported motors:
–Stepper motors
–EC motors

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Safety
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The servo drive supports motors with or without an integrated holding brake (electrical spring-oper-
ated 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 system is not designed for decelerating a moving drive. If a moving drive is decelerated,
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
position.
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 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.
2.4 CE marking
The product has the CE marking.
The product-related EU directives and standards are listed in the declaration of conformity
è www.festo.com/sp.
2.5 Safety engineering approval
The product is a safety device in accordance with the EC Machinery Directive. For details of the
safety-oriented standards and test values that the product complies with and fulfils, see è Manual
Safety sub-function, Technical data, safety engineering. Please note that compliance with the listed
standards is limited to the CMMT-ST-...-S0.
2.6 UL/CSA certification
Technical data and environmental conditions may be subject to change in order to comply with
Underwriters Laboratories Inc. (UL) certification requirements for the USA and Canada.
Deviating values è 10.4 Technical data UL/CSA certification.

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Product overview
3 Additional information
–Contact the regional Festo contact if you have technical problems è www.festo.com.
–Accessories and spare parts è www.festo.com/catalogue.
Firmware, software or configuration files è www.festo.com/sp.
4Product overview
4.1 Scope of delivery
Component Number
Servo drive CMMT-ST-... 1
Assortment of plugs NEKM-C-22 1
H-rail clamp (premounted) 1
Operating instructions CMMT-ST-... 1
Tab. 7: Scope of delivery
Below are some examples of the available accessories:
–Patch cable for linkage of the RTE interface
Up-to-date information on the accessories è www.festo.com/catalogue.
4.2 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. a Festo axis. The device is controlled by a higher-level controller using
the bus protocol EtherCAT, EtherNet/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 interface 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.

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Product overview
11
1
2
3
4
5
Fig. 2: System structure (example)
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 parameteri-
sation
5Bus/network
4.2.1 Product design
The device has a compact design. The connections are on the front, top and bottom of the device as
pin header, socket strip or RJ45 bushing.
The ventilation slots on the bottom, top and left side of the device ensure sufficient air flow for cooling
the device.
The metal housing parts form the cooling elements. Heat is also dissipated to the surroundings via the
cooling elements. The device does not have a fan.

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Product overview
1
2
3
4
5
Fig. 3: Servo drive CMMT-ST
1Top
2Front side
3Bottom
4Cooling element (metal housing parts, top,
bottom left side and back of housing)
5Ventilation slots

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Product overview
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1
2
3
4
5
Fig. 4: Elements on the back
1top hole for wall mounting
2Retaining screw for t-rail clamp
3T-rail clamp
4bottom slot for wall mounting
5Hood (right side of housing)
There is a hole at the back on top and a slot for wall mounting at the bottom. The t-rail clamp is
mounted in the centre of the back.

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Product overview
12
Fig. 5: Bottom
1Ventilation slots 2Bottom of the CMMT-ST

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Transport and storage
15
4.2.2 Overview of connection technology
1
2
3
4
5
6
7
8
9
10
Fig. 6: Connections of the CMMT-ST (example CMMT-ST-C8-1C-EC)
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 (underneath)
5Transport and storage
–Protect the product during transport and storage from excessive stress factors. Excessive stress
factors include:
–Mechanical stresses
–Impermissible temperatures

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Assembly
–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 typical stresses.
6Assembly
Dimensions
Fig. 7: Dimensions [mm]
6.1 Mounting clearances
The series CMMT-ST servo drives can be connected in series.
With effective output currents > 4.5 A mounting clearances may be required on both sides to allow
dissipation of the heat generated during operation by allowing sufficient air flow.

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Assembly
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Detailed information about the required mounting clearances and any derating that may be necessary
as a function of the ambient temperature è Fig. 15
The table below shows the mounting clearances for standard output currents and ambient tempera-
tures.
Examples Ambient operating temperature
30 °C 40 °C 50 °C
Continuous, constant
output current in con-
trolled operation [A]
Mounting clearances
4 0 mm 0 mm 0 mm
5 3 mm
6 10 mm
7 3 mm impermissible
8 15 mm
Tab. 8: Required mounting clearances (examples)
In order for the device to reach its specified service life, the maximum housing interior temperature
must be restricted. The specified derating serves to restrict the housing interior temperature.
The necessary clearances are determined by the temperature in the control cabinet and the required
effective current. The Festo PositioningDrives software can be used to calculate the effective current.
If the clearances are insufficient, the device will be switched off by the I²t or temperature monitoring
function of the power stage. The maximum device current can be parameterised in the plug-in regard-
less of the nominal current of the connected motor è online help for the CMMT-ST plug-in.
In the cases below, the required effective current that will cause the device to heat up is lower than
the nominal current of the device:
–In closed-loop operation
–In open-loop operation, if the device is running in intermittent duty

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Assembly
Fig. 8: Effective current timing graph (example)
Name Description
Ieff Effective current
Iset Set current
IHHolding current
positioning motion Traversing movement
example open-loop operation Example of open-loop operation
example closed-loop operation Example of closed-loop operation
Tab. 9: Legend for effective current timing graph
6.2 Installation
The servo drive is intended to be installed in a control cabinet with at least IP54 degree of protection.
The servo drive can be screwed onto the backwall of the control cabinet or mounted on an H-rail.

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Assembly
19
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. 15.
–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 on using the original screw on the back è Fig. 4.
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.
Fig. 9: Mounting on an H-rail

20
Festo — CMMT-ST-C8-1C-...-S0 — 2021-04b
Installation
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.
7Installation
7.1 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 temperature.
7.2 EMC-compliant installation
A non-EMC-compliant installation can lead to signal interference on the encoder, motor or communica-
tion 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 Not required
[X1C] Inputs/outputs for the refer-
ence/limit switches
25
[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
voltage supply
30 Not required
[X18] Standard Ethernet 30 Double shielded (CAT 5)
[XF1 IN] RTE (port 1)
[XF2 OUT] RTE (port 2)
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