Motor controller. Description. Mounting and installation Type CMMS-ST-C8-7. Description en 0708NH [ ]

Transcription

1 Beschneiden: Oben: 61,5 mm Unten: 61,5 mm Links: 43,5 mm Rechts: 43,5 mm Motor controller Description Mounting and installation Type CMMS-ST-C8-7 Description en 0708NH [ ]

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3 Output en 0708NH Designation P.BE-CMMS-ST-HW-EN Order no (Festo AG & Co KG., D Esslingen, 2007) Internet: 0Hhttp:// The copying, distribution and utilisation of this document as well as the communication of its contents to others without expressed authorisation is prohibited. Violations give rise to compensation. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations. Festo P.BE-CMMS-ST-HW-EN 0708NH 3

4 Directory of revisions Author: Festo AG & Co. KG Manual name: MOTORCONTROLLER CMMS-ST-C8-7 File name: P_BE-CMMS-ST-HW-EN.doc File location: Consec. no. Description Revisions index Date of change 001 Written on 0708NH Festo P.BE-CMMS-ST-HW-EN 0708NH

5 TABLE OF CONTENTS 1H1. General information H8 2H1.1 Documentation H8 3H1.2 Scope of delivery H8 4H1.3 Accessories H9 5H2. Safety instructions for electrical drives and control systems... 10H11 6H2.1 Icons used... 1H11 7H2.2 General instructions... 12H12 8H2.3 Danger from incorrect use... 13H13 9H2.4 Safety instructions... 14H14 01H2.4.1 General safety information... 15H14 1H2.4.2 Safety instructions for mounting and maintenance... 16H16 21H2.4.3 Guards preventing contact with electrical components... 17H18 31H2.4.4 Protection against electric shocks via PELV... 18H19 41H2.4.5 Protection against hazardous motions... 19H20 51H2.4.6 Guards preventing contact with hot parts H20 61H2.4.7 Protection during handling and mounting H21 71H3. Product description... 12H22 81H3.1 General information H22 91H3.2 Features H22 02H3.3 Interfaces H23 12H3.3.1 Overview of interfaces H23 2H3.3.2 I/O functions and device control H24 32H3.3.3 Increment generator input H25 42H3.3.4 CAN bus H25 52H3.3.5 Profibus H26 62H3.3.6 Synchronisation interface H26 72H3.3.7 RS232 interface H26 82H3.3.8 RS485 interface... 13H27 92H3.3.9 MTR-ST series stepper motors H27 03H EMMS-ST series stepper motors H27 13H Power supply H27 23H SD memory card H27 3H Brake chopper H28 43H3.4 Function overview H28 53H3.4.1 Operating modes H28 63H3.4.2 Setpoint processing H29 Festo P.BE-CMMS-ST-HW-EN 0708NH 5

6 05H4. Mechanical 73H3.4.3 Hiding frequency ranges H29 83H3.4.4 I²T function H29 93H3.4.5 Positioning controller... 14H30 04H3.4.6 Homing H31 14H3.4.7 Trajectory generator H33 24H3.4.8 I/O sequence control H34 34H3.4.9 Safety functions, error messages H36 4H Oscilloscope function H36 54H Jog and teach function I/O H36 64H Route program H37 74H Synchronisation H38 84H On-the-fly measurement H39 94H Endless positioning H39 installation... 15H40 15H4.1 Important notes H40 25H4.2 Mounting H42 35H5. Electrical installation H43 45H5.1 Device view H43 5H5.2 Interfaces H45 65H5.3 CMMS-ST complete system H45 75H5.4 Interfaces H47 85H5.4.1 I/O interface [X1] H47 95H5.4.2 Increment generator input [X2] H50 06H5.4.3 Fieldbus CAN [X4] H51 16H5.4.4 RS232/RS485 [X5]... 16H51 26H5.4.5 Motor connection [X6] H52 36H5.4.6 Power supply [X9] H52 46H5.4.7 Increment generator interface / control signals [X10] H52 56H5.4.8 SD card H53 6H5.4.9 Fieldbus settings and bootloader H53 76H5.5 Instructions on safe and EMC-compliant installation H54 86H5.5.1 Explanations and terms H54 96H5.5.2 General information on EMC H55 07H5.5.3 EMC areas: Second environment H55 17H5.5.4 EMC-compliant wiring H55 27H5.5.5 Operation with long motor cables... 17H56 37H5.5.6 ESD protection H57 47H6. Preparations for commissioning H58 57H6.1 General connection instructions H58 6 Festo P.BE-CMMS-ST-HW-EN 0708NH

7 67H6.2 Tools / material H58 7H6.3 Connecting the motor H58 87H6.4 Connect the CMMS-ST stepping motor controller to the power supply H59 97H6.5 Connecting a PC H59 08H6.6 Checking readiness for operation H59 18H7. Service functions and error messages H60 28H7.1 Protective and service functions H60 38H7.1.1 Overview... 18H60 48H7.1.2 Overload current and short-circuit monitoring H60 58H7.1.3 Voltage monitoring for the intermediate circuit H60 68H7.1.4 Temperature monitoring for the heat sink H60 78H7.1.5 I²t monitoring H61 8H7.1.6 Power monitoring for the brake chopper H61 98H7.1.7 Commissioning status H61 09H7.2 Operating mode and error messages H62 19H7.2.1 Operating mode and error display H62 29H7.2.2 Error messages H63 39HA. Technical specifications H66 49HA.1 General information... 19H66 59HA.2 Operation and display components... 20H67 69HA.3 Interfaces H67 79HA.3.1 Power supply [X9] H67 89HA.3.2 Motor connection [X6] H68 9HA.3.3 Increment generator input [X2] H68 01HA.3.4 Increment generator interface [X10] H69 101HA.3.5 RS232/RS485 [X5] H69 201HA.3.6 CAN bus [X4] H69 301HA.3.7 I/O interface [X1] H69 401HB. Glossary H71 501HC. INDEX H72 Festo P.BE-CMMS-ST-HW-EN 0708NH 7

8 1. General information 1. General information 1.1 Documentation This product manual is intended to help you operate CMMS-ST series stepping motor controllers safely. It contains safety instructions which must be followed. This document provides information on: - mechanical fitting - electrical installation and an - overview of the range of functions. See the following manuals on the CMMx product family for further information: - CANopen manual "P.BE-CMMS-CO-...": Description of the implemented CANopen protocol according to DSP402 - PROFIBUS manual "P.BE-CMMS-FHPP-PB-...": Description of the implemented PROFIBUS-DP protocol. - DeviceNet manual "P.BE-CMMS-FHPP-DN-...": Description of the implemented DeviceNet protocol. - FHPP manual "P.BE-CMM-FHPP-...": Description of the implemented Festo profile for handling and positioning. 1.2 Scope of delivery The delivery includes: Number Delivery 1 Stepping motor controller CMMS-ST-C8-7 1 CD (configuration software, documentation, S7 module, GSD, EDS, firmware) 1 Brief description 1 NEKM-C-1 plug range Table 1.1 Scope of delivery 8 Festo P.BE-CMMS-ST-HW-EN 0708NH

9 1. General information 1.3 Accessories Number Type Order number 1 Plug range: NEKM-C pin DSUB plug, MSTB 2.5/8-ST-5.08 BK 1 3-pin DSUB plug, MSTB 2.5/3-ST-5.08 BK 1 Power supply unit SVG-1/230VAC-24VDC-5A SVG-1/230VAC-24VDC-10A SVG-1/230VAC-48VDC-5A SVG-1/230VAC-48VDC-10A SVG-3/400VAC-48VDC-20A Control cable NEBC-S1G25-K-2.5N-LE Encoder plug NECC-S-S1G9-C2M Profibus CAMC-PB Devicenet CAMC-DN SD card CAMC-M-S including firmware Table 1.2 Accessories Festo P.BE-CMMS-ST-HW-EN 0708NH 9

10 1. General information 10 Festo P.BE-CMMS-ST-HW-EN 0708NH

11 2. Safety instructions for electrical drives and control systems 2. Safety instructions for electrical drives and control systems 2.1 Icons used Information Note Important information and instructions. Caution Failure to comply with these instructions can result in material damage. Failure to comply with these instructions can result in material damage and personal injuries. DANGER! Failure to comply with these instructions can result in major material damage and personal injuries. Hazardous voltage! The safety instruction indicates potentially fatal voltage. Accessories Environment Festo P.BE-CMMS-ST-HW-EN 0708NH 11

12 2. Safety instructions for electrical drives and control systems 2.2 General instructions Festo AG & Co. KG will accept no liability for damage resulting from failure to comply with the warnings in these operating instructions. Note Before commissioning, the 21HSafety instructions for electrical drives and control systems must be read from page 212H11 and the chapter 213H HInstructions on safe and EMC-compliant installation page 215H54. If the documentation in the language in question cannot be understood fully, please contact your vendor and inform them. In order for the stepping motor controller to operate without problems and safely, it must be transported, stored, mounted, planned properly and correctly, taking the risks and protection and emergency measures into account, as well as operated and maintained with due care. Note Electrical installations may only be performed by qualified and trained electricians. Qualified and trained personnel In accordance with this product manual or the warnings on the product itself, anyone involved in planning, installing, mounting, commissioning and operating the product and are sufficiently familiar with all warnings and precautionary measures in these operating instructions and who have the appropriate qualification for their work: - Training and instruction or authorisation to activate/deactivate devices and systems in accordance with the safety technology standards, as well as earthing them and marking them in accordance with the working requirements. - Training or instruction in accordance with the safety technology standards in maintaining and using appropriate safety equipment. - Training in first aid. The following instructions must be read before the system is commissioned for the first time to prevent injury and/or material damage: These safety instructions must be complied with at all times. 12 Festo P.BE-CMMS-ST-HW-EN 0708NH

13 2. Safety instructions for electrical drives and control systems Do not attempt to install or commission the stepping motor controller until you have read all safety instructions related to electrical drives and control systems in this document. These safety instructions and all other user instructions must be read before performing any work with the stepping motor controller. If you do not have user instructions for the stepping motor controller, contact your local sales representative. Ask them to send the documents to the person responsible for safe operation of the stepping motor controller immediately. If the stepping motor controller is sold, rented and/or passed on in any other way, these safety instructions must also be passed on with it. The operator may not open the stepping motor controller for safety and warranty reasons. Correct planning is required for the stepping motor controller to function properly. DANGER! Incorrect use of the stepping motor controller and failure to follow the warnings in this manual, as well as incorrect manipulation of safety equipment can cause material damage, injury, electric shock, and in extreme cases, even be fatal. 2.3 Danger from incorrect use DANGER! High electrical voltage and high work working current! Risk of fatal or serious injury from electric shock! Festo P.BE-CMMS-ST-HW-EN 0708NH 13

14 2. Safety instructions for electrical drives and control systems DANGER! High voltage due to incorrect connection! Risk of fatality or injury from electric shock! DANGER! Surfaces on the device housing can become hot! Danger of injury! Danger of burning! DANGER! Hazardous motions! Risk of fatality, serious injury or material damage due to unintentional motion of the motors! 2.4 Safety instructions General safety information The stepping motor controller conforms to protection class IP20, and contamination class 1. You must ensure that the surrounding area complies with these protection and contamination classes. Use accessories and spare parts approved by the manufacturer only. In accordance with the EN standards and the VDE regulations, the stepping motor controllers must be connected to the grid such that they can be disconnected using appropriate isolating equipment (e.g. main switch, contactor, circuit breaker). Gold-plated contacts or contacts with high contact pressure should be used to switch the control contacts. 14 Festo P.BE-CMMS-ST-HW-EN 0708NH

15 2. Safety instructions for electrical drives and control systems As a precaution, measures must be taken to suppress interference for switching systems, such as connecting contactors and relays with RC elements or diodes. The safety rules and regulations of the country in which the device is used must be complied with. The ambient conditions specified in the product documentation must be observed. Critical safety applications are not permitted unless they are expressly approved by the manufacturer. See Chapter 216H HInstructions on safe and EMC-compliant installation (Page 218H54) for the instructions for EMC-compliant installation. The manufacturers of the system or machine are responsible for ensuring that the limits required by national regulations are complied with. See this product manual for the specifications, connection and installation conditions for the stepping motor controller and absolutely must be observed. DANGER! The general installation and safety regulations for working on high voltage systems (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be observed. Failure to do so could result in death, injury or serious material damage. The following precautionary measures also apply without claim to completeness: VDE 0100 EN Regulations for setting up high-voltage systems up to 1000 volts. Electrical equipment for machines. Festo P.BE-CMMS-ST-HW-EN 0708NH 15

16 2. Safety instructions for electrical drives and control systems EN EN ISO EN 1050 EN 1037 EN Equipping high-voltage systems with electronic operating media. Machine safety definitions, general design guidelines Machine safety risk evaluation guidelines Machine safety Preventing unexpected starts Safety related control system parts Safety instructions for mounting and maintenance For mounting and maintaining the system the relevant DIN, VDE, EN and IEC regulations always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with: The stepping motor controller may only be operated, maintained and/or serviced by persons qualified and trained to work on or with electrical devices. Prevention of accidents, injury and/or material damage: The motor holding brake supplied as standard, or an external motor holding brake controlled by the drive controller alone is is not suitable for protection of individuals! Secure vertical axes to prevent them falling or lowering after the motor is switched off using methods such as: - mechanical locking of the vertical axis, - external brake / arrester / clamp or - sufficient counterweight of the axis. 16 Festo P.BE-CMMS-ST-HW-EN 0708NH

17 2. Safety instructions for electrical drives and control systems During operation and up to several minutes after the stepping motor controller is deactivated, the internal brake resistance can cause dangerous intermediate circuit voltage. If touched, this can lead to fatal or serious injuries. Before any maintenance work is performed, you must ensure that the power supply is deactivated, locked and the intermediate circuit is discharged. Disconnect the electrical equipment from the power supply using the main switch and secure it to prevent it being switched on again. Wait until the intermediate circuit has discharged before: - Maintenance and servicing work - Cleaning - Extended downtime. Mounting work must be performed with care. Ensure that no drilling chips, metal dust or mounting material (screws, nuts, wire cuttings) fall into the stepping motor controller during mounting work and subsequent operation. Ensure that the external power supply of the controller (24 V) is switched off. The intermediate circuit or the load voltage must always be switched off before the 24 V controller power supply is switched off. Work in the vicinity of the machine may only be performed when the DC or AC power supply is switched off and locked. Deactivated output stage or deactivated controller release are not sufficient locks. If a fault occurs, the drive may move unintentionally. Perform commissioning with idling motors to prevent mechanical damage e.g. via an incorrect direction of rotation. Festo P.BE-CMMS-ST-HW-EN 0708NH 17

18 2. Safety instructions for electrical drives and control systems Electronic devices are never fail-safe. The user is responsible for ensuring that the system is returned to a safe condition if the electrical device fails. DANGER! The stepping motor controller and, in particular, the braking resistor can become very hot, and can cause serious burns if touched Guards preventing contact with electrical components This section only concerns devices and drive components with voltages over 50 volts. Touching parts with voltages greater than 50 volts can be dangerous and lead to an electric shock. When electrical devices are operated, certain parts of these devices must always carry dangerous voltages. Hazardous voltage! High voltage! Risk of fatal or serious injury from electric shock! For operation, the relevant DIN, VDE, EN and IEC regulations always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with: Before activation, attach the covers and guards to prevent contact with the devices. Integrated devices must be protected from direct contact by an external housing, e.g. a control cabinet. The BGVA3 regulations must be complied with! Ensure that the minimum copper cross section is observed for the entire length of the protective earth conductor in accordance with standard EN Festo P.BE-CMMS-ST-HW-EN 0708NH

19 2. Safety instructions for electrical drives and control systems Before commissioning, even for brief measurements or tests, always connect the mains earth to all electrical devices in accordance with the connection diagram or with the earthing cable. Otherwise the housing could carry high voltages which can cause electric shocks. Do not touch electrical connection points of the components when they are switched on. Disconnect the device from the mains or from the voltage supply before accessing electrical parts with voltages greater than 50 volts. Secure them to prevent restarting. The voltage of the intermediate circuit must be taken into account in particular for installation with regard to insulation and safety measures. Proper earthing, line dimensioning and corresponding short circuit protection must be guaranteed Protection against electric shocks via PELV All connections and terminals with voltages from 5 to 50 volts on the stepping motor controller are PELVs which are designed to be safe to touch in accordance with the following standards: Standards - International: IEC European countries in the EU: EN 50178/1998, Section DANGER! High voltage due to incorrect connection! Risk of fatality or injury from electric shock! Only devices, electrical components and lines with PELV (PELV = Protective Extra Low Voltage) may be connected to all connections and terminals with voltages from 0 to 50 volts. Only connect voltages and circuits which are safely isolated from hazardous voltages. Festo P.BE-CMMS-ST-HW-EN 0708NH 19

20 2. Safety instructions for electrical drives and control systems Safe isolation is achieved via isolating transformers, secure optocouplers or non-mains connected battery-powered operation Protection against hazardous motions Hazardous motions can be caused by faulty activation of connected motors. The causes can be varied: Causes - Disorderly or faulty wiring or cabling - Incorrect operation of the components - Faults in the measurement and signal generators - Faults or non-emc-compliant components - Faults in the software of the higher-order control system These faults can occur immediately after activation or after an unspecified period of operation. The monitoring systems in the drive components rule out malfunctions in the connected drives to a great extent. With regard to protection of persons, and in particular injury and/or material damage, you cannot rely solely on this fact. Before the integrated monitoring systems take effect, faulty drive motions must always be expected. The degree depends on the type of controller and the operating condition. DANGER! Hazardous motions! Danger of fatal or serious injury, or material damage! For the reasons named above, personal protection must be guaranteed via monitoring systems or measures which are run by higher-order systems. These are determined by the system manufacturer in accordance with the specific conditions of the system and based on a hazard and fault analysis. The safety regulations which apply to the system are incorporated in this. Deactivating, bypassing or faulty activation of safety equipment can cause random motions of the machine or other malfunctions Guards preventing contact with hot parts DANGER! Surfaces on the device housing can become hot! Danger of injury! Danger of burning! 20 Festo P.BE-CMMS-ST-HW-EN 0708NH

21 2. Safety instructions for electrical drives and control systems Danger of burning! Do not touch the housing surface close to hot heat sources! Allow devices to cool for 10 minutes after they are switched off before accessing them. Touching hot parts of the equipment which contain heat sink and resistors, such as the device housing, can result in burns! Protection during handling and mounting Handling and mounting certain parts and components in an unsuitable way can cause injuries under unfavourable conditions. DANGER! The general safety instructions apply: Danger of injury from incorrect handling! Injury from crushing, shearing, cutting, pushing! Observe the general installation and safety regulations for handling and mounting. Use appropriate mounting and transport devices. Take suitable measures to prevent constriction and crushing. Use suitable tools only. Use special tools where required. Use lifting devices and tools professionally. If necessary, use appropriate protective equipment (e.g. safety goggles, protective shoes, protective gloves). Do not stand under suspended loads. Remove leaked liquids on the floor immediately due to the danger of slipping. Festo P.BE-CMMS-ST-HW-EN 0708NH 21

22 3. Product description 3. Product description 3.1 General information The CMMS-ST stepping motor controller is a fully digital servo positioning controller for activating two-phase hybrid stepping motors. The CMMS-ST is intended for activating hybrid stepping motors with a maximum current of up to 8 A, in particular the MTR-ST and EMMS-ST series by Festo. The MTR-ST and EMMS-ST series motors without encoders are controlled in an open control circuit ( open loop). The EMMS-ST series motors with encoders are operated in a closed control circuit (closed loop). The device can be operated via digital and analogue control signals and networked via the integrated CAN bus. Other fieldbus systems can also be implemented via the technology slot. The motors are actuated in microstep mode in the entire speed range. The device is compactly designed and is intended for integration in a control cabinet as an individual device. The CMMS-ST can also be used separately as a positioning controller. The number of inputs and outputs is adapted for this case. The device supports the following modes: Speed adjustment with setpoint specification via pulse direction signals or incremental increment generator signals, suitable for frequencies up to 500 khz. Speed adjustment with analogue speed setting with 12 bit resolution. Homing Simple connection via digital inputs and outputs to a higher-order control system, e.g. a PLC. Jolt-limited or time-optimised positioning absolutely or relative to a reference point (axis zero point) via the integrated trajectory generator. Position control using the interpolated position mode for position specification via the integrated CANopen fieldbus with automatic interpolation between the nominal values. In addition to the classic control method via pulse direction signals, this also allows the typical control interfaces of servo drives to be supported. 3.2 Features 4 quadrant operation with constant transitions between the quadrants Sine-wave current pulse in microstep operation, high interpolation factor up to 64x at low stepping speeds (thus > 4000 steps per rotation possible). Current reduction at standstill can be programmed. Current boost of up to 150% for 2 s can be programmed for acceleration. The digital control facilitates fault-tolerant operation, i.e. faults are detected at an 22 Festo P.BE-CMMS-ST-HW-EN 0708NH

23 3. Product description early stage and regulated if possible. Full integration of all components for the controller and power section, including rotary encoder evaluation on a board. Integrated rotary encoder evaluation via an incremental generator with an RS422 signal level for the speed and position control mode. CAN bus interface with CANopen integrated even in basic unit. Internal expansion slot, e.g. with Profibus interface or DeviceNet interface. Integration of all filters required to fulfil the EMC regulations during operation in the device, e.g. interference suppression throttle, filter for 24 V power supply and the inputs and outputs. Specifically, the device is suitable for use in the second environment (industrial sector) in accordance with EN In order to comply with the interference emission limits for the first environment (residential sector) with restricted availability, additional measures may be required. Short cycle times in the controller: The device has an analogue monitor output for displaying internal controller parameters. The positioning control contains (max.) 63 freely configurable positions which can be configured via the serial interface or the jog and teach function. The status is displayed via a blue 7 segment display and a READY LED (as well as a yellow "Bus active" CAN-LED). The status can also optionally be displayed via the RS 232 interface or the field bus interface. There is an integrated brake chopper with a braking resistor. There is a digital logic output for controlling a holding brake. Corresponding freewheel diodes for switching off inductive loads are integrated in the device. The following features are planned, but not included in the basic unit. They are available as options: - Function expansion via CAMC-PB (Profibus) interface - Function expansion via CAMC-DN (DeviceNet) interface. 3.3 Interfaces Overview of interfaces Setpoint interface / Interface Setpoint specification via Function Operating mode Analogue X1 (± 10 V) Regulating torque RPM regulation CW / CCW X1 (24 V / Mode 3) X10 (5 V) Pulse/direction signals X1 (24 V / Mode 3) X10 (5 V) RPM regulation RPM regulation A/B signals + X10 (5 V) Master/slave (slave) RPM regulation I/O (start synchronisation) X1 (24 V / Mode 3) Festo P.BE-CMMS-ST-HW-EN 0708NH 23

24 3. Product description Setpoint interface / Interface Setpoint specification via Function Operating mode I/O X1 (24 V / Mode 1) Jog mode Positioning controller Record Select Homing Positioning controller Positioning controller Field bus Direct mode Regulating torque RPM regulation Position control Positioning controller Homing Jog mode Positioning controller Positioning controller Record Select Positioning controller Homing Positioning controller Interpolated position mode Position control Table 3.1 Interfaces I/O functions and device control The digital inputs provide the elementary control functions. To allow positioning targets to be saved, the CMMS-ST stepping motor controller has a target table, in which positioning targets can be saved and called up later. Six digital inputs allow you to select the targets, another input is used as the start input. The limit switches serve to limit the range of motion for safety reasons. During homing, one of the two limit switches can serve as reference points for positioning control. Two inputs are used to enable the hardware-side output stage and the regulator. If a fieldbus is used for activation, a high-speed sampling input is available for time-critical tasks for various applications (position sensing, special applications,...). The CMMS-ST stepping motor controller has an analogue input for input levels in the range from +10 V to -10 V. The input is a differential input (12 bit) to guarantee a high degree of protection against interferences. The analogue signals are quantified and digitalised by the analogue-digital converter at a resolution of 12 bits. These analogue signals serve to specify setpoints (speed or torque) for the control. The existing digital inputs are already allocated to the basic functions in standard applications. The analogue input AIN0 is also available as a digital input for use of further functions such as the jog function, route program and synchronisation. 24 Festo P.BE-CMMS-ST-HW-EN 0708NH

25 3. Product description MODE switching allows you to switch between the following default settings: Mode Mode 0 Mode 1 Mode 2 Mode 3 Function Positioning Jog function Route program Synchronisation Table 3.2 Mode switching Increment generator input An optional increment generator mounted on the motor shaft is used to record the actual speed and position for EMMS-ST series motors. The actual speed is determined based on the measured rotor position. The rotor position is smoothed via a configurable PT 1 filter. The position counter for positioning has a data width of 32 bits. The position within a motor rotation is resolved to max. 16 bits. This results in a maximum possible positioning range of ±32767 rotations CAN bus Communication The following profiles are available for communication via the CAN bus. CANopen protocol in accordance with DS301 with application profile DSP402 or the Festo FHPP positioning profile. In general there are two different access options for communication via the CAN bus: Object SDO Service Data Object Used for configuring the controller PDO (2 x transmit and 2 x receive) Process Data Object Rapid process data exchange with the control system Table 3.3 CAN objects Contour control with linear interpolation The Interpolated position mode is available for specifying the setpoint position values via the CAN bus. It allows position setpoints to be specified in a multi-axis application of the controller. For this, position setpoints are specified by a higher-order control system in a fixed time slot pattern. If the cycle time of the position setpoints is greater than the position controller cycle time of the stepping motor controller, the controller automatically interpolates the data values between two prescribed position setpoints. The stepping motor controller also calculates a corresponding speed pilot control. Festo P.BE-CMMS-ST-HW-EN 0708NH 25

26 3. Product description 1 Position setpoint time slot pattern 2 Position control cycle time 3 Interpolated sequence of the position 4 Interpolated sequence of the position Fig. 3.1 Interpolated position mode Profibus Support of PROFIBUS communication according to DP-V0. The device can also be integrated into control systems via an I/O map via Profibus. This option facilitates advanced functions for the control system, like a standard PLC connection via parallel wiring with the digital inputs and outputs of the device. Complete parameter access is available Synchronisation interface The following synchronisation signals can be processed: - Pulse / direction signals (CLK / DIR) via interfaces X1 and X10 - CW / CCW signals via interfaces X1 and X10 - A / B signals via interface X10 Signals with a level of 5 V can be processed via the X10 interface. Interface X1 is intended for a signal level of 24 V. MODE 3 synchronisation must be activated via DIN9=1 and DIN12= RS232 interface The RS232 interface is intended as a configuration interface. 26 Festo P.BE-CMMS-ST-HW-EN 0708NH

27 3. Product description RS485 interface The RS485 interface is on the same plug connector as the RS232 interface. Communication must be activated separately by the user. RS232 messages can also be received when RS485 communication is activated, which means that the device can be accessed for configuration at all times. Please contact the technical support team before using this interface MTR-ST series stepper motors The MTR-ST series stepper motors are two-phase hybrid stepper motors. They are designed for controlled operation (open-loop) EMMS-ST series stepper motors The EMMS-ST series stepper motors are designed for both controlled and regulated operation (closed loop). For regulated operation, the optional encoder connected to the motor with 500 lines per rotation is required Power supply The power section consists of the internally generated auxiliary power supply, two PWM controlled H-bridge circuits in MOSFET technology with corresponding high speed driver circuits and the required filter components. With regard to the use on industrial 24 V DC or 48 V DC (max. 75 V DC) power supplies, no activation current limit was used. The temperature of the power section is recorded. If the temperature is too high or low, the power output stage is switched off. The motor current in both H-bridges is measured separately and fed to the current controller. Current measurement is also used to detect short circuits and overload currents. The output stage is short circuit proof for short circuits between two motor phases. If a common power pack is used to supply the power section and the control section, the voltage tolerances for supplying the control section cannot be maintained for high braking energies. This can damage the control section irreparably. Always use separate power packs to supply the power section and the control section SD memory card Via the SD memory card, parameter records can be loaded or firmware can be downloaded. A menu in the configuration software allows you to specify a set of parameters on the memory card, and load it or save it. Festo P.BE-CMMS-ST-HW-EN 0708NH 27

28 3. Product description Also, a configuration word in the parameter record can be used to specify whether firmware and/or a parameter record is to be loaded from the memory card automatically on activation. If automatic firmware download (dip switch 8 = 1) is activated or there is no valid firmware in the controller, a check is performed on initialisation whether an SD memory card is inserted, and if so, it is initialised. If there is a firmware file on the card, it is checked first (checksum test). If no fault is found, the firmware is transferred from the card to the controller and saved in the program flash. If the Load automatic parameter record is activated via the commissioning software, the system checks whether a card is inserted when the firmware is started and it is initialised if applicable. Depending on the setting, a certain or the latest parameter record file is loaded and saved in the data flash Brake chopper A brake chopper with a braking resistor is integrated in the power output stage. If the permitted load capacity of the intermediate circuit is exceeded during the energy recovery, the braking energy may be converted to heat by the internal braking resistor. The brake chopper is actuated with software control. The internal braking resistor is protected against overloading via software and hardware. 3.4 Function overview Operating modes Operating mode Function Setpoint interface / Interface Setpoint specification via Regulating torque Analogue X1 Field bus Direct mode RPM regulation Analogue X1 CW/CCW signals X1 (24 V / Mode 3) X10 (5 V) Pulse/direction signals X1 (24 V / Mode 3) X10 (5 V) Field bus Master/slave (slave) A/B signals + I/O (start synchronisation) Direct mode X10 X1 (Mode 3) Position control Field bus Interpolated position mode Field bus Direct mode 28 Festo P.BE-CMMS-ST-HW-EN 0708NH

29 3. Product description Operating mode Function Setpoint interface / Interface Setpoint specification via Positioning controller I/O Record Select Field bus Field bus Direct mode Record Select Homing I/O Record Select Field bus Field bus Direct mode Record Select Jog mode Table 3.4 Operating modes I/O Field bus Direct mode Setpoint processing Setpoint selectors allow you to switch setpoints from a range of sources to the corresponding controllers. The following setpoint selectors are implemented in the firmware: - Selector for the speed setpoint - Auxiliary value selector whose setpoint is added to the speed setpoint. The position of the setpoint selectors is saved in non-volatile parameters. The speed setpoint is disabled via the signal of the corresponding limit switch input depending on the prefix (plus/minus). The limit switch inputs also affect the ramp generator for the speed setpoint. The speed setpoint is converted by the controller into the corresponding step frequency to actuate the stepper motors. The speed setpoint (without the auxiliary setpoint) is reached via a setpoint ramp. Four acceleration ramps can be configured in the range of one controller cycle of up to approx. 10 s. The setpoint ramp can be deactivated Hiding frequency ranges A function allowing frequency ranges to be hidden is implemented in the firmware. When step frequencies close to the mechanical natural resonance are reached, there is a frequency jump, so that the resonance is skipped. The mechanical natural resonance and the bandwidth (hysteresis) can be set. Up to three frequency ranges can be hidden I²T function An integrator monitors the current² time integral of the CMMS-ST controller. As soon as the configured time expires a warning is sent and the maximum current is limited to the nominal current. Festo P.BE-CMMS-ST-HW-EN 0708NH 29

30 3. Product description Positioning controller A positioning control system is set above the current controller. Up to 64 positions (homing + 63 positions) can be selected and run via a trajectory generator. There are also volatile position data records for positioning via the fieldbus. The position records are made up of a position value and a motion profile. The following parameters can be set for the eight motion profiles: - Positioning speed - Acceleration - Deceleration - Smoothing - Time - Start delay - Final speed - Wait for current positioning, reject or ignore initial instruction. From every position record, any other position record can be started directly. You can transition to a new position record without first coming to a standstill. The parameter records can be called up via: - Digital inputs (Position record ) - RS232 interface (for test purposes only) or a - Field bus interface. 30 Festo P.BE-CMMS-ST-HW-EN 0708NH

31 3. Product description Homing You can choose either of the following methods which are based on DS402. Run to Positive method Negative method Graphical representation Dec Hex Dec Hex Limit switch with zero pulse evaluation Index Impuls Negativer Limit Switch Endschalter Fixed stop with zero pulse evaluation -2 FE -1 FF -1 Index Impuls Limit switches Negative Limit switch Fixed stop -18 EE -17 EF -17 Zero pulse Save current position Table 3.5 Homing methods Festo P.BE-CMMS-ST-HW-EN 0708NH 31

32 3. Product description Homing method 1 Negative limit switch with index pulse. If the negative limit switch is inactive: Run at search speed in negative direction to negative limit switch. Run at crawl speed in positive direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. 2 Positive limit switch with index pulse. If the positive limit switch is inactive: Run at search speed in positive direction to positive limit switch. Run at crawl speed in positive direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. -1 Negative stop with index pulse 1) Run at search speed in negative direction to stop. Run at crawl speed in positive direction to next index pulse. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. -2 Positive stop with index pulse 1) Run at search speed in positive direction to stop. Run at crawl speed in negative direction to next index pulse. This position is saved as a reference point. 17 Negative limit switch 18 Positive limit switch -17 Negative stop 1)2) If configured: Run at travel speed to axis zero point. If the negative limit switch is inactive: Run at search speed in negative direction to negative limit switch. Run at crawl speed in positive direction until limit switch becomes inactive. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. If the positive limit switch is inactive: Run at search speed in positive direction to positive limit switch. Run at crawl speed in negative direction until limit switch becomes inactive. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. Run at search speed in negative direction to stop. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. 32 Festo P.BE-CMMS-ST-HW-EN 0708NH

33 3. Product description Homing method -18 Positive stop 1)2) Run at search speed in positive direction to stop. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. 33 Index pulse in a negative direction Run at crawl speed in negative direction to index pulse. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. 34 Index pulse in a positive direction 35 Current position Run at crawl speed in positive direction to index pulse. This position is saved as a reference point. If configured: Run at travel speed to axis zero point. The current position is saved as the reference point. If configured: Run at travel speed to axis zero point. Note: If the reference system is shifted, runs to the limit switch or fixed stop are possible. The are therefore generally used for rotating axes. Table 3.6 Explanation of the homing methods Trajectory generator For a start signal for a positioning record via DIN8, fieldbus or RS232 interface, the selected positioning record is loaded to the trajectory generator. Based on the data record loaded, the necessary internal pre-calculations are made. The pre-calculations can take up to 5 ms. The following configurable options are available for processing the start signal. - After a start signal is detected during a current positioning run, the run continues to the target position. - After a start signal is detected, positioning is cancelled and the drive runs at a constant speed. After pre-calculation is completed, the drive runs to the new target position. The trajectory generator sends the following messages: - Target reached, (Default: Digital output DOUT1 - MC) - Remaining distance reached. Festo P.BE-CMMS-ST-HW-EN 0708NH 33

34 3. Product description I/O sequence control RESET Power ON T1 Boot program Firmware download T2 Initialisation T22 From all except RESET / Power ON Fault status T23 Initialise SD card T19 T18 Ready for operation T3 T25 T24 Acknowledge Error Load save SD card parameters T21 T20 T4 T17 Activate output stage T5 Torque control T16 Deactivate output stage Speed control TT6 T15 Positioning controller T8 T13 T9 T10 T11 TT12 Jog mode Homing T Conditions Activities of the user T1 T2 T3 RESET / Power ON Time out has expired or the firmware download is complete. The initialisation has been carried out successfully. T4 T5 Torque control was selected in the commissioning software. DIN4=1 and DIN5=1 Setpoint specification via AIN0/AGND 34 Festo P.BE-CMMS-ST-HW-EN 0708NH

35 3. Product description T Conditions Activities of the user T6 Speed control was selected in the commissioning software. Setpoint specification via AIN0/AGND T8 Positioning was selected in the commissioning software. Record select via DIN0... DIN3, DIN10, DIN11 Start for positioning process: DIN8=1 T9 T10 T11 T12 T13 T15 T16 T17 T18 T19 T20 T21 T22 T23 T24 T25 All parameters for the jog mode were set in the commissioning software (e.g. max. speed, acceleration...). Selection of the homing method and configuration of the speeds and accelerations in the commissioning software. The drive is referenced. The SD card was initialised successfully. Load from SD after restart was selected in the commissioning software. Parameter record was loaded A fault has occurred which causes the output stage to be switched off The error was acknowledge and no other errors are pending. Selection I/O mode: DIN9=0, DIN12=1 Jog +: DIN10=1 Jog -: DIN11=1 Selection I/O mode: DIN9=0, DIN12=0 Selection of positioning record 0 Start for positioning process: DIN8=1 DIN5=0 DIN5=0 DIN5=0 DIN4=0 Write or read request to SD card such as: - Load parameters - Save parameters - Download firmware. Edge controlled fault acknowledgement DIN5: 1-0 Table 3.7 I/O sequence control Festo P.BE-CMMS-ST-HW-EN 0708NH 35

36 3. Product description Safety functions, error messages The following conditions are monitored for safe operation of the CMMS-ST: - Output stage temperature, - Motor temperature, - Min. and max. values of intermediate circuit voltage, - Initialisation errors, - Checksum error on parameter transfer, - Communication error, - Contouring error / Step loss (with increment generator only) - Homing, - Overload current / short circuit in the power output stage, - Encoder system, - Watchdog (processor monitoring) Oscilloscope function The oscilloscope function implemented in the firmware of the controller is an important aid to help the commissioning party to optimise the controller settings without using a separate measuring device. The function allows important signal sequences to be recorded over time. It consists of three blocks: The initialisation section which runs at low priority and performs pre-calculations for the actual measurement process. The data transfer section also has low priority. It is integrated in the time slice of the serial communication. The measuring section runs at a high priority in the rule interrupt and records the measuring channels. If the trigger condition occurs, the measurement process is cancelled after a defined number of scan steps. Two channels with bit values each can be recorded. The following can be configured: - Trigger source (current, speed, position, controller release, limit switch) - Trigger level - Trigger option (auto, normal, force, rising / falling edge) - Measurement frequency Jog and teach function I/O Requirements for use of the jog and teach function: Configuring via the commissioning software - Slow moving speed 36 Festo P.BE-CMMS-ST-HW-EN 0708NH

37 3. Product description - Slow moving time - Maximum speed - Delay - Smoothing and - debounce time if DINs after teaching. I/O control - Selection MODE1 - jog mode with DIN9=0 and DIN12=1 - Jog+ with DIN10 - Jog- with DIN11 - Teach with DIN8 - Record select via DIN0... DIN3 The jog and teach function is configured via the commissioning software or a fieldbus object. After activating the tip and teach function, digital inputs DIN10 and DIN11 serve to control the motor. The jog control overrides the current control system in this mode. For speed control, the motor is moved at the slow moving speed when the digital input is active. After the slow moving time expires, the speed is switched to the maximum. A position record is selected via digital inputs DIN0... DIN3. If there is a positive edge at teach input DIN8, the current position is saved in the selected position record. The saved data is copied to the permanent memory after the controller release is deactivated and activated again Route program The route program allows multiple positioning jobs to be linked. This allows a travel profile to be defined, e.g. switching to another speed after a position is reached. The route program is started by one of the position records The following step criteria are possible: Value Condition Description 0 No automatic continuation. 1 Motion complete Continues when the motion complete condition is fulfilled. Thus the axis is at a standstill for a moment during positioning. 4 Standstill Continues when the drive reaches a standstill and the programmed time has expired. 5 Time Continues when the programmed time has expired. Time measurement starts when the position record starts. 6 NEXT (positive edge) Continues after a positive edge on DIN10 (NEXT1) or DIN11 (NEXT2). 7 NEXT (negative edge) Continues after a negative edge on DIN10 (NEXT1) or DIN11 (NEXT2). Festo P.BE-CMMS-ST-HW-EN 0708NH 37

38 3. Product description Value Condition Description 9 NEXT (positive edge), waiting 10 NEXT (negative edge), waiting Continues after the motion complete message and a positive edge on DIN10 (NEXT1) or DIN11 (NEXT2). Continues after the motion complete message and a negative edge on DIN10 (NEXT1) or DIN11 (NEXT2). Table 3.8 Step criteria for the route program The next input (DIN10/DIN11) and the start input (DIN8) can only be used if the route program mode (mode 2) is activated for the digital inputs via DIN9. The DIN3 input, Stop route program, can interrupt current positioning by setting the digital input. When the digital input is withdrawn, positioning continues to the original target position Synchronisation 1 CMMS-ST master 2 Screening 3 CMMS-ST slave Master Slave X10 X10 A+ 1 1 A+ B+ 2 2 B+ N+ 3 3 N+ GND 4 4 GND A- 6 B- 7 N- 8 GND 9 6 A- 7 B- 8 N- 9 GND Fig. 3.2 Master-slave connection The CMMS-ST stepping motor controller facilitates master-slave mode, which shall be referred to as synchronisation from now on. The controller can function either as a master or slave. If the CMMS-ST controller functions as a master, it can provide its current speed as incremental generator signals to a slave at interface X10. The CMMS-ST controller can process incremental generator signals at interface X10 as speed setpoints as a slave. The following functions can be set via the commissioning tool: - Master-slave function - Encoder emulation - Gear ratio. 38 Festo P.BE-CMMS-ST-HW-EN 0708NH

39 3. Product description On-the-fly measurement The actual position can be recorded at any given time via high-speed input DIN9. The rising or falling edge is evaluated for this. The maximum delay time in position recording is no more than a few microseconds. A fieldbus connection can be used to access the saved position data Endless positioning Endless positioning in one direction (rotary axis applications) can be implemented without a problem. The limit switch in put can be used as a reference switch input. Festo P.BE-CMMS-ST-HW-EN 0708NH 39

40 4. Mechanical installation 4. Mechanical installation 4.1 Important notes Note Use the CMMS-ST stepping motor controller as an integrated device for control cabinet installation only. The mounting position is vertical with the power supply lines [X9] leading upwards Mount with the clip to the control cabinet plate Installation spacing: 100 mm of clearance to other assemblies is required above and below the device for sufficient ventilation. The stepping motor controllers of the CMMx series are designed such that they can be mounted on a heat-dissipating mounting panel if used as intended and installed correctly. We wish to point out that excessive heating can lead to premature aging and/or damage to the device. If the CMMS-ST stepping motor controller is subject to high thermal loads, a mounting clearance of 69 mm is required! 40 Festo P.BE-CMMS-ST-HW-EN 0708NH

41 4. Mechanical installation Fig. 4.1 CMMS-ST stepping motor controller: Installation spacing Festo P.BE-CMMS-ST-HW-EN 0708NH 41

42 4. Mechanical installation 4.2 Mounting There are clips at the top and bottom of the CMMS-ST stepping motor controller. They are used to attach the stepping motor controller vertically to a control cabinet mounting plate. The clips are part of the radiator profile, ensuring an optimal heat transfer to the control cabinet plate. Use size M4 screws to attach the CMMS-ST stepping motor controller. Fig. 4.2 CMMS-ST stepping motor controller: Mounting 42 Festo P.BE-CMMS-ST-HW-EN 0708NH

43 5. Electrical installation 5. Electrical installation 5.1 Device view 1 Status display 2 S1: Fieldbus settings and bootloader 3 Technology module (optional) 4 M1: SD memory card 5 X4: CAN bus 6 X5: RS232/ Fig. 5.1 CMMS-ST view front Festo P.BE-CMMS-ST-HW-EN 0708NH 43

44 5. Electrical installation 1 Earthing bolt 2 X9 power supply 3 X10 increment generator output 4 X1 I/O interface Fig. 5.2 CMMS-ST top view 1 X2 increment generator input 2 X6 motor connection 3 Screened connection Fig. 5.3 CMMS-ST bottom view 44 Festo P.BE-CMMS-ST-HW-EN 0708NH

45 5. Electrical installation 5.2 Interfaces In order to operate the CMMS-ST stepping motor controller a 24 V-power source to supply the electronics systems. It is connected to terminals +24 V and 0 V. The supply voltage for the power output stage is connected to contacts ZK+ and 0 V. The motor is connected with the four terminals A... B/. The motor temperature sensor is connected to the TEMP+ and TEMP- terminals (PTC, SI sensor or N/C contact). KTY81... KTY84 can be used as analogue temperature sensors. The connection of the optional shaft encoder via the d-sub plug to [X2] is illustrated in the 912HFig. 5.4 diagram. The CMMS-ST stepping motor controller must first be fully wired. Only then can the operating voltages be activated for the intermediate circuit and the power supply. If the polarity of the operating voltage connections is reversed, or if the operating voltage is too high or the operating voltage and motor connections are incorrectly connected, the CMMS-ST stepping motor controller will be damaged. 5.3 CMMS-ST complete system A complete CMMS-ST stepping motor controller system is shown in 20HFig The following components are required to operate the stepping motor controller: Components - Power pack for the control voltage - Power pack for the power supply - CMMS-ST stepping motor controller - Motor with motor cable - Increment generator cable (for motors with increment generators) A PC with a serial connection cable is required for configuration. Festo P.BE-CMMS-ST-HW-EN 0708NH 45

46 5. Electrical installation 1 Main switch 2 Fuse 3 Power pack for control voltage 4 Power pack for power supply 5 CMMS-ST 6 PC 7 Motor Fig. 5.4 Complete structure of CMMS-ST with motor and PC 46 Festo P.BE-CMMS-ST-HW-EN 0708NH

47 5. Electrical installation 5.4 Interfaces I/O interface [X1] Type on controller Counterplug Cross section Plugged/optional plug set Material number D-sub 25-pin socket Table 5.1 Plug version: I/O interface [X1] Mode switching allows the X1 interface to be allocated more than once. Mode DIN9 DIN12 Mode 0 Positioning 0 0 Mode 1 Jog mode 0 1 Mode 2 Route program 1 0 Mode 3 Synchronisation 1 1 Table 5.2 Mode switching Pin Designation Value Mode = 0 Positioning 1 AGND 0 V Screen for analogue signals 2 AIN0 ±10 V Setpoint input 0, differential, maximum 30 V input voltage 3 DIN10 Record selection 4 (high active) 4 +VREF +10 V ± 4% Reference output for setpoint potentiometer 5 Unassigned 6 GND24 Reference potential for digital inputs and outputs 7 DIN1 Record selection 1 (high active) 8 DIN3 Record selection 3 (high active) 9 DIN5 Controller release (high active) 10 DIN7 Limit switch 1 11 DIN9 High-speed input 12 DOUT1 24 V 100 ma Output freely programmable Default: Motion complete (high active) 13 DOUT3 24 V 100 ma Output freely programmable Default: Error (low active) 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Ri = 20k Stop input (low active) 16 DIN11 Record selection 5 (high active) 17 AMON0 ±10 V ±4% Analogue monitor output V 24 V 100 ma 24 V supply fed out 19 DIN0 Record selection 0 (high active) 20 DIN2 Record selection 2 (high active) 21 DIN4 Output stage release (high active) 22 DIN6 Limit switch 0 Festo P.BE-CMMS-ST-HW-EN 0708NH 47

48 5. Electrical installation Pin Designation Value Mode = 0 Positioning 23 DIN8 Start for the positioning procedure 24 DOUT0 24 V 100 ma Ready for operation output (high active) 25 DOUT2 24 V 100 ma Output freely programmable Default: Start ack (low active) Table 5.3 Pin allocation: I/O interface [X1] Mode 0 Pin Designation Value Mode = 1 Jog mode 1 AGND 0 V Screen for analogue signals 2 DIN12 24 V Mode switch "1" = Jog mode 3 DIN10 Jog + (high active) 4 +VREF +10 V ±4% Reference output for setpoint potentiometer 5 Unassigned 6 GND24 Reference potential for digital inputs and outputs 7 DIN1 Record selection 1 (high active) 8 DIN3 Record selection 3 (high active) 9 DIN5 Controller release (high active) 10 DIN7 Limit switch 1 11 DIN9 Mode switch "0" 12 DOUT1 24 V 100 ma Output freely programmable Default: Motion complete (high active) 13 DOUT3 24 V 100 ma Output freely programmable Default: Error (low active) 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input (low active) 16 DIN11 Jog (high active) 17 AMON0 ±10 V ±4% Analogue monitor output V 24 V 100 ma 24 V supply fed out 19 DIN0 Record selection 0 (high active) 20 DIN2 Record selection 2 (high active) 21 DIN4 Output stage release (high active) 22 DIN6 Limit switch 0 23 DIN8 Teach (high active) 24 DOUT0 24 V 100 ma Ready for operation output (high active) 25 DOUT2 24 V 100 ma Teach ack Table 5.4 Pin allocation: I/O interface [X1] Mode 1 Pin Designation Value Mode = 2 - Route program 1 AGND 0 V Screen for analogue signals 2 DIN12 Mode switch "0" 3 DIN10 Next 1 4 +VREF +10 V ±4% Reference output for setpoint potentiometer 48 Festo P.BE-CMMS-ST-HW-EN 0708NH

49 5. Electrical installation Pin Designation Value Mode = 2 - Route program 5 Unassigned 6 GND24 Reference potential for digital inputs and outputs 7 DIN1 Record selection 1 (high active) 8 DIN3 Stop route program 9 DIN5 Controller release (high active) 10 DIN7 Limit switch 1 11 DIN9 Mode switch route program "1" 12 DOUT1 24 V 100 ma Output freely programmable Default: Motion complete (high active) 13 DOUT3 24 V 100 ma Output freely programmable Default: Error (low active) 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input (low active) 16 DIN11 Next 2 17 AMON0 ±10 V ±4% Analogue monitor output V 24 V 100 ma 24 V supply fed out 19 DIN0 Record selection 0 (high active) 20 DIN2 Record selection 2 (high active) 21 DIN4 Output stage release (high active) 22 DIN6 Limit switch 0 23 DIN8 Start route program 24 DOUT0 24 V 100 ma Ready for operation output (high active) 25 DOUT2 24 V 100 ma Output freely programmable Default: Start ack (high active) Table 5.5 Pin allocation: I/O interface [X1] Mode 2 Pin Designation Value Mode = 3 Synchronisation 1 AGND 0 V Screen for analogue signals 2 DIN12 Slave synchronisation "1" 3 DIN10 4 +VREF +10 V ±4% Reference output for setpoint potentiometer 5 Unassigned 6 GND24 Reference potential for digital inputs and outputs 7 DIN1 Record selection 1 (high active) 8 DIN3 24 V Direction_24 /CCW 9 DIN5 Controller release (high active) 10 DIN7 Limit switch 1 11 DIN9 Slave synchronisation "1" 12 DOUT1 24 V 100 ma Output freely programmable Default: Motion complete (high active) 13 DOUT3 24 V 100 ma Output freely programmable Default: Error (low active) Festo P.BE-CMMS-ST-HW-EN 0708NH 49

50 5. Electrical installation Pin Designation Value Mode = 3 Synchronisation 14 AGND 0 V Reference potential for the analogue signals 15 DIN13 Stop input (low active) 16 DIN11 17 AMON0 ±10 V ±4% Analogue monitor output V 24 V 100 ma 24 V supply fed out 19 DIN0 Record selection 0 (high active) 20 DIN2 24 V Pulse_24 / CW 21 DIN4 Output stage release (high active) 22 DIN6 Limit switch 0 23 DIN8 Start synchronisation 24 DOUT0 24 V 100 ma Ready for operation output (high active) 25 DOUT2 24 V 100 ma Setpoint reached output (high active) Table 5.6 Pin allocation: I/O interface [X1] Mode Increment generator input [X2] Type on controller Counterplug Plugged/optional plug set Material number D-sub socket, 9-pin Table 5.7 Plug version: Increment generator input [X2] Pin Designation Value Specification 1 A+ 5 V, Ri = 120 Ohm Increment generator signal A, positive polarity 2 B+ 5 V, Ri = 120 Ohm Increment generator signal B, positive polarity 3 N+ 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity 4 GND - Reference GND for the generator 5 VCC +5 V +-5% 100 ma Auxiliary supply, max. load 100 ma, short-circuit proof. 6 A- 5 V, Ri = 120 Ohm Increment generator signal A, negative polarity 7 B- 5 V, Ri = 120 Ohm Increment generator signal B, negative polarity 8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity 9 GND - Internal screen for the connecting cable Table 5.8 Pin allocation: Increment generator input [X2] 50 Festo P.BE-CMMS-ST-HW-EN 0708NH

51 5. Electrical installation Fieldbus CAN [X4] Type on controller Counterplug Plugged/optional plug set Material number D-sub pins, 9-pin Table 5.9 Plug version: Fieldbus CAN [X4] Pin Designation Value Specification 1-2 CANL 5 V, Ri = 60 Ohm CAN-low signal line 3 GND - CAN-GND, galvanically connected to GND in the controller Screen - Connection for the cable screen 6 GND - CAN-GND, galvanically connected to GND in the controller 7 CANH 5 V, Ri = 60 Ohm CAN-high signal line Table 5.10 Pin allocation: Fieldbus CAN [X4] RS232/RS485 [X5] Type on controller Counterplug Plugged/optional plug set Material number D-sub pins, 9-pin Table 5.11 Plug version: RS232/RS485 [X5] Pin Designation Value Specification 1-2 RS232_RxD 10 V, Ri > 2 kohm Reception line 3 RS232_ TxD 10 V, Ra < 2 kohm Transmission line 4 RS485_A GND 0 V RS232/485 GND, galvanically connected to GND in the controller V_Fuse 5 V Via PTC on plug 9 RS485_B - - Table 5.12 Pin allocation: RS232/RS485 [X5] Festo P.BE-CMMS-ST-HW-EN 0708NH 51

52 5. Electrical installation Motor connection [X6] Type on controller Counterplug Plugged/optional plug set Material number Combicon 8-pin socket MSTB 2.5/8-ST-5.08 BK Plug set Table 5.13 Plug version: Motor connection [X6] Pin Designation Value Specification 1 String A - Connection of the two motor strings. The cable 2 String A / - screen is fitted to the controller housing. 3 String B - 4 String B / - 5 T + - Motor temperature sensor, either N/C contact or PTC 6 T - - (in preparation) 7 BR + - Motor holding brake 8 BR - - Table 5.14 Pin allocation: Motor connection [X6] Power supply [X9] Type on controller Counterplug Plugged/optional plug set Material number Combicon 3-pin socket MSTB 2.5/3-ST-5.08 BK Plugged Table 5.15 Plug version: Power supply [X9] Pin Designation Value Specification 1 ZK V Intermediate circuit voltage 2 24 V +24 V / 1 A Power supply for the control section 3 GND 0 V Common reference potential for the intermediate Table 5.16 Pin allocation: Power supply [X9] circuit and the control section Increment generator interface / control signals [X10] The interface is bidirectional. It allows A/B tracking signals to be output in the master axis mode, or A/B, CLK/DIR or CW/CCW control signals to be processed in the slave axis mode. Type on controller Counterplug Plugged/optional plug set Material number D-sub socket, 9-pin Table 5.17 Plug version: Increment generator/ Pulse, direction input [X10] 52 Festo P.BE-CMMS-ST-HW-EN 0708NH

53 5. Electrical installation Pin Designation Value Specification 1 A/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal pulse / CW, positive polarity acc. to RS422 2 B/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal direction, positive polarity acc. to RS422 3 N 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity acc. to RS422 4 GND - Reference GND for the generator 5 VCC +5 V +-5%, 100 ma Auxiliary supply, max. load 100 ma, short-circuit proof 6 A-/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal CLK, negative polarity acc. to RS422 / CCW 7 B-/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal DIR, negative polarity acc. to RS422 8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity acc. to RS422 9 GND - Screen for the connecting cable Table 5.18 Pin allocation: Increment generator output / Pulse, direction input [X10] SD card The optional SC card is intended for downloading firmware or saving parameters. The interface is allocated in accordance with the SD card specifications. Alternatively, an MMC card can be used Fieldbus settings and bootloader Dip switches Meaning 1 Node number Bootloader (If the switch is set to ON, the system searches for new firmware on the SD card) 9 Baud rate Activation of the CAN interface 12 Terminating resistor Table 5.19 Assignment of the DIP switches Festo P.BE-CMMS-ST-HW-EN 0708NH 53

54 5. Electrical installation DIP switches ON/OFF Meaning 1 ON DIP switch 1 is the lowest 2 ON bit =91 3 OFF 4 ON 5 ON 6 OFF 7 ON Table 5.20 Sample node number DIP switch ON/OFF Meaning 9 ON DIP switch 9 is the lowest 10 OFF Table 5.21 Sample baud rate bit. 00=125 kbaud 01=250 kbaud (example) 10=500 kbaud 11=1000 kbaud 5.5 Instructions on safe and EMC-compliant installation Explanations and terms Electromagnetic compatibility (often abbreviated to EMC) or electromagnetic interference (EMI) involves the following requirements: Interference immunity Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space. Emitted interference Sufficiently low interference emission of electrical, magnetic or electromagnetic interference of an electrical system or an electrical device on other devices in the environment via lines and space. 54 Festo P.BE-CMMS-ST-HW-EN 0708NH

55 5. Electrical installation General information on EMC Interference emission and resistance to interference of a stepping motor controller always depend on the complete design of the drive, which consists of the following components: Components - Power supply - Stepping motor controller - Motor - Electromechanics - Design and type of wiring - Higher-order control system In order to increase the interference immunity and decrease the interference emission, the CMMS-ST already has integrated motor throttles and mains filters, which means that the CMMS-ST stepping motor controller can be operated without additional screens and filters in most applications. The CMMS-ST stepping motor controllers were qualified in accordance with product standard EN which applies to electrical drives. In the majority of cases, no external filter measures are required (see below). The conformity declaration to EMC directive 89/336/EEC is available from the manufacturer EMC areas: Second environment If installed correctly and all connection lines are wired correctly, the CMMS-ST stepping motor controllers fulfil the requirements of the corresponding product standard EN This standard does not refer to limit value classes, but to so-called environments. The first environment includes electricity grids connected to residential housing. The second environment includes grids connected only to industrial companies. Without filter measures, the following applies to stepping motor controller CMMS-ST: EMC class Area Compliance with EMC requirements Interference emission Second environment (industrial) Motor cable length up to 25 m Interference immunity Second environment (industrial) Regardless of motor cable length Table 5.22 EMC requirements: Second environment EMC-compliant wiring The following must be observed for EMC-compliant installation of the drive system (see also Chapter 21H5 2HElectrical installation, Page 23H43): 1. In order to minimise current leakage and losses in the motor connection cable, the Festo P.BE-CMMS-ST-HW-EN 0708NH 55

56 5. Electrical installation CMMS-ST stepping motor controller should be installed as close as possible to the motor (see also Chapter 24H HOperation with long motor cables, Page 26H56 below). 2. The motor and angle generator cables must be screened. 3. The screen of the motor cable is fitted to the housing of the CMMS-ST stepping motor controller (screen connection terminals). The cable screen is also always fitted to the corresponding stepping motor controller to prevent leaked current flowing back to the controller which caused it. 4. Signal lines must be separated as far as possible from the power cables. They should not be routed parallel to one another. If crossovers cannot be avoided, they should be made as close to vertical (i.e. at a 90 angle) as possible. 5. Unscreened signal and control lines should not be used. If they must be used, they should at least be twisted. 6. Even screened lines always have short unscreened parts at either end (unless a screened plug housing is used). In general: - Connect the inner screens to the pins of the plug connector provided for the purpose; length max. 40 mm. - Max. length of unscreened wires: 35 mm - Connect total screen flat on motor side to the plug or motor housing; length max. 40 mm Operation with long motor cables For applications with long motor cables and/or if the wrong motor cables are selected with excessive cable capacity, the filters may be subjected to thermal overload. In order to avoid such problems, we recommend the following procedure for applications in which long motor cables are required: - From a cable length of over 15 m, only cables with a capacitance between the motor phase and screen of less than 200 pf/m, or, if possible less than 150 pf/m! (Please contact your motor cable vendor if necessary) - Use of a du/dt filter on the motor output, - Filter on the voltage supply connection, - Mains filter. 56 Festo P.BE-CMMS-ST-HW-EN 0708NH

57 5. Electrical installation ESD protection Caution If non-assigned plug connectors are used, there is a danger that damage may occur to the device or to other parts of the system as a result of ESD (electrostatic discharge). Protective caps are available from specialised retailers to prevent such discharges. Festo P.BE-CMMS-ST-HW-EN 0708NH 57

58 6. Preparations for commissioning 6. Preparations for commissioning 6.1 General connection instructions As the routing of the connecting cables is critical for EMC, it is essential that you read Chapter 27H HEMC-compliant wiring (Page 29H55)! DANGER! Failure to follow the instructions in Chapter 230H2 231HSafety instructions for electrical drives and control systems (Page 232H11) can result in material damage, injury, electric shock, or in extreme cases, even to fatalities. 6.2 Tools / material Tool - Screwdriver size 1 - Serial interface cable - Increment generator cable - Motor cable - Power supply cable - Control cable 6.3 Connecting the motor Connecting the motor 1. Insert the motor cable plug in the corresponding socket on the motor and secure it. 2. Insert the PHOENIX plug into the socket [X3] on the device. 3. Insert the motor cable plug in the corresponding socket on the motor and secure it. 4. Insert the D-sub plug in socket [X2] of the device and secure the locking screws. 5. Check all plug connectors once again. 58 Festo P.BE-CMMS-ST-HW-EN 0708NH