Motor Controller: Description
Motor Controller: Description
Motor Controller: Description
CMMP-AS-...-M3
Description
Mounting and
installation
8046772
1507b
CMMP-AS-...-M3
CANopen®, Heidenhain®, EnDat®, PHOENIX®, Windows® are registered trademarks of the respective
trademark owners in certain countries.
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries or serious material damage
Other symbols:
Note
Material damage or loss of function
Text designations:
Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
è Result of an action/References to more detailed information
1.1 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1.1 Safety instructions for commissioning, repair and de-commissioning . . . . . . . . 9
1.1.2 Protection against electric shock through protective extra-low voltage (PELV) . 10
1.1.3 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.1 Transport and storage conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.2 Technical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.3 Qualification of the specialists (requirements for the personnel) . . . . . . . . . . . . 11
1.2.4 Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Product overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
A Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
B Diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Target group
This documentation is intended exclusively for technicians trained in control and automation techno
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Note
Before using a newer firmware version, check whether a newer version of the FCT
plug-in or user documentation is available for it
Support Portal: è www.festo.com/sp
Service
Please consult your regional Festo contact if you have any technical problems.
Specified standards/directives
Issue status
2006/42/EC EN 61326-1:2006-05
2006/95/EC EN 50178:1997-10
2004/108/EC EN 60204-1:2006-06
EN 61800-3:2004-12 IEC 61131-2:2007-09
Tab. 2 Standards/directives specified in the document
Manufacturing month
1 January 2 February
3 March 4 April
5 May 6 June
7 July 8 August
9 September O October
N November D December
Tab. 4 Manufacturing month
Type codes
CMMP – AS – C5 – 11 A – P3 – M3
Type
CMMP Motor controller, premium
Motor technology
AS AC synchronous
Nominal current
C2 2.5 A
C5 5A
C10 10 A
C15 15 A
Input voltage
3A 100 ... 230 V AC
11 A 3x 230 ... 480 V AC
Number of phases
– single-phase
P3 3-phase
Number of slots
M3 with 3 slots
Fig. 1 Type codes
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type Table of contents
Hardware description, Mounting and installation of the motor controller CMMP-
GDCP-CMMP-M3-HW-... AS-...-M3 for all variants/output classes (1-phase, 3-phase), pin
assignments, error messages, maintenance.
Function descriptions, Functional description (firmware) CMMP-AS-...-M3, Instructions
GDCP-CMMP-M3-FW-... on commissioning.
Description FHPP, Control and parameterisation of the motor controller via the
GDCP-CMMP-M3/-M0-C-HP-... FHPP Festo profile.
– Motor controller CMMP-AS-...-M3 with the following field
busses: CANopen, PROFINET, PROFIBUS, EtherNet/IP, Devi
ceNet, EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
Description CiA 402 (DS 402), Control and parameterisation of the motor controller via the
GDCP-CMMP-M3/-M0-C-CO-... device profile CiA 402 (DS 402)
– Motor controller CMMP-AS-...-M3 with the following field
busses: CANopen and EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
Description CAM-Editor, Cam disc function (CAM) of the motor controller CMMP-
P.BE-CMMP-CAM-SW-... AS-...-M3/-M0.
Description safety module, Functional safety engineering for the motor controller with the
GDCP-CAMC-G-S1-... safety function STO.
Description safety module, Functional safety engineering for the motor controller with the
GDCP-CAMC-G-S3-... safety functions STO, SS1, SS2, SOS, SBC, SLS, SSR, SSM.
Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool è www.festo.com/sp.
Tab. 5 Documentation on the motor controller CMMP-AS-...-M3
1.1 Safety
The safety functions do not protect against electric shock but only against dangerous
movements!
Note
Danger from unexpected movement of the motor or axis.
– Make sure that the movement does not endanger anyone.
– Perform a risk assessment in accordance with the EC machinery directive.
– Based on this risk assessment, design the safety system for the entire machine,
taking into account all integrated components. This also includes the electric drives.
– Bypassing safety equipment is impermissible.
1.1.2 Protection against electric shock through protective extra-low voltage (PELV)
Warning
Use for the electrical power supply only PELV circuits in accordance with IEC DIN EN
60204-1 (Protective Extra-Low Voltage, PELV).
Also comply with the general requirements for PELV circuits laid down in IEC/DIN
EN60204-1.
Use only power sources which guarantee reliable electrical disconnection of the
operating voltage as per IEC/DIN EN 60204-1.
Protection against electric shock (protection against direct and indirect contact) is guaranteed in
accordance with IEC/DIN EN 60204-1 through the use of PELV circuits (Electrical equipment of
machines, general requirements).
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
The current revisions and special configurations of earlier revisions (order code ...-C1) of the product
have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These are marked
as follows:
Note
Observe the following if the UL requirements are to be complied with in your application:
– Rules for observing the UL certification can be found in the separate UL special
documentation. The technical data stated therein take priority.
– The technical data in this documentation may show values deviating from this.
Certain configurations of earlier revisions of the product have been certified by Underwriters Laborator
ies Inc. (UL) for the USA. These are marked as follows:
2 Product overview
aC
aB
1
aA
aJ
2
8
3
6
4
2 1
1 Spring-loaded terminal connection for the 3 Connection for the resolver [X2A]
outer shield of the motor cable 4 Connection for the encoder [X2B]
2 Motor connection [X6]
Fig. 2.5 Motor controller CMMP-AS-...-M3: Bottom view
3 Mechanical installation
Note
The motor controllers CMMP-AS-...-M3
Use only as installed devices for control cabinet mounting.
Mounting orientation with the power supply [X9] on top.
Mount it with the clip on the mounting plate.
Mounting clearance:
For sufficient ventilation, 100 mm of clearance to other sub-assemblies is required
above and below the device.
An installation clearance of 150 mm underneath the device is recommended for
optimum wiring of the motor or encoder cable!
The motor controllers of the CMMP-AS-...-M3 family are designed so that they can
be mounted on a heat-dissipating mounting plate 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. With high thermal stress on the motor controller
CMMP-AS-...-M3, a mounting distance (è Fig. 3.4) is recommended!
3.2 Mounting
Observe the safety instructions è Chapter 1 during mounting and installation work.
Note
Damage to the interface or motor controller due to incorrect handling.
Switch off the supply voltage before mounting and installation work. Switch on sup
ply voltage only when mounting and installation work are completely finished.
Never unplug modules from the motor controller or plug them in when powered!
Observe the handling specifications for electrostatically sensitive devices. Do not
touch the printed circuit board and the pins of the manifold rail in the motor control
ler. Grip the interface only on the front panel or on the edge of the board.
DIL switches
The eight switches on the plug-in modules (Ext3) are designed as DIL switches.
The status of the DIL switches is read when the control voltage is switched on or upon RESET. The mo
tor controller takes over changes to the switch setting in ongoing operation only at the next switch-on
or RESET.
The significance of the DIL switch setting depends on the control interface used.
With DIL switch 8, the fieldbus of the plugged-in interface CAMC-... is activated. If no
interface is plugged in, the CAN bus [X4] is activated.
Slot Interface
CAMC-F-PN CAMC-PB CAMC-F-EP CAMC-DN CAMC-EC CAMC-D-8E8A
Ext1 –1) –1) –1) x –1) x
Ext2 x x x –1) x x
1) In addition, CAMC-D-8E8A permissible
Tab. 3.4 Permissible slots Ext1 and Ext2 for the interfaces
1
4
Fig. 3.2 Mounting or dismantling
(example CAMC-PB)
CMMP-AS-... H1 L1 L2 L3 L4 L5 L6 B1 B2 B3 D1 D2
-3A-M3 [mm] 207 281 248 227 202 12.5 10.5 66 61 30.7 10 5.5
-11A-P3-M3 [mm] 247 330 297 276 252 12.5 10.5 79 75 37.5 10 5.5
Tab. 3.5 Motor controller CMMP-AS-...-M3: Dimensions table
Fig. 3.4 Motor controller CMMP-AS-...-M3: Mounting distance and installation clearance
4 Electrical installation
Warning
Danger of electric shock
– when the module or cover plate is not mounted on the card slot [EXT]
– when cables are not mounted to the plugs [X6] and [X9]
– if connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death. Before mounting and
installation work:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
Warning
Danger of electric shock
This product can cause a DC current in the protective ground conductor. In cases where
an error current protection unit (RCD) or an error current monitoring device (RCM) is
used to protect against direct or indirect contact, only the Type B kind of RCD or RCM is
permitted on the power supply side of this product.
Caution
Danger from unexpected movement
Faulty pre-mounting lines may destroy the electronics and trigger unexpected move
ments of the motor.
When wiring the system, use only the supplied plug connectors and preferably the
cables listed in the catalogue as accessories.
è www.festo.com/catalogue
Lay all flexible lines so that they are free of kinks and free of mechanical stress; if
necessary use chain link trunking.
Note
ESD (electrostatic discharge) can cause damage to the device or other system parts at
plug connectors that are not used.
Before installation: Earth the system parts and use appropriate ESD equipment (e.g.
shoes, earthing straps etc.).
After installation: Seal unassigned Sub-D plug connectors with protective caps
(available at authorized dealers).
Observe the handling specifications for electrostatically sensitive devices.
MT+
MT-
PE
BR+
Encoder/resolver Br-
X2A/X2B
E Encoder
Angle encoder /Resolver
Fig. 4.1 CMMP-AS-...-3A-M3: Single-phase connection to the supply voltage and the motor
MT+
MT-
PE
BR+
Br-
X2A/X2B
E Encoder/
Angle encoder Resolver
Fig. 4.2 CMMP-AS-...-3A-M3: Dual-phase connection L1/L2 to the supply voltage and the motor
Note
The maximum voltage of 230 V AC +10 % must be present between the external
conductors.
In typical European low voltage networks that have a nominal star voltage of 230 V, a
mesh voltage of approx. 400 V develops between two external conductors, which could
result in damage to the motor controller!
MT+
MT-
PE
BR+
Br-
X2A/X2B
E Encoder/
Angle encoder Resolver
Fig. 4.3 CMMP-AS-...-11A-M3: Triple-phase connection to the supply voltage and the motor
The power supply cables for the power end stage are alternatively connected to the following terminals:
Power end stage supply
Observe instructions in chapter è 4.8.5
AC supply L, N for single-phase motor controllers
L1, L2, L3 for three-phase motor controllers
DC supply ZK+, ZK–
Tab. 4.1 Connection of power supply cables
Note
Temperature sensors must be sufficiently isolated from the motor winding.
The connection of the encoder via the Sub-D plug connector to [X2A] or [X2B] is roughly shown dia
grammatically in è Fig. 4.1, è Fig. 4.2 and è Fig. 4.3.
Note
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 reversed, the
motor controller CMMP-AS-...-M3 will be damaged.
The standard assignment of the I/O interface in the FCT corresponds to è Tab. 4.5.
[X1] Pin no. Desig Specification
nation
13 DOUT3 Following error, output freely parameterisable, optionally paramet
erisable as DIN11
25 DOUT2 Brake unlocked, output freely parameterisable, optionally paramet
erisable as DIN10
12 DOUT1 Motion Complete, output freely parameterisable
24 DOUT0 Controller ready, output permanently assigned
11 DIN 9 Flying measurement (sample)/reference switch, input freely para
meterisable
23 DIN 8 Start positioning task, input freely parameterisable
10 DIN7 Limit switch 1 (blocks n 0), input permanently assigned
22 DIN6 Limit switch 0 (blocks n 0), input permanently assigned
9 DIN5 Controller enable, input permanently assigned
21 DIN4 End stage enable, input permanently assigned
8 DIN 3 Position selector bit 3, input freely parameterisable
20 DIN 2 Position selector bit 2, input freely parameterisable
7 DIN 1 Position selector bit 1, input freely parameterisable
19 DIN 0 Position selector bit 0, input freely parameterisable
6 GND24 Reference potential for digital I/Os
18 +24 V 24 V output
5 AOUT1 Position setpoint value, analogue output freely parameterisable
17 AOUT0 Speed setpoint value, analogue output freely parameterisable
4 +VREF Reference output for setpoint potentiometer
16 AIN2 Setpoint input 2, single ended analogue input, optionally paramet
erisable as DIN131)
3 AIN1 Setpoint input 1, single ended analogue input, optionally paramet
erisable as DIN121)
15 #AIN0 Setpoint input 0, differential analogue input
2 AIN0
14 AGND Reference potential for analogue signals
1 AGND Screening for analogue signals, AGND
1) Configuration with FCT. Observe note è Section 4.3.3.
Tab. 4.5 Pin assignment: I/O communication [X1] (FCT factory setting)
Controller CMMP-AS-…-M3
AIn0
#AIN0
Pin no.
X1
AGND
AIn0 2
#AIN0 15 AIN1/AIN2
AIn1 3
AIn2 16
AGND
+VREF 4 +VREF +15VDC
AGND 14
AOUT0 17
AGND
AOUT1 5
AGND AMON0/1
14
100 mA 1
max! AGND AGND
DIN0 19 DINX
DIN9 11
GND24
DOUT0 24 GND
100 mA +24VDC
max! DOUT3 13
DOUTX
GND24 6 GND
GND24
GND24
PE PE
Plug housing
Fig. 4.4 Basic circuit diagram of connection [X1]
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The inner screenings must be placed on one side on the motor controller CMMP-AS-...-M3 on PIN3 of [X2A].
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The shielding for the motor cable must also be attached to the housing of the motor
controller (spring clip: Fig. 2.5è Page 18).
A motor holding brake can be connected to terminals BR+ and BR-. The locking brake is supplied from
the logic supply of the motor controller. The maximum output current provided by theCMMP-AS-...-M3
motor controller must be observed.
To release the holding brake, care must be taken to maintain the voltage tolerances at the
holding brake connection terminals.
Also observe the specifications in Tab. A.4 è Page 67.
It may be necessary to insert a relay between the device and the holding brake, as shown in
Fig. 4.5è Page 40:
BR+
Br-
CMMP-AS-...-M3
Resistor and
capacitor for +24 V power pack
Spark arresting
GND power pack
+24 V brake
GND brake
Free-wheeling diode
Motor
Fig. 4.5 Connecting a high-current holding brake to the device
Switching inductive DC currents via relays causes strong currents and sparks. For interfer
ence suppression, we recommend integrated RC interference suppressors, e.g. from Evox
RIFA, designation: PMR205AC6470M022 (RC element with 22 Ω in series with 0.47 μF).
4.8.1 Plug
CMMP-AS-... Design on the device / coding Counterplug / coding
...-C2-3A-M3 PHOENIX Contact Pin 9 PHOENIX Contact Pin 1
...-C5-3A-M3 MSTBA 2.5/9-G-5.08-BK (GND24V) MSTB 2.5/9-ST-5.08-BK (L)
...-C5-11A-P3-M3 PHOENIX Power-COMBICON – PHOENIX Power-COMBICON –
...-C10-11A-P3-M3 PC 5/11-G-7.62-BK PC 5/11-ST-7.62-BK
Tab. 4.16 Plug design [X9]
Note
The DC power supply must be generated from a max. 230/400 V or a max. 277/480 V
grid.
4.8.5 AC supply
Switch-on behaviour:
– As soon as the motor controller CMMP-AS-...-M3 is provided with mains voltage, the intermediate
circuit is charged ( 1 s) via the braking resistors, with the intermediate circuit relay deactivated.
– After the intermediate circuit has been pre-charged, the relay engages and the intermediate circuit
without resistors is connected directly to the mains supply.
Note
Operation with isolating transformer is not permissible since no reference potential (N)
is available.
Note
When the load voltage is switched on, ensure that the reference potential (N) is
switched before the phase (L1). This can be achieved through:
– unswitched reference potential (N)
– use of fuses with leading N when switching of the reference potential is not specified.
Note
If the intermediate circuits are coupled, it is imperative that all of the motor controllers
are supplied via the same phase (e.g. L1) è Example Fig. 4.6.
Otherwise, the motor controllers will be damaged due to the resulting voltage at the
rectifiers.
The maximum number of coupled motor controllers is limited by the power of the sup
ply. Pay attention to a symmetrical load of the network here.
L
N
PE
+24 V
0V
Power circuit
1-phase Power circuit 1-phase
breaker X9 breaker X9
L L
N N
ZK+ ZK+
ZK ZK
-BR-INT -BR-INT
BR-CH BR-CH
PE PE
24V+ 24V+
GND24V GND24V
Fig. 4.6 Example of intermediate circuit coupling with common supply, single-phase
Fig. 4.6 is a schematic representation; note the information for mains fuses in
è Section 4.8.4.
For larger braking power an external braking resistor must be connected [X9]
è Section 4.7.2 and Fig. 4.5.
The motor controller detects the external brake resistance automatically as soon as the intermediate
circuit voltage rises above the response threshold (è A, Tab. A.6).
After that, a connected external brake resistance can also be displayed in the configuration software.
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
The output driver at the signal output provides differential signals (5 V) as per the RS422 interface standard.
Up to 32 other controllers can be addressed by one device.
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
Interface design
The plug connector is designed as a Type B terminal socket. All standard terminal cables up to a length
of 5m can be used. If longer cables are required, the corresponding USB repeaters must be used.
The USB interface is designed as a pure slave interface (the CMMP-AS…-M3 is the slave, the PC is the
host). It meets the USB specification Rev. USB 1.1.
Interface design
The interface in the device is designed as an 8P8C socket (RJ45).
The connection has two LEDs with the following function:
– Yellow Physical Link Detect (network connection available)
– Green Data Connection (data connection / data exchange)
The interface is designed to conform to the IEEE 802.3u specification. Cables of type FTP5 or high-order
must be used with 100Base-TX. The interface supports the autosensing function for automatic identification
of the connected cable. Both standard patch cables (1:1) and Crosslink (crossed) cables can be used.
Supported services
The following services are supported by the Ethernet interface:
– TCP/IP
– UDP/IP
– DNS (ARP and BOOTP)
– DHCP
– AutoIP
– TFTP
TFTP must be activated separately in Windows if necessary and a pass rule defined in the
Firewall.
Address allocation
The network settings (IP address, subnetwork mask, gateway) can either be automatically obtained or
manually specified:
– Automatically via DHCP (the automatically obtained IP address lies in the IP range specified by the
DHCP server)
– Automatically via Auto IP (if no DHCP server was found, an address between 169.254.1.0 and
169.254.254.255 is selected pseudorandomly)
– Manual IP assignment (manual setting of the network parameters via FCT)
The following sequence applies for connection set-up:
1. DHCP
2. AutoIP
3. Static IP address
If no IP address can be obtained via the higher-level service, the following service is used. Thus if no
address can be obtained via DHCP, first an AutoIP and then a static address is used.
Resistance to interference
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 emitted interference of electrical, magnetic or electromagnetic interference of an elec
trical system or an electrical device on other devices in the environment via cables and space.
Warning
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The mains-side PE connection is made to the PE connection points (device rear wall) and
[X9] of the CMMP-AS-...-M3.
Make sure that the earth connections between devices and the mounting plate are of
sufficiently large dimensions in order to be able to discharge HF interference.
The motor controllers CMMP-AS-...-M3 been checked in accordance with EMC product
standard EN 61800-3 that is applicable to electric drives. The standard components from
the Festo accessories were used for qualification. EMC can only be guaranteed if the
motor and encoder or resolver cables from Festo are used and not extended or changed in
any other form.
In the majority of cases, no external filter measures are required (è Section 4.12.3,
Tab. 4.25).
The declaration of conformity is available at è www.festo.com.
The device may generate high frequency interference, which may make it necessary to
implement interference suppression measures in residential areas.
1. To keep leaked current and losses in the motor cable as low as possible, the motor controller
CMMP-AS-...-M3 should be placed as close to the motor as possible (è Chapter 4.12.5 è Page 55).
2. Motor and encoder cable must be screened.
3. The screening of the motor cable is attached to the housing of the motor controller CMMP-AS-...-M3
(screened connection terminals, spring clips). The cable screening is also always attached to the corres
ponding motor controller to prevent leaked current flowing back to the controller which caused it.
4. The mains-side PE connection is connected to the PE connection point of the power supply [X9] and
to the PE connection of the housing.
5. The PE internal conductor of the motor cable is connected to the PE connection point of the motor
connection [X6].
6. Signal lines must be separated as far as possible from the power cables. They should not be routed
parallel to one another. If crossovers are unavoidable, they should be made as close to vertical (i.e.
at a 90° angle) as possible.
7. For unscreened signal and control lines, safe/reliable operation cannot be guaranteed. If they must
be used, they should at least be twisted.
8. Even screened cables always have short unscreened parts at both ends (unless a screened plug
housing is used).
In general:
– Connect the inner screenings to the pins of the plug connectors provided for the purpose; length
maximum 40 mm.
– Length of the unscreened wires with self-made cables, maximum 35 mm.
– Connect entire screening on the controller side flush to the PE terminal; maximum length 40 mm.
– Connect entire screening flush at the motor to the plug or motor housing; length maximum 40 mm
(guaranteed with NEBM-...).
Danger
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The regulations of EN 50178 and EN 60204-1 for protective grounding must always be
observed during installation!
In addition, the following procedure is strongly recommended for applications in which long motor
cables are required:
– From a cable length of , 25 m, use only cables with a capacitance between the motor phase and
screening of < 200 pF/m, or better, < 150 pF/m and also use a mains filter!
Note
Longer cable lengths result in deviations to the current regulator amplification (line
resistance).
In the design of the motor controller CMMP-AS-...-M3, great importance has been placed on high resist
ance to interference. For this reason, individual function blocks are galvanically separated from each
other. Signal transmission within the device is performed via an optocoupler.
A distinction is made between the following separated areas:
– Output stage with intermediate circuit and mains input
– Control electronics with analogue signal processing
– 24 V supply and digital inputs and outputs
5 Commissioning
Warning
Non-compliance with the safety instructions in chapter 1 è Page 9 can result in materi
al damage, injury, electric shock, or in extreme cases, fatality.
6.1.1 Overview
The motor controller CMMP-AS-...-M3 has a complex array of sensors that monitor the controller sec
tion, power output stage, motor and external communication to ensure that they function excellently.
All diagnostic events which occur are saved in the internal diagnostic memory. Most errors cause the
controller section to switch off the motor controller and the power output stage. The motor controller
cannot be switched back on until the error is remedied and then acknowledged.
A complex system of sensors and numerous monitoring functions ensure operational reliability:
– Measurement of the motor temperature
– Measurement of the power output stage temperature
– Earth fault detection (PE)
– Detection of short-circuits between two motor phases
– Detection of overvoltages in the intermediate circuit
– Detection of faults in the internal voltage supply
– Collapse of supply voltage
– Detection of faults in conjunction with the functional safety engineering (slot Ext3)
In addition, the brake chopper is protected by means of overcurrent detection. If a short circuit is detec
ted via the braking resistor, the brake chopper controller is switched off.
d Signals that a parameter set is currently being loaded from the SD card to
the controller.
Pxxx Positioning (“xxx” stands for the record number, see below).
000 No positioning active.
001...255 Positioning record 001 ... 255 active.
259/260 Jog positive/negative.
262 CAM-IN / CAM-OUT (cam disc).
264/265 Direct records for manual travel via FCT or FHPP direct operation.
PHx Homing (“x” stands for the homing phase, see below).
0 Phase “Search for reference point”.
1 Phase “Crawl”.
2 Phase “Approach zero point”.
Exxy Error message with main index “xx” and sub-index “y”.
-xxy Warning message with main index “xx” and sub-index “y”. A warning is
shown at least twice on the 7-segments display.
Controller
enable
DIN5 [X1]
“Error active”
1 L 80 ms
Fig. 6.1 Timing diagram: Acknowledge error
7.2 Repair
Repair or maintenance of the product is not permissible. If necessary, replace the com
plete product.
7.3.2 Disposal
Observe the local regulations for environmentally appropriate disposal of electronic modules.
The product is RoHS-compliant.
A Technical appendix
Note
With a warm motor and a supply voltage that is too low (outside of tolerance), the mo
tor's brakes cannot open 100%, which can lead to premature wearing of the brake.
Below the nominal power supply voltage, the PFC stage power is linearly reduced. These power charac
teristic curves are shown in the following figure.
1 2
PFC power
(peak power)
0.5 1
CMMP-AS-C5-3A-...
Motor cable
CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3
Max. motor cable [m] 25 (without filter) 25 (with
length for second filter)
environment
Cable capacity of [pF/m] 200
one phase
against screening
Tab. A.7 Technical data: Motor cable
Output data
CMMP-AS- C2-3A1) C5-3A1) C5-11A-P32) C10-11A-P32) C10-11A-P32)
Voltage [VAC] 0 … 270 0 … 360
Nominal power [kVA] 0.5 1 3 6
Max. Power [kVA] 1 2 6 12
for 5 seconds
1) Data for operation with 1x230 VAC [± 10%], 50 … 60 Hz
2) Data for operation with 3x400 VAC [±10%], 50 … 60 Hz
Tab. A.9 Technical data: Output data
Note
The following tables Tab. A.10, Tab. A.11, Tab. A.12, Tab. A.13, Tab. A.14 and Tab. A.15
describe the maximum possible output data of the motor controller. The specified op
tions “cycle time current regulator” and “half output stage frequency” are automatically
calculated in the FCT plug-in based on the parameterised motor controller/motor-axis
combination. This calculation determines the best values to prevent an overloading of
the components.
In addition, the length of the motor cable is also incorporated into the calculation in
order to protect the performance electronics of the motor controller è Section 4.12.5.
CMMP-AS-C2-3A-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 2.5 2.2 2.5 2.5
Maximum output current for maximum time
Max. output current [Aeff ] 5 4.4 5 5
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 7.5 6.6 7.5 7.5
Max. time [s] 1.3 1.3 1.3 1.3
Max. output current [Aeff ] 10 8.8 10 10
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.10 Output data CMMP-AS-C2-3A-M3
CMMP-AS-C5-3A-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 4.4 5 5
Maximum output current for maximum time
Max. output current [Aeff ] 10 8.8 10 10
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 15 13.2 15 15
Max. time [s] 1.3 1.3 1.3 1.3
Max. output current [Aeff ] 20 17.6 20 20
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.11 Output data CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 2.5 5 5
Maximum output current for maximum time
Max. output current [Aeff ] 10 5 10 10
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 15 7.5 15 15
Max. time [s] 0.8 1.2 0.8 0.8
Max. output current [Aeff ] 20 10 20 20
Max. time [s] 0.1 0.15 0.1 0.1
1) Option with FCT able to be parametrised
Tab. A.12 Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency 5 Hz
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 2.5 5 5
Maximum output current for maximum time
Max. output current [Aeff ] 10 5 10 10
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 15 7.5 15 15
Max. time [s] 2 2 2 2
Max. output current [Aeff ] 20 10 20 20
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.13 Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency 20 Hz
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 8 3.45 10 8
Maximum output current for maximum time
Max. output current [Aeff ] 16 6.9 20 16
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 24 10.35 30 24
Max. time [s] 0.1 0.2 0.1 0.1
Max. output current [Aeff ] 32 13.8 40 32
Max. time [s] 0.07 0.15 0.07 0.07
1) Option with FCT able to be parametrised
Tab. A.14 Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency 5 Hz
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency1) active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 8 3.45 10 8
Maximum output current for maximum time
Max. output current [Aeff ] 16 6.9 20 16
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 24 10.35 30 24
Max. time [s] 2 2 2 2
Max. output current [Aeff ] 32 13.8 40 32
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.15 Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency 20 Hz
CMMP-AS-C15-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half output stage frequency active inactive active inactive
Output stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 11 2,5 15 11
Maximum output current for maximum time
Max. output current [Aeff ] 22 5 30 22
Max. time [s] 5 5 5 5
Max. output current [Aeff ] 33 7.5 45 33
Max. time [s] 1 1 1 1
1) Option with FCT able to be parametrised
Tab. A.16 Output data CMMP-AS-C15-11A-P3-M3
A.1.1 Interfaces
Parameter Values
Transmission ratio 0.5
Carrier frequency [kHz] 5 … 10
Excitation voltage [Veff ] 7, short circuit proof
Excitation impedance [Ω] (20 + j20)
(at 10 kHz)
Stator impedance [Ω] (500 + j1000)
Tab. A.20 Technical data: Resolver [X2A]
Parameter Values
Resolution [Bit] 16
Signal detection time delay [μs] 200
Speed resolution [min-1] approx. 4
Absolute accuracy of angle ['] 5
acquisition
max. speed [min-1] 16000
Tab. A.21 Technical data: Resolver evaluation [X2A]
Digital encoders
Type Protocol Interface Comment
Yaskawa Yaskawa OEM-pro [X2B] Yaskawa Sigma-1 Type A
∑-encoder tocol
Tab. A.30 Supported digital encoders
Analogue encoders
Type Protocol Interface Comment
ROD 400 – [X2B] Heidenhain, encoder with zero im
ERO 1200, 1300, pulse and reference signal
1400
ERN 100, 400,
1100, 1300
Tab. A.31 Supported analogue encoders
EnDat encoders
Type Protocol Interface Comment
ROC 400 EnDat 2.1 (01/21) [X2B] Heidenhain single-turn absolute en
ECI 1100, 1300 EnDat 2.2 (22) coder with/without analogue signal
ECN 100, 400,
1100, 1300
ROQ 400 EnDat 2.1 (01/21) [X2B] Heidenhain multi-turn absolute en
EQI 1100, 1300 EnDat 2.2 (22) coder with/without analogue signal
EQN 100, 400,
1100, 1300
LC 100, 400 EnDat 2.1 (01) [X2B] Heidenhain absolute length measure
EnDat 2.2 (22) ment equipment
Tab. A.32 Supported EnDat encoders
HIPERFACE encoders
Type Protocol Interface Comment
SCS60, 70 Hiperface [X2B] Stegmann single-/multi-turn encoder
SCM60, 70 with analogue incremental signal
sine/cosine periods 512. Max. revolu
tions multi-turn: ±2048 R
SRS 50, 60, 64 Hiperface [X2B] Stegmann single-/multi-turn encoder
SCKxx with analogue incremental signals.
SRM 50, 60, 64 Sine/cosine periods 1024. Max. re
SCLxx volutions multi-turn: ±2048 R
SKS36 Hiperface [X2B] Stegmann single-/multi-turn encoder
SKM36 with analogue incremental signals.
Sine/cosine periods 128. Max. re
volutions multi-turn: ±2048 R
SEK37, 52 Hiperface [X2B] Stegmann single-/multi-turn encoder
SEL37, 52 with analogue incremental signals.
Sine/cosine periods 16. Max. revolu
tions multi-turn: ±2048 R
L230 Hiperface [X2B] Stegmann absolute linear encoder
with analogue incremental signal
measurement step: 156.25 μm.
Measuring length max. approx. 40 m.
Tab. A.33 Supported HIPERFACE encoders
BiSS encoder
Type Protocol Interface Comment
ME 20.20-0.40 BiSS [X2B] ELGO magnetic incremental linear
encoder (use e.g. for ELGL-LAS...)
Tab. A.34 Supported BiSS encoders
B Diagnostic messages
If an error occurs, the motor controller CMMP-AS-...-M3 shows a diagnostic message cyclically in the 7-seg
ment display. An error message consists of an E (for Error), a main index and sub-index, e.g.: - E 0 1 0 -.
Warnings have the same number as an error message. In contrast to error messages, however, warn
ings are preceded and followed by hyphens, e.g. - 1 7 0 -.
A complete list of the diagnostic messages corresponding to the firmware statuses at the time of print
ing of this document can be found in section B.2.
Index
A I
Allocation of the plug connectors . . . . . . . . . . 27 I/O interface [X1] . . . . . . . . . . . . . . . . . . . . . . . 73
Installation clearance . . . . . . . . . . . . . . . . . . . . 24
C Installation clearances . . . . . . . . . . . . . . . . . . . 19
CAN bus [X4] . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Instructions on safe and EMC-compliant
Check operating status . . . . . . . . . . . . . . . . . . 58 installation . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . 56 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Communication interfaces . . . . . . . . . . . . . . . . 73 Intermediate circuit coupling . . . . . . . . . . . . . . 44
Connect the PC . . . . . . . . . . . . . . . . . . . . . . . . . 57
Connect the power supply . . . . . . . . . . . . . . . . 57 M
Connection: CAN bus [X4] . . . . . . . . . . . . . . . . 38 Manufacturing year . . . . . . . . . . . . . . . . . . . . . . 7
Connection: Encoder [X2B] . . . . . . . . . . . . . . . 35 Mechanical installation . . . . . . . . . . . . . . . . . . 19
Connection: I/O communication [X1] . . . . . . . . 31 Mounting distance . . . . . . . . . . . . . . . . . . . . . . 24
Connection: Incremental encoder input [X10] . 46
Connection: Incremental encoder output [X11] 47 O
Connection: Motor [X6] . . . . . . . . . . . . . . . . . . 39 Operation and display components . . . . . . . . . 61
Connection: Resolver [X2A] . . . . . . . . . . . . . . . 34 Overload current and short-circuit monitoring 59
Connection: Voltage supply [X9] . . . . . . . . . . . 41
P
D PFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Device view . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Product identification . . . . . . . . . . . . . . . . . . . . 6
Documentation . . . . . . . . . . . . . . . . . . . . . . . . . 6
R
E Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Electrical installation . . . . . . . . . . . . . . . . . . . . 25 Resistance to interference . . . . . . . . . . . . . . . . 51
Emitted interference . . . . . . . . . . . . . . . . . . . . 51 Resolver connection [X2A] . . . . . . . . . . . . . . . . 74
Encoder connection [X2B] . . . . . . . . . . . . . . . . 75
Entire CMMP-AS system . . . . . . . . . . . . . . . . . . 13 S
ESD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Service functions and diagnostic messages . . 59
ESD protection . . . . . . . . . . . . . . . . . . . . . . . . . 55
T
G Technical appendix . . . . . . . . . . . . . . . . . . . . . . 65
General information on EMC . . . . . . . . . . . . . . 51 Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Phone:
+49 711 347-0
Fax:
+49 711 347-2144
e-mail:
[email protected]
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