CMMT AS C2 - 4 3A - Manual - 2021 04c - 8153797g1

CMMT-AS-C2/4-3A-...
Servo drive
Manual | Assembly,
Installation
8153795
2021-04c
[8153797]
Translation of the original instructions
CiA®, EnDat®, EtherCAT®, EtherNet/IP®, DR. JOHANNES HEIDENHAIN®, Hiperface®, PI PROFIBUS PRO-
FINET®, PHOENIX CONTACT®, TORX® are registered trademarks of the respective trademark owners in
certain countries.
Table of contents
1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Applicable documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Product variants. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Product labelling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Specified standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.1 Application areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 Permissible components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Training of qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 CE marking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 Safety engineering approval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 UL/CSA certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Additional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 System structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2.1 Product design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.2 Overview of connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Transport and storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6 Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.1 Mounting distances CMMT-AS-...-3A (1-phase) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.1 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.2 Residual current protective device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.3 Mains fuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.4 Permissible and impermissible mains types of system earthing. . . . . . . . . . . . . . . . . . . 23
7.5 Connection of the mains side PE conductor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.6 Information on EMC-compliant installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.7 Connection examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.8 Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.8.1 [X1A], inputs and outputs for the higher-order PLC . . . . . . . . . . . . . . . . . . . . . . 35
7.8.2 [X1C], inputs and outputs for the axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.8.3 [X2], encoder interface 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.8.4 [X3], encoder interface 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
7.8.5 [X10], SYNC IN/OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.8.6 [X18], Standard Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
7.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2 . . . . . . . . . . . . . . . . . . . . . . . 58
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7.9 Motor connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.1 [X6A], motor phase connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.2 [X6B], motor auxiliary connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.3 Electronic overload and over temperature protection for the motor . . . . . . . . 63
7.9.4 Shield support of the motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.10 Power and logic voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.10.1 [X9A], power supply and DC link circuit connection . . . . . . . . . . . . . . . . . . . . . . 68
7.10.2 [X9B], connection for braking resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.11 Cross-wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.11.1 Cross-wiring of the I/O signals at the connection [X1A] . . . . . . . . . . . . . . . . . . 72
7.11.2 Cross-wiring of the mains and logic voltage supply . . . . . . . . . . . . . . . . . . . . . . 75
8 Malfunctions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.1 Diagnostics via LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.1.1 Device status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.1.2 Interface status [X2], [X3], [X10], [X18] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
8.1.3 Device and interface status, EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
8.1.4 Device and interface status, PROFINET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.1.5 Device and interface status, EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
9 Disassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
10 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10.1 General technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10.2 Technical data, electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
10.2.1 Load and logic voltage supply [X9A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
10.2.2 Electrical data for braking resistor (internal/external) [X9B] . . . . . . . . . . . . . . 96
10.2.3 Power specifications, motor connection [X6A] . . . . . . . . . . . . . . . . . . . . . . . . . . 97
10.2.4 Motor auxiliary connection [X6B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
10.2.5 Encoder interfaces [X2], [X3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
10.2.6 Inputs, outputs, ready contact at [X1A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
10.2.7 Inputs and outputs for the axis [X1C] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
10.2.8 SYNC IN/OUT [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
10.2.9 Standard Ethernet [X18], parameterisation interface . . . . . . . . . . . . . . . . . . . 114
10.2.10 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT]) . . . . . . . . . . . . . . . . . . . . . . . . . 114
10.3 Technical data UL/CSA certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
10.4 Operation of the servo drive in the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
10.4.1 Cable lengths in combination with Festo motors. . . . . . . . . . . . . . . . . . . . . . . 117
10.4.2 Power loss. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
4 Festo — CMMT-AS-C2/4-3A-... — 2021-04c

About this document
1 About this document

1.1 Target group
The document is targeted towards individuals who perform assembly, installation and service work on
the product.
1.2 Applicable documents
All available documents for the product è www.festo.com/sp.
The user documentation for the product also includes the following documents:
Identifier Table of contents
Operating instructions for the Installation, safety sub-function

product
Manuals for the product Detailed description of assembly, installation
Detailed description of safety sub-function
Manual/online help plug-in Plug-in:
– Functions and operation of the software
– Initial commissioning wizard
Firmware functions:
– Configuration and parameterisation
– Operating modes and operational functions
– Diagnostics and optimisation
Bus protocol/control:
– Device profile
– Controller and parameterisation
Festo Automation Suite online – Function of the Festo Automation Suite
help – Management and integration of device-specific plug-ins
Operating instructions CDSB General functions of the operator unit
Tab. 1: User documentation for the product
1.3 Product variants

The product is available in a range of variants. The order code indicates the equipment features of the
product variant (order code è Further information).
This documentation describes the following product variants:
Characteristic Order code Type
Servo drive CMMT- Servo drive, series T

Motor type AS- AC synchronous
Nominal current C2- 2A
C4- 4A
Festo — CMMT-AS-C2/4-3A-... — 2021-04c 5

About this document
Characteristic Order code Type
Nominal input voltage 3A- 230 V AC, 50 … 60 Hz

Number of phases – Single-phase
Bus protocol/control EC- EtherCAT
EP- EtherNet/IP
PN- PROFINET
Safety function S1 Standard safety
Cooling method – Integrated cooling element
Firmware type – Basic type
C..- Customer variant …
S..- Sales variant …
Firmware version – Basic version
V..- Version …
Approval – CE-compliant basic version
Tab. 2: Product variants CMMT-AS-...-3A (e.g. CMMT-AS-C2-3A-EC-S1)
This documentation refers to the following version:
– Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling.
This is the first available revision.
• For later revisions of the product, check whether updated documentation is available
è www.festo.com/pk.
1.4 Product labelling

• Observe the specifications on the product.
The product labelling is located on the right side of the device. The product labelling enables identifi-
cation of the product and shows the following information, for example:
Product labelling (example) Meaning
CMMT-AS-C2-3A-EC-S1 Order code

5340819 MM-YYYY : J302 Rev 00 Part number, serial number (MM = production
month, YYYY = production year, plant number),
revision (Rev)
Main input: 100 V AC - 20% … 230 V AC + 15% Technical data on power supply (alternating
48 … 62 Hz 2.8 ARMS current supply connection)
Motor out: 3 x 0 … input V AC 0 … 599 Hz 2 ARMS Technical data for the motor output (output
350 W voltage, max. output frequency, nominal cur-
rent, nominal output power)
TAMB: max. 40 – 50 °C Ambient temperature (TAMB)
6 Festo — CMMT-AS-C2/4-3A-... — 2021-04c

About this document
Product labelling (example) Meaning
IP10/20 PD2 Degree of protection, without mating plug/with

mating plug X9A attached; pollution degree
SCCR: 100 kA SCCR (short circuit current rating)
R-REM-FTO-KC-2018-1054 KC mark certificate (test mark for Korea)
MAC: XX-XX-XX-XX-XX-XX first MAC address of the device for Ethernet
communication
See manual for additional information Reference to the existing user documentation,
which contains information on overload protec-
tion and the necessary external circuit breaker.
Data matrix code, 123456789AB Product key as a data matrix code and an 11-
character alphanumeric code
Festo SE & Co. KG Manufacturer
DE-73734 Esslingen Manufacturer’s address
Made in Germany Country of origin Germany
Tab. 3: Product labelling (example)
Warning symbols on the front of the product
Warning Meaning with the CMMT-AS-...

symbol
Attention! Hot surface

Metallic housing parts of the device can reach high temperatures during operation.
In the event of a fault, internal components may become overloaded. Overloading of
components can result in high temperatures and the release of hot gases.
Attention! General danger point
The touch current in the protective earthing conductor can exceed an alternating cur-
rent of 3.5 mA or a direct current of 10 mA.
Always connect both protective earthing connections to the mains-side PE connection,
the PE pin of [X9A] and PE earthing screw on the housing.
The minimum cross section of the protective earthing conductor must comply with
the local safety regulations for protective earthing conductors for equipment with high
leakage current.
Attention! Dangerous voltage
The product is equipped with DC link capacitors, which store dangerous voltage for up
5 min to 5 minutes after the power supply is switched off. Do not touch power connections for
5 minutes after the power supply is switched off.
After the power supply is switched off, wait at least 5 minutes until the DC link capaci-
tors have discharged.
Tab. 4: Meaning of the warning symbols
Festo — CMMT-AS-C2/4-3A-... — 2021-04c 7

Safety
Warnings on the product

The following warnings are attached to the right side of the device:
Warnings on the product (en, fr) Meaning
CAUTION Caution
Risk of Electric Shock! Do not touch electrical connectors for Risk of electric shock! Do not
5 minutes after switching power off! Read manual before instal- touch electrical connections for
ling! High leakage current! First connect to earth! 5 minutes after switching power
AVERTISSEMENT off! Read manual before instal-
Risque du choc électrique! Une tension dangereuse peut ètre pré- ling! High leakage current after
sentée jusqu'à 5 minutes aprés avoir coupé l'alimentation ! Lire le PE! First connect device to pro-
manuel avant installation ! Courant de défaut élevée ! Relier tout tective earthing!
d´abord à la terre !
DANGER Danger
Risk of Electric Shock! Disconnect power and wait 5 minutes Risk of electric shock! Discon-
before servicing. nect power and wait 5 minutes
Risque du choc électrique! Débranchez l'alimentation et attendez before servicing.
5 min. avant de procéder à l'entretien.
WARNING Warning
Hot surface - Risk of burn! Hot surface – danger of burns!
ATTENTION
Risque de temperature élevée en surface!
Tab. 5: Warnings on the product
1.5 Specified standards

Version
IEC 60364-1:2005 EN 61131-2:2007

IEC 61800-5-1:2016 EN 61800-2:2015
EN 60204-1:2006+A1:2009+AC:2010 EN 61800-3:2004+A1:2012
EN 60529:1991+A1:2000+A2/AC:2019 EN 61800-5-2:2017
Tab. 6: Standards specified in the document
2 Safety
2.1 Safety instructions
General safety instructions
– Assembly and installation should only be carried out by qualified personnel.
– Only use the product if it is in perfect technical condition.
– Only use the product in original status without unauthorised modifications.
– Do not carry out repairs on the product. If defective, replace the product immediately.
– Observe labelling on the product.
8 Festo — CMMT-AS-C2/4-3A-... — 2021-04c

Safety
– Take into consideration the ambient conditions at the location of use.

The safety function might fail and malfunctions might occur if you do not comply with the parame-
ters required for the ambient and connection conditions.
– This product can generate high frequency malfunctions, which may make it necessary to implement
interference suppression measures in residential areas.
– Wear required personal protective equipment during transport and during assembly and disas-
sembly of very heavy product versions.
– Never remove or insert a plug connector while live.
– Do not loosen any screws on the product other than the following:
– Earthing screw on the cooling element for mounting the PE connection on the mains side
– Retaining screws of the shield clamp on the housing front
– Only when used in IT networks: screw for connecting the internal mains filter to PE
– Install the product in a suitable control cabinet. The minimum degree of protection required for the
control cabinet is IP54.
– Once installed, only operate the product if all the necessary protective measures have been imple-
mented (è EN 60204-1).
– Fully insulate all conducting lines on the product. We recommend wire end sleeves with plastic
sleeves for wiring power connections. During wiring, please observe the necessary strip lengths.
– Ensure correct protective earthing and shield connection.
– Prior to commissioning, ensure that the resulting movements of the connected actuator technology
cannot endanger anyone.
– During commissioning: systematically check all control functions and the communication and signal
interface between controller and servo drive.
– The product is equipped with DC link capacitors, which store dangerous voltage for up to 5 minutes
after the power supply is switched off. Before working on the product, switch off the power supply
via the main switch and secure it against being switched on again unintentionally. Before touching
the power connections, wait at least 5 minutes.
– Take into consideration the legal regulations for the installation location.
– Keep the documentation somewhere safe throughout the entire product lifecycle.
In the event of damage caused by unauthorised manipulation or any use other than the intended use,
the guarantee will be invalidated and the manufacturer will not be liable for damages.
In the event of damage caused by using unauthorised software or firmware with the device, the
warranty will be invalidated, and the manufacturer will not be liable for damages.
Safety instructions for the safety sub-functions of the product è Manual Safety sub-function.
2.2 Intended use

The servo drive CMMT-AS is intended for supply and control of AC servo motors. The integrated
electronics permit regulation of torque (current), rotational speed and position.
Use exclusively:
– in perfect technical condition
– in original condition without unauthorised modifications; only the extensions described in the
documentation supplied with the product are permitted
Festo — CMMT-AS-C2/4-3A-... — 2021-04c 9

Safety
– within the limits of the product defined by the technical data è Technical data
– in an industrial environment
The safety function might fail and malfunctions might occur if you do not comply with the parameters
required for the ambient and connection conditions.
Intended use of the safety sub-functions for the product è Manual Safety sub-function.
2.2.1 Application areas

The device is intended for use in an industrial environment and with appropriate measures in commer-
cial, residential and mixed areas.
The device is intended for installation in a control cabinet. The minimum degree of protection required
for the control cabinet is IP54.
The device can be operated in TN, TT and IT systems if certain requirements are met. Detailed informa-
tion on allowed and prohibited mains types of system earthing è 7.4 Permissible and impermissible
mains types of system earthing.
2.2.2 Permissible components
If holding brakes and clamping units without certification are used, a risk assessment is required to
assess their suitability for the related safety-oriented application.
In addition to the requirements of EN 60204-1, the following requirements apply to other components
of the drive system from EN 61800-5-2:
– Annex D.3.5 and D.3.6 for motors
– Annex D.3.1 for motor and brake cables
– Annex D.3.4 for mating plugs
Components approved by Festo for the CMMT-AS fulfil these requirements.
2.3 Training of qualified personnel

The product may be installed and placed in operation only by a qualified electro technician, who is
familiar with the topics:
– installation and operation of electrical control systems
– applicable regulations for operating safety-engineering systems
Work on safety-related systems may only be carried out by qualified personnel trained in safety
engineering.
2.4 CE marking
The product has the CE marking.
The product-related EC/EU directives and standards are listed in the declaration of conformity
è www.festo.com/sp.
2.5 Safety engineering approval

The product is a safety device in accordance with the Machinery Directive. For details of the safety-ori-
ented standards and test values with which the product complies and fulfils, see è Manual Safety
sub-function, Technical data, safety engineering.
10 Festo — CMMT-AS-C2/4-3A-... — 2021-04c

Product overview
2.6 UL/CSA certification

Technical data and environmental conditions may be subject to change in order to comply with
Underwriters Laboratories Inc. (UL) certification requirements for the USA and Canada.
Deviating values è 10.3 Technical data UL/CSA certification.
3 Additional information
– Contact the regional Festo contact if you have technical problems è www.festo.com.
– Accessories and spare parts è www.festo.com/catalogue.
Firmware, software or configuration files è www.festo.com/sp.
4 Product overview
4.1 Scope of delivery
Component Number
Servo drive CMMT-AS-... 1

Operating instructions CMMT-AS-... 1
Tab. 7: Scope of delivery
Below are some examples of the available accessories:
– Plug connector set for single wiring connection NEKM-C6-...-S
– Plug connector set for double wiring connection NEKM-C6-...-D
– External braking resistor CACR-...
– Motor cable NEBM-... , e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS
– Encoder cable, e.g. for the motor series EMMS-AS and EMME-AS
– Patch cable NEBC-..., e.g. for linkage of the RTE interface [X19A/B]
– Display and operating unit CDSB-...
– Mains filter CAMF-C6-F
– Line choke CAMF-C6-FD
Up-to-date information on the accessories è www.festo.com/catalogue.
4.2 System structure

The servo drive CMMT-AS is a 1-axis servo drive. Depending on the product variant, the following
components, which are necessary for standard applications, are integrated into the device or into the
cooling profile of the device:
– Mains filter (guarantees immunity to interference and limits conducted emissions)
– Electronics for DC link voltage conditioning
– Power stage (for motor control)
– Braking resistor (integrated into the cooling element)
– Brake chopper (switches the braking resistor in the DC link circuit, if and when required)
– Temperature sensors (for monitoring the temperature of the power module and of the air in the
device)
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Product overview
The device has separate connections for logic and load voltage supply. The load voltage supply comes
directly from the low-voltage network. The logic supply must be provided by a PELV fixed power supply
(+24 V DC).
The servo drive includes the option of connecting 2 encoders. In addition, the device has 1 switching
output for direct connection of the holding brake in the motor and 1 output for control of an external
clamping unit.
An external braking resistor can be connected instead of the internal braking resistor, if necessary.
The servo drive features a real-time Ethernet interface for process control. Various bus protocols are
supported depending on the product design (EtherCAT, EtherNet/IP or PROFINET).
The device can be parameterised via a PC using either the real-time Ethernet interface or the separate
standard Ethernet interface.
If required, the CDSB operator unit can be plugged in at the top of the front panel of the device. The
CDSB displays, for example, diagnostic information as well as setpoint and actual values in plain text.
To enable you to operate several servo drives in a device compound, the DC link circuits of several
devices can be coupled, and the power supplies and I/O signals of the devices can be linked through
cross-wiring. The DC link coupling can increase the energy efficiency of the device compound.
Festo recommends use of servo motors, electromechanical drives, lines and accessories from the
Festo accessory programme.
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Product overview
Fig. 1: System structure (example)

1 Bus/network 5 External braking resistor (optional)
2 Main switch 6 Servo drive CMMT-AS
3 Automatic circuit breaker/fuses and all- 7 Servo motor (here EMME-AS)
current-sensitive RCD (residual current 8 PC with Ethernet connection for parameter-
device) (optional) isation
4 Fixed power supply for logic voltage supply
24 V DC (PELV)
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Product overview
4.2.1 Product design

The device has a compact design. The connections are on the front and top of the device as pin
header, socket strip or RJ45 bushing. The shield clamp and strain relief for the motor cable are situated
in the lower area of the front panel.
3
2
1 5
Fig. 2: Servo drive CMMT-AS-...-3A

1 Hood 4 Blind plate
2 Cooling element 5 Front panel
3 Top 6 Shield clamp and strain relief
The cooling element on the back of the device serves to dissipate the heat from internal components
to the ambient air. The cooling element has one slot each on the top and bottom for mounting the
device on the rear wall of the control cabinet. If an operator unit is not required, the upper area is
covered with a blind plate.
The back of the device is part of the cooling element. The braking resistor is integrated in the air duct
of the cooling element. The connecting cable for the braking resistor is passed from the cooling profile,
emerges from the top of the cooling profile and is connected to the connection [X9B].
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Product overview
1 Top slot (keyhole shape)

1 2 Retaining screw for braking resistor (2x)
3 Braking resistor
4 Bottom slot
2
4
Fig. 3: Back
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Product overview
4.2.2 Overview of connection technology
2
1
15 3
14
13
5
12
6
11
8
10
Fig. 4: Connections of the CMMT-AS-...-3A

1 PE connection, housing 9 [X2] encoder connection 1
2 [X9A] mains voltage, DC link voltage and 10 [X3] encoder connection 2
logic voltage 11 [X10] device synchronisation
3 [XF2 OUT] RTE interface port 2
12 [X18] standard Ethernet
4 [XF1 IN] RTE interface port 1
13 [X5] connection for operator unit (behind
5 [X1C] inputs/outputs for the axis the blind plate)
6 [X6B] motor auxiliary connection 14 [X1A] I/O interface
7 [X6A] motor phase connection 15 [X9B] connection for braking resistor
8 Shield clamp of motor cable
The blind plate can be pulled off by hand without tools. The display and operating panel CDSB can be
plugged into the free space (è Documentation on the CDSB). If a display and operating panel is not
used, the upper area must be sealed with the blind plate.
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Assembly
5 Transport and storage

– Protect the product during transport and storage from excessive stress factors. Excessive stress
factors include:
– mechanical stresses
– impermissible temperatures
– moisture
– aggressive atmospheres
– Store and transport the product in its original packaging. The original packaging offers sufficient
protection from typical stresses.
6 Assembly
Dimensions CMMT-AS-C2/C4-3A-...
Fig. 5: Dimensions
Dimension L1 L2 L3 L4 L5 L6 L7
[mm] Approx. 170 200 22 10 6 9

212
Tab. 8: Dimensions CMMT-AS-C2/C4-3A-... Part 1
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Assembly
Dimen- H1 H2 B1 B2 B3 D1 D2 D3
sion
[mm] Approx. 170 Approx. 34 Approx. R5.5 5.5 5.5

183 50 25
Tab. 9: Dimensions CMMT-AS-C2/C4-3A-... Part 2
6.1 Mounting distances CMMT-AS-...-3A (1-phase)

The servo drives of the CMMT-AS series can be connected in series. When arraying devices, the
required minimum distance must be maintained so that the heat generated during operation can be
dissipated by allowing sufficient air flow.
Fig. 6: Mounting distances and installation clearance for CMMT-AS-...-3A (1-phase)
Servo drive H1 H21) L1 L2 L3
CMMT-AS-C2-3A-... [mm] 70 70 52 70 200

CMMT-AS-C4-3A-... [mm]
1) To ensure that clearance H2 is maintained and the motor and encoder cables are routed in the optimum manner on the bottom of the
housing, an mountingclearance of 150 mm is recommended!
Tab. 10: Mounting distances and installation clearance
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Assembly
This means that a minimum lateral distance of 2 mm (52 mm – 50 mm) is required in relation to
neighbouring CMMT-AS devices.
For adjacent third-party devices, Festo recommends a distance of at least 10 mm (surface temperature
of third-party device max. 50 °C). The double mating plug for cross-wiring of the connection [X9A]
protrudes by approx. 6 … 7 mm over the right side of the device. However, this does not create an
obstacle for arraying additional CMMT-AS.
6.2 Installation
The servo drive CMMT-AS is intended for installation in a control cabinet.
Assembly instructions
– Use a control cabinet with degree of protection IP54 or higher.
– Always install device vertically in the control cabinet on a closed surface (mains supply lines [X9A]
point upwards).
– Screw device flat to a sufficiently stable mounting surface so that good heat transfer from the
cooling element to the mounting surface is ensured (e.g. screw to the rear wall of the control
cabinet).
– Maintain minimum distances and installation clearance to guarantee sufficient air flow. The ambient
air in the control cabinet must be able to flow through the device from bottom to top without
hindrance.
– Take into account the required clearance for the wiring (connecting cables of the device must be
routed from above and from the front).
– Do not mount any temperature-sensitive components near the device. The device can become very
hot during operation (switch-off temperature of the temperature monitoring function è Technical
data).
– When assembling several devices in a device compound, consider general rules for cross-wiring. For
DC link coupling, higher-power devices must be placed closer to the mains supply.
– If there is a voltage supply to the device when the control cabinet is open, vertical access to the
bottom and top of the device must be prevented.
For mounting on the rear wall of the control cabinet, the servo drive cooling element has a slot on the
top in the shape of a keyhole and an ordinary slot on the bottom.
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Installation
Assembly of the servo drive

WARNING
Danger of burns through hot escaping gases and hot surfaces.
In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internal
components can be overloaded. High temperatures can develop and hot gases can be released.
• Have an authorised electrician perform the installation according to the documentation.
WARNING
Danger of burns from hot housing surfaces.
Metallic housing parts can accept high temperatures in operation. In particular, the braking resistor
installed in the profile on the back side can become very hot.
Contact with metal housing parts can cause burn injuries.
• Do not touch metallic housing parts.
• After the power supply is switched off, let the device cool off to room temperature.
• Mount the servo drive on the rear wall of the control cabinet with suitable screws while complying
with the assembly instructions.
7 Installation
7.1 Safety
WARNING
Risk of injury from electric shock.
Contact with live parts at the power connections [X6A], [X9A] and [X9B] can result in severe injuries or
death.
• Do not pull out power supply plugs while live.
• Before touching, wait at least 5 minutes after switching off the load voltage to allow the inter-
mediate circuit to discharge.
WARNING
The leakage current of the device to earth (PE) is > 3.5 mA AC or 10 mA DC. Touching the device
housing if there is a fault can result in serious injuries or death.
Before commissioning, also for brief measuring and test purposes:
• Connect PE connection on the mains side at the following positions:
• Protective earth connection (earthing screw) of the housing
• PE pin of the connection [X9A] (power supply)
The cross section of the PE conductors must be at least equal to the cross section of the
mains conductor L at [X9A].
• Connect motor cable to connection [X6A] and the shield of the motor cable on the front side to PE
via the shield clamp of the servo drive.
• Observe the regulations of EN 60204-1 for the protective earthing.
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Installation
WARNING
Danger of burns through hot escaping gases and hot surfaces.
In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internal
components can be overloaded. High temperatures can develop and hot gases can be released.
• Have an authorised electrician perform the installation according to the documentation.
WARNING
Risk of injury from electric shock in the event of incomplete insulation at the power connections
[X6A], [X9A] and [X9B].
Before operating, plugging in or unplugging the operator unit CDSB or a connector from a hot-plug-
capable interface, the following points must be fulfilled:
• The conducting lines at the device are completely insulated.
• The protective earthing (PE) and the shield connection are correctly connected to the device.
• The housing is free of damage.
WARNING
Risk of injury due to overheating and electric shock with faulty live components
Closing the branch-circuit protective device with faulty live components may cause fire or electric
shock.
• The opening of the branch-circuit protective device may be an indication that a fault current has
been interrupted. To reduce the risk of fire or electric shock, current-carrying parts and other
components of the controller should be examined and replaced if damaged. If burnout of the
current element of an overload relay occurs, the complete overload relay must be replaced.
7.2 Residual current protective device

WARNING
This product can cause a DC current in the residual-current conductor in case of error. In cases where
a residual current device (RCD) or a residual current monitor (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.
The touch current in the protective earthing conductor can exceed an alternating current of 3.5 mA
or a DC current of 10 mA. Always connect both protective earthing connections to the mains-side PE
connection, the PE pin of [X9A] and PE earthing screw on the housing. The minimum cross section of
the protective earthing conductor must comply with the local safety regulations for protective earthing
conductors for equipment with high leakage current.
A residual current circuit breaker with 30 mA tripping current may be suitable for a separately wired
servo drive CMMT-AS, depending on the configuration. As a rule, residual current protective devices
with a rated residual current > 30 mA are required for a device compound consisting of several servo
drives.
Festo recommends using a residual current protective device with a tripping delay, as high residual
currents occur during switch-on. Residual current protective devices with a tripping delay prevent
unintended tripping during switch-on.
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Installation
7.3 Mains fuse

The CMMT-AS has no integrated fuse at the mains input or in the DC link circuit. An external fuse is
required at the mains supply of the device. A device compound coupled in the DC link circuit must be
protected by means of a common mains fuse.
• Only use line safety switches and fuses that have the relevant approval and meet the specifica-
tions and protection requirements stated below.
Requirements for line safety switches (circuit breakers) and fuses
Fuse/circuit breaker Line safety switch Class J/CC fuse
type
Max. permissible rated [A] 16 25

current Restrictions concerning line protection è Tab. 12 Line protection
requirements
Short circuit current [kA] Min. 10 Min. 100
rating SCCR of mains
fuse
Approvals IEC 60947-2 CE certification
Rated voltage [V AC] Min. 240 600
Overvoltage category III
Pollution degree 2
Characteristic C Slow-blowing
Tab. 11: Requirements for line safety switches and fuses
In the case of electricity networks with a SCCR > 10 kA, only class J/CC fuses are permitted. The line
safety switch is used for line protection. The rated current of the line safety switch must be less
than or equal to the acceptable current rating of the selected conductor cross section. The line safety
switch must also take into account the overload case and must not trip (overload case: up to a 3-fold
increase in the input current for 2 s).
Line protection requirements
Description Cable cross section at Mains fuse [A]1)
[X9A]
[mm²] CMMT-AS-C2-3A-... CMMT-AS-C4-3A-...
Minimum fuse protec- 0.75 6

tion
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Installation

Description Cable cross section at Mains fuse [A]1)
[X9A]
[mm²] CMMT-AS-C2-3A-... CMMT-AS-C4-3A-...
Maximum fuse protec- 1.5 13

tion of an individual 2.5 16
device or a device com-
pound
1) Specifications according to DIN VDE 0298-4:2013, permissible currents according to EN 60204-1 may differ (depending on laying
method and temperature)
Tab. 12: Line protection requirements
Fuse protection when load circuit is supplied with DC power
The CMMT-AS allows the load circuit to be supplied with DC power. With DC power, external fuse
protection is once again required in the form of short circuit protection and line protection. The fuse
that is used must be capable of reliably disconnecting the maximum DC supply voltage that could
occur and the potential short circuit current (SCCRDC).
Maximum fuse protection: 16 A
If fuse protection is to be avoided on the DC side, check whether the fuse protection could alterna-
tively be installed on the AC side upstream of the DC fixed power supply.
7.4 Permissible and impermissible mains types of system earthing

TN systems
TN systems Refer- Information

ence1)
TN-S system with separate Fig. 31A1 System is supported.

neutral conductor and PE Connect device to the distribution network of the current
conductor in overall system source as follows:
– either between a mains phase and N or between 2
mains phases (230 V AC, LL)
For DC link coupling, connect only one device directly to
the distribution network of the current source. Connect
the coupled devices to the same mains phase using
cross-wiring.2)
TN-S system with separate Fig. 31A2 System is not supported because the system voltage can
earthed mains conductor exceed 300 V!
and PE conductor in overall
system
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Installation
TN systems Refer- Information

ence1)
TN-S system with earthed Fig. 31A3 System is not supported because a neutral conductor is
PE conductor without neu- required!
tral conductor in overall
system
TN-C system with neutral Fig. 31C System is supported.
conductor and protective Connect device to the distribution network of the current
earth function combined in source as follows:
a single conductor, the PEN – either between a mains phase and N or between 2
conductor mains phases (230 V AC, LL)
cross-wiring.2)
TN-C-S system with neutral Fig. 31B1 System is not supported because the separate N con-
conductor and protective ductor may not be suitable for the load currents that
earth function combined in occur.
a single conductor, the PEN
conductor, in one part of the
system
1) è IEC 60364-1, Chapter 312.2.
2) With cross-wiring, only 1 main switch and 1 circuit breaker is permissible for the device compound.
Tab. 13: Permissible and impermissible TN systems
TT system
TT system Refer- Information

ence1)
TT system with separate Fig. 31F1 System is supported.

neutral conductor and PE Connect device to the distribution network of the current
conductor in the overall source as follows:
system. – either between a mains phase and N or between 2
The N conductor is con- mains phases (230 V AC, LL)
nected directly to the cur- For DC link coupling, connect only one device directly to
rent source. the distribution network of the current source. Connect
cross-wiring.2)
1) è IEC 60364-1 Chapter 312.2.
2) In the case of cross-wiring, only one main switch and one circuit breaker are permitted for the device compound.
Tab. 14: TT system
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Installation
IT system
IT system Refer- Information

ence1)
IT system with insulation Fig. 31G1 System is supported.

of active parts separated – Connect device to the distribution network of the cur-
from protection earth or rent source between a mains phase and N.
connected via high impe- A device or device compound must not be connected
dance. The exposed conduc- between 2 mains phases.
tive parts are connected to – The permissible system voltage of the CMMT-AS is
local earthing. 300 V in accordance with IEC 61800-5-1. Observe the
restrictions set out in IEC 61800-5-1 when operating
the CMMT-AS in an IT network!
– Use insulation monitoring system so that insulation
faults can be detected immediately (earth-leakage
monitor).
– Interrupt the internal connection of the internal mains
filter to PE è Interrupting the connection of the
internal mains filter to PE (for IT networks only).
– Use external filter measures that ensure CE conformity.
cross-wiring.
1) è IEC 60364-1 Chapter 312.2.
Tab. 15: IT system
After removing the connection of the internal mains filter to PE, the device is not classified in respect
of emitted interference in accordance with EN 61800-3. External filter measures are required.
When operating servo drives in IT networks, the distributor must provide an EMC concept for the
overall system.
This comprises as a minimum:
– A concept for feedback of the converter leakage currents into the converter DC link circuit (Y
capacitors to the DC link circuit)
– Use of external filter measures such as mains filter and converter output filter
Earth-leakage monitor
For IT systems, an earth-leakage monitor is required so that an insulation fault between the mains
phase and PE can be detected immediately. An insulation fault must be rectified immediately after
detection.
Leakage currents in IT systems
High-frequency leakage currents to protective earthing (PE) may be encountered even in IT systems
(IT = Isolé Terre) during operation of the servo drive. The leakage currents flow to the PE through
the coupling capacitances of the motor cable and the motor and back to the servo drive through the
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Installation
coupling capacitance of the isolating transformer via the load supply. The coupling capacitances can
be minimised by selection of a suitable isolating transformer and keeping the motor cable as short as
possible.
WARNING
The servo drive generates high-frequency leakage currents, which can lead to dangerous contact
currents on the external conductors and the neutral conductor of the IT system. Touching the mains
conductor or the neutral conductor can result in serious injuries or death.
• Before working on the IT systems, disconnect the servo drive from the mains.
Interrupting the connection of the internal mains filter to PE (for IT networks only)
Before using the CMMT-AS in IT networks, the internal connection of the integrated mains filter to PE
must be interrupted. Interrupting the connection prevents unwanted disconnection on faults of the
device and damage to the integrated filter. The connection of the mains filter to PE is interrupted by
removing a screw in the lower area of the right-hand side of the housing.
To unscrew the screw, lever out the housing element in front of the screw. A protective cap for sealing
the recess in the housing is included in the scope of delivery for the plug sets NEKM-C6-...-S and
NEKM-C6-...-D (accessories from Festo).
To interrupt the connection of the filter capacitors to PE:
1. Completely disconnect the servo drive from the power supply.
2. Wait 5 minutes until the DC link circuit has discharged.
3. Place a suitable screwdriver against the upper notch in the housing recess provided and carefully
lever the housing element out using the screwdriver.
4. Carefully undo the screw completely using a size T10 screwdriver.
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Installation
5. Push the protective cap fully into the housing recess as contact protection.
For operation in other networks, the internal connection of the mains filter to PE must be re-estab-
lished by screwing the screw back in (tightening torque 1.4 Nm ± ± 15%).
7.5 Connection of the mains side PE conductor

All PE conductors must always be connected prior to commissioning for safety reasons. Observe the
regulations of EN 60204-1 when implementing protective earthing.
Always connect PE connection on the mains side (PE rail in the control cabinet) at the following
positions:
– PE pin of the connection [X9A]
– PE connection (earthing screw) next to the upper slot of the cooling element
The cross section of the PE conductors must be at least equal to the cross section of the mains
conductor L at [X9A]. Wire individually wired devices in a star shape. Observe the requirements for
cross-wiring for cross-wired devices. Recommendation: use copper earthing strap (advantageous for
EMC).
1. Equip PE conductors for the earthing screw with a suitable cable lug.
2. Tighten earthing screw with a TORX screwdriver of size T20 (tightening torque 1.8 Nm ± 15 %).
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Installation
Fig. 7: PE connection (earthing screw)

1 PE connection (earthing screw)
7.6 Information on EMC-compliant installation

A mains filter is integrated into the device. The mains filter fulfils the following tasks:
– Guarantees the device’s immunity to interference
– Limits the conducted emissions of the device
The device fulfills the requirements of the relevant product standard EN 61800-3 with suitable installa-
tion and wiring of all connecting cables.
The category that the device fulfils is dependent on the filter measures used and the motor cable
length. The integrated mains filter is designed so the device fulfils the following categories when
operated as an individual device:
CMMT-AS... PWM required measures Max. permissible motor
[kHz] cable length [m]
Category C2: operation in the first environment (residential area)

-C2-3A 8 Line choke 15
-C4-3A 16 Line choke and snap ferrite 10
Category C3: operation in the second environment (industrial area)
-C2-3A 8, 16 – (none) 25
-C4-3A External mains filter 50
Tab. 16: Category according to the pulse-width modulation frequency and the cable length
Required measures
Measures Description
Line choke A line choke with two partial windings for the line feeds L1 and N (2 x ³ 5 mH)
(2 x ³ 5 mH) must be installed to comply with the mains harmonics in accordance with
EN 61000-3-2 – accessories.
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Installation
Snap ferrite A snap ferrite (Würth, prod. no. 74272722 or compatible) on motor phases U, V,
W (without PE) must be installed to comply with the malfunction limit values of
category C2 at a switching frequency of 16 kHz. Feed through flying leads once.
external mains Install a suitable external mains filter – Accessories.
filter
Tab. 17: Installation measures to achieve the specified category
For installation of a line choke and a snap ferrite è 7.7 Connection examples.
– If set-up and commissioning are performed by a professional with the necessary experience for
setting up and commissioning drive systems, including their EMC aspects, category C2 devices can
be used in the first environment (residential area).
– For operation of category C2 devices, limit values for the harmonic currents in the network
(EN 61000-3-2 or EN 61000-3-12) apply, depending on the connected load of the machine. Please
check whether this is the case for your facility/system. As a rule, compliance with the limit values
for harmonic currents requires the use of external filter measures, e.g. installation of a line choke.
– Category C3 devices are intended for use in the second environment only (industrial environment).
Use in the first environment is not permitted.
This product can generate high frequency interference, which may make it necessary to implement
interference suppression measures in residential areas.
In practice, the combination of the components used and their characteristics influence the achievable
length of the motor cable. Examples for determining possible motor cable lengths with Festo motors
è 10.4.1 Cable lengths in combination with Festo motors.
Cable lengths and cable shield
– Only use suitable cables that fulfil the requirements of standard EN 60204-1.
– Observe the max. permissible cable lengths and requirements for shielding.
– Observe shield support requirements.
Connection Max. cable length [m] Cable shield
[X1A] Inputs/outputs for the 3 Unshielded

higher-order PLC
[X1C] Inputs/outputs for the axis 501) unshielded/shielded2)
[X2] Encoder 1 503) shielded
[X3] Encoder 2
[X6A] Motor phase connection Dependent on category and shielded
pulse-width modulation fre-
quency è Tab. 16 Category
according to the pulse-width
modulation frequency and the
cable length
[X6B] Motor auxiliary connection 501) shielded
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Installation
Connection Max. cable length [m] Cable shield
[X9A] Power supply and DC link Single device: 2 Unshielded

circuit connection Device compound: 0.5
[X9B] Braking resistor 24) shielded4)
[X10] Device synchronisation Single device: 3 double shielded (CAT 5)
Device compound: 0.5
[X19] RTE (port 1 and port 2) 30 double shielded (CAT 5)
[X18] Standard Ethernet 30 double shielded (CAT 5)
1) Take voltage drop in the cables into account for cable lengths > 25 m by selecting suitable cross-sections for the insulated wires.
2) Use a shielded cable outside the control cabinet for safety engineering applications. Otherwise, a shield is not absolutely essential,
but is recommended.
3) Comply with the maximum permissible cable length for the installed encoder.
4) with connection of an external braking resistor
Tab. 18: Cable lengths and cable shield
Shielded cables without a shielded plug housing have short unshielded cable ends at both ends by
definition.
Make unshielded cable ends as short as possible.
Maximum permissible length of unshielded wires at the connection:
– [X6A] max. 120 mm
– [X6B] max. 150 mm
– [X1C] max. 150 mm
Laying cables
Comply with general guidelines for EMC-compliant installation, e.g.:
– Do not run signal cables parallel to power cables.
– Comply with required minimum distances between signal cables and power cables dependent on
the installation conditions. Signal cables must be physically separated from the power cables to the
maximum possible extent.
– Avoid crossing signal cables with power cables or running them at a 90° angle in relation to one
another.
EMC-compliant installation of the motor cable and encoder cables
– Keep motor cable as short as possible to minimise the leakage currents and losses in the motor
cable.
– Connect the motor cable shield under the shield clamp in the lower area on the front of the housing,
ensuring a large-area connection. The motor cable shield must be connected to the associated
servo drive so that the leakage currents can flow back into the servo drive from which they
originate.
– Connect the PE inner conductor of the motor cable to the PE connection point of the motor
connection [X6A].
– Connect the shield of the motor cable to the PE over a large surface area on the motor side (e.g. via
the shield connection provided on the motor connector or the shield support surface in the motor
junction box).
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Installation
– If separate cables are used for the holding brake and the temperature sensor, connect the respec-
tive shield to the corresponding PE connection point of the motor auxiliary connection [X6B].
– Connect the shield of the encoder cable on both sides: on the device side to the respective plug
housing, on the motor side to the encoder or plug housing.
– Route the signal cables [X2], [X3], [X10], [X1C] and [X6B] downward and ensure strain relief using
cable binders at the cut-outs of the servo drive shield clamp.
7.7 Connection examples

Connection plan, 1-phase mains connection
The following connection diagram shows the 1-phase mains connection of the device with fuse and
main switch that does not interrupt the neutral conductor (uninterrupted connection of the neutral
conductor when switching on and off ).
This type of connection is required if several 1-phase powered servo drives with a common neutral
conductor reference are distributed to the mains phases L1, L2 and L3 in a network.
If otherwise stipulated that the neutral conductor must be disconnected when switching on and off,
the following note must be observed:
NOTICE
Overvoltage due to asymmetrical mains load
If the neutral conductor has to be disconnected when the device is switched on and off, the device can
be damaged by overvoltage due to an asymmetrical network load.
• Design the mains connection with fuse and main switch so that the neutral conductor is always
switched on early and switched off later.
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Installation
Fig. 8: Connection example, 1-phase mains connection

1 Braking resistor 5 PELV fixed power supply for 24 V supply
2 Circuit breaker or fuse 6 Encoder 2 (optional)
3 Main switch/main contactor 7 Encoder 1
4 Line choke (for category C2) 8 Snap ferrite (for category C2, 16 kHz)
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Installation
Connection plan, 2-phase mains connection
NOTICE
Damage to the servo drive with 2-phase connection to a low-voltage network with a star voltage of
230 V.
A low-voltage network common in Europe with a nominal star voltage value of 230 V has an interlinked
voltage of approx. 400 V between the 2 mains conductors.
• Do not connect a servo drive to 2 phases of the low-voltage mains common in Europe.
• Comply with the maximum permissible voltage between the mains conductors.
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Installation
Fig. 9: Connection example, 2-phase mains connection

1 Braking resistor 5 PELV fixed power supply for 24 V supply
2 Circuit breaker or fuse 6 Encoder 2 (optional)
3 Main switch/main contactor 7 Encoder 1
4 Line choke (for category C2) 8 Snap ferrite (for category C2, 16 kHz)
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Installation
7.8 Interfaces
7.8.1 [X1A], inputs and outputs for the higher-order PLC
The I/O interface [X1A] is located on the top of the device. This interface offers access to functional
and safety-related inputs and outputs of the device. These include, for example:
– Digital inputs for 24 V level (PNP logic)
– Digital outputs for 24 V level (PNP logic)
– Signal contact for safety chain (RDY-C1, RDY-C2)
– Differential analogue input ±10 V control voltage
The inputs and outputs of this I/O interface are used for coupling to a higher-order PLC. The safety-
related inputs and outputs are connected to a safety relay unit.
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Installation
[X1A] Pin Function Description
24 RDY-C1 Normally open contact: ready for opera-

23 RDY-C2 tion message (Ready)
22 STA Diagnostic output Safe torque off

acknowledge
21 SBA Diagnostic output Safe brake control
acknowledge
20 – reserved, do not connect
19 –
18 SIN4 Release brake request
17 GND Reference potential (ground)
16 TRG0 fast output for triggering external com-
ponents, channel 0
15 TRG1 like TRG0, but channel 1
14 CAP0 fast input for position detection, channel
0
13 CAP1 like CAP0, but channel 1
12 #STO-A Control input Safe torque off, channel A
11 #STO-B Control input Safe torque off, channel B
10 #SBC-A Control input Safe brake control, channel
A
9 #SBC-B Control input Safe brake control, channel
B
7
6
5
4 ERR-RST Error acknowledgement
3 CTRL-EN Power stage enable
2 AIN0 Differential analogue input
1 #AIN0
Tab. 19: Inputs and outputs for the higher-order PLC with the CMMT-AS-...-S1
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Installation
Requirements for the mating plugs (2 required)
Design FMC-1.5/12-ST-3.5 from Phoenix Contact or com-

patible
Signal contacts 12 (12-pin, 1-row)
Nominal current 8A
Rated voltage (III/2) 160 V
Pitch 3.5 mm
Strip length 10 mm
Tab. 20: Requirements for the mating plugs
Requirements for the connecting cable Single device Device compound
Shielding Unshielded
Min. conductor cross section incl. 0.25 mm2 –
wire end sleeve with plastic sleeve
Max. conductor cross section incl. plastic 0.75 mm2 –
wire end sleeve
Min. conductor cross section incl. double – 0.25 mm2
Max. conductor cross section incl. double – 0.5 mm2
Max. length 3m 0.5 m
Tab. 21: Requirements for the connecting cable
Brief description of inputs and outputs at the connection [X1A] with the CMMT-AS-...-S1
Signal Name Function can be

name parame-
terised
X1A.24 Ready 1 (RDY-C1) Normally open contact; ready no

X1A.23 Ready 2 (RDY-C2) If the device is ready for operation, the contact is
closed. If there is an error, the contact is opened.
X1A.22 Safe torque off Diagnostic output for the safety sub-function STO; the
acknowledge output only switches to high when the safety sub-func-
(STA) tion STO is requested over 2 channels and the control
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Installation

name parame-
terised
of the power output stage is switched off safely over

2 channels (detailed information on this è Manual
Safety sub-function).
X1A.21 Safe brake con- Diagnostic output for the safety sub-function SBC; the
trol acknowledge output only switches to high when the safety sub-func-
(SBA) tion SBC is requested over 2 channels and both brake
outputs are switched off safely (detailed information on
this è Manual Safety sub-function).
X1A.20 n. c. Reserved for future extensions; do not connect
X1A.19 n. c.
X1A.18 Release brake When the level at this input is high, the brake can yes
(SIN4) be released from a functional perspective if the func-
tion has been previously configured in the servo drive.
However, a requested SBC function always has higher
priority, and this results in the brake not being trig-
gered/enabled.
X1A.17 0 V (GND) Reference potential for I/O signals; internally connected to 0 V of
the 24 V logic supply. Therefore, only use if the I/O signals are
electrically isolated from the 24 V logic supply on the opposite side
(controller).
X1A.16 Trigger 0 (TRG0) Trigger output channel 0 (fast output for triggering yes
external components)
The output switches dependent on a reference position.
Logical switching statuses can be output by virtual
position switches, rotor position switches and cam con-
trollers via the output.
X1A.15 Trigger 1 (TRG1) Trigger output channel 1 (like TRG0, but channel 1)
X1A.14 Capture, channel fast input for position detection, channel 0
0 (CAP0) The current actual position of the encoder is saved
when the parameterised edge change occurs. The
higher-order controller can call up the stored actual
positions via the active fieldbus.
X1A.13 Capture, channel fast input for position detection, channel 1 (like CAP0,
1 (CAP1) but channel 1)
X1A.12 Safe torque off, The safety sub-function STO is requested when the no
channel A (#STO- signal level at the inputs #STO-A and #STO-B is low.
A) Control of the power output stage is then safely
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Installation

name parame-
terised
X1A.11 Safe torque off, blocked. If the safety sub-function STO is not required,
channel B (#STO- both inputs must be connected to 24 V so that the
B) motor can be moved (detailed information on this
è Manual Safety sub-function).
X1A.10 Safe brake con- The safety sub-function SBC is requested when the
trol, channel A signal level at the inputs #SBC-A and #SBC-B is low.
(#SBC-A) The control outputs for the motor holding brake and
X1A.9 Safe brake con- external clamping unit are then switched off. If the
trol, channel B safety sub-function SBC is not required, both inputs
(#SBC-B) must be connected to 24 V so that the motor can be
moved (detailed information on this è Manual Safety
sub-function).
X1A.8 n. c. Reserved for future extensions; do not connect
X1A.7 n. c.
X1A.6 n. c.
X1A.5 n. c.
X1A.4 Acknowledge Acknowledgeable error messages can be acknowledged no
error (ERR-RST) with a rising edge at this input.
X1A.3 Enable (CTRL-EN) Behaviour can be parameterised. yes
– Behaviour 1: the closed-loop controller can only
be enabled via the drive profile when high level is
present.
– Behaviour 2: on a rising edge, the closed-loop con-
troller is enabled without taking the drive profile into
account. The drive is energised and is in the oper-
ating mode requested during the signal transition.
– Behaviour 3: enabling of the closed-loop controller
can only be controlled via the drive profile.
If the request is withdrawn, the drive is braked in
accordance with the behaviour of stop category 1. On
completion of the braking ramp, the brake engages,
and the power stage is switched off in terms of func-
tionality.
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Installation

name parame-
terised
X1A.2 AIN0 Differential analogue input for typical input level of yes
X1A.1 #AIN0 ± 10 V
Via the analogue input, the following setpoint values
and limits can be specified in the form of analogue
voltage:
– Setpoint values for position, speed or force/current
– Limits for speed or force/current
Tab. 22: Inputs and outputs at the connection [X1A]
Internal design of digital inputs (DIN) – does not apply to STO inputs
The following equivalent circuit shows an example of the internal design of a digital input (DIN).
The digital inputs are designed for +24 V level corresponding to type 3 in accordance with EN 61131-2.
The digital inputs are not electrically isolated and have integrated EMC protective functions.
Two-channel safe inputs correspond in their internal design to two 1-channel inputs. However, the
equivalent circuit is not valid for the STO inputs. Information on 2-channel safe inputs è Manual
Safety sub-function.
DIN µC
Fig. 10: Internal design of digital inputs (DIN)
Internal design of digital outputs (DOUT)

The digital outputs TRG0 and TRG1 supply + +24 V signals, which are implemented with a high-side
driver.
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Installation
Fig. 11: Internal design of digital outputs (DOUT)
Internal design of analogue input 0 (AIN0)

The analogue input AIN0 is a differential input for typical input levels of ± 10 V. The differential
amplifier filters out high-frequency interference signals.
VREF
AIN
ADU
#AIN
Fig. 12: Internal design of analogue input 0 (AIN0)
7.8.2 [X1C], inputs and outputs for the axis

The I/O interface [X1C] is located on the front of the device. This interface makes functional and
safety-related inputs and outputs available for components on the axis. Output BR-EXT is used in
conjunction with the safety sub-function Safe brake control è Manual Safety sub-function.
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Installation
[X1C] Pin Function Description

9 24V Power supply output for sensors
7 LIM1 Digital input for limit switch 1 (PNP logic,
24 V DC)
6 LIM0 Digital input for limit switch 0 (PNP logic,
24 V DC)
4 24 V Power supply output for sensors
2 REF-A Digital input for reference switch (PNP
logic, 24 V DC)
1 BR-EXT Output for connection of an external
clamping unit (high-side switch, low test
pulses at #SBC-B are transferred to BR-
EXT)
Tab. 23: Inputs and outputs for the axis
Mating plug requirements
Design DFMC 1.5/ 5-ST-3.5 from Phoenix Contact or

compatible
Nominal current 8A
Pitch 3.5 mm
Strip length 10 mm
Tab. 24: Mating plug requirements
Cable requirements
Shielding unshielded/shielded1)
Min. conductor cross section including wire end 0.25 mm2
sleeve with plastic sleeve
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Installation
Cable requirements
Max. conductor cross section including wire end 0.75 mm2

Max. length 50 m
1) Use a shielded cable outside the control cabinet for safety engineering applications. Otherwise, a shield is not absolutely essential,
but is recommended.
Tab. 25: Cable requirements
Shield support requirements
Connecting the shield
1. On the device side, connect the cable shield to the shield clamp for the motor cable.
2. On the machine side, connect the cable shield to an earthed machine part.
7.8.3 [X2], encoder interface 1
The encoder interface [X2] is located on the front of the device. The encoder interface [X2] is primarily
designed for connecting the position encoder integrated into the motor.
Supported standards/protocols Supported encoders
Hiperface SEK/SEL 37
SKS/SKM 36
EnDat 2.2 ECI 1118/EBI 1135
ECI 1119/EQI 1131
ECN 1113/EQN 1125
ECN 1123/EQN 1135
EnDat 2.1 Only in conjunction with Festo motors from
the series EMMS-AS that have an inte-
grated encoder with EnDat 2.1 protocol
Digital incremental encoders with square-wave signals ROD 426 or compatible
and with RS422-compatible signal output (differential
A, B, N signals)
Analogue SIN/COS incremental encoders with differen- HEIDENHAIN LS 187/LS 487 (20 µm signal
tial analogue signals with 1 Vss period) or compatible
Encoders with asynchronous two-wire communication Nikon MAR-M50A or compatible (18 bit
interface (RS485) data frames)
Tab. 26: Standards and protocols supported by the encoder interface [X2]
NOTICE
Damage to the sensor when sensor type is changed.
The servo drive can provide 5 V or 10 V sensor supply. Through configuration of the sensor, the supply
voltage is established for the sensor. The sensor can be damaged if the configuration is not adjusted
before connection of another sensor type.
• When changing the sensor type: Comply with specified steps.
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Installation
Change of encoder type

1. Disconnect encoder from the device.
2. Set up and configure new encoder type in the CMMT-AS.
3. Save settings in the CMMT-AS.
4. Switch off CMMT-AS.
5. Connect new encoder type.
6. Switch CMMT-AS back on.
Voltage drops in the encoder cable are compensated at the connection [X2] for encoders that feature
purely digital communication and require a regulated +5 V supply (EnDat 2.1, Nikon).
The connection [X2] is designed as a RJ45 bushing. An LED is integrated into the RJ45 bushing. With
digital incremental encoders, the LED lights up green when the encoder interface is active. With
encoders featuring a communication interface, the LED lights up green when there is a connection to
the encoder.
Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact or

compatible
Number of pins 8
Shielded Yes
Nominal current >1A
Rated voltage 120 V AC
Degree of protection IP20
Requirements for the connecting cable
Characteristics – Encoder cable for servo drives, shielded

– Optical shield cover > 85 %
– Separately twisted signal pairs
– Recommended design: (4 x (2 x 0.25 mm2))1)
Max. cable length 50 m
1) In the case of encoders with no compensation for voltage drops or in the case of very long cables, thicker supply cables may be
required.
Connecting the encoder cable shield
1. On the device side, connect the encoder cable shield to the plug housing.
2. On the motor side, connect the encoder cable shield to the encoder or encoder plug.
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Installation
Pin allocation of EnDat encoder (EnDat 2.1 and EnDat 2.2)

[X2] Pin Function Value Description
1 SCLK 5 Vss, Ri = 120 W Clock line, output,

2 #SCLK RS485-compliant,
differential
3 VCC-IN Measured value Only for EnDat 2.1:
encoder voltage
back measurement,
differential
4 DATA Differential signal: Data cable, bidirec-
5 #DATA 5 Vss, Ri = 120 W tional, RS485-com-
pliant, differential
6 #VCC-IN Measured value Only for EnDat 2.1:
encoder voltage
back measurement,
differential, inverse
7 VCC1 – EnDat 2.1: Encoder supply,
5.00 V … 5.50 V, switchable
max. 250 mA – EnDat 2.1: 5 V
– EnDat 2.2: – EnDat 2.2: 10 V
9.50 V … 10.50 V,
max. 250 mA
8 GND 0V Reference potential
of encoder supply
Housing FE, connected to PE – The housing is used
as a support for the
cable shield and is
connected to the PE.
Tab. 29: EnDat encoder
Hiperface encoder pin allocation

1 COS 1 Vss, Ri = 120 W COS track signal

2 #COS from the high-reso-
lution incremental
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Installation
Hiperface encoder pin allocation

encoder, RS485-
compliant, differen-
tial
3 SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high-resolution
incremental encoder,
RS485-compliant,
differential
4 DATA 5 Vss, Ri = 120 W Hiperface data cable,
5 #DATA bidirectional, asyn-
chronous, 115 kbit/s
RS485-compliant,
differential
6 #SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high-resolution
RS485-compliant,
7 VCC1 9.50 V … 10.50 V Encoder supply,
Max. 250 mA switchable; Hiper-
face: 10 V
for supply (ground)
cable shield and is
Tab. 30: Hiperface encoder
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Installation
Pin allocation for digital incremental encoders

1 A 5 Vss, Ri = 120 W A-track signal

2 #A from the incre-
mental encoder,
RS485-compliant,
differential
3 B 5 Vss, Ri = 120 W B-track signal
from the incre-
mental encoder,
RS485-compliant,
differential
4 N 5 Vss, Ri = 120 W Zero pulse or N-
5 #N track signal from the
RS485-compliant,
differential
6 #B 5 Vss, Ri = 120 W B-track signal
from the incre-
mental encoder,
RS485-compliant,
7 VCC1 5.00 V … 5.50 V, Encoder supply,
max. 250 mA switchable; incre-
mental encoder: 5 V
Voltage drop in the
encoder cable is not
compensated
for supply (ground)
cable shield and is
Tab. 31: Digital incremental encoders
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Installation
Pin allocation for analogue SIN/COS incremental encoders

1 COS 1 Vss, Ri = 120 Ω COS track signal

lution incremental
encoder, RS485-
tial
the high-resolution
RS485-compliant,
differential
4 N 5 Vss, Ri = 120 Ω Zero pulse or N-
RS485-compliant,
differential
the high-resolution
RS485-compliant,
max. 250 mA switchable; SIN/COS
encoder: 5 V
Voltage drop in the
encoder cable is not
compensated
for supply (ground)
cable shield and is
Tab. 32: Analogue SIN/COS incremental encoders
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Installation
Pin allocation for encoders with asynchronous communication interface

1 – – –
2 –
3 VCC-IN Measured value Encoder voltage
back measurement,
differential
4 DATA 5 Vss, Ri = 120 W Data cable,
5 #DATA bidirectional, asyn-
chronous, max.
4000 kbit/s, RS485-
tial
6 #VCC-IN Measured value Encoder voltage
back measurement,
max. 250 mA switchable; 5 V
Voltage drop in the
encoder cable is
compensated
for supply (ground)
cable shield and is
Tab. 33: Encoders with asynchronous communication interface
7.8.4 [X3], encoder interface 2

The encoder interface [X3] is located on the front side of the device. The encoder interface [X3]
primarily serves to connect a second position encoder to the axis (e.g. to enable precise positioning
control for the axis or as a redundant measuring system for safe motion monitoring).
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Installation
Supported standards/protocols Supported encoders
Digital incremental encoders with square-wave ROD 426 or compatible

signals and with RS422-compatible signal out- ELGO LMIX 22
puts (differential A, B, N signals)
Analogue SIN/COS incremental encoders with HEIDENHAIN LS 187/LS 487 (20 µm signal
differential analogue signals with 1 Vss period) or compatible
Tab. 34: Standards and protocols supported by the encoder interface [X3]
[X3] is designed to be electrically compatible with [X2] but does not support all encoders and functions
like [X2].
The connection [X3] is designed as an RJ45 bushing. An LED is integrated into the RJ45 bushing. The
LED indicates the connection status. If there is a connection to the encoder, the LED lights up green.

compatible
Number of pins 8
Shielded Yes
Nominal current >1A

– Optical shield cover > 85 %
– Recommended design: (4 x (2 x 0.25 mm2))1)
1) In the case of encoders with no compensation for voltage drops or in the case of very long cables, thicker supply cables may be
required.
Connecting the encoder cable shield
1. On the device side, connect the encoder cable shield to the plug housing.
2. On the motor side, connect the encoder cable shield to the encoder or encoder plug.
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Installation
Pin allocation for digital incremental encoders

1 A 5 Vss, Ri = 120 Ω A-track signal

2 #A from the incre-
mental encoder,
RS485-compliant,
differential
3 B 5 Vss, Ri = 120 Ω B-track signal
from the incre-
mental encoder,
RS485-compliant,
differential
RS485-compliant,
differential
6 #B 5 Vss, Ri = 120 Ω B-track signal
from the incre-
mental encoder,
RS485-compliant,
max. 250 mA switchable; incre-
mental encoder: 5 V
Voltage drop is not
compensated
for supply
cable shield and is
Tab. 37: Digital incremental encoders
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Installation
Pin allocation for analogue SIN/COS incremental encoders

1 COS 1 Vss, Ri = 120 Ω COS track signal

lution incremental
encoder, RS485-
tial
the high-resolution
RS485-compliant,
differential
RS485-compliant,
differential
the high-resolution
RS485-compliant,
max. 250 mA switchable; SIN/COS
encoder: 5 V
Voltage drop is not
compensated
for supply
cable shield and is
Tab. 38: Analogue SIN/COS incremental encoders
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Installation
7.8.5 [X10], SYNC IN/OUT

The interface [X10] is located on the front of the device. The interface [X10] permits master-slave
coupling. In the master-slave coupling, the axes of several devices (slave axes) are synchronised via a
device (master axis). The SYNC interface can be configured for different functions and can be used as
follows:
Possible functions Description
Incremental encoder output Output of a master axis that emulates encoder

signals (encoder emulation)
Incremental encoder input Input of a slave axis for receiving the encoder
signals of a master axis
Tab. 39: Possible functions of the connection [X10]
The connection [X10] is designed as an RJ45 bushing. An LED is integrated into the RJ45 bushing. The
LED shows whether the interface has been activated. If the interface has been activated, the LED is
green. The CMMT-AS cannot detect whether an encoder is connected.

compatible
Number of pins 8
Shielded yes
Nominal current >1A

– Optical shield cover > 85%
– recommended design: (4 x (2 x 0.25 mm2))
Max. cable length 3m
Connect the connecting cable shield to the plug housings on both sides.
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Installation
Possible connections
Connection possibilities Description
Direct connection of 2 devices Two devices can be connected directly with a

patch cable (point-to-point connection).
Recommendation: use Cat 5e category patch
cable; maximum length: 25 cm
Connection of multiple devices via RJ45 T A maximum of 16 devices may be connected.
adapter and patch cables Recommendation: use T adapter and Cat 5e cat-
egory patch cables; maximum length per cable:
25 cm
Connection of multiple devices via patch A maximum of 16 devices may be connected.
cables and a connector box (accessories Recommendation: use Cat 5e category patch
è www.festo.com/catalogue) cables; maximum length per cable: 100 cm
Tab. 42: Connection possibilities
Direct connection of 2 devices
Fig. 13: Possible connection through the SYNC connection
1 Point-to-point connection
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Installation
Connection of multiple devices via RJ45 T adapter and patch cables
Fig. 14: Connection over RJ45 T adapter and patch cables
1 RJ45 T adapter
Connection of multiple devices via patch cables and a connector box
Fig. 15: Possible connection through the SYNC connection
1 Connection over a connector box
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Installation
Incremental encoder In/Out

[X10] Pin Function Description
1 A 5 Vss, Ri = 120 Ω A-track signal1),

2 #A RS485-compliant,
differential
3 B 5 Vss, Ri 120 Ω B-track signal1),
RS485-compliant,
differential
4 Z 5 Vss, Ri = 120 Ω Zero pulse or Z-track
5 #Z signal1), RS485-com-
pliant, differential
6 #B 5 Vss, Ri = 120 Ω B-track signal1),
RS485-compliant,
7 n. c. – –
for supply
cable shield and is
1) of an input or output channel, depending on the configuration
Tab. 43: Incremental encoder In/Out
7.8.6 [X18], Standard Ethernet

The interface [X18] is located on the front of the device. The following can be performed via the
interface [X18] using the commissioning software:
– Diagnostics
– Parameterisation
– Control
– Firmware update
The interface is designed to conform to the standard IEEE 802.3. The interface is electrically isolated
and intended for use with limited cable lengths è Tab. 46 Requirements for the connecting cable. For
this reason, the insulation coordination approach differs from IEEE 802.3 and must conform instead to
the applicable product standard IEC 61800-5-1.
The connection [X18] is designed as a RJ45 bushing. 2 LEDs are integrated into the RJ45 bushing. The
green LED lights up if the interface is activated. The yellow LED flashes when communication activity is
detected.
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Installation
Standard Ethernet
1 TX+ Transmitted data+

2 TX- Transmitted data-
3 RX+ Received data+
4 n. c. Not connected
5 n. c.
6 RX- Received data-
8 n. c.
Housing FE, connected to PE The housing is used as a
support for the cable shield
and is connected to the PE.
Tab. 44: Standard Ethernet
Requirements for the mating plug

compatible
Number of pins 8
Shielded Yes
Nominal current >1A
Tab. 45: Requirements for the mating plug
Characteristics CAT 5, patch cable, double shielded

The following connections are possible via the Ethernet interface:
Connections Description
Point-to-point connection The device is connected directly to the PC via an

Ethernet cable.
Network connection The device is connected to an Ethernet network.
Tab. 47: Options for connection
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The device supports the following methods of IP configuration (based on IPv4):

Methods Description
Obtain IP address automatically (DHCP client) The device obtains its IP configuration from a
DHCP server in your network. This method is suit-
able for networks in which a DHCP server already
exists.
Fixed IP configuration The device uses a fixed IP configuration.
The IP configuration of the device can be perma-
nently assigned manually. However, the device
can only be addressed if the assigned IP configu-
ration matches the IP configuration of the PC.
Factory setting: 192.168.0.1
Tab. 48: Options for IP configuration
Shield connection requirements
• Connect the cable shield to the plug housings on both sides.
Possible connections
• Connect CMMT to your network via a hub/switch or directly to the PC.
7.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2
The interface [X19] is located on the top of the device. The interface [X19] permits RTE communication.
The following protocols are supported by the interface [X19], depending on the product design:
Product variant Supported protocol
CMMT-AS-...-EC EtherCAT
CMMT-AS-...-EP EtherNet/IP
CMMT-AS-...-PN PROFINET
Tab. 49: Supported protocol
The physical level of the interface fulfils the requirements according to IEEE 802.3. The interface is
electrically isolated and intended for use with limited cable lengths è Tab. 52 Requirements for the
connecting cable.
The interface [X19] offers 2 ports.
– Port 1, labelled on the device with [X19, XF1 IN]
– Port 2, labelled on the device with [X19, XF2 OUT]
2 LEDs are integrated into each of the two RJ45 bushings. The behaviour of the LEDs depends on the
bus protocol. Use is not always made of both LEDs.
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Real-time Ethernet (RTE) port 1 and port 2

1 TX+ Transmitted data+

2 TX- Transmitted data-
3 RX+ Received data+
5 n. c.
6 RX- Received data-
8 n. c.
Housing FE, connected to PE The housing is used as a
support for the cable shield
and is connected to the PE.
Tab. 50: [X19], RTE port 1 and port 2

compatible
Number of pins 8
Shielded Yes
Nominal current >1A
Characteristics CAT 5, patch cable, double shielded

• Connect the cable shield to the plug housings on both sides.
Connection to the controller
• If possible, and if supported by the bus protocol, build ring redundancy into the connection with
the controller.
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Installation
7.9 Motor connection

7.9.1 [X6A], motor phase connection
The connection [X6A] is located on the front of the device. The following connections to the motor are
established via the connection [X6A]:
– Motor phases U, V, W
– PE connection
Incorrect circuitry of PE and motor phases results in a device defect, jerking or uncontrolled start-up of
the motor when the power supply is switched on.
4 PE Protective earthing, motor

3 W third motor phase
2 V second motor phase
1 U first motor phase
Tab. 53: Motor phase connection

The cable shield of the motor cable must be placed on the support surface on the bottom front of the
housing and fastened with the shield clamp.
Design FKIC 2.5 HC/4-ST-5.08 from Phoenix Contact or

compatible
Power contacts 4
Nominal current 16 A
Pitch 5.08 mm
Strip length 10 mm
Wires and shielding – 4 power wires, shielded

– Extra optional cables, e.g. for the holding
brake (shielded separately) and the motor
temperature sensor (shielded separately)
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Structure Only use cables that ensure reinforced isolation

between the motor phases and the shielded sig-
nals of the holding brake and motor temperature
sensor in accordance with IEC 61800-5-1.
è 7.9.4 Shield support of the motor cable
Max. cable length è 7.6 Information on EMC-compliant installation
Max. capacitance < 250 pF/m
Nominal cross section of power wires 0.75 mm2 … 1.5 mm²
Cable diameter of the stripped cable or shield 11 mm … 15 mm
sleeve (clamping range of the shield clamp)
The only motor cables permitted are those that fulfil the requirements of EN 61800-5-2 Annex D.3.1
and the requirements of EN 60204-1.
Festo offers prefabricated motor cables as accessories è 3 Additional information.
– Only use motor cables that have been approved for operation with the Festo servo drive. Motor
cables of other manufacturers are permitted if they meet the specified requirements.
7.9.2 [X6B], motor auxiliary connection
The connection [X6B] is located on the front of the device. The holding brake of the motor and the
motor temperature sensor can be connected to the connection [X6B]. The output for the holding brake
is used both functionally and in connection with the safety sub-function Safe brake control è Manual
Safety sub-function.
To allow motor temperature monitoring, the following are supported:
– N/C and N/O contacts
– KTY 81 … 84 (silicon temperature sensors)
– PTC (PTC resistor, positive temperature coefficient)
– NTC (NTC resistor, negative temperature coefficient)
– Pt1000 (platinum measuring resistor)
The servo drive monitors whether the motor temperature violates an upper or lower limit. With
switching sensors, only the upper limit value can be monitored (e.g. with a normally closed contact).
The limit values and the error response can be parameterised.
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Installation
[X6B] Pin Function Description
6 MT– Motor temperature (negative potential)

5 MT+ Motor temperature (positive potential)
4 FE Functional earth connected to protective
earth
3 BR– Holding brake (negative potential)
2 BR+ Holding brake (positive potential)
1 FE Functional earth connected to protective
earth
Tab. 56: Motor auxiliary connection
Design DFMC 1.5/ 3-ST-3.5 from Phoenix Contact or

compatible
Nominal current 8A
Pitch 3.5 mm
Strip length 10 mm
Structure – 2 wires for the line to the holding brake,

twisted in pairs, separately shielded
– 2 wires for the line to the temperature sensor,
twisted in pairs, separately shielded
Min. conductor cross section including wire end 0.25 mm2
Max. conductor cross section including wire end 0.75 mm2
Max. length 50 m1)
1) Take voltage drop into account for cable lengths > 25 m by selecting suitable cross-sections for the insulated wires.
Requirement for the temperature sensor in the motor
– electrically reinforced isolation from the motor phases in accordance with IEC 61800-5-1, voltage
class C, overvoltage category III.
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– Connect the cable shield on both sides.
– Make unshielded cable ends as short as possible (recommended 120 mm, max. 200 mm).
7.9.3 Electronic overload and over temperature protection for the motor
The CMMT-AS allows the motor to be electronically protected against overload and provides over
temperature protection with the following protective functions:
Protective functions Description Measures required during installation and
commissioning
Temperature moni- The motor temperature is – Connect the temperature sensor to connec-
toring of the motor monitored for an upper and tion [X6B] (both switching and analogue
lower limit value, including temperature sensors are supported)
hysteresis. The limit values – Parameterise the temperature limit values
can be parameterised. in accordance with the type of motor
used, e.g. using the device-specific plug-in.
Comply with the permissible limit values of
the motor.
Electronic current lim- The motor current is – Parameterise the nominal current, max-
iting and I²t moni- monitored electronically imum current and I²t time constant of the
toring of the motor and limited in accordance motor, e.g. using the device-specific plug-
current with the limit values in.
specified in the standard
è EN 61800-5-1, Tab. 29.
Motor currents and I²t time
constant can be parameter-
ised.
Thermal memory in supported, cannot be para- – none
the event of motor meterised
switch-off
Thermal memory in
the event of a power
supply failure
Speed-sensitive over- supported from firmware – Parameterise I²t monitoring with speed-
load protection version V019, parameteris- dependent scaling, e.g. with the device-
able specific plug-in.
Such as for:
– Synchronous servo motors (lower per-
missible current at high rotational speed)
– Fan motors (lower permissible current at
low rotational speed)
Tab. 59: Protective functions for the motor
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Installation
The specified parameters are preset for Festo motors. The parameters can be adapted in the plug-in.
7.9.4 Shield support of the motor cable
Requirements for the motor cable shield support on the device side
The type of shield support depends on the design of the motor cable. If, for example, a hybrid cable is
used to connect the motor, holding brake and temperature sensor, the following options are available
for connecting the shield on the device side:
Option 1: all motor cable shields are jointly connected over a wide surface area using a shield sleeve
at the cable end and are connected below the shield clamp on the front of the CMMT-AS.
Fig. 16: Shared shield support of all cable shields (example)
1 Shield sleeve
Option 2: the outside shield of the motor cable is connected separately over a wide surface area below
the shield clamp on the front of the CMMT-AS. The inside shields are connected separately to the
designated FE pin of the connection [X6B].
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Fig. 17: Separate shield support for all cable shields (example)
1 Inside shield placed separately 3 Shield sleeve

2 Inside shield placed separately
• Make unshielded cable ends as short as possible.

Mounting the shield clamp
The lower section of the front panel of the housing is used as a shield support surface. The shield
support surface, together with the shield clamp, allows the motor cable shield to be connected over a
wide surface area.
1. Using the shield clamp, press the motor cable shield or the conducting shield end sleeve of the
motor cable onto the shield support surface of the housing è Fig. 18.
2. Tighten the retaining screws (2x) of the shield clamp with a size T20 TORX screwdriver. Pay
attention to the clamping range and observe the tightening torque specified below.
Property Value Comments
Clamping range 11 mm … 15 mm Diameter of the stripped cable

or shield sleeve
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Installation
Property Value Comments
Tightening torque for the 1.8 Nm ± 15% In the case of block mounting,
retaining screws in the case of the shield clamp makes full
block mounting contact with the base of
the housing (cable diameter
11 mm)
Minimum tightening torque 0.5 Nm ± 15% With a higher tightening torque,
with larger cable diameter make sure that the connecting
(> 11 mm … 15 mm) cable does not get crushed in
the clamping area due to exces-
sive pressure.
Tab. 60: Tightening torque and clamping range
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3 1
2
Fig. 18: Shield clamp of the motor cable
1 Retaining screws of the shield clamp 4 Shield clamp

2 Motor cable 5 Motor cable shield connected over a large
3 Cut-out for mounting cable binders (2x) surface area below the shield clamp
Motor cable shield support on the motor side

Detailed information on the motor-side connection with motor cables from Festo è Assembly instruc-
tions for the motor cable è www.festo.com/sp.
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Installation
• Connect all shields to the PE over a wide surface area on the motor side, e.g. via the shield
connection provided on the motor connector or the shield support surface in the motor junction
box.
7.10 Power and logic voltage supply

7.10.1 [X9A], power supply and DC link circuit connection
The connection [X9A] is located on the top of the device.
The control unit and power unit of the device are supplied with electrical voltage separately via the
connection [X9A]. In addition, the connection provides pins for DC link coupling.
– Supply of the control unit with 24 V DC (PELV, logic voltage supply)
– Supply of the power unit with 1-phase mains voltage (100 V AC … 230 V AC)
– Optional: DC link coupling of 1-phase devices of the same CMMT-AS series
Cross-wiring of the mains and logic voltage supply is possible with and without DC link coupling
è 7.11 Cross-wiring.
Supply of the control unit (logic voltage supply)
WARNING
Risk of injury due to electric shock.
• For the electrical power supply with extra-low voltages, use only PELV circuits that guarantee a
reinforced isolation from the mains network.
• Observe IEC 60204-1/EN 60204-1.
• Only connect PELV circuits with an output current of max. 25 A. Otherwise, use a separate external
fuse: 25 A.
Power supply and DC link circuit connection
The connections for the logic voltage supply, the power voltage supply and the link circuit are not
protected against wiring errors. The reversal of the connections results in a device defect during
switch-on.
With cross-wiring, observe the polarity of the DC link connection on all devices.
NOTICE
Overvoltage due to asymmetrical mains load
If the neutral conductor has to be disconnected when the device is switched on and off, the device can
be damaged by overvoltage due to an asymmetrical network load.
• Design the mains connection with fuse and main switch so that the neutral conductor is always
switched on early and switched off later.
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7 DC+ DC link circuit positive potential

6 DC- DC link circuit negative potential
5 L1 Mains supply phase L1
4 N For 1-phase mains connection: mains
supply neutral conductor
For 2-phase mains connection: mains
supply phase L2
3 PE Protective earthing
2 24 V Positive potential of the 24 V logic
voltage
1 0V Reference potential of the 24 V logic
voltage
Tab. 61: Power supply and DC link circuit connection
Design for single wiring connection FKC 2.5 HC/7-ST-5.08 from Phoenix Contact or
compatible
Design for cross-wiring TFKC 2.5 HC/7-ST-5.08 from Phoenix Contact or
compatible
Number of pins 7
Pitch 5.08 mm
Strip length 10 mm
Requirements for the con- Single device Device compound

necting cable
Number of insulated wires and 5 insulated wires, unshielded Without DC link coupling:
shielding 5 wires, unshielded
With DC link coupling: 7 wires,
unshielded
Min. conductor cross section 0.5 mm2 1 mm2
including wire end sleeve with
plastic sleeve
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Installation
Requirements for the con- Single device Device compound

necting cable
Max. conductor cross section 2.5 mm2 2.5 mm2

including wire end sleeve with
plastic sleeve
Max. length 2m £ 0.5 m
7.10.2 [X9B], connection for braking resistor

The connection [X9B] is located on the top of the device. The internal braking resistor or a suitable
external braking resistor is attached to the connection [X9B].
During braking, the motor works as a generator. In these cases, the motor feeds electrical energy back
into the DC link circuit. The excess energy must be absorbed by the braking resistor and converted into
heat.
The braking resistor integrated into the device is sufficient for many applications with moderate cycle
times and small moving loads. Therefore, it is often the case that no external braking resistor is
required.
• Connect an external braking resistor if larger pulse or continuous powers have to be absorbed
during braking than the integrated braking resistor permits.
The braking resistor is also used as a pre-charging resistor for the DC link circuit. The DC link circuit
cannot be loaded without a braking resistor. If a braking resistor is not connected, the device reports
an error.
[X9B] Pin Function Description
2 BR+Ch Braking resistor positive connection

1 BR-Ch Braking resistor negative connection
Tab. 64: Connection for the braking resistor
Design GIC 2.5 HCV/2-ST-7.62 from Phoenix Contact or

compatible
Number of pins 2
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Installation

Pitch 7.62 mm
Strip length 8 mm
Tightening torque of the screw terminals 0.5 … 0.6 Nm1)
1) Specification of the manufacturer at the time the documentation was approved
Requirements for the connecting cables of external braking resistors
Number of insulated wires and shielding 2 wires, shielded

Min. conductor cross section incl. wire end 0.25 mm2
Max. conductor cross section incl. plastic wire 2.5 mm2
end sleeve
Max. cable length 2m
Wiring inside the control cabinet, shield connected to PE
Requirements for the shield support when an external braking resistor is connected
• On the device side, connect the cable shield to the earthing screw next to the upper slot of the
cooling element.
Selection of suitable external braking resistors
The connected braking resistor must fulfil the following requirements:
– External braking resistors must meet the requirements of the IEC 61800-5-1 standard.
– The braking resistor must be designed for operation with high pulse energy during braking.
– The braking resistor must be suitable for the DC link voltage that occurs.
– The resistance value of the braking resistor must be low enough for the highest braking power to be
absorbed (typically 2 … 2.5 times the nominal power of the motor).
– The resistance value of the braking resistor must be within the permitted range so the brake
chopper in the device is not overloaded. Therefore, only use suitable braking resistors, i.e. those
that are compatible with the power stage performance data of the servo drive used in terms of their
voltage, current and pulse energy capacity.
Technical data for the integrated braking resistor and additional requirements for external braking
resistors è 10.2.2 Electrical data for braking resistor (internal/external) [X9B]
Overload protection for external braking resistors
The external braking resistor can be monitored by the firmware of the device with the help of a thermal
model calculation. Consequently, the CMMT-AS must be parameterised as follows:
– Activation of external braking resistor
– Input of the following data: resistance value, continuous power and permissible pulse energy
When the pulse energy limit is reached, the brake chopper is switched off. If the DC link voltage rises
again as a result, the power stage switches off with the message “Overload in the DC link circuit”.
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Installation
7.11 Cross-wiring
Cross-wiring makes it possible to set up a device compound consisting of up to 10 servo drives
CMMT-AS. The different cross-wiring options are as follows:
– Cross-wiring of I/O signals at the connection [X1A]
– Cross-wiring of the mains and logic voltage supply without DC link coupling
– Cross-wiring of the mains and logic voltage supply with DC link coupling
7.11.1 Cross-wiring of the I/O signals at the connection [X1A]
The following table shows which signals of the connection [X1A] in the device compound can be
connected directly to the same signals of neighbouring devices:
Signal name Type Short identifier Function Information
X1A.24 – RDY-C1 Normally open con- Max. 10 devices,

X1A.23 RDY-C2 tact: ”ready for series connection of
operation message the contacts
(Ready)“
X1A.22 DOUT STA Safe torque off Max. 10 devices,
acknowledge parallel connection
X1A.21 DOUT SBA Safe brake control
acknowledge
X1A.20 – – Reserved, do not –
X1A.19 – – connect
X1A.18 DIN SIN4 Release brake Max. 10 devices,

request parallel connection
X1A.17 – GND Reference potential Max. 10 devices,
(ground) must be cross-wired
X1A.16 DOUT TRG0 Like TRG1 Use separately!
X1A.15 DOUT TRG1 Fast output for trig-
gering external com-
ponents
X1A.14 DIN CAP0 Like CAP1 Intended for sep-
X1A.13 DIN CAP1 Fast input for posi- arate use, cross-
tion detection wiring not usually
advisable, max. 10
devices, parallel
connection
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Signal name Type Short identifier Function Information
X1A.12 #STO-A Safe torque off, Max. 10 devices,

channel A parallel connection
X1A.11 DIN #STO-B Safe torque off,
channel B
X1A.10 #SBC-A Safe brake control,
channel A
X1A.9 DIN #SBC-B Safe brake control,
channel B
X1A.8 – – Reserved, do not –
X1A.7 connect
X1A.6
X1A.5
X1A.4 DIN ERR-RST Functional error Max. 10 devices,
acknowledgment parallel connection
X1A.3 DIN CTRL-EN Power stage enable
X1A.2 AIN AIN0 Differential ana- Cross-wiring is only
X1A.1 #AIN0 logue input advisable if several
servo drives are to
receive the same
setpoint value via
AIN0.
Tab. 67: Information on cross-wiring of the I/O signals at the connection [X1A]
• Cross-wire the I/O signals at the connection [X1A] with the required mating plug in combination
with double wire end sleeves.
Example for cross-wiring of I/O signals
The following image is a schematic diagram of the cross-wiring based on the example of the signal
contact (RDY-…), a 1-channel input (here IN) and a 1-channel diagnostic output (here SOUT; digital
output of a safety sub-function, e.g. SBA).
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Installation
Fig. 19: Cross-wiring, example
The signal contacts (RDY-...) are connected in series. For the status “Contact closed”, this results in an
AND operation. The result of the operation is forwarded to a digital input (IN) of the higher-order PLC.
1-channel digital inputs (IN) are connected in parallel to an output (OUT) of the PLC. If, for example, all
CTRL-EN inputs of the device compound are connected in parallel to a digital output, the enables for
the device compound power stages can be controlled via this one digital output.
In the case of cross-wired diagnostic outputs (e.g. STA and SBA), the common status is the result of
a logical AND operation. A high signal will only be present at the two inputs of the safety PLC (here
SIN-A and SIN-B) if all diagnostic outputs (here SOUT) are delivering HIGH signals. Thanks to the
ring-shaped cross-wiring of the diagnostic outputs, a cable break can be detected in the PLC by means
of sensing at the beginning (SIN-A) and end (SIN-B) of the signal chain.
When there is cross-wiring of I/O signals, the following should also be cross-wired:
– Reference potentials GND (X1A.17) of all cross-wired servo drives
– Logic supply
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7.11.2 Cross-wiring of the mains and logic voltage supply
Cross-wiring of the mains and logic voltage Description

supply
... without DC link coupling The connections for the mains and logic voltage
supply are cross-wired and connected to the
applicable voltage source.
The DC link circuits are not connected.
... with DC link coupling The connections for the mains and logic voltage
supply are cross-wired and connected to the
applicable voltage source.
In addition, the DC link circuits of the devices are
cross-wired (DC link coupling).
Tab. 68: Options for cross-wiring of the mains and logic voltage supply
Cross-wiring is easily implemented with the help of the double mating plugs, which are available as
accessories.
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Installation
Fig. 20: Cross-wiring CMMT-AS-...-3A (schematic diagram)
1 Double counterplug
DC link coupling
If several servo drives of type CMMT-AS are used in an application, DC link coupling may be advisable.
With DC link coupling, the energy recovered during braking can be provided to other servo drives
through the DC link circuit instead of being converted almost completely into heat via braking resis-
tors. This improves the energy efficiency of the device compound by making use of the recovered
energy.
In addition, DC link coupling results in the following:
– Increased DC link circuit capacitance thanks to shared use of the DC link circuit capacitors
– Increase in the braking energy to be absorbed due to shared use of the braking resistors
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Rules for cross-wiring the mains and logic voltage supply with and without DC link coupling
NOTICE
Errors in the cross-wiring can destroy the internal electronics.
• Always observe rules for cross-wiring.
– Only cross-wire devices with the same mains voltage. The devices must therefore be all 1-phase
devices or all 3-phase devices with the same mains voltage supply and DC link voltage. Cross-wiring
the mains and DC link voltage between 1-phase devices and 3-phase devices is not permitted and
will result in immediate destruction of the servo drive! The logic voltage supply can be through-con-
nected.
– For 1-phase devices: connect all devices to the same mains phase.
– For 3-phase devices: connect all devices to the same 3 mains phases.
– Place higher-power devices closer to the mains infeed.
– Insert a suitable fuse into the mains supply line for line protection and semiconductor protection.
– Do not exceed the maximum number of devices in the device compound.
A device compound may consist of a maximum of 10 devices. However, the permitted number is
dependent on the performance data of the devices used and the parameterised nominal currents
of the connected motors. The number is limited by the maximum permitted total current and
the maximum permitted total nominal power (dependent on the conductor cross section of the
cross-wiring).
– Always connect all devices to the mains supply, even with DC link coupling. Connecting only one
device or only one part of the device compound to the mains supply is not permitted. Such wiring
can overload and destroy devices.
Braking resistors in the device compound
– A braking resistor must be connected to each device in the device compound (internal or external).
– If devices with different output powers are combined, dimension the braking resistors in accordance
with the output power of the devices. This is ensured if the internal braking resistors are used.
Fuse protection of a device compound
A shared external fuse is required at the mains connection of the devices. The fuse fulfils the following
functions:
– Line protection; the rated current of the fuse must be less than or equal to the acceptable current
rating of the selected conductor cross section.
– Semiconductor protection; the diode rectifiers of the devices are not protected against short circuit
currents in the DC link circuit.
Recommendation:
– Use automatic circuit breakers as line protection with appropriate tripping current and switching
characteristic C. For additional information è 7.3 Mains fuse.
– Use class J or CC short circuit current limiting fuses if the device is to be operated in electrical
networks with an SCCR rating > 10 kA. For additional information è 7.3 Mains fuse.
Data for operation in a device compound (CMMT-AS-...-3A)
A device compound may consist of a maximum of 10 devices. However, the permitted number is
dependent on the performance data of the devices used.
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Installation
The number is limited by the value of the maximum permitted total current and the maximum per-
mitted total nominal power of the device compound and depends on the conductor cross section.
Choice of mains protection
1. Determine total mains current of the device compound.
2. Determine total current of the logic supply.
3. Select the required conductor cross section for the cross-wiring.
4. Select the required mains protection, considering the conductor cross section and the standard
classification.
Permissible maximum values è Tab. 12 Line protection requirements.
Rough calculation to determine the mains current
For 1-phase devices, the mains current can be calculated approximately as follows:
Imains = 0.008 A/W x Pnom,out
Imains: mains current [A]; Pnom,out: nominal power (electrical) at motor connection [W]
Example
2 servo drives CMMT-AS-C4-3A-... are used to drive motors with a mechanical nominal power (Pnom,
mech) of 500 W. Assumed degree of efficiency of the motors: 80%.
Pnom,out = 2 x 500 W ¸ 0.8 = 1250 W
Imains = 0.008 A/W x 1250 W = 10 A
Fuse is designed for Imains: 10 Arms
Examples of possible device combinations
The following table shows examples of possible device combinations, plus the fuse protection
required when the load on the servo drive is 100% of its nominal power:
Conductor Max. per- Examples of device combina- Required cur- Selected fuse
cross section mitted current tions rent [Arms] protection
at [X9A]
1.5 mm2 According to 4 x CMMT-AS-C2-3A (2.8 Arms 11.2 C13

IEC standard1): each)
13 A 2 x CMMT-AS-C4-3A (5.6 Arms 11.2
each)
according to 3 x CMMT-AS-C2-3A (2.8 Arms 8.4 C10
UL standard2): each)
10 A 1 x CMMT-AS-C2-3A (2.8 Arms 8.4
each)
1 x CMMT-AS-C4-3A (5.6 Arms
each)
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Conductor Max. per- Examples of device combina- Required cur- Selected fuse
cross section mitted current tions rent [Arms] protection
at [X9A]
2.5 mm2 according to 5 x CMMT-AS-C2-3A (2.8 Arms 14 C15

UL standard2) each)
and IEC 3 x CMMT-AS-C2-3A (2.8 Arms 14
standard): 15 A each)
1 x CMMT-AS-C4-3A (5.6 Arms
each)
According to With load at 90 % nominal 15.12 C16
IEC standard): power:
16 A 3 x CMMT-AS-C4-3A (5.04 Arms
each)
1) Specifications according to DIN VDE 0298-4:2013, permissible currents according to EN 60204-1 may differ (depending on installa-
tion type and temperature)
2) Specifications according to UL 61800-5-1:2012
Tab. 69: Examples of possible device combinations
Cross-wiring without DC link coupling
All contacts for the mains and logic voltage supply are cross-wired at the connection [X9A]. The DC
link circuits are not cross-wired (DC+/DC-). The first device is connected to both voltage sources.
1-phase devices with the same power class and 1-phase devices with different power classes can be
connected. If the 24 V logic supply used has a nominal output current > 25 A, a fuse/circuit breaker is
required. Type of protection: “slow-blowing” fuse or circuit breaker with “C characteristic”
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Installation
1 2
Fig. 21: Cross-wiring without DC link coupling

1 Main switch 2 Circuit breaker
Cross-wiring with DC link coupling

All contacts at the connection [X9A] are cross-wired. The first device is connected to the mains voltage
supply and the logic voltage supply. Mains voltage, logic voltage and DC link voltage are connected
between the coupled devices. 1-phase devices with the same power class and 1-phase devices with
different power classes can be connected. If the 24 V logic supply used has a nominal output current
> 25 A, a fuse/circuit breaker is required. Type of protection: “slow-blowing” fuse or circuit breaker
with “C characteristic”
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Malfunctions
1 2
Fig. 22: Cross-wiring with DC link coupling

1 Main switch 2 Circuit breaker
8 Malfunctions
8.1 Diagnostics via LED
On the front and top of the device, there are some LEDs for indicating status information. The number
of LEDs depends on the product design. Up to 11 LEDs are located on the front of the device. Up to 4
LEDs are located on the top of the device at the connections [X19], XF1 IN and XF2 OUT.
The following image shows an example of the LEDs on the front of product variant CMMT-AS-...-EC. The
labelling and function of the Run LED and Error LED vary according to the product variant.
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Malfunctions
2 Run (example CMMT-AS-...-EC)

3
3 Error (example CMMT-AS-...-EC)
4 Ethernet interface activated [X18]
2 5 Communication activity [X18]
6 Sync interface activated [X10]
4
7 Encoder status, encoder interface [X3]
5 8 Encoder status, encoder interface [X2]

1
6
Fig. 23: LEDs on the front

1 Device status (4 LEDs)
8.1.1 Device status displays
LED Designation Brief description
Status LED Indicates the general device status

Power LED Indicates the status of the power supply
Safety LED Indicates the status of the safety equipment
Application status LED Indicates the identification sequence and is
reserved for future extensions
Tab. 70: Device status LEDs (status, power, safety and application status LEDs)
LED test
After the device is switched on, it runs through an initialisation phase. When the initialisation phase is
complete, the device performs an LED test. During the LED test, the 4 device status LEDs are activated
simultaneously. The 4 device status LEDs light up yellow for approx. 300 ms.
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Malfunctions
Status LED, display of the device status
LED Meaning
Flashe An error is present.

s red
Flashe A warning is present, or the servo drive is currently performing a firmware update.
s
yellow
Illumi- The servo drive is in the initialisation phase.
nated
yellow
Flashe The servo drive is ready, and the power stage is switched off (Ready).
s
green
Illumi- The power stage and the closed-loop controller are enabled.
nated
green
Tab. 71: Status LED
Power LED, status of the power supply
LED Meaning
Flashe The logic voltage and AC supply are present. The intermediate circuit is being
s charged.
yellow
Lights The logic voltage supply is present, but the AC supply is lacking.
up
yellow
Lights The logic voltage supply is present, and the intermediate circuit is charged.
up
green
Tab. 72: Power LED
Safety LED, status of the safety equipment
Malfunctions of the safety sub-functions are detected and displayed in the functional device. The
following are detected:
– Safety sub-functions requested via 1 channel (discrepancy monitoring)
– Internal device errors that lead to pulse monitoring not being switched off or only switched off on
one channel
– Errors in the brake outputs or the external wiring that result in voltage being present on the brake
output even though the safety sub-function SBC has been requested
Malfunctions are externally reported by the functional part, including via the additional communica-
tion interfaces (bus, commissioning software).
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Malfunctions
LED Meaning
Flashe Error in the safety part or a safety condition has been violated.
s red
Flashe The safety sub-function has been requested but is not yet active.
s
yellow
Illumi- The safety sub-function has been requested and is active.
nated
yellow
Flashe Power stage, brake outputs and safety diagnostic outputs are blocked (safety
s parameterisation is running).
green
Illumi- Ready, no safety sub-function has been requested.
nated
green
Tab. 73: Safety LED
Application status
LED Meaning
Flashe Identification sequence active (for optical identification of the device in a network),
s which can be activated via the parameterisation software
alter-
nately
betwe
en
red,
yellow
and
green
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Malfunctions
LED Meaning
Flashe Reserved for future extensions

s
yellow
Lights
up
yellow
Flashe
s
green
Lights
up
green
Tab. 74: Application status LED
Special function of the start program (bootloader) during firmware updates
When the bootloader starts the update procedure, the status LED flashes yellow at half-second
intervals. The power LED, safety LED and application status LED remain dark.
If the bootloader is waiting for inputs, e.g. via the CDSB, the status LED lights up yellow. The power
LED, safety LED and application status LED remain dark.
If an error occurs during a firmware update, the status LED flashes red at one-second intervals. The
frequency of flashing corresponds to the error number specified in the following table. After flashing,
there is a pause of 3 s. Then the procedure repeats.
Error number Description
1 The start program has detected a CRC error in the firmware after switching on.
2 The start program has detected a CRC error in the start program after switching on.
3 The start program is supposed to update the firmware but has detected an error in
the system update file.
4 The start program is supposed to update itself and the firmware but has detected a
defective start program in the system update file.
5 The start program cannot access the file system or the system update file, or the
system update file is defective.
Tab. 75: Error messages of the start program (bootloader)
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Malfunctions
8.1.2 Interface status [X2], [X3], [X10], [X18]

LED at [X2] and [X3]; encoder status
LED Meaning
Lights – For digital incremental encoders: encoder evaluation active.

up – For encoders with communication interface: connection to the encoder estab-
green lished.
Tab. 76: LED at [X2] and [X3]
LED at [X10]; sync connection status
LED Meaning
Lights Interface is activated.

up
green
Tab. 77: LED at [X10]
LEDs at [X18]; connection status of the Ethernet interface
LED Meaning (upper LED)
Off Interface is deactivated.
Lights Interface is activated.

up
green
Tab. 78: Upper LED at [X18]
LED Meaning (lower LED)
Off No communication activity
Flashe Communication activity detected.

s
yellow
Tab. 79: Lower LED at [X18]
8.1.3 Device and interface status, EtherCAT

EtherCAT LED displays (CMMT-AS-...-EC only)
Together with the 2 LEDs on the top, the Run LED and the Error LED on the front display the bus/
network status.
EtherCAT, Run LED; operating status
LED Meaning Remedy
Off The device is in the Init status (initialisa- –

tion).
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Malfunctions
LED Meaning Remedy
Flashe The device is in the pre-operational –

s status.
green
Flashe The device is in the safe-operational –
s status.
green1
)
Lights The device is in the operational status –

up (normal operating status).
green
1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)
Tab. 80: Run LED
EtherCAT, error LED; error status
LED Meaning Remedy
Off No error –
Flashe Invalid configuration, general configura- Eliminate configuration error.

s red tion error, a status change specified by
the master is not possible.
Flashe Local error, the slave device applica- –
s red1) tion has independently changed the
EtherCAT status. This can have the fol-
lowing causes:
– A host watchdog time-out has
occurred.
– Synchronisation error, the device
switches automatically to the safe-
operational status.
Flashe A process data watchdog time-out has –
s red2) occurred.
1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)
2) Double flash: double short flash (2x flash, pause, 2x flash, etc.)
Tab. 81: Error LED
EtherCAT, LINK/ACTIVITY LED; connection status at XF1 IN and XF2 OUT
LED Meaning Remedy
Off No network connection Check network connection.
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Malfunctions
LED Meaning Remedy
Flicker Data traffic activity (traffic). –

s
green
(appro
x.
10 Hz)
Lights Network connection is OK (link). –
up
green
Tab. 82: LED at XF1 IN and XF2 OUT
8.1.4 Device and interface status, PROFINET

PROFINET LED displays (CMMT-AS-...-PN only)
Together with the 4 LEDs on the top, the NF LED on the front displays the bus/network status.
PROFINET, NF LED; bus error
LED Meaning Remedy
Off No error –
Flashe Network error Check network configuration and net-

s red – No data transmission work connection.
(2 Hz) – No configuration
– No network connection or network
connection is malfunctioning
Tab. 83: NF LED
PROFINET, LEDs at XF1 IN and XF2 OUT; connection status, data traffic
LED Meaning of the green LED Remedy

up
green
Tab. 84: Green LED at XF1 IN and XF2 OUT
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Malfunctions
LED Meaning of the yellow LED Remedy
Off No data traffic –
Flashe Data traffic activity (traffic). –

s/
lights
up
yellow
1)
1) The LED flashes during the transmission of an Ethernet packet. If packets are constantly being transmitted, the flashing changes to a
steady light.
Tab. 85: Yellow LED at XF1 IN and XF2 OUT
8.1.5 Device and interface status, EtherNet/IP

EtherNet/IP LED displays (CMMT-AS-...-EP only)
Together with the 4 LEDs on the top (link/activity), the MS LED and NS LED on the front display the
bus/network status.
EtherNet/IP, MS LED; module status
LED Meaning Remedy
Off Logic voltage supply lacking. Check logic voltage supply.
Flashe Device is not configured. Perform configuration.

s
green
Lights Normal operating status –
up
green
Flashe Device performs a self-test. –
s red/
green
Flashe Rectifiable error, possibly a configura- Check configuration.
s red tion error
Lights Error cannot be rectified Contact Festo Service è www.festo.com.
up red
Tab. 86: MS LED
EtherNet/IP, NS LED; network status
LED Meaning Remedy
Off The device is switched off or has no IP Switch on device or check IP address.
address.
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Disassembly
LED Meaning Remedy
Flashe The device has an IP address but no CIP Eliminate configuration error.
s connection.
green It may be that the device is not assigned
to a master/scanner.
Lights Normal operating status. –
up The device is online and has a CIP con-
green nection.
Flashe Device performs a self-test. –
s red/
green
Flashe One or more I/O connections are in the Check the physical connection to the
s red time-out status. master/scanner.
Lights The IP address of the device has already Check and correct IP addresses in the
up red been assigned. network.
Tab. 87: NS LED
EtherNet/IP, LED at XF1 IN and XF2 OUT; connection status, data traffic
LED Meaning of the green LED Remedy

up
green
Tab. 88: Green LED at XF1 IN and XF2 OUT
LED Meaning of the yellow LED Remedy
Off No data traffic –
Flicker Data traffic activity. –

s
yellow
Tab. 89: Yellow LED at XF1 IN and XF2 OUT
9 Disassembly
Disassemble in reverse order of installation.
Before disassembly
1. Switch off the power supply at the main switch.
2. Secure the system against accidental reactivation.
3. Wait at least 5 minutes until the intermediate circuit has discharged.
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Technical data
4. Let the device cool down to room temperature.

5. Before touching the power connections [X6A], [X9A], [X9B], check to ensure they are free of
voltage.
6. Disconnect all electrical cables.
To dismount the device
• Loosen retaining screws (2x) and remove the device from the mounting surface.
10 Technical data
10.1 General technical data
Product conformity
CE marking (declaration of con- in accordance with EU EMC Directive1)

formity è www.festo.com/sp) in accordance with EU Machinery Directive
in accordance with EU RoHS Directive
1) The device is intended for use in an industrial environment and with appropriate measures in commercial, residential and mixed
areas.
Tab. 90: Product conformity
General technical data
Type ID code CMMT-AS

Type of mounting Mounting plate, attached with screws
Mounting position vertical, mounted on closed surface, free convection with unhin-
dered air flow from bottom to top
Dimensions (H*W*D) è 6 Assembly
Product weight [kg] CMMT-AS-C2-3A: 1.3
CMMT-AS-C4-3A: 1.4
Displays – Device status display: 4 LEDs
– Bus-specific status:
– CMMT-AS-...-EC: 2 LEDs
– CMMT-AS-...-EP: 2 LEDs
– CMMT-AS-...-PN: 1 LED
– Interface status [X19] (IN, OUT):
– CMMT-AS-...-EC: 2 LEDs
– CMMT-AS-...-EP: 4 LEDs
– CMMT-AS-...-PN: 4 LEDs
– Interface status [X2], [X3], [X10], [X18]: 4 LEDs
– Interface activity [X18]: 1 LED
Control elements Optional: operator unit CDSB
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Technical data
General technical data
Parameterisation interface – [X18], Ethernet; parameterisation and configuration via com-

missioning software (è è www.festo.com/sp)
– [X19] IN/OUT, RT Ethernet; parameterisation and configuration
via bus protocol
– [X5], configuration/data transfer via the removable operator
unit
RT Ethernet protocol CMMT-AS-...-EC: EtherCAT
CMMT-AS-...-EP: EtherNet/IP
CMMT-AS-...-PN: PROFINET
Tab. 91: General technical data
Ambient conditions, transport
Transport temperature [°C] −25 … +70

Relative humidity [%] 5 … 95 (non-condensing)
Max. transportation [d] 30
duration
Permissible altitude [m] 12000 (above sea level) for 12 h
Vibration resistance Vibration test and free fall in packaging in accordance with
EN 61800-2
Tab. 92: Ambient conditions, transport
Ambient conditions, storage
Storage temperature [°C] −25 … +55

Relative humidity [%] 5 … 95 (non-condensing)
Permissible altitude [m] 3000 (above sea level)
Tab. 93: Ambient conditions, storage
Ambient conditions, operation
Ambient temperature [°C] 0 … +40

at nominal power
Ambient temperature [°C] 0 … +50
with derating
(–3%/C at
40°C … 50°C)
Cooling Through ambient air in the control cabinet
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Technical data
Ambient conditions, operation
Temperature moni- Monitoring of:

toring – Cooling element (power module)
– Air in the device
Switch-off if temperature is too high or too low
Relative humidity [%] 5 … 90 (non-condensing), no corrosive media permitted near the
device
Permissible setup alti- [m] 0 … 1000
tude above sea level at
nominal power
Permissible setup alti- [m] 0 … 2000
tude above sea level Operation above 2000 m is not permitted!
with derating
(–10 %/1000 m at
1000 m … 2000 m)
Degree of protection IP20 (with attached mating plug X9A and with intended
in accordance with mounting on closed backwall, otherwise IP10)
EN 60529
Requirements for Use in a control cabinet with at least IP54, design as “closed
installation space electrical operating area” in accordance with IEC 61800-5-1,
Chap. 3.5
Protection class I
Overvoltage category III
Pollution degree 2 (or better)
Vibration resistance in IEC 61800-5-1 and EN 61800-2
accordance with
Shock resistance in EN 61800-2
accordance with
Tab. 94: Ambient conditions, operation
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Technical data
Service life
Service life of the [h] 25000

device at rated load
in S1 operation1) and
40 °C ambient temper-
ature
Service life of the [h] 50000
device at <50% rated
load in S1 operation1)
and 40 °C ambient tem-
perature
1) Continuous operation under constant load
Tab. 95: Service life
Materials
Housing Plastic
Cooling profile Die-cast aluminium
Tab. 96: Materials
10.2 Technical data, electrical

10.2.1 Load and logic voltage supply [X9A]
Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A
Number of phases 1
Voltage range [V AC] 100 – 20 % … 230 + 15 %
Nominal operating [V AC] 230
voltage
System voltage in [V AC] 300
accordance with
IEC 61800-5-1
Mains current con- [ARMS] 2.8 5.6
sumption1) at nominal
power approx.
Mains frequency [Hz] 48 … 62
Network connec- L è N: TT, TN, IT
tion/allowed mains L1 è L2: TT, TN
types of system
earthing
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Technical data
Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A
Required quality of the Corresponds to the requirements of EN 61800-3, if not specified

mains supply otherwise
Short circuit current [kA] 100
rating (SCCR)
Alternative DC supply [V DC] 80 … 360
feed
1) dependent on mains impedance; if a line choke is used, the mains currents are slightly lower
Tab. 97: Load voltage supply
Electrical data, logic voltage supply

CMMT-AS- C2-3A C4-3A
Logic voltage range [V DC] 24 ± 20 %

Nominal voltage [V DC] 24
Starting current (with [A] < 20
28.8 V)
Protective functions – Polarity reversal
– Short circuit to 0 V (24 V outputs)
Current consumption [A] 0.5
(without holding brake,
CDSB, digital I/Os and
auxiliary supply out-
puts without load)
(with holding brake)
(with holding brake,
with CDSB, digital I/Os
and auxiliary supply
outputs with load and
with fan, if present)
Tab. 98: Logic supply
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Technical data
DC link circuit and brake chopper
Electrical data, DC link circuit

DC link voltage with [V DC] 310 … 320

feed of nominal voltage
at the mains input
Permitted maximum [V DC] < 395
voltage
Tab. 99: DC link circuit
The DC link voltage is continuously monitored by the firmware of the device. The switching thresholds
can be parameterised. The device can therefore be adapted to different supply voltages.
Default switching thresholds on delivery:
– Undervoltage: 250 V
– Overvoltage: 400 V
The pre-charging time of the DC link circuit is controlled and monitored by the firmware. The firmware
monitors whether the DC link circuit can be charged within the correct time window. The soft-start
relay is closed after 1 s.
Electrical data, brake chopper
Brake chopper [V DC] Typical 380

switching threshold ON
Brake chopper hyste- [V DC] Typical 5
resis ON OFF
Protective function If an external braking resistor is used, the data of this external
braking resistor has to be parameterised correctly.
Protective functions:
– Detection of short circuits to DC+ with fast switch-off of the
brake chopper and the power output stage
– Monitoring of the pulse energy and the continuous power of
the braking resistor by the firmware with switch-off of the
braking resistor and of the power output stage when the
power limit is reached
Tab. 100: Brake chopper
10.2.2 Electrical data for braking resistor (internal/external) [X9B]
Integrated braking resistor [X9B]

Resistance [Ω] 100
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Technical data
Integrated braking resistor [X9B]

Pulse power [W] 1600

Pulse energy [Ws] 230
Continuous power [W] 23
(specification
according to IEC) at
70 °C ambient temper-
ature1)2)
Continuous power [W] 15
(specification for cUL)
at 70 °C ambient tem-
perature1)
1) Air temperature in cooling duct (assembly position of braking resistor)
2) The power monitoring of the internal braking resistor is based on the cUL continuous power specification. The (higher) CE continuous
power is permissible in the CE scope of application. You use it by configuring the CMMT-AS for the use of an external braking resistor
with the specified performance data.
Tab. 101: Integrated braking resistor [X9B]
Requirements on external braking resistor [X9B]

Max. resistance [Ω] 160 100

Min. resistance [Ω] 100 70
Permissible continuous [W] 180 350
power of external
resistor (or of brake
chopper in device)
Pulse power [W] 1500 2000
Permissible pulse [Ws] 2000 4000
energy (for the brake
chopper)
Operating voltage [V DC] ³ 500
Parasitic inductance [µH] £ 200
Thermal protection Yes, possible to monitor the power in the braking resistor in the
device firmware
Tab. 102: Requirements on external braking resistor [X9B]
10.2.3 Power specifications, motor connection [X6A]

Internal protective functions detect short circuits between 2 motor phases and short circuits of a
motor phase to PE. If a short circuit is detected, the pulse-width modulation signals are switched off.
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Technical data
Parameters for the power specifications

Nominal voltage of [V AC] 230

mains connection
Ambient temperature [°C] £ 40
(air)
Setup altitude [m] £ 1000
Tab. 103: Parameters
Power specifications during operation with the given parameters [X6A]

Pulse-width modula- [kHz] 8 16 8 16
tion frequency
Current regulator cycle [µs] 62.5

time
Nominal output power [W] 350 255 700 500
(S1 operation; cos(phi)
> 0.8)
Nominal current (S1 [ARMS] 2.0 1.5 4 2.5
operation)
Max. output power [W] 1000 700 2000 1400
(S2 operation; cos(phi)
> 0.8)
Maximum current [ARMS] 6 4.5 12 7.5
Output voltage range [VRMS] 3 x 0 … input
Output voltage with [VRMS] 205
feed of nominal voltage
and nominal power
Output frequency [Hz] 0 … 599
Duration for maximum [s] 2
current
(fs > 5 Hz)
Duration for maximum [s] 0.2
current at standstill
(fs £ 5 Hz); minimum
cycle time 1 s!
Tab. 104: Power specifications, motor connection [X6A]
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Technical data
If the parameters do not conform to those stated, the power specifications listed above will not be
achieved. In this case, the following deratings apply. The deratings refer simultaneously to nominal
output power, max. output power, nominal current and maximum current.
Derating
Changed mains voltage – No derating with current

80 V AC … 265 V AC – Reduced achievable rotational speed/speed and power with
reduced mains voltage
Ambient temperature [%] - 3/°C
(air) 40 °C … 50 °C
Setup altitude [%] - 10/1000 m
> 1000 m
(1000 m … 2000 m)
Tab. 105: Derating
Temperature monitoring
Power unit temperature

Warning [°C] 80 85
Shutdown [°C] > 85 > 90
Air temperature
Warning [°C] 70 75
Shutdown [°C] > 75 > 80
Shutdown if air temper- [°C] 0
ature too low
Tab. 106: Temperature monitoring
10.2.4 Motor auxiliary connection [X6B]
Motor temperature monitoring [X6B]
Analogue sensors Analogue temperature sensors with gain and offset

– KTY 81 … 84 (silicon temperature sensors)
– PTC (PTC resistor, positive temperature coefficient)
– NTC (NTC resistor, negative temperature coefficient)
– Pt1000 (platinum measuring resistor)
Digital sensors – N/C contact
– N/O contact
Tab. 107: Motor temperature monitoring [X6B]
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Technical data
Output of holding brake [X6B]

Design High-side switch1)

Max. continuous [A] 1
output current
Max. voltage drop from [V DC] 0.8
+ 24 V input at con-
nection [X9A] to brake
output at [X6B]
Max. permissible [H] <5
inductive load
Protective functions – Short circuit protected 0 V/FE
– overvoltage-proof up to 60 V2)
– Thermal overload protection
Error detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Diagnostic output for safety sub-function SBC
– Error message on device
1) The test pulses of the associated control input #SBC-A are mapped to the output subject to a switching delay.
2) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.
Tab. 108: Output of holding brake [X6B], 1-phase devices
10.2.5 Encoder interfaces [X2], [X3]
EnDat 2.1 encoder at [X2]
Parameterisable no. of 1 … 16777216 position values/revolution (24 bit)

encoder pulses
Angle resolution/inter- None; digital angle signal from encoder
polation
Clock signal [MHz] RS422/485; max. 2
Data channel [MHz] RS422/485; max. 2
Input impedance data [Ω] RS422/485; 120
Output supply [mA] Max. 250 (at 5.00 V … 5.50 V)
Support: mechanical Yes, up to 4096 revolutions
multiturn encoder
Support: battery-buf- No
fered multiturn
encoder
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Technical data
Support: encoder Yes, storing of controller parameters in encoder

parameter memory
Support: encoder error Yes, supported
messages
Encoder communica- Up to 2 corrupted/failed encoder messages tolerated. After this
tion failure an error message will be generated.
Tab. 109: EnDat 2.1 encoder at [X2]

encoder pulses
polation
Clock signal [MHz] RS422/485; max. 4
Data channel [MHz] RS422/485; max. 4
Input impedance data [Ω] RS422/485; 120
Output supply [mA] Max. 250 (at 9.50 V … 10.50 V)
multiturn encoder
Support: battery-buf- Yes, up to 16 bit; battery buffer not integrated in CMMT-AS (cable
fered multiturn adapter/box required)
encoder
parameter memory
messages
Encoder communica- Up to 2 corrupted/failed encoder messages tolerated. After this
tion failure an error message will be generated.
Tab. 110: EnDat 2.2 encoder at [X2]
Hiperface encoder at [X2]
Parameterisable no. of 1 … 1024 periods/revolution (10 bit)

encoder pulses
Angle resolution/inter- Min. 10 bits/period
polation
Data channel Hiperface [MHz] RS422/485; max. 4
(Hiperface 9.6 kbit/s to 115 kbit/s)
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Technical data
Hiperface encoder at [X2]
Input impedance for [Ω] RS422/485; 120

data channel
Tracking signals SIN, [V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)
COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)
Input impedance SIN, [Ω] 120 (differential input)
COS
Critical frequency SIN, [kHz] Approx. 50 (high-resolution tracking)
COS
Noise-free angle reso- [bit] 10 (measured on noise-free SIN/COS signals)
lution within one SIN,
COS period
Noise-free angle reso- [bit] Min. 12, typically 13 (10 m motor/encoder line, active drive con-
lution with SEK/SEL 37 trol)
per motor revolution
Noise-free angle [bit] Min. 15, typically 17 (10 m motor/encoder line, active drive con-
resolution with trol)
SKS/SKM 36 per motor
revolution
Output supply [V] 10 ± 10 %
[mA] Max. 250
multiturn encoder
encoder
parameter memory
Encoder signal moni- Vector length monitoring for SIN/COS signals, signal amplitude
toring range –30% … +20%, error message if position determination is
no longer possible. A cyclical comparison of the position values
of the SIN/COS signals with the absolute position read via the
data channel detects miscounting by an entire signal period.
Tab. 111: Hiperface encoder at [X2]
SIN/COS encoder at [X2], [X3]

encoder pulses
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Technical data
SIN/COS encoder at [X2], [X3]
Angle resolution/inter- Min. 10 bits/period

polation
Tracking signals SIN, [V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)
COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)
Input impedance SIN, [Ω] 120 (differential input)
COS
Critical frequency fcrit [kHz] Approx. 50 (high-resolution tracking)
SIN, COS
Noise-free angle reso- [bit] 10 (measured on noise-free SIN/COS signals)
lution within one SIN,
COS period
Noise-free angle reso- [nm] < 100
lution with LS 187
(20 µm signal period)
Output supply [V] 5±5%
[mA] Max. 250
Support: mechanical No
multiturn encoder
fered multiturn
encoder
Support: encoder No
parameter memory
Encoder signal moni- Vector length monitoring for SIN/COS signals, signal amplitude
toring range –30% … +20%, error message if position determination is
no longer possible.
Tab. 112: SIN/COS encoder at [X2], [X3]
Digital incremental sensor at [X2], [X3]

encoder pulses
Angle resolution/inter- 4-fold evaluation as 4 steps (2 bits) per period
polation
Tracking signals A/B/N [MHz] RS422/485; max. 4
Input impedance [Ω] 120 (differential input)
A/B/N
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Technical data
Digital incremental sensor at [X2], [X3]
Critical frequency fcrit [MHz] >4

A/B/N
Output supply [V] 5.00 … 5.50
[mA] Max. 250, unregulated (no Sense cable)
Support: mechanical No
multiturn encoder
fered multiturn
encoder
Support: encoder No
parameter memory
Encoder signal moni- No, no direct encoder signal monitoring
toring
Tab. 113: Digital incremental sensor at [X2], [X3]
Encoder with asynchronous communication interface at [X2]

encoder pulses
polation
Clock signal [MHz] None; asynchronous communication
Data channel RS422/485, asynchronous communication
Bit rate: 1 MHz/2 MHz/4 MHz
18 bit/frame
Input impedance [Ω] RS422/485; 120
A/B/N
Output supply [V] 5.00 … 5.50
[mA] Max. 250
Support: mechanical [bit] Yes, 16
multiturn encoder
encoder
parameter memory
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Technical data
Encoder with asynchronous communication interface at [X2]

messages
Encoder signal moni- Up to 2 corrupted/failed encoder messages tolerated. After this
toring an error message will be generated.
Tab. 114: Encoder with asynchronous communication interface at [X2]
10.2.6 Inputs, outputs, ready contact at [X1A]

Operating ranges of digital inputs drawing current
Fig. 24: Operating ranges of digital inputs drawing current
Control inputs #STO-A and #STO-B at [X1A]
Specification Based on type 3 to EN 61131-2; deviating current consumption

Permissible voltage [V DC] –3 … 30
range1)
Max. input voltage [V] 28.8
high-level (UH max)
Min. input voltage [V] 17
high-level (UH min)
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Technical data
Control inputs #STO-A and #STO-B at [X1A]
Max. input voltage low- [V] 5

level (UL max)
Min. input voltage low- [V] –3
level (UL min)
Max. input current with [mA] 75
high-level (IH max)
Min. input current with [mA] 50
high-level (IH min)
low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSTO,TP) up to
max.
Min. time between [ms] 200
low test pulses at
UH min < USTO-A/B £ 20 V
low test pulses at
USTO-A/B > 20 V
Tolerance for high test pulses2)
Tolerated high test [ms] 1
pulses (tSTO,TP) up to
max.
high test pulses at
USTO-A/B < UL max
1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the input exceeds the permissible
maximum value, the channel is shut down.
2) High test pulses must not occur simultaneously at inputs #STO-A and #STO-B but only with a time offset.
Tab. 115: Control inputs #STO-A and #STO-B at [X1A]
Control inputs #SBC-A and #SBC-B at [X1A]
Specification Based on type 3 to EN 61131-2

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Technical data
Control inputs #SBC-A and #SBC-B at [X1A]

range
Max. input voltage [V] 30
high-level (UH max)
high-level (UH min)
level (UL max)
level (UL min)
high-level (IH max)
high-level (IH min)
low-level (IL max)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSBC,TP) up to
max.
low test pulses at
UH min < USBC-A/B £ 20 V
low test pulses [ms]
atUSBC-A/B > 20 V
Tolerance for high test pulses1)
Tolerated high test [ms] 1
pulses (tSBC,TP) up to
max.
high test pulses at
USBC-A/B < UL max
1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset.
Tab. 116: Control inputs #SBC-A and #SBC-B at [X1A]
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Technical data
Diagnostic outputs STA and SBA at [X1A]
Design Asymmetrical push-pull output

Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 15
rent for high-level
Voltage loss at high- [V] <3
level
Permissible output cur- [mA] < –400
rent at low-level1)
Voltage loss at low- [V] < 1.5
level
Pull-down resistance [kΩ] < 50
Protective function – Short-circuit proof
– Feedback-proof
– Overvoltage-resistant up to 60 V
Loads
Ohmic load (min.) [kΩ] 1.2
Inductive load [µH] < 10
Capacitive load2) [nF] < 10
Test pulses
Test pulses at outputs None (for time-offset test pulses on the associated A/B control
inputs)
1) Current flows from outside via the internal low-side switch to 0 V reference potential of 24 V supply
2) Requires connection of the output to a Type 3 input
Tab. 117: Diagnostic outputs STA and SBA at [X1A]
Digital inputs at [X1A] without safety inputs

Permissible voltage [V DC] −3 … 30
range
Max. input voltage [V] 30
high-level (UH max)
high-level (UH min)
level (UL max)
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Technical data
Digital inputs at [X1A] without safety inputs

level (UL min)
high-level (IH max)
high-level (IH min)
low-level (IL max)
Data for inputs CAP0, CAP1
Delay time in the hard- [µs] <2
ware
Min. permissible pulse [µs] 10
length (high or low)
Time resolution/accu- [µs] <1
racy (high or low)
Tolerance for low test No
pulses
Data for remaining inputs
Delay time in the hard- [µs] < 200
ware
Tolerance for low test [ms] 1
pulses
Min. period length [ms] 100
between test pulses
Tab. 118: Digital inputs at [X1A] without safety inputs
Digital trigger outputs TRG0 and TRG1 at [X1A]
Design High-side switch without test pulse monitoring

rent for high-level
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Technical data
Digital trigger outputs TRG0 and TRG1 at [X1A]

– Feedback-proof to 30 V
– Automatic switch-off in event of over-temperature (> 150°C)
Loads
Ohmic load (min.) [kΩ] 1.2
Tab. 119: Digital trigger outputs TRG0 and TRG1 at [X1A]
Ready contact at [X1A]
Design N/O contact (electronic)

The N/O contact is not fully isolated from the logic supply. The
CMMT-AS can check the function of the contact via a diagnostic
pickoff.
rent with contact
closed
Permissible leakage [µA] < 100
current with contact
open
Pull-down resistance [kΩ] Approx. 50
Short-circuit protection Not short-circuit proof
Overvoltage strength [V] Up to max. 60
Loads (X1A.24 connected to 24 V logic voltage supply; load between X1A.23 and GND24)
Ohmic load (min.) [Ω] 600
Switching delay from [ms] <5
control gate
Tab. 120: Ready contact at [X1A]
Analogue input AIN0 at [X1A]
Design Differential analogue input, signal pair AIN0/#AIN0 with refer-

ence to GND
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Technical data
Analogue input AIN0 at [X1A]
Measuring range [V DC] –10 … +10

Gain error [%] ±1
Offset error [mV] ± 50
Resolution [bit] 12
Input bandwidth [kHz] 2
Input impedance [kΩ] Approx. 70
In-phase suppression [dB] Approx. 40 (in in-phase voltage range ± 12 V to GND)
Input capacitance [nF] Typically 1 (for 1 kΩ)
range
Tab. 121: Analogue input AIN0 at [X1A]
10.2.7 Inputs and outputs for the axis [X1C]
Inputs LIM0, LIM1 at [X1C]

Nominal voltage [V] 24
Permissible voltage [V] –3 … 30
range
Max. input voltage, [V] 30
high level (UH max)
Min. input voltage, [V] 13
high level (UH min)
Max. input voltage, low [V] 5
level (UL max)
Min. input voltage, low [V] –3
level (UL min)
high level (IH max)
high level (IH min)
low level (IL max)
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Technical data
Inputs LIM0, LIM1 at [X1C]
Delay time in the hard- [µs] < 200

ware
Tolerance for low test [ms] 1.5
pulses
Min. period length [ms] 100
between test pulses
Tab. 122: Inputs LIM0, LIM1
Output BR-EXT at [X1C]
Design High-side switch1)

rent for high level
Voltage loss at high [V] <3
level
Pull-down resistance [kΩ] < 50
– Feedback-proof
– Overvoltage-resistant up to 60 V
– Thermal overload protection
Fault detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Output SBA
– Error message on device
Test pulse length The test pulses for control input #SBC-B are mapped to the
output.
Min. time between test [ms] 100
pulses
Loads
Resistive load (min.) [Ω] 240
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Technical data
Output BR-EXT at [X1C]
Inductive load [mH] < 100

Capacitive load [nF] < 10
1) The test pulses of the associated control input #SBC-B are mapped to BR-EXT subject to a switching delay.
Tab. 123: Output BR-EXT
Power supply for external devices at [X1C] (X1C.4 and X1C.9)
Output voltage [V DC] +24 ± 20 %

Max. output current [mA] 100
Protective function – Polarity reversal
– Short circuit to 0 V
– Feedback-proof
Tab. 124: Power supply at [X1C]
10.2.8 SYNC IN/OUT [X10]

The individual signal lines are differentially terminated with a terminating resistance. The terminating
resistance is:
– for low frequencies (DC instance) approx. 700 Ω
– for high frequencies (AC instance) approx. 120 Ω
Encoder emulation/incremental encoder output [X10]
No. of output marks [marks/ 1 … 16384

rev.]
polation
Tracking signals A/B [MHz] RS422/485; max.1
Tracking signals Z [kHz] RS422/485; valid up to a max. output frequency A/B of 100; Z
signal can be shut down
Output impedance [Ω] Differential 120
A/B/N Ra.diff
Permissible load on FAN-OUT = 16 (16 inputs on other CMMT-AS)
output
Critical frequency [MHz] 4 (FAN-OUT = 1); 0.1 (FAN-OUT = 16)
A/B/N
Tab. 125: Encoder emulation/incremental encoder output [X10]
Incremental encoder/counter input [X10]
Tracking signals A/B/Z [MHz] RS422/485; max. 1
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Technical data
Incremental encoder/counter input [X10]
No. of input marks [marks/ 1 … 16384

rev.]
polation
Tracking signals [MHz] RS422/485; max. 1
CLK/DIR
No. of input pulses [pulses/ 4 … 65536
rev.]
Tracking signals [MHz] RS422/485; max. 1
CW/CCW
No. of input pulses [pulses/ 4 … 65536
rev.]
Input impedance [Ω] Differential 120 in series with 120 pF high-frequency signal ter-
A/B/N Re.diff mination, additionally 700 parallel, low-frequency signal termi-
nation
Tab. 126: Incremental encoder/counter input [X10]
10.2.9 Standard Ethernet [X18], parameterisation interface
Standard Ethernet [X18], parameterisation interface
Design To IEEE 802.3:2012-001)

Connection design RJ45
Transmission rate [Mbit/s] 10/100 (full/half duplex)
Supported protocols TCP/IP
IP address set at fac- 192.168.0.1
tory (presetting)
1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths. Deviating from IEEE 802.3, the
isolation coordination is therefore done according to the valid product standard IEC 61800-5-1: DVC A, system voltage ≤ 50 V.
Tab. 127: Standard Ethernet [X18]
10.2.10 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])
Real-time Ethernet [X19] ([XF1 IN], [XF1 OUT])
Design RTE communication, physical level in accordance with

IEEE 802.3: 2012-001)
Bus connection design RJ45
[XF1 IN]
Bus connection design RJ45
[XF2 OUT]
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Technical data
Real-time Ethernet [X19] ([XF1 IN], [XF1 OUT])
Max. transmission rate [Mbit/s] 100

Bus protocol EtherCAT: CMMT-AS-...-EC
Protocol – CoE (CANopen over EtherCAT)
– EoE (Ethernet over EtherCATEtherCAT)
– FoE (File Access over EtherCAT)
Communication profile – CiA 402
Bus protocol EtherNet/IP: CMMT-AS-...-EP
Protocol – Implicit messaging
– Explicit messaging
Bus protocol PROFINET: CMMT-AS-...-PN
Protocol – PROFINET RT
– PROFINET IRT
Drive profile – PROFIdrive
1) Restriction: the interface is galvanically isolated and intended for use with limited cable lengths.
Tab. 128: Real-time Ethernet [X19]
10.3 Technical data UL/CSA certification

In combination with the UL inspection mark on the product, the information in this section must also
be observed in order to comply with the certification conditions of Underwriters Laboratories Inc. (UL)
for USA and Canada.
UL/CSA certification information
Product category code NMMS / NMMS7 (Power Conversion Equipment)

File number E331130_Vol-1_Sec-3
Considered standards UL61800-5-1 Adjustable Speed Electrical Power Drive Sys-
tems
CSA C22.2 No. 274-17 – Adjustable Speed Drive
UL mark
UL control number 4PU8

Tab. 129: UL/CSA certification information
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Technical data
– Use in an environment with pollution degree 2 (or better).

– Use only Cu cables that have a permissible constant insulation temperature of at least 75 °C at the
following connections:
– [X6A], motor connection
– [X9A], power supply and DC link circuit connection
– [X9B], connection for braking resistor
– UL: The integrated semiconductor short-circuit protection does not protect the downstream power
circuit. The power circuit must be protected in conformity with the National Electrical Code and all
other local regulations.
CSA: The integrated semiconductor short-circuit protection does not protect the downstream power
circuit. The power circuit must be protected in conformity with the Canadian Electrical Code, part I.
Requirements for circuit breakers (automatic circuit breakers) and fuses
Overcurrent protective device Circuit breaker Class J/CC fuse

max. permissible rated [A] 15 25
current
Short circuit current [kA] min. 14 Min. 100
rating SCCR of mains
fuse
Rated voltage [V AC] 277 600
Tab. 130: Requirements for circuit breakers and fuses

Description Cable cross section Mains fuse [A]1)
at [X9A]
[mm²] CMMT-AS-C2/C4-3A-...
Minimum fuse pro- 0.75 6

tection
Maximum fuse pro- 1.5 10
tection of an indi- 2.5 15
vidual device or a
device group
1) Specifications according to UL 61800-5-1:2012; for cUL, only use Cu cables that have a permissible constant insulation temperature
of at least 75 °C.
Tab. 131: Line protection requirements
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Technical data
10.4 Operation of the servo drive in the system

10.4.1 Cable lengths in combination with Festo motors
The permissible motor cable length depends on the combination of components in use and their
properties, e.g. from:
– Emitted interference and immunity to interference (EMC aspects) è 10.4.1.1 Motor cable lengths
with Festo motors
– Voltage for releasing the holding brake in the motor è 10.4.1.2 Holding brake voltage drop
– Voltage drop in the motor cable è 10.4.1.3 Voltage drop in the motor cable
All aspects must be taken into account. The resulting shortest cable length is the permissible cable
length of the drive system.
10.4.1.1 Motor cable lengths with Festo motors
With reference to EMC aspects, the following maximum motor cable lengths are permissible for an
individual device in combination with Festo motors:
CMMT-AS... PWM required measures Max. permissible motor cable length [m]
[kHz] EMMT-AS EMME-AS EMMS-AS EMMB-AS
Category C2: operation in the first environment (residential area)

-C2-3A 8 Line choke 15 15 15 15
-C4-3A 16 Line choke and snap 10 10 10 10
ferrite
Category C3: operation in the second environment (industrial area)
-C2-3A 8, 16 – (none) 25 25 25 25
-C4-3A external mains filter 50 50
Tab. 132: Maximum motor cable lengths in combination with Festo motors
Required measures
Line choke (2 x ³ 5 mH) A line choke with two part-windings for the line feeds L1 and N (2 x ³ 5 mH)
must be installed to comply with the line harmonics in accordance with
EN 61000-3-2 – accessories.
Snap ferrite A snap ferrite must be installed on motor phases U, V, W (without PE)
to comply with the malfunction limit values of category C2 at 16 kHz
switching frequency (Würth, prod. no. 74272722 or compatible). Feed
through flying leads once.
external mains filter Install a suitable external mains filter - accessories.
Tab. 133: Installation measures to achieve the specified category
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Technical data
Additional measures for the device compound

If the devices are used in a device compound with coupled mains supply and DC link coupling, the
following applies:
– An external mains filter is always required to comply with category C2.
For applications with 3 drives and cable lengths up to 25 m per servo drive, Festo recommends the
filter CAMF-C6-F-C20-3A (Accessories).
– The internal mains filter is sufficient for compliance with category C3 with cable lengths up to 25 m
per servo drive.
10.4.1.2 Holding brake voltage drop
The voltage drop on the cables to the holding brake can result in a holding brake in the motor not
being able to open reliably. Festo recommends calculating the resulting input voltage for the holding
brake.
Formula for calculating the input voltage for the holding brake in the motor UHB
Input voltage for the holding brake UHB
Technical data for servo drive

ULS minimum input voltage at the logic supply of the servo drive
UBR,drop maximum voltage drop from the logic supply to the output for the holding brake
IBR, max maximum output current of the servo drive at the output for the holding brake
Motor cable technical data
rcu Specific resistance of copper (warm cable)
L Cable length
A Cross section of the cable for the holding brake
Motor technical data
UHB, rated Nominal voltage of the holding brake
PHB, rated Nominal power of the holding brake in the motor
Tab. 134: Calculation formula for determining the input voltage for the holding brake
The calculated voltage UHB must be greater than the minimum permissible voltage of the holding
brake UHB, min.
Example
The following example shows the calculation of the input voltage for the holding brake for a drive
system consisting of servo drive CMMT-AS-C2-3A-…, servo motor EMMT-AS-60-S-… and motor cable
M23G15-EH-… -Q7N-R3LEG14 with the following values:
– ULS = 22.8 V; application-dependent è Tab. 98 Logic supply
– UBR,drop = 0.8 V; see technical data for servo drive è Tab. 108 Output of holding brake [X6B],
1-phase devices
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Technical data
– IBR,max= 1.0 A; see technical data for servo drive è Tab. 108 Output of holding brake [X6B], 1-phase
devices
– rcu (warm cable) = 0.021 Ω mm²/m
– L = 32 m; application-dependent, required length
– A = 0.75 mm²; see motor cable
– UHB, rated = 24 V; see technical data for motor
– PHB, rated = 11 W; see technical data for motor
– UHB, min = 21.6 V; see technical data of motor (24 V -10%)
The calculated voltage UHB is greater than the minimum permissible voltage UHB, min. The required
minimum voltage is just reached. A longer line could be achieved in the example by increasing the
logic supply voltage from 22.8 V to 24 V.
To calculate the maximum possible cable length L for the correct control of the holding brake, the
above formula can be changed as follows:
10.4.1.3 Voltage drop in the motor cable

The length of the motor cable has an influence on the attainable output voltage on the motor side
under load conditions. Excessively large voltage drops reduce the maximum achievable rotational
speed of the drive system.
The maximum voltage drop on the phases of the motor cable should not exceed the following values in
applications at maximum current:
Servo drive recommended maximum voltage drop
CMMT-AS-C2/C4-3A (1-phase devices) 20 V

Tab. 135: Maximum voltage drop on the motor phases (recommendation)
Formula for calculating the voltage drop on the motor cable UML
Voltage drop in the motor cable UML
Imax maximum current in the application, e.g. current in the acceleration phase
rcu Specific resistance of copper (warm cable)
L Cable length
A Cross section of the cable (motor phases)
Tab. 136: Calculation formula for determining the voltage drop on the motor cable
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Technical data
Example
The following example shows the calculation of the voltage drop on the servo drive CMMT-AS-C2-3A-…,
servo motor EMMT-AS-60-S-… and motor cable M23G15-EH-…-Q7N-R3LEG14 with the following
values:
– Imax = 5.0 A; application-dependent
– rcu (warm cable) = 0.021 Ω mm² / m
– L = 32 m; application-dependent, required length
– A = 0.75 mm²; see power cable motor cable
The calculated voltage drop is less than the recommended limit value. The motor cable thus has a
sufficient cable cross section.
If the voltage drop on the cable is too large:
• Use a cable with a larger cross section.
To calculate the maximum possible cable length L based on the voltage drop on the motor cable, the
above formula can be changed as follows:
10.4.2 Power loss

To select a suitable control cabinet, the power losses of the components used must be taken into
account (thermal design).
The power loss of the servo drive consists of the following:
– Power loss of the logic part; independent of the load and the motion profile and can be regarded as
constant
– Power dissipation of the power output stage; dependent on the load and the motion profile and the
efficiency of the other components
– Power loss in the braking resistor
Formula for calculating the average power loss Pv
Mean power loss Pv
ULS,nominal Logic voltage supply at the servo drive

ILS,inactive Current of the logic supply in the inactive status
PMot, avr linear mean value of the electrical output power (average value)
h Efficiency
PBr,avr Mean power loss in the braking resistor
Tab. 137: Calculation formula for determining the average power loss
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Technical data
If the linear mean value of the electrical output power is not available, the root mean square value
of the power can also be used for calculation (Root Mean Square of Power). This value can be
determined with a suitable design tool from Festo after input of the positioning profile, e.g. with the
PositioningDrives design tool, see dynamic data for the motor.
This root mean square value is based on the calculation of a few support points of the positioning
profile and should provide a sufficiently high value for the calculation.
Determination of the average power loss in the braking resistor
The average power loss of the braking resistor is also calculated by the Festo design tool. If a design
tool is not available, the average power loss can also be estimated in a simplified manner:
Mean power loss PBr,avg
PBr,avg Mean power loss in the braking resistor

hsystem Assumed overall efficiency for servo drive, motor and mechanical components.
Typical values for toothed belt axes as a function of the average drive power:
– 500 W: approx. 70%
– 2000 W: approx. 80%
– > 2000 W: approx. 85%
The values are lower for spindle axes.
tcycle Cycle time of the movement process
Wkin Kinetic energy of the system
Wpot Potential energy in the system, e.g. z-axis

Tab. 138: Calculation formula for determining the average power loss in the braking resistor
In doing so, the total moving mass, including slides and moving system parts, must be assumed for
the mass m. All kinetic and potential energies that lead to recuperation must be added up within the
movement cycle.
Example
The following example shows the calculation of the average power loss for a drive system
consisting of servo drive CMMT-AS-C2-3A-…, servo motor EMMT-AS-60-S-… and motor cable
NEBM-M23G15- EH-…-Q7N-R3LEG14 without taking into account the power loss of the braking resistor
with the following values:
– ULS,nominal = 24 V; see technical data for servo drive è Tab. 98 Logic supply
– ILS,inactive = 0.5 A; see technical data for servo drive è Tab. 98 Logic supply
– PMot,avr = 150 W; application-dependent
– h = 94%; simplifying assumption, efficiency depends on the current operating point
– PBr,avr = 10 W
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Technical data
The power loss of the braking resistor only has to be taken into account if the power dissipation in
the control cabinet is effective. An external braking resistor only has to be taken into account if it is
mounted in the control cabinet.
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Copyright:
Festo SE & Co. KG
73734 Esslingen
Ruiter Straße 82
Deutschland
Phone:
+49 711 347-0
Internet:
© 2021 all rights reserved to Festo SE & Co. KG www.festo.com

CMMT AS C2 - 4 3A - Manual - 2021 04c - 8153797g1

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CMMT-AS-C2/4-3A-...

Festo — CMMT-AS-C2/4-3A-... — 2021-04c 3

4 Festo — CMMT-AS-C2/4-3A-... — 2021-04c

1 About this document

1.2 Applicable documents

All available documents for the product è www.festo.com/sp.

Operating instructions for the Installation, safety sub-function

1.3 Product variants

Servo drive CMMT- Servo drive, series T

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Characteristic Order code Type

Nominal input voltage 3A- 230 V AC, 50 … 60 Hz

1.4 Product labelling

CMMT-AS-C2-3A-EC-S1 Order code

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Product labelling (example) Meaning

IP10/20 PD2 Degree of protection, without mating plug/with

Warning Meaning with the CMMT-AS-...

Attention! Hot surface

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Warnings on the product

1.5 Specified standards

IEC 60364-1:2005 EN 61131-2:2007

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– Take into consideration the ambient conditions at the location of use.

2.2 Intended use

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2.2.1 Application areas

2.3 Training of qualified personnel

2.5 Safety engineering approval

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2.6 UL/CSA certification

Firmware, software or configuration files è www.festo.com/sp.

Servo drive CMMT-AS-... 1

Up-to-date information on the accessories è www.festo.com/catalogue.

4.2 System structure

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Fig. 1: System structure (example)

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4.2.1 Product design

Fig. 2: Servo drive CMMT-AS-...-3A

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1 Top slot (keyhole shape)

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4.2.2 Overview of connection technology

Fig. 4: Connections of the CMMT-AS-...-3A

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5 Transport and storage

[mm] Approx. 170 200 22 10 6 9

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[mm] Approx. 170 Approx. 34 Approx. R5.5 5.5 5.5

6.1 Mounting distances CMMT-AS-...-3A (1-phase)

Fig. 6: Mounting distances and installation clearance for CMMT-AS-...-3A (1-phase)

Servo drive H1 H21) L1 L2 L3

CMMT-AS-C2-3A-... [mm] 70 70 52 70 200

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Assembly of the servo drive