Description - Festo · PDF file9H2.4 Safety instructions ... Description of the implemented Festo profile for handling and positioning. 1.2 Scope of delivery The delivery includes:

Beschneiden: Oben: 61,5 mm Unten: 61,5 mm Links: 43,5 mm Rechts: 43,5 mm

Motor controller

Description Mounting and installation Type CMMS-ST-C8-7

Description 554 340 en 0708NH [720 646]

Festo P.BE-CMMS-ST-HW-EN 0708NH 3

Output __________________________________________________ en 0708NH

Designation ____________________________________ P.BE-CMMS-ST-HW-EN

Order no. ___________________________________________________ 554 340

(Festo AG & Co KG., D-73726 Esslingen, 2007)

Internet: 0Hhttp://www.festo.com

E-mail: [email protected]

The copying, distribution and utilisation of this document as well as the communication of its contents to others without expressed authorisation is prohibited. Violations give rise to compensation. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations.

http://www.festo.com/

4 Festo P.BE-CMMS-ST-HW-EN 0708NH

Directory of revisions

Author: Festo AG & Co. KG

Manual name: MOTORCONTROLLER CMMS-ST-C8-7

File name: P_BE-CMMS-ST-HW-EN.doc

File location:

Consec. no. Description Revisions index Date of change

001 Written on 0708NH 01.08.2007


TABLE OF CONTENTS

1H1. General information ................................................................................................. 106H8

2H1.1 Documentation ......................................................................................................... 107H8

3H1.2 Scope of delivery ...................................................................................................... 108H8

4H1.3 Accessories .............................................................................................................. 109H9

5H2. Safety instructions for electrical drives and control systems ................................. 110H11

6H2.1 Icons used .............................................................................................................. 111H11

7H2.2 General instructions ............................................................................................... 112H12

8H2.3 Danger from incorrect use ....................................................................................... 113H13

9H2.4 Safety instructions .................................................................................................. 114H14

10H2.4.1 General safety information ................................................................. 115H14

11H2.4.2 Safety instructions for mounting and maintenance ............................. 116H16

12H2.4.3 Guards preventing contact with electrical components ....................... 117H18

13H2.4.4 Protection against electric shocks via PELV ........................................ 118H19

14H2.4.5 Protection against hazardous motions ............................................... 119H20

15H2.4.6 Guards preventing contact with hot parts ........................................... 120H20

16H2.4.7 Protection during handling and mounting ........................................... 121H21

17H3. Product description ................................................................................................ 122H22

18H3.1 General information ................................................................................................ 123H22

19H3.2 Features ................................................................................................................. 124H22

20H3.3 Interfaces ............................................................................................................... 125H23

21H3.3.1 Overview of interfaces ........................................................................ 126H23

22H3.3.2 I/O functions and device control ......................................................... 127H24

23H3.3.3 Increment generator input .................................................................. 128H25

24H3.3.4 CAN bus ............................................................................................. 129H25

25H3.3.5 Profibus ............................................................................................. 130H26

26H3.3.6 Synchronisation interface ................................................................... 131H26

27H3.3.7 RS232 interface .................................................................................. 132H26

28H3.3.8 RS485 interface .................................................................................. 133H27

29H3.3.9 MTR-ST series stepper motors ............................................................ 134H27

30H3.3.10 EMMS-ST series stepper motors ......................................................... 135H27

31H3.3.11 Power supply ..................................................................................... 136H27

32H3.3.12 SD memory card ................................................................................. 137H27

33H3.3.13 Brake chopper .................................................................................... 138H28

34H3.4 Function overview ................................................................................................... 139H28

35H3.4.1 Operating modes ................................................................................ 140H28

36H3.4.2 Setpoint processing ........................................................................... 141H29


37H3.4.3 Hiding frequency ranges ..................................................................... 142H29

38H3.4.4 I²T function......................................................................................... 143H29

39H3.4.5 Positioning controller ......................................................................... 144H30

40H3.4.6 Homing .............................................................................................. 145H31

41H3.4.7 Trajectory generator ........................................................................... 146H33

42H3.4.8 I/O sequence control .......................................................................... 147H34

43H3.4.9 Safety functions, error messages........................................................ 148H36

44H3.4.10 Oscilloscope function ......................................................................... 149H36

45H3.4.11 Jog and teach function I/O .................................................................. 150H36

46H3.4.12 Route program ................................................................................... 151H37

47H3.4.13 Synchronisation ................................................................................. 152H38

48H3.4.14 On-the-fly measurement ..................................................................... 153H39

49H3.4.15 Endless positioning ............................................................................ 154H39

50H4. Mechanical installation ......................................................................................... 155H40

51H4.1 Important notes ...................................................................................................... 156H40

52H4.2 Mounting ................................................................................................................ 157H42

53H5. Electrical installation ............................................................................................. 158H43

54H5.1 Device view ............................................................................................................ 159H43

55H5.2 Interfaces ............................................................................................................... 160H45

56H5.3 CMMS-ST complete system ..................................................................................... 161H45

57H5.4 Interfaces ............................................................................................................... 162H47

58H5.4.1 I/O interface [X1] ................................................................................ 163H47

59H5.4.2 Increment generator input [X2] ........................................................... 164H50

60H5.4.3 Fieldbus CAN [X4] ............................................................................... 165H51

61H5.4.4 RS232/RS485 [X5] .............................................................................. 166H51

62H5.4.5 Motor connection [X6] ........................................................................ 167H52

63H5.4.6 Power supply [X9] ............................................................................... 168H52

64H5.4.7 Increment generator interface / control signals [X10] ......................... 169H52

65H5.4.8 SD card .............................................................................................. 170H53

66H5.4.9 Fieldbus settings and bootloader ....................................................... 171H53

67H5.5 Instructions on safe and EMC-compliant installation ............................................... 172H54

68H5.5.1 Explanations and terms ...................................................................... 173H54

69H5.5.2 General information on EMC ............................................................... 174H55

70H5.5.3 EMC areas: Second environment ........................................................ 175H55

71H5.5.4 EMC-compliant wiring ......................................................................... 176H55

72H5.5.5 Operation with long motor cables ....................................................... 177H56

73H5.5.6 ESD protection ................................................................................... 178H57

74H6. Preparations for commissioning ............................................................................ 179H58

75H6.1 General connection instructions.............................................................................. 180H58


76H6.2 Tools / material ...................................................................................................... 181H58

77H6.3 Connecting the motor ............................................................................................. 182H58

78H6.4 Connect the CMMS-ST stepping motor controller to the power supply .................... 183H59

79H6.5 Connecting a PC ...................................................................................................... 184H59

80H6.6 Checking readiness for operation ............................................................................ 185H59

81H7. Service functions and error messages ................................................................... 186H60

82H7.1 Protective and service functions ............................................................................. 187H60

83H7.1.1 Overview ............................................................................................ 188H60

84H7.1.2 Overload current and short-circuit monitoring .................................... 189H60

85H7.1.3 Voltage monitoring for the intermediate circuit .................................. 190H60

86H7.1.4 Temperature monitoring for the heat sink .......................................... 191H60

87H7.1.5 I²t monitoring ..................................................................................... 192H61

88H7.1.6 Power monitoring for the brake chopper ............................................ 193H61

89H7.1.7 Commissioning status ........................................................................ 194H61

90H7.2 Operating mode and error messages ...................................................................... 195H62

91H7.2.1 Operating mode and error display ...................................................... 196H62

92H7.2.2 Error messages .................................................................................. 197H63

93HA. Technical specifications ......................................................................................... 198H66

94HA.1 General information ................................................................................................ 199H66

95HA.2 Operation and display components ........................................................................ 200H67

96HA.3 Interfaces ............................................................................................................... 201H67

97HA.3.1 Power supply [X9] ............................................................................... 202H67

98HA.3.2 Motor connection [X6] ........................................................................ 203H68

99HA.3.3 Increment generator input [X2] ........................................................... 204H68

100HA.3.4 Increment generator interface [X10].................................................... 205H69

101HA.3.5 RS232/RS485 [X5] .............................................................................. 206H69

102HA.3.6 CAN bus [X4]....................................................................................... 207H69

103HA.3.7 I/O interface [X1] ................................................................................ 208H69

104HB. Glossary ................................................................................................................. 209H71

105HC. INDEX ................................................................................................................... 210H72

1. General information



1.1 Documentation

This product manual is intended to help you operate CMMS-ST series stepping motor controllers safely. It contains safety instructions which must be followed.

This document provides information on:

- mechanical fitting

- electrical installation and an

- overview of the range of functions.

See the following manuals on the CMMx product family for further information:

- CANopen manual "P.BE-CMMS-CO-...": Description of the implemented CANopen protocol according to DSP402

- PROFIBUS manual "P.BE-CMMS-FHPP-PB-...": Description of the implemented PROFIBUS-DP protocol.

- DeviceNet manual "P.BE-CMMS-FHPP-DN-...": Description of the implemented DeviceNet protocol.

- FHPP manual "P.BE-CMM-FHPP-...": Description of the implemented Festo profile for handling and positioning.

1.2 Scope of delivery

The delivery includes:

Number Delivery

1 Stepping motor controller CMMS-ST-C8-7

1 CD (configuration software, documentation, S7 module, GSD, EDS, firmware)

1 Brief description

1 NEKM-C-1 plug range

Table 1.1 Scope of delivery



1.3 Accessories

Number Type Order number

1 Plug range: NEKM-C-1 547452

1 8-pin DSUB plug, MSTB 2.5/8-ST-5.08 BK

1 3-pin DSUB plug, MSTB 2.5/3-ST-5.08 BK

1 Power supply

unit

SVG-1/230VAC-24VDC-5A 547867

SVG-1/230VAC-24VDC-10A 547868

SVG-1/230VAC-48VDC-5A 542403

SVG-1/230VAC-48VDC-10A 542404

SVG-3/400VAC-48VDC-20A 542405

1 Control cable NEBC-S1G25-K-2.5N-LE26 552254

1 Encoder plug NECC-S-S1G9-C2M 552274

1 Profibus CAMC-PB 547450

1 Devicenet CAMC-DN 547451

1 SD card CAMC-M-S including firmware 547453

Table 1.2 Accessories



2. Safety instructions for electrical drives and control systems



2.1 Icons used

Information

Note

Important information and instructions.

Caution

Failure to comply with these instructions can result in material damage.

Warning

Failure to comply with these instructions can result in material damage and personal injuries.

Warning

DANGER!

Failure to comply with these instructions can result in major material damage and personal injuries.

Warning

Hazardous voltage!

The safety instruction indicates potentially fatal voltage.

Accessories

Environment



2.2 General instructions

Festo AG & Co. KG will accept no liability for damage resulting from failure to comply with the warnings in these operating instructions.

Note

Before commissioning, the 211HSafety instructions for electrical drives and control systems must be read from page 212H11 and the chapter 213H5.5 214HInstructions on safe and EMC-compliant installation page 215H54.

If the documentation in the language in question cannot be understood fully, please contact your vendor and inform them.

In order for the stepping motor controller to operate without problems and safely, it must

be transported, stored, mounted, planned properly and correctly, taking the risks and protection and emergency measures into account, as well as operated and maintained with due care.

Note

Electrical installations may only be performed by qualified and trained electricians.

Qualified and trained personnel

In accordance with this product manual or the warnings on the product itself, anyone involved in planning, installing, mounting, commissioning and operating the product and

are sufficiently familiar with all warnings and precautionary measures in these operating instructions and who have the appropriate qualification for their work:

- Training and instruction or authorisation to activate/deactivate devices and systems in accordance with the safety technology standards, as well as earthing them and marking them in accordance with the working requirements.

- Training or instruction in accordance with the safety technology standards in main-taining and using appropriate safety equipment.

- Training in first aid.

The following instructions must be read before the system is commissioned for the first time to prevent injury and/or material damage:

These safety instructions must be complied with at all times.



Do not attempt to install or commission the stepping motor

controller until you have read all safety instructions related to electrical drives and control systems in this document.

These safety instructions and all other user instructions must be read before performing any work with the stepping motor controller.

If you do not have user instructions for the stepping motor controller, contact your local sales representative.

Ask them to send the documents to the person responsible for safe operation of the stepping motor controller immediately.

If the stepping motor controller is sold, rented and/or passed on in any other way, these safety instructions must also be passed on with it.

The operator may not open the stepping motor controller for safety and warranty reasons.

Correct planning is required for the stepping motor controller to function properly.

Warning

DANGER!

Incorrect use of the stepping motor controller and failure to follow the warnings in this manual, as well as incorrect manipulation of safety equipment can cause material damage, injury, electric shock, and in extreme cases, even be fatal.

2.3 Danger from incorrect use

Warning

DANGER!

High electrical voltage and high work working current!

Risk of fatal or serious injury from electric shock!



Warning

DANGER!

High voltage due to incorrect connection!

Risk of fatality or injury from electric shock!

Warning

DANGER!

Surfaces on the device housing can become hot!

Danger of injury! Danger of burning!

Warning

DANGER!

Hazardous motions!

Risk of fatality, serious injury or material damage due to unintentional motion of the motors!

2.4 Safety instructions

2.4.1 General safety information

Warning

The stepping motor controller conforms to protection class IP20, and contamination class 1.

You must ensure that the surrounding area complies with these protection and contamination classes.

Warning

Use accessories and spare parts approved by the manufacturer only.

Warning

In accordance with the EN standards and the VDE regulations, the stepping motor controllers must be connected to the grid such that they can be disconnected using appropriate isolating equipment (e.g. main switch, contactor, circuit breaker).

Warning

Gold-plated contacts or contacts with high contact pressure should be used to switch the control contacts.



As a precaution, measures must be taken to suppress interference for switching systems, such as connecting contactors and relays with RC elements or diodes.

The safety rules and regulations of the country in which the device is used must be complied with.

Warning

The ambient conditions specified in the product documentation

must be observed. Critical safety applications are not permitted unless they are expressly approved by the manufacturer.

See Chapter 216H5.5 217HInstructions on safe and EMC-compliant installation (Page 218H54) for the instructions for EMC-compliant installation.

The manufacturers of the system or machine are responsible for ensuring that the limits required by national regulations are complied with.

Warning

See this product manual for the specifications, connection and installation conditions for the stepping motor controller and absolutely must be observed.

Warning

DANGER!

The general installation and safety regulations for working on high voltage systems (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be observed.

Failure to do so could result in death, injury or serious material damage.

The following precautionary measures also apply without claim to completeness:

VDE 0100 Regulations for setting up high-voltage systems up

to 1000 volts.

EN 60204 Electrical equipment for machines.



EN 50178 Equipping high-voltage systems with electronic

operating media.

EN ISO 12100 Machine safety – definitions, general design guidelines

EN 1050 Machine safety – risk evaluation guidelines

EN 1037 Machine safety – Preventing unexpected starts

EN 954-1 Safety related control system parts

2.4.2 Safety instructions for mounting and maintenance

For mounting and maintaining the system the relevant DIN, VDE, EN and IEC regulations

always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with:

Warning

The stepping motor controller may only be operated, maintained and/or serviced by persons qualified and trained to work on or with electrical devices.

Prevention of accidents, injury and/or material damage:

Warning

The motor holding brake supplied as standard, or an external motor holding brake controlled by the drive controller alone is is not suitable for protection of individuals!

Secure vertical axes to prevent them falling or lowering after the motor is switched off using methods such as: - mechanical locking of the vertical axis, - external brake / arrester / clamp or - sufficient counterweight of the axis.



Warning

During operation and up to several minutes after the stepping motor controller is deactivated, the internal brake resistance can cause dangerous intermediate circuit voltage. If touched, this can lead to fatal or serious injuries.

Before any maintenance work is performed, you must ensure that the power supply is deactivated, locked and the inter-mediate circuit is discharged.

Disconnect the electrical equipment from the power supply using the main switch and secure it to prevent it being switched on again. Wait until the intermediate circuit has discharged before: - Maintenance and servicing work

- Cleaning - Extended downtime.

Warning

Mounting work must be performed with care. Ensure that no drilling chips, metal dust or mounting material (screws, nuts, wire cuttings) fall into the stepping motor controller during mounting work and subsequent operation.

Ensure that the external power supply of the controller (24 V) is switched off.

The intermediate circuit or the load voltage must always be switched off before the 24 V controller power supply is switched off.

Warning

Work in the vicinity of the machine may only be performed when the DC or AC power supply is switched off and locked.

Deactivated output stage or deactivated controller release are not sufficient locks. If a fault occurs, the drive may move unintentio-nally.

Warning

Perform commissioning with idling motors to prevent mechanical damage e.g. via an incorrect direction of rotation.



Warning

Electronic devices are never fail-safe.

The user is responsible for ensuring that the system is returned to a safe condition if the electrical device fails.

Warning

DANGER!

The stepping motor controller and, in particular, the braking resistor can become very hot, and can cause serious burns if touched.

2.4.3 Guards preventing contact with electrical components

This section only concerns devices and drive components with voltages over 50 volts. Touching parts with voltages greater than 50 volts can be dangerous and lead to an electric shock. When electrical devices are operated, certain parts of these devices must always carry dangerous voltages.

Warning

Hazardous voltage!

High voltage!

Risk of fatal or serious injury from electric shock!

For operation, the relevant DIN, VDE, EN and IEC regulations always apply, as do all state and local safety and accident-prevention regulations. The system manufacturer or operator must ensure that these regulations are complied with:

Warning

Before activation, attach the covers and guards to prevent contact with the devices.

Integrated devices must be protected from direct contact by an external housing, e.g. a control cabinet.

The BGVA3 regulations must be complied with!

Warning

Ensure that the minimum copper cross section is observed for the entire length of the protective earth conductor in accordance with standard EN 60617.



Warning

Before commissioning, even for brief measurements or tests, always connect the mains earth to all electrical devices in accordance with the connection diagram or with the earthing cable.

Otherwise the housing could carry high voltages which can cause electric shocks.

Warning

Do not touch electrical connection points of the components when they are switched on.

Warning

Disconnect the device from the mains or from the voltage supply before accessing electrical parts with voltages greater than 50 volts.

Secure them to prevent restarting.

Warning

The voltage of the intermediate circuit must be taken into account in particular for installation with regard to insulation and safety measures.

Proper earthing, line dimensioning and corresponding short circuit protection must be guaranteed.

2.4.4 Protection against electric shocks via PELV

All connections and terminals with voltages from 5 to 50 volts on the stepping motor controller are PELVs which are designed to be safe to touch in accordance with the following standards:

Standards - International: IEC 60364-4-41

- European countries in the EU: EN 50178/1998, Section 5.2.8.1.

Warning

DANGER!

High voltage due to incorrect connection!

Risk of fatality or injury from electric shock!

Only devices, electrical components and lines with PELV (PELV = Protective Extra Low Voltage) may be connected to all connections and terminals with voltages from 0 to 50 volts.

Only connect voltages and circuits which are safely isolated from hazardous voltages.



Safe isolation is achieved via isolating transformers, secure optocouplers or non-mains

connected battery-powered operation.

2.4.5 Protection against hazardous motions

Hazardous motions can be caused by faulty activation of connected motors. The causes can be varied:

Causes - Disorderly or faulty wiring or cabling

- Incorrect operation of the components

- Faults in the measurement and signal generators

- Faults or non-EMC-compliant components

- Faults in the software of the higher-order control system

These faults can occur immediately after activation or after an unspecified period of operation.

The monitoring systems in the drive components rule out malfunctions in the connected drives to a great extent. With regard to protection of persons, and in particular injury and/or material damage, you cannot rely solely on this fact. Before the integrated monitoring systems take effect, faulty drive motions must always be expected. The degree depends on the type of controller and the operating condition.

Warning

DANGER!

Hazardous motions!

Danger of fatal or serious injury, or material damage!

For the reasons named above, personal protection must be guaranteed via monitoring systems or measures which are run by higher-order systems. These are determined by the system manufacturer in accordance with the specific conditions of the system and based on a hazard and fault analysis. The safety regulations which apply to the system are incorporated in this. Deactivating, bypassing or faulty activation of safety equipment can cause random motions of the machine or other malfunctions.

2.4.6 Guards preventing contact with hot parts

Warning

DANGER!

Surfaces on the device housing can become hot!

Danger of injury! Danger of burning!



Warning

Danger of burning!

Do not touch the housing surface close to hot heat sources! Allow devices to cool for 10 minutes after they are switched off

before accessing them. Touching hot parts of the equipment which contain heat sink and resistors, such as the device housing, can result in burns!

2.4.7 Protection during handling and mounting

Handling and mounting certain parts and components in an unsuitable way can cause injuries under unfavourable conditions.

Warning

DANGER!

Danger of injury from incorrect handling!

Injury from crushing, shearing, cutting, pushing!

The general safety instructions apply:

Warning

Observe the general installation and safety regulations for handling and mounting.

Use appropriate mounting and transport devices. Take suitable measures to prevent constriction and crushing. Use suitable tools only. Use special tools where required. Use lifting devices and tools professionally. If necessary, use appropriate protective equipment (e.g. safety

goggles, protective shoes, protective gloves). Do not stand under suspended loads. Remove leaked liquids on the floor immediately due to the

danger of slipping.

3. Product description



3.1 General information

The CMMS-ST stepping motor controller is a fully digital servo positioning controller for activating two-phase hybrid stepping motors.

The CMMS-ST is intended for activating hybrid stepping motors with a maximum current of up to 8 A, in particular the MTR-ST and EMMS-ST series by Festo. The MTR-ST and EMMS-ST series motors without encoders are controlled in an open control circuit ( open loop).

The EMMS-ST series motors with encoders are operated in a closed control circuit (closed loop).

The device can be operated via digital and analogue control signals and networked via the integrated CAN bus. Other fieldbus systems can also be implemented via the technology slot.

The motors are actuated in microstep mode in the entire speed range.

The device is compactly designed and is intended for integration in a control cabinet as an individual device.

The CMMS-ST can also be used separately as a positioning controller. The number of inputs and outputs is adapted for this case.

The device supports the following modes: Speed adjustment with setpoint specification via pulse direction signals or incremen-

tal increment generator signals, suitable for frequencies up to 500 kHz. Speed adjustment with analogue speed setting with 12 bit resolution. Homing Simple connection via digital inputs and outputs to a higher-order control system,

e.g. a PLC. Jolt-limited or time-optimised positioning absolutely or relative to a reference point

(axis zero point) via the integrated trajectory generator. Position control using the interpolated position mode for position specification via the

integrated CANopen fieldbus with automatic interpolation between the nominal values.

In addition to the classic control method via pulse direction signals, this also allows the

typical control interfaces of servo drives to be supported.

3.2 Features

4 quadrant operation with constant transitions between the quadrants

Sine-wave current pulse in microstep operation, high interpolation factor up to 64x at low stepping speeds (thus > 4000 steps per rotation possible).

Current reduction at standstill can be programmed. Current boost of up to 150% for 2 s can be programmed for acceleration. The digital control facilitates fault-tolerant operation, i.e. faults are detected at an



early stage and regulated if possible.

Full integration of all components for the controller and power section, including rotary encoder evaluation on a board.

Integrated rotary encoder evaluation via an incremental generator with an RS422 signal level for the speed and position control mode.

CAN bus interface with CANopen integrated even in basic unit. Internal expansion slot, e.g. with Profibus interface or DeviceNet interface. Integration of all filters required to fulfil the EMC regulations during operation in the

device, e.g. interference suppression throttle, filter for 24 V power supply and the inputs and outputs. Specifically, the device is suitable for use in the second environ-ment (industrial sector) in accordance with EN 61800-3. In order to comply with the interference emission limits for the first environment (residential sector) with restricted availability, additional measures may be required.

Short cycle times in the controller:

The device has an analogue monitor output for displaying internal controller parameters.

The positioning control contains (max.) 63 freely configurable positions which can be

configured via the serial interface or the jog and teach function.

The status is displayed via a blue 7 segment display and a READY LED (as well as a yellow "Bus active" CAN-LED). The status can also optionally be displayed via the RS 232 interface or the field bus interface.

There is an integrated brake chopper with a braking resistor. There is a digital logic output for controlling a holding brake. Corresponding freewheel diodes for switching off inductive loads are integrated in the device.

The following features are planned, but not included in the basic unit. They are available as options:

- Function expansion via CAMC-PB (Profibus) interface

- Function expansion via CAMC-DN (DeviceNet) interface.

3.3 Interfaces

3.3.1 Overview of interfaces

Setpoint interface / Interface

Setpoint specification via

Function Operating mode

Analogue X1 (± 10 V) Regulating torque

RPM regulation

CW / CCW X1 (24 V / Mode 3)

X10 (5 V)

RPM regulation

Pulse/direction signals X1 (24 V / Mode 3)

X10 (5 V)

RPM regulation

A/B signals +

I/O (start synchronisation)

X10 (5 V)

X1 (24 V / Mode 3)

Master/slave (slave) RPM regulation



Setpoint interface / Interface


Function Operating mode

I/O X1 (24 V / Mode 1) Jog mode Positioning controller

Record Select Homing Positioning controller

Positioning controller

Field bus Direct mode Regulating torque

RPM regulation

Position control


Homing Positioning controller

Jog mode Positioning controller

Record Select Positioning controller

Homing Positioning controller

Interpolated position

mode

Position control

Table 3.1 Interfaces

3.3.2 I/O functions and device control

The digital inputs provide the elementary control functions.

To allow positioning targets to be saved, the CMMS-ST stepping motor controller has a target table, in which positioning targets can be saved and called up later. Six digital inputs allow you to select the targets, another input is used as the start input.

The limit switches serve to limit the range of motion for safety reasons. During homing,

one of the two limit switches can serve as reference points for positioning control.

Two inputs are used to enable the hardware-side output stage and the regulator.

If a fieldbus is used for activation, a high-speed sampling input is available for time-critical tasks for various applications (position sensing, special applications, ...).

The CMMS-ST stepping motor controller has an analogue input for input levels in the range from +10 V to -10 V. The input is a differential input (12 bit) to guarantee a high

degree of protection against interferences. The analogue signals are quantified and digitalised by the analogue-digital converter at a resolution of 12 bits. These analogue signals serve to specify setpoints (speed or torque) for the control.

The existing digital inputs are already allocated to the basic functions in standard applications. The analogue input AIN0 is also available as a digital input for use of further functions such as the jog function, route program and synchronisation.



MODE switching allows you to switch between the following default settings:

Mode Function

Mode 0 Positioning

Mode 1 Jog function

Mode 2 Route program

Mode 3 Synchronisation

Table 3.2 Mode switching

3.3.3 Increment generator input

An optional increment generator mounted on the motor shaft is used to record the actual

speed and position for EMMS-ST series motors. The actual speed is determined based on the measured rotor position. The rotor position is smoothed via a configurable PT1 filter.

The position counter for positioning has a data width of 32 bits. The position within a motor rotation is resolved to max. 16 bits. This results in a maximum possible positioning

range of ±32767 rotations.

3.3.4 CAN bus

Communication

The following profiles are available for communication via the CAN bus.

CANopen protocol in accordance with DS301 with application profile DSP402 or the Festo FHPP positioning profile.

In general there are two different access options for communication via the CAN bus:

Object

SDO Service Data Object Used for configuring the controller

PDO (2 x transmit

and 2 x receive)

Process Data Object Rapid process data exchange with the control system

Table 3.3 CAN objects

Contour control with linear interpolation

The Interpolated position mode is available for specifying the setpoint position values via the CAN bus. It allows position setpoints to be specified in a multi-axis application of the controller. For this, position setpoints are specified by a higher-order control system in a fixed time slot pattern. If the cycle time of the position setpoints is greater than the posi-tion controller cycle time of the stepping motor controller, the controller automatically interpolates the data values between two prescribed position setpoints. The stepping motor controller also calculates a corresponding speed pilot control.



1 Position set-

point time slot pattern

2 Position control

cycle time

3 Interpolated

sequence of the position

4 Interpolated

sequence of the position

Fig. 3.1 Interpolated position mode

3.3.5 Profibus

Support of PROFIBUS communication according to DP-V0.

The device can also be integrated into control systems via an I/O map via Profibus. This option facilitates advanced functions for the control system, like a standard PLC connec-tion via parallel wiring with the digital inputs and outputs of the device. Complete para-meter access is available.

3.3.6 Synchronisation interface

The following synchronisation signals can be processed:

- Pulse / direction signals (CLK / DIR) via interfaces X1 and X10

- CW / CCW signals via interfaces X1 and X10

- A / B signals via interface X10

Signals with a level of 5 V can be processed via the X10 interface.

Interface X1 is intended for a signal level of 24 V. MODE 3 synchronisation must be activated via DIN9=1 and DIN12=1.

3.3.7 RS232 interface

The RS232 interface is intended as a configuration interface.

1

2

3

4



3.3.8 RS485 interface

The RS485 interface is on the same plug connector as the RS232 interface. Communi-cation must be activated separately by the user. RS232 messages can also be received when RS485 communication is activated, which means that the device can be accessed for configuration at all times.

Please contact the technical support team before using this interface.

3.3.9 MTR-ST series stepper motors

The MTR-ST series stepper motors are two-phase hybrid stepper motors. They are designed for controlled operation (open-loop).

3.3.10 EMMS-ST series stepper motors

The EMMS-ST series stepper motors are designed for both controlled and regulated operation (closed loop). For regulated operation, the optional encoder connected to the motor with 500 lines per rotation is required.

3.3.11 Power supply

The power section consists of the internally generated auxiliary power supply, two PWM controlled H-bridge circuits in MOSFET technology with corresponding high speed driver circuits and the required filter components. With regard to the use on industrial 24 V DC or 48 V DC (max. 75 V DC) power supplies, no activation current limit was used.

The temperature of the power section is recorded. If the temperature is too high or low, the power output stage is switched off.

The motor current in both H-bridges is measured separately and fed to the current controller. Current measurement is also used to detect short circuits and overload currents. The output stage is short circuit proof for short circuits between two motor phases.

Warning

If a common power pack is used to supply the power section and the control section, the voltage tolerances for supplying the control section cannot be maintained for high braking energies. This can damage the control section irreparably.

Always use separate power packs to supply the power section and the control section.

3.3.12 SD memory card

Via the SD memory card, parameter records can be loaded or firmware can be down-loaded.

A menu in the configuration software allows you to specify a set of parameters on the memory card, and load it or save it.



Also, a configuration word in the parameter record can be used to specify whether firm-

ware and/or a parameter record is to be loaded from the memory card automatically on activation.

If automatic firmware download (dip switch 8 = 1) is activated or there is no valid firmware in the controller, a check is performed on initialisation whether an SD memory card is inserted, and if so, it is initialised. If there is a firmware file on the card, it is checked first (checksum test). If no fault is found, the firmware is transferred from the card to the controller and saved in the program flash.

If the Load automatic parameter record is activated via the commissioning software, the system checks whether a card is inserted when the firmware is started and it is initialised if applicable. Depending on the setting, a certain or the latest parameter record file is loaded and saved in the data flash.

3.3.13 Brake chopper

A brake chopper with a braking resistor is integrated in the power output stage. If the permitted load capacity of the intermediate circuit is exceeded during the energy recovery, the braking energy may be converted to heat by the internal braking resistor. The brake chopper is actuated with software control. The internal braking resistor is protected against overloading via software and hardware.

3.4 Function overview

3.4.1 Operating modes

Operating mode Function Setpoint interface /

Interface Setpoint specification via

Regulating torque Analogue X1

Field bus Direct mode

RPM regulation Analogue X1

CW/CCW signals X1 (24 V / Mode 3)

X10 (5 V)

Pulse/direction signals X1 (24 V / Mode 3)

X10 (5 V)


Master/slave (slave) A/B signals +

I/O (start synchronisation)

X10

X1 (Mode 3)

Position control Field bus Interpolated position

mode




Operating mode Function Setpoint interface / Interface


Positioning controller I/O Record Select


Field bus Record Select

Homing I/O Record Select


Field bus Record Select

Jog mode I/O


Table 3.4 Operating modes

3.4.2 Setpoint processing

Setpoint selectors allow you to switch setpoints from a range of sources to the correspon-ding controllers. The following setpoint selectors are implemented in the firmware:

- Selector for the speed setpoint

- Auxiliary value selector whose setpoint is added to the speed setpoint.

The position of the setpoint selectors is saved in non-volatile parameters.

The speed setpoint is disabled via the signal of the corresponding limit switch input

depending on the prefix (plus/minus). The limit switch inputs also affect the ramp generator for the speed setpoint.

The speed setpoint is converted by the controller into the corresponding step frequency to actuate the stepper motors.

The speed setpoint (without the auxiliary setpoint) is reached via a setpoint ramp. Four acceleration ramps can be configured in the range of one controller cycle of up to approx. 10 s. The setpoint ramp can be deactivated.

3.4.3 Hiding frequency ranges

A function allowing frequency ranges to be hidden is implemented in the firmware.

When step frequencies close to the mechanical natural resonance are reached, there is a frequency jump, so that the resonance is skipped. The mechanical natural resonance and the bandwidth (hysteresis) can be set. Up to three frequency ranges can be hidden.

3.4.4 I²T function

An integrator monitors the current² time integral of the CMMS-ST controller. As soon as the configured time expires a warning is sent and the maximum current is limited to the nominal current.



3.4.5 Positioning controller

A positioning control system is set above the current controller. Up to 64 positions (homing + 63 positions) can be selected and run via a trajectory generator. There are also volatile position data records for positioning via the fieldbus.

The position records are made up of a position value and a motion profile. The following parameters can be set for the eight motion profiles:

- Positioning speed

- Acceleration

- Deceleration

- Smoothing

- Time

- Start delay

- Final speed

- Wait for current positioning, reject or ignore initial instruction.

From every position record, any other position record can be started directly. You can transition to a new position record without first coming to a standstill.

The parameter records can be called up via:

- Digital inputs (Position record 0 ... 63)

- RS232 interface (for test purposes only) or a

- Field bus interface.



3.4.6 Homing

You can choose either of the following methods which are based on DS402.

Run to Positive method

Negative method

Graphical representation

Dec Hex Dec Hex

Limit switch with zero pulse

evaluation

2 02 1 01

NegativerEndschalter

Index Impuls

1

Fixed stop with zero pulse

evaluation

-2 FE -1 FF

Index Impuls

-1

Limit switches 18 12 17 11

Fixed stop -18 EE -17 EF

-17

Zero pulse 34 22 33 21

Save current position 35 23 35 23

Table 3.5 Homing methods

Negative Limit Switch

Negative Limit switch



Homing method

1 Negative limit switch with index pulse.

If the negative limit switch is inactive:

Run at search speed in negative direction to negative limit switch.

Run at crawl speed in positive direction until the limit switch becomes inactive, then on to

first index pulse. This position is saved as a reference point.

If configured: Run at travel speed to axis zero point.

2 Positive limit switch with index pulse.

If the positive limit switch is inactive:

Run at search speed in positive direction to positive limit switch.

Run at crawl speed in positive direction until the limit switch becomes inactive, then on to

first index pulse. This position is saved as a reference point.


-1 Negative stop with index pulse 1)

Run at search speed in negative direction to stop.

Run at crawl speed in positive direction to next index pulse. This position is saved as a

reference point.


-2 Positive stop with index pulse 1)

Run at search speed in positive direction to stop.

Run at crawl speed in negative direction to next index pulse. This position is saved as a

reference point.


17 Negative limit switch

If the negative limit switch is inactive:

Run at search speed in negative direction to negative limit switch.

Run at crawl speed in positive direction until limit switch becomes inactive. This position

is saved as a reference point.


18 Positive limit switch

If the positive limit switch is inactive:

Run at search speed in positive direction to positive limit switch.

Run at crawl speed in negative direction until limit switch becomes inactive. This position

is saved as a reference point.


-17 Negative stop 1)2)

Run at search speed in negative direction to stop. This position is saved as a reference

point.




Homing method

-18 Positive stop 1)2)

Run at search speed in positive direction to stop. This position is saved as a reference

point.


33 Index pulse in a negative direction

Run at crawl speed in negative direction to index pulse. This position is saved as a

reference point.


34 Index pulse in a positive direction

Run at crawl speed in positive direction to index pulse. This position is saved as a

reference point.


35 Current position

The current position is saved as the reference point.


Note: If the reference system is shifted, runs to the limit switch or fixed stop are possible. The

are therefore generally used for rotating axes.

Table 3.6 Explanation of the homing methods

3.4.7 Trajectory generator

For a start signal for a positioning record via DIN8, fieldbus or RS232 interface, the selected positioning record is loaded to the trajectory generator.

Based on the data record loaded, the necessary internal pre-calculations are made.

The pre-calculations can take up to 5 ms. The following configurable options are available for processing the start signal.

- After a start signal is detected during a current positioning run, the run continues to the target position.

- After a start signal is detected, positioning is cancelled and the drive runs at a constant speed. After pre-calculation is completed, the drive runs to the new target position.

The trajectory generator sends the following messages:

- Target reached, (Default: Digital output DOUT1 - MC)

- Remaining distance reached.



3.4.8 I/O sequence control

T Conditions Activities of the user

T1 RESET / Power ON

T2 Time out has expired or the firmware download is

complete.

T3 The initialisation has been carried out successfully.

T4 DIN4=1 and DIN5=1

T5 Torque control was selected in the commissioning

software.

Setpoint specification via AIN0/AGND

T22

T25

T24

T23

T20

T21

T18

T19

T17

T16

T15

T13

T10

T11

T9

T8

T5

T4

T3

T2

T1

RESET Power ON

Boot program

Firmware download

Initialisation

Ready for operation

Initialise SD card

Load save SD card parameters

From all except RESET / Power ON

Fault status

Acknowledge Error

Activate output stage

Torque control

Speed control

Jog mode

Deactivate output stage

TT12

TT6

Homing




T Conditions Activities of the user

T6 Speed control was selected in the commissioning

software.

Setpoint specification via AIN0/AGND

T8 Positioning was selected in the commissioning software. Record select via

DIN0 ... DIN3, DIN10, DIN11

Start for positioning process:

DIN8=1

T9 All parameters for the jog mode were set in the

commissioning software (e.g. max. speed,

acceleration ...).

Selection I/O mode:

DIN9=0, DIN12=1

Jog +: DIN10=1

Jog -: DIN11=1

T10 Selection I/O mode:

DIN9=0, DIN12=0

T11 Selection of the homing method and configuration of the

speeds and accelerations in the commissioning software.

Selection of positioning record 0

Start for positioning process:

DIN8=1

T12 The drive is referenced.

T13 DIN5=0

T15 DIN5=0

T16 DIN5=0

T17 DIN4=0

T18 Write or read request to SD card such

as:

- Load parameters

- Save parameters

- Download firmware.

T19 The SD card was initialised successfully.

T20 Load from SD after restart was selected in the

commissioning software.

T21 Parameter record was loaded

T22 A fault has occurred which causes the output stage to be

switched off

T23

T24 Edge controlled fault acknowledgement

DIN5: 1 - 0

T25 The error was acknowledge and no other errors are

pending.

Table 3.7 I/O sequence control



3.4.9 Safety functions, error messages

The following conditions are monitored for safe operation of the CMMS-ST:

- Output stage temperature,

- Motor temperature,

- Min. and max. values of intermediate circuit voltage,

- Initialisation errors,

- Checksum error on parameter transfer,

- Communication error,

- Contouring error / Step loss (with increment generator only)

- Homing,

- Overload current / short circuit in the power output stage,

- Encoder system,

- Watchdog (processor monitoring).

3.4.10 Oscilloscope function

The oscilloscope function implemented in the firmware of the controller is an important aid to help the commissioning party to optimise the controller settings without using a separate measuring device. The function allows important signal sequences to be recorded over time. It consists of three blocks:

The initialisation section which runs at low priority and performs pre-calculations for the actual measurement process.

The data transfer section also has low priority. It is integrated in the time slice of the serial communication.

The measuring section runs at a high priority in the rule interrupt and records the measuring channels. If the trigger condition occurs, the measurement process is cancelled after a defined number of scan steps.

Two channels with 256 16 bit values each can be recorded. The following can be configured:

- Trigger source (current, speed, position, controller release, limit switch)

- Trigger level

- Trigger option (auto, normal, force, rising / falling edge)

- Measurement frequency

3.4.11 Jog and teach function I/O

Requirements for use of the jog and teach function:

Configuring via the commissioning software

- Slow moving speed



- Slow moving time

- Maximum speed

- Delay

- Smoothing and

- debounce time if DINs after teaching.

I/O control

- Selection MODE1 - jog mode with DIN9=0 and DIN12=1

- Jog+ with DIN10

- Jog- with DIN11

- Teach with DIN8

- Record select via DIN0 ... DIN3

The jog and teach function is configured via the commissioning software or a fieldbus object.

After activating the tip and teach function, digital inputs DIN10 and DIN11 serve to control the motor. The jog control overrides the current control system in this mode.

For speed control, the motor is moved at the slow moving speed when the digital input is active. After the slow moving time expires, the speed is switched to the maximum.

A position record is selected via digital inputs DIN0 ... DIN3. If there is a positive edge at teach input DIN8, the current position is saved in the selected position record. The saved

data is copied to the permanent memory after the controller release is deactivated and activated again.

3.4.12 Route program

The route program allows multiple positioning jobs to be linked. This allows a travel profile to be defined, e.g. switching to another speed after a position is reached. The route program is started by one of the position records 1 ... 7. The following step criteria are possible:

Value Condition Description

0 No automatic continuation.

1 Motion complete Continues when the motion complete condition is fulfilled. Thus the axis is

at a standstill for a moment during positioning.

4 Standstill Continues when the drive reaches a standstill and the programmed time

has expired.

5 Time Continues when the programmed time has expired.

Time measurement starts when the position record starts.

6 NEXT (positive edge) Continues after a positive edge on DIN10 (NEXT1) or DIN11 (NEXT2).

7 NEXT (negative edge) Continues after a negative edge on DIN10 (NEXT1) or DIN11 (NEXT2).



Value Condition Description

9 NEXT (positive edge),

waiting

Continues after the motion complete message and a positive edge on

DIN10 (NEXT1) or DIN11 (NEXT2).

10 NEXT (negative edge),

waiting

Continues after the motion complete message and a negative edge on

DIN10 (NEXT1) or DIN11 (NEXT2).

Table 3.8 Step criteria for the route program

The next input (DIN10/DIN11) and the start input (DIN8) can only be used if the route program mode (mode 2) is activated for the digital inputs via DIN9.

The DIN3 input, Stop route program, can interrupt current positioning by setting the digital input. When the digital input is withdrawn, positioning continues to the original target position.

3.4.13 Synchronisation

1 CMMS-ST

master

2 Screening

3 CMMS-ST slave

Slave

X10

Master

X10

1 A+

2 B+

3 N+

4 GND

6 A-

7 B-

8 N-

9 GND

A+ 1

B+ 2

N+ 3

GND 4

A- 6

B- 7

N- 8

GND 9

Slave

X10

Master

X10

1 A+

2 B+

3 N+

4 GND

6 A-

7 B-

8 N-

9 GND

A+ 1

B+ 2

N+ 3

GND 4

A- 6

B- 7

N- 8

GND 9

Fig. 3.2 Master-slave connection

The CMMS-ST stepping motor controller facilitates master-slave mode, which shall be referred to as synchronisation from now on. The controller can function either as a master or slave.

If the CMMS-ST controller functions as a master, it can provide its current speed as incremental generator signals to a slave at interface X10.

The CMMS-ST controller can process incremental generator signals at interface X10 as speed setpoints as a slave.

The following functions can be set via the commissioning tool:

- Master-slave function

- Encoder emulation

- Gear ratio.

1

2

3



3.4.14 On-the-fly measurement

The actual position can be recorded at any given time via high-speed input DIN9. The rising or falling edge is evaluated for this. The maximum delay time in position recording is no more than a few microseconds. A fieldbus connection can be used to access the saved position data.

3.4.15 Endless positioning

Endless positioning in one direction (rotary axis applications) can be implemented without a problem. The limit switch in put can be used as a reference switch input.

4. Mechanical installation



4.1 Important notes

Note

Use the CMMS-ST stepping motor controller as an integrated device for control cabinet installation only.

The mounting position is vertical with the power supply lines [X9] leading upwards

Mount with the clip to the control cabinet plate Installation spacing:

100 mm of clearance to other assemblies is required above and below the device for sufficient ventilation.

The stepping motor controllers of the CMMx series are designed such that they can be mounted on a heat-dissipating mounting panel if used as intended and installed correctly. We wish to point out that excessive heating can lead to premature aging and/or damage to the device. If the CMMS-ST stepping motor controller is subject to high thermal loads, a mounting clearance of 69 mm is required!



Fig. 4.1 CMMS-ST stepping motor controller: Installation spacing



4.2 Mounting

There are clips at the top and bottom of the CMMS-ST stepping motor controller. They are used to attach the stepping motor controller vertically to a control cabinet mounting plate. The clips are part of the radiator profile, ensuring an optimal heat transfer to the control cabinet plate.

Use size M4 screws to attach the CMMS-ST stepping motor controller.

Fig. 4.2 CMMS-ST stepping motor controller: Mounting

5. Electrical installation



5.1 Device view

1 Status display

2 S1: Fieldbus settings and bootloader

3 Technology module (optional)

4 M1: SD memory card

5 X4: CAN bus

6 X5: RS232/485

Fig. 5.1 CMMS-ST view front

4

1

2

3

5

6



1 Earthing bolt

2 X9 power supply

3 X10 increment generator output

4 X1 I/O interface

Fig. 5.2 CMMS-ST top view

1 X2 increment generator input

2 X6 motor connection

3 Screened connection

Fig. 5.3 CMMS-ST bottom view

4

1

2

3

1

2

3



5.2 Interfaces

In order to operate the CMMS-ST stepping motor controller a 24 V-power source to supply the electronics systems. It is connected to terminals +24 V and 0 V.

The supply voltage for the power output stage is connected to contacts ZK+ and 0 V.

The motor is connected with the four terminals A ... B/. The motor temperature sensor is connected to the TEMP+ and TEMP- terminals (PTC, SI sensor or N/C contact). KTY81 ... KTY84 can be used as analogue temperature sensors.

The connection of the optional shaft encoder via the d-sub plug to [X2] is illustrated in the 219HFig. 5.4 diagram.

The CMMS-ST stepping motor controller must first be fully wired. Only then can the opera-ting voltages be activated for the intermediate circuit and the power supply. If the polarity

of the operating voltage connections is reversed, or if the operating voltage is too high or the operating voltage and motor connections are incorrectly connected, the CMMS-ST stepping motor controller will be damaged.

5.3 CMMS-ST complete system

A complete CMMS-ST stepping motor controller system is shown in 220HFig. 5.4. The following components are required to operate the stepping motor controller:

Components - Power pack for the control voltage

- Power pack for the power supply

- CMMS-ST stepping motor controller

- Motor with motor cable

- Increment generator cable (for motors with increment

generators)

A PC with a serial connection cable is required for configuration.



1 Main switch

2 Fuse

3 Power pack for

control voltage

4 Power pack for

power supply

5 CMMS-ST

6 PC

7 Motor

Fig. 5.4 Complete structure of CMMS-ST with motor and PC

7

4

1

2

3

5

6



5.4 Interfaces

5.4.1 I/O interface [X1] Type on controller Counterplug Cross

section Plugged/optional plug set

Material number

D-sub 25-pin socket

Table 5.1 Plug version: I/O interface [X1]

Mode switching allows the X1 interface to be allocated more than once.

Mode DIN9 DIN12

Mode 0 – Positioning 0 0

Mode 1 – Jog mode 0 1

Mode 2 – Route program 1 0

Mode 3 – Synchronisation 1 1

Table 5.2 Mode switching

Pin Designation Value Mode = 0 – Positioning

1 AGND 0 V Screen for analogue signals

2 AIN0 ±10 V Setpoint input 0, differential, maximum 30 V input voltage

3 DIN10 Record selection 4 (high active)

4 +VREF +10 V ± 4% Reference output for setpoint potentiometer

5 Unassigned

6 GND24 Reference potential for digital inputs and outputs



9 DIN5 Controller release (high active)

10 DIN7 Limit switch 1

11 DIN9 High-speed input

12 DOUT1 24 V 100 mA Output freely programmable – Default: Motion complete (high active)

13 DOUT3 24 V 100 mA Output freely programmable – Default: Error (low active)

14 AGND 0 V Reference potential for the analogue signals

15 DIN13 Ri = 20k Stop input (low active)


17 AMON0 ±10 V ±4% Analogue monitor output 0

18 + 24 V 24 V 100 mA 24 V supply fed out



21 DIN4 Output stage release (high active)




Pin Designation Value Mode = 0 – Positioning

23 DIN8 Start for the positioning procedure

24 DOUT0 24 V 100 mA Ready for operation output (high active)

25 DOUT2 24 V 100 mA Output freely programmable – Default: Start ack (low active)

Table 5.3 Pin allocation: I/O interface [X1] Mode 0

Pin Designation Value Mode = 1 – Jog mode


2 DIN12 24 V Mode switch "1" = Jog mode

3 DIN10 Jog + (high active)

4 +VREF +10 V ±4% Reference output for setpoint potentiometer

5 Unassigned






11 DIN9 Mode switch "0"




15 DIN13 Stop input (low active)

16 DIN11 Jog – (high active)







23 DIN8 Teach (high active)


25 DOUT2 24 V 100 mA Teach ack


Pin Designation Value Mode = 2 - Route program


2 DIN12 Mode switch "0"

3 DIN10 Next 1




Pin Designation Value Mode = 2 - Route program

5 Unassigned



8 DIN3 Stop route program



11 DIN9 Mode switch route program "1"

12 DOUT1 24 V 100 mA Output freely programmable

Default: Motion complete (high active)




16 DIN11 Next 2







23 DIN8 Start route program


25 DOUT2 24 V 100 mA Output freely programmable – Default: Start ack (high active)


Pin Designation Value Mode = 3 – Synchronisation


2 DIN12 Slave synchronisation "1"

3 DIN10


5 Unassigned



8 DIN3 24 V Direction_24 /CCW



11 DIN9 Slave synchronisation "1"





Pin Designation Value Mode = 3 – Synchronisation



16 DIN11




20 DIN2 24 V Pulse_24 / CW



23 DIN8 Start synchronisation


25 DOUT2 24 V 100 mA Setpoint reached output (high active)


5.4.2 Increment generator input [X2]

Type on controller Counterplug Plugged/optional plug set

Material number

D-sub socket, 9-pin

Table 5.7 Plug version: Increment generator input [X2]

Pin Designation Value Specification

1 A+ 5 V, Ri = 120 Ohm Increment generator signal A, positive polarity

2 B+ 5 V, Ri = 120 Ohm Increment generator signal B, positive polarity

3 N+ 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity

4 GND - Reference GND for the generator

5 VCC +5 V +-5% 100 mA Auxiliary supply, max. load 100 mA, short-circuit

proof.

6 A- 5 V, Ri = 120 Ohm Increment generator signal A, negative polarity

7 B- 5 V, Ri = 120 Ohm Increment generator signal B, negative polarity

8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity

9 GND - Internal screen for the connecting cable

Table 5.8 Pin allocation: Increment generator input [X2]



5.4.3 Fieldbus CAN [X4]


Material number

D-sub pins, 9-pin

Table 5.9 Plug version: Fieldbus CAN [X4]


1 -

2 CANL 5 V, Ri = 60 Ohm CAN-low signal line

3 GND - CAN-GND, galvanically connected to GND in the

controller

4 - - -

5 Screen - Connection for the cable screen

6 GND - CAN-GND, galvanically connected to GND in the

controller

7 CANH 5 V, Ri = 60 Ohm CAN-high signal line

8 - - -

9 - - -

Table 5.10 Pin allocation: Fieldbus CAN [X4]

5.4.4 RS232/RS485 [X5]


Material number

D-sub pins, 9-pin

Table 5.11 Plug version: RS232/RS485 [X5]


1 -

2 RS232_RxD 10 V, Ri > 2 kOhm Reception line

3 RS232_ TxD 10 V, Ra < 2 kOhm Transmission line

4 RS485_A - -

5 GND 0 V RS232/485 GND, galvanically connected to GND in

the controller

6 - - -

7 - - -

8 +5 V_Fuse 5 V Via PTC on plug

9 RS485_B - -

Table 5.12 Pin allocation: RS232/RS485 [X5]



5.4.5 Motor connection [X6] Type on controller Counterplug Plugged/optional plug

set Material number

Combicon 8-pin socket MSTB 2.5/8-ST-5.08 BK Plug set 547 452

Table 5.13 Plug version: Motor connection [X6]


1 String A - Connection of the two motor strings. The cable

screen is fitted to the controller housing. 2 String A / -

3 String B -

4 String B / -

5 T + - Motor temperature sensor, either N/C contact or PTC

(in preparation) 6 T - -

7 BR + - Motor holding brake

8 BR - -

Table 5.14 Pin allocation: Motor connection [X6]

5.4.6 Power supply [X9] Type on controller Counterplug Plugged/optional plug

set Material number

Combicon 3-pin socket MSTB 2.5/3-ST-5.08 BK Plugged 547 452

Table 5.15 Plug version: Power supply [X9]


1 ZK + 24 ... 75 V Intermediate circuit voltage

2 24 V +24 V / 1 A Power supply for the control section

3 GND 0 V Common reference potential for the intermediate

circuit and the control section

Table 5.16 Pin allocation: Power supply [X9]

5.4.7 Increment generator interface / control signals [X10]

The interface is bidirectional. It allows A/B tracking signals to be output in the master axis mode, or A/B, CLK/DIR or CW/CCW control signals to be processed in the slave axis mode.


Material number

D-sub socket, 9-pin

Table 5.17 Plug version: Increment generator/ Pulse, direction input [X10]




1 A/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal pulse / CW,

positive polarity acc. to RS422

2 B/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal direction,

positive polarity acc. to RS422

3 N 5 V, Ri = 120 Ohm Increment generator zero pulse N, positive polarity acc. to RS422

4 GND - Reference GND for the generator

5 VCC +5 V +-5%, 100 mA Auxiliary supply, max. load 100 mA, short-circuit proof

6 A-/CLK 5 V, Ri = 120 Ohm Increment generator signal A / stepping motor signal CLK,

negative polarity acc. to RS422 / CCW

7 B-/DIR 5 V, Ri = 120 Ohm Increment generator signal B / stepping motor signal DIR,

negative polarity acc. to RS422

8 N- 5 V, Ri = 120 Ohm Increment generator zero pulse N, negative polarity acc. to RS422

9 GND - Screen for the connecting cable

Table 5.18 Pin allocation: Increment generator output / Pulse, direction input [X10]

5.4.8 SD card The optional SC card is intended for downloading firmware or saving parameters. The interface is allocated in accordance with the SD card specifications. Alternatively, an MMC card can be used.

5.4.9 Fieldbus settings and bootloader

Dip switches Meaning

1 Node number

2

3

4

5

6

7

8 Bootloader (If the switch is set to ON,

the system searches for new firmware

on the SD card)

9 Baud rate

10

11 Activation of the CAN interface

12 Terminating resistor

Table 5.19 Assignment of the DIP switches



DIP switches ON/OFF Meaning

1 ON DIP switch 1 is the lowest

bit. 1011011=91 2 ON

3 OFF

4 ON

5 ON

6 OFF

7 ON

Table 5.20 Sample node number

DIP switch ON/OFF Meaning

9 ON DIP switch 9 is the lowest

bit.

00=125 kBaud

01=250 kBaud (example)

10=500 kBaud

11=1000 kBaud

10 OFF

Table 5.21 Sample baud rate

5.5 Instructions on safe and EMC-compliant installation

5.5.1 Explanations and terms

Electromagnetic compatibility (often abbreviated to EMC) or electromagnetic interference (EMI) involves the following requirements:

Interference immunity

Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space.

Emitted

interference

Sufficiently low interference emission of electrical, magnetic or

electromagnetic interference of an electrical system or an electrical device on other devices in the environment via lines and space.



5.5.2 General information on EMC

Interference emission and resistance to interference of a stepping motor controller always depend on the complete design of the drive, which consists of the following components:

Components - Power supply

- Stepping motor controller

- Motor

- Electromechanics

- Design and type of wiring

- Higher-order control system

In order to increase the interference immunity and decrease the interference emission, the CMMS-ST already has integrated motor throttles and mains filters, which means that the CMMS-ST stepping motor controller can be operated without additional screens and filters in most applications.

The CMMS-ST stepping motor controllers were qualified in accordance with product standard EN 61800-3 which applies to electrical drives.

In the majority of cases, no external filter measures are required (see below).

The conformity declaration to EMC directive 89/336/EEC is available from the manufacturer.

5.5.3 EMC areas: Second environment

If installed correctly and all connection lines are wired correctly, the CMMS-ST stepping motor controllers fulfil the requirements of the corresponding product standard EN 61800-3. This standard does not refer to limit value classes, but to so-called environ-ments. The first environment includes electricity grids connected to residential housing. The second environment includes grids connected only to industrial companies.

Without filter measures, the following applies to stepping motor controller CMMS-ST:

EMC class Area Compliance with EMC requirements

Interference emission Second environment (industrial) Motor cable length up to 25 m

Interference immunity Second environment (industrial) Regardless of motor cable length

Table 5.22 EMC requirements: Second environment

5.5.4 EMC-compliant wiring

The following must be observed for EMC-compliant installation of the drive system (see also Chapter 221H5 222HElectrical installation, Page 223H43):

1. In order to minimise current leakage and losses in the motor connection cable, the



CMMS-ST stepping motor controller should be installed as close as possible to the

motor (see also Chapter 224H5.5.5 225HOperation with long motor cables, Page 226H56 below).

2. The motor and angle generator cables must be screened.

3. The screen of the motor cable is fitted to the housing of the CMMS-ST stepping motor controller (screen connection terminals). The cable screen is also always fitted to the corresponding stepping motor controller to prevent leaked current flowing back to the controller which caused it.

4. Signal lines must be separated as far as possible from the power cables. They should not be routed parallel to one another. If crossovers cannot be avoided, they should be made as close to vertical (i.e. at a 90° angle) as possible.

5. Unscreened signal and control lines should not be used. If they must be used, they

should at least be twisted.

6. Even screened lines always have short unscreened parts at either end (unless a screened plug housing is used).

In general: - Connect the inner screens to the pins of the plug connector

provided for the purpose; length max. 40 mm.

- Max. length of unscreened wires: 35 mm

- Connect total screen flat on motor side to the plug or motor housing; length max. 40 mm.

5.5.5 Operation with long motor cables

For applications with long motor cables and/or if the wrong motor cables are selected with excessive cable capacity, the filters may be subjected to thermal overload. In order to avoid such problems, we recommend the following procedure for applications in which long motor cables are required:

- From a cable length of over 15 m, only cables with a capacitance between the motor phase and screen of less than 200 pF/m, or, if possible less than 150 pF/m! (Please contact your motor cable vendor if necessary)

- Use of a dU/dt filter on the motor output,

- Filter on the voltage supply connection,

- Mains filter.



5.5.6 ESD protection

Caution

If non-assigned plug connectors are used, there is a danger that damage may occur to the device or to other parts of the system as a result of ESD (electrostatic discharge).

Protective caps are available from specialised retailers to prevent such discharges.

6. Preparations for commissioning



6.1 General connection instructions

As the routing of the connecting cables is critical for EMC, it is essential that you read Chapter 227H5.5.4 228HEMC-compliant wiring (Page 229H55)!

Warning

DANGER!

Failure to follow the instructions in Chapter 230H2 231HSafety instructions for electrical drives and control systems (Page 232H11) can result in material damage, injury, electric shock, or in extreme cases, even to fatalities.

6.2 Tools / material

Tool - Screwdriver size 1

- Serial interface cable

- Increment generator cable

- Motor cable

- Power supply cable

- Control cable

6.3 Connecting the motor

Connecting the motor

1. Insert the motor cable plug in the corresponding socket on the motor and secure it.

2. Insert the PHOENIX plug into the socket [X3] on the device.

3. Insert the motor cable plug in the corresponding socket on the motor and secure it.

4. Insert the D-sub plug in socket [X2] of the device and secure the locking screws.

5. Check all plug connectors once again.



6.4 Connect the CMMS-ST stepping motor controller to the power supply

Connect the stepping motor controller

1. Make sure that the power supply is switched off.

2. Insert the PHOENIX plug into the socket [X9] on the device.

3. Connect the 14 V connections to a suitable power pack.

4. Connect the power supply unit.


6.5 Connecting a PC

Connecting a PC 1. Insert the D-sub plug of the serial interface cable into the socket for the serial interface of the PC and secure the locking screws.

2. Insert the D-sub plug of the serial interface cable into socket [X5] RS232/COM for the CMMS-ST stepping motor controller and secure the locking screws.


6.6 Checking readiness for operation

Checking readiness for operation

1. Make sure that the controller release switch is switched off.

2. Switch on the voltage supply of all devices. The READY LED on the front of the device should light up.

If the READY LED does not light up, there is a fault. If the seven segment display shows a number sequence, this is an error message. You must rectify the cause of the message. If this is the case, see Chapter 233H7.2 234HError messages (Page 235H63). If no display lights up on the device, proceed as follows:

No display lights up 1. Switch off the supply voltage.

2. Wait for one minute to allow the intermediate circuit to discharge.

3. Check all connecting cables.

4. Check that the 24 V control voltage is functional.

5. Switch on the supply voltage again.

7. Service functions and error messages



7.1 Protective and service functions

7.1.1 Overview

The CMMS-ST has a comprehensive array of sensors which monitor the controller section, power output stage, motor and external communication to ensure that they function per-fectly. All errors which occur are saved in the internal error memory. Most errors cause the controller section to deactivate the stepping motor controller and the power output stage to switch off. The stepping motor controller can only be switched on again when the error memory has been cleared by acknowledging the errors and the errors have been rectified

or are no longer present.

The following monitoring functions guarantee operational safety:

- Evaluation of the motor temperature

- Evaluation of the power section temperature

- Earth fault detection

- Detection of short-circuits between two motor phases

- Detection of overvoltages in the intermediate circuit

- Detection of faults in the internal voltage supply.

If the 24 V supply voltage fails, approximately 20 ms remain to save parameters and shut

down the controller in a defined manner.

7.1.2 Overload current and short-circuit monitoring

The overload current and short-circuit monitoring is triggered as soon as the current in the intermediate circuit exceeds twice the maximum current of the controller. It detects short circuits between two motor phases and short circuits at the motor output terminals against the positive and negative reference potential of the intermediate circuit and against PE. If the error monitor detects overload current, the power output stage shuts down immediately, guaranteeing that the system is short-circuit proof.

7.1.3 Voltage monitoring for the intermediate circuit

Voltage monitoring for the intermediate circuit is triggered as soon as the intermediate circuit voltage leaves the operating voltage range. The power output stage is then deactivated.

7.1.4 Temperature monitoring for the heat sink

The heat sink temperature of the power output stage is measured with a linear tempera-ture sensor. Temperature monitoring is triggered at temperatures below -40°C and above 85°C. A temperature warning is issued at 80°C.



Motor monitoring

The CMMS-ST stepping motor controller has the following protective functions to monitor the motor and the connected shaft encoder:

Shaft encoder monitoring:

Faults in the shaft encoder causes the power output stage to be switched off. The supply voltage is checked for increment generators.

Measurement and monitoring of the motor temperature:

The CMMS-ST stepping motor controller has a digital input for monitoring the motor temperature.

[X6]: Digital input for PTCs, N/C contacts and N/O contacts.

7.1.5 I²t monitoring

The CMMS-ST stepping motor controller has l²t monitoring to restrict the average power

loss in the power output stage and in the motor. As the power loss which occurs in the power electronics and in the motor increases by its square as the current flow increases in a worst case scenario, the square of the current value is usually assumed for the power loss.

7.1.6 Power monitoring for the brake chopper

There is a power monitoring system for the internal braking resistor in the operating software.

7.1.7 Commissioning status

Stepping motor controllers sent to Festo for servicing have other firmware and parameters

loaded for testing purposes.

The CMMS-ST must be configured before it is commissioned again at the customer's premises. The configuration software queries the commissioning status and prompts the user to configure the stepping motor controller. At the same time, the device indicates that it is ready for operation but has not yet been configured by displaying ‘A‘ on the seven segment display.



7.2 Operating mode and error messages

7.2.1 Operating mode and error display

A seven segment display is supported. The display and the meaning of the symbols shown are illustrated in the following table:

Display Meaning

The external segments rotate on the display in this operating mode. The display

depends on the current actual position or speed.

The central bar is also active when the controller release is active.

The CMMS-ST stepping motor controller has not yet been configured.

(Seven segment display = "A")

Controlled torque mode.

(Seven segment display = "I")

P xxx Positioning ("xxx" is the position number)

The numbers are shown in succession

PH x Homing. "x" is the respective phase of the homing run:

0 : Search phase

1 : Slow moving phase

2 : Run to zero position

The numbers are shown in succession

E xxy Error message with index "xx" and sub-index "y"

-xxy- Warning with index "xx" and sub-index "y". Warnings are shown at least twice on

the seven segment display.

Table 7.1 Operating mode and error display



7.2.2 Error messages

When a fault occurs, the CMMS-ST displays an error message cyclically in the seven segment display. The error message is made up of an E (for Error), and a main index and sub-index, e.g.: E 01 0.

The meaning and the measures for the error messages are compiled in the table below:

Error message Meaning of error message Measures

Main index

Sub-index

01 0 Stack overflow Incorrect firmware?

Reload standard firmware if necessary.

Contact the technical support team.

02 0 Undervoltage at intermediate

circuit

Error priority set too high?

Check intermediate circuit voltage (measure)

03 0 Motor temperature monitoring Motor too hot? Check parameters (current regulator,

current limits)

Right sensor?

Sensor defective?

If the error remains even when the sensor is bridged:

Device defective.

1 Motor temperature monitoring

04 0 Power section temperature

monitoring

Temperature display plausible?

Check installation conditions, fans soiled?

Device fan defective?

05 0 5 V supply fault Fault cannot be rectified independently.

Send stepping motor controller to your local sales

partner.

1 24 V supply fault

2 12 V supply fault

06 0 Output stage short circuit Motor defective?

Short circuit in the cable?

Output stage defective?

07 0 Overvoltage in the intermediate

circuit

Check the connection to the braking resistor.

Check design (application).

08 0 Resolver tracking signals fault /

carrier failure

Angle generator connected:

Angle generator defective?

Angle generator defective?

Check configuration of angle generator interface.

Generator signals are defective: Check installation for

EMC recommendations.

2 Generator supply fault

6 SINCOS-RS485 communication

error

8 SINCOS tracking signal error

9 EEPROM angle generator too

small

Please contact the technical support team.

11 1 Error during homing Homing interrupted, e.g. by withdrawal of controller

release.




Main index

Sub-index

12 1 CAN:

Communication error, Bus OFF

The CAN chip has switched off communication due to

communication errors (BUS OFF).

2 CAN: CAN communication error

on transmission

The signals are interrupted when messages are sent.

16 2 Initialisation error Please contact the technical support team.

3 Unexpected status

17 0 Contouring error limit exceeded Enlarge error window.

Acceleration parameter too large.

1 Pulse wheel angle monitoring

18 0 Motor temperature 5°C below

maximum

1 Output stage temperature 5°C

below maximum

19 0 I²T at 80%

21 0 Offset current measurement

error

Fault cannot be rectified independently.

Stepping motor controller must be sent to your local

sales partner.

22 0 PROFIBUS:

Error on initialisation

Technology module defective?


2 PROFIBUS communication error Check slave address set.

Check bus termination

Check wiring

26 1 Checksum error Fault cannot be rectified independently.


29 0 No SD Tried to access missing SD card.

1 SD initialisation error Error on initialisation / communication not possible.

2 SD parameter record error Checksum incorrect / File missing / Incorrect file

format

3 SD full error Parameter cannot be saved to CD as the memory

capacity is not sufficient.

31 0 I²t motor Motor blocked?

1 I²t servo controller Check power dimensioning of drive package.

35 1 Time out for quick stop

40 0 Software limit stop positive

1 Software limit stop negative

7. Technical specificationsService functions and error messages



Main index

Sub-index

41 8 Route program: Unknown

command

Unknown route program extension found

9 Route program: Jump target

error

Jump to a line outside permitted range.

42 1 Positioning: Error in pre-

calculation

The positioning target cannot be reached via the

positioning options or due to the parameters.

Check parameters of the position records in question.

9 Positioning: Position data record

error

Acceleration too low for v_max.

43 9

Limit switches: Both active Check parameters, wiring and limit switches.

64 0 DeviceNet initialisation error

1 DeviceNet assembly error

2 DeviceNet communication error Common fault





65 0 DeviceNet assembly error


70 2 General arithmetic error The FHPP factor group cannot be calculated correctly.

3 Operating mode error Change in operating mode when output stage is

released.

79 0 RS232 communication error Common fault

Table 7.2 Error messages

Error messages can be acknowledged by:

- The configuration interface,

- The field bus (control word),

- A decreasing edge at DIN5 (controller release).

A. Technical specifications



A.1 General information Area Values

Permitted temperature ranges Storage

temperature:

-25°C to +70°C

Operating

temperature:

0°C to +40°C

+40°C to +50°C with power reduction 4% / K

Permitted installation height Up to 1000 m over sea level

1000 to 3000 m over sea level with power reduction

10% / 1000 m

Humidity Rel. humidity up to 90%, non-condensing

Protection class IP20

Contamination class 1

CE conformity: low voltage directive:

EMC law: Current harmonic oscillation:

EN 50 178

EN 61 800 - 3

EN 61 000 - 3 - 2

Further certifications UL/CSA in preparation

Table A.1 Technical data: Ambient conditions and qualification

Key features Values

Device dimensions (H*W*D) 160x50x160 mm

Weight 2.0 kg

Table A.2 Technical data: Dimensions and weight

Area Values

Maximum motor cable length for interference emissions acc. to

EN 61800-3 (conforms to EN 55011, EN 55022)

Second environment

(Industrial)

l 25 m

Cable capacity of one phase against

screen or between two lines

C‘ 200 pF/m

Table A.3 Technical data: Cable data

Sensors Values

Digital sensor N/C contact: Rcold < 1 k Rhot > 10 k

Analogue sensor Silicon temperature sensor, e.g. KTY81 ... 84

R25 = 1 k

or R25 = 2 k

Table A.4 Technical data: Motor temperature monitoring (in preparation)



A.2 Operation and display components

The CMMS-ST stepping motor controller has two LED‘s on the front and one seven segment display for showing the operating status.

Component Function

Seven segment display Displays the operating mode and an error code

should an error occur

Ready LED (green) Readiness to operate

BUS LED (yellow) CAN bus status display

Table A.5 Display components

A.3 Interfaces

A.3.1 Power supply [X9]

Features Values

Load supply voltage 48 VDC

Alternative DC supply 24 ... 75 VDC

Nominal input current 8 A

Minimum intermediate circuit voltage 20 V (configurable)

Maximum intermediate circuit voltage 100 V

Control section supply voltage 24 VDC [± 20%]

Control section nominal current 0.2 A

Maximum current (incl. holding brake) 1.5 A

PWM frequency 50 kHz

Table A.6 Technical data: Power data [X9]

Note

In order to release the holding brake, you must make sure that the voltage tolerances at the connecting terminals of the holding brake are observed.

Features Values

Internal braking resistor 17

Pulse power 500 W

Continuous power 10 W

Response threshold 96 V

Hysteresis 3 V

Table A.7 Technical data: Internal braking resistor [X9]



A.3.2 Motor connection [X6] Output data Values

Output current 8 Aeff

Max. output current for 2 x 12 Aeff

Max. output frequency 50 kHz

Table A.8 Technical data: Motor connection data [X6]

Key features Values

Voltage range 18 ... 30 V

Output current 0.5 A

Voltage loss ≤ 1 V

Short circuit / overcurrent protection > 4 A

Temperature protection TJ > 150°C

Loads - R > 24 Ω

- L approx. 10 H

- C < 10 nF

Switching delay < 1 ms

Table A.9 Technical data: Holding brake

A.3.3 Increment generator input [X2] Increment generator input Values

Signal level of tracking signals A, B, N 5 V differential, RS422

Angle resolution Max. 12 bit

Number of lines of the increment generator 1000 / 500 / 400 / 200

Limit frequency > 100 kHz

Generator supply 5 V ±5% 100 mA

Table A.10 Increment generator input X2



A.3.4 Increment generator interface [X10] Increment generator interface Values

Operating modes A/B or CLK/DIR input signals

A,B,N output signals

Angle resolution / number of lines Programmable steps / 32, 64, 128, 256, 512, 1024

Tracking signals According to RS422 standard

Output impedance 120 Ω

Table A.11 Increment generator interface X10

A.3.5 RS232/RS485 [X5] Communication interface Values

RS232 According to RS232 specification

RS485 According to RS485 specification

Baud rate 9600 ... 115 kBaud

Protection ESD protected driver

Table A.12 Technical data: RS232 [X5]

A.3.6 CAN bus [X4] Communication interface Values

Signal level ±2 V

Protection -3 ... +24 V

Protocol CanOpen DS301, DSP402 and FHPP

Baud rate Max. 1 MBaud

Terminating resistor 120 Ω

Table A.13 Technical data: CAN bus [X4]

A.3.7 I/O interface [X1] Digital inputs Values

Signal level 18 ... 30 V (high active)

Number 14

Reaction time to input 1.6 ms

Reaction time to sample input < 100 µs

Protective function Against polarity reversal

Table A.14 Technical data: Digital inputs



Digital outputs Values

Signal level 24 V (from logic supply)

Output current > 100 mA

Number 4

Output reaction time < 2 ms

Protective function Polarity reversal, short circuit, inductive load

Table A.15 Technical data: Digital outputs

Analogue inputs Values

Signal level -10 ... +10 V

Design Differential input

Input reaction time < 250 µs

Protective function Overvoltage to ±30 V

Table A.16 Technical data: Analogue inputs

Analogue outputs Values

Signal level 0 ... 10 V

Design Single-Ended against AGND

Output reaction time < 250 µs

Protective function Short circuit against AGND

Table A.17 Technical data: Analogue outputs

Analogue inputs/outputs Values

High-resolution analogue input:

AIN0

10 V input section, 12 bit, differential,

< 250 µs delay time

Analogue outputs:

AOUT0 and AOUT1

10 V output range, 9 bit resolution, flimit > 1 kHz

Table A.18 Technical data: Analogue inputs and outputs [X1]

B. Glossary


B. Glossary

EMC

Electromagnetic compatibility (often abbreviated to EMC) or electromagnetic interference (EMI) involves the following requirements:

Interference immunity

Sufficient interference immunity of an electrical system or electrical device against external electrical, magnetic or electromagnetic noise via lines or space.

Interference emission

Sufficiently low interference emission of electrical, magnetic or electromagnetic interference of an electrical system or an electrical

device on other devices in the environment via lines and space.

C. INDEX


C. INDEX C

Closed loop 27 Content 5

D

Documentation 8

E

Error 63 Error message 59, 63, 65

acknowledge 65

F

Frequency ranges 29

G

Glossary 71 EMC 71

Interference emission 71 Interference immunity 71

H

Homing 31 Homing methods 31

I

Interpolated position mode 25

N

Notes General information 12 Icons 11 Safety 11

O

Open loop 27

Operating modes 28 Overview of interfaces 23

P

Positioning controller 30

S

Safety instructions 11, 14 Scope of delivery 8 Setpoint selectors 29

Documents

Description - Festo · PDF file9H2.4 Safety instructions ... Description of the implemented Festo profile for handling and positioning. 1.2 Scope of delivery The delivery includes: