Festo CMMP-AS-***-M0 Series Bedienungs- und Montageanleitung

Description

Functional

description

for motor controller

CMMP-AS-...-M0

FW: 4.0.1501.1.2

8022067

1304NH

Motor controller

CMMP-AS-...-M0

2 Festo – GDCP-CMMP-M0-FW-EN – 1304NH

Translation of the original instructions

GDCP-CMMP-M0-FW-EN

Windows

,CiA

,CANopen

, DeviceNET

,EtherCAT

,PROFIBUS

, Heidenhain

,EnDat

HIPERFACE

,Stegmann

,Yaskawa

are registered trademarks of the respective trademark owners in

certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

CMMP-AS-...-M0

Festo – GDCP-CMMP-M0-FW-EN – 1304NH 3

Table of contents – CMMP-AS-...-M0

1 Safety and requirements for product use 8......................................

1.1 Safety 8..................................................................

1.1.1 Safety instructions for commissioning, repair and de-commissioning 8........

1.1.2 Protection against electric shock through protective extra-low voltage (PELV). 9

1.1.3 Designated use 9...................................................

1.2 Prerequisites for use 10.......................................................

1.2.1 Technical requirements 10............................................

1.2.2 Qualification of the specialists (requirements for the personnel) 10............

1.2.3 Range of application and certifications 10................................

2 Operating modes and functions 11..............................................

2.1 Overview 11................................................................

3 Control interfaces 12.........................................................

3.1 Control interfaces 12.........................................................

3.1.1 Overview of interfaces 12.............................................

4 Fieldbus options 13..........................................................

4.1 Supported fieldbuses 13......................................................

4.2 Required I/O connection for fieldbus control 14....................................

5Service 16.................................................................

5.1 Supported functions 16.......................................................

5.2 Memory card 16.............................................................

5.2.1 Load firmware via memory card 17......................................

5.2.2 Load parameter set from memory card 17................................

5.3 Ethernet (TFTP) 18...........................................................

5.3.1 Load firmware via Ethernet 18.........................................

5.3.2 Load parameter set via Ethernet 19.....................................

5.3.3 Save parameter set via Ethernet 19.....................................

CMMP-AS-...-M0

4 Festo – GDCP-CMMP-M0-FW-EN – 1304NH

6Functions 20...............................................................

6.1 Position controller 20.........................................................

6.1.1 Basic principles of the position controller 20..............................

6.1.2 Record selection through I/O 25........................................

6.1.3 Start of the record selection 25........................................

6.1.4 Stop of the record selection through “digital halt” 25.......................

6.1.5 Record selection with record continuation 25.............................

6.1.6 Modulo positioning 27...............................................

6.2 Homing 30.................................................................

6.2.1 Homing methods 30.................................................

6.2.2 Homing - options 36.................................................

6.2.3 Homing parameters 37...............................................

6.2.4 Secure zero point shift 37.............................................

6.2.5 Homing via I/O 38...................................................

6.2.6 Timing diagrams 39..................................................

6.3 Jog mode 42................................................................

6.3.1 Function 42........................................................

6.3.2 Process 42.........................................................

6.3.3 Jog mode parameters 43..............................................

6.4 Teach-in function 46..........................................................

6.5 Setpoint specification 47......................................................

6.5.1 Analogue setpoint 47................................................

6.5.2 Digital nominal value 48..............................................

6.5.3 Master-slave 52.....................................................

6.5.4 Flying saw 52.......................................................

6.5.5 Scope of functions for cam discs (CAM) 53...............................

6.6 Second measuring system 54..................................................

6.6.1 Technology 54......................................................

6.6.2 Example, toothed belt axis 55..........................................

6.6.3 Example, spindle axis 55..............................................

6.6.4 Function in the motor controller 55......................................

6.6.5 Inclusion of a second displacement encoder 56............................

6.6.6 2nd measuring system at the incremental encoder input [X10] 56.............

6.6.7 EGC-...-M at [X10] 57.................................................

6.6.8 2nd measuring system at input [X2A] 58.................................

6.6.9 Commissioning 58...................................................

CMMP-AS-...-M0

Festo – GDCP-CMMP-M0-FW-EN – 1304NH 5

6.7 Additional functions 59.......................................................

6.7.1 Encoder emulation 59................................................

6.7.2 Brake control and automatic brake 60...................................

6.7.3 Position trigger 62...................................................

6.7.4 Inputs for option “flying measurement” 63...............................

6.7.5 Software limit switch 63..............................................

6.7.6 Input for digital halt 64...............................................

6.7.7 Digital and analogue inputs/outputs [X1] 64..............................

6.7.8 Supported encoder systems 72........................................

7 Dynamic response 74........................................................

7.1 PFC for increased intermediate circuit voltage 74...................................

7.1.1 Switch-on behaviour 74..............................................

7.1.2 Behaviour under normal operation and control properties 75.................

7.2 Extended sine modulation for increased output voltage 76...........................

7.3 Variable cycle times, current, speed and position controller 76........................

8 Service functions and diagnostic messages 77....................................

8.1 Protective and service functions 77..............................................

8.1.1 Overview 77........................................................

8.1.2 Phases and mains failure detection with 3-phase motor controllers 77.........

8.1.3 Overload current and short-circuit monitoring 77..........................

8.1.4 Overvoltage monitoring for the intermediate circuit 78......................

8.1.5 Temperature monitoring for the heat sink 78..............................

8.1.6 Monitoring of the motor 78............................................

8.1.7 I

t monitoring 78....................................................

8.1.8 Power monitoring for the brake chopper 78...............................

8.1.9 Commissioning status 79.............................................

8.1.10 Rapid discharge of the intermediate circuit 79.............................

8.2 Operating mode and error messages 79..........................................

8.2.1 Operating mode and error display 79....................................

8.2.2 7-segments display 80...............................................

8.2.3 Acknowledgement of error messages 81.................................

8.2.4 Diagnostic messages 81..............................................

A Diagnostic messages 82......................................................

A.1 Explanations of the diagnostic messages 82......................................

A.2 Diagnostic messages with instructions for troubleshooting 83........................

CMMP-AS-...-M0

6 Festo – GDCP-CMMP-M0-FW-EN – 1304NH

Instructions on this description

This document is intended to help you work safely with the CMMP-AS-…-M0 motor controllers.

It includes safety instructions that must be observed.

You will find more extensive information on the CMMP-AS-…-M0 motor controller Tab. 1 .

• Unconditionally observe the general safety regulations for the CMMP-AS-...-M0.

The general safety regulations for the CMMP-AS-...-M0 can be found in the hardware

description, GDCP-CMMP-AS-M0-HW-..., see Tab. 1.

Target group

This description is intended exclusively for technicians trained in control and automation technology,

who have experience in installation, commissioning, programming and diagnosing of positioning sys-

tems.

Service

Please consult your regional Festo contact if you have any technical problems.

Product identification, versions

This description refers to the following versions:

– Motor controller CMMP-AS-...-M0 from Rev 01

– Firmware from Version 4.0.1501.1.2

– FCT-PlugIn CMMP-AS from Version 2.2.x.

This description does not apply to the older variants CMMP-AS-...

Note

With newer firmware versions, check whether there is a newer version of this descrip-

tion available:www.festo.com

CMMP-AS-...-M0

Festo – GDCP-CMMP-M0-FW-EN – 1304NH 7

Documentation

You will find additional information on the motor controller in the following documentation:

User documentation on the motor controller CMMP-AS-...-M0

Name, type Contents

Hardware description,

GDCP-CMMP-M0-HW-...

Mounting and installation of the motor controller

CMMP-AS-...-M0 for all variants/output classes (1-phase,

3-phase), pin assignments, error messages, maintenance.

Description of functions,

GDCP-CMMP-M0-FW-...

Functional description (firmware) CMMP-AS-...-M0, instructions

on commissioning.

Description of FHPP,

GDCP-CMMP-M3/-M0-C-HP-...

Control and parameterisation of the motor controller via the

FHPP Festo profile.

– Motor controller CMMP-AS-...-M3 with the following

fieldbuses: CANopen, PROFINET, PROFIBUS, EtherNet/IP,

DeviceNet, EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.

Description of CiA 402 (DS 402),

GDCP-CMMP-M3/-M0-C-CO-...

Control and parameterisation of the motor controller via the

device profile CiA 402 (DS402)

– Motor controller CMMP-AS-...-M3 with the following

fieldbuses: CANopen and EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.

Description of CAM editor,

P.BE-CMMP-CAM-SW-...

Cam disc function (CAM) of the motor controller

CMMP-AS-...-M3/-M0.

Description of the safety function

STO, GDCP-CMMP-AS-M0-S1-...

Functional safety engineering for the motor controller

CMMP-AS-...-M0 with the integrated safety function STO.

Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the

Festo Configuration Tool.

www.festo.com

Tab. 1 Documentation on the motor controller CMMP-AS-...-M0

1 Safety and requirements for product use

8 Festo – GDCP-CMMP-M0-FW-EN – 1304NH

1 Safety and requirements for product use

1.1 Safety

1.1.1 Safety instructions for commissioning, repair and de-commissioning

Warning

Danger of electric shock.

– When cables are not mounted to the plugs [X6] and [X9].

– When connecting cables are disconnected when powered.

Touching live parts causes severe injuries and can lead to death.

The product may only be operated in a built-in status and when all protective measures

have been initiated.

Before touching live parts during maintenance, repair and cleaning work and when there

have been long service interruptions:

1. Switch off power to the electrical equipment via the mains switch and secure it

against being switched on again.

2. After switch-off, wait at least 5 minutes discharge time and check that power is

turned off before accessing the controller.

The safety functions do not protect against electric shock but only against dangerous

movements!

Note

Danger from unexpected movement of the motor or axis.

– Make sure that the movement does not endanger any people.

– Perform a risk assessment in accordance with the EC machinery directive.

– Based on this risk evaluation, design the safety system for the entire machine,

taking into account all integrated components. This also includes the electric drives.

– Bypassing safety equipment is impermissible.

1 Safety and requirements for product use

Festo – GDCP-CMMP-M0-FW-EN – 1304NH 9

1.1.2 Protection against electric shock through protective extra-low voltage (PELV).

Warning

• Use only PELV circuits in accordance with EN 60204-1 (Protective Extra-Low Voltage,

PELV) for electric power supply.

Also observe the general requirements for PELV circuits in accordance with

EN 60204-1.

• Use only power sources which guarantee reliable electrical isolation of the operating

voltage in accordance with EN 60204-1.

Through the use of PELV circuits, protection from electric shock (protection from direct and indirect

contact) in accordance with EN 60204-1 is ensured (Electrical equipment of machines. General require-

ments).

1.1.3 Designated use

The motor controller CMMP-AS-...-M0 is intended for installation in machines or automated systems

and may be used only as follows:

– in a faultless technical condition,

– in original status without unauthorised modifications,

– within the limits of the product defined by the technical data (appendix A of the documentation

GDCP-CMMP-AS-M0-HW-...),

– in an industrial environment.

Note

In the event of damage caused by unauthorised manipulation or other than intended

use, the guarantee is invalidated and the manufacturer is not liable for damages.

1 Safety and requirements for product use

10 Festo – GDCP-CMMP-M0-FW-EN – 1304NH

1.2 Prerequisites for use

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. Also consider the

documentation for the other components and modules.

• Take into consideration the regulations applicable for the destination, as well as:

– regulations and standards,

– regulations of the testing organizations and insurers,

– national specifications.

• For emergency stop applications, restart may take place only as intended under the control of a

safety switching device.

1.2.1 Technical requirements

General conditions for the correct and safe use of the product, which must be observed at all times:

• Comply with the connection and environmental conditions of the motor controller specified in the

technical data (appendix A of the documentation GDCP-CMMP-AS-M0-HW-...) and of all connec-

ted components.

Only compliance with the limit values or load limits permits operation of the product in accordance

with the relevant safety regulations.

• Observe the instructions and warnings in this documentation.

1.2.2 Qualification of the specialists (requirements for the personnel)

The device may only be set into operation by a qualified electrotechnician who is familiar with:

– installation and operation of electrical control systems,

– the applicable regulations for operating safety-engineered systems,

– the applicable regulations for accident protection and occupational safety, and

– the documentation for the product.

1.2.3 Range of application and certifications

Standards and test values which the product complies with and fulfils can be found in the “Technical

data” section (appendix A of the documentation GDCP-CMMP-AS-M0-HW-...). The product-relevant

EU directives can be found in the declaration of conformity.

Certificates and the declaration of conformity for this product can be found at

www.festo.com.

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