Festo CMMO-ST User manual

Description

Motor controller

CMMO-ST-C5-1-DIO

8022056

1301a

Motor controller

CMMO-ST

2 Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a –

Translation of the original instructions

GDCP-CMMO-ST-EA-SY-EN

Adobe Reader

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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.

CMMO-ST

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English 3

Table of Contents – CMMO-ST

1 Safety and requirements for product use 9......................................

1.1 Safety 9..................................................................

1.1.1 General safety instructions 9.........................................

1.1.2 Intended use 10.....................................................

1.2 Requirements for product use 11...............................................

1.2.1 Technical requirements 11............................................

1.2.2 Qualification of the specialists (requirements for the personnel) 11............

1.2.3 Range of application and certifications 12................................

2Overview 13................................................................

2.1 System overview 13..........................................................

2.2 Overview of CMMO-ST 14.....................................................

2.2.1 General properties 14................................................

2.2.2 Commissioning options 14............................................

2.2.3 Control profiles of the I/O interface 14...................................

2.2.4 Closed loop versus open-loop operation 15...............................

2.3 Overview of CMMO-ST operating modes 15.......................................

2.3.1 Positioning mode 15.................................................

2.3.2 Speed mode 15.....................................................

2.3.3 Force mode 15......................................................

2.4 Overview of drive functions 16.................................................

2.4.1 Jogging 16.........................................................

2.4.2 Teach 16..........................................................

2.4.3 Standstill monitoring 16..............................................

2.4.4 Brake 16..........................................................

2.4.5 Comparators & messages 17..........................................

2.4.6 Record Linking 17...................................................

2.4.7 Record switching by PLC 17............................................

2.4.8 Trace 17...........................................................

2.4.9 Firmware update 17.................................................

2.4.10 Parameter file 17....................................................

2.4.11 Flash memory 18....................................................

2.4.12 Higher-order control 18...............................................

CMMO-ST

4 Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

2.5 Interfaces and simultaneous connections 18......................................

2.5.1 Number of connections 19............................................

2.6 Measuring reference system 19.................................................

2.6.1 Basic concepts 19...................................................

2.6.2 Calculation rules 20..................................................

2.6.3 Prefix and direction of rotation 21......................................

2.6.4 Units of measurement 21.............................................

2.7 Homing run 21..............................................................

2.7.1 Homing overview 21.................................................

2.7.2 Homing methods to a fixed stop 22.....................................

2.7.3 Homing methods to switch with/without index search 23....................

2.7.4 Homing method “current position” 24...................................

2.7.5 Automatic homing (valve profile) 24.....................................

2.7.6 Movement to zero 25.................................................

2.8 Monitoring functions 25.......................................................

2.9 Safety aspects 26............................................................

3Mounting 27...............................................................

3.1 General instructions 27.......................................................

3.2 Dimensions of the controller 28.................................................

3.3 Mounting the controller 29....................................................

3.3.1 Fitting 29..........................................................

3.3.2 H-rail mounting 30...................................................

4 Electrical installation 31......................................................

4.1 Overview 31................................................................

4.2 Power supply [X9] 33.........................................................

4.3 Functional earth 34..........................................................

4.4 I/O interface [X1] 35..........................................................

4.4.1 Electrical specifications of [X1] 36......................................

4.5 Reference switch [X1A] 36.....................................................

4.6 STO [X3] 37.................................................................

4.7 Encoder [X2] 38.............................................................

4.8 Motor [X6] 38...............................................................

CMMO-ST

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English 5

5 Commissioning 39...........................................................

5.1 Safety regulations 39.........................................................

5.2 Ethernet interface (RJ-45) 41...................................................

5.2.1 Delivery status of the CMMO-ST 41.....................................

5.2.2 DHCP or fixed IP address 41...........................................

5.2.3 Safety in the network 42..............................................

5.2.4 Timeout 42........................................................

5.2.5 Initial start-up via Ethernet 43.........................................

5.3 Commissioning via web server 44...............................................

5.3.1 What does the web server enable? 44...................................

5.3.2 Parameter files 44...................................................

5.3.3 Initial start-up with the web server 46...................................

5.3.4 Creating a parameter backup file 50.....................................

5.4 Commissioning with FCT (Festo Configuration Tool) 51..............................

5.4.1 Installing the FCT 51.................................................

5.4.2 Starting the FCT 52..................................................

5.5 I/O interface 54.............................................................

5.5.1 Profiles for selection 54..............................................

5.5.2 Properties of the valve profile (7) 55....................................

5.5.3 Properties of the binary profile (31) 66..................................

5.6 Structure of the records in the record table 77.....................................

5.6.1 Positioning mode 77.................................................

5.6.2 Speed mode (binary profile only) 79.....................................

5.6.3 Force mode (only in binary profile) 80...................................

5.7 Record switching by PLC (binary profile) 81.......................................

5.8 Record linking (binary profile only) 82............................................

5.9 Comparators 83.............................................................

5.9.1 Position comparators 83..............................................

5.9.2 Speed comparators 84...............................................

5.9.3 Force comparators 84................................................

5.9.4 Time comparators 85................................................

5.10 Instructions on operation 86...................................................

CMMO-ST

6 Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

6Diagnostics 87..............................................................

6.1 Types of malfunction 87.......................................................

6.2 7-segment display 87.........................................................

6.3 Diagnostic memory 89........................................................

6.4 Malfunctions: Causes and remedy 90............................................

6.4.1 Error responses 90..................................................

6.4.2 Table of error messages 90............................................

6.4.3 Problems with the Ethernet connection 103................................

6.4.4 Other problems and remedies 105.......................................

6.4.5 Malfunction “Index pulse too close on proximity sensor” (2Eh) 106.............

A Technical appendix 107........................................................

A.1 Technical data 107............................................................

B Control via Ethernet (CVE) 109..................................................

B.1 Basic principles 109...........................................................

B.1.1 Communication principle 109...........................................

B.1.2 CVE protocol 110.....................................................

B.1.3 Controlling the drive 116...............................................

B.2 Explanation of increments 124..................................................

B.3 List of CVE objects 125.........................................................

C Glossary 132................................................................

CMMO-ST

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English 7

Instructions on this documentation

This documentation is intended to help you safely work with the motor controller CMMO-ST.

Product identification, versions

The hardware version indicates the version status of the CMMO-ST’s electronics. The

firmware version indicates the version status of the operating system.

You can find the specifications of the version status as follows:

– Hardware version and firmware version in the Festo Configuration Tool (FCT) with an

active online connection to the CMMO-ST on the “Controller” panel.

Firmware version from What’s new? Which FCT plug-in?

V 1.0.x Motor controller CMMO-ST with I/O interface

supports the following drives:

–EPCO

– For additional drives: see Festo catalogue

www.festo.com

CMMO-ST V 1.00

V 1.1.2 Advanced parameter settings via web browser From CMMO-ST V 1.1.0

Tab. 1 Firmware Version

Service

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

Please note the error correction at page 18 of tis documentation.

CMMO-ST

8 Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

Documentation

You will find more extensive information in the following documentation:

UserdocumentationontheCMMO-ST

Name Type Contents

STO documentation with a

brief overview of the

CMMO-ST.

Enclosed in printed format.

GDCP-CMMO-ST-STO

…Use of the STO safety function

(“Safe Torque Off ”).

Also includes intended use of the

CMMO-ST and a documentation

overview.

Description

(on CD-ROM)

GDCP-CMMO-ST-EA-SY-… Installation, commissioning and

diagnostics of positioning systems with

the CMMO-ST with communication via

I/O interface.

Help system for software

(included in the FCT

software)

Dynamic and static help for

the Festo Configuration Tool

Functional descriptions for the Festo

Configuration Tool configuration

software.

UL documentation CMMO-ST_SPUL Requirements for observing the

certified UL conditions if the product is

operated in the USA or Canada.

Operating instructions e.g. for electric cylinder

type EPCO

Installing and commissioning the drive

Tab. 2 Documentation on the CMMO-ST

1 Safety and requirements for product use

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English 9

1 Safety and requirements for product use

1.1 Safety

1.1.1 General safety instructions

When commissioning and programming positioning systems, the safety regulations in this description

as well as those in the operating instructions for the other components used must be observed.

The user must make sure that nobody is within the sphere of influence of the connected actuators or

axis system. Access to the possible danger area must be prevented by suitable measures such as

shutting them off and warning signs.

Warning

Electric axes move with high force and at high speed. Collisions can lead to serious

injury to people and damage to components.

• Make sure that nobody can place body parts in the positioning range of the axes or

other connected actuators and that there are no objects in the positioning path

while the system is still connected to a power supply.

Warning

Parameterisation errors can cause injury to people and damage to property.

• Only enable the controller if the axis system has been installed and parameterised

by technically qualified staff.

Note

Damage to the product from incorrect handling.

• Switch off the supply voltage before mounting and installation work. Switch on

supply voltage only when mounting and installation work are completely finished.

• Never unplug or plug in a product when powered!

• Observe the handling specifications for electrostatically sensitive devices.

1 Safety and requirements for product use

10 Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

1.1.2 Intended use

The CMMO-ST motor controller is used for controlling stepper motors in accordance with the Festo

catalogue, and is especially intended for use with EPCO electric drives.

This description documents the basic functions of the CMMO-ST and the I/O interface.

EPCO drives and additional components are documented in separate operating instructions.

The CMMO-ST and the connectable modules and cables may only be used as follows:

–asintended

– only in an industrial environment

– in perfect technical condition

– in original status without unauthorised modifications (only the conversions or modifications

described in the documentation supplied with the product are permitted)

• Observe the safety instructions and intended use in the documentation for all the components and

modules.

• Observe the standards specified in the relevant chapters, as well as the regulations of the trade

associations, the German Technical Control Board (TÜV), the VDE conditions or relevant national

regulations.

• Observe the limit values for all additional components (e.g. sensors, actuators).

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.

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