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CMMS-AS-C4-3A
Festo CMMS-AS-C4-3A User Manual
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1
.
General data
10
Festo P.BE-CMMS-
AS
-
HW
-
EN
en 0708NH
1.3
Scope of del
ivery
The delivery includes:
Number
Delivery
1
Motor controller
CMMS-
AS
-
C4
-
3A
1
Operating packet (co
nfiguration software, doc
umentation, S
7 module, GSD, E
DS, firmware)
1
NEKM-C-4 plug asso
rtment
Table 1.1 Scope of delivery
9
11
Table of Contents
Default Chapter
5
Table of Contents
5
1 General Data
9
Documentation
9
Type Code CMMS-AS-C4-3A
9
Scope of Delivery
10
2 Safety Instructions for Electrical Drives and Controllers
11
Symbols Used
11
General Information
12
Hazards Due to Improper Use
13
Safety Instructions
14
General Safety Information
14
Safety Instructions for Assembly and Maintenance
16
Protection Aganst Touching Electric Components
17
Protection by Low Voltage (PELV) against Electric Shock
19
Protection against Dangerous Movements
19
Protection Aganst Touching Hot Components
20
Protection During Handling and Installation
20
3 Product Description
22
General Data
22
Performance Characteristics
22
Interfaces
24
Overview of Interfaces
24
I/O Functions and Device Control
24
Analogue Setpoint Specification
25
RS232 Interface (Diagnosis/ Parameterization Interface)
26
Interfaces for Direct Synchronous Operation
32
Multi-Firmware Strategy
38
Synchronisation Interface
38
Motor Feedback
38
Brake Chopper (Brake Control)
39
Feedback from Motor (Angle Encoder)
39
Control Interface X1
39
Incremental Encoder Interface [X10]
41
Serial Parameterization Interface RS232 and RS485 - X5
41
SD Cardholder X12
41
SD Memory Card
41
Field Bus Interface
42
Fhpp
43
CAN Bus
44
Profibus
45
Devicenet
45
Function Overview
46
Operating Modes
46
Timing Diagram Operation Mode Switchover
47
Setpoint Processing
47
I²T Function
48
Positioning Controller
48
Homing Run
50
Timing Diagrams for Homing Run
52
Trajectory Generator
54
I/O Sequence Control
55
Safety Functions, Error Messages
57
Behaviour When Switching off Enable
57
Oscilloscope Function
59
Jog and Teach Function I/O
60
Route Program with Position Record Linking with Switchover Positioning/Torque Control
65
On-The-Fly Measurement
70
Endless Positioning
70
Adjustment to the Axis and Motor Construction Set
70
4 Functional Safety Engineering
72
General Information and Intended Use
72
Integrated "Safe Standstill" Function
74
General Information / Description of "Safe Standstill
74
Secure Stopping Brake Control
76
Functional Method / Timing
77
Application Examples
80
5 Mechanical Installation
84
Important Instructions
84
Assembly
85
6 Electrical Installation
87
Device View
87
Interfaces
89
Entire CMMS-AS System
90
Interfaces and Plug Assignments
92
I/O Interface [X1]
92
Encoder Motor - Endat 2.1 and 2.2 (X2)
95
Field Bus CAN [X4]
97
Rs232/Rs485 [X5]
97
Motor Connection [X6]
97
Power Supply [X9]
98
Synchronisation Control [X10]
99
SD Card [X12]
100
Plug Assignments for Safe Standstill [X3]
100
Field Bus Settings and Boot Loader
100
Instructions on Safe and EMC-Compliant Installation
101
Explanations and Terms
101
Connection Instructions
102
General Information on EMC
102
EMC Areas: Second Environment
103
EMC-Compliant Wiring
103
Operation with Long Motor Cables
104
ESD Protection
104
7 Preparations for Commissioning
106
General Connection Instructions
106
Tools / Material
106
Connecting the Motor
106
Connect the CMMS-AS Motor Controller to the Power Supply
107
Connecting a PC
107
Checking Readiness for Operation
107
Timing Diagram Switch-On Sequence Diagram
108
8 Service Functions and Error Messages
109
Protective and Service Functions
109
Overview
109
Short-Circuit Monitoring of the End Stage/Overload Current and Short- Circuit Monitoring
109
Voltage Monitoring for the Intermediate Circuit
109
Temperature Monitoring for Motor and Power Section, Temperature Monitoring for the Heat Sink
110
Monitoring the Encoder
110
I²T Monitoring
110
Power Monitoring for the Brake Chopper
110
Operating Mode and Error Messages
110
Operating Mode and Error Display
110
Error Messages
111
Technical Specifications
115
General Information
115
Operation and Display Components
116
Status Display
116
Control Elements
116
Interfaces
117
Power Supply [X9]
117
A.3 Interfaces
117
Motor Connection [X6] CMMS-AS
118
Brake Output
118
Incremental Encoder Input [X2]
118
Incremental Sensor Interface [X10]
119
Rs232/Rs485 [X5]
119
CAN Bus [X4]
119
I/O Interface [X1]
119
Glossary
122
4
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Festo CMMS-AS-C4-3A Specifications
General
Brand
Festo
Model
CMMS-AS-C4-3A
Category
Controller
Language
English
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