Festo CMMS-AS-C4-3A User Manual

Table of contents
6 Festo P.BE-CMMS-AS-HW-EN en 0708NH
3.4.2 CAN bus ............................................................................................. 44
3.4.3 PROFIBUS .......................................................................................... 45
3.4.4 DeviceNet ........................................................................................... 45
3.5 Function overview .............................................................................................. 46
3.5.1 Operating modes ................................................................................ 46
3.5.2 Timing diagram operation mode switchover ....................................... 47
3.5.3 Setpoint processing ........................................................................... 47
3.5.4 I²T function......................................................................................... 48
3.5.5 Positioning controller ......................................................................... 48
3.5.6 Homing run ........................................................................................ 50
3.5.7 Timing diagrams for homing run ......................................................... 52
3.5.8 Trajectory generator ........................................................................... 54
3.5.9 I/O sequence control .......................................................................... 55
3.5.10 Safety functions, error messages........................................................ 57
3.5.11 Behaviour when switching off enable ................................................. 57
3.5.12 Oscilloscope function ......................................................................... 59
3.5.13 Jog and teach function I/O .................................................................. 60
3.5.14 Route program with position record linking with switchover
positioning/torque control ................................................................. 65
3.5.15 On-the-fly measurement ..................................................................... 70
3.5.16 Endless positioning ............................................................................ 70
3.5.17 Adjustment to the axis and motor construction set ............................. 70
4. Functional safety engineering ............................................................................. 72
4.1 General information and intended use ............................................................... 72
4.2 Integrated "Safe standstill" function ................................................................. 74
4.2.1 General information / description of "Safe standstill" ........................ 74
4.2.2 Secure stopping brake control ............................................................ 76
4.2.3 Functional method / timing ................................................................ 77
4.2.4 Application examples ......................................................................... 80
5. Mechanical installation ...................................................................................... 84
5.1 Important instructions ....................................................................................... 84
5.2 Assembly ........................................................................................................... 85
6. Electrical installation .......................................................................................... 87
6.1 Device view ....................................................................................................... 87
6.2 Interfaces .......................................................................................................... 89
6.3 Entire CMMS-AS system..................................................................................... 90
6.4 Interfaces and plug assignments ....................................................................... 92
6.4.1 I/O interface [X1] ................................................................................ 92
6.4.2 Encoder motor – EnDat 2.1 and 2.2 (X2) ............................................. 95
6.4.3 Field bus CAN [X4] .............................................................................. 97

Festo CMMS-AS-C4-3A Specifications

General

Brand	Festo
Model	CMMS-AS-C4-3A
Category	Controller
Language	English