Festo Контроллер двигателя CMMD-AS - Manual (Page 23)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 23
3. Product description
3.1 General information
The CMMD-AS series of servo positioning controllers are intelligent AC servo dual
converters with extensive parametrisation possibilities and expansion options. This allows
flexible use in a wide range of different applications.
The servo positioning controller CMMD-AS is intended for operation of the EMMS-AS
motor series with digital absolute angle encoders in single-turn and multi-turn design.
Point-to-point positioning or master-slave applications are easily possible as is multiple-
axis synchronised path drive. With a higher-level multiple axis controller, communication
can take place via the integrated CAN interface.
The parametrisation tool FCT (Festo Configuration Tool) makes possible simple operation
and startup of the servo positioning controller. Graphic depictions and pictograms make
intuitive parameterization possible.
3.2 Device description
With the CMMD-AS double position controller, two almost identically constructed CMMS-
AS boards, each containing a DSP Motion Control, are installed next to each other in a
housing. Since the two boards in the CMMD-AS share some interfaces, the second board
is equipped only partially.
There are some connections between the boards in the CMMD-AS to exchange power
between the two boards and also permit communication between the axis controllers.
Both axes use both the same mains connection and the same 24V connection. These
connections are connected in the device.
The intermediate circuits are connected internally.
The braking resistors are wired parallel internally so that double sustained brake
performance is available.
A very fast serial synchronous interface (SSIO) is implemented between axis 1 (master)
and axis 2 (slave). The master passes on fieldbus telegrams meant for the slave over
this interface.
Communication through the RS232/RS485 interface runs over axis 1 (master).
It converts telegrams for axis 2 (slave) to corresponding SSIO telegrams.
Axis 1 (master) can reset (RESET) axis 2 (slave).
The SD card is also addressed via the SSIO interface.
For firmware download, the boot program of axis 1 (master) first accesses the SD card;
axis 2 (slave) is held by axis 1 (master) in RESET for so long. After that, axis 1 (master)
frees the SSIO so that axis 2 (slave) can also read firmware from the SD card.
After the start of the application, access to the SD card and data exchange between
axis 1 (master) and axis 2 (slave) are synchronised. Two additional pilot lines are
available between axis 1 (master) can axis 2 (slave) for this purpose.
Telegram exchange between axis 1 (master) and axis 2 (slave) takes place is
a synchronised way and at a fixed time interval.
Axis 1 (master) and axis 2 (slave) use the same firmware.