Document Outline

• TABLE OF CONTENTS
• 1. General data
  • 1.1 Documentation
  • 1.2 Type key CMMS-ST-C8-7-G2
  • 1.3 Scope of delivery
• 2. Safety instructions for electric drives and controllers
  • 2.1 Icons used
  • 2.2 General Information
    • Trained and qualified personnel
  • 2.3 Hazards due to improper use
  • 2.4 Safety instructions
    • 2.4.1 General safety instructions
    • 2.4.2 Safety instructions for assembly and maintenance
    • 2.4.3 Protection against touching electric components
    • 2.4.4 Protection by low voltage (PELV) against electric shock
    • 2.4.5 Protection against dangerous movements
    • 2.4.6 Protection against touching hot components
    • 2.4.7 Protection when handling and assembling
• 3. Product description
  • 3.1 General data
  • 3.2 Performance characteristics
    • Compactness
    • Input/output
    • Extension and field bus module
    • Integrated CANopen interface
    • Motion control
    • Integrated sequence control
    • Interpolating multi-axis movement
    • Parametrisation program “Festo Configuration Tool FCT”
  • 3.3 Interfaces
    • 3.3.1 Control interfaces
    • 3.3.2 Overview of interfaces
    • 3.3.3 Analogue setpoint specification
      • Required connection with analogue setpoint specification
    • 3.3.4 Interfaces for direct synchronous operation
      • Output: Generation of increment generator signals [X10]
      • Input: Processing of frequency signals [X10]
      • Input: Processing of pulse-direction signals 24 V DC [X1]
      • Cycle rate pulse-direction signals
      • Activation of synchronisation
      • Necessary I/O triggering during synchronisation via FCT
      • Required I/O triggering during synchronisation via mode switchover with 24 VDC frequency signals
      • Required I/O triggering during synchronisation via mode switchover with 5 VDC frequency signals
      • I/O timing diagrams
      • General information
    • 3.3.5 I/O functions and device control
      • Limit switch
      • Sample input
      • Analogue input
      • MODE switching
    • 3.3.6 RS232 interface (diagnosis/parameterisation interface)
      • General commands
      • Parameter commands
      • Function commands
      • Setting the operating mode
      • Control via RS-485
      • Configuration in the FCT
      • Command syntax under RS-485
      • Example "Profile position mode" via RS-485
      • Example "Profile position mode" via RS232
      • Example “Homing Mode” via RS232
    • 3.3.7 Multi-firmware strategy
    • 3.3.8 Increment generator input
    • 3.3.9 Brake chopper
    • 3.3.10 Control interface [X1]
    • 3.3.11 Serial parameterisation interface RS232 and RS-485- [X5]
    • 3.3.12 SD cardholder – [X12]
    • 3.3.13 SD memory card
  • 3.4 Fieldbus interface
    • Required I/O connection for field bus control
    • 3.4.1 FHPP
    • 3.4.2 CAN bus
      • Communication
      • Path control with linear interpolation
    • 3.4.3 PROFIBUS
    • 3.4.4 DeviceNet
    • 3.4.5 MTR-ST series stepper motors
    • 3.4.6 EMMS-ST series stepper motors
  • 3.5 Function overview
    • 3.5.1 Operating modes
    • 3.5.2 Timing diagram operation mode switchover
    • 3.5.3 Setpoint processing
    • 3.5.4 Suppression of ranges
    • 3.5.5 I²t function
    • 3.5.6 Positioning controller
      • Required I/O connection for positioning
    • 3.5.7 Homing
    • 3.5.8 Timing diagrams for homing run
    • 3.5.9 Trajectory generator
    • 3.5.10 I/O sequence control
    • 3.5.11 Error messages
    • 3.5.12 Behaviour when switching off enable
    • 3.5.13 Oscilloscope function
    • 3.5.14 Jog and teach function I/O
      • General information
      • Activating jog/teach function
      • Necessary I/O connection with jog/teach
      • Settings in the FCT
      • I/O timing diagrams
    • 3.5.15 Position record linking with positioning/torque control switching
      • Step criteria
      • Speed profiles with end speed <> 0
      • Activation of record linking
      • Required I/O connection for record linking
      • I/O timing diagrams
    • 3.5.16 On-the-fly measurement
    • 3.5.17 Endless positioning
    • 3.5.18 Relative positioning records
• 4. Functional safety engineering
  • 4.1 General remarks and intended use
  • 4.2 Integrated function “STO”
    • 4.2.1 General remarks / description of “STO Safe Torque Off”
    • 4.2.2 STO timing diagram
      • Restart after activated “Safe standstill”
    • 4.2.3 CMMS-ST STO sample circuit
    • 4.2.4 Explanations of the sample circuit
    • 4.2.5 EMERGENCY STOP request, monitoring of protective doors
    • 4.2.6 Testing the safety function
  • 4.3 SS1, Safe Stop 1
    • 4.3.1 Explanation
    • 4.3.2 SS1 timing diagram
    • 4.3.3 Description of the timing diagram:
    • 4.3.4 Activation of “Safe Stop 1”
    • 4.3.5 Setting the switch-off delay
    • 4.3.6 Parameterisation example FCT
    • 4.3.7 CMMS-ST-G2 SS1 sample circuit
    • 4.3.8 Explanations of the sample circuit
    • 4.3.9 EMERGENCY STOP request, monitoring of protective doors
    • 4.3.10 Restoration of normal operation
    • 4.3.11 Testing the safety function
    • 4.3.12 Determination of the brake time
    • 4.3.13 Setting the delay time
• 5. Mechanical installation
  • 5.1 Important information
  • 5.2 Assembly
• 6. Electrical installation
  • 6.1 Device view
  • 6.2 Interfaces
  • 6.3 CMMS-ST complete system
  • 6.4 Interfaces
    • 6.4.1 I/O interface [X1]
    • 6.4.2 Increment generator input [X2]
    • 6.4.3 Plug allocation for Safe standstill [X3]
    • 6.4.4 Field bus CAN [X4]
    • 6.4.5 RS232/RS-485 [X5]
    • 6.4.6 Motor connection [X6]
    • 6.4.7 Power supply [X9]
    • 6.4.8 Increment generator interface / control signals [X10]
    • 6.4.9 SD card
      • Type on device
    • 6.4.10 Field bus settings and boot loader
  • 6.5 Instructions on safe and EMC-compliant installation
    • 6.5.1 Explanations and terms
    • 6.5.2 General information on EMC
    • 6.5.3 EMC areas: second environment
    • 6.5.4 EMC-compliant wiring
    • 6.5.5 Operation with long motor cables
    • 6.5.6 ESD protection
• 7. Preparations for commissioning
  • 7.1 General connection instructions
  • 7.2 Tools / material
  • 7.3 Connecting the motor
  • 7.4 Connecting the CMMS-ST stepping motor controller to the power supply
  • 7.5 Connecting a PC
  • 7.6 Checking readiness for operation
  • 7.7 Timing diagram switch-on sequence
• 8. Service functions and error messages
  • 8.1 Protective and service functions
    • 8.1.1 Overview
    • 8.1.2 Overload current and short-circuit monitoring
    • 8.1.3 Voltage monitoring for the intermediate circuit
    • 8.1.4 Temperature monitoring for the heat sink
    • 8.1.5 I²t monitoring
    • 8.1.6 Power monitoring for the brake chopper
    • 8.1.7 Commissioning status
  • 8.2 Operating mode and error messages
    • 8.2.1 Operating mode and error display
    • 8.2.2 Error messages
      • EMC