Festo Контроллеры двигателя CMMS-ST Manuel d'utilisateur

Trimming: On top: 61.5 mm Underneath: 61.5 mm Left: 43.5 mm Right: 43.5 mm Motor controllers Descri

1. General data 10 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 1. General data 1.1 Documentation This product manual is meant to promote safe work with the

5. Mechanical installation 100 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 5.2 Assembly There are clips at the top and bottom of the CMMS-ST stepping motor

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 101 6. Electrical installation 6.1 Device view 1 Status display 2 [S1]: Field bu

6. Electrical installation 102 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 1 Earthing bolt 2 [X9] Power supply 3 [X10] Increment generator interface 4 [X

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 103 1 [X3] Safe standstill 2 [X2] Increment generator input 3 [X6] Motor connecti

6. Electrical installation 104 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.3 CMMS-ST complete system A complete CMMS-ST stepping motor controller system i

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 105 1 Main switch 2 Fuse 3 Power pack for control voltage 4 Power pack for power

6. Electrical installation 106 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.4 Interfaces 6.4.1 I/O interface [X1] Mode switching allows assignment of the

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 107 Pin Name Value Mode = 0 - Positioning 24 DOUT0 24 V 100 mA Ready for opera

6. Electrical installation 108 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Pin Name Value Mode = 2 - Record linking 5 Unassigned 6 GND24 Reference

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 109 Pin Name Value Mode = 3 - Synchronisation 13 DOUT3 24 V 100 mA Output free

1. General data Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 11 1.2 Type key CMMS-ST-C8-7-G2 CMM —S —ST —C8 — 7 — G2 Series

6. Electrical installation 110 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.4.3 Plug allocation for Safe standstill [X3] Pin Name Value Specification 1

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 111 Pin Name Value Specification 7 - - - 8 +5 V_Fuse 5 V Via PTC on plug 9 RS

6. Electrical installation 112 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.4.8 Increment generator interface / control signals [X10] The interface is bidi

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 113 6.4.10 Field bus settings and boot loader DIP switches Meaning 1 ... 7 Node

6. Electrical installation 114 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.5 Instructions on safe and EMC-compliant installation 6.5.1 Explanations and

6. Electrical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 115 called “environments”. The “first” environment includes electricity grids connec

6. Electrical installation 116 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH - From a cable length of over 15 m, only cables with a capacitance between the m

7. Preparations for commissioning Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 117 7. Preparations for commissioning 7.1 General connection instructions

7. Preparations for commissioning 118 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 7.4 Connecting the CMMS-ST stepping motor controller to the power supply

7. Preparations for commissioning Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 119 7.7 Timing diagram switch-on sequence Power OnDOUT3: #ERRORController r

2. Safety instructions for electric drives and controllers 12 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 2. Safety instructions for electric drives and con

8. Service functions and error messages 120 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 8. Service functions and error messages 8.1 Protective and service

8. Service functions and error messages Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 121 8.1.5 I²t monitoring The CMMS-ST stepping motor controller has I²t

8. Service functions and error messages 122 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Display Meaning PH x Homing run. “x” represents the respective phase

8. Service functions and error messages Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 123 Error message Main index Sub-index Meaning of error message Measure

8. Service functions and error messages 124 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Error message Main index Sub-index Meaning of error message Measures

8. Service functions and error messages Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 125 Error message Main index Sub-index Meaning of error message Measure

8. Service functions and error messages 126 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Error message Main index Sub-index Meaning of error message Measures

8. Technical dataService functions and error messages Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 127 Error messages can be acknowledged by: - the configu

A. Technical data 128 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH A. Technical data A.1 General information Area Values Storage temperature: -25°C to +70°

A. Technical data Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 129 Area Values Maximum motor cable length for interference emissions as per EN 61800-3 (co

2. Safety instructions for electric drives and controllers Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 13 2.2 General Information Festo AG & Co.KG is

A. Technical data 130 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH A.3 Interfaces A.3.1 I/O interface [X1] Digital inputs Values Signal level 18 … 30 V (h

A. Technical data Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 131 Analogue inputs/outputs Values High-resolution analogue input: AIN0 ±10 V input section,

A. Technical data 132 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH A.3.5 Motor connection [X6] Output data Values Output current 8 Aeff Max. output current

A. Technical data Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 133 Features Values Maximum intermediate circuit voltage 10% above response threshold Hyster

B. Glossary 134 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH B. Glossary EMC Electromagnetic compatibility (EMC) or electromagnetic interference (EMI) invol

C. INDEX Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 135 C. INDEX A A/B ... 27 Analogue setpoint speci

C. INDEX 136 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH N Normal operation restoration... 95 Note General information.

2. Safety instructions for electric drives and controllers 14 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH • Do not attempt to install or commission the ste

2. Safety instructions for electric drives and controllers Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 15 Warning DANGER! High electric voltage due to inc

2. Safety instructions for electric drives and controllers 16 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Warning Gold contacts or contacts with high contac

2. Safety instructions for electric drives and controllers Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 17 The following precautionary measures also apply

2. Safety instructions for electric drives and controllers 18 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Warning During operation and up to several minutes

2. Safety instructions for electric drives and controllers Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 19 Warning Electronic devices are never fail-proof.

4 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH

2. Safety instructions for electric drives and controllers 20 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Warning • Before commissioning, also for brief me

2. Safety instructions for electric drives and controllers Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 21 Connect only voltages and current circuits which

2. Safety instructions for electric drives and controllers 22 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 2.4.6 Protection against touching hot components

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 23 3. Product description 3.1 General data The CMMS-ST stepping motor controller is a

3. Product description 24 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Extension and field bus module • PROFIBUS-DP (P.BE-CMMS-FHPP-PB-...) • DeviceNet (P.B

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 25 • 2-channel oscilloscope function • English and German 3.3 Interfaces 3.3.1 Contr

3. Product description 26 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Setpoint interface / Interface Setpoint specification via Function Operating mode Refer

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 27 3.3.4 Interfaces for direct synchronous operation The motor controller permits a mas

3. Product description 28 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH The following signals can be evaluated: • A/B tracking signals • CLK/DIR – pulse/dire

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 29 Necessary I/O triggering during synchronisation via FCT - DIN4 Output stage enable

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3 Edition _____________________________________________________en 1008 Name __________________________________

3. Product description 30 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Required I/O triggering during synchronisation via mode switchover with 5 VDC frequency

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 31 I/O timing diagrams ENABLESTARTSTOPDrive is moving1010101010101010DOUT0: READYDOUT1:

3. Product description 32 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH For the feedback message “Speed reached”, the comparison speed is set to zero and onl

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 33 Analogue input The CMMS-ST stepping motor controller has an analogue input for input

3. Product description 34 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH To be able to operate an interface with a terminal program, such as for test purposes,

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 35 Command Syntax Response Reading a CO OR:nnnn nnnn:HHHHHHHH or OR:EEEEEEEE Writin

3. Product description 36 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Setting the operating mode Due to a necessary synchronisation of internal processes, th

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 37 Pin Brief description Name Signal direction Description 9 RI Ring indicator Transfer

3. Product description 38 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Command syntax under RS-485 Control of the motor controller via RS-485 takes place with

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 39 The controller enable logic can be changed via the COB 6510_10. Since the simulation

4 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Index of revisions Author: Festo AG & Co. KG Name of manual: MOTOR CONTROLLERS CMMS-ST-C8-7-G2-G2 File

3. Product description 40 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH absolutely (0) or relatively (1). Command: =604000:001F Start absolute positionin

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 41 speed and position for EMMS-ST series motors. The actual speed is determined based on

3. Product description 42 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Pin Name Mode 0 (DIN12=0) Mode 1 (DIN12=1) Mode 2 (DIN9=1 & DIN12=0) Mode 3 (DIN9=

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 43 Signal: Description DIN0...DIN13 Digital inputs for 24 V level, following function

3. Product description 44 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.3.11 Serial parameterisation interface RS232 and RS-485- [X5] It permits parameteris

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 45 3.4 Fieldbus interface With CMMS-ST, different field buses can be used. By default,

3. Product description 46 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH With record selection, the position records stored in the controller are used. In direc

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 47 1 Position setpoint time slot pattern 2 Position control cycle time 3 Interpolated

3. Product description 48 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.4.5 MTR-ST series stepper motors The MTR-ST series stepper motors are two-phase hybr

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 49 Operating mode Function Setpoint interface / Interface Setpoint specification via An

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 5 TABLE OF CONTENTS 1. General data ...

3. Product description 50 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.5.2 Timing diagram operation mode switchover ENABLESTOPDIN1210101010010101010DIN9101

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 51 3.5.3 Setpoint processing Through setpoint selection, an additional setpoint can be

3. Product description 52 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.5.5 I²t function An integrator monitors the current²-time integral of the CMMS-ST co

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 53 - Start delay - Final speed - Wait for current positioning, reject or ignore initi

3. Product description 54 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.5.7 Homing Note Homing via I/O controller only in mode 0: positioning. The follow

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 55 Homing method 1 Negative limit switch with index pulse. If negative limit switch i

3. Product description 56 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Homing method -18 Positive stop Run at search speed in positive direction to stop.

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 57 3.5.8 Timing diagrams for homing run t1 = 1.6 ms tx = x ms (dependent on ramps)

3. Product description 58 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH t1 = 1.6 ms tx = x ms (dependent on ramps) Fig. 3.5 Signal sequence with faulty int

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 59 Controller releaseSTART10101010101010Limit switch E010DOUT0: READYDOUT1: MCDOUT2: ACK

6 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.4.1 FHPP ...

3. Product description 60 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.5.10 I/O sequence control T Transition condition Actions of the user T1 RE

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 61 T Transition condition Actions of the user T6 “Speed control” was selected in the

3. Product description 62 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 3.5.11 Error messages The following conditions are monitored for safe operation of the

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 63 Controller releasedDrive is moving10101010Holding brake current-carrying10DOUT0: READ

3. Product description 64 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Controller releaseSTARTIntermedicate curcuit1010101010101010Holding brake current-carry

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 65 • The data transfer section also has low priority. It is integrated in the time slic

3. Product description 66 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Note The positions are saved on the SD card only through FCT. And so when jog/teach (w

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 67 Necessary I/O connection with jog/teach The connection plan shows the switch positio

3. Product description 68 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Settings in the FCT The parameters set here are valid for jogging via I/O interface,

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 69 I/O timing diagrams t1 = 1.6 ms tx = x ms (dependent on brake ramps) Fig. 3.10 Si

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 7 4.3 SS1, Safe Stop 1...

3. Product description 70 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH ENABLESTART/TEACHSTOPDIN10: Jog +Drive is moving101010101010101010–DIN11: Jog -10– – –+

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 71 ENABLESTART / TEACHSTOP101010101010101010–10+(1)(1)DIN0 - DIN310(1)DOUT0 : READYDOUT

3. Product description 72 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH • Position record linking can be controlled via digital inputs. Digital inputs in whic

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 73 Speed profiles with end speed <> 0 Note Position record profiles that cont

3. Product description 74 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Required I/O connection for record linking The connection plan shows the switch positi

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 75 I/O timing diagrams ENABLESTARTSTOPPositioning recordDrive is moving101010101010101

3. Product description 76 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH ENABLESTARTSTOPPositioning recordDrive is moving101010101010101010DOUT0: READYDOUT1: MC

3. Product description Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 77 3.5.16 On-the-fly measurement This function offers the possibility to save the actua

3. Product description 78 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH For linear axes: For rotational axes: The function Endless Positioning is selected by

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 79 4. Functional safety engineering 4.1 General remarks and intended use Th

8 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 6.5.2 General information on EMC ... 114 6.5.3 EMC

4. Functional safety engineering 80 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH F1 Seldom to less often and/or the time of the exposure to hazard is short F

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 81 Safety function as per EN 61800-5-2 PILZ* component Switch-off behaviour

4. Functional safety engineering 82 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 4.2 Integrated function “STO” Warning The general safety functions do not

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 83 4.2.2 STO timing diagram tx = 1.6 ms (controller cycle time) Fig. 4.2

4. Functional safety engineering 84 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Restart after activated “Safe standstill” Before switching it on again, make

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 85 4.2.3 CMMS-ST STO sample circuit Fig. 4.3 Circuit diagram for STO safet

4. Functional safety engineering 86 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 4.2.4 Explanations of the sample circuit The circuitry example shows a combi

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 87 Fig. 4.4 “Safe Torque Off” block diagram as per EN 61508, SIL 2 Cauti

4. Functional safety engineering 88 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH For “STO” as per EN 61508, SIL 2, a second channel is required, i.e. a restar

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 89 4.3.2 SS1 timing diagram Fig. 4.5 Timing diagram for the SS1 safety func

Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 9 B. Glossary ...

4. Functional safety engineering 90 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 4.3.3 Description of the timing diagram: This timing diagram is based on the

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 91 4.3.4 Activation of “Safe Stop 1” The following steps show how you can bri

4. Functional safety engineering 92 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 4.3.6 Parameterisation example FCT Fig. 4.6 Parameterisation example

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 93 4.3.7 CMMS-ST-G2 SS1 sample circuit Fig. 4.7 Circuit diagram for SS1 saf

4. Functional safety engineering 94 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 4.3.8 Explanations of the sample circuit The circuitry example shows a combi

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 95 Warning The standard motor holding brake or an external motor holding brak

4. Functional safety engineering 96 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH Fig. 4.8 FCT mask for configuration of the measurement data The two speed

4. Functional safety engineering Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 97 A typical measurement curve could look as follows. Graphically read brake

5. Mechanical installation 98 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 5. Mechanical installation 5.1 Important information Note • Use the CMMS-ST st

5. Mechanical installation Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 99 Fig. 5.1 CMMS-ST stepping motor controller: Installation clearance