Document Outline

• CONTENTS
• General information
  • Documentation
  • Type code CMMD-AS-C8-3A
  • Scope of delivery
• Safety instructions for electric drives and controllers
  • Icons used
  • General Information
    • Trained and qualified personnel
  • Hazards due to improper use
  • Safety instructions
    • General safety information
    • Safety instructions for assembly and maintenance
    • Protection aganst touching electric components
    • Protection by low voltage (PELV) against electric shock
    • Protection against dangerous movements
    • Protection aganst touching hot components
    • Protection when handling and assembling
• Product description
  • General information
  • Device description
  • Bus connection
  • Performance characteristics
    • Flexible power management
    • Compactness
    • Encoder interface
    • Input / Output
    • Extension and field bus module
    • Integrated CANopen interface
    • Motion control
    • Integrated sequence control
    • Integrated safety functions in accordance with EN ISO 13849-1 safety category 3 in the basic unit (see chapter 4)
    • Interpolating multi-axis movement
    • Parametrisation program "Festo Configuration Tool FCT"
  • Interfaces
    • Overview of the setpoint value interfaces
    • Analogue setpoint specification
      • Required activation with analogue setpoint specification
    • 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]
      • Clock frequency of pulse-direction signals
      • Activation of synchronization
      • Required I/O activation 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 Diagram
      • General Information
    • I/O functions and device control
      • Digital inputs
      • Digital outputs
      • Limit switch
      • Sample input
      • Analogue input
      • Basic functions
    • RS232 interface (diagnosis/ parametrisation interface)
      • General commands
      • Parameter commands
        • Examples
      • Function commands
      • Setting the operating mode
      • Example "Profile position mode" via RS232
      • Example "Homing Mode" via RS232
    • Control via RS485
      • Configuration in the FCT
      • Command syntax under RS485
      • Example "Profile position mode" via RS232
    • Multi-firmware strategy
    • Motor feedback
    • Brake chopper (Brake control)
    • Feedback from motor (angle encoder)
    • Control interface [X1]
    • Increment generator interface [X10]
      • Encoder emulation of the increment generator – [X10] is output:
      • Synchronisation – [X10] is input
    • SD card holder [M1]
    • SD memory card
  • Field bus interface
    • Required I/O connection for field bus control
    • FHPP (Festo Handling and Positioning Profile)
    • CAN bus
      • Path control with linear interpolation
    • PROFIBUS
    • DeviceNet
  • Function overview
    • Operating modes
      • Timing diagram, operating mode shift
    • Setpoint value processing
    • I²t function
    • Positioning controller
      • Required I/O interface for positioning
    • Homing
      • Timing diagram for homing
    • Trajectory generator
    • I/O sequence control
    • Safety functions, error messages
    • Behaviour when switching off enable
    • Oscilloscope function
    • Jog and teach function I/O
      • General Information
      • Activating the jog and teach function
      • Required I/O triggering with jog/teach
      • Settings in the FCT
      • I/O timing diagram
    • Position record linking with positioning/torque control switching
      • Switching conditions
      • Speed profiles with end speed <> 0
      • Activation of record linking
      • Required I/O interface for record linking
      • I/O timing diagrams
    • On-the-fly measurement
    • Endless positioning
    • Relative positioning records
    • Adjustment to the axis and motor construction set
• Functional safety engineering
  • General information and intended use
  • Integrated function "Safe Torque Off" (STO)
    • General remarks/description "Safe Torque Off" (STO)
    • Timing diagram, STO
      • Create readiness to operate, description of timing diagram
    • Switching example STO
      • Explanations of the switching example
    • EMERGENCY STOP request, monitoring of protective door
    • Testing the safety function STO
  • Integrated function "Safe Stop 1" (SS1)
    • General remarks/description "Safe Stop 1" SS1
    • Timing diagram, SS1
      • Description of the timing diagram
    • Activation of SS1
    • Setting the switch-off delay
    • Parameterization example FCT
    • Sample circuit SS1
      • Explanations of the sample circuit
    • EMERGENCY STOP request, monitoring of protective door
    • Restoration of normal operation
    • Testing the safety function
    • Determination of the brake time
    • Setting the delay time
• Mechanical installation
  • Important instructions
  • Mounting
• Electrical installation
  • Device view
  • Interfaces
    • [X2.1/2]: Shaft encoder
    • [X6.1/2]: Motor connection
    • [X9]: Voltage supply
  • Entire system CMMD-AS
  • Interfaces and plug assignments
    • I/O interface [X1.1/2]
    • Shaft encoder motor – EnDat 2.1 and 2.2 [X2.1/2]
    • Safe stop [X3.1/2]
    • Field bus CAN [X4]
    • RS232/RS485 [X5]
    • Motor connection [X6.1/2]:
    • Power supply [X9]
    • Synchronisation control [X10.1/2]
    • SD card [M1]
    • Field bus settings and boot loader
  • Instructions on safe and EMC-compliant installation
    • Explanations and terms
    • Connection instructions
    • General information on EMC
    • EMC areas: second environment
    • EMC-compliant wiring
    • Operation with long motor cables
    • ESD protection
• Preparations for commissioning
  • General connection instructions
  • Tools / material
  • Connect the motor to the motor controller
  • Connecting motor controller to the power supply
  • Connecting a PC
  • Checking readiness for operation
  • Timing diagram switch-on sequence
• Service functions and error messages
  • Protective and service functions
    • Overview
    • Temperatur monitoring for motor and power section, shaft encoder monitoring
    • Short-circuit monitoring of the output stage/overload current and short-circuit monitoring
    • Voltage monitoring for the intermediate circuit
    • I²t monitoring
    • Temperature monitoring for the heat sink
    • Power monitoring for the brake chopper
  • Operating mode and error messages
    • Operating mode and error display
    • Error messages
• Technical data
  • General
  • Operation and display components
    • Status display
    • Control elements
  • Interfaces
    • I/O interface [X1.1/2]
    • Shaft encoder motor [X2.1/2]
    • CAN bus [X4]
    • RS232/RS485 [X5]
    • Motor connection [X6.1/2]
      • Motor and encoder cable length maximum 25 m
      • Output data
      • Brake output
    • Power supply [X9]
    • Increment generator interface [X10.1/2]
• Index