Motor controller CMMP-AS-...-M3

Motor controller CMMP-AS-...-M3
Motor controller
CMMP-AS-...-M3
Description
Mounting and
installation
for motor controller
CMMP-AS-...-M3
760322
1203NH
CMMP-AS-...-M3
Translation of the original instructions
GDCP-CMMP-M3-HW-EN
CANopen®, Heidenhain®, EnDat®, PHOENIX® are registered trademarks of the respective trademark
owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries.
Warning
Hazards that can cause death or serious injury.
Caution
Hazards that can cause minor injury or serious property damage.
Other symbols:
Note
Property damage or loss of functionality.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that may be carried out in the order stated.
– General lists.
2
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CMMP-AS-...-M3
Table of contents – CMMP-AS-...-M3
1
Safety and requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
1.1
1.2
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Safety instructions for commissioning, repair and de-commissioning . . . . . . . . . . .
1.1.2 Protection against electric shock through protective extra-low voltage (PELV) . . . .
1.1.3 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Technical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Qualification of the specialists (requirements for the personnel) . . . . . . . . . . . . . .
1.2.3 Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.4 Repair and waste management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
8
9
9
10
10
10
10
10
2
Product overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
2.1
2.2
2.3
2.4
The entire system for the CMMP-AS-...-M3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mains fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
12
13
17
3
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
3.1
3.2
Important instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Module in slot Ext3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Interface in slot Ext1 or Ext2 (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Motor controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
19
19
21
22
4
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
4.1
4.2
Allocation of the plug connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection: I/O communication [X1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Plug [X1]: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Pin assignments [X1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection: resolver [X2A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Plug [X2A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Pin assignment [X2A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection: encoder [X2B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Plug [X2B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Pin assignment [X2B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection: CAN bus [X4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Plug [X4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Pin assignment [X4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
28
28
28
30
30
30
31
31
31
34
34
34
4.3
4.4
4.5
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3
CMMP-AS-...-M3
4.6
Connection: motor [X6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Plug [X6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Pin assignment [X6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Connection: voltage supply [X9] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1 Plug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Pin allocation [X9] – 1-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Pin allocation [X9] – 3-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.4 AC supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.5 Braking resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Connection: incremental encoder input [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.1 Plug [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.2 Pin assignment [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.3 Type and design of the cable [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.4 Connection instructions [X10] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Connection: incremental encoder output [X11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1 Plug [X11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.2 Pin assignment [X11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 Instructions on safe and EMC-compliant installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.1 Explanations and terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.2 General remarks on EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.3 EMC areas: first and second environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.4 EMC-compliant wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.5 Operation with long motor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.6 ESD protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
35
35
37
37
37
38
38
39
40
40
40
41
41
41
41
41
42
42
42
43
43
44
44
5
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
5.1
5.2
General connection instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FCT interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Overview of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 USB [X19] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Ethernet TCP/IP [X18] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tool / material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect motor controller CMMP-AS-...-M3 to the power supply . . . . . . . . . . . . . . . . . . . . .
Connect the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Check operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
45
45
45
46
47
47
48
48
48
5.3
5.4
5.5
5.6
5.7
4
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CMMP-AS-...-M3
6
Service functions and diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
6.1
Protective and service functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Phases and mains failure detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3 Overload current and short-circuit monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.4 Overvoltage monitoring for the intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.5 Temperature monitoring for the heat sink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.6 Monitoring of the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.7 I2t monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.8 Power monitoring for the brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.9 Commissioning status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.10 Rapid discharge of the intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode and diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Operation and display components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Seven-segment display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Acknowledgement of error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
50
50
50
50
51
51
51
51
51
52
52
52
53
54
54
A
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
A.1
A.2
A.3
A.4
Technical data CMMP-AS-...-M3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Technical data CAMC-… . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supported encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Components of the USB driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
61
65
66
68
B
Diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
6.2
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
5
CMMP-AS-...-M3
Product identification, versions
This description refers to the following versions:
– Motor controller from Rev. 01
– FCT plug-in CMMP-AS from Version 2.0.x.
Rating plate (example)
CMMP-AS-C2-3A-M3
1501325
XX
Rev XX
IND. CONT. EQ.
1UD1
In: 1*(100…230)V AC±10%
(50…60)Hz 3A
Out:3*(0…270)V AC
(0…1000)Hz 2.5A
Max surround air temp 40°C
Tab. 1
Significance
Type designation
CMMP-AS-C2-3A-M3
Part number
1501325
Serial number
XX
Revision
Rev XX
Input data
100 … 230 V AC ±10%
50 … 60 Hz 3A
Output data
0 … 270 V AC
0 … 1000 Hz 2.5 A
Max. ambient temperature
40 °C
Rating plate CMMP-AS-C2-3A-M3
Service
Please consult your regional Festo contact if you have any technical problems.
6
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CMMP-AS-...-M3
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type
Contents
Hardware description,
GDCP-CMMP-M3-HW-...
Function descriptions,
GDCP-CMMP-M3-FW-...
Description FHPP,
GDCP-CMMP-M3-C-HP-...
Description CiA 402 (DS 402),
GDCP-CMMP-M3-C-CO-...
Description CAM-Editor,
P.BE-CMMP-CAM-SW-...
Description safety module,
GDCP-CAMC-G-S1-...
Help for the CMMP-AS plug-in
Tab. 2
Mounting and installation for all variants/power classes
(1-phase, 3-phase), pin assignments, error messages,
maintenance.
Instructions on commissioning with FCT + functional description
(firmware). Overview of FHPP, fieldbus, safety engineering.
Control and parametrisation of the motor controller through the
Festo profile FHPP with the following fieldbusses: CANopen,
PROFIBUS, DeviceNet, EtherCAT.
Control and parametrisation of the motor controller through the
device profile CiA 402 (DS402) with the following fieldbusses:
CANopen and EtherCAT.
Cam disc function (CAM) of the motor controller.
Functional safety engineering for the motor controller with the
safety function STO.
User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool.
www.festo.com
Documentation on the motor controller CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
7
1
Safety and requirements for product use
1
Safety and requirements for product use
1.1
Safety
1.1.1
Safety instructions for commissioning, repair and de-commissioning
Warning
Danger of electric shock.
– When modules or cover plates are not mounted on the slots Ext1 … Ext3.
– When cables are not mounted to the plugs [X6] and [X9].
– When connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in a built-in status and when all protective measures
have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
The safety functions do not protect against electric shock but only against dangerous
movements!
Note
Danger from unexpected movement of the motor or axis.
– Make sure that the movement does not endanger any people.
– Perform a risk assessment in accordance with the EC machinery directive.
– Based on this risk evaluation, design the safety system for the entire machine, taking into account all integrated components. This also includes the electric drives.
– Bypassing safety equipment is impermissible.
8
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
1
1.1.2
Safety and requirements for product use
Protection against electric shock through protective extra-low voltage (PELV)
Warning
• Use for the electrical power supply only PELV circuits in accordance with
IEC DIN EN 60204-1 (Protective Extra-Low Voltage, PELV).
Also comply with the general requirements for PELV circuits laid down in
IEC/DIN EN 60204-1.
• Use only power sources which guarantee reliable electrical disconnection of the
operating voltage as per IEC/DIN EN 60204-1.
Protection against electric shock (protection against direct and indirect contact) is guaranteed in accordance with IEC/DIN EN 60204-1 through the use of PELV circuits (Electrical equipment of machines,
general requirements).
1.1.3
Intended use
The CMMP-AS-...-M3. is intended for ...
– Use in control cabinets for power supply to AC servo motors and their regulation of torques (current), rotational speed and position.
The CMMP-AS-...-M3. is intended for installation in machines or automated systems and may be used
only in the following ways:
– in excellent technical condition,
– in original status without unauthorised modifications,
– within the limits of the product defined by the technical data ( appendix A Technical appendix),
– in an industrial environment.
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
9
1
1.2
Safety and requirements for product use
Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
1.2.1
Technical requirements
General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
product ( appendix A) and of all connected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the instructions and warnings in this documentation.
1.2.2
Qualification of the specialists (requirements for the personnel)
The product may only be placed in operation by a qualified electrotechnician who is familiar with:
– the installation and operation of electrical control systems,
– the applicable regulations for operation of safety engineering systems,
– the applicable regulations on accident protection and industrial safety, and
– the documentation for the product.
1.2.3
Range of application and certifications
Standards and test values, which the product complies with and fulfils, can be found in the “Technical
data” section ( appendix A). The product-relevant EU directives can be found in the declaration of
conformity.
Certificates and the declaration of conformity for this product can be found at www.festo.com.
1.2.4
Repair and waste management
Repair or maintenance of the motor controller is not permissible. If required, replace the
motor controller.
Observe the local regulations for the environmentally friendly disposal of electronic
components.
10
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
2
Product overview
2
Product overview
2.1
The entire system for the CMMP-AS-...-M3
A motor controller CMMP-AS-...-M3 entire system is shown in Fig. 2.1 page 12. For operation of
the motor controller, the following components are required:
– main power switch
– FI circuit breaker (RCD), all-current sensitive 300 mA
– automatic circuit breaker
– power supply 24 VDC
– motor controller CMMP-AS-...-M3
– motor with motor and encoder cables
A PC with USB or Ethernet connecting cable is required for parametrisation.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
11
2
Product overview
1
2
3
4
5
6
7
5 Motor controller CMMP-AS-...-M3
1 Power switch
6 PC
2 Fuse
7 Motor (e.g. EMMS-AS with encoder)
3 Power pack for logic voltage
4 Optional: external braking resistor
Fig. 2.1 Complete structure CMMP-AS-...-M3 with motor and PC
2.2
Scope of delivery
The delivery includes:
Scope of delivery
Motor controller
Operator package
Assortment of plugs
Tab. 2.1
12
CMMP-AS-...-M3
CD
Brief description
NEKM-C-7
Scope of delivery
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
2
Product overview
2.3
Device view
aB
aA
1
aJ
9
8
2
7
6
3
5
4
1
2
3
4
5
6
Slot for switch or safety module [Ext3]
Fieldbus settings [S1]
Slots for extension modules [Ext1/Ext2]
Activation of firmware download [S3]
SD-/MMC card slot [M1]
Activation of CANopen terminating
resistor [S2]
Fig. 2.2
7
8
9
aJ
aA
aB
CANopen interface [X4]
Ethernet interface [X18]
USB interface [X19]
7-segment display
Reset pushbutton
LEDs
Motor controller CMMP-AS-...-M3: front view
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
13
2
Product overview
1
2
3
4
5
1
2
3
PE connection
Power supply [X9]
Incremental encoder output [X11]
Fig. 2.3
14
4
5
Incremental encoder input [X10]
I/O communication [X1]
Motor controller CMMP-AS-...-3A-M3: top view
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
2
Product overview
1
2
3
4
5
1
2
3
PE connection
Power supply [X9]
Incremental encoder output [X11]
Fig. 2.4
4
5
Incremental encoder input [X10]
I/O communication [X1]
Motor controller CMMP-AS-...-11A-P3-M3: top view
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
15
2
Product overview
4
3
2
1
2
1
Spring-loaded terminal connection for the
outer shield of the motor cable
Motor connection [X6]
Fig. 2.5
16
3
4
Connection for the resolver [X2A]
Connection for the encoder [X2B]
Motor controller CMMP-AS-...-M3: bottom view
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
2
Product overview
2.4
Mains fuse
In the mains power supply cable, an automatic circuit breaker 1) is installed for protection of the line:
Motor controller
Phases
Current
Characteristic
CMMP-AS-C2-3A-M3
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
CMMP-AS-C10-11A-P3-M3
1
1
3
3
16
16
16
16
B16
B16
B16
B16
1)
The required fuse is dependent, among other things, on the cable cross section, ambient temperature and laying procedure.
Observe the following instructions!
Tab. 2.2
Required mains fuses
In designing the fuses, also observe the following standards:
• EN 60204-1 “Safety of machinery – Electrical equipment of machines – Part 1: General
requirements”
• Take into consideration the regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
17
3
Mechanical installation
3
Mechanical installation
3.1
Important instructions
Note
Proceed carefully when mounting. During mounting and subsequent operation of the
drive, ensure that that no metal shavings, metal dust or mounting parts (screws, nuts,
pieces of wire) fall into the motor controller.
Note
The motor controllers CMMP-AS-...-M3
• Use only as installed devices for control cabinet assembly.
• Mounting orientation with the power supply [X9] on top.
• Mount it with the clip on the mounting plate.
• Mounting clearance:
For sufficient ventilation, 100 mm of clearance to other sub-assemblies is required
above and below the device.
• An installation clearance of 150 mm underneath the device is recommended for
optimum wiring of the motor or encoder cable!
• The motor controllers of the CMMP-AS-...-M3 family are designed so that they can
be mounted on a heat-dissipating mounting plate if used as intended and installed
correctly. We wish to point out that excessive heating can lead to premature aging
and/or damage to the device. With high thermal stress on the motor controller
CMMP-AS-...-M3, a mounting distance ( Fig. 3.4) is recommended!
18
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3
3.2
Mechanical installation
Mounting
Observe the safety instructions chapter 1 during mounting and installation work.
Note
Damage to the interface or motor controller due to incorrect handling.
• Switch off the supply voltage before mounting and installation work. Switch on supply voltage only when mounting and installation work are completely finished.
• Never unplug modules from the motor controller or plug them in when powered!
• Observe the handling specifications for electrostatically sensitive devices. Do not
touch the printed circuit board and the pins of the manifold rail in the motor controller. Grip the interface only on the front panel or on the edge of the board.
3.2.1
Module in slot Ext3
The motor controllers CMMP-AS-...-M3 are supplied without a module in slot Ext3; the slot is covered
with foil.
To operate the motor controller, an appropriate module must be mounted in slot Ext3:
– Micro switch module CAMC-DS-M1 or
– Safety module CAMC-G-S...
Mount module
1. Remove foil on slot Ext3.
2. Insert micro switch module CAMC-DS-M1 or safety module
CAMC-G-S... into the empty slot Ext3 so that the printed
circuit board runs into the lateral guides of the slot.
3. Insert module; when you have reached the rear contact
strip within the motor controller, carefully press it into the
contact strip until it stops.
4. Then screw the module to the front side of the motor controller housing with the two screws. Tightening torque:
approx. 0.35 Nm.
Fig. 3.1
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Mounting / dismantling
19
3
Mechanical installation
Remove module
1. Unscrew screws on the module.
2. Loosen the module some millimetres through slight levering on the front plate.
3. Pull module out of the slot.
DIP switches
The eight switches on the plug-in modules (Ext3) are designed as DIP switches.
The status of the DIP switches is read when the control voltage is switched on or upon RESET. The motor controller takes over changes to the switch setting in ongoing operation only at the next switch-on
or RESET.
The significance of the DIP switch setting depends on the control interface used.
DIP switches CANopen/DriveBus Profibus
DeviceNet
EtherCAT
Onboard
CAMC-PB plugged in CAMC-DN plugged in CAMC-EC plugged in
1
NN bit 0
2
NN bit 1
3
NN bit 2
4
NN bit 3
5
NN bit 4
6
Bit rate
7
Bit rate
8
Activation of fieldbus
NN = node number
Tab. 3.1
NN bit 0
NN bit 1
NN bit 2
NN bit 3
NN bit 4
NN bit 5
NN bit 6
NN bit 0
NN bit 1
NN bit 2
NN bit 3
NN bit 4
Bit rate
Bit rate
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Setting of bit rate and node number
DIP switches
1 Mbit/s1)
500 kbps
250 kBit/s
125 kBit/s
6
7
ON
ON
OFF
ON
ON
OFF
OFF
OFF
1)
Only for CANopen/DriveBus; for DeviceNet, is limited to 500 kBit/s
Tab. 3.2
Setting of bit rate for CANopen and DeviceNet
DIP switch 8
Fieldbus
1
0
Always activated
Always off
Tab. 3.3
Activation of the fieldbus
With DIP switch 8, the fieldbus of the plugged-in interface CAMC-... is activated. If no
interface is plugged in, the CAN bus [X4] is activated.
20
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3
Mechanical installation
3.2.2
Interface in slot Ext1 or Ext2 (optional)
The motor controllers CMMP-AS-...-M3 are shipped without interfaces in the slots Ext1 and Ext2; the
slots are sealed with covers.
Through the interfaces, the motor controller can be extended by digital I/Os and/or fieldbus interfaces.
Tab. 3.4 shows the permissible slots for the interfaces.
Slot
Interface
CAMC-F-PN
CAMC-PB
CAMC-F-EP
CAMC-DN
CAMC-EC
CAMC-D-8E8A
Ext1
Ext2
–1)
x
–1)
x
–1)
x
x
–1)
–1)
x
x
x
1)
In addition, CAMC-D-8E8A permissible
Tab. 3.4
Permissible slots Ext1 and Ext2 for the interfaces
Mount interface
1. Unscrew screw with spring washer 1 on the cover of the
permissible slot.
2. Lever out and remove cover 2 laterally with a small screwdriver.
3. Guide interface 3 into the empty slot so the printed circuit
board runs in the guides 4 of the slot.
4. Insert interface; when you have reached the rear contact
strip within the motor controller, carefully press it into the
contact strip until it stops.
5. Then screw the interface to the front side of the motor
controller housing with the screw with spring washer 1.
Tightening torque: approx. 0.35 Nm.
Dismantle interface
1. Unscrew screw with spring washer at the interface.
2. Loosen the interface some millimetres through slight levering on the front plate.
3. Pull interface out of the slot.
4. Mount other interface or cover.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
2
1
3
4
Fig. 3.2
1
Mounting or dismantling
(example CAMC-PB)
21
3
Mechanical installation
3.2.3
Motor controller
At the motor, controller CMMP-AS-...-M3, there are mounting clips at the top and bottom of the device.
They are used to attach the motor controller vertically to a mounting plate. The clips are part of the
radiator profile, ensuring an optimal heat transfer to the mounting plate.
Please use size M5 screws to attach the motor controller CMMP-AS-...-M3.
Fig. 3.3
Motor controller CMMP-AS-...-M3: mounting plate
CMMP-AS-...
-3A-M3
-11A-P3-M3
Tab. 3.5
22
H1
[mm] 207
[mm] 247
L1
L2
L3
L4
L5
L6
B1
B2
B3
D1
D2
281
330
248
297
227
276
202
252
12.5
12.5
10.5 66
10.5 79
61
75
30.7 10
37.5 10
5.5
5.5
Motor controller CMMP-AS-...-M3: dimensions table
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3
Mechanical installation
Fig. 3.4
Motor controller CMMP-AS-...-M3: Mounting distance and installation clearance
Motor controller
CMMP-AS-...-3A-M3
CMMP-AS-...-11A-P3-M3
1)
[mm]
[mm]
L1
H11)
71
85
100
100
An installation clearance of 150 mm underneath the device is recommended for optimum wiring of the motor or encoder cable!
Tab. 3.6
Motor controller CMMP-AS-...-M3: mounting distance and installation clearance
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
23
4
Electrical installation
4
Electrical installation
4.1
Allocation of the plug connectors
The motor controller CMMP-AS-...-M3 is connected to the supply voltage, the motor, the external braking resistor and the holding brake in accordance with the following circuit diagrams.
Q1
100VAC … 230VAC +/- 10%
1-phase
X9
L
L
N
ZK+
N
External
Braking resistor
Alternative
ZKInternal BR-INT
BR-CH
PE
PE
+24 V
24 V supply
0V
24V+
GND24V
Connection for the outside
screening of the motor cable
X6
T
U
M
3~
V
W
PE
MT+
MTPE
BR+
Encoder/resolver
BR-
E
Angle encoder
Fig. 4.1
24
X2A/X2B
Encoder
/Resolver
Connection 1-phase to the power supply voltage and the motor
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
Q1
100VAC … 230VAC +/- 10%
2-phase
X9
L1
L
L2
N
ZK+
External
Braking resistor
ZKInternal
Alternative
BR-INT
BR-CH
PE
PE
+24 V
24 V supply
0V
24V+
GND24V
Connection for the outside
screening of the motor cable
X6
T
U
M
3~
V
W
PE
MT+
MTPE
BR+
BR-
E
Angle encoder
Fig. 4.2
X2A/X2B
Encoder/
Resolver
Connection 2-phase to the power supply voltage and the motor
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
25
4
Electrical installation
Q1
3-phase
230 V AC -10%
480 V AC +10%
L1
L2
L3
PE
+24 V
0V
X9
L1
L2
L3
ZK+
ZKBraking resistor External
BR-EXT
Alternative
BR-CH
Internal BR-INT
PE
24V+
24 V supply
GND24V
Connection for the outside
screening of the motor cable
X6
T
M
3~
U
V
W
PE
MT+
MTPE
BR+
BR-
E
Angle encoder
Fig. 4.3
26
X2A/X2B
Encoder/
Resolver
Connection 3-phase to the power supply voltage and the motor
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
The power supply cables for the power end stage are alternatively connected to the following
terminals:
Connection
Supply (Observe instructions in chapter 4.7.4)
AC supply
L, N
L1, L2, L3
DC supply
ZK+, ZK–
Motor temperature switch
PTC or N/C contact/
MT+, MT–;
N/O contact1)
[X6]
(e.g. KTY81)
Analogue
MT+, MT–;
temperature sensor1)
[X2A] or [X2B]
1)
for single-phase motor controllers
for three-phase motor controllers
if this is carried together with the motor phases in
one cable
Not for motors of the series EMMS-AS
Tab. 4.1
Connection of power supply cables
The connection of the encoder via the D-SUB plug to [X2A] or [X2B] is roughly shown diagrammatically
in Fig. 4.1, Fig. 4.2 and Fig. 4.3.
Note
If the polarity of the operating voltage connections is reversed, or if the operating
voltage is too high or the operating voltage and motor connections are reversed, the
motor controller CMMP-AS-...-M3 will be damaged.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
27
4
Electrical installation
4.2
Connection: I/O communication [X1]
4.2.1
Plug [X1]:
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 25-pin, socket
Sub-D plug, 25-pin, pins
Tab. 4.2
4.2.2
[X1]
Plug design [X1]
Pin assignments [X1]
Pin no.
13
25
12
24
11
23
10
22
9
21
8
20
7
19
6
18
5
17
4
16
3
15
28
Specification
DOUT3
DOUT2
DOUT1
DOUT0
DIN9
DIN8
DIN7
DIN6
DIN5
DIN4
DIN3
DIN2
DIN1
DIN0
GND24
+24 V
AMON1
AMON0
+VREF
AIN2
Output freely programmable
Output freely programmable
Output freely programmable
Operation status output
High-speed input
Start positioning task input
Limit switch 1 input (blocks n < 0)
Limit switch 0 input (blocks n > 0)
Controller enable input
End stage enable
Target selection positioning Bit3
Target selection positioning Bit2
Target selection positioning Bit1
Target selection positioning Bit0
Reference potential for digital I/Os
24 V output
Analogue monitor output 1
Analogue monitor output 0
Reference output for setpoint potentiometer
Setpoint inputs 1 and 2, single ended, maximum
30 V input voltage
Setpoint inputs 1 and 2, single ended, maximum
30 V input voltage
Setpoint input 0, differential, maximum 30 V input
voltage
Setpoint input 0, differential, maximum 30 V input
voltage
Reference potential for analogue signals
Screening for analogue signals, AGND
AIN1
#AIN0
2
AIN0
1
OGND
OGND
14
Tab. 4.3
Designation
Pin assignment: I/O communication [X1]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
Controller
CMMP-AS-…-M3
AIN0
#AIN0
Pin no.
X1
AIN0
OGND
2
15
#AIN0
AIN1
AIN1/AIN2
3
AIN2
16
OGND
+VREF
+VREF
4
OGND
14
AMON0
17
+15VDC
OGND
5
AMON1
OGND
14
AMON0/1
1
100 mA
max!
OGND
OGND
+24VDC
18
DIN0
19
DIN9
11
DOUT0
24
GND OGND
+24VDC
DINX
GND24
100 mA
max!
GND
+24VDC
DOUT3
13
GND24
6
DOUTX
GND
GND24
PE
GND24
PE
Plug housing
Fig. 4.4
Basic circuit diagram of connection [X1]
Control cable and D-Sub plug www.festo.com/catalogue.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
29
4
Electrical installation
4.3
Connection: resolver [X2A]
4.3.1
Plug [X2A]
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 9-pin, socket
Sub-D plug, 9-pin, pins
Tab. 4.4
4.3.2
[X2A]
Plug design [X2A]
Pin assignment [X2A]
Pin no.
Designation
Value
Specification
1
S2
S4
S1
S3
OGND
3.5 Veff 5-10 kHz
Ri > 5 kΩ
3.5 Veff 5-10 kHz
Ri > 5 kΩ
0V
MT-
GND
R1
7 Veff 5-10 kHz
IA ≤ 150 mAeff
GND
+3.3 V Ri = 2 kΩ
SINE tracking signal,
differential
COSINE tracking signal,
differential
Screening for signal pairs
(inner screening)
Reference potential for
temperature sensor
Carrier signal for resolver
6
2
7
3
8
4
9
5
Tab. 4.5
R2
MT+
Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
Pin assignment [X2A]
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The inner screenings must be placed on one side on the motor controller CMMP-AS-...-M3 on PIN3
of [X2A].
30
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
4.4
Connection: encoder [X2B]
4.4.1
Plug [X2B]
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 15-pin, socket
D-SUB plug, 15-pin, pins
Tab. 4.6
4.4.2
[X2B]
Plug design [X2B]
Pin assignment [X2B]
Pin no.
Designation
Value
Specification
1
MT+
+3.3 V Ri = 2 kΩ
U_SENS+
U_SENSUS
5 V … 12 V
RI L 1 kΩ
5 V/12 V ±10%
Imax = 300 mA
0V
Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
Sensor cable for the encoder
supply
Operating voltage for high-resolution incremental encoder
Reference potential of encoder
power supply and motor temperature sensor
Zero impulse tracking signal
(differential) from high-resolution incremental encoder
COSINE commutation signal
(differential) from high-resolution increment generator
SINE commutation signal (differential) from high-resolution
incremental encoder
COSINE tracking signal (differential) from high-resolution incremental encoder
SINE tracking signal (differential) from high-resolution incremental encoder
9
2
10
3
GND
11
4
R#
12
13
SIN_Z1 1)
SIN_Z1# 1)
6
14
COS_Z0 1)
COS_Z0# 1)
7
15
1)
COS_Z1 1)
COS_Z1# 1)
5
8
R
SIN_Z0 1)
SIN_Z0# 1)
0.2 VSS … 0.8 VSS
RI L 120 Ω
1 VSS
RI L 120 Ω
1 VSS
RI L 120 Ω
1 VSS ±10%
RI L 120 Ω
1 VSS ±10%
RI L 120 Ω
Heidenhain encoder: A=SIN_Z0; B=COS_Z0, C=SIN_Z1; D=COS_Z1
Tab. 4.7
Pin assignment: analogue incremental encoder – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
31
4
Electrical installation
[X2B]
Pin no.
Designation
Value
Specification
1
MT+
+3.3 V Ri = 2 kΩ
U_SENS+
U_SENSUS
5 V … 12 V
RI L 1 kΩ
5 V/12 V ±10%
Imax = 300 mA
0V
Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
Sensor cable for the encoder
supply
Operating voltage for high-resolution incremental encoder
Reference potential of encoder
power supply and motor temperature sensor
9
2
10
3
GND
11
4
12
5
13
6
14
COS_Z0 1)#
7
15
8
1)
–
–
DATA
DATA#
SCLK
SCLK#
COS_Z0 1)
SIN_Z0 1)
SIN_Z0 1)#
5 VSS
RI L 120 Ω
5 VSS
RI L 120 Ω
1 VSS ±10%
RI L 120 Ω
1 VSS ±10%
RI L 120 Ω
Bidirectional RS485 data cable
(differential)
RS485 clock output (differential)
COSINE tracking signal (differential) from high-resolution incremental encoder
SINE tracking signal (differential) from high-resolution incremental encoder
Heidenhain encoder: A=SIN_Z0; B=COS_Z0
Tab. 4.8
Pin assignment: incremental encoder with serial interface, e.g. EnDat – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
32
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
[X2B]
Pin no.
Designation
Value
Specification
1
MT+
+3.3 V Ri = 2 kΩ
U_SENS+
U_SENSUS
5 V … 12 V
RI L 1 kΩ
5 V/12 V / ±10%
Imax = 300 mA
0V
Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
Sensor cable for the encoder
supply
Operating voltage for high-resolution incremental encoder
Reference potential of encoder
power supply and motor temperature sensor
Zero impulse RS422 (differential) from digital increment
generator
Phase U Hall sensor for commutation
Phase V Hall sensor for commutation
Phase W Hall sensor for commutation
9
2
10
3
GND
11
4
N#
12
5
13
H_W
14
–
A
7
A#
15
Tab. 4.9
H_U
H_V
6
8
N
B
B#
2 VSS … 5 VSS
RI L 120 Ω
0V/5V
RI L 2 kΩ
at VCC
2 VSS … 5 VSS
RI L 120 Ω
2 VSS … 5 VSS
RI L 120 Ω
A tracking signal RS422 (differential) from digital incremental
encoder
B tracking signal RS422 (differential) from digital incremental
encoder
Pin assignment: digital incremental encoder – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
33
4
Electrical installation
4.5
Connection: CAN bus [X4]
4.5.1
Plug [X4]
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 9-pin, pin
D-SUB plug, 9-pin, socket
Tab. 4.10
4.5.2
[X4]
Plug design [X4]
Pin assignment [X4]
Pin no.
Designation
Value
Description
1
–
CAN-GND
–
–
2
CAN-L
CAN-H
CAN-GND
–
–
–
Unused
Galvanically connected to GND in the
motor controller
Negative CAN signal (dominant low)
Positive CAN signal (dominant high)
Galvanically connected to GND in the
motor controller
–
–
–
CAN shield
–
–
–
–
6
7
3
8
4
9
5
Tab. 4.11
34
Unused
Unused
Unused
Screening
Pin assignment for CAN interface [X4]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
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Electrical installation
4.6
Connection: motor [X6]
4.6.1
Plug [X6]
Motor controller
Design on the device
Counterplug
CMMP-AS-C2-3A-M3
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
CMMP-AS-C10-11A-P3-M3
PHOENIX Contact
MSTBA 2.5/9-G-5.08 BK
PHOENIX Power-Combicon
PC 4/9-G-7,62 BK
PHOENIX Contact
PIN1 (BR-)
MSTB 2.5/9-ST-5.08 BK
PHOENIX Power-Combicon –
PC 4 HV/9-G-7,62 BK
Tab. 4.12
4.6.2
[X6]1)
1
9
1)
Code
Plug design [X6]
Pin assignment [X6]
Pin no.
Designation
Value
Specification
1
BR-
0 V brake
2
BR+
24 V brake
Holding brake (motor), signal
level dependent on switching
status, high-side/low-side
switch
3
PE
PE
Cable shield for the holding
brake and the temperature
sensor (with Festo cables: nc)
4
-MTdig
GND
5
+MTdig
+3.3 V 5 mA
6
PE
PE
Motor temperature sensor,
N/C contact, N/O contact, PTC,
KTY ...
Protective earth conductor
from the motor
7
W
Technical data
8
V
table Tab. A.9
9
U
Connection of the three motor
phases
Example plug from the motor controller CMMP-AS-...-3A-M3
Tab. 4.13
Pin assignment [X6] connection: motor
The shielding for the motor cable must also be attached to the housing of the motor controller (spring clip: Fig. 2.5 page 16).
A motor holding brake can be connected to terminals BR+ and BR-. The locking brake is supplied from
the logic supply of the motor controller. The maximum output current provided by theCMMP-AS-...-M3
motor controller must be observed.
To release the holding brake, care must be taken to maintain the voltage tolerances at the
holding brake connection terminals.
Also observe the specifications in Tab. A.4 page 56.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
35
4
Electrical installation
It may be necessary to insert a relay between the device and the holding brake, as shown in
Fig. 4.5 page 36:
BR+
BR-
CMMP-AS-...-M3
Resistor and
condenser for
spark arresting
+24 V power pack
GND power pack
+24 V brake
Free-wheeling diode
GND brake
Motor
Fig. 4.5
Connecting a high-current holding brake to the device
Switching inductive DC currents via relays causes strong currents and sparks. For interference suppression, we recommend integrated RC interference suppressors, e.g. from Evox
RIFA, designation: PMR205AC6470M022 (RC element with 22 Ω in series with 0.47 μF).
36
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
4.7
Connection: voltage supply [X9]
The motor controller CMMP-AS-...-M3 also receives its 24 VDC power supply for the control electronics
via plug connector [X9].
The main power supply for the motor controllers CMMP-AS-…-3A-M3 is 1-phase and for the motor controllers CMMP-AS-…-11A-P3-M3 3-phase.
4.7.1
Plug
Motor controller
Design on the device
Counterplug
Code
CMMP-AS-C2-3A-M3
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
PHOENIX Contact
MSTBA 2,5/9-G-5,08-BK
PHOENIX
Power-COMBICON
PC 4 HV/11-G-7,62-BK
PHOENIX Contact
MSTB 2,5/9-ST-5,08-BK
PHOENIX
Power-COMBICON
PC 4 HV/11-ST-7,62-BK
PIN9 (GND24V)
CMMP-AS-C10-11A-P3-M3
Tab. 4.14
4.7.2
[X9]
Plug design [X9]
Pin allocation [X9] – 1-phase
Pin no.
Designation
Value
Specification
1
2
L
N
3
ZK+
100 … 230 VAC
±10%
50 … 60 Hz
< 440 VDC
4
ZK-
GND_ZK
5
BR-INT
< 460 VDC
Mains phase
Mains neutral conductor (reference potential)
Alternative supply:
Positive intermediate circuit
voltage
Alternative supply:
Negative intermediate circuit
voltage
Internal braking resistor connection (bridge after BR-CH
when using the internal resistor).
6
BR-CH
< 460 VDC
Brake chopper connection for
– internal braking resistor toward BR-INT – or –
– external braking resistor
against ZK+
7
PE
PE
8
+24 V
+24 VDC
9
GND24 V
GND24 VDC
Connection of protective earth
conductor from the mains grid
Supply for control section,
holding brake and I/O
0 V supply reference potential
1
9
Tab. 4.15
–
Pin allocation [X9] – 1-phase
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
37
4
Electrical installation
4.7.3
[X9]
1
11
Tab. 4.16
4.7.4
Pin allocation [X9] – 3-phase
Pin no.
Designation
Value
Specification
1
2
3
4
L1
L2
L3
ZK+
230 … 480 VAC
±10%
50 … 60 Hz
< 700 VDC
5
ZK-
GND_ZK
6
BR-EXT
< 800 VDC
7
BR-CH
< 800 VDC
Mains phase 1
Mains phase 2
Mains phase 3
Alternative supply: positive intermediate circuit voltage
Alternative supply: negative intermediate circuit voltage
Connection of the external
braking resistor
Brake chopper connection for
– internal braking resistor
against BR-INT – or –
– external braking resistor
against BR-EXT
8
BR-INT
< 800 VDC
Internal braking resistor connection (bridge after BR-CH
with use of the internal resistor)
9
PE
PE
10
+24 V
+24 VDC
11
GND24 V
GND24 VDC
Connection of protective earth
conductor from the mains grid
Supply for control section,
holding brake and I/O
Supply reference potential
Pin allocation [X9] – 3-phase
AC supply
Switch-on behaviour:
– As soon as the motor controller CMMP-AS-...-M3 is provided with mains voltage, the intermediate
circuit is charged (< 1 s) via the braking resistors, with the intermediate circuit relay deactivated.
– After the intermediate circuit has been pre-charged, the relay engages and the intermediate circuit
without resistors is connected directly to the mains supply.
AC supply with active PFC
The PFC step is available only for 1-phase motor controllers (CMMP-AS-...-3A-M3).
38
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
Note
Operation with mains line choke is not permissible, since the control circuit could be
stimulated to oscillate.
Note
Operation with isolating transformer is not permissible since no reference potential (N)
is available.
Note
When the load voltage is switched on, ensure that the reference potential (N) is
switched before the phase (L1). This can be achieved through:
– unswitched reference potential (N)
– use of fuses with leading N when switching of the reference potential is not specified.
DC supply - intermediate circuit coupling
A direct DC power supply can be used for the intermediate circuit as an alternative to AC power or for
achieving intermediate circuit coupling.
The intermediate circuits of several motor controllers CMMP-AS-...-M3 can be connected via the ZK+
and ZK- terminals at plug connector [X9]. Coupling of the intermediate circuits is useful in applications
where high braking energies occur or where motion must still be performed when the power supply
fails.
Note
For 1-phase motor controllers (CMMP-AS-...-3A-M3), the PFC step must be deactivated
when the motor controller is coupled through the intermediate circuit.
4.7.5
Braking resistor
If no external braking resistor is used, a bridge to the internal braking resistor must be
connected in order for the intermediate circuit quick discharge to function! Tab. 4.15 or
Tab. 4.16.
For larger braking power an external braking resistor must be connected [X9].
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
39
4
Electrical installation
4.8
Connection: incremental encoder input [X10]
4.8.1
Plug [X10]
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 9-pin, socket
Sub-D plug, 9-pin, pins
Tab. 4.17
4.8.2
[X10]
Plug design [X10]
Pin assignment [X10]
Pin no.
Designation
Value
Specification
1
A/CLK/CW
5V
RI L 120 Ω
Incremental encoder signal A
Stepper motor signal CLK
Pulses clockwise CW
Pos. polarity in accordance with RS422
A#/CLK#/CW#
5V
RI L 120 Ω
Incremental encoder signal A
Step motor signal CLK
Pulses clockwise CW
Neg. polarity in accordance with RS422
B/DIR/CCW
5V
RI L 120 Ω
Incremental encoder signal B
Step motor signal DIR
Pulses counterclockwise CCW
Pos. polarity in accordance with RS422
B#/DIR#/CCW# 5 V
RI L 120 Ω
Incremental encoder signal B
Step motor signal DIR
Pulses counterclockwise CCW
Neg. polarity in accordance with RS422
N
Incremental encoder zero pulse N
Pos. polarity in accordance with RS422
Incremental encoder zero pulse N
Neg. polarity in accordance with RS422
Reference GND for encoder
Screening for the connecting cable
Auxiliary supply, maximum load 100
mA, short-circuit proof!
6
2
7
3
8
N#
9
GND
GND
VCC
4
5
Tab. 4.18
5V
RI L 120 Ω
5V
RI L 120 Ω
–
–
+5 V ±5%
100 mA
Pin allocation X10: incremental encoder input
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
40
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
4.8.3
Type and design of the cable [X10]
We recommend using encoder connection cables where the incremental encoder signal is transmitted
via twisted pairs, with each pair being individually shielded.
4.8.4
Connection instructions [X10]
Input [X10] can be used for processing incremental encoder signals and also for pulse direction signals
as generated by stepper motor controller cards.
The input amplifier at the signal input is designed for processing differential signals as per the RS422
interface standard.
4.9
Connection: incremental encoder output [X11]
4.9.1
Plug [X11]
Motor controller
Design on the device
Counterplug
CMMP-AS-...-M3
D-SUB plug, 9-pin, socket
Sub-D plug, 9-pin, pins
Tab. 4.19
4.9.2
[X11]
Plug design [X11]
Pin assignment [X11]
Pin no.
Designation
Value
1
A
A#
B
B#
N
5 V RA L 66 Ω1)
5 V RA L 66 Ω1)
5 V RA L 66 Ω1)
5 V RA L 66 Ω1)
5 V RA L 66 Ω1)
6
2
7
3
8
N#
9
GND
GND
4
5
1)
VCC
Specification
Incremental encoder signal A
Incremental encoder signal A#
Incremental encoder signal B
Incremental encoder signal B#
Incremental encoder zero
pulse N
5 V RA L 66 Ω1)
Incremental encoder zero
pulse N#
Reference GND for encoder
Screening for connecting
cable
+5 V ±5% 100 mA Auxiliary supply, maximum
load 100 mA, short-circuit
proof!
The specification for RA designates the differential output resistance
Tab. 4.20
Pin assignment [X11]: incremental encoder output
The output driver at the signal output provides differential signals (5 V) as per the RS422 interface
standard.
Up to 32 other controllers can be addressed by one device.
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
41
4
4.10
Electrical installation
Instructions on safe and EMC-compliant installation
4.10.1
Explanations and terms
Electromagnetic compatibility (EMC) or electromagnetic interference (EMI) involves the following requirements:
Resistance to interference
Sufficient interference immunity of an electrical system or electrical device against external electrical,
magnetic or electromagnetic noise via lines or space.
Emitted interference
Sufficiently low emitted interference of electrical, magnetic or electromagnetic interference of an electrical system or an electrical device on other devices in the environment via cables and space.
Warning
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The mains-side PE connection is made to the PE connection points (device rear wall) and
[X9] of the CMMP-AS-...-M3.
Make sure that the earth connections between devices and the mounting plate are of
sufficiently large dimensions in order to be able to discharge HF interference.
4.10.2
General remarks on EMC
Interference emission and resistance to interference of a motor controller always depend on the complete design of the drive, which consists of the following components:
– Power supply
– Motor controller
– Motor
– Electromechanical components
– Design and type of wiring
– Higher-order controller
In order to increase the resistance to interference and decrease the emitted interference, the CMMPAS-...-M3 motor controller already has integrated motor chokes and mains filters, which means that the
CMMP-AS-...-M3 motor controller can be operated without additional shielding and filters in most applications.
The CMMP-AS-...-M3 motor controllers have been approved in accordance with the valid
product standard EN 61800-3 applicable to electric drives. The components from Festo
were used for this purpose (e.g. motor, encoder, or resolver cables). These cables must
not be extended.
In the majority of cases, no external filter measures are required ( table 4.10.3)
The declaration of conformity is available on www.festo.com.
42
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
Electrical installation
4.10.3
EMC areas: first and second environment
If installed correctly and if all connecting cables are wired correctly, the CMMP-AS-...-M3 motor controllers fulfil the specifications of the related product standard EN 61800-3. This standard no longer refers
to limit value classes, but to so-called environments.
Note
The first environment (C2) includes electricity grids connected to residential housing;
the second environment (C3) includes grids connected only to industrial plants.
Applicable for the motor controller CMMP-AS-...-M3:
EMC class
Area
Compliance with EMC requirements
Emitted
interference
Second environment (industrial)
Resistance to
interference
Second environment (industrial)
Motor cable lengths up to 25 m without external filters.
A suitable mains filter must be installed when longer motor cables of 25 … 50 m are used.
Independent of the motor cable length.
Tab. 4.21
EMC requirements
4.10.4
EMC-compliant wiring
The following must be observed for EMC-compliant design of the drive system (see also chapter 4
, page 24):
1. To keep leaked current and losses in the motor cable as low as possible, the motor controller
CMMP-AS-...-M3 should be placed as close to the motor as possible ( chapter 4.10.5 page 44).
2. Motor and encoder cable must be screened.
3. The screening of the motor cable is attached to the housing of the motor controller CMMP-AS-...-M3
(screened connection terminals, spring clips). The cable screening is also always attached to the
corresponding motor controller to prevent leaked current flowing back to the controller which
caused it.
4. The mains-side PE connection is connected to the PE connection point of the power supply [X9] and
to the PE connection of the housing.
5. The PE internal conductor of the motor cable is connected to the PE connection point of the motor
connection [X6].
6. Signal lines must be separated as far as possible from the power cables. They should not be routed
parallel to one another. If crossovers are unavoidable, they should be made as close to vertical (i.e.
at a 90° angle) as possible.
7. For unscreened signal and control lines, safe/reliable operation cannot be guaranteed. If they must
be used, they should at least be twisted.
8. Even screened lines always have short unscreened parts at both ends (unless a screened plug housing is used).
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
43
4
Electrical installation
In general:
– Connect the inner screenings to the pins of the plug connectors provided for the purpose; length
maximum 40 mm.
– Length of the unscreened wires with self-made cables, maximum 35 mm.
– Connect entire screening on the controller side flush to the PE terminal; maximum length 40 mm.
– Connect entire screening flush at the motor to the plug or motor housing; length maximum 40 mm
(guaranteed with NEBM-...).
Danger
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The regulations of EN 50178 and EN 60204-1 for protective grounding must always be
observed during installation!
4.10.5
Operation with long motor cables
For applications in combination with long motor cables and/or if the wrong motor cables are selected
with excessive cable capacity, the filters may be subjected to thermal overload. In order to avoid such
problems, we strongly recommend the following procedure for applications in which long motor cables
are required:
– From a cable length of over 25 m, use only cables with a capacitance between the motor phase and
screening of less than 200 pF/m, or better, less than 150 pF/m and also use a mains filter!
Note
Longer cable lengths result in deviations to the current regulator amplification (line
resistance).
4.10.6
ESD protection
Caution
Unused D-SUB plug connectors present a danger of damage to the device or to other
parts of the system as a result of ESD (electrostatic discharge).
In the design of the motor controller CMMP-AS-...-M3, great importance has been placed on high resistance to interference. For this reason, individual function blocks are galvanically separated from each
other. Signal transmission within the device is performed via an optocoupler.
A distinction is made between the following separated areas:
– Output stage with intermediate circuit and mains input
– Control electronics with analogue signal processing
– 24 V supply and digital inputs and outputs
44
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
5
Commissioning
5
Commissioning
5.1
General connection instructions
As the installation of the connecting cables is critical for EMC, the preceding
chapter 4.10.4 page 43 must be observed!
Warning
DANGER!
Non-compliance with the safety instructions in chapter 1 page 8 can result in material damage, injury, electric shock, or in extreme cases, fatality.
5.2
FCT interfaces
5.2.1
Overview of interfaces
1
2
1
[X19]: USB
Fig. 5.1
2
[X18]: Ethernet
FCT interfaces
5.2.2
USB [X19]
The equipment of the series CMMP-AS-...-M3 have a USB interface for parametrisation. The USB interface is used as a configuration interface for the FCT configuration.
The following functions are supported:
– Simulation of the RS232 interface via USB
– Complete parametrisation of theCMMP-AS-...-M3 via FCT
– Firmware download via FCT
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
45
5
Commissioning
Interface design
The plug connector is designed as a Type B terminal socket. All standard terminal cables up to a length
of 5m can be used. If longer cables are required, the corresponding USB repeaters must be used.
The USB interface is designed as a pure slave interface (the CMMP-AS…-M3 is the slave, the PC is the
host). It meets the USB specification Rev. USB 1.1.
USB driver for the PC
The FCT connection is made via the standard Kernel Mode driver “WinUsb.sys” and the device configuration and the access to the endpoints via the WinUSB API.
The USB driver package is a component of the FCT installation.
The following operating systems are supported through this:
– Windows XP from Service Pack 2
– Windows Vista
– Windows 7
The WinUsb.sys is installed as equipment function driver.
5.2.3
Ethernet TCP/IP [X18]
The equipment of the series CMMP-AS-…-M3A have a USB interface for parametrisation.
The following functions are supported:
– Point-to-point communication between PC and motor controller for parametrisation
– Complete parametrisation of theCMMP-AS-...-M3 via FCT
– Communication from one PC or one PLC to several CMMP-AS-...-M3 that are located in the same
local network for the purpose of monitoring, adaptation of the parametrisation or also process control of the controller.
Interface design
The interface in the device is designed as an 8P8C socket (RJ45).
The connection has two LEDs with the following function:
– Yellow
Physical Link Detect (network connection available)
– Green
Data Connection (data connection / data exchange)
The interface is designed to conform to the IEEE 802.3u specification. Cables of type FTP5 or high-order
must be used with 100Base-TX. The interface supports the autosensing function for automatic identification of the connected cable. Both standard patch cables (1:1) and Crosslink (crossed) cables can be
used.
Supported services
The following services are supported by the Ethernet interface:
– TCP/IP
– UDP/IP
– DNS (ARP and BOOTP)
– DHCP
– AutoIP
– TFTP
46
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
5
Commissioning
Address allocation
The network settings (IP address, subnetwork mask, gateway) can either be automatically obtained or
manually specified:
– Automatically via DHCP (the automatically obtained IP address lies in the IP range specified by the
DHCP server)
– Automatically via Auto IP (if no DHCP server was found, an address between 169.254.1.0 and
169.254.254.255 is selected pseudorandomly)
– Manual IP assignment (manual setting of the network parameters via FCT)
The following sequence applies for connection set-up:
1. DHCP
2. AutoIP
3. Static IP address
If no IP address can be obtained via the higher-level service, the following service is used. Thus if no
address can be obtained via DHCP, first an AutoIP and then a static address is used.
5.3
–
–
–
–
–
–
Tool / material
Slotted head screwdriver size 1
USB cable or network cable for parametrisation
Encoder cable
Motor cable
Power supply cable
Control line
5.4
Connecting the motor
1.
2.
3.
4.
5.
Connect motor cable on the motor side.
Insert the PHOENIX plug into the socket [X6] on the device.
Clamp the cable shields to the shield terminals (not suitable as strain-relief ).
Connect encoder cable on the motor side.
Insert the D-SUB plug into socket [X2A] resolver or [X2B] encoder of the device and tighten the locking screws.
6. Check all plug connectors once again.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
47
5
Commissioning
5.5
Connect motor controller CMMP-AS-...-M3 to the power supply
Warning
Danger of electric shock.
– When modules or cover plates are not mounted on the slots Ext1 … Ext3.
– When cables are not mounted to the plugs [X6] and [X9].
– When connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in a built-in status and when all protective measures
have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment and secure it against being switched on
again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
1.
2.
3.
4.
5.
6.
Make sure that the power supply is switched off.
Connect the PE cable of the mains supply to the PE earth socket.
Insert the PHOENIX plug into the socket [X9] of the motor controller.
Connect 24 V connections with appropriate power pack.
Make the network power supply connections.
Check all plug connectors once again.
5.6
Connect the PC
1. Connect PC via USB 5.2.2 USB [X19] or Ethernet 5.2.3 Ethernet TCP/IP [X18] to the motor
controller.
5.7
Check operating status
1. Make sure that the controller enable is switched off (controller enable: DIN 5 at [X1]).
2. Switch on the power supplies of all equipment.
During the boot procedure, the point of the seven-segment display lights up.
After completion of the boot procedure, the READY LED lights green.
If the READY LED lights up red, there is a malfunction. If the seven-segment display shows
a numerical sequence with “E” in front of it, this is an error message. You must eliminate
the cause of the message. In this case, continue to read in the chapter A page 55.
If no indicator lights up on the device, execute the following steps:
48
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
5
Commissioning
No indicator lights up
1. Switch off the power supply.
2. Wait 5 minutes to allow the intermediate circuit to discharge.
3. Check all connecting cables.
4. Check that the 24 V power supply is functional.
5. Switch on the power supply again.
6. If still no indicator lights up, device is defective.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
49
6
Service functions and diagnostic messages
6
Service functions and diagnostic messages
6.1
Protective and service functions
6.1.1
Overview
The motor controller CMMP-AS-...-M3 has a complex array of sensors that monitor the controller section, power output stage, motor and external communication to ensure that they function excellently.
All diagnostic events which occur are saved in the internal diagnostic memory. Most errors cause the
controller section to switch off the motor controller and the power end stage. The motor controller can
only be switched on again when the error has been eliminated and then acknowledged.
A complex system of sensors and numerous monitoring functions ensure operational reliability:
– Measurement of the motor temperature
– Measurement of the power output stage temperature
– Earth fault detection (PE)
– Detection of short-circuits between two motor phases
– Detection of overvoltages in the intermediate circuit
– Detection of faults in the internal voltage supply
– Collapse of supply voltage
6.1.2
Phases and mains failure detection
The motor controllers CMMP-AS-...-11A-P3-M3 detect a phase failure in three-phase operation (phase
failure detection) or failure of several phases (network failure detection) of the mains supply at the
device.
6.1.3
Overload current and short-circuit monitoring
Overload current and short-circuit monitoring detects short circuits between two motor phases and
short circuits at the motor output terminals against the positive and negative reference potential of the
intermediate circuit and against PE. If the error control detects overload current, the power output
stage shuts down immediately, guaranteeing protection against short circuits.
6.1.4
Overvoltage monitoring for the intermediate circuit
The overvoltage monitoring for the intermediate circuit takes effect as soon as the intermediate circuit
voltage exceeds the operating voltage range. The power output stage is then deactivated.
50
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
6
Service functions and diagnostic messages
6.1.5
Temperature monitoring for the heat sink
The heat sink temperature of the output end stage is measured with a linear temperature sensor. The
temperature limit varies from device to device Tab. A.3 on page 56. A temperature warning is
triggered at about 5°C below the limit value.
6.1.6
Monitoring of the motor
The motor controller CMMP-AS-...-M3 has the following protective functions for monitoring the motor
and the connected shaft encoder:
Protective function
Description
Monitoring the
shaft encoder
An error of the shaft encoder causes the power output stage to be switched off.
For the resolver, for example, the tracking signal is monitored. For increment
generators, the commutator signals are checked. Generally true for intelligent
encoders is that their various error messages are evaluated and reported to the
CMMP-AS-...-M3 as common error E 08-8.
Measurement and
monitoring of the
motor temperature
The motor controller CMMP-AS-...-M3 has a digital and an analogue input for
recording and monitoring the motor temperature. The following temperature
sensors can be selected:
– [X6]:
Digital input for PTCs, N/C contacts and N/O contacts.
– [X2A] and [X2B]: N/C contact and KTY series analogue sensors. Other
sensors (NTC, PTC) require a corresponding software adaptation as needed.
Tab. 6.1
Protective functions of the motor
6.1.7
I2t monitoring
The motor controller CMMP-AS-...-M3 has I2t monitoring to limit the average power loss in the power
end stage and in the motor. Since the power loss that occurs in the power electronics and the motor
can, in the worst case, grow at a rate equal to the square of the flowing current, the squared current
value is taken as a measure for the power loss.
6.1.8
Power monitoring for the brake chopper
The braking resistors are monitored on the firmware side through the function I2t brake chopper. When
the output monitoring reaches “I²t brake chopper” of 100%, the output of the internal braking resistor
is switched back to rated output.
As a result of this switch back, the error “E 07-0” “Overvoltage in the intermediate circuit” is generated
if the braking process is not yet finished and (too much) energy is fed back to the controller.
In addition, the brake chopper is protected by means of overcurrent detection. If a short circuit is detected via the braking resistor, the brake chopper controller is switched off.
6.1.9
Commissioning status
Motor controllers sent to Festo for servicing are loaded with other firmware and parameters for testing
purposes.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
51
6
Service functions and diagnostic messages
Before it is commissioned again at the location of the final customer, the motor controller CMMPAS-...-M3 must be parametrised. The parametrisation software queries the commissioning status and
prompts the user to parametrise the motor controller. At the same time, the device signals that it is
ready for operation but has not yet been parametrised by displaying 'A' on the seven-segment display.
6.1.10
Rapid discharge of the intermediate circuit
When a mains supply failure is detected, the intermediate circuit is quickly discharged within the safety
time specified in EN 60204-1.
Delayed connection of the brake chopper by power class in parallel operation and when a mains failure
occurs ensures that the main energy during rapid discharge of the intermediate circuit is taken over
through the braking resistors of the higher power classes.
But the rapid discharge can be ineffective in certain device constellations, especially
when several motor controllers are connected in parallel in the intermediate circuit or a
brake resistance is not connected. The motor controllers may carry dangerous voltage for
up to 5 minutes after being switched off (capacitor residual charge).
6.2
Operating mode and diagnostic messages
6.2.1
Operation and display components
The motor controller CMMP-AS-...-M3 has two LEDs on the front and one seven-segment display for
showing the operating statuses.
Component
LED colour
Function
Seven-segment display
–
LED1
Green
Red
Green
Yellow
–
Displays the operating mode and a coded error number if
an error occurs 6.2.2 Seven-segment display
Operating status
Error
Controller enable
CAN bus status display
Hardware reset for the processor
LED2
LED3
RESET button
Tab. 6.2
52
Display components and RESET pushbutton
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
6
Service functions and diagnostic messages
6.2.2
Seven-segment display
The display and the meaning of the symbols shown are illustrated in the following table:
Display
Significance
The outer segments “rotate” on the display in the speed control operating mode.
The display depends on the current actual position or speed.
With active controller enable, the centre bar is also active.
The motor controller CMMP-AS-...-M3 must still be parametrised.
(Seven-segment display = “A”)
Controlled torque mode.
(Seven-segment display = “I”)
“H”: The motor controller is in the “safe status”.
This does not mean the same as the information about the status of the safety function STO (Safe Torque Off ). This can only be read at the LED of the safety module.
For the “unsafe status”, no special display is intended; the standard status displays
of the motor controller are depicted.
“F.”:
Signals that firmware is currently being loaded into the flash.
“.”:
Bootloader active
P xxx
PH x
E xxy
-xxyTab. 6.3
“d”
Signals that a parameter record is currently being loaded from the SD card to the
controller.
Positioning (“xxx” is the position number)
The numerals are shown in succession
Homing. “x” stands for the respective phase of the homing:
x = 0: search phase
x = 1: crawl phase
x = 2: run to zero position
The numerals are shown in succession
Error message with main index “xx” and sub-index “y”
Warning message with main index “xx” and sub-index “y”. Warnings are shown at
least twice on the seven-segment display.
Operating mode and error display
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
53
6
Service functions and diagnostic messages
6.2.3
Acknowledgement of error messages
Error messages can be acknowledged through:
– the parametrisation interface
– via the fieldbus (control word)
– a decreasing edge at DIN5 [X1]
Controller
enable
DIN5 [X1]
“Error active”
1
1
L 80 ms
Fig. 6.1
Timing diagram: acknowledge error
Diagnostic events which are parametrised as warnings are automatically acknowledged
when the cause is no longer on hand.
6.2.4
Diagnostic messages
The significance and their measures for diagnostic messages are summarised in the following chapter:
chapter A Technical appendix
54
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
A
Technical appendix
A.1
Technical data CMMP-AS-...-M3
General technical data
CMMP-ASType of mounting
Display
Parametrisation interface
Certifications
CE marking (see
declaration of conformity)
Dimensions and weight
Dimensions
[mm]
(HxWxD)1)
Mounting plate
[mm]
dimensions
Weight
[kg]
1)
C2-3A-M3
C5-3A-M3
C5-11A-P3-M3
C10-11A-P3-M3
Screwed onto connecting plate
Digit representation with 7 segments
USB 1.1
Ethernet TCP/IP
In accordance with EU Low Voltage Directive
In accordance with EU EMC directive
In accordance with EU Machinery Directive
202x66x207
227x66x207
248x61
2.1
252x79x247
297x75
2.2
3.5
C5-3A-M3
C5-11A-P3-M3
without plugs, shield screw and screw heads
Tab. A.1
Technical data, general
Transport and storage
CMMP-ASTemperature
range
Tab. A.2
[°C]
C2-3A-M3
C10-11A-P3-M3
-25 … +70
Technical data: Transport and storage
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
55
A
Technical appendix
Operating and environmental conditions
CMMP-ASC2-3A-M3
C5-3A-M3
Permissible setup altitude above sea level
with rated
[m]
1000
output
with power
[m]
1000 … 2000
reduction
Air humidity
[%]
0 … 90 (non-condensing)
Protection class
IP20
Degree of
2
contamination
Operating
[°C]
0 … +40
temperature
Operating
[°C]
+40 … +50
temperature with
power reduction
of 2.5% per Kelvin
Switch-off
°C
100
80
temperature,
heat sink power
section
Tab. A.3
C10-11A-P3-M3
80
80
Technical data: Operating and environmental conditions
Electrical data logic supply
CMMP-ASC2-3A-M3
C5-3A-M3
Nominal voltage
[V DC] 24 ±20%
Nominal current1) [A]
0.55
0.65
Maximum current [A]
1
for holding brake
With higher current requirement Fig. 4.5 page 36
1)
C5-11A-P3-M3
C5-11A-P3-M3
C10-11A-P3-M3
1
2
plus current consumption from an existing holding brake and I/Os
Tab. A.4
Technical data: logic supply
Note
With a warm motor and a supply voltage that is too low (outside of tolerance), the motor's brakes cannot open 100%, which can lead to premature wearing of the brake.
56
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
Electrical data load voltage
CMMP-ASC2-3A-M3
Number of phases
Voltage range
C5-3A-M3
1
100 … 230 ±10%
C5-11A-P3-M3
[V
AC]
[Hz] 50 … 60
[Aeff ] 2.4
Mains frequency
Max. nominal cur4.7
5
rent in continuous
operation
Intermediate circuit [V DC] 310 … 320
560 … 570
voltage (without
PFC)
Intermediate circuit [V DC] 360 … 380
–
voltage (with PFC)
Alternative
[V DC] 60 … 380
60 … 700
DC supply
Power data of the PFC step with nominal supply voltage of 230 VAC ±10%
Continuous output [W]
500
1000
–
Peak power
[W]
1000
2000
–
Tab. A.5
9
Technical data: load voltage
Technical data braking resistor
CMMP-ASC2-3A-M3
Braking resistor, integrated
Resistance value
[Ω]
Pulse power
[kW]
Continuous out[W]
put
Trigger level
[V]
(without PFC)
Trigger level (with [V]
PFC)
Max. voltage
[V]
(without PFC)
Max. voltage
[V]
(with PFC)
Braking resistor, external
Resistance value
[Ω]
Operating voltage [V]
Continuous out[W]
put
Tab. A.6
C10-11A-P3-M3
3
230 … 480 ±10%
60
2.8
10
C5-3A-M3
C5-11A-P3-M3
20
68
8.5
110
389
760
440
–
400
800
460
–
≥ 50
≥ 460
≤ 2500
≥ 40
≥ 800
≤ 5000
C10-11A-P3-M3
Technical data: braking resistor
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
57
A
Technical appendix
Motor cable
CMMP-ASMax. motor cable
length for second
environment
Cable capacity of
one phase
against screening
Tab. A.7
C2-3A-M3
C5-3A-M3
[m]
≤ 25 (without filter)
[pF/m]
≤ 200
C5-11A-P3-M3
C10-11A-P3-M3
Technical data: motor cable
Motor temperature monitoring
Digital sensor
Analogue sensor
Tab. A.8
N/C contact:
RCold < 500 Ω
RHot > 100 kΩ
Silicon temperature sensor, e.g. KTY81, 82 or similar.
R25 L 2000 Ω
R100 L 3400 Ω
Technical data: motor temperature monitoring
Output data
CMMP-ASVoltage
Nominal power
Max. power for 5
seconds
[VAC]
[kVA]
[kVA]
C2-3A-M31)
C5-3A-M31)
C5-11A-P3-M32)
C10-11A-P3-M32)
0 … 270
0.5
1
1
2
0 … 360
3
6
6
12
1)
Data for operation with 1x230 VAC [± 10%], 50 … 60 Hz
2)
Data for operation with 3x400 VAC [±10%], 50 … 60 Hz
Tab. A.9
Technical data: output data
CMMP-AS-C2-3A-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
1)
inactive
125
active
inactive
8
2.5
16
2.2
4
2.5
8
2.5
5
5
7.5
1.3
10
0.5
4.4
5
6.6
1.3
8.8
0.5
5
5
7.5
1.3
10
0.5
5
5
7.5
1.3
10
0.5
Option with FCT able to be parametrised
Tab. A.10
58
62.5
active
Output data CMMP-AS-C2-3A-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
CMMP-AS-C5-3A-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
1)
inactive
125
active
inactive
8
5
16
4.4
4
5
8
5
10
5
15
1.3
20
0.5
8.8
5
13.2
1.3
17.6
0.5
10
5
15
1.3
20
0.5
10
5
15
1.3
20
0.5
62.5
active
inactive
125
active
inactive
8
5
16
2.5
4
5
8
5
10
5
15
0.8
20
0.1
5
5
7.5
1.2
10
0.15
10
5
15
0.8
20
0.1
10
5
15
0.8
20
0.1
Option with FCT able to be parametrised
Tab. A.11
Output data CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
1)
62.5
active
Option with FCT able to be parametrised
Tab. A.12
Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency ≤ 5 Hz
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
59
A
Technical appendix
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
1)
125
active
inactive
8
5
16
2.5
4
5
8
5
10
5
15
2
20
0.5
5
5
7.5
2
10
0.5
10
5
15
2
20
0.5
10
5
15
2
20
0.5
Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency ≥ 20 Hz
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
62.5
active
inactive
125
active
inactive
8
8
16
3.45
4
10
8
8
16
5
24
0.1
32
0.07
6.9
5
10.35
0.2
13.8
0.15
20
5
30
0.1
40
0.07
16
5
24
0.1
32
0.07
Option with FCT able to be parametrised
Tab. A.14
60
inactive
Option with FCT able to be parametrised
Tab. A.13
1)
62.5
active
Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency ≤ 5 Hz
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1)
Half end stage frequency1)
[μs]
End stage frequency
[kHz]
Nominal output current
[Aeff ]
Maximum output current for maximum time
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
Maximum output current
[Aeff ]
Max. time
[s]
1)
62.5
active
inactive
125
active
inactive
8
8
16
3.45
4
10
8
8
16
5
24
2
32
0.5
6.9
5
10.35
2
13.8
0.5
20
5
30
2
40
0.5
16
5
24
2
32
0.5
Option with FCT able to be parametrised
Tab. A.15
A.1.1
Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency ≥ 20 Hz
Interfaces
I/O interface [X1]
Digital inputs/outputs
Inputs
DIN0 … DIN9
Outputs
DOUT 0 …
DOUT3
+24 V
GND24
1)
Values
Comment
Input voltage
Voltage range
Output voltage
[V]
[V]
[V]
24
8 … 30
24
Voltage range1)
[V]
8 … 30
Active high, conforming to
EN 61131-2
Active high, galvanically
separated
Output voltage
Maximum output current
Voltage
[V]
[mA]
24
100
[V]
0
Reference potential for digital I/Os
With use as digital input (configuration with FCT)
Tab. A.16
Technical data: digital inputs/outputs [X1]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
61
A
Technical appendix
Analogue inputs/outputs
AIN0
#AINO
AIN1
AIN2
AMON0,
AMON1
OGND
+VREF
1)
Input section
Resolution
Time delay
Max. input
voltage
RI
Input section
Resolution
Time delay
Input section
Resolution
Time delay
Output section
Resolution
Critical frequency
Voltage
Output section
Values
Comment
[V]
Bit
[μs]
[V]
±10 differential
16
< 250
30
–
[kΩ]
[V]
Bit
[μs]
[V]
[Bit]
[μs]
[V]
[Bit]
[kHz]
[V]
[V]
30
±10 single-ended
10
< 250
±10 single-ended
10
< 250
±10
9
1
0
0 … 10
This input can be optionally parametrised also as a digital input
DIN12 with an 8 V trigger level.1)
This input can be optionally parametrised also as a digital input
DIN13 with an 8 V trigger level.1)
–
Reference potential
Reference output for setpoint
potentiometer
Configuration using FCT
Tab. A.17
Technical data: analogue inputs/outputs [X1]
Resolver connection [X2A]
Resolver connection
S1
S3
Values
Significance
COSINE+
COSINE-
Input voltage
Input frequency
Internal resistance Ri:
Input voltage
Input frequency
Internal resistance Ri:
Voltage
Frequency
Output current
[Veff ]
[kHz]
[kΩ]
[Veff ]
[kHz]
[kΩ]
[Veff ]
[kHz)
[mAeff ]
3.5
5 … 10
>5
3.5
5 … 10
>5
7
5 … 10
IA < 150
R2
MT+
Voltage
[V]
+ 3.3
MT-
Internal resistance Ri: [kΩ]
S2
S4
R1
Tab. A.18
62
2
SINE+
SINECarrier signal
GND
Motor temperature sensor, N/C
contact, PTC, KTY…
Reference potential for temperature
sensor
Technical data: resolver [X2A]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
Parameters
Transmission ratio
Carrier frequency
Excitation voltage
Excitation impedance (at 10
kHz)
Stator impedance
Tab. A.19
Values
[kHz]
[Veff ]
[Ω]
0.5
5 … 10
7, short circuit proof
≥ (20 + j20)
[Ω]
≤ (500 + j1000)
Technical data: resolver [X2A]
Values
Parameters
Resolution
Signal detection time delay
Speed resolution
Absolute accuracy of angle
acquisition
Max. rotational speed
Tab. A.20
[Bit]
[μs]
[min-1]
[']
16
< 200
Approx. 4
<5
[min-1]
16000
Technical data: resolver [X2A]
Encoder connection [X2B]
Value
Comment
[Lines/R]
[Bit/period]
1 … 262144
10
Can be parameterised
[Vss]
[Vss]
[Vss]
1
0.2 … 1
1
differential; 2.5 V offset
differential; 2.5 V offset
differential; 2.5 V offset
[Ω]
120
Differential input
[kHz]
[kHz]
>300
Approx. 10
EnDat (Heidenhain) and HIPERFACE (Stegmann)
Parameters
Encoder line count
Angular
resolution/Interpolation
Tracking signals
A, B
N
Commutator tracks A1, B1
(optional)
Track signal input impedance
Critical frequency fCrit
High-resolution track
Commutation track
Additional communication
interface
Output supply
Voltage
Current
Tab. A.21
[V]
[mA]
Current-limited, regulation via sensor cable
5 or 12
Switchable via software
max. 300
Technical data: encoder connection [X2B]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
63
A
Technical appendix
CAN bus [X4]
Communication interface
Values
CANopen controller
CANopen protocol
ISODIS 11898, Full CAN controller, max. 1M Baud
in accordance with CiA301 and CiA402
Tab. A.22
Technical data: CAN bus [X4]
Increment encoder input [X10]
Value
Characteristic
Number of lines
Track signals
A, A#,B, B#, N, N#
Maximum input frequency
Pulse direction interface
CLK, CLK#, DIR, DIR#, RESET,
RESET#
Output
Voltage
Current
Tab. A.23
Comment
[Lines/R]
1 … 228
Can be parameterised
in accordance with RS422 specification
[kHz]
1000
in accordance with RS422 specification
[V]
[mA]
5
max. 100
Technical data: incremental encoder input [X10]
Incremental encoder output [X11]
Value
Characteristic
Number of output lines
Connection level
Track signals
A, B, N
Output impedance Ro,diff
Critical frequency fCrit
Output supply
Voltage
Current
Tab. A.24
64
[Lines/R]
Comment
[Ω]
[MHz]
1 … 8192, 16384
Differential in accordance with RS422
specification
In accordance with
N track can be
RS422 specification
switched off
66
> 1.8
Lines/s
[V]
[mA]
5
max. 100
Technical data: incremental encoder output [X11]
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
A.2
Technical data CAMC-…
CAMCStorage temperature
Operating temperature
Air humidity, non-condensing
Permissible setup altitude
above sea level
Dimensions (LxWxH)
Weight
D-E8A8
[°C]
[°C]
[%]
[m]
-25 … +75
0 … +50
0 … 90
≤ 2000
[mm]
[g]
87x65x19
50
PB
EC
DN
92x65x19
87x65x19
55
50
Tab. A.25 CAMC-… ambient conditions, dimensions and weight
CAMC-D-E8A8 – Digital inputs
Number of inputs
Nominal voltage
Voltage range
Detection “high”
Detection “low”
Hysteresis
Input impedance
Polarity protection up to
Switching delay up to Portpin
(low-high transition)
[V DC]
[V DC]
[V DC]
[V DC]
[V DC]
[kΩ]
[V DC]
[μs]
8
24
-30 … +30
>8
<2
>1
≥ 4.7
-30
< 100
Tab. A.26 CAMC-D-E8A8 – Digital inputs
CAMC-D-E8A8 – Digital outputs
Number of outputs
Switch type
Nominal voltage
Voltage range
Nominal output current
Voltage loss at nominal output
current
Residual current with switch
OFF
Short circuit/overcurrent protection approx.
Switch-off temperature
Switching delay up to Portpin
(low-high transition)
[V DC]
[V DC]
[mA]
[V DC]
8
High-side switch
24
+18 … +30
100
≤1
[μA]
< 100
[mA]
> 500
[°C]
[μs]
> 150
< 100
Tab. A.27 CAMC-D-E8A8 – Digital outputs
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
65
A
Technical appendix
A.3
Supported encoders
Resolver
Type
Protocol
Interface
Comment
Standard
–
[X2A]
Transmission ratio 0.5
±10%, excitation voltage
7 Vrms
Protocol
Interface
Comment
Yaskawa OEM-protocol
[X2B]
Yaskawa Sigma-1 Type A
Interface
Comment
[X2B]
Heidenhain, encoder
with zero impulse and
reference signal
Protocol
Interface
Comment
EnDat 2.1 (01/21)
EnDat 2.2 (22)
[X2B]
Heidenhain single-turn
absolute encoder with/
without analogue signal
EnDat 2.1 (01/21)
EnDat 2.2 (22)
[X2B]
Heidenhain multi-turn
absolute encoder with/
without analogue signal
EnDat 2.1 (01)
EnDat 2.2 (22)
[X2B]
Heidenhain absolute
length measurement
equipment
Tab. A.28 Supported resolvers
Digital encoders
Type
Yaskawa
∑-encoder
Tab. A.29 Supported digital encoders
Analogue encoders
Type
Protocol
ROD 400
ERO 1200, 1300,
1400
ERN 100, 400,
1100, 1300
–
Tab. A.30 Supported analogue encoders
EnDat encoders
Type
ROC 400
ECI 1100, 1300
ECN 100, 400,
1100, 1300
ROQ 400
EQI 1100, 1300
EQN 100, 400,
1100, 1300
LC 100, 400
Tab. A.31 Supported EnDat encoders
66
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A
Technical appendix
HIPERFACE encoders
Type
Protocol
Interface
Comment
SCS60, 70
SCM60, 70
HIPERFACE
[X2B]
SRS 50, 60, 64
SCKxx
SRM 50, 60, 64
SCLxx
HIPERFACE
[X2B]
SKS36
SKM36
HIPERFACE
[X2B]
SEK37, 52
SEL37, 52
HIPERFACE
[X2B]
L230
HIPERFACE
[X2B]
Stegmann single-/multiturn encoder with analogue incremental signal
sine/cosine periods 512.
Max. revolutions multiturn: ±2048 R
Stegmann single-/multiturn encoder with analogue incremental signals.
Sine/cosine periods
1024. Max. revolutions
multi-turn: ±2048 R
Stegmann single-/multiturn encoder with analogue incremental signals.
Sine/cosine periods 128.
Max. revolutions multiturn: ±2048 R
Stegmann single-/multiturn encoder with analogue incremental signals.
Sine/cosine periods 16.
Max. revolutions multiturn: ±2048 R
Stegmann absolute linear encoder with analogue incremental signal
measurement step:
156.25 μm. Measuring
length max. approx.
40 m.
Tab. A.32 Supported HIPERFACE encoders
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
67
A
A.4
Technical appendix
Components of the USB driver
The FCT installation package contains the following components of the USB driver:
– The “WinUSB co installer”, in order to install WinUSB on the target system, if necessary. The Windows Driver Kit (WDK) contains separate DLLs (WinUSBCoInstaller.dll) for x86 and x64 systems.
– The KMDF (WDF kernel-mode driver framework) co installer, in order to install the correct version of
the KMDF on the target system, if necessary.
– A Festo-specific INF-file in order to install the “WinUsb.sys” as a device function driver with the
following specific entries:
– DEVICEMANAGERCATEGORY = WinUSB devices (group in the Device Manager)
– DeviceDesc = “<DEVICE_TYPE>” (Device designation under the group in the Device Manager)
ProviderName=“Festo AG & Co. KG”
– A signed “catalog file” in order to be able to install on x64 systems.
68
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
B
Diagnostic messages
If an error occurs, the motor controller CMMP-AS-...-M3 shows a diagnostic message cyclically in the
seven-segment display of the motor controller CMMP-AS-...-M3. An error message consists of an E (for
Error), a main index and sub-index, e.g.: E 0 1 0.
Warnings have the same number as an error message. In contrast to error messages, however, warnings are preceded and followed by hyphens, e.g. - 1 7 0 -.
The following table summarises the significance of the diagnostic messages and the actions to be
taken in response to them:
Column
Significance
Code
No.
Message
Cause
Action
Reaction
The Code column includes the error code (Hex) via CiA 402.
Main index and sub-index of the diagnostic message.
Message that is displayed in the FCT.
Possible causes for the message.
Action by the user.
The Reaction column includes the error response (default setting, partially
configurable):
– PS off (switch off output stage),
– MCStop (fast stop with maximum current),
– QStop (fast stop with parametrised ramp),
– Warn (Warning),
– Entry (Entry in diagnostic memory)
– Ignore (Ignore),
Tab. B.1 Explanations on the table “Diagnostic messages of the CMMP-AS-...-M3”
The Reaction column includes the error responses of the default parameter set.
After configuration of the motor controller with FCT, the standard values defined in the
FCT or the self-configured reactions apply.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
69
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
00-0
Invalid error
Information: An invalid error
entry (corrupted) was found
in the diagnostic memory
marked with this error number.
The system time entry is set
to “0”.
–
Entry
00-1
Invalid error detected and corrected
Information: An invalid error
entry (corrupted) was found
in the diagnostic memory and
corrected. The supplemental
information contains the original error number.
The system time entry contains the address of the corrupted error number.
–
Entry
00-2
Error deleted
Information: Active errors
were acknowledged.
–
Entry
01-0
Stack overflow
Incorrect firmware?
Sporadic high processor load
due to cycle time being too
short and special computebound processes (save parameter set, etc.).
• Load an approved firmware.
• Reduce the processor
load.
• Contact Technical Support.
PS off
02-0
Undervoltage in
intermediate circuit
Intermediate circuit voltage
falls below the parametrised
threshold. 1)
Error priority set too high?
• Quick discharge due to
Configswitched-off mains supply. urable
• Check power supply.
• Couple intermediate circuits if technically permissible.
• Check intermediate circuit
voltage (measure).
1)
70
Supplemental information in PNU 203/213:
Top 16 bits:
Status number of internal state machine
Bottom 16 bits:
Intermediate circuit voltage (internal scaling approx. 17.1 digit/V).
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
03-0
Analogue motor
overtemperature
Motor overloaded, temperature too high.
– Suitable sensor or sensor
characteristics parametrised?
– Sensor defective?
If there is overloading:
• Check parametrisation
(current regulator, current
limits).
• Check the parametrisation of the sensor or the
sensor characteristics.
If the error persists when the
sensor is bypassed: device
defective.
QStop
03-1
Digital motor
overtemperature
Motor overloaded, temperature too high.
– Suitable sensor or sensor
characteristics parametrised?
– Sensor defective?
If there is overloading:
• Check parametrisation
(current regulator, current
limits).
• Check the parametrisation of the sensor or the
sensor characteristics.
If the error persists when the
sensor is bypassed: device
defective.
Configurable
03-2
Analogue motor
overtemperature:
broken wire
The measured resistance
value is above the threshold
for wire break detection.
• Check the connecting
cables of the temperature
sensor for wire breaks.
• Check the parametrisation (threshold value) for
wire break detection.
Configurable
03-3
Analogue motor
overtemperature:
short circuit
The measured resistance
value is below the threshold
for short circuit detection.
• Check the connecting
cables of the temperature
sensor for wire breaks.
• Check the parametrisation (threshold value) for
short circuit detection.
Configurable
04-0
Power section
over-temperature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
• Check installation condiConfigtions; are the control cab- urable
inet fan filters dirty?
• Check the drive layout
(due to possible overloading in continuous duty).
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
71
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
• Check installation conditions; are the control cabinet fan filters dirty?
• Check the drive layout
(due to possible overloading in continuous duty).
Interface replacement Repair by the manufacturer.
• Pin allocation of the connected periphery.
• Short circuit?
Interface replacement Repair by the manufacturer.
Configurable
Internal defect Repair by
the manufacturer.
Internal defect Repair by
the manufacturer.
PS off
04-1
Intermediate circuit overtemperature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
05-5
Voltage failure interface Ext1/Ext2
Voltage failure
[X10], [X11]
Defect on the plugged-in interface
Overloading through connected peripherals
Safety module internal voltage
failure
Failure of internal
voltage 3
Encoder supply
defective
Defect on the safety module
05-0
Failure of internal
voltage 1
Monitoring of the internal
power supply has detected
undervoltage. Either an internal defect or overload/
short circuit from connected
peripherals.
• Separate device from the PS off
entire peripheral equipment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufacturer.
05-1
Failure of internal
voltage 2
Monitoring of the internal
power supply has detected
undervoltage. Either an internal defect or overload/
short circuit from connected
peripherals.
• Separate device from the PS off
entire peripheral equipment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufacturer.
05-6
05-7
05-8
05-9
72
Defect in the motor controller
Back measurement of the encoder voltage not OK.
PS off
PS off
PS off
PS off
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
05-2
Failure of driver
supply
Monitoring of the internal
power supply has detected
undervoltage. Either an internal defect or overload/
short circuit from connected
peripherals.
• Separate device from the PS off
entire peripheral equipment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufacturer.
05-3
Undervoltage dig.
I/O
Defective peripheral equipment?
• Check connected peripherals for short circuit /
rated loads.
• Check connection of the
brake (connected incorrectly?).
PS off
05-4
Overcurrent dig.
I/O
Defective peripheral equipment?
• Check connected peripherals for short circuit /
rated loads.
• Check connection of the
brake (connected incorrectly?).
PS off
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
73
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
06-0
Short circuit in
output stage
– Faulty motor, e.g. winding
short circuit due to motor
overheating or short to PE
inside motor.
– Short circuit in the cable
or the connecting plugs,
i.e. short circuit between
motor phases or to the
screening/PE.
– Output stage defective
(short circuit).
– Incorrect parametrisation
of the current regulator.
Dependent on the status of
the system
footnote 2), cases a) … f )
PS off
06-1
Overload current
brake chopper
Overload current at the brake
chopper output.
• Check external braking
PS off
resistor for short circuit or
insufficient resistance
value.
• Check circuitry of the
brake chopper output at
the motor controller
(bridge, etc.).
2)
Actions:
Case a) Error only with active brake chopper: Check external braking resistor for short circuit or insufficient resistance value.
Check circuitry of the brake chopper output at the motor controller (bridge, etc.).
Case b) Error message immediately when the power supply is connected: internal short circuit in the output stage (short circuit
of a complete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly
external) fuses are tripped. Repair by the manufacturer is necessary.
Case c) Short circuit error message only when the output stage or controller enable is issued.
Case d) Disconnection of motor plug [X6] directly on the motor controller. If the error still occurs, there is a defect in the motor
controller. Repair by the manufacturer is necessary.
Case e) If the error only occurs when the motor cable is connected: check the motor and cable for short circuits, e.g. with a
multimeter.
Case f ) Check parametrisation of the current regulator. Oscillations in an incorrectly parametrised current regulator can generate
currents up to the short circuit threshold, usually clearly audible as a high-frequency whistling. Verification, if necessary, with the
trace in the FCT (actual active current value).
74
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
07-0
Overvoltage in
the intermediate
circuit
Braking resistor is overloaded; too much braking energy which cannot be dissipated quickly enough.
– Resistor incorrectly dimensioned?
– Resistor not connected
correctly?
• Check the design of the
braking resistor; resistance value may be too
great.
• Check the connection to
the braking resistor (internal/external).
PS off
08-0
Resolver angular
encoder error
Resolver signal amplitude is
faulty
Step-by-step approach
footnote 3), a) … c):
Configurable
08-1
Unequal rotational direction of incremental position sensing
Only encoder with serial position transmission combined
with an analogue SIN/COS
signal track: The direction of
rotation of encoder-internal
position determination and
incremental evaluation of the
analogue track system in the
motor controller are the
wrong way around.
Footnote 4)
• Swap the following sigConfignals on the [X2B] angle
urable
encoder interface (the
wires in the connecting
plug must be changed
around), observing the
technical data for the
angle encoder where applicable:
– Swap SIN/COS track.
– Swap the SIN+/SIN- or
COS+/COS- signals, as applicable.
3)
a)
If possible, test with a different (error-free) resolver (replace the connecting cable too). If the error still occurs, there is a
defect in the motor controller. Repair by manufacturer required.
b)
If the error occurs only with a special resolver and its connecting cable: Check resolver signals (carrier and SIN/COS signal),
see specification. If the signal specification is not maintained, the resolver must be replaced.
c)
If the error recurs sporadically, check the screening connection or check whether the resolver simply has an insufficient
transmission ratio (standard resolver: A = 0.5).
4)
The encoder counts internally, for example positively in clockwise rotation while the incremental evaluation counts in negative
direction with the same mechanical rotation. The interchange of the rotational direction is detected mechanically at the first
movement of over 30° and the error is triggered.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
75
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
08-2
Error in incremental encoder
tracking signal Z0
Signal amplitude of the Z0
track at [X2B] is faulty.
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Check configuration of angle
encoder interface:
a) Z0 evaluation activated,
but no track signals connected or on hand. 5)
b) Encoder signals faulty?
c) Test with another encoder.
Tab. B.3, Page 110.
Configurable
08-3
Error in incremental encoder
track signals Z1
Signal amplitude of the Z1
track at X2B is faulty.
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Check configuration of angle
encoder interface:
a) Z1 evaluation activated
but not connected.
b) Encoder signals faulty?
c) Test with another encoder.
Tab. B.3, Page 110.
Configurable
08-4
Digital incremental encoder track
signals error
[X2B]
Faulty A, B, or N track signals
at [X2B].
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another encoder.
Tab. B.3, Page 110.
Configurable
08-5
Error in incremental encoder
of Hall encoder
signals
Hall encoder signals of a dig.
inc. at [X2B] faulty.
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another encoder.
Tab. B.3, Page 110.
Configurable
5)
e.g. EnDat 2.2 or EnDat 2.1 without analogue track.
Heidenhain encoder: order codes EnDat 22 and EnDat 21. With these encoders, there are no incremental signals, even when the
cables are connected.
76
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
08-6
Angle encoder
communication
fault
Communication to serial
angle encoders is disrupted
(EnDat encoders, HIPERFACE
encoders, BiSS encoders).
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Check configuration of the
angle generator interface:
procedure corresponding to
a) … c):
a) Serial encoder parametrised but not connected?
Incorrect serial protocol
selected?
b) Encoder signals faulty?
c) Test with another encoder.
Tab. B.3, Page 110.
Configurable
08-7
Signal amplitude
of incremental
tracks faulty
[X10]
Faulty A, B, or N track signals
at [X10].
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Configurable
08-8
Internal angle encoder error
Internal monitoring of the
angle encoder [X2B] has detected a fault and forwarded
it via serial communication.
– Declining illumination intensity with visual encoders
– Excess rotational speed
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another encoder.
Tab. B.3, Page 110.
If the error occurs repeatedly,
the encoder is defective. Replace encoder.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Configurable
77
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
08-9
Angle encoder at
[X2B] is not supported
Angle encoder type read at
[X2B], which is not supported
or cannot be used in the desired operating mode.
– Incorrect or inappropriate
protocol type selected?
– Firmware does not support the connected encoder variant?
Depending on the additional
information of the error message footnote 6):
• Load appropriate firmware.
• Check/correct the configuration for encoder analysis.
• Connect an appropriate
encoder type.
Configurable
09-0
Old angle encoder parameter
set
Warning:
An encoder parameter set in
an old format was found in
the EEPROM of the connected encoder. This has been
converted and saved in the
new format.
No action necessary at this
Configpoint. The warning should not urable
re-appear when the 24V supply is switched back on.
6)
Additional information (PNU 203/213):
0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware,
if applicable.
0002: EnDat: The address space in which the encoder parameters would have to lie does not exist with the connected EnDat
encoder -> check the encoder type.
0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware, if
applicable.
0004: EnDat: Encoder rating plate cannot be read from the connected encoder. -> Change encoder or load more recent firmware,
if applicable.
0005: EnDat: EnDat 2.2 interface parametrised, connected encoder supported but only EnDat2.1. -> Replace encoder type or
reparametrise to EnDat 2.1.
0006: EnDat: EnDat2.1 interface with analogue track evaluation parametrised, but according to rating plate the connected
encoder does not support track signals. -> Replace encoder or switch off Z0 track signal evaluation.
0007: Code length measuring system with EnDat2.1 connected, but parametrised as a purely serial encoder. Purely serial evaluation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue track
signal evaluation -> connect to analogue Z0 track signal evaluation.
78
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
09-1
Angle encoder
parameter set
cannot be decoded
Data in the EEPROM of the
angle encoder could not be
read completely, or access to
it was partly refused.
The EEPROM of the encoder
contains data (communication objects) which is not
supported by the loaded
firmware. The data in question is then discarded.
• The parameter set can be
adapted to the current
firmware by writing the
encoder data to the encoder.
• Alternatively, load appropriate (more recent) firmware.
Configurable
09-2
Unknown version
of angle encoder
parameter set
The data saved in EEPROM
are not compatible with the
current version. A data structure was found which is unable to decode the loaded
firmware.
• Save the encoder paraConfigmeters again in order to
urable
delete the parameter set
in the encoder and replace it with a readable
set (this will, however, delete the data in the encoder irreversibly).
• Alternatively, load appropriate (more recent) firmware.
09-3
Defective data
structure in angle
encoder parameter set
Data in EEPROM do not
match the stored data structure. The data structure was
identified as valid but may be
corrupted.
• Save the encoder paraConfigmeters again in order to
urable
delete the parameter set
in the encoder and replace it with a readable
set. If the error still occurs
after that, the encoder
may be faulty.
• Replace the encoder as a
test.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
79
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
09-4
EEPROM data: Erroneous custom
specific configuration
Only for special motors:
The plausibility check returns
an error, e.g. because the
motor was repaired or replaced.
• If motor repaired: Carry
Configout homing again and
urable
save in the angle encoder,
after that (!) save in the
motor controller.
• If motor replaced: Parametrise the controller
again, then carry out homing again and save in the
angle encoder, after that
(!) save in the motor controller.
09-7
Write-protected
angle encoder EEPROM
Data cannot be saved in the
EEPROM of the angle encoder.
Occurs with Hiperface encoders.
A data field in the encoder
EEPROM is read-only (e.g.
after operation on a motor
controller of another manufacturer). No solution possible, encoder memory must
be unlocked with an appropriate parametrisation tool
(from manufacturer).
Configurable
09-9
Angle encoder's
EEPROM too
small
It is not possible to save all
the data in the EEPROM of
the angle encoder.
• Reduce the number of
data records to be saved.
Please read the documentation or contact
Technical Support.
Configurable
10-0
Overspeed (spinning protection)
– Motor has overrun because the commutation
angle offset is incorrect.
– Motor is parametrised
correctly but the limit for
spinning protection is set
too low.
• Check the commutation
angle offset.
• Check the limit value setting in the parameters.
Configurable
11-0
Error when homing is started
Controller enable missing.
Homing can only be started
when closed-loop controller
enable is active.
• Check the condition or sequence.
Configurable
80
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
11-1
Error during homing
Homing was interrupted, e.g.
by:
– Withdrawal of controller
enable.
– Reference switch is beyond the limit switch.
– External stop signal (a
phase was aborted during
homing).
• Check homing sequence.
• Check arrangement of the
switches.
• If applicable, lock the
stop input during homing
if it is not desired.
Configurable
11-3
Homing: timeout
The parametrised maximum
time for the homing run was
exceeded before the homing
run was completed.
• Check the time setting in
the parameters.
Configurable
11-4
Homing: wrong /
invalid limit
switch
– Relevant limit switch not
connected.
– Limit switches swapped?
– No reference switch found
between the two limit
switches.
– Reference switch is at the
limit switch.
– Method “current position
with zero impulse”: limit
switch active in the area
of the zero pulse (not permissible).
– Both limit switches active
at the same time.
• Check whether the limit
switches are connected in
the correct direction of
travel or whether the limit
switches have an effect
on the intended inputs.
• Reference switch connected?
• Check arrangement of the
reference switch.
• Move the limit switch so
that it is not in the area of
the zero pulse.
• Check limit switch parametrisation (N/C contact/
N/O contact).
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
81
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
11-5
Homing: I@t / following error
– Acceleration ramps inappropriately parametrised.
– Reversing due to premature triggering of following error; check parametrisation of following error.
– No reference switch
reached between the end
stops.
– Zero pulse method: end
stop reached (here not
permissible).
• Parametrise the acceleration ramps to make them
flatter.
• Check connection of a reference switch.
• Method appropriate for
the application?
Configurable
11-6
Homing: End of
search path
The maximum permissible
path for the homing run has
been travelled without reaching the reference point or the
homing target.
Malfunction in switch detection.
• Switch for homing is defective?
Configurable
11-7
Homing: error in
encoder difference monitoring
Deviation between the actual
position value and commutation position is too great. External angle encoder not connected or defective?
• Deviation fluctuates, e.g.
due to gear backlash; cutoff threshold may need to
be increased.
• Check connection of the
actual value encoder.
Configurable
12-0
CAN: double
node number
Node number assigned twice.
• Check the configuration of Configthe CAN bus stations
urable
82
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
12-1
CAN: Communication error, bus
OFF
The CAN chip has switched
off communication due to
communication errors (BUS
OFF).
• Check cabling:
Configcable specification adurable
hered to, cable break,
maximum cable length exceeded, correct terminating resistors, cable
screening earthed, all signals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manufacturer for checking.
12-2
CAN: communication error during
transmission
The signals are corrupted
when transmitting messages.
Device boot up is so fast that
no other nodes on the bus
have yet been detected when
the boot-up message is sent.
• Check cabling:
Configcable specification adurable
hered to, cable break,
maximum cable length exceeded, correct terminating resistors, cable
screening earthed, all signals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manufacturer for checking.
• Check the start sequence
of the application.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
83
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
12-3
CAN: communication error during
reception
The signals are corrupted
when receiving messages.
• Check cabling:
Configcable specification adurable
hered to, cable break,
maximum cable length exceeded, correct terminating resistors, cable
screening earthed, all signals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manufacturer for checking.
12-4
CAN: node guarding
Node guarding telegram not
received within the parametrised time.
Signals corrupted?
• Compare the cycle time of
the remote frames with
that of the controller
• Check: failure of the controller?
Configurable
12-5
CAN: RPDO too
short
A received RPDO does not
contain the parametrised
number of bytes.
The number of parametrised
bytes does not match the
number of bytes received.
• Check the parametrisation and correct.
Configurable
12-9
CAN: Protocol error
Faulty bus protocol.
• Check the parametrisation of the selected CAN
bus protocol.
Configurable
13-0
CAN bus timeout
Error message from manufacturer-specific protocol.
• Check the CAN parametrisation
Configurable
14-0
Insufficient
power supply for
identification
Current regulator parameters
cannot be determined (because of insufficient supply).
The available intermediate
circuit voltage is too low to
carry out the measurement.
PS off
84
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
14-1
Identification of
current regulator:
measurement
cycle insufficient
Too few or too many measurement cycles required for
the connected motor.
Automatic determination of
parameters has supplied a
time constant outside the
parametrisable value range.
• The parameters must be
manually optimised.
PS off
14-2
Output stage enable could not be
issued
Output stage enable has not
been issued.
• Check the connection of
DIN4.
PS off
14-3
Output stage was
switched off early
Power stage enable was
switched off while identification was in progress.
• Check the sequence control.
PS off
14-5
Zero pulse could
not be found
The zero pulse could not be
found following execution of
the maximum permissible
number of electrical revolutions.
• Check zero pulse signal.
• Angle encoder parametrised correctly?
PS off
14-6
Hall signals
invalid
Hall signals faulty or invalid.
The pulse train or segmenting
of the Hall signals is inappropriate.
• Check connection.
PS off
Refer to the technical
data to check whether the
encoder shows three Hall
signals with 120° or 60°
segments; if necessary,
contact Technical Support.
14-7
Identification not
possible
Angle encoder at a standstill.
• Ensure sufficient intermediate circuit voltage.
• Encoder cable connected
to the correct motor?
• Motor blocked, e.g. holding brake does not release?
PS off
14-8
Invalid number of
pairs of poles
The calculated number of
pole pairs lies outside the
parametrisable range.
• Compare result with the
technical data specifications of the motor.
• Check the parametrised
number of lines.
PS off
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
85
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
15-0
Division by 0
Internal firmware error.
Division by 0 when using the
Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved
firmware has been
loaded.
PS off
15-1
Range exceeded
Internal firmware error.
Overflow when using the
Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved
firmware has been
loaded.
PS off
15-2
Counter underrun
Internal firmware error.
Internal correction factors
could not be calculated.
• Check the setting of the
factor group for extreme
values and change if necessary.
PS off
16-0
Error in program
execution
Internal firmware error.
Error during program execution. Illegal CPU command
found in the program sequence.
• In case of repetition, load
firmware again. If the error occurs repeatedly, the
hardware is defective.
PS off
16-1
Illegal interrupt
Error during program execution. An unused IRQ vector
was used by the CPU.
• In case of repetition, load
firmware again. If the error occurs repeatedly, the
hardware is defective.
PS off
16-2
Initialisation error
Internal firmware error.
• In case of repetition, load
firmware again. If the error occurs repeatedly, the
hardware is defective.
PS off
16-3
Unexpected
status
Error during periphery access
within the CPU or error in the
program sequence (illegal
branching in case structures).
• In case of repetition, load
firmware again. If the error occurs repeatedly, the
hardware is defective.
PS off
86
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
17-0
Contouring error
limit value exceeded
Comparison threshold for the
limit value of the contouring
error exceeded.
• Enlarge error window.
• Acceleration parametrised too large.
• Motor overloaded (current limitation from i@t
monitoring is active?).
Configurable
17-1
Encoder difference monitoring
Deviation between the actual
position value and commutation position is too great.
External angle encoder not
connected or defective?
• Deviation fluctuates, e.g.
due to gear backlash; cutoff threshold may need to
be increased.
• Check connection of the
actual value encoder.
Configurable
18-0
Analogue motor
temperature
Motor temperature (analogue) greater than 5° below
T_max.
• Check parametrisation of
current regulator and/or
speed regulator.
• Motor permanently overloaded?
Configurable
21-0
Error 1 current
measurement U
Offset for current measurement 1 phase U is too great.
The closed-loop controller
carries out offset compensation of the current measurement every time its controller
enable is issued. Tolerances
that are too large result in an
error.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-1
Error 1 current
measurement V
Offset for current measurement 1 phase V is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-2
Error 2 current
measurement U
Offset for current measurement 2 phase U is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-3
Error 2 current
measurement V
Offset for current measurement 2 phase V is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
22-0
PROFIBUS: defective initialisation
Faulty initialisation of the
PROFIBUS interface. Interface defective?
• Replace interface. Repair
by the manufacturer may
be an option.
Configurable
22-2
Communication
error PROFIBUS
Errors in communication.
• Check the set slave address.
• Check bus termination.
• Check wiring.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
87
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
22-3
PROFIBUS: invalid slave address
Communication was started
with slave address 126.
• Select a different slave
address.
Configurable
22-4
PROFIBUS: value
range error
During conversion with the
factor group, the value range
was exceeded.
Mathematical error in the
conversion of the physical
units.
The value ranges of the data
and the physical units do not
match.
• Check and correct.
Configurable
25-0
Invalid device
type
Device coding not recognised
or invalid
The error cannot be rectified
automatically.
• Send motor controller to
the manufacturer.
PS off
25-1
Device type not
supported
Device coding valid, but not
supported by the loaded
firmware.
• Load up-to-date firmware.
• If newer firmware is not
available, the problem
may be a hardware defect. Send motor controller to the manufacturer.
PS off
25-2
Hardware revision not supported
The controller's hardware
version is not supported by
the loaded firmware.
• Check the firmware version; update the firmware
to a more recent version if
necessary.
PS off
25-3
Device function
restricted!
Device is not enabled for this
function
25-4
Invalid power
stage type
– Power sub-section in the
EEPROM is unprogrammed
– Power sub-section is not
supported by the firmware
Device is not enabled for the PS off
desired functionality and may
need to be enabled by the
manufacturer. The device
must be sent to Festo for this
purpose.
Load appropriate firmware.
PS off
88
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
26-0
Missing user
parameter set
No valid user parameter set
in the flash memory
• Load factory settings.
PS off
If the error remains, the hardware may be defective.
26-1
Checksum error
Checksum error of a parameter set
• Load factory settings.
PS off
If the error remains, the hardware may be defective.
26-2
Flash:
Write error
Error when writing the internal flash memory
• Execute the last operation PS off
again.
If the error occurs again, the
hardware may be faulty.
26-3
Flash:
Error during deletion
Error during deletion of the
internal flash memory
• Execute the last operation PS off
again.
If the error occurs again, the
hardware may be faulty.
26-4
Flash:
Internal flash error
The default parameter set is
corrupted / data error in the
FLASH area where the default parameter set is located.
• Load firmware again.
If the error occurs again, the
hardware may be faulty.
PS off
26-5
Missing calibration data
Factory-set calibration parameters incomplete/corrupted.
The error cannot be rectified
automatically.
PS off
26-6
Missing user position data records
Position data records incomplete or corrupt.
• Load factory settings or
• save the current parameters again so that the position data is written again.
PS off
26-7
Error in the data
tables (CAM)
Data for the cam disc is corrupted.
• Load factory settings
• Reload the parameter set
if necessary.
If the error persists, contact
Technical Support.
PS off
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
89
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
27-0
Following error
warning
threshold
Motor overloaded? Check
motor capacity.
Acceleration or braking
ramps are set too steep.
Motor blocked? Commutation
angle correct?
• Check the parametrisation of the motor data.
• Check parametrisation of
the following error.
Configurable
28-0
Hours-run meter
missing
No record for an hours-run
meter could be found in the
parameter block. A new
hours-run meter has been
created. Occurs during initial
start-up or a processor
change.
Warning only, no further action required.
Configurable
28-1
Hours-run meter:
write error
The data block in which the
hours-run meter is stored
could not be written to.
Cause unknown; possibly
problems with the hardware.
Warning only, no further action required.
If the error occurs again, the
hardware may be faulty.
Configurable
28-2
Hours-run meter
corrected
The hours-run meter has a
backup copy. If the controller's 24V power supply fails
precisely when the hours-run
meter is being updated, the
written record may be corrupted. In such cases, the controller restores the hours-run
meter from the intact backup
copy when it switches back
on.
Warning only, no further action required.
Configurable
90
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
28-3
Hours-run meter
converted
29-0
MMC/SD card not
available
29-1
MMC/SD card:
initialisation error
Firmware was loaded in
which the hours-run meter
has a different data format.
The next time the controller is
switched on, the old hoursrun meter record is converted
to the new format.
This error is triggered when
an action should be carried
out on the memory card (load
or create DCO file, firmware
download), but no memory
card is plugged in.
This error is triggered in the
following cases:
– The memory card could
not be initialised. Card
type may not be supported!
– File system not supported
– Error in connection with
the shared memory
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Actions
Reaction
Warning only, no further action required.
Configurable
Insert appropriate memory
card in the slot.
Only if expressly desired!
Configurable
• Check card type used.
• Connect memory card to a
PC and format again.
Configurable
91
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
29-2
MMC/SD card:
parameter set
error
29-3
MMC/SD card full
92
This error is triggered in the
following cases:
– A load or storage process
is already running, but a
new load or storage process is requested.
DCO file >> Servo
– The DCO file to be loaded
has not been found.
– The DCO file to be loaded
is not suitable for the
device.
– The DCO file to be loaded
is defective.
Servo >> DCO file
– The memory card is write
protected.
– Other error while saving
the parameter set as a
DCO file.
– Error in creating the file
“INFO.TXT”
– This error is triggered
while saving the DCO or
“INFO.TXT” file if the
memory card is discovered to be already full.
– The maximum file index
(99) already exists. That
is, all file indexes are assigned. No filename can
be issued!
Actions
Reaction
• Execute load or storage
process again after waiting 5 seconds.
• Connect memory card to a
PC and check the files included.
• Remove write protection
from the memory card.
Configurable
• Insert another memory
card.
• Change filenames.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
29-4
MMC/SD card:
firmware download
This error is triggered in the
following cases:
– No firmware file on the
memory card
– The firmware file is not
appropriate for the
device.
– Other error during firmware download, e.g.
checksum error with an
SRecord, error with flash
memory, etc.
• Connect memory card to
PC and transfer firmware
file.
Configurable
30-0
Internal mathematical error
Range exceeded for internal
scaling factors, which are dependent on the parametrised
controller cycle times.
• Check whether extremely PS off
short or extremely long
cycle times were parametrised.
31-0
Motor I@t
– Motor blocked?
– Motor under-sized?
• Check power dimensioning of drive package.
31-1
Servo controller
I@t
The I@t monitoring is responding frequently.
– Motor controller does not
have the required capacity?
– Mechanics sluggish?
• Check project engineering Configof the motor controller,
urable
• possibly use a more
powerful type.
• Check the mechanical system.
31-2
PFC I@t
PFC power rating exceeded.
• Parametrise operation
without PFC (FCT).
31-3
Braking resistor
I@t
– Overloading of the internal braking resistor.
• Use external braking resConfigistor.
urable
• Reduce resistance value
or use resistor with higher
pulse load.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Configurable
Configurable
93
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
32-0
Intermediate circuit charging time
exceeded
The intermediate circuit
could not be charged after
the mains voltage was applied.
– Fuse possibly defective or
– Internal braking resistor
defective or
– In operation with external
resistor, the resistor is not
connected.
• Check interface to the ex- Configternal braking resistor.
urable
• Alternatively, check
whether the jumper for
the internal braking resistor is in place.
If the interface is correct, the
internal braking resistor or
the built-in fuse is probably
faulty. On-site repair is not
possible.
32-1
Undervoltage for
active PFC
The PFC cannot be activated
at all until an intermediate
circuit voltage of about 130
VDC is reached.
• Check power supply.
Configurable
32-5
Brake chopper
overload. Intermediate circuit
could not be discharged.
The extent of utilisation of
the brake chopper when
quick discharge began was
already in the range above
100%. Quick discharge took
the brake chopper to the
maximum load limit and was
prevented/aborted.
No actions required
Configurable
32-6
Intermediate circuit discharge
time exceeded
Intermediate circuit could not
be quickly discharged. The internal braking resistor may be
faulty or, in the case of operation with an external resistor,
the resistor is not connected.
• Check interface to the ex- Configternal braking resistor.
urable
• Alternatively, check
whether the jumper for
the internal braking resistor is in place.
If the internal resistor has
been activated and the jumper has been positioned correctly, the internal braking
resistor is probably faulty.
On-site repair is not possible.
94
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
32-7
No power supply
for controller enable
Controller enable was issued
when the intermediate circuit
was still in its charging phase
after mains voltage was applied and the mains relay was
not yet activated. The drive
cannot be enabled in this
phase, because the drive is
not yet firmly connected to
the mains (through the mains
relay).
• In the application, check
whether the mains supply
and controller enable signals were sent correspondingly quickly one
after the other.
Configurable
32-8
Power supply failure during controller enable
Interruptions/failure in the
power supply while the controller enable was activated.
• Check power supply.
QStop
32-9
Phase failure
Failure of one or more phases
(only in the case of threephase supply).
• Check power supply.
QStop
33-0
Encoder emulation following error
The critical frequency for encoder emulation was exceeded (see manual) and the
emulated angle at [X11] was
no longer able to follow. Can
occur when very high numbers of lines are programmed
for [X11] and the drive
reaches high speeds.
• Check whether the parametrised number of lines
may be too high for the
speed being represented.
• Reduce the number of
lines if necessary.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
95
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
34-0
No synchronisation via fieldbus
When activating the interpolated position mode, the controller could not be synchronised to the fieldbus.
– The synchronisation messages from the master
may have failed or
– the IPO interval is not correctly set to the synchronisation interval of the
fieldbus.
• Check the settings for the
controller cycle times.
Configurable
34-1
Fieldbus synchronisation error
– Synchronisation via fieldbus messages during ongoing operation (interpolated position mode) has
failed.
– Synchronisation messages from the master
failed?
– Synchronisation interval
(IPO interval) parametrised too small/too large?
• Check the settings for the
controller cycle times.
Configurable
96
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
35-0
Linear motor
spinning protection
Encoder signals are corrupt.
The motor may be racing
(“spinning”) because the
commutation position has
been shifted by the faulty encoder signals.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Actions
Reaction
• Check installation for EMC Configrecommendations.
urable
• In the case of linear motors with inductive/optical encoders with separately mounted measuring
tape and measuring head:
check the mechanical
clearance.
• In the case of linear motors with inductive encoders, make sure that
the magnetic field of the
magnets or the motor
winding does not leak into
the measuring head (this
effect usually occurs
when high accelerations
= high motor current).
97
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
35-5
Error during the
determination of
the commutation
position
The rotor position could not
be identified clearly.
– The selected method may
be inappropriate.
– The selected motor current for the identification
may not be set appropriately.
Check the method for determining the commutation
position. Footnote 7)
Configurable
36-0
Parameter was
limited
An attempt was made to
write a value which was outside the permissible limits, so
the value was limited.
• Check the user parameter
set.
Configurable
36-1
Parameter was
not accepted
An attempt was made to
write to an object which is
“read only” or is not writecapable in the current status
(e.g. with controller enable
active).
• Check the user parameter
set.
Configurable
40-0
Negative software limit switch
The position setpoint has
reached or exceeded the respective software limit
switch.
• Check target data.
• Check positioning range.
Configurable
40-1
Positive software
limit switch
reached
The position setpoint has
reached or exceeded the positive software limit switch.
• Check target data.
• Check positioning range.
Configurable
7)
Instructions for determining the commutation position:
a)
The alignment procedure is inappropriate for locked or sluggish drives or drives that can oscillate at low frequencies.
b)
The micro-step procedure is appropriate for non-ferrous and iron-core motors. As only very small movements are carried out,
it works even when the drive is on elastic stops or is locked but can still be moved elastically to some extent. Due to the high
excitation frequency, however, the method is very susceptible to oscillations in the case of poorly damped drives. In this case,
you can attempt to reduce the excitation current (%).
c) The saturation procedure uses local saturation appearances in the iron of the motor. Recommended for locked drives. Non-ferrous drives are basically inappropriate for this method. If the (iron-core) drive moves too much when locating the commutation
position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if
the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient.
98
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
40-2
Target position
behind the negative software limit
switch
Start of a positioning task
was suppressed because the
target lies behind the negative software limit switch.
• Check target data.
• Check positioning range.
Configurable
40-3
Target position
behind the positive software limit
switch
The start of a positioning task
was suppressed because the
target lies behind the positive
software limit switch.
• Check target data.
• Check positioning range.
Configurable
41-0
Position set forwarding: synchronisation error
Start of synchronisation
without prior sampling pulse
• Check the parametrisation of the pre-stop path.
Configurable
42-3
Start positioning
rejected: wrong
mode of operation
Switching of the operating
mode by means of the position record was not possible.
• Check parametrisation of
the position records in
question.
Configurable
42-4
Start positioning
rejected: homing
required
A normal positioning record
was started, but the drive
needs a valid reference position before starting.
• Execute new homing.
Configurable
42-5
Modulo positioning:
Rotation direction not permitted
– The positioning target
cannot be reached
through the positioning or
edge condition options.
– The calculated direction
of rotation is not permitted for the modulo positioning in the set mode.
• Check the chosen mode.
Configurable
42-9
Error when starting the positioning task
– Acceleration limit value
exceeded
– Position record blocked.
•
Check parametrisation
and sequence control,
correct if necessary.
Configurable
42-0
Positioning: no
follow-up positioning: stop
The positioning target cannot
be reached through the positioning or edge condition options.
• Check parametrisation of
the position records in
question.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
99
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
42-1
Positioning: reversing not allowed: stop
The positioning target cannot
be reached through the positioning or edge condition options.
• Check parametrisation of
the position records in
question.
Configurable
42-2
Positioning: reversing after halt
not allowed
The positioning target cannot
be reached through the positioning or edge condition options.
• Check parametrisation of
the position records in
question.
Configurable
43-0
Limit switch: negative setpoint
value blocked
Negative hardware limit
switch reached.
• Check parametrisation,
wiring and limit switches.
Configurable
43-1
Limit switch: positive setpoint
value blocked
Positive hardware limit
switch reached.
• Check parametrisation,
wiring and limit switches.
Configurable
43-2
Limit switch: positioning suppressed
– The drive has exited the
intended range of motion.
– Technical defect in the
system?
• Check the intended range
of motion.
Configurable
44-0
Error in the cam
disc tables
Cam disc to be started not
available.
• Check transferred cam
disc no.
• Correct parametrisation.
• Correct programming.
Configurable
44-1
Cam disc: general
error homing
– Start of a cam disc, but
the drive is not yet referenced.
– Start of homing with active cam disc.
• Execute homing.
Configurable
The speed did not drop below
that required for setting-up
on time.
Check processing of the request on the control side.
47-0
100
Error in settingup: timeout expired
• Deactivate cam disc. Then
restart cam disc if necessary.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
48-0
Homing required
An attempt is being made to
switch in the “speed control”
or “torque control” operating
mode or to issue controller
enable in these operating
modes, although the drive requires a valid reference position for this.
• Execute homing.
QStop
50-0
Too many synchronous PDOs
More PDOs have been activated than can be processed
in the underlying SYNC interval.
This message also appears if
only one PDO is to be transmitted synchronously, but a
high number of other PDOs
with a different transmission
type have been activated.
• Check the activation of
PDOs.
If the configuration is appropriate, the warning can be
suppressed using error management.
• Extend the synchronisation interval.
Configurable
50-1
SDO errors have
occurred
• Check the command sent.
Configurable
51-0
No / unknown
safety module
An SDO transfer has caused
an SDO abort.
– The data exceed the
range of values
– Access to non-existent
object.
– No safety module detected or unknown module
type.
• Install safety or switch
module appropriate for
the firmware and hardware.
• Load firmware appropriate for the safety or micro
switch module, see type
designation on the module.
• Module presumably defective. If possible, replace with another module.
PS off
(Error cannot be
acknowledged)
– Internal voltage error of
the safety module or micro switch module.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
101
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
51-2
51-3
Safety module:
unequal module
type
(Error cannot be
acknowledged)
Safety module:
unequal module
version
Type or revision of the module does not fit the project
engineering.
Type or revision of the module is not supported.
(Error cannot be
acknowledged)
52-1
Safety module:
discrepancy time
expired
– Control ports STO-A and
STO-B are not actuated
simultaneously.
– Control ports STO-A and
STO-B are not wired in the
same way.
Actions
Reaction
• With module replacePS off
ment: module type not yet
designed. Take over currently installed safety or
micro switch module as
accepted.
• Install safety or switch
PS off
module appropriate for
the firmware and hardware.
• Load firmware appropriate for the module, see
type designation on the
module.
• Check discrepancy time.
PS off
• Check discrepancy time.
52-2
Safety module:
driver supply failure with active
pulse-width modulation control
This error message does not
occur with equipment delivered from the factory. It can
occur with use of a customerspecific CMMP-AS-...-M3
device firmware.
• The safe status was requested with approved
power end stage. Check
inclusion in the safety-oriented interface.
PS off
62-0
EtherCAT:
General bus error
No EtherCAT bus present.
• Switch on the EtherCAT
master.
• Check wiring.
Configurable
62-1
EtherCAT:
Initialisation error
Error in the hardware.
• Replace the interface and
send it to the manufacturer for checking.
Configurable
62-2
EtherCAT:
CAN: Protocol error
CAN over EtherCAT is not in
use.
• Incorrect protocol.
• EtherCAT bus cabling malfunctioning.
Configurable
62-3
EtherCAT:
Invalid RPDO
length
Sync manager 2 buffer size is
too large.
• Check the RPDO configuration of the motor controller and the controller.
Configurable
102
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
62-4
EtherCAT:
Invalid TPDO
length
Sync manager 3 buffer size is
too large.
• Check the TPDO configuration of the motor controller and the controller.
Configurable
62-5
EtherCAT:
Cyclic data transmission defective
Emergency shut-down due to
failure of cyclic data transmission.
• Check the configuration of Configthe master. Synchronous
urable
transmission is unstable.
63-0
EtherCAT:
Defective module
Error in the hardware.
• Replace the interface and
send it to the manufacturer for checking.
Configurable
63-1
EtherCAT:
Invalid data
Faulty telegram type.
• Check wiring.
Configurable
63-2
EtherCAT:
TPDO data were
not read
The buffer for sending the
data is full
The data were sent faster
than the motor controller
could process it.
• Reduce the cycle time on
the EtherCAT bus.
Configurable
63-3
EtherCAT:
No distributed
clocks active
Warning: firmware is synchronising with the telegram,
not with the distributed
clocks system. When the EtherCAT was started, no hardware SYNC (distributed
clocks) was found. The firmware now synchronises with
the EtherCAT frame.
• If necessary, check wheth- Configer the master supports
urable
the distributed clocks feature.
• Otherwise: Ensure that
the EtherCAT frames are
not interrupted by other
frames if the “interpolated position mode” is to
be used.
63-4
A SYNC message
is missing in the
IPO cycle
Telegrams are not being sent
in the time slot pattern of the
IPO.
• Check the station responsible for distributed
clocks.
Configurable
64-0
DeviceNet:
Duplicate MAC ID
The duplicate MAC-ID check
has found two nodes with the
same MAC-ID.
• Change the MAC-ID of one
of the nodes to a value
which is not already used.
Configurable
64-1
DeviceNet:
Bus voltage missing
The DeviceNet module is not
supplied with 24 V DC.
• In addition to the motor
controller, the DeviceNet
interface must also be
connected to 24 V DC.
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
103
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
64-2
DeviceNet:
Receive buffer
overflow
Too many messages received
within a short period.
• Reduce the scan rate.
Configurable
64-3
DeviceNet:
Send buffer overflow
Not enough free space on the
CAN bus for sending messages.
• Increase the baud rate
• Reduce the number of
nodes
• Reduce the scan rate.
Configurable
64-4
DeviceNet:
IO message not
sent
Error in sending I/O data.
Check that the network is
connected correctly and has
no errors.
Configurable
64-5
DeviceNet:
Bus Off
The CAN controller is BUS
OFF.
Check that the network is
connected correctly and has
no errors.
Configurable
64-6
DeviceNet:
CAN controller reports overrun
The CAN controller has an
overrun.
• Increase the baud rate
• Reduce the number of
nodes
• Reduce the scan rate.
Configurable
65-0
DeviceNet activated, but no module
The DeviceNet communication is activated in the parameter set of the motor controller, but no interface is
available.
• Deactivate the DeviceNet
communication
• Connect an interface.
Configurable
65-1
IO connection
timeout
Interrupting an I/O connection
No I/O message received
within the expected time.
Configurable
70-1
FHPP:
Mathematical error
Overrun/underrun or division
by zero during calculation of
cyclic data.
• Check the cyclic data
• Check the factor group.
Configurable
70-2
FHPP:
Factor group invalid
Calculation of the factor
group leads to invalid values.
Check the factor group.
Configurable
70-3
FHPP:
Invalid operating
mode change
Changing from the current to
the desired operating mode
is not permitted.
Check your application. It
may be that not every change
is permissible.
Configurable
104
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
71-1
FHPP:
Invalid receive
telegram
Too little data is being transmitted by the control system
(data length too short).
• Check the data length
Configparametrised in the conurable
trol system for the controller's received telegram
• Check the configured data
length in the FHPP+ Editor
of the FCT.
71-2
FHPP:
Invalid response
telegram
Too much data is set to be
transmitted from the CMMPAS-...-M3 to the control system (data length too great)
• Check the data length
Configparametrised in the conurable
trol system for the controller's received telegram
• Check the configured data
length in the FHPP+ Editor
of the FCT.
80-0
Current regulator
IRQ overflow
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
80-1
Speed regulator
IRQ overflow
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
80-2
Overflow position
controller IRQ
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
80-3
Interpolator IRQ
overflow
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
105
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
81-4
Low-level IRQ
overflow
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
81-5
MDC IRQ overflow
The process data could not
be calculated in the set current/speed/position interpolator cycle.
Please contact Technical Sup- PS off
port.
82-0
Sequence control
IRQ4 overflow (10 ms lowlevel IRQ).
82-1
Multiply started
CO write access
Parameters in the cyclical and
acyclical mode are used concurrently
Internal process control: process was interrupted.
For information only - no action required.
Only one parametrisation interface can be used (USB or
Ethernet)
83-0
Invalid option
module
– The plugged-in interface
could not be detected
– The loaded firmware is
not known.
– A supported interface
might be plugged into the
wrong slot (e.g. SERCOS
2, EtherCAT).
• Check firmware whether
Configinterface is supported. If
urable
yes,
• Check that the interface is
in the right place and is
plugged in correctly.
• Replace interface and/or
firmware.
83-1
Option module
not supported
The plugged-in interface
could be detected but is not
supported by the loaded
firmware.
• Check firmware whether
interface is supported.
• If necessary, replace the
firmware.
106
Configurable
Configurable
Configurable
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
83-2
Option module:
hardware revision
not supported
84-0
Conditions for
controller enable
not fulfilled
The plugged-in interface
could be detected and is basically also supported.
However, in this case the current hardware version is not
supported (because it is too
old).
Example is the PROFIBUS interface and the EA88 interface, which was produced in
a first 5V version (Version
1.0), but cannot run on the
current motor controller.
One or more conditions for
controller enable are not fulfilled. These include:
– DIN4 (output stage enable) is off
– DIN5 (controller enable) is
off
– Intermediate circuit not
yet loaded
– Encoder is not yet ready
for operation
– Angle encoder identification is still active
– Automatic current regulator identification is still
active
– Encoder data are invalid
– Status change of the
safety function not yet
completed
– Firmware or DCO download via Ethernet (TFTP)
active
– DCO download onto
memory card still active
– Firmware download via
Ethernet active
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Actions
Reaction
The interface must be reConfigplaced. If necessary, contact
urable
Technical Support. In the
case of PROFIBUS or EA88 interface, hardware version 2.0
or higher.
• Check status of digital inputs
• Check encoder cables
• Automatic identification
• Wait for completion of the
firmware or DCO downloads
Warn
107
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
90-0
Missing hardware
components
(SRAM)
External SRAM not detected /
not sufficient.
Hardware error (SRAM component or board is defective).
PS off
90-2
Error at FPGA
boot-up
The FPGA cannot be booted.
The FPGA is booted serially
when the device is started,
but in this case it could not
be loaded with data or it reported a checksum error.
Switch on the device again
(24V). If the error occurs repeatedly, the hardware is
faulty.
PS off
90-3
Error at SD-ADU
start
SD-ADUs cannot be started.
One or more SD-ADUs are not
supplying any serial data.
Switch on the device again
(24V). If the error occurs repeatedly, the hardware is
faulty.
PS off
90-4
SD-ADU synchronisation error
after start
SD-ADU not synchronous
after starting. During operation, the SD-ADUs for the resolver signals continue running with strict synchronisation once they have been initially started synchronously.
The SD-ADUs could not be
started at the same time during that initial start phase.
Switch on the device again
(24V). If the error occurs repeatedly, the hardware is
faulty.
PS off
90-5
SD-ADU not synchronous
SD-ADU not synchronous
after starting. During operation, the SD-ADUs for the resolver signal continue running with strict synchronisation once they have been initially started synchronously.
This is checked continually
during operation and an error
may be triggered.
Severe EMC interference
PS off
could theoretically also cause
this effect. Switch on the
device again (24V). If the error appears again, the hardware is faulty (almost certainly one of the three SDADUs).
90-6
IRQ0 (current
controller): trigger error
The output stage does not
trigger the software IRQ,
which then operates the current regulator. Very likely to
be a hardware error on the
board or in the processor.
Switch on the device again
(24V). If the error occurs repeatedly, the hardware is
faulty.
108
PS off
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
B
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Message
Causes
Actions
Reaction
90-9
DEBUG firmware
loaded
A development version compiled for the debugger was
loaded as normal.
Check the firmware version,
and update the firmware if
necessary.
PS off
91-0
Internal initialisation error
Internal SRAM too small for
the compiled firmware. Can
only occur with development
versions.
Check the firmware version,
and update the firmware if
necessary.
PS off
91-1
Memory error
when copying
Firmware parts were not
copied correctly from the external FLASH into the internal
RAM.
Switch on the device again
(24V). If the error occurs repeatedly, check the firmware
version and update the firmware if necessary.
PS off
91-2
Error when reading the controller/power section
coding
The ID-EEPROM in the controller or power section could
either not be addressed at all
or does not have consistent
data.
Switch on the device again
(24V). If the error occurs repeatedly, the hardware is
faulty. No repair possible.
PS off
91-3
Software initialisation error
One of the following components is missing or could not
be initialised:
a) Shared memory not available or defective
b) Driver library not available
or defective
Check firmware version, update if necessary
PS off
Tab. B.2
Diagnostic messages CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
109
B
Diagnostic messages
Instructions on actions with the error messages 08-2 … 08-7
Action
Instructions
• Check
whether
encoder
signals are
faulty.
• Test with
other encoders.
– Check the wiring, e.g. are one or more phases of the track signals interrupted or
short-circuited?
– Check that installation complies with EMC recommendations (cable screening on
both sides?).
– Only with incremental encoders:
With TTL single-ended signals (HALL signals are always TTL single-ended signals): Check whether there might be an excessive voltage drop on the GND line;
in this case = signal reference.
Check whether there might be an excessive voltage drop on the GND line; in this
case = signal reference.
– Check the level of supply voltage on the encoder. Sufficient? If not, change the
cable diameter (connect unused lines in parallel) or use voltage feedback
(SENSE+ and SENSE-).
– If the error still occurs when the configuration is correct, test with a different
(error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a defect in the motor controller. Repair by the manufacturer is necessary.
Tab. B.3 Instructions on error messages 08-2 … 08-7
110
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CMMP-AS-...-M3
Index
C
CAN bus [X4] . . . . . . . . . . . . . . . . . . . . . . . . . . .
Check operating status . . . . . . . . . . . . . . . . . .
Clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . .
Communication interfaces . . . . . . . . . . . . . . . .
Connect the PC . . . . . . . . . . . . . . . . . . . . . . . . .
Connect the power supply . . . . . . . . . . . . . . . .
Connection: CAN bus [X4] . . . . . . . . . . . . . . . .
Connection: encoder [X2B] . . . . . . . . . . . . . . .
Connection: I/O communication [X1] . . . . . . . .
Connection: incremental encoder input [X10] .
Connection: incremental encoder output [X11]
Connection: motor [X6] . . . . . . . . . . . . . . . . . .
Connection: resolver [X2A] . . . . . . . . . . . . . . . .
Connection: voltage supply [X9] . . . . . . . . . . .
Connector pin assignments . . . . . . . . . . . . . . .
64
48
23
45
61
48
48
34
31
28
40
41
35
30
37
24
D
Device view . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
E
Electrical installation . . . . . . . . . . . . . . . . . . . .
Emitted interference . . . . . . . . . . . . . . . . . . . .
Encoder connection [X2B] . . . . . . . . . . . . . . . .
Entire CMMP-AS system . . . . . . . . . . . . . . . . . .
ESD protection . . . . . . . . . . . . . . . . . . . . . . . . .
24
42
63
11
44
G
General information on EMC . . . . . . . . . . . . . . 42
Festo – GDCP-CMMP-M3-HW-EN – 1203NH
I
I/O interface [X1] . . . . . . . . . . . . . . . . . . . . . . . 61
Installation clearance . . . . . . . . . . . . . . . . . . . . 23
Installation clearances . . . . . . . . . . . . . . . . . . . 18
Instructions, General . . . . . . . . . . . . . . . . . . . . . 8
Instructions on safe and EMC-compliant installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Intermediate circuit coupling . . . . . . . . . . . . . . 39
M
Mechanical installation . . . . . . . . . . . . . . . . . . 18
O
Operation and display components . . . . . . . . . 52
Overload current and short-circuit monitoring 50
P
PFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Product identification . . . . . . . . . . . . . . . . . . . . 6
R
Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Resistance to interference . . . . . . . . . . . . . . . . 42
Resolver connection [X2A] . . . . . . . . . . . . . . . . 62
S
Service functions and diagnostic messages . . 50
T
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . 55
111
Copyright:
Festo AG & Co. KG
Postfach
D-73726 Esslingen
Phone:
+49 711 347 0
Fax:
+49 711 347 2144
e-mail:
service_international@festo.com
Reproduction, distribution or sale of this document or communication of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent is
registered.
Internet:
www.festo.com
Original: de
Version: 1203NH
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