festo a5 1spaltig · 2020. 8. 8. · cmmt-as-c2-11a-p3-ec-c000-v000-s1 type code 5340821 j302 rev...

8075804

CMMT-AS-C2/3/5-11A-P3-...Servo drive

80758042018-10[8075806]

Description |Assembly, Installation

Translation of the original instructions

CiA®, EnDat®, EtherCAT®, EtherNet/IP®, DR. JOHANNES HEIDENHAIN®, Hiperface®, PI PROFIBUSPROFINET®, PHOENIX CONTACT®, TORX® are registered trademarks of the respective trademark own-ers in certain countries.

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1 About this document................................................................................................... 5

1.1 Target group................................................................................................................. 5

1.2 Applicable documents.................................................................................................. 5

1.3 Product variants........................................................................................................... 5

1.4 Product labelling.......................................................................................................... 6

1.5 Specified standards...................................................................................................... 10

2 Safety........................................................................................................................... 10

2.1 Safety instructions........................................................................................................ 10

2.2 Intended use................................................................................................................ 11

2.2.1 Application areas.................................................................................................... 11

2.2.2 Permissible components.........................................................................................11

2.3 Training of qualified personnel..................................................................................... 12

2.4 Approvals and certifications......................................................................................... 12

3 Additional information................................................................................................ 12

4 Service..........................................................................................................................12

5 Product overview......................................................................................................... 13

5.1 Scope of delivery.......................................................................................................... 13

5.2 System structure.......................................................................................................... 13

5.2.1 Product design........................................................................................................15

5.2.2 Overview of connection technology........................................................................ 18

6 Transport and storage................................................................................................. 19

7 Assembly..................................................................................................................... 19

7.1 Mounting distances CMMT-AS-...-11A-P3 (3-phase)...................................................... 20

7.2 Installation................................................................................................................... 21

8 Installation.................................................................................................................. 22

8.1 Safety............................................................................................................................ 22

8.2 Residual current protective device............................................................................... 23

8.3 Mains fuse.................................................................................................................... 24

8.4 Permissible and impermissible electrical network types................................................26

8.5 Connection of the mains side PE protective conductor.................................................. 31

8.6 Information on EMC-compliant installation................................................................... 32

8.7 Connection examples................................................................................................... 36

8.8 Interfaces..................................................................................................................... 37

8.8.1 [X1A], Inputs and outputs for the higher-order PLC................................................. 37

8.8.2 [X1C], Inputs and outputs for the axis..................................................................... 44

8.8.3 [X2], Encoder interface 1......................................................................................... 45

8.8.4 [X3], Encoder interface 2......................................................................................... 52

8.8.5 [X10], SYNC IN/OUT................................................................................................ 55

8.8.6 [X18], Standard Ethernet.........................................................................................60

8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2....................................................62

Table of contents

8.9 Motor connection.......................................................................................................... 63

8.9.1 [X6A], Motor phase connection.............................................................................. 63

8.9.2 [X6B], Motor auxiliary connection.......................................................................... 65

8.9.3 Electronic overload and overtemperature protection for the motor........................ 67

8.9.4 Shield support of the motor cable.......................................................................... 68

8.10 Power and logic voltage supply..................................................................................... 71

8.10.1 [X9A], Power supply and intermediate circuit connection........................................71

8.10.2 [X9C], Logic voltage supply.................................................................................... 73

8.10.3 [X9B], Connection, braking resistor........................................................................ 74

8.11 Cross-wiring.................................................................................................................. 76

8.11.1 Cross-wiring of the I/O signals at the connection [X1A]...........................................77

8.11.2 Cross-wiring of the mains and logic voltage supply............................................... 80

9 Malfunctions................................................................................................................ 86

9.1 Diagnostics via LEDs......................................................................................................86

9.1.1 Device status displays........................................................................................... 87

9.1.2 Interface status [X2], [X3], [X10], [X18]................................................................... 91

9.1.3 Device and interface status, EtherCAT................................................................... 92

9.1.4 Device and interface status, PROFINET.................................................................. 94

9.1.5 Device and interface status, EtherNet/IP............................................................... 94

10 Dismounting................................................................................................................. 96

11 Technical data.............................................................................................................. 97

11.1 Technical data, product conformity and approvals........................................................ 97

11.2 General technical data...................................................................................................97

11.3 Technical data, electrical............................................................................................... 100

11.3.1 Load voltage supply [X9A]...................................................................................... 100

11.3.2 Logic voltage supply [X9C]..................................................................................... 102

11.3.3 Electrical data for braking resistor (internal/external) [X9B]................................... 103

11.3.4 Power specifications, motor connection [X6A]....................................................... 104

11.3.5 Motor auxiliary connection [X6B]........................................................................... 106

11.3.6 Encoder interfaces [X2], [X3].................................................................................. 107

11.3.7 Inputs, outputs, ready contact at [X1A].................................................................. 112

11.3.8 Inputs and outputs for the axis [X1C]..................................................................... 118

11.3.9 SYNC IN/OUT [X10]................................................................................................ 120

11.3.10 Standard Ethernet [X18], parameterisation interface.............................................. 122

11.3.11 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])........................................................ 122

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1 About this document

1.1 Target groupThe document is targeted towards individuals who perform assembly, installation and service work onthe product.

1.2 Applicable documents

All available documents for the product è www.festo.com/pk.

The user documentation for the product also includes the following documents:

Designation Contents

Product instruction manual Installation, safety sub-function

Detailed description of assembly, installationProduct descriptions

Detailed description of safety sub-function

Description/online help plug-in Plug-in:– Functions and operation of the software– Initial commissioning assistantFirmware functions:– Configuration and parameterisation– Operating modes and operational functions– Diagnostics and optimisationBus protocol/control:– Device profile– Controller and parameterisation

Festo Automation Suite onlinehelp

– Function of the Festo Automation Suite– Management and integration of device-specific plug-ins

CDSB instruction manual General functions of the operator unit

Tab. 1 User documentation for the product

1.3 Product variantsThe product is available in a range of variants. The order code indicates the equipment features of theproduct variant (order code è Tab. 3 Product labelling (example)).This documentation describes the following product variants:

Feature Order code Version

Servo drive CMMT- Servo drive, series T

Motor type AS- AC synchronous

Nominal current C2- 2 A

About this document

http://www.festo.com/pk

Feature Order code Version

C3- 3 ANominal current

C5- 5 A

Nominal input voltage 11A- 400 V AC, 50 … 60 Hz

Number of phases P3- 3-phase

EC- EtherCAT

EP EtherNet/IP

Bus protocol/activation

PN- PROFINET

Safety function S1 Standard safety

Cooling method – Integrated cooling element– Basic type

C..- Customer variant …

Firmware type

S..- Sales variant ... – Basic versionFirmware version

V..- Version …

Certification – CE-compliant basic version

Tab. 2 Product variants CMMT-AS-...-11A-P3 (e.g. CMMT-AS-C3-11A-P3-EC-S1)

This documentation refers to the following version:– Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling.This is the first available revision.• For later revisions of the product, check whether updated documentation is availableè www.festo.com/pk.

1.4 Product labelling• Observe the specifications on the product.The product labelling is located on the right side of the device. The product labelling enables identific-ation of the product and shows the following information:

Product labelling (example) Meaning

CMMT-AS-C2-11A-P3-EC-C000-V000-S1 Type code

5340821 J302 Rev 00 Part number, serial number, revision (Rev)

Main input: 200 V AC - 10 % … 480 V AC + 10 %48 … 62 Hz 2 ARMS

Technical data on power supply (alternating cur-rent supply connection)

Motor out: 3 x 0 … input V AC 0 … 599 Hz1.7 ARMS 0.8 kW

Technical data for the motor output (outputvoltage, max. output frequency, nominal current,nominal output power)

About this document

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http://www.festo.com/pk

Product labelling (example) Meaning

TAMB: max. 40 °C Ambient temperature (TAMB)

SCCR: 100 kA SCCR (short circuit current rating)

IP10/20 Degree of protection; without mating plug/withmating plug [X9A] attached

MAC: XX-XX-XX-XX-XX-XX First MAC address of the device for Ethernet com-munication

MSIP-REM-FTO-KC-2017-1001 KC mark certificate (test mark for Korea)

See manual for internal overload protection andrequired external circuit breaker

Reference to the existing user documentation,which contains information on overload protec-tion and the necessary external line safety switch(circuit breaker).

Data matrix code, 123456789ABC... Product key as a data matrix code and an11-character alphanumeric code

Festo AG & Co. KG Manufacturer

DE-73734 Esslingen Manufacturer’s address

Made in Germany Manufactured in Germany

Tab. 3 Product labelling (example)

Manufacturing periodIn the product labelling, the first 2 characters of the serial number indicate the manufacturing periodin encrypted form. The letter specifies the manufacturing year and the character after it (number or let-ter) indicates the month of production.

Year of manufacture (20-year cycle)

J Z 2017 K Z 2018 L Z 2019 M Z 2020 N Z 2021

P Z 2022 R Z 2023 S Z 2024 T Z 2025 U Z 2026

V Z 2027 W Z 2028 X Z 2029 A Z 2030 B Z 2031

C Z 2032 D Z 2033 E Z 2034 F Z 2035 H Z 2036

J Z 2037 … … … …

Tab. 4 Year of manufacture (20-year cycle)

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7Festo — CMMT-AS-C2/3/5-11A-P3-... — 2018-10

Manufacturing month

1 Z January 2 Z February 3 Z March

4 Z April 5 Z May 6 Z June

7 Z July 8 Z August 9 Z September

O Z October N Z November D Z December

Tab. 5 Manufacturing month

Warning symbols on the front of the productThe following warning symbols are located on the front of the product:

1 Attention! Hot surface

2 Attention! General danger point

3 Attention! Dangerous voltage

4 5 minutes (wait)

Fig. 1 Warning symbols on the front side of the product (example CMMT-AS-...-EC)

About this document

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General meaning Meaning with the CMMT-AS-...

Attention! Hot surface Metallic housing parts of the device can reach high temperaturesduring operation. In the event of a fault, internal components maybecome overloaded. Overloading of components can result in hightemperatures and the release of hot gases.

Attention! General danger point The touch current in the protective earthing conductor can exceedan alternating current of 3.5 mA or a DC current of 10 mA.The minimum cross section of the protective earthing conductormust comply with the local safety regulations for protective earth-ing conductors for equipment with high leakage current.

Attention! Dangerous voltage The product is equipped with intermediate circuit capacitors,which store dangerous voltage for up to 5 minutes after the powersupply is switched off. Do not touch power connections for5 minutes after the power supply is switched off.

5 minutes (wait) After the power supply is switched off, wait at least 5 minutesuntil the intermediate circuit capacitors have discharged.

Tab. 6 Meaning of the warning symbols

Warnings on the productThe following warnings are attached to the right side of the device:

Warnings on the product (en, fr) Meaning

CAUTIONRisk of Electric Shock! Do not touch electrical connectors for5 minutes after switching power off! Read manual beforeinstalling! High leakage current! First connect to earth!

ATTENTIONRisque de décharge électrique! Après la mise hors tension, ne pastoucher les connecteurs électriques pendant au moins 5 minutes!Lire le manuel avant installation! Courant de défaut élevé! Reliertout d´abord à la terre!

CautionRisk of electric shock! Do nottouch electrical connections for5 minutes after switching poweroff! Read manual beforeinstalling! High leakage current!First connect device to earth!

DANGERRisk of Electric Shock! Disconnect power and wait 5 minutesbefore servicing.

Risque de décharge électrique! Débranchez l'alimentation etattendez 5 min. avant de procéder à l'entretien.

DangerRisk of electric shock! Discon-nect power and wait 5 minutesbefore servicing.

Tab. 7 Warnings on the product

About this document

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1.5 Specified standards

Version

IEC 61800-5-1:2016 EN 60204-1:2006+A1:2009+AC:2010

EN 61800-3:2004+A1:2012 EN 61131-2:2007

EN 61800-5-2:2017 IEC 60364-1:2005

EN 61800-2:2015 –

Tab. 8 Standards specified in the document

2 Safety

2.1 Safety instructionsGeneral safety instructions – Assembly and installation should only be carried out by qualified personnel.– Only use the product if it is in perfect technical condition.– Only use the product in original status without unauthorised modifications.– Do not carry out repairs on the product. If defective, replace the product immediately.– Observe labelling on the product.– Take into consideration the ambient conditions at the location of use.

The safety functions might fail, and malfunctions might occur if you do not comply with the para-meters and conditions required for the surroundings and connections.

– Wear required personal protective equipment during transport and during assembly and disas-sembly of very heavy product versions.

– Never remove or insert a plug connector while live.– Do not loosen any screws on the product other than the following:

– Earthing screw on the cooling element for mounting the PE connection on the mains side– Retaining screws of the shield clamp on the housing front– Only when used in IT networks: screw for connecting the internal mains filter to PE

– Install the product in a suitable control cabinet. The minimum degree of protection required forthe control cabinet is IP54.

– Once installed, only operate the product if all the necessary protective measures have been imple-mented (è EN 60204-1).

– Fully insulate all conducting lines on the product. We recommend cable end sleeves with plasticsleeves for wiring power connections. During wiring, please observe the necessary strip lengths.

– Ensure correct protective earthing and shield connection.– Prior to commissioning, ensure that the resulting movements of the connected actuators cannot

endanger anyone.– During commissioning: Systematically check all control functions and the communication and sig-

nal interface between controller and drive regulator.

Safety

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– The product is equipped with intermediate circuit capacitors, which store dangerous voltage forup to 5 minutes after the power supply is switched off. Before working on the product, switch offthe power supply via the main switch and secure it against being switched on again unintention-ally. Before touching the power connections, wait at least 5 minutes.

– Take into consideration the legal regulations for the respective destination.– Keep the documentation somewhere safe throughout the entire product lifecycle.In the event of damage caused by unauthorised manipulation or any form of use other than that inten-ded, the warranty is invalidated, and the manufacturer is not liable for damages.In the event of damage caused by using unauthorised software or firmware with the device, the war-ranty is invalidated, and the manufacturer is not liable for damages.

Safety instructions for the safety sub-functions of the product è Description Safety sub-function.

2.2 Intended useThe servo drive CMMT-AS is intended for supply and control of AC servo motors. The integrated elec-tronics permit regulation of torque (current), rotational speed and position. Use exclusively:– In perfect technical condition– In original condition without unauthorised modifications; only the extensions described in the

documentation supplied with the product are permitted– Within the limits of the product defined by the technical data è 11 Technical data– In an industrial environmentThe safety functions might fail, and malfunctions might occur if you do not comply with the paramet-ers and conditions required for the surroundings and connections.

Intended use of the safety sub-functions for the product è Description Safety sub-function.

2.2.1 Application areasThe device is intended for use in an industrial environment. Outside of industrial environments, meas-ures may need to be implemented for radio interference suppression, e.g. in commercial and mixed-residential areas.The device is intended to be installed in a control cabinet. The minimum degree of protection requiredfor the control cabinet is IP54.The device can be operated in TN, TT and IT systems if certain requirements are met. Detailed informa-tion on allowed and prohibited electrical network typesè 8.4 Permissible and impermissible electrical network types.

2.2.2 Permissible componentsIf holding brakes and clamping units without certification are used, the suitability for the relatedsafety-oriented application must be determined through a risk assessment.The motors must fulfil the requirements of EN 61800-5-2 appendix D.3.5 and D.3.6 and ofEN 60204-1. Motors approved or specified by Festo for the CMMT-AS fulfil the requirements.

Safety

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The motor cables and brake lines must fulfil the requirements of EN 61800-5-2 appendix D.3.1 and ofEN 60204-1. Motor cables and brake lines approved by Festo for the CMMT-AS fulfil the requirements.

2.3 Training of qualified personnelThe product may be installed and placed in operation only by a qualified electro technician, who isfamiliar with the topics:– installation and operation of electrical control systems– applicable regulations for operating safety-engineering systemsWork on safety-related systems may only be carried out by qualified personnel trained in safety engin-eering.

2.4 Approvals and certificationsThe product has the CE marking. For details of directives, seeè 11.1 Technical data, product conformity and approvals.The product-related EU directives and standards are listed in the declaration of conformityè www.festo.com/sp.The product is a safety device in accordance with the Machinery Directive. For details of the safety-ori-ented standards and test values that the product complies with and fulfils, see è Description Safetysub-function, Technical data for safety equipment. Please note that compliance with the named stand-ards is limited to the CMMT-AS-...-S1.Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL) for theUSA and Canada.These configurations bear the following mark:

Fig. 2

cUL Listed Mark for Canada and the United States.During installation and operation of this product, comply with all safety requirements, statutes, codes,rules and standards relevant for the product, such as the National Electrical Code (USA), CanadianElectrical Code (Canada) and regulations of the US federal agency OSHA. When selecting the circuitbreaker, comply with the maximum permissible electrical protection for UL.

3 Additional information– Accessories è www.festo.com/catalogue.– Spare parts è www.festo.com/spareparts.– All available documents for the product and current versions of the firmware and commissioning

software è www.festo.com/sp.

4 ServiceContact your regional Festo contact person if you have technical questions è www.festo.com.

Additional information

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http://www.festo.com/sp

http://www.festo.com/catalogue

http://www.festo.com/spareparts


http://www.festo.com

5 Product overview

5.1 Scope of delivery

Component Number

Servo drive CMMT-AS-... 1

Instruction manual CMMT-AS-... 1

Tab. 9 Scope of delivery

Below are some examples of the available accessories:– Plug connector set for single wiring connection NEKM-C6-...-S– Plug connector set for double wiring connection NEKM-C6-...-D– External braking resistor CACR-...– Motor cable NEBM-... , e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS– Encoder cable, e.g. for the motor series EMMS-AS and EMME-AS– Patch cable NEBC-..., e.g. for linkage of the RTE interface [X19A/B] – Display and operating unit CDSB-...– Mains filter CAMF-C6-F– Line inductor CAMF-C6-FD

Up-to-date information on the accessories è www.festo.com/catalogue.

5.2 System structureThe servo drive CMMT-AS is a 1-axis servo drive. Depending on the product variant, the following com-ponents, which are necessary for standard applications, are integrated into the device or into the cool-ing profile of the device:– Mains filter (guarantees immunity to interference and limits conducted emitted interference)– Electronics for intermediate circuit voltage conditioning– Output stage (for motor control)– Braking resistor (integrated into the cooling element)– Brake chopper (switches the braking resistor in the intermediate circuit, if and when required)– Temperature sensors (for monitoring the temperature of the power module and of the air in the

device)– Fan in cooling profile (depending on product variant)The device has separate connections for logic and load voltage supply. The load voltage supply comesdirectly from the low-voltage network. The logic supply must be provided through a PELV power sup-ply unit (+24 V DC).The servo drive offers the possibility to connect 2 encoders. In addition, the device has 1 switchingoutput for direct connection of the holding brake in the motor and 1 output for control of an externalclamping unit.An external braking resistor can be connected instead of the internal braking resistor, if necessary.

Product overview

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The servo drive features a Real-time Ethernet interface for process control. Various bus protocols aresupported depending on the product design (EtherCAT, EtherNet/IP or PROFINET).The device can be parameterised via a PC using either the Real-time Ethernet interface or the separatestandard Ethernet interface.If required, the display and operating unit CDSB can be plugged in on top of the device at the front.The CDSB displays, for example, diagnostic information as well as setpoint and actual values in plaintext.To enable you to operate several servo drives in a device compound, the intermediate circuits of sev-eral devices can be coupled, and the power supplies and I/O signals of the devices can be linkedthrough cross-wiring. The intermediate circuit coupling can increase the energy efficiency of the devicecompound.

Festo recommends use of servo motors, electromechanical drives, lines and accessories from theFesto accessory programme.

Product overview

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1 Bus/network

2 Main switch

3 Circuit breaker/fuses and all-current-sensit-ive RCD (residual-current-operated protect-ive device) (optional)

4 Power supply unit for logic voltage supply24 V DC (PELV)

5 External braking resistor (optional)

6 Servo drive CMMT-AS

7 Servo motor (here EMME-AS)

8 PC with Ethernet connection for paramet-erisation

Fig. 3 System structure (example)

5.2.1 Product designThe device has a compact design. The connections are on the front and top of the device as pin head-er, socket strip or RJ45 bushing. The shield clamp and strain relief for the motor cable are situated inthe lower area of the front panel.

Product overview

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1 Hood

2 Cooling element

3 Top of device

4 Blind plate

5 Front side

6 Shield clamp and strain relief for motor cable

Fig. 4 Servo drive CMMT-AS-...-11A-P3

The cooling element on the back of the device serves to dissipate the heat from internal componentsto the ambient air. The cooling element has one slot each on the top and bottom for mounting thedevice on the rear wall of the control cabinet. If a display and operating unit is not required, the upperarea is covered with a blind plate.The back of the device is part of the cooling element. The integrated braking resistor is integrated inthe air duct of the cooling element. The connecting cable for the braking resistor is passed from thecooling profile, emerges from the top of the cooling profile, and is connected to the connection [X9B].The product variant CMMT-AS-C5-11A-P3 has a fan located in the air duct of the cooling element. Thedevice controls the fan independently. The fan is switched on only briefly when the device is switchedon, and as needed. The fan draws in cold ambient air from beneath and blows the air upward throughthe profile. The air picks up heat from the profile in the process.

Product overview

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1 Top slot (keyhole shape)

2 Retaining screw for braking resistor (2x)

3 Braking resistor

4 Bottom slot

5 Fan (only for CMMT-AS-C5-11A-P3)

Fig. 5 Rear of CMMT-AS-...-11A-P3

Product overview

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5.2.2 Overview of connection technology

1 PE connection, housing

2 [X9A] Mains and intermediate circuit connec-tion

3 [X9C] Logic voltage

4 [XF2 OUT] RTE interface port 2

5 [XF1 IN] RTE interface port 1

6 [X1C] Inputs/outputs for the axis

7 [X6B] Motor auxiliary connection

8 [X6A] Motor phase connection

9 [X2] Encoder connection 1

10 [X3] Encoder connection 2

11 [X10] Device synchronisation

12 [X18] Standard Ethernet

13 [X5] Connection for operating unit (behindthe blind plate)

14 [X1A] I/O interface

15 [X9B] Connection for braking resistor

Fig. 6 Connections of the CMMT-AS-...-11A-P3

The blind plate can be pulled off by hand without tools. The display and operating unit CDSB can beplugged into the free space è Documentation on the CDSB. If a display and operating unit is notused, the upper area must be sealed with the blind plate.

Product overview

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6 Transport and storage– Protect the product during transport and storage from excessive stress factors. Excessive stress

factors include: – mechanical stresses– impermissible temperatures– moisture– aggressive atmospheres

– Store and transport the product in its original packaging. The original packaging offers sufficientprotection from typical stresses.

7 AssemblyDimensions

Fig. 7 Dimensions

Dimension L1 L2 L3 L4 L5 L6 L7

[mm] Approx.242

200 220 … 225 22 10 6 16

Tab. 10 Dimensions part 1

Transport and storage

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Dimen-sion

H1 H2 B1 B2 B3 D1 D2 D3

[mm] Approx.218

Approx.205

Approx.60

42 B1/2 R5.5 5.5 5.5

Tab. 11 Dimensions part 2

7.1 Mounting distances CMMT-AS-...-11A-P3 (3-phase)The servo drives of the series CMMT-AS can be arrayed next to each other. When arraying devices, therequired minimum distance must be maintained so that the heat generated during operation can beremoved by allowing sufficient air flow.

Fig. 8 Mounting distances and installation clearance for CMMT-AS-...-11A-P3 (3-phase)

Assembly

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Servo drive H1 H21) L1 L2 L3

CMMT-AS-C2-11A-P3... [mm]

CMMT-AS-C3-11A-P3... [mm]

CMMT-AS-C5-11A-P3 [mm]

100 70 62 70 227

1) To ensure that clearance H2 is observed and that the motor and encoder cables are routed in the optimum manner on the bottom ofthe housing, an installation clearance of 150 mm is recommended!

Tab. 12 Mounting distances and installation clearance

This means that a minimum lateral distance of 2 mm (62 mm … 60 mm) must be observed in relationto neighbouring CMMT-AS devices.For adjacent third-party devices, Festo recommends a distance of at least 10 mm (surface temperat-ure of third-party device max. 40 °C). The double mating plug for cross-wiring of the connection [X9A]protrudes by approx. 4 … 5 mm over the right side of the device. However, this does not create anobstacle for arraying additional CMMT-AS.

7.2 InstallationThe servo drive CMMT-AS is intended to be installed in a control cabinet.The cooling element of the device has one slot on the top and another one on the bottom. The deviceis screwed vertically and flat to the mounting surface using the two slots.

Assembly instructions– Use a control cabinet with degree of protection IP54 or higher.– Always install device vertically in the control cabinet (mains supply lines [X9A] point upwards).– Screw device flat to a sufficiently stable mounting surface so that good heat transfer from the

cooling element to the mounting surface is ensured (e.g. screw to the rear wall of the control cab-inet).

– Maintain minimum distances and installation clearance to ensure sufficient air flow. The surround-ing air in the control cabinet must be able to flow through the device from bottom to top withouthindrance.

– Take into account the required clearance for the wiring (connecting cables of the device must berouted from above and from the front).

– Do not mount any temperature-sensitive components near the device. The device can becomevery hot during operation (switch-off temperature of the temperature monitoring è Technicaldata).

– When assembling several devices in a device compound, consider general rules for cross-wiring.For intermediate circuit coupling, higher-power devices must be placed closer to the mains sup-ply.

To enable attachment to the rear panel of the control cabinet, the servo drive cooling element has aslot on the top in the shape of a keyhole and an ordinary slot on the bottom.

Assembly

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Assembly of the servo drive

WARNING!

Danger of burns through hot escaping gases and hot surfaces.In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internalcomponents can be overloaded. High temperatures can develop and hot gases can be released.• Have an authorised electrician perform the installation according to the documentation.

WARNING!

Danger of burns from hot housing surfaces.Metallic housing parts can accept high temperatures in operation. In particular, the braking resistorinstalled in the profile on the back side can become very hot.Contact with metal housing parts can cause burn injuries.• Do not touch metallic housing parts.• After the power supply is switched off, let the device cool off to room temperature.

• Fasten the servo drive to the rear wall of the control cabinet with suitable screws while complyingwith the assembly instructions.

8 Installation

8.1 SafetyWARNING!

Risk of injury from electric shock.Contact with live parts at the power connections [X6A], [X9A] and [X9B] can result in severe injuries ordeath.• Do not pull out power supply plugs while live.• Before touching, wait at least 5 minutes after switching off the load voltage to allow the interme-

diate circuit to discharge.

Installation

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WARNING!

Risk of injury from electric shock.The leakage current of the device to earth (PE) is > 3.5 mA AC or 10 mA DC. Touching the devicehousing if there is a fault can result in serious injuries or death.Before commissioning, also for brief measuring and test purposes:• Connect PE connection on the mains side at the following positions:

– Protective conductor connection (earthing screw) of the housing– PE pin of the connection [X9A] (power supply)

The cross section of the PE conductor must be at least equal to the cross section of the lineconductor L at [X9A].

• Connect motor cable to connection [X6A] and the shield of the motor cable on the front side to PEvia the shield clamp of the servo drive.

• Connect all additional PE conductors for the connections used.• Observe the regulations of EN 60204-1 for the protective earthing.

WARNING!

Danger of burns through hot escaping gases and hot surfaces.In case of error, incorrect wiring or incorrect polarity of the connections [X9A], [X9B] and [X6A], internalcomponents can be overloaded. High temperatures can develop and hot gases can be released.• Have an authorised electrician perform the installation according to the documentation.

WARNING!

Risk of injury from electric shock in case of incomplete insulation at the power connections [X6A],[X9A] and [X9B].Before operating, plugging in or unplugging the display and operating unit CDSB or a connector from ahot-plug-capable interface, the following points must be fulfilled: • The conducting lines at the device are completely insulated.• The protective earth (PE) and the shield connection are correctly connected to the device.• The housing is free of damage.

8.2 Residual current protective deviceWARNING!

Risk of injury from electric shock.This product can cause a DC current in the residual-current conductor in case of error. In cases where aresidual current device (RCD) or a residual current monitor (RCM) is used to protect against direct orindirect contact, only the type B kind of RCD or RCM is permitted on the power supply side of thisproduct.

The touch current in the protective earthing conductor can exceed an alternating current of 3.5 mA ora DC current of 10 mA. The minimum cross section of the protective earthing conductor must complywith the local safety regulations for protective earthing conductors for equipment with high leakagecurrent.

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A residual current circuit breaker with 30 mA tripping current may be suitable for a separately wiredservo drive CMMT-AS, depending on the configuration. As a rule, residual current protective deviceswith a rated residual current > 30 mA are required for a device compound consisting of several servodrives.Festo recommends using a residual current protective device with a tripping delay, as high residualcurrents occur during switch-on. Residual current protective devices with a tripping delay preventunintended tripping during switch-on.

8.3 Mains fuseThe CMMT-AS has no integrated fuse at the mains input or in the intermediate circuit. An external fuseis required at the mains supply of the device. A device compound coupled in the intermediate circuitmust be protected by means of a common mains fuse. Different requirements for mains fuses are spe-cified for cUL approval and CE approval.• Only use line safety switches and fuses that have the relevant approval and meet the specifica-

tions and protection requirements stated below.

Requirements for line safety switches (circuit breakers) and fuses

Fuse/circuit breakertype

Line safety switch Class J fuse

CE: 40cUL: 30

CE: 25cUL: 25

Max. permissible ratedcurrent

[A]

Restrictions concerning line protectionè Tab. 14 Line protection requirements

Short circuit currentrating SCCR of mainsfuse

[kA] Min. 10 Min. 100

Approvals CE: IEC 60947-2cUL: UL489, CSA C22.2 No. 5

CE: CE approvalcUL: UL Listed Standard 248,CSA approval

Rated voltage [V AC] CE: min. 400cUL: min. 480

CE: 600cUL: 600

Overvoltage category III

Degree of contamina-tion

2

Characteristic C Slow-blowing

Tab. 13 Requirements for line safety switches and fuses

In the case of electricity networks with a SCCR > 10 kA, only class J fuses are permitted. The line safetyswitch is used for line protection. The rated current of the line safety switch must be less than or equalto the acceptable current load of the selected conductor cross section. The line safety switch mustalso take into account the overload case and must not trip (overload case: a 3-fold increase in theinput current for 2 s).

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Line protection requirements

Cable cross sec-tion at [X9A]

Mains fuse [A]Description

[mm2] CMMT-AS-...-C2-11A-...

CMMT-AS-...-C3-11A-...

CMMT-AS-...-C5-11A-...

Minimum electrical pro-tection

1.5 6

Maximum electrical protection of an individual device or a device compound

4 cUL1): 20CE2): 25

Without heat-resistantcable

6 cUL1): 30CE2): 32

4 CE2): 32With heat-resistantcable3)

6 CE2): 40

1) Specifications according to UL 61800-5-1:2012; for cUL, only use Cu cables that have a permissible constant insulation temperatureof at least 75 °C.

2) Specifications according to DIN VDE 0298-4:2013, permissible currents according to EN 60204-1 may differ (depending on layingmethod and temperature)

3) No derating up to an ambient temperature of 50 °C and with a cable temperature higher than 70 °C (max. cable temperature 90 °C)

Tab. 14 Line protection requirements

Electrical protection when load circuit is supplied with DC powerThe CMMT-AS allows the load circuit to be supplied with DC power. With DC power, external electricalprotection is once again required in the form of short circuit protection and line protection. The fusethat is used must be capable of reliably disconnecting the maximum DC supply voltage that couldoccur and the potential short circuit current (SCCRDC). Maximum fuse protection: 40 A

If fuse protection is to be avoided on the DC side, check whether the fuse protection could alternat-ively be installed on the AC side upstream of the DC power supply unit.

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8.4 Permissible and impermissible electrical network types

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TN systems

TN systems Reference1) Information

TN-S system with sep-arate neutral conductorand PE conductor inoverall system

Fig. 31A1 System is supported.Connect device to the distribution network of thecurrent source as follows:– Connect L1, L2, L3.– Do not connect N.For DC link coupling, connect only one device dir-ectly to the distribution network of the currentsource. Connect the coupled devices to the threemains phases using cross wiring.2)

TN-S system with sep-arate earthed outerconductor and PE con-ductor in the overallsystem

Fig. 31A2 System is not supported because one phase isearthed.

TN-S system withearthed PE conductorwithout neutral con-ductor in the overallsystem

Fig. 31A3 System is supported.Connect device to the distribution network of thecurrent source as follows:– Connect L1, L2, L3.– Do not connect N.For DC link coupling, connect only one device dir-ectly to the distribution network of the currentsource. Connect the coupled devices to the threemains phases using cross wiring.2)

TN-C system with neut-ral conductor and PEconductor functioncombined in a singleconductor, the PENconductor

Fig. 31C

TN-C-S system withneutral conductor andPE conductor functioncombined in a singleconductor, the PENconductor, in one partof the system

Fig. 31B1

System is supported.Connect device to the distribution network of thecurrent source as follows:– Connect L1, L2, L3.– Use PEN as PE only.For DC link coupling, connect only one device dir-ectly to the distribution network of the currentsource. Connect the coupled devices to the threemains phases using cross wiring.2)

1) è IEC 60364-1 chapter 312.2.2) For cross wiring, only 1 main switch and 1 circuit breaker is allowed for the compound device.

Tab. 15 Permissible and impermissible TN systems

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TT system

TT system Reference1) Information

TT system with separ-ate neutral conductorand PE conductor in theoverall system.The N conductor is con-nected directly to thecurrent source.

Fig. 31F1 as per UL standard: system is not permittedas per IEC standard: system is supported.Connect device to the distribution network of thecurrent source as follows:– Connect L1, L2, L3.– Use PEN as PE only.For DC link coupling, connect only one device dir-ectly to the distribution network of the currentsource. Connect the coupled devices to the threemains phases using cross wiring.2)

1) è IEC 60364-1 chapter 312.2.2) For cross wiring, only 1 main switch and 1 circuit breaker is allowed for the compound device.

Tab. 16 TT system

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IT system

IT system Reference1) Information

IT system with insula-tion of active parts sep-arated from protectiveearthing or connectedvia high impedance.The exposed conduct-ive parts are connectedto a local earth.

Fig. 31G1 System is supported.– The permissible system voltage of the

CMMT-AS is 300 V in accordance withIEC 61800-5-1. Observe the restrictions setout in IEC 61800-5-1 when operating theCMMT-AS in an IT network!

– Use an insulation monitoring system so thatinsulation faults can be detected immedi-ately (earth-leakage monitor).

– Interrupt the internal connection of theinternal mains filter to PEè Interrupting the connection of the internalmains filter to PE (for IT networks only).

– Use external filter measures that ensure CEconformity.

Connect device to the distribution network of thecurrent source as follows:– Connect L1, L2, L3.– Do not connect N.For DC link coupling, connect only one device dir-ectly to the distribution network of the currentsource. Connect the coupled devices to the threemains phases using cross wiring.

1) è IEC 60364-1 chapter 312.2.

Tab. 17 IT system

After removing the connection of the internal mains filter to PE, the device is not classified in respectof emitted interference in accordance with EN 61800-3. External filter measures are required.When operating servo drives in IT networks, the distributor must provide an EMC concept for the over-all system.This comprises as a minimum:– A concept for feeding the converter leakage currents back into the converter intermediate circuit

(Y capacitors to the intermediate circuit)– Use of external filter measures such as mains filter and converter output filter

Earth-leakage monitorAn earth-leakage monitor is required for IT systems so an insulation fault between the mains phaseand PE can be detected immediately. An insulation fault must be rectified immediately after detection.

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NOTICE!

High-frequency leakage currentsHigh-frequency leakage currents to protective earthing (PE) may be encountered during operation ofthe servo drive in IT networks in spite of the IT network. The leakage currents flow to the PE throughthe unavoidable coupling capacitances of the motor cable and the motor and back to the servo drivethrough the coupling capacitance of the isolating transformer through the load supply.• Minimise coupling capacitances by selection of a suitable isolating transformer and keeping the

motor cable as short as possible.

Interrupting the connection of the internal mains filter to PE (for IT networks only)Before using the CMMT-AS in IT networks, the internal connection of the integrated mains filter to PEmust be interrupted. Interrupting the connection prevents unwanted disconnection on faults of thedevice and damage to the integrated filter. The connection of the mains filter to PE is interrupted byremoving a screw in the lower area of the right-hand side of the housing.To unscrew the screw, lever out the housing element in front of the screw. A protective cap for sealingthe recess in the housing is included in the delivery of the plug set NEKM-C6-...-S and NEKM-C6-...-D(Festo accessories).

To interrupt the connection of the filter capacitors to PE:1. Completely disconnect the servo drive from the power supply.2. Wait 5 minutes until the intermediate DC circuit has discharged.

Fig. 9 Levering out the housing element

3. Place a suitable screwdriver against the upper notch in the housing recess provided and carefullylever the housing element out using the screwdriver.

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Fig. 10 Undoing the screw

4. Carefully undo the screw completely using a size T10 TORX-screwdriver.

Fig. 11 Pushing in the protective cap

5. Push the protective cap fully into the housing recess as contact protection.For operation in other networks, the internal connection of the mains filter to PE must be re-estab-lished by screwing the screw back in (tightening torque 1.4 Nm± ± 15%).

8.5 Connection of the mains side PE protective conductorAll PE protective conductors must always be connected prior to commissioning for safety reasons.Observe the regulations of EN 60204-1 when implementing protective earthing.Always connect PE connection on the mains side (PE rail in the control cabinet) at the following posi-tions:– PE pin of the connection [X9A]– PE connection (earthing screw) next to the upper slot of the cooling elementThe cross section of the PE conductor must be at least equal to the cross section of the line conductorsL at [X9A]. For individually wired devices, carry out wiring in a star shape. For cross-wired devices,observe the requirements for cross-wiring. Recommendation: Use copper earth strap (advantageousfor EMC).1. Equip PE conductors for the earthing screw with a suitable cable lug.2. Tighten earthing screw with a TORX screwdriver of size T20 (tightening torque 1.8 Nm ± 15 %).

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1 PE connection (earthing screw)

Fig. 12 PE connection (earthing screw)

8.6 Information on EMC-compliant installationA mains filter is integrated into the device. The mains filter fulfils the following tasks:– Guarantees the device's immunity to interference– Limits the conducted emitted interference of the deviceIf installed correctly and if all connecting cables are wired correctly, the device fulfils the specificationsof the related product standard EN 61800-3.The category that the device fulfils is dependent on the filter measures used and the motor cablelength. The integrated mains filter is designed so that the device fulfils the following categories:

Type code Category PWM frequency [kHz] Max. permissiblelength of the motorcable [m]

C21) 10

C3 502)

CMMT-AS-C2-11A-P3CMMT-AS-C3-11A-P3CMMT-AS-C5-11A-P3

C3; with external mainsfilter

8

1002)

1) To comply with the mains harmonics requirements of EN 61000-3-2, it is necessary to install a line inductor with three partial wind-ings for mains supply lines L1, L2 and L3 (3 x ³ 3.7 mH).

2) With motor cable lengths > 25 m, use suitable wire cross sections when connecting the motor phases. Pay attention to the nominalcurrents, maximum currents and voltage drop. Take account of the voltage drop on the brake cables. Adhere to the maximum per-missible cable length for the encoder used.

Tab. 18 Category according to the cable length

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– If set-up and commissioning are performed by a professional with the necessary experience forsetting up and commissioning drive systems, including their EMC aspects, category C2 devicescan be used in the first environment (residential area).

– When operating category C2 devices, limit values apply to the harmonic currents in the mains sup-ply (EN 61000-3-2 or EN 61000-3-12). Please check whether this is the case for your facility/sys-tem. As a rule, compliance with the limit values for harmonic currents requires the use of externalfilter measures, e.g. installation of a series line inductor.

– Category C3 devices are intended for use in the second environment only (industrial environ-ment). Use in the first environment is not permitted.

This product can generate high-frequency malfunctions, which may make it necessary to implementinterference suppression measures in residential areas.

Cable lengths and cable shield– Only use suitable cables that fulfil the requirements of standard EN 60204-1.– Observe the max. permissible cable lengths and requirements for the shield.– Observe shield connection requirements.

Connection Max. cable length [m] Cable shield

[X1A] Inputs/outputs for thehigher-order PLC

3 Unshielded

[X1C] Inputs/outputs for theaxis

1001) Unshielded/shielded2)

[X2] Encoder 1

[X3] Encoder 2

1003) Shielded

[X6A] Motor phase connec-tion

Dependent on categoryè Tab. 18 Categoryaccording to the cablelength

Shielded

[X6B] Motor auxiliary connec-tion

1001) Shielded

[X9A] Power supply and inter-mediate circuit connec-tion

Individual device: 2Device compound: 0.5

Unshielded

[X9B] Braking resistor 24) Shielded4)

[X9C] Logic voltage supply Individual device: 2Device compound: 0.5

Unshielded

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Connection Max. cable length [m] Cable shield

[X10] Device synchronisation Individual device: 3Device compound: 0.5

Double shielded(CAT 5)

[X19] RTE (port 1 and port 2) 30 Double shielded(CAT 5)

[X18] Standard Ethernet 30 Double shielded(CAT 5)

1) With cable lengths > 25 m, take account of the voltage drop on the cables by selecting appropriate wire cross sections.2) For safety-related applications, use a shielded cable outside the control cabinet. Otherwise, a shield is not absolutely essential, but is

recommended.3) Adhere to the maximum permissible cable length for the encoder used.4) With connection of an external braking resistor

Tab. 19 Cable lengths and cable shield

Shielded cables without a shielded plug housing necessarily have short unshielded cable ends at bothends.Make unshielded cable ends as short as possible.Maximum permissible length of unshielded wires at the connection:– [X6A] Max. 120 mm– [X6B] Max. 150 mm– [X1C] Max. 150 mm

Laying cablesComply with general guidelines for EMC-compliant installation, e.g.:– Do not run signal cables parallel to power cables.– Comply with required minimum distances between signal cables and power cables dependent on

the installation conditions. Signal cables must be physically separated from the power cables tothe maximum possible extent.

– Avoid crossing signal cables with power cables or running them at a 90° angle in relation to oneanother.

EMC-compliant installation of the motor cable and encoder cables– Keep motor cable as short as possible to minimise the leakage currents and losses in the motor

cable.– Connect the motor cable shield under the shield clamp in the lower area on the front of the hous-

ing, ensuring a large-area connection. The motor cable shield must be connected to the associ-ated servo drive so that the leakage currents can flow back into the servo drive from which theyoriginate.

– Connect the PE inner conductor of the motor cable to the PE connection point of the motor con-nection [X6A].

– Connect the shield of the motor cable to the PE over a large surface area on the motor side(e.g. via the shield connection provided on the motor connector or the shield support surface inthe motor junction box).

– If separate cables are used for the holding brake and the temperature sensor, connect therespective shield to the corresponding PE connection point of the motor auxiliary connection[X6B].

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– Connect the shield of the encoder cable on both sides: on the device side to the respective plughousing, on the motor side to the encoder or plug housing.

– Route the signal cables [X2], [X3], [X10], [X1C] and [X6B] downward and relieve strain with cablebinders at the cutouts of the drive regulator shield clamp.

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8.7 Connection examplesConnection plan, 3-phase mains connection

1 Braking resistor

2 Line safety switch or 3 x fuses

3 Main switch/main contactor

4 PELV power supply unit for 24 V supply

5 Encoder 2 (optional)

6 Encoder 1

Fig. 13 Connection example

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8.8 Interfaces

8.8.1 [X1A], Inputs and outputs for the higher-order PLCThe I/O interface [X1A] is located on the top of the device. This interface offers access to functionaland safety-related inputs and outputs of the device. These include, for example:– Digital inputs for 24 V level (PNP logic)– Digital outputs for 24 V level (PNP logic)– Signal contact for safety chain (RDY-C1, RDY-C2)– Differential analogue input ±10 V control voltageThe inputs and outputs of this I/O interface are used for coupling to a higher-order PLC. The safety-related inputs and outputs are connected to a safety relay unit.

[X1A] Pin Function Description

24 RDY-C1

23 RDY-C2

Normally open contact: ready foroperation message (Ready)

22 STA Diagnostic output Safe torque offacknowledge

21 SBA Diagnostic output Safe brake con-trol acknowledge

20 –

19 –

Reserved, do not connect

18 SIN4 Release brake request

17 GND Reference potential (ground)

16 TRG0 Fast output for triggering externalcomponents, channel 0

15 TRG1 Like TRG0, but channel 1

14 CAP0 Fast input for position detection,channel 0

13 CAP1 Like CAP0, but channel 1

12 #STO-A Control input Safe torque off,channel A

11 #STO-B Control input Safe torque off,channel B

10 #SBC-A Control input Safe brake control,channel A

9 #SBC-B Control input Safe brake control,channel B

8 – Reserved, do not connect

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7

6

5

– Reserved, do not connect

4 ERR-RST Error acknowledgment

3 CTRL-EN Output stage enable

2 AIN0

1 #AIN0

Differential analogue input

Tab. 20 Inputs and outputs for the higher-order PLC

Requirements for the mating plugs (2 required)

Design FMC-1,5/12-ST-3,5 fromPhoenix Contact or compatible

Signal contacts 12 (12-pin, 1-row)

Nominal current 8 A

Rated voltage (III/2) 160 V

Grid dimension 3.5 mm

Strip length 10 mm

Tab. 21 Requirements for the mating plugs

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Requirements for the connect-ing cable

Individual device Device compound

Shielding Unshielded

Min. conductor cross sectionincl. cable end sleeve withplastic sleeve

0.25 mm2 –

Max. conductor cross sectionincl. cable end sleeve withplastic sleeve

0.75 mm2 –

Min. conductor cross sectionincl. double cable end sleevewith plastic sleeve

– 0.25 mm2

Max. conductor cross sectionincl. double cable end sleevewith plastic sleeve

– 0.5 mm2

Max. length 3 m 0.5 m

Tab. 22 Requirements for the connecting cable

Brief description of inputs and outputs at the connection [X1A]

Signal name Name Function Can be para-meterised

X1A.24 Ready 1 (RDY-C1)

X1A.23 Ready 2 (RDY-C2)

Normally open contact; readyIf the device is ready for operation, the contact isclosed. If there is an error, the contact is opened.

X1A.22 Safe torque offacknowledge(STA)

Diagnostic output for the safety sub-functionSTO; the output only switches to high when thesafety sub-function STO is requested over 2channels and the control of the power outputstage is switched off safely over 2 channels(detailed information on this è DescriptionSafety sub-function).

X1A.21 Safe brakecontrolacknowledge(SBA)

Diagnostic output for the safety sub-functionSBC; the output only switches to high when thesafety sub-function SBC is requested over 2channels and both brake outputs are switchedoff safely (detailed information on thisè Description Safety sub-function).

No

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X1A.20 n. c.

X1A.19 n. c.

Reserved for future extensions; do not connect

X1A.18 Release brake(SIN4)

When the level at this input is high, the brake canbe released functionally if the function has beenpreviously configured in the servo drive.However, a requested SBC function always hashigher priority, and this results in the brake notbeing triggered/enabled.

Yes

X1A.17 0 V (GND) Reference potential for I/O signals; internally connected to 0 V ofthe 24 V logic supply. Therefore, only use if the I/O signals areelectrically isolated from the 24 V logic supply on the oppositeside (controller).

X1A.16 Trigger 0(TRG0)

Trigger output channel 0 (fast output for trigger-ing external components)The output switches dependent on a referenceposition. Via the output, logical switchingstatuses can be output by virtual positionswitches, rotor position switches and cam con-trollers.

X1A.15 Trigger 1(TRG1)

Trigger output channel 1 (like TRG0, but channel1)

X1A.14 Capture, chan-nel 0 (CAP0)

Fast input for position detection, channel 0The current actual position of the encoder issaved when the parameterised edge changeoccurs. The higher-order controller can call upthe stored actual positions via the active field-bus.

X1A.13 Capture, chan-nel 1 (CAP1)

Fast input for position detection, channel 1(like CAP0, but channel 1)

Yes

X1A.12 Safe torqueoff, channel A(#STO-A)

X1A.11 Safe torqueoff, channel B(#STO-B)

The safety sub-function STO is requested whenthe signal level at the inputs #STO-A and #STO-Bis low. Control of the power output stage is thensafely blocked. If the safety sub-function STO isnot required, both inputs must be connected to24 V so that the motor can be moved (detailedinformation on this è Description Safety sub-function).

No

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X1A.10 Safe brakecontrol, chan-nel A (#SBC-A)

X1A.9 Safe brakecontrol, chan-nel B (#SBC-B)

The safety sub-function SBC is requested whenthe signal level at the inputs #SBC-A and #SBC-Bis low. The control outputs for the motor holdingbrake and external clamping unit are thenswitched off. If the safety sub-function SBC is notrequired, both inputs must be connected to 24 Vso that the motor can be moved (detailed inform-ation on this è Description Safety sub-function).

No

X1A.8 n. c.

X1A.7 n. c.

X1A.6 n. c.

X1A.5 n. c.

Reserved for future extensions; do not connect

X1A.4 Acknowledgeerror (ERR-RST)

Acknowledgeable error messages can beacknowledged through a rising edge at thisinput.

No

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X1A.3 Enable (CTRL-EN)

Behaviour can be parameterised.– Behaviour 1: The closed-loop controller can

only be enabled via the drive profile whenhigh level is present.

– Behaviour 2: On a rising edge, the closed-loop controller is enabled without taking thedrive profile into account. The drive is ener-gised and is in the operating mode reques-ted during the signal transition.

– Behaviour 3: Enabling of the closed-loopcontroller can only be controlled via the driveprofile.

If the request is withdrawn, the drive is braked inaccordance with the behaviour of stop cat-egory 1. On completion of the braking ramp, thebrake engages, and the output stage is function-ally switched off.

Yes

X1A.2 AIN0

X1A.1 #AIN0

Differential analogue input for typical input levelof ± 10 V Via the analogue input, the following setpointvalues and limits can be specified in the form ofanalogue voltage:– Setpoint values for position, speed or

force/current– Limits for speed or force/current

Yes

Tab. 23 Inputs and outputs at the connection [X1A]

Internal design of digital inputs (DIN) - does not apply for STO inputsThe following equivalent circuit shows an example of the internal design of a digital input (DIN).The digital inputs are designed for +24 V level corresponding to type 3 in accordance withEN 61131-2. The digital inputs are not electrically isolated and have integrated EMC protective func-tions.In terms of their internal design, 2-channel safe inputs are equivalent to two 1-channel inputs.However, the equivalent circuit is not valid for the STO inputs. Information on 2-channel safe inputsè Description Safety sub-function.

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µCDIN

Fig. 14 Internal design of digital inputs (DIN)

Internal design of digital outputs (DOUT)The digital outputs TRG0 and TRG1 supply +24 V signals, which are implemented with a high-sidedriver.

Fig. 15 Internal design of digital outputs (DOUT)

Internal design of analogue input 0 (AIN0)The analogue input AIN0 is a differential input for typical input levels of ± 10 V. The differential ampli-fier filters out high-frequency interference signals.

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AIN

VREF

ADU

#AIN

Fig. 16 Internal design of analogue input 0 (AIN0)

8.8.2 [X1C], Inputs and outputs for the axisThe I/O interface [X1C] is located on the front of the device. This interface makes functional and safety-related inputs and outputs available for components on the axis. Output BR-EXT is used in conjunctionwith the safety sub-function Safe brake control è Description Safety sub-function.

[X1C] Pin Function Description


9 24 V Power supply output forsensors


7 LIM1 Digital input for limitswitch 1 (PNP logic,24 V DC)

6 LIM0 Digital input for limitswitch 0 (PNP logic,24 V DC)


4 24 V Power supply output forsensors

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3 – Reserved, do not connect

2 REF-A Digital input for referenceswitch (PNP logic, 24 V DC)

1 BR-EXT Output for connection of anexternal clamping unit (high-side switch, low test pulsesat #SBC-B are transferred toBR-EXT)

Tab. 24 Inputs and outputs for the axis

Requirements for the mating plug

Design DFMC 1,5/ 5-ST-3,5 fromPhoenix Contact or compatible


Nominal current 8 A



Strip length 10 mm

Tab. 25 Requirements for the mating plug

Requirements for the cable

Shielding Unshielded/shielded1)

Min. conductor cross section including cable endsleeve with plastic sleeve

0.25 mm2

Max. conductor cross section including cable endsleeve with plastic sleeve

0.75 mm2

Max. length 100 m

1) For safety-related applications, use a shielded cable outside the control cabinet. Otherwise, a shield is not absolutely essential, but isrecommended.

Tab. 26 Requirements for the cable

Shield connection requirements

Connecting the shield1. On device side, connect cable shield to shield clamp for motor cable.2. On machine side, connect cable shield to an earthed machine part.

8.8.3 [X2], Encoder interface 1The encoder interface [X2] is located on the front of the device. The encoder interface [X2] primarilyserves to connect the position sensor integrated into the motor.

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Supported standards/protocols Supported encoders

Hiperface SEK/SEL 37SKS/SKM 36

EnDat 2.2 ECI 1118/EBI 1135ECI 1119/EQI 1131ECN 1113/EQN 1125ECN 1123/EQN 1135

EnDat 2.1 Only in connection with Festo motors from theseries EMMS-AS that have an integrated encoderwith EnDat 2.1 protocol

Digital incremental encoders with square-wavesignals and with RS422-compatible signal output(differential A, B, N signals)

ROD 426 or compatible

Analogue SIN/COS incremental encoders withdifferential analogue signals with 1 Vss

HEIDENHAIN LS 187/LS 487 (20 µm signal peri-od) or compatible

Position sensor with asynchronous two-wirecommunication interface (RS485)

Nikon MAR-M50A or compatible (18 bit dataframes)

Tab. 27 Supported standards and protocols of the encoder interface [X2]

NOTICE!

Damage to the sensor when sensor type is changed.The servo drive can provide 5 V or 10 V sensor supply. Through configuration of the sensor, the sup-ply voltage is established for the sensor. The sensor can be damaged if the configuration is not adjus-ted before connection of another sensor type.• When changing the sensor type: Comply with specified steps.

Change of encoder type1. Disconnect encoder from the device.2. Set up and configure new encoder type in the CMMT-AS.3. Save settings in the CMMT-AS.4. Switch off CMMT-AS.5. Connect new encoder type.6. Switch CMMT-AS back on.Voltage drops in the encoder cable are compensated at the connection [X2] for encoders that featurepurely digital communication and require a regulated +5 V supply (EnDat 2.1, Nikon).The connection [X2] is designed as a RJ45 bushing. An LED is integrated into the RJ45 bushing. Withdigital incremental encoders, the LED lights up green when the encoder interface is active. Withencoders featuring a communication interface, the LED lights up green when there is a connection tothe encoder.

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Design VS-08-RJ45-5-Q/IP20 from Phoenix Contact orcompatible

Number of pins 8

Shielded Yes

Nominal current > 1 A

Rated voltage 120 V AC

Degree of protection IP20


Requirements for the connecting cable

Characteristics – Encoder cable for servo drives, shielded– Optical shield cover > 85 %– Separately twisted signal pairs– Recommended design: (4 x (2 x 0.25 mm2))1)

Max. cable length 100 m1)

1) In the case of encoders with no compensation for voltage drops or in the case of very long cables, thicker supply cables may berequired.



Connecting the encoder cable shield1. On the device side, connect the encoder cable shield to the plug housing.2. On the motor side, connect the encoder cable shield to the encoder or encoder plug.

Pin allocation of EnDat encoder (EnDat 2.1 and EnDat 2.2)

[X2] Pin Function Value Description

1 SCLK

2 #SCLK

5 Vss, Ri = 120 W Clock line, output,RS485-compliant,differential

3 VCC-IN Measured value Only for EnDat 2.1:Encoder voltageback measurement,differential

4 DATA

5 #DATA

Differential signal:5 Vss, Ri = 120 W

Data cable, bidirec-tional, RS485-com-pliant, differential

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Pin allocation of EnDat encoder (EnDat 2.1 and EnDat 2.2)


6 #VCC-IN Measured value Only for EnDat 2.1:Encoder voltageback measurement,differential, inverse

7 VCC1 – EnDat 2.1:5.00 V … 5.50 V,max. 250 mA

– EnDat 2.2:9.50 V … 10.50 -V, max. 250 mA

Encoder supply,switchable– EnDat 2.1: 5 V– EnDat 2.2: 10 V

8 GND 0 V Reference potentialof encoder supply(ground)

Housing FE, connected to PE – The housing is usedas a support for thecable shield and isconnected to the PE.

Tab. 30 EnDat encoder

Hiperface encoder pin allocation


1 COS

2 #COS

1 Vss, Ri = 120 W COS track signalfrom the high-resolu-tion incrementalencoder,RS485-compliant,differential

3 SIN 1 Vss, Ri = 120 Ω SIN track signal fromthe high-resolutionincremental encoder,RS485-compliant,differential

4 DATA 5 Vss, Ri = 120 W Hiperface Data

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Hiperface encoder pin allocation


5 #DATA 5 Vss, Ri = 120 W cable, bidirectional,asynchronous,115 kbit/sRS485-compliant,differential

6 #SIN 1 Vss, Ri = 120 Ω SIN track signal fromthe high-resolutionincremental encoder,RS485-compliant,differential, inverse

7 VCC1 9.50 V … 10.50 VMax. 250 mA

Encoder supply,switchable; Hiper-face: 10 V

8 GND 0 V Reference potentialfor supply (ground)


Tab. 31 Hiperface encoder

Pin allocation for digital incremental encoders


1 A

2 #A

5 Vss, Ri = 120 W A-track signal fromthe incrementalencoder,RS485-compliant,differential

3 B 5 Vss, Ri = 120 W B-track signal fromthe incrementalencoder,RS485-compliant,differential

4 N 5 Vss, Ri = 120 W Zero pulse, or N-

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5 #N 5 Vss, Ri = 120 W track signal from theincremental encoder,RS485-compliant,differential

6 #B 5 Vss, Ri = 120 W B-track signal fromthe incrementalencoder,RS485-compliant,differential, inverse

7 VCC1 5.00 V … 5.50 V,max. 250 mA

Encoder supply,switchable; incre-mental encoder: 5 VVoltage drop in theencoder cable is notcompensated



Tab. 32 Digital incremental encoders

Pin allocation for analogue SIN/COS incremental encoders


1 COS

2 #COS

1 Vss, Ri = 120 Ω COS track signalfrom the high-resolu-tion incrementalencoder,RS485-compliant,differential


4 N 5 Vss, Ri = 120 Ω Zero pulse, or N-

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5 #N 5 Vss, Ri = 120 Ω track signal from theincremental encoder,RS485-compliant,differential


7 VCC1 5.00 V … 5.50 V,max. 250 mA

Encoder supply,switchable; SIN/COSencoder: 5 VVoltage drop in theencoder cable is notcompensated



Tab. 33 Analogue SIN/COS incremental encoders

Pin allocation for encoders with asynchronous communication interface


1 –

2 –

– –

3 VCC-IN Measured value Encoder voltageback measurement,differential

4 DATA

5 #DATA

5 Vss, Ri = 120 W Data cable, bidirec-tional, asynchron-ous, max.4000 kbit/s,RS485-compliant,differential

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Pin allocation for encoders with asynchronous communication interface


6 #VCC-IN Measured value Encoder voltageback measurement,differential, inverse

7 VCC1 5.00 V … 5.50 V,max. 250 mA

Encoder supply,switchable; 5 VVoltage drop in theencoder cable iscompensated



Tab. 34 Encoders with asynchronous communication interface

8.8.4 [X3], Encoder interface 2The encoder interface [X3] is located on the front of the device. The encoder interface [X3] primarilyserves to connect a second position sensor to the axis (e.g. to enable precise positioning control forthe axis or as a redundant measuring system for safe motion monitoring).

Supported standards/protocols Supported encoders

Digital incremental encoders with square-wavesignals and with RS422-compatible signal out-puts (differential A, B, N signals)

ROD 426 or compatibleELGO LMIX 22

Analogue SIN/COS incremental encoders withdifferential analogue signals with 1 Vss

HEIDENHAIN LS 187/LS 487 (20 µm signal peri-od) or compatible

Tab. 35 Standards and protocols supported by the encoder interface [X3]

[X3] is designed to be electrically compatible with [X2] but does not support all encoders and functionslike [X2].The connection [X3] is designed as a RJ45 bushing. An LED is integrated into the RJ45 bushing. The LEDindicates the connection status. If there is a connection to the encoder, the LED lights up green.

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Number of pins 8

Shielded Yes






Characteristics – Encoder cable for servo drives, shielded– Optical shield cover > 85 %– Separately twisted signal pairs– Recommended design: (4 x (2 x 0.25 mm2))1)

Max. cable length 100 m

1) In the case of encoders with no compensation for voltage drops or in the case of very long cables, thicker supply cables may berequired.



Connecting the encoder cable shield1. On the device side, connect the encoder cable shield to the plug housing.2. On the motor side, connect the encoder cable shield to the encoder or encoder plug.



1 A

2 #A

5 Vss, Ri = 120 Ω A-track signal fromthe incrementalencoder,RS485-compliant,differential

3 B 5 Vss, Ri = 120 Ω B-track signal fromthe incrementalencoder,RS485-compliant,differential


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6 #B 5 Vss, Ri = 120 Ω B-track signal fromthe incrementalencoder,RS485-compliant,differential, inverse

7 VCC1 5.00 V … 5.50 V,max. 250 mA

Encoder supply,switchable; incre-mental encoder: 5 VVoltage drop is notcompensated



Tab. 38 Digital incremental encoders



1 COS

2 #COS

1 Vss, Ri = 120 Ω COS track signalfrom the high-resolu-tion incrementalencoder,RS485-compliant,differential



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7 VCC1 5.00 V … 5.50 V,max. 250 mA

Encoder supply,switchable; SIN/COSencoder: 5 VVoltage drop is notcompensated



Tab. 39 Analogue SIN/COS incremental encoders

8.8.5 [X10], SYNC IN/OUTThe interface [X10] is located on the front of the device. The interface [X10] permits master-slave coup-ling. In the master-slave coupling, the axes of several devices (slave axes) are synchronised via adevice (master axis). The SYNC interface can be configured for different functions and can be used asfollows:

Possible functions Description

Incremental encoder output Output of a master axis that emulates encodersignals (encoder emulation)

Incremental encoder input Input of a slave axis for receiving the encoder sig-nals of a master axis

Pulse direction input Input of a slave axis for receiving the pulse direc-tion signals or count signals containing up-count/down-count pulses

Tab. 40 Possible functions of the connection [X10]

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The connection [X10] is designed as a RJ45 bushing. An LED is integrated into the RJ45 bushing. TheLED shows whether the interface has been activated. If the interface has been activated, the LED lightsup green. The CMMT-AS cannot detect whether an encoder is connected.



Number of pins 8

Shielded Yes






Characteristics – Encoder cable for servo drives, shielded– Optical shield cover > 85 %– Separately twisted signal pairs– Recommended design: (4 x (2 x 0.25 mm2))



Shield connection requirementsConnect the connecting cable shield to the plug housings on both sides.

Possible connections

Connection possibilities Description

Direct connection of 2 devices 2 devices can be connected directly with a patchcable (point-to-point connection). Recommendation: Use patch cable of categoryCat 5e; maximum length: 25 cm

Connection of several devices via RJ45 T adapterand patch cables

A maximum of 16 devices may be connected.Recommendation: Use T adapter and patchcables of category Cat 5e; maximum length percable: 25 cm

Connection of several devices via patch cablesand a connector box (accessoriesè www.festo.com/catalogue)

A maximum of 16 devices may be connected.Recommendation: Use patch cables of categoryCat 5e, maximum length per cable: 100 cm

Tab. 43 Connection possibilities

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Direct connection of 2 devices

1 Point-to-point connection

Fig. 17 Point-to-point connection

Connection of several devices via RJ45 T adapter and patch cables

1 RJ45 T adapter

Fig. 18 Connection over RJ45 T adapter and patch cables

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Connection of several devices via patch cables and a connector box

1 Connection over a connector box

Fig. 19 Connection over a hub

Incremental encoder In/Out

[X10] Pin Function Description

1 A

2 #A

5 Vss, Ri = 120 Ω A-track signal1),RS485-compliant,differential

3 B 5 Vss, Ri 120 Ω B-track signal1),RS485-compliant,differential

4 Z

5 #Z

5 Vss, Ri = 120 Ω Zero pulse or Z-tracksignal1), RS485-com-pliant, differential

6 #B 5 Vss, Ri = 120 Ω B-track signal1),RS485-compliant,differential, inverse

7 n. c. – –



1) of an input or output channel, depending on the configuration

Tab. 44 Incremental encoder In/Out

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Pulse/direction input


1 CLK

2 #CLK

5 Vss, Ri = 120 Ω CLK signal from acontroller,RS485-compliant,differential

3 DIR 5 Vss, Ri = 120 Ω DIR signal from acontroller,RS485-compliant,differential

4 –

5 –

- Reserved, do notconnect

6 #DIR 5 Vss, Ri = 120 Ω DIR signal from acontroller,RS485-compliant,differential, inverse

7 n. c. – –



Tab. 45 Pulse/direction input

Incremental encoder input CW/CCW


1 CW1)

2 #CW

5 Vss, Ri = 120 Ω CW signal from acontroller,RS485-compliant,differential

3 CCW2) 5 Vss, Ri = 120 Ω CCW signal from acontroller,RS485-compliant,differential

4 –

5 –

– Reserved, do notconnect

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Incremental encoder input CW/CCW


6 #CCW 5 Vss, Ri = 120 Ω CCW signal from acontroller,RS485-compliant,differential, inverse

7 n. c. – –



1) CW signal: forward count/up-count pulse (clockwise)2) CCW signal: backward count/down-count pulse (counterclockwise)

Tab. 46 Incremental encoder input CW/CCW

8.8.6 [X18], Standard EthernetThe interface [X18] is located on the front of the device. The following can be performed via the inter-face [X18] using the commissioning software:– Diagnostics– Parameterisation– Control– Firmware updateThe interface is designed to conform to the standard IEEE 802.3. The interface is electrically isolatedand intended for use with limited cable lengths è Tab. 49 Requirements for the connecting cable. Forthis reason, the insulation coordination approach differs from IEEE 802.3 and must conform instead tothe applicable product standard IEC 61800-5-1.The connection [X18] is designed as a RJ45 bushing. 2 LEDs are integrated into the RJ45 bushing. Thegreen LED lights up if the interface is activated. The yellow LED flashes when communication activity isdetected.

Standard Ethernet


1 TX+ Transmitted data+

2 TX- Transmitted data-

3 RX+ Received data+

4 n. c.

5 n. c.

Not connected

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Standard Ethernet


6 RX- Received data-

7 n. c.

8 n. c.

Not connected

Housing FE, connected to PE The housing is used as asupport for the cable shieldand is connected to the PE.

Tab. 47 Standard Ethernet



Number of pins 8

Shielded Yes






Characteristics CAT 5, patch cable, double shielded



The following connections are possible via the Ethernet interface:

Connections Description

Point-to-point connection The device is connected directly to the PC via anEthernet cable.

Network connection The device is connected to an Ethernet network.

Tab. 50 Options for connection

The device supports the following methods of IP configuration (based on IPv4):

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Methods Description

Obtain IP address automatically (DHCP client) The device obtains its IP configuration from aDHCP server in your network. This method is suit-able for networks in which a DHCP server alreadyexists.

Fixed IP configuration The device uses a fixed IP configuration.The IP configuration of the device can be perman-ently assigned manually. However, the devicecan only be addressed if the assigned IP config-uration matches the IP configuration of the PC.Factory setting: 192.168.0.1

Tab. 51 Options for IP configuration

Shield connection requirements• Connect the cable shield to the plug housings on both sides.

Possible connections• Connect CMMT to your network via a hub/switch or directly to the PC.

8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2The interface [X19] is located on the top of the device. The interface [X19] permits RTE communication.The following protocols are supported by the interface [X19], depending on the product design:

Product variant Supported protocol

CMMT-AS-...-EC EtherCAT

CMMT-AS-...-EP EtherNet/IP

CMMT-AS-...-PN PROFINET

Tab. 52 Supported protocol

The physical level of the interface fulfils the requirements according to IEEE 802.3. The interface iselectrically isolated and intended for use with limited cable lengthsè Tab. 55 Requirements for the connecting cable.The interface [X19] offers 2 ports.– Port 1, labelled on the device with [X19, XF1 IN]– Port 2, labelled on the device with [X19, XF2 OUT]2 LEDs are integrated into each of the two RJ45 bushings. The behaviour of the LEDs depends on thebus protocol. Use is not always made of both LEDs.

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Real-time Ethernet (RTE) port 1 and port 2


1 TX+ Transmitted data+

2 TX- Transmitted data-

3 RX+ Received data+

4 n. c.

5 n. c.

Not connected

6 RX- Received data-

7 n. c.

8 n. c.

Not connected

Housing FE, connected to PE The housing is used as asupport for the cable shieldand is connected to the PE.

Tab. 53 [X19], RTE port 1 and port 2



Number of pins 8

Shielded Yes






Characteristics CAT 5, patch cable, double shielded



Shield connection requirements• Connect the cable shield to the plug housings on both sides.

Connection to the controller• If possible, and if supported by the bus protocol, build ring redundancy into the connection with

the controller.

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8.9 Motor connection

8.9.1 [X6A], Motor phase connectionThe connection [X6A] is located on the front of the device. The following connections to the motor areestablished via the connection [X6A]:– Motor phases U, V, W– PE connection


4 PE Protective earthing, motor

3 W Third motor phase

2 V Second motor phase

1 U First motor phase

Tab. 56 Motor phase connection

The cable shield of the motor cable must be placed on the support surface on the bottom front of thehousing and the motor cable fastened with the shield clamp.


Design ISPC5/ 4-STGCL-7,62 fromPhoenix Contact or compatible

Power contacts 4

Nominal current 41 A



Strip length – In the case of cable endsleeves with plasticsleeves: 15 mm

– In the case of cable endsleeves without plasticsleeves: 10 mm


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Wires and shielding – 4 power wires, shielded– Extra optional wires, e.g. for the holding

brake (shielded separately) and the motortemperature sensor (shielded separately)

Design Only use cables that ensure safe separationbetween the motor phases and the shielded sig-nals of the holding brake and motor temperaturesensor.è 8.9.4 Shield support of the motor cable

Max. cable length è 8.6 Information on EMC-compliant installation

Max. capacitance < 250 pF/m

Nominal cross section of power wires1) 0.75 mm2 … 1.5 mm²

Cable diameter of the stripped cable or shieldsleeve (clamping range of the shield clamp)

11 mm … 15 mm

The only motor cables permitted are those that fulfil the requirements of EN 61800-5-2 Annex D.3.1and the requirements of EN 60204-1.For cUL, only use Cu cables that have a permissible constant insulation temperature of at least75 °C.

1) Limited by clamping range of the shield clamp; otherwise, the mating plug would allow slightly larger cross sections.


Festo offers prefabricated motor cables as accessories è www.festo.com/catalogue.– Only use motor cables that have been approved for operation with the Festo servo drive. Motor

cables of other manufacturers are permitted if they meet the specified requirements.

8.9.2 [X6B], Motor auxiliary connectionThe connection [X6B] is located on the front of the device. The holding brake of the motor and themotor temperature sensor can be connected to the connection [X6B]. The output for the holding brakeis used both functionally and in connection with the safety sub-function Safe brake control è Descrip-tion Safety sub-function.To allow motor temperature monitoring, the following are supported:– N/C and N/O contacts– KTY 81 … 84 (silicon temperature sensors)– PTC (positive temperature coefficient)– NTC (negative temperature coefficient)– Pt1000 (platinum measuring resistor)The servo drive monitors whether the motor temperature violates an upper or lower limit. With switch-ing sensors, only the upper limit value can be monitored (e.g. with a normally closed contact). The lim-it values and the error reactions can be parameterised.

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[X6B] Pin Function Description

6 MT– Motor temperature (negativepotential)

5 MT+ Motor temperature (positivepotential)

4 PE Protective earthing

3 BR– Holding brake (negativepotential)

2 BR+ Holding brake (positivepotential)


Tab. 59 Motor auxiliary connection


Design DFMC 1,5/ 3-ST-3,5 fromPhoenix Contact or compatible


Nominal current 8 A



Strip length 10 mm



Design – 2 wires for the line to the holding brake, twis-ted in pairs, separately shielded

– 2 wires for the line to the temperaturesensor, twisted in pairs, separately shielded

Min. conductor cross section including cable endsleeve with plastic sleeve

0.25 mm2

Max. conductor cross section including cable endsleeve with plastic sleeve

0.75 mm2

Max. length 100 m1)

1) With cable lengths > 25 m, take account of the voltage drop on the cables by selecting appropriate wire cross sections.


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Requirement for the temperature sensor in the motor– Electrically safe separation from the motor phases in accordance with IEC 61800-5-1, voltage

class C, overvoltage category III.

Shield connection requirements– Make unshielded cable ends as short as possible (max. 150 mm).– Connect the cable shield on both sides.

8.9.3 Electronic overload and overtemperature protection for the motorThe CMMT-AS allows the motor to be electronically protected against overload and overtemperatureby offering the following protective functions:

Protective functions Description Measures required during installation and com-missioning

Temperature monitor-ing of the motor

The motor temperatureis monitored for anupper and lower limitvalue, including hyster-esis. The limit valuescan be parameterised.

– Connect temperature sensor to connection[X6B] (both switching and analogue temper-ature sensors are supported)

– Parameterise temperature limit values inaccordance with type of motor used,e.g. using the device-specific plug-in.Respect the permissible limit values of themotor.

Electronic current limit-ing and I²t monitoringof the motor current

The motor current ismonitored electronic-ally and limited inaccordance with thelimit values specifiedby standardè EN 61800-5-1, Tab.29.Motor currents and I²ttime constant can beparameterised.

– Parameterise nominal current, maximum cur-rent and I²t time constant of the motor,e.g. using the device-specific plug-in.

Thermal memory in theevent of motor switch-off

Thermal memory in theevent of a power supplyfailure

Supported, cannot beparameterised

None

Speed-sensitive over-load protection

Not supported —

Tab. 62 Protective functions for the motor

Installation

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The specified parameters are preset for Festo motors. The parameters can be adjusted via the plug-inon parameter page Axis 1/Motor.

8.9.4 Shield support of the motor cable

Requirements for connecting the motor cable shield on the device sideThe type of shield connection depends on the design of the motor cable. If, for example, a hybridcable is used to connect the motor, holding brake, and temperature sensor, the following options existfor connecting the shield on the device side:Option 1: All motor cable shields are jointly connected over a large surface area using a shield sleeveat the cable end and are connected below the shield clamp on the front of the CMMT-AS.

1 Shield sleeve

Fig. 20 Shared shield support of all cable shields (example)

Option 2: The outside shield of the motor cable is connected separately over a large surface areabelow the shield clamp on the front of the CMMT-AS. The inside shields are connected separately tothe designated PE pin of the connection [X6B].

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1 Inside shield placed separately

2 Inside shield placed separately

3 Shield sleeve

Fig. 21 Separate shield support of all cable shields (example)

• Make unshielded cable ends as short as possible.

Mounting the shield clampThe lower area on the front of the housing serves as a shield support surface. The shield support sur-face, together with the shield clamp, allows the motor cable shield to be connected over a large sur-face area.1. Using the shield clamp, press the motor cable shield or the conducting shield end sleeve of the

motor cable onto the shield support surface of the housing è Fig.22.2. Using a size T20 TORX screwdriver, tighten the retaining screws (2x) of the shield clamp. Pay

attention to the clamping range and observe the tightening torque specified below.

Property Value Comments

Clamping range 11 mm … 15 mm Diameter of the stripped cableor shield sleeve

Tightening torque for the retain-ing screws in the case of blockmounting

1.8 Nm ± 15 % In the case of block mounting,the shield clamp makes full con-tact with the base of the hous-ing (cable diameter 11 mm)

Minimum tightening torque withlarger cable diameter(> 11 mm … 15 mm)

0.5 Nm ± 15 % With a higher tightening torque,make sure that the connectingcable does not get crushed inthe clamping area due toexcessive pressure.

Tab. 63 Tightening torque and clamping range

Installation

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1 Retaining screws of the shield clamp

2 Motor cable

3 Cutout for fastening cable binders (2x)

4 Shield clamp

5 Motor cable shield connected over a largesurface area below the shield clamp

Fig. 22 Shield clamp of the motor cable

Connection of the motor cable shield on the motor sideDetailed information on the motor-side connection with motor cables from Festo è Assembly instruc-tions for the motor cable used è www.festo.com/sp.• Connect all shields to the PE over a large surface area on the motor side (e.g. via the shield con-

nection provided on the motor connector or the shield support surface in the motor junction box).

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8.10 Power and logic voltage supply

8.10.1 [X9A], Power supply and intermediate circuit connectionThe connection [X9A] is located on the top of the device.The control section of the device is supplied with electrical voltage via the connection [X9A]. In addi-tion, the connection provides pins for intermediate circuit coupling.– Power section of the device supplied with 3-phase mains voltage (200 V AC … 480 V AC)– Optional: intermediate circuit coupling of 3-phase devices of the same CMMT-AS seriesCross-wiring of the mains and logic voltage supply is possible with and without intermediate circuitcoupling (è 8.11 Cross-wiring).


6 DC+ Intermediate circuit positivepotential

5 DC- Intermediate circuit negativepotential

4 L3 Mains supply phase L3




Tab. 64 Power supply and intermediate circuit

Mating plug Requirements for the mating plug

Design for single wiring connec-tion

SPC 5/ 6-ST-7,62 from PhoenixContact or compatible

Design for cross-wiring TSPC 5/ 6-ST-7,62 fromPhoenix Contact or compatible

Number of pins 6


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Strip length 15 mm




Number of wires and shielding 4 wires, unshielded Without intermediate circuitcoupling: 4 wires, unshieldedWith intermediate circuit coup-ling: 6 wires, unshielded

Min. conductor cross sectionincluding cable end sleeve withplastic sleeve

0.5 mm2 1.5 mm2

Max. conductor cross sectionincluding cable end sleeve withplastic sleeve

4 mm2 4 mm2

Max. conductor cross sectionincluding cable end sleevewithout plastic sleeve

6 mm2 6 mm2

Max. length 2 m £ 0.5 m

For cUL, only use Cu cables that have a permissible constant insulation temperature of at least75 °C.


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8.10.2 [X9C], Logic voltage supplyThe connection [X9C] is located on the top of the device. The device is supplied with logic voltage viathe connection [X9C].

WARNING!

Risk of injury due to electric shock.• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reli-

able separation from the mains network.• Observe IEC 60204-1/EN 60204-1.

• Only connect PELV circuits with an output current of max. 25 A. Otherwise, use a separate extern-al fuse: 25 A.


2 24 V DC Positive potential of logicvoltage supply

1 0 V Reference potential for logicvoltage supply

Tab. 67 Logic voltage supply


Design for single wiring connec-tion

FKC 2,5/2-ST-5,08 from PhoenixContact or compatible

Design for cross-wiring TFKC 2,5/2-ST-5,08 fromPhoenix Contact or compatible

Number of pins 2

Nominal current of single mat-ing plug

12 A

Nominal current of double mat-ing plug

12 A (for device); 16 A (for loop-ing through)

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Strip length 10 mm




Number of wires and shielding 2 wires, unshielded 2 wires, unshielded

Min. conductor cross sectionincl. cable end sleeve withplastic sleeve

0.5 mm2 0.5 mm2

Max. conductor cross sectionincl. cable end sleeve withplastic sleeve

2.5 mm2 2.5 mm2

Max. length 2 m 0.5 m



8.10.3 [X9B], Connection, braking resistorThe connection [X9B] is located on the top of the device. The internal braking resistor or a suitableexternal braking resistor is attached to the connection [X9B].

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During braking, the motor works as a generator. In these cases, the motor feeds electrical energy backinto the intermediate circuit. The excess energy must be absorbed by the braking resistor and conver-ted into heat.The braking resistor integrated into the device is sufficient for many applications with moderate cycletimes and small moving loads. Therefore, it is often the case that no external braking resistor isrequired.• Connect an external braking resistor if larger pulse or continuous powers have to be absorbed

than the integrated braking resistor permits.The braking resistor is also used as a pre-charging resistor for the intermediate circuit. The intermedi-ate circuit cannot be loaded without a braking resistor. If no braking resistor is connected, the devicereports an error.

[X9B] Pin Function Description

2 BR+Ch Braking resistor positiveconnection

1 BR-Ch Braking resistor negativeconnection

Tab. 70 Connection for the braking resistor


Design GIC 2,5 HCV/2-ST-7,62 fromPhoenix Contact or compatible

Number of pins 2




Strip length 8 mm

Tighteningtorque GIC 2,5 HCV/2-ST-7,62

0.5 ... 0.6 Nm1)

1) Specification of the manufacturer at the time the documentation was approved


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Requirements for the connecting cables of external braking resistors

Number of wires and shielding 2 wires, shielded

Min. conductor cross section incl. cable endsleeve with plastic sleeve

0.25 mm2

Max. conductor cross section incl. cable endsleeve with plastic sleeve

2.5 mm2


Wiring Within the control cabinet, shield connected toPE



Requirements for connecting the shield when an external braking resistor is connected• On the device side, connect the cable shield to the earthing screw next to the upper slot of the

cooling element.

Selection of suitable external braking resistorsThe connected braking resistor must fulfil the following prerequisites:– External braking resistors must meet the requirements of standard IEC 61800-5-1.– The braking resistor must be designed for operation with high pulse energy during braking.– The braking resistor must be suitable for the intermediate circuit voltage that occurs.– The resistance value of the braking resistor must be low enough for the highest braking power to

be absorbed (typically 2 … 2.5 times the nominal power of the motor).– The resistance value of the braking resistor must be within the permitted range so that the brake

chopper in the device is not overloaded. Therefore, only use suitable braking resistors, i.e. thosethat are compatible with the output stage power data of the servo drive used in terms of theirvoltage, current and pulse energy capacity.

Technical data for the integrated braking resistor and additional requirements for external braking res-istors è 11.3.3 Electrical data for braking resistor (internal/external) [X9B]

Overload protection for external braking resistorsThe external braking resistor can be monitored by the firmware of the device with the help of a thermalmodel calculation. Consequently, the CMMT-AS must be parameterised as follows:– Activation of external braking resistor– Input of the following data: resistance value, continuous power and permissible pulse energyWhen the pulse energy limit is reached, the brake chopper is switched off. If the intermediate circuitvoltage rises again as a result, the output stage switches off with the message “Overload in the inter-mediate circuit”.

8.11 Cross-wiringCross-wiring makes it possible to set up a device compound consisting of up to 10 servo drives CMMT-AS. The different cross-wiring options are as follows:

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– Cross-wiring of I/O signals at the connection [X1A]– Cross-wiring of the mains and logic voltage supply without intermediate circuit coupling– Cross-wiring of the mains and logic voltage supply with intermediate circuit coupling

8.11.1 Cross-wiring of the I/O signals at the connection [X1A]The following table shows which signals of the connection [X1A] in the device compound can be con-nected directly to the same signals of neighbouring devices:

Signal name Type Short identifier Function Information

X1A.24 RDY-C1

X1A.23

–

RDY-C2

Normally open con-tact: ”ready for oper-ation message(Ready)“

Max. 10 devices,series connection ofthe contacts

X1A.22 DOUT STA Safe torque offacknowledge

X1A.21 DOUT SBA Safe brake controlacknowledge

Max. 10 devices,parallel connection

X1A.20 – –

X1A.19 – –

Reserved, do notconnect

–

X1A.18 DIN SIN4 Release brakerequest


X1A.17 – GND Reference potential(ground)

Max. 10 devices,must be cross-wired

X1A.16 DOUT TRG0 Like TRG1

X1A.15 DOUT TRG1 Fast output for trig-gering external com-ponents

Use separately!

X1A.14 DIN CAP0 Like CAP1

X1A.13 DIN CAP1 Fast input for posi-tion detection

Intended for separ-ate use, cross-wiringnot usually advis-able, max. 10devices, parallelconnection

X1A.12 #STO-A Safe torque off,channel A

X1A.11 DIN #STO-B Safe torque off,channel B

X1A.10 #SBC-A Safe brake control,channel A


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Signal name Type Short identifier Function Information

X1A.9 DIN #SBC-B Safe brake control,channel B


X1A.8

X1A.7

X1A.6

X1A.5

– – Reserved, do notconnect

–

X1A.4 DIN ERR-RST Functional erroracknowledgment

X1A.3 DIN CTRL-EN Output stage enable


X1A.2 AIN0

X1A.1

AIN

#AIN0

Differential analogueinput

Cross-wiring is onlyadvisable if severaldrive regulators areto receive the samesetpoint value viaAIN0.

Tab. 73 Information on cross-wiring of the I/O signals at the connection [X1A]

• Cross-wire the I/O signals at the connection [X1A] with the required mating plug in combinationwith double wire end sleeves.

Example for cross-wiring of I/O signalsThe following image is a schematic diagram of the cross-wiring based on the example of the signalcontact (RDY-…), a 1-channel input (here IN) and a 1-channel diagnostic output (here SOUT; digitaloutput of a safety sub-function, e.g. SBA).

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Fig. 23 Cross-wiring, example

The signal contacts (RDY-...) are connected in series. For the status “Contact closed”, this results in anAND operation. The result of the operation is forwarded to a digital input (IN) of the higher-order PLC.1-channel digital inputs (IN) are connected in parallel to an output (OUT) of the PLC. If, for example, allCTRL-EN inputs of the device compound are connected in parallel to a digital output, the enables forthe device compound output stages can be controlled via this one digital output.In the case of cross-wired diagnostic outputs (e.g. STA and SBA), the common status is the result of alogical AND operation. A high signal will only be present at the two inputs of the safety PLC (here SIN-Aand SIN-B) if all diagnostic outputs (here SOUT) are delivering HIGH signals. Thanks to the ring-shapedcross-wiring of the diagnostic outputs, a cable break can be detected in the PLC by means of sensingat the beginning (SIN-A) and end (SIN-B) of the signal chain.When there is cross-wiring of I/O signals, the following should also be cross-wired:– Reference potentials GND (X1A.17) of all cross-wired servo drives– Logic supply

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8.11.2 Cross-wiring of the mains and logic voltage supply

Cross-wiring of the mains and logic voltage sup-ply

Description

... without intermediate circuit coupling The connections for the mains and logic voltagesupply are cross-wired and connected to therespective voltage source.The intermediate circuits are not connected.

... with intermediate circuit coupling The connections for the mains and logic voltagesupply are cross-wired and connected to therespective voltage source. In addition, the intermediate circuits of thedevices are cross-wired (intermediate circuitcoupling).

Tab. 74 Options for cross-wiring of the mains and logic voltage supply

Cross-wiring can be performed easily with the help of the double mating plugs, which are available asaccessories.

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1 Double counterplug at the connection [X9A] 2 Double counterplug at the connection [X9C]

Fig. 24 Cross-wiring CMMT-AS-...-11A-P3 (schematic diagram)

Intermediate circuit couplingIf several servo drives of type CMMT-AS are used in an application, intermediate circuit coupling maybe advisable.With intermediate circuit coupling, the energy recovered during braking can be provided to otherservo drives through the intermediate circuit instead of being converted almost completely into heatvia braking resistors. This improves the energy efficiency of the device compound by making use ofthe recovered energy.In addition, intermediate circuit coupling results in the following:– Increased intermediate circuit capacitance thanks to shared use of the intermediate circuit capa-

citors– Increase in the braking energy to be absorbed due to shared use of the braking resistors

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Rules for cross-wiring of the mains and logic voltage supply with and without intermediate circuitcoupling

NOTICE!

Errors in the cross wiring can destroy the internal electronics.• Always observe rules for cross wiring.

– Only cross-wire devices with the same mains voltage. The devices must therefore all be 1-phasedevices, or all be 3-phase devices with the same mains voltage supply and intermediate circuitvoltage. Cross-wiring of the mains and intermediate circuit voltage between 1-phase devices and3-phase devices is not permitted and will directly result in destruction of the servo drive! The logicvoltage supply can be through-connected.

– For 1-phase devices: Connect all devices to the same mains phase.– For 3-phase devices: Connect all devices to the same 3 mains phases.– Place higher-power devices closer to the mains infeed.– Insert a suitable fuse into the mains supply line for line protection and semiconductor protection.– Do not exceed the maximum number of devices in the device compound.

A device compound may consist of a maximum of 10 devices. However, the permitted number isdependent on the power data of the devices used and the parameterised nominal currents of theconnected motors. The number is limited by the amount of the maximum permitted total currentand the maximum permitted total nominal power (dependent on the conductor cross section ofthe cross-wiring).

– Always connect all devices to the mains supply, even with intermediate circuit coupling. It is notpermitted to connect only one device or only one part of the device compound to the mains sup-ply. Such wiring can overload and destroy devices.

Braking resistors in the device compound– A braking resistor must be connected to each device in the device compound (internal or extern-

al).– If devices with different output powers are combined, dimension the braking resistors in accord-

ance with the output powers of the devices. This is ensured if the internal braking resistors areused.

Electrical protection of a device compoundA shared external fuse is required at the mains connection of the devices. The fuse fulfils the followingfunctions:– Line protection; the rated current of the fuse must be less than or equal to the acceptable current

load of the selected conductor cross section.– Semiconductor protection; the diode rectifiers of the devices are not protected against short cir-

cuit currents in the DC intermediate circuit.Recommendation:– Use circuit breakers as line protection with appropriate tripping current and switching character-

istic C. For additional information è 8.3 Mains fuse.– Use class J short circuit current limiting fuses if cUL approval is required or if the device is to be

operated in electrical networks with an SCCR rating > 10 kA. For additional informationè 8.3 Mains fuse.

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Data for operation in a device compound (CMMT-AS-...-11A-P3)A device compound may consist of a maximum of 10 devices. However, the permitted number isdependent on the power data of the devices used.The number is limited by the amount of the maximum permitted total current and the maximum per-mitted total nominal power of the device compound and depends on the conductor cross section.

Choice of mains protection1. Determine total mains current of the device compound.2. Determine total current of the logic supply.3. Select the required conductor cross section for the cross-wiring.4. Select the required mains protection while also considering the conductor cross section and the

standard classification (according to UL or CE approval).Permissible maximum values è Tab. 14 Line protection requirements.

Approximate calculation to determine the mains currentFor 3-phase devices, the mains current can be calculated approximately as follows:Imains = 0.0024 A/W x Pnom,out

Imains: mains current [A]; Pnom,out: nominal power (electrical) at motor connection [W]Example2 servo drives CMMT-AS-C5-11A-... are used to drive motors with a nominal mechanical power (Pnom,

mech) of 2500 W. Assumed degree of efficiency of the motors: 80 %.Pnom,out = 2 x 2500 W ¸ 0.8 = 6250 WImains = 0.0024 A/W x 6250 W = 15 AFuse is designed for Imains: 15 Arms

Examples of possible device combinationsThe following table shows examples of possible device combinations plus the fuses required when theload on the servo drive is 100 % of its nominal power:

Conductorcross sectionat [X9A]

Max. permit-ted current

Example of device combina-tions

Required cur-rent [Arms]

Selected elec-trical protec-tion

10 x CMMT-AS-C2-11A (2 Arms

each)20 C20According to

IEC standard1):25 A 4 x CMMT-AS-C2-11A (2 Arms

each)3 x CMMT-AS-C3-11A (3 Arms

each)1 x CMMT-AS-C5-11A (6 Arms)

23 C25

4 mm2

According toUL standard2):


each)20 C20

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Conductorcross sectionat [X9A]

Max. permit-ted current

Example of device combina-tions

Required cur-rent [Arms]

Selected elec-trical protec-tion

4 mm2 20 A 4 x CMMT-AS-C2-11A (2 Arms



20 C20


each)20 C20According to

IEC standard:32 A 5 x CMMT-AS-C2-11A (2 Arms



31 C32

6 mm2

According toUL standard:30 A




29 C30

1) Specifications according to DIN VDE 0298-4:2013, permissible currents according to EN 60204-1 may differ (depending on layingmethod and temperature)

2) Specifications according to UL 61800-5-1:2012

Tab. 75 Examples of possible device combinations

Cross-wiring without intermediate circuit couplingAll contacts for the mains and logic voltage supply are cross-wired at the connections [X9A] and [X9C].The intermediate circuits are not cross-wired (DC+/DC-). The first device is connected to both voltagesources. 3-phase devices with the same power class and 3-phase devices with different power classescan be connected. If the 24 V logic supply used has a nominal output current > 25 A, a fuse/circuitbreaker is required. Fuse/circuit breaker type: “slow-blowing” fuse or circuit breaker with “Ccharacteristic”

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1 Master switch 2 Line safety switch

Fig. 25 Cross wiring without intermediate circuit coupling (CMMT-AS-...-11A-P3)

Cross-wiring with intermediate circuit couplingAll contacts at the connections [X9A] and [X9C] are cross-wired. The first device is connected to bothvoltage sources. 3-phase devices with the same power class and 3-phase devices with different powerclasses can be connected. If the 24 V logic supply used has a nominal output current > 25 A, afuse/circuit breaker is required. Fuse/circuit breaker type: “slow-blowing” fuse or circuit breaker with“C characteristic”

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1 Master switch 2 Line safety switch

Fig. 26 Cross wiring with intermediate circuit coupling (CMMT-AS-...-11A-P3)

9 Malfunctions

9.1 Diagnostics via LEDsOn the front and top of the device, there are some LEDs for indicating status information. The numberof LEDs depends on the product design. Up to 11 LEDs are located on the front of the device. Up to 4LEDs are located on the top of the device at the connections [X19], XF1 IN and XF2 OUT.The following image shows an example of the LEDs on the front of product variant CMMT-AS-...-EC.The labelling and function of the Run LED and Error LED vary according to the product variant.

Malfunctions

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1 Device status (4 LEDs)

2 Run (example CMMT-AS-...-EC)

3 Error (example CMMT-AS-...-EC)

4 Ethernet interface activated [X18]

5 Communication activity [X18]

6 Sync interface activated [X10]

7 Encoder status, encoder interface [X3]

8 Encoder status, encoder interface [X2]

Fig. 27 LEDs on the front (example CMMT-AS-...-EC)

9.1.1 Device status displays

LED Designation Brief description

Status LED Indicates the general device status

Power LED Indicates the status of the power supply

Safety LED Indicates the status of the safety equipment

Application status LED Indicates the identification sequence and isreserved for future extensions

Tab. 76 Device status LEDs (status, power, safety and application status LEDs)

LED testAfter the device is switched on, it runs through an initialisation phase. When the initialisation phase iscomplete, the device performs an LED test. During the LED test, the 4 device status LEDs are activatedsimultaneously. The 4 device status LEDs light up yellow for approx. 300 ms.

Malfunctions

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Status LED, display of the device status

LED Meaning

Flash-es red

An error is present.

Flash-es yel-low

A warning is present, or the servo drive is currently performing a firmware update.

Lightsupyellow

The servo drive is in the initialisation phase.

Flash-esgreen

The servo drive is ready, and the output stage is switched off (Ready).

Lightsupgreen

The output stage and the closed-loop controller are enabled.

Tab. 77 Status LED

Power LED, status of the power supply

LED Meaning

Flash-es yel-low

The logic voltage and AC supply are present. The intermediate circuit is beingcharged.

Lightsupyellow

The logic voltage supply is present, but the AC supply is lacking.

Lightsupgreen

The logic voltage supply is present, and the intermediate circuit is charged.

Tab. 78 Power LED

Safety LED, status of the safety equipmentMalfunctions of the safety sub-functions are detected and displayed in the functional device. The fol-lowing are detected:– Safety sub-functions requested via 1 channel (discrepancy monitoring)– Internal device errors that lead to pulse monitoring not being switched off or only switched off on

one channel– Errors in the brake outputs or the external wiring that result in voltage being present on the brake

output even though the safety sub-function SBC has been requested

Malfunctions

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Malfunctions are externally reported by the functional part, including via the additional communica-tion interfaces (bus, commissioning software).

LED Meaning

Flash-es red

Error in the safety part, or a safety condition has been violated.

Flash-es yel-low

The safety sub-function has been requested but is not yet active.

Lightsupyellow

The safety sub-function has been requested and is active.

Flash-esgreen

Output stage, brake outputs and safety diagnostic outputs are blocked (safetyparameterisation is running).

Lightsupgreen

Ready, no safety sub-function has been requested.

Tab. 79 Safety LED

Malfunctions

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Application status

LED Meaning

Flash-esaltern-atelybetw-eenred,yellowandgreen

Identification sequence active (for optical identification of the device in a network),which can be activated via the parameterisation software

Flash-es yel-low

Lightsupyellow

Flash-esgreen

Lightsupgreen

Reserved for future extensions

Tab. 80 Application status LED

Special function of the start program (bootloader) during firmware updatesWhen the bootloader starts the update procedure, the status LED flashes yellow at half-second inter-vals. The power LED, safety LED and application status LED remain dark.If the bootloader is waiting for inputs, e.g. via the CDSB, the status LED lights up yellow. The powerLED, safety LED and application status LED remain dark.If an error occurs during a firmware update, the status LED flashes red at one-second intervals. Thefrequency of flashing corresponds to the error number specified in the following table. After flashing,there is a pause of 3 s. Then the procedure repeats.

Malfunctions

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Error number Description

1 The start program has detected a CRC error in the firmware after switching on.

2 The start program has detected a CRC error in the start program after switching on.

3 The start program is supposed to update the firmware but has detected an error inthe system update file.

4 The start program is supposed to update itself and the firmware but has detected adefective start program in the system update file.

5 The start program cannot access the file system or the system update file, or thesystem update file is defective.

Tab. 81 Error messages of the start program (bootloader)

9.1.2 Interface status [X2], [X3], [X10], [X18]

LED at [X2] and [X3]; encoder status

LED Meaning

Lightsupgreen

– For digital incremental encoders: encoder evaluation active.– For encoders with communication interface: connection to the encoder estab-

lished.

Tab. 82 LED at [X2] and [X3]

LED at [X10]; sync connection status

LED Meaning

Lightsupgreen

Interface is activated.

Tab. 83 LED at [X10]

LEDs at [X18]; connection status of the Ethernet interface

LED Meaning (upper LED)

Off Interface is deactivated.

Lightsupgreen

Interface is activated.

Tab. 84 Upper LED at [X18]

Malfunctions

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LED Meaning (lower LED)

Off No communication activity

Flash-es yel-low

Communication activity detected.

Tab. 85 Lower LED at [X18]

9.1.3 Device and interface status, EtherCAT

EtherCAT LED displays (CMMT-AS-...-EC only)Together with the 2 LEDs on the top, the Run LED and the Error LED on the front display the bus/net-work status.

EtherCAT, Run LED; operating status

LED Meaning Remedy

Off The device is in the Init status (initialisa-tion).

–

Flash-esgreen

The device is in the pre-operationalstatus.

–

Flash-esgreen1)

The device is in the safe-operationalstatus.

–

Lightsupgreen

The device is in the operational status(normal operating status).

–

1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)

Tab. 86 Run LED

Malfunctions

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EtherCAT, error LED; error status

LED Meaning Remedy

Off No error –

Flash-es red

Invalid configuration, general configura-tion error, a status change specified bythe master is not possible.

Eliminate configuration error.

Flash-esred1)

Local error, the slave device applicationhas independently changed the Ether-CAT status. This can have the followingcauses:– A host watchdog time-out has

occurred.– Synchronisation error, the device

switches automatically to the safe-operational status.

–

Flash-esred2)

A process data watchdog time-out hasoccurred.

–

1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)2) Double flash: double short flash (2x flash, pause, 2x flash, etc.)

Tab. 87 Error LED

EtherCAT, LINK/ACTIVITY LED; connection status at XF1 IN and XF2 OUT

LED Meaning Remedy

Off No network connection Check network connection.

Flick-ersgreen(appr-ox.10 Hz)

Data traffic activity (traffic). –

Lightsupgreen

Network connection is OK (link). –

Tab. 88 LED at XF1 IN and XF2 OUT

Malfunctions

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9.1.4 Device and interface status, PROFINET

PROFINET LED displays (CMMT-AS-...-PN only)Together with the 4 LEDs on the top, the NF LED on the front displays the bus/network status.

PROFINET, NF LED; bus error

LED Meaning Remedy

Off No error –

Flash-es red(2 Hz)

Network error– No data transmission– No configuration– No network connection or network

connection is malfunctioning

Check network configuration and net-work connection.

Tab. 89 NF LED

PROFINET, LEDs at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy


Lightsupgreen


Tab. 90 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic –

Flash-es/lig-hts upyel-low1)

Data traffic activity (traffic). –

1) The LED flashes during the transmission of an Ethernet packet. If packets are constantly being transmitted, the flashing changes to asteady light.

Tab. 91 Yellow LED at XF1 IN and XF2 OUT

9.1.5 Device and interface status, EtherNet/IP

EtherNet/IP LED displays (CMMT-AS-...-EP only)Together with the 4 LEDs on the top (link/activity), the MS LED and NS LED on the front display thebus/network status.

Malfunctions

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EtherNet/IP, MS LED; module status

LED Meaning Remedy

Off Logic voltage supply lacking. Check logic voltage supply.

Flash-esgreen

Device is not configured. Perform configuration.

Lightsupgreen

Normal operating status –

Flash-esred/g-reen

Device performs a self-test. –

Flash-es red

Rectifiable error, possibly a configura-tion error

Check configuration.

Lightsup red

Error cannot be rectified Contact Festo Service è www.festo.com.

Tab. 92 MS LED

EtherNet/IP, NS LED; network status

LED Meaning Remedy

Off The device is switched off or has no IPaddress.

Switch on device or check IP address.

Flash-esgreen

The device has an IP address but no CIPconnection.It may be that the device is not assignedto a master/scanner.

Eliminate configuration error.

Lightsupgreen

Normal operating status.The device is online and has a CIP con-nection.

–

Malfunctions

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LED Meaning Remedy

Flash-esred/g-reen

Device performs a self-test. –

Flash-es red

One or more I/O connections are in thetime-out status.

Check the physical connection to themaster/scanner.

Lightsup red

The IP address of the device has alreadybeen assigned.

Check and correct IP addresses in thenetwork.

Tab. 93 NS LED

EtherNet/IP, LED at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy


Lightsupgreen


Tab. 94 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic –

Flick-ersyellow

Data traffic activity. –

Tab. 95 Yellow LED at XF1 IN and XF2 OUT

10 DismountingDisassemble in reverse order of installation.

Before dismounting1. Switch off the power supply at the master switch.2. Protect the system from being switched back on accidentally.3. Wait at least 5 minutes until the intermediate circuit has discharged. 4. Let the device cool off to room temperature.5. Before touching the power connections [X6A], [X9A], [X9B], check to ensure they are free of

voltage.6. Disconnect all electrical lines.

Dismounting

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To dismount the device• Loosen retaining screws (2x) and remove the device from the attachment surface.

11 Technical data

11.1 Technical data, product conformity and approvals

Product conformity and approvals

CE marking (declaration of con-formity è www.festo.com/sp)

In accordance with EU-EMC Directive1)

To EU Machinery DirectiveTo EU Low Voltage DirectiveTo EU RoHS Directive

Additional approvals For product variants with corresponding identification:– UL/NEC– CSA/NEC– RCM

1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas, itmay be necessary to take measures to suppress interference.

Tab. 96 Product conformity and approvals

Safety specifications

Type test The functional safety engineering of the product has been certi-fied by an independent testing body, see EC-type examinationcertificate è www.festo.com/sp

Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035

Certificate no. 01/205/5640.00/18

Tab. 97 Safety specifications

11.2 General technical data

General technical data

Type name code CMMT-AS

Type of mounting Mounting plate, attached with screws

Mounting position Vertical, free convection with unhindered air flow from bottom totop

Dimensions (H*W*D) è 7 Assembly

Product weight [kg] CMMT-AS-C2-11A-P3: 2.1CMMT-AS-C3-11A-P3: 2.1CMMT-AS-C5-11A-P3: 2.2

Technical data

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General technical data

Displays – Device status display: 4 LEDs– Bus-specific status:

– CMMT-AS-...-EC: 2 LEDs– CMMT-AS-...-EP: 2 LEDs– CMMT-AS-...-PN: 1 LED

– Interface status [X19] (IN, OUT):– CMMT-AS-...-EC: 2 LEDs– CMMT-AS-...-EP: 4 LEDs– CMMT-AS-...-PN: 4 LEDs

– Interface status [X2], [X3], [X10], [X18]: 4 LEDs– Interface activity [X18]: 1 LED

Control elements Optional: Operating unit CDSB

Parameterisation inter-face

– [X18], Ethernet; parameterisation and configuration via com-missioning software (è www.festo.com/sp)

– [X19] IN/OUT, RT Ethernet; parameterisation and configura-tion via bus protocol

– [X5], Configuration/date transfer via the removable displayand operating unit

Protocol RT Ethernet CMMT-AS-...-EC: EtherCATCMMT-AS-...-EP: EtherNet/IPCMMT-AS-...-PN: PROFINET

Tab. 98 General technical data

Ambient conditions, transport

Transport temperature [°C] −25 … +70

Relative humidity [%] 5 … 95 (non-condensing)

Max. transportationduration

[d] 30

Permissible altitude [m] 12,000 (above sea level) for 12 h

Vibration resistance Vibration test and free fall in packaging in accordance withEN 61800-2

Tab. 99 Ambient conditions, transport

Technical data

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Ambient conditions, storage

Storage temperature [°C] −25 … +55

Relative humidity [%] 5 … 95 (non-condensing)

Permissible altitude [m] 3000 (above sea level)

Tab. 100 Ambient conditions, storage

Ambient conditions, operation

Ambient temperatureat nominal power

[°C] 0 … +40

Ambient temperaturewith power reduction (–3 %/°C at40 °C … 50 °C)

[°C] 0 … +50

Cooling Through surrounding air in the control cabinet; from CMMT-AS-C5-11A-P3: via forced ventilation (fan) as well

Temperature monitor-ing

Monitoring of:– Cooling element (power module)– Air in the deviceSwitch-off if temperature is too high or too low

Relative humidity [%] 5 … 90 (non-condensing) No corrosive media permitted near thedevice

Permissible setup alti-tude above sea level atnominal power

[m] 0 … 1000

Permissible setup alti-tude above sea levelwith power reduction(–10 %/1000 m at1000 m … 2000 m)

[m] 0 … 2000Operation above 2000 m is not permitted!

Degree of protection IP20 (with mating plug X9A attached, otherwise IP10); use in a control cabinet with at least IP54, design as “closedelectrical operating area” in accordance with IEC 61800-5-1,Chap. 3.5

Protection class I

Overvoltage category III

Technical data

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Ambient conditions, operation

Degree of contamina-tion

2

Vibration resistance inaccordance with

IEC 61800-5-1 and EN 61800-2

Shock resistance inaccordance with

EN 61800-2

Tab. 101 Ambient conditions, operation

Service life

Service life of thedevice with rated loadin S1 operation1) and40 °C ambient temper-ature

[h] 25,000

Service life of thedevice with < 50 %rated load in S1 opera-tion1) and 40 °C ambi-ent temperature

[h] 50,000

1) Continuous operation with constant load

Tab. 102 Service life

Materials

Housing Polymer

Cooling profile Die-cast aluminium

Tab. 103 Materials

11.3 Technical data, electrical

11.3.1 Load voltage supply [X9A]

Electrical data, load voltage supply [X9A]

CMMT-AS- C2-11A-P3 C3-11A-P3 C5-11A-P3

Number of phases 3

Voltage range [V AC] 200 - 10 % … 480 + 10 %

Nominal operatingvoltage

[V AC] 400

Technical data

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Electrical data, load voltage supply [X9A]


System voltage inaccordance withIEC 61800-5-1

[V AC] 300

Mains current con-sumption at nominalpower approx.

[ARMS] 2 3 6

Mains frequency [Hz] 48 … 62

Network connec-tion/allowed electricalnetwork types

IEC1): L1 è L2 è L3: TT, TN, ITUL2): L1 è L2 è L3: TN, IT

Required quality of themains supply

Corresponds to the requirements of EN 61800-3 if not specifiedotherwise

Short circuit currentrating (SCCR)

[kA] 100

Alternative DC supplyfeed

[V DC] 80 … 700

1) According to IEC 60364-12) According to UL 61800-5-1

Tab. 104 Load voltage supply

Technical data for intermediate circuit and brake chopper

Electrical data, intermediate circuit


Intermediate circuitvoltage with feed ofnominal voltage at themains input

[V DC] 540 … 560

Permitted maximumvoltage

[V DC] < 800

Tab. 105 Intermediate circuit

The intermediate circuit voltage is continuously monitored by the firmware of the device. The switch-ing thresholds can be parameterised. The device can thus be adapted to different supply voltages.Default switching thresholds on delivery:– Undervoltage: 450 V– Overvoltage: 800 VThe pre-charging time of the intermediate circuit is controlled and monitored by the firmware. Thefirmware monitors whether the intermediate circuit can be charged within the correct time window.

Technical data

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The soft start relay is only closed if the voltage difference between the mains voltage and intermediatecircuit voltage is small enough (intermediate circuit is charged) and once a defined minimum periodhas elapsed following detection of the mains voltage (0.5 s).

Electrical data, brake chopper


Brake chopper switch-ing threshold ON

[V DC] Typ. 760

Brake chopper hyster-esis ON/OFF

[V DC] Typ. 5

Protective function If an external braking resistor is used, the data of this externalbraking resistor has to be parameterised correctly.Protective functions:– Detection of short circuits to DC+ with fast switch-off of the

brake chopper and the power output stage– Monitoring of the pulse energy and the continuous power of

the braking resistor by the firmware with switch-off of thebraking resistor and of the power output stage when thepower limit is reached

Tab. 106 Brake chopper

11.3.2 Logic voltage supply [X9C]

Electrical data, logic voltage supply


Logic voltage range [V DC] 24 ± 20 %

Nominal voltage [V DC] 24

Current consumption(without holding brake,CDSB, digital I/Os andauxiliary supply out-puts without load)1)

[A] 0.5

Current consumption(with STO, SBC connec-ted to 24 V, with hold-ing brake)2)

[A] 1.5 1.9

Technical data

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Electrical data, logic voltage supply


Current consumption(with holding brake,with CDSB, digital I/Osand auxiliary supplyoutputs with load andwith fan, if present)2)

[A] 2.3 2.7

Starting current (with28.8 V)

[A] Typ. 5 (with primary-side switch-on of 24 V logic supply)Max. 50 (with hard connection to logic supply after this supplyhas already been switched on)

Protective functions – Overvoltage– Polarity reversal– Short circuit to 0 V (24 V outputs)

1) Includes current for the STO inputs2) Includes current consumption for output stage ON and for STO inputs

Tab. 107 Logic voltage supply

11.3.3 Electrical data for braking resistor (internal/external) [X9B]

Integrated braking resistor [X9B]


Resistance [Ω] 130

Pulse power [W] 5000

Pulse energy [Ws] 850

Continuous power(specification accord-ing to CE) at 70 °Cambient temperature1)2)

[W] 48 58

Continuous power(specification for cUL)at 70 °C ambient tem-perature1)

[W] 30 36

1) Air temperature in cooling duct (assembly position of braking resistor)2) The power monitoring of the internal braking resistor is based on the cUL continuous power specification. The (higher) CE continuous

power is permissible in the CE scope of application. You use it by configuring the CMMT-AS for an external braking resistor with thespecified performance data.

Tab. 108 Integrated braking resistor [X9B]

Technical data

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Requirements on external braking resistor [X9B]


Max. resistance [Ω] 250 130

Min. resistance [Ω] 130 80

Pulse power [W] 4400 7200

Permissible pulseenergy (for the brakechopper)

[Ws] 2500 6000

Operating voltage [V DC] ³ 900

Parasitic inductance [µH] £ 200

Thermal protection Yes, possible to monitor the power in the braking resistor in thedevice firmware

Tab. 109 Requirements on external braking resistor [X9B]

11.3.4 Power specifications, motor connection [X6A]Internal protective functions detect short circuits between 2 motor phases and short circuits of amotor phase to PE. If a short circuit is detected, the PWM signals are switched off.

Parameters for the power specifications


Nominal voltage of mains con-nection

[VRMS] 400

Ambient temperature (air) [°C] £ 40

Setup altitude [m] £ 1000

Tab. 110 Parameters

Power specifications during operation with the given parameters [X6A]


PWM frequency [kHz] 8 8 8

Current regulator cycle time [µs] 62.5 62.5 62.5

Nominal output power(S1 operation; cos(phi) > 0.8)

[W] 800 1200 2500

Nominal current (S1 operation) [ARMS] 1.7 2.5 5

Max. output power(S2 operation; cos(phi) > 0.8)

[W] 2400 3600 7500

Maximum current [ARMS] 5.1 7.5 15

Technical data

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Power specifications during operation with the given parameters [X6A]


Output voltage range [VRMS] 3 x 0 … input

Output voltage with feeding ofnominal voltage and nominalpower

[VRMS] 380

Output frequency [Hz] 0 … 599

Duration for maximum current(fs > 5 Hz)

[s] 2

Duration for maximum currentat standstill (fs £ 5 Hz); minim-um cycle time 1 s!

[s] 0.1

Tab. 111 Power specifications, motor connection [X6A]

If the parameters do not conform to those stated, the power specifications listed above will not beachieved. In this case, the following power reductions apply. The power reductions refer simultan-eously to nominal output power, max. output power, nominal current and maximum current.

Power reduction


Changed mains voltage180 VRMS … 400 VRMS

– No power reduction with current– Reduced achievable rotational speed/speed and power

with reduced mains voltage

Changed mains voltage400 VRMS … 530 VRMS

[%] -1.5/10 VRMS

Ambient temperature (air)40 °C … 50 °C

[%] -3/°C

Setup altitude > 1000 m(1000 m … 2000 m)

[%] -10/1000 m

Tab. 112 Power reduction

Temperature monitoring


Power section temperature

Warning [°C] 80 100 80

Shutdown [°C] > 85 > 105 > 85

Technical data

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Temperature monitoring


Air temperature

Warning [°C] 70

Shutdown [°C] > 75

Shutdown if air temper-ature too low

[°C] 0

Tab. 113 Temperature monitoring

11.3.5 Motor auxiliary connection [X6B]

Motor temperature monitoring [X6B]

Analogue sensors Analogue temperature sensors with gain and offset – KTY 81 … 84 (silicon temperature sensors)– PTC (PTC resistor, positive temperature coefficient)– NTC (negative temperature coefficient)– Pt1000 (platinum measuring resistor)

Digital sensors – N/C contact– N/O contact

Tab. 114 Motor temperature monitoring [X6B]

Output of holding brake [X6B]


Design High-side switch1)

Max. continuous out-put current

[A] 1 1.3

Max. voltage drop from+ 24 V input at connec-tion [X9A] to brake out-put at [X6B]

[V DC] 0.8 1

Technical data

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Output of holding brake [X6B]


Max. permissibleinductive load

[H] < 5

Protective functions – Short circuit to 0 V/PE– Overvoltage-proof to 60 V2)

– Thermal overload protection

Fault detection Voltage at output despite brake having shut downDiagnostics possible via:– Output SBA– Error message on device

1) The test pulses of the associated control input #SBC-A are mapped to the output subject to a switching delay.2) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.

Tab. 115 Output of holding brake [X6B], 3-phase devices

11.3.6 Encoder interfaces [X2], [X3]

EnDat 2.1 encoder at [X2]

Parameterisable no. ofencoder pulses

1 … 16777216 position values/revolution (24 bit)

Angle resolution/inter-polation

None; digital angle signal from encoder

Clock signal [MHz] RS422/485; max. 2

Data channel [MHz] RS422/485; max. 2

Input impedance data [Ω] RS422/485; 120

Output supply [mA] Max. 250 (at 5.00 V … 5.50 V)

Support: mechanicalmultiturn encoder

Yes, up to 4096 revolutions

Support: battery-buf-fered multiturnencoder

No

Support: encoder para-meter memory

Yes, storing of controller parameters in encoder

Support: encoder errormessages

Yes, supported

Encoder communica-tion failure

Up to 2 corrupted/failed encoder messages tolerated. After thisan error message will be generated.

Tab. 116 EnDat 2.1 encoder at [X2]

Technical data

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EnDat 2.2 encoder at [X2]





Clock signal [MHz] RS422/485; max. 4

Data channel [MHz] RS422/485; max. 4

Input impedance data [Ω] RS422/485; 120

Output supply [mA] Max. 250 (at 9.50 V … 10.50 V)




Yes, up to 16 bit; battery buffer not integrated in CMMT-AS(cable adapter/box required)




Yes, supported

Encoder communica-tion failure


Tab. 117 EnDat 2.2 encoder at [X2]

Hiperface encoder at [X2]


1 … 1024 periods/revolution (10 bit)


Min. 10 bits/period

Data channel Hiperface [MHz] RS422/485; max. 4(Hiperface 9.6 kbit/s to 115 kbit/s)

Input impedance fordata channel

[Ω] RS422/485; 120

[V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)Tracking signals SIN,COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)

Input impedance SIN,COS

[Ω] 120 (differential input)

Technical data

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Hiperface encoder at [X2]

Critical frequency SIN,COS

[kHz] Approx. 50 (high-resolution tracking)

Noise-free angle resol-ution within one SIN,COS period

[bit] 10 (measured on noise-free SIN/COS signals)

Noise-free angle resol-ution with SEK/SEL 37per motor revolution

[bit] Min. 12, typically 13 (10 m motor/encoder line, active drive con-trol)

Noise-free angle resol-ution with SKS/SKM 36per motor revolution

[bit] Min. 15, typically 17 (10 m motor/encoder line, active drive con-trol)

[V] 10 ± 10 %Output supply

[mA] Max. 250







Encoder signal monit-oring

Vector length monitoring for SIN/COS signals, signal amplituderange –30% ... +20%, error message if position determination isno longer possible. A cyclical comparison of the position valuesof the SIN/COS signals with the absolute position read via thedata channel detects miscounting by an entire signal period.

Tab. 118 Hiperface encoder at [X2]

SIN/COS encoder at [X2], [X3]




Min. 10 bits/period

[V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)Tracking signals SIN,COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)

Input impedance SIN,COS


Technical data

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SIN/COS encoder at [X2], [X3]

Critical frequency fcrit

SIN, COS[kHz] Approx. 50 (high-resolution tracking)

Noise-free angle resol-ution within one SIN,COS period

[bit] 10 (measured on noise-free SIN/COS signals)

Noise-free angle resol-ution with LS 187(20 µm signal period)

[nm] < 100

[V] 5 ± 5 %Output supply

[mA] Max. 250


No


No


No


Vector length monitoring for SIN/COS signals, signal amplituderange –30% ... +20%, error message if position determination isno longer possible.

Tab. 119 SIN/COS encoder at [X2], [X3]

Digital incremental sensor at [X2], [X3]




4-fold evaluation as 4 steps (2 bits) per period

Tracking signals A/B/N [MHz] RS422/485; max. 4

Input impedanceA/B/N


Critical frequency fcrit

A/B/N[MHz] > 4

[V] 5.00 … 5.50Output supply

[mA] Max. 250, unregulated (no Sense cable)


No

Technical data

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Digital incremental sensor at [X2], [X3]


No


No


No, no direct encoder signal monitoring

Tab. 120 Digital incremental sensor at [X2], [X3]

Encoder with asynchronous communication interface at [X2]





Clock signal [MHz] None; asynchronous communication

Data channel RS422/485, asynchronous communicationBit rate: 1 MHz/2 MHz/4 MHz18 bit/frame

Input impedanceA/B/N

[Ω] RS422/485; 120

[V] 5.00 … 5.50Output supply

[mA] Max. 250


[bit] Yes, 16






Yes, supported



Tab. 121 Encoder with asynchronous communication interface at [X2]

Technical data

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11.3.7 Inputs, outputs, ready contact at [X1A]

Operating ranges of digital inputs drawing current

Fig. 28 Operating ranges of digital inputs drawing current

Control inputs #STO-A and #STO-B at [X1A]

Specification Based on type 3 to EN 61131-2; deviating current consumption


Permissible voltagerange1)

[V DC] –3 … 30

Max. input voltagehigh-level (UH max)

[V] 28.8

Min. input voltagehigh-level (UH min)

[V] 17

Max. input voltage low-level (UL max)

[V] 5

Min. input voltage low-level (UL min)

[V] –3

Max. input current withhigh-level (IH max)

[mA] 75

Technical data

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Control inputs #STO-A and #STO-B at [X1A]

Min. input current withhigh-level (IH min)

[mA] 50

Max. input current withlow-level (IL max)

[mA] 75

Min. input current intransition range (IT min)

[mA] 1.5

Tolerance for low test pulses

Tolerated low testpulses (tSTO,TP) up tomax.

[ms] 1

Min. time between lowtest pulses atUH min < USTO-A/B £ 20 V

[ms] 200

Min. time between lowtest pulses atUSTO-A/B > 20 V

[ms] 100

Tolerance for high test pulses2)

Tolerated high testpulses (tSTO,TP) up tomax.

[ms] 1

Min. time between hightest pulses atUSTO-A/B < UL max

[ms] 200

1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the input exceeds the permissiblemaximum value, the channel is shut down.

2) High test pulses must not occur simultaneously at inputs #STO-A and #STO-B but only with a time offset.

Tab. 122 Control inputs #STO-A and #STO-B at [X1A]

Control inputs #SBC-A and #SBC-B at [X1A]

Specification Based on type 3 to EN 61131-2


Permissible voltagerange

[V DC] –3 … 30


[V] 30


[V] 13

Technical data

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Control inputs #SBC-A and #SBC-B at [X1A]


[V] 5


[V] –3


[mA] 15


[mA] 5


[mA] 15


[mA] 1.5

Tolerance for low test pulses

Tolerated low testpulses (tSBC,TP) up tomax.

[ms] 1

Min. time between lowtest pulses atUH min < USBC-A/B £ 20 V

[ms] 200

Min. time between lowtest pulses [ms]atUSBC-A/B > 20 V

[ms] 100

Tolerance for high test pulses1)

Tolerated high testpulses (tSBC,TP) up tomax.

[ms] 1

Min. time between hightest pulses atUSBC-A/B < UL max

[ms] 200

1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset.

Tab. 123 Control inputs #SBC-A and #SBC-B at [X1A]

Technical data

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Diagnostic outputs STA and SBA at [X1A]

Design Asymmetrical push-pull output

Voltage range [V DC] 18 … 30

Permissible output cur-rent for high-level

[mA] 15

Voltage loss at high-level

[V] < 3

Permissible output cur-rent at low-level1)

[mA] < –400

Voltage loss at low-level

[V] < 1.5

Pull-down resistance [kΩ] < 50

Protective function – Short-circuit proof– Feedback-proof– Overvoltage-resistant up to 60 V

Loads

Ohmic load (min.) [kΩ] 1.2

Inductive load [µH] < 10

Capacitive load2) [nF] < 10

Test pulses

Test pulses at outputs None (for time-offset test pulses on the associated A/B controlinputs)

1) Current flows from outside via the internal low-side switch to 0 V reference potential of 24 V supply2) Requires connection of the output to a Type 3 input

Tab. 124 Diagnostic outputs STA and SBA at [X1A]

Digital inputs at [X1A] without safety inputs




[V DC] −3 … 30


[V] 30


[V] 13

Technical data

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Digital inputs at [X1A] without safety inputs


[V] 5


[V] –3


[mA] 15


[mA] 5


[mA] 15


[mA] 1.5

Data for inputs CAP0, CAP1

Delay time in the hard-ware

[µs] < 2

Min. permissible pulselength (high or low)

[µs] 10

Time resolution/accur-acy (high or low)

[µs] < 1

Tolerance for low testpulses

No

Data for remaining inputs


[µs] < 200


[µs] 1000


[ms] 1

Min. period lengthbetween test pulses

[ms] 100

Tab. 125 Digital inputs at [X1A] without safety inputs

Technical data

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Digital trigger outputs TRG0 and TRG1 at [X1A]

Design High-side switch without test pulse monitoring


Permissible output cur-rent for high-level

[mA] 20

Protective function – Short-circuit proof– Feedback-proof to 30 V– Automatic switch-off in event of over-temperature (> 150°C)

Loads

Ohmic load (min.) [kΩ] 1.2



1) Requires connection of the output to a Type 3 input

Tab. 126 Digital trigger outputs TRG0 and TRG1 at [X1A]

Ready contact at [X1A]

Design N/O contact (electronic)The N/O contact is not fully isolated from the logic supply. TheCMMT-AS can check the function of the contact via a diagnosticpickoff.


Permissible output cur-rent with contactclosed

[mA] 50

Permissible leakagecurrent with contactopen

[µA] < 100

Pull-down resistance [kΩ] Approx. 50

Short-circuit protection Not short-circuit proof

Overvoltage strength [V] Up to max. 60

Loads (X1A.24 connected to 24 V logic voltage supply; load between X1A.23 and GND24)

Ohmic load (min.) [Ω] 600

Technical data

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Ready contact at [X1A]



Switching delay fromcontrol gate

[ms] < 5

1) Requires connection of the output to a Type 3 input

Tab. 127 Ready contact at [X1A]

Analogue input AIN0 at [X1A]

Design Differential analogue input, signal pair AIN0/#AIN0 with refer-ence to GND

Measuring range [V DC] –10 … +10

Gain error [%] ± 1

Offset error [mV] ± 50

Resolution [bit] 12

Input bandwidth [kHz] 2

Input impedance [kΩ] Approx. 70

In-phase suppression [dB] Approx. 40 (in in-phase voltage range ± 12 V to GND)

Input capacitance [nF] Typically 1 (for 1 kΩ)


[V DC] –30 … 30

Tab. 128 Analogue input AIN0 at [X1A]

11.3.8 Inputs and outputs for the axis [X1C]

Inputs LIM0, LIM1 at [X1C]


Nominal voltage [V] 24


[V] –3 … 30

Max. input voltage,high level (UH max)

[V] 30

Min. input voltage,high level (UH min)

[V] 13

Max. input voltage, lowlevel (UL max)

[V] 5

Technical data

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Inputs LIM0, LIM1 at [X1C]

Min. input voltage, lowlevel (UL min)

[V] –3

Max. input current withhigh level (IH max)

[mA] 15

Min. input current withhigh level (IH min)

[mA] 5

Max. input current withlow level (IL max)

[mA] 15


[mA] 1.5


[µs] < 200


[µs] 1000


[ms] 1.5


[µs] 1000

Min. period lengthbetween test pulses

[ms] 100

Tab. 129 Inputs LIM0, LIM1

Output BR-EXT at [X1C]

Design High-side switch1)


Permissible output cur-rent for high level

[mA] 100

Voltage loss at highlevel

[V] < 3

Pull-down resistance [kΩ] < 50

Protective function – Short-circuit proof– Feedback-proof– Overvoltage-resistant up to 60 V– Thermal overload protection

Technical data

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Output BR-EXT at [X1C]

Fault detection Voltage at output despite brake having shut downDiagnostics possible via:– Output SBA– Error message on device

Test pulse length The test pulses for control input #SBC-B are mapped to the out-put.

Min. time between testpulses

[ms] 100

Loads

Resistive load (min.) [Ω] 240

Inductive load [mH] < 100

Capacitive load [nF] < 10

1) The test pulses of the associated control input #SBC-B are mapped to BR-EXT subject to a switching delay.

Tab. 130 Output BR-EXT

Power supply for external devices at [X1C] (X1C.4 and X1C.9)

Output voltage [V DC] +24 ± 20 %

Max. output current [mA] 100

Protective function – Polarity reversal– Short circuit to 0 V– Feedback-proof

Tab. 131 Power supply at [X1C]

11.3.9 SYNC IN/OUT [X10]The individual signal lines are differentially terminated with a terminating resistance. The terminatingresistance is:– Approx. 700 Ω for low frequencies (DC instance)– Approx. 120 Ω for high frequencies (AC instance)

Encoder emulation/incremental encoder output [X10]

No. of output marks [marks-/rev.]

1 … 16384



Tracking signals A/B [MHz] RS422/485; max.1

Tracking signals Z [kHz] RS422/485; valid up to a max. output frequency A/B of 100; Zsignal can be shut down

Technical data

120 Festo — CMMT-AS-C2/3/5-11A-P3-... — 2018-10

Encoder emulation/incremental encoder output [X10]

Output impedanceA/B/N Ra.diff

[Ω] Differential 120

Permissible load onoutput

FAN-OUT = 16 (16 inputs on other CMMT-AS)

Critical frequencyA/B/N

[MHz] 4 (FAN-OUT = 1); 0.1 (FAN-OUT = 16)

Tab. 132 Encoder emulation/incremental encoder output [X10]

Incremental encoder/counter input [X10]

Tracking signals A/B/Z [MHz] RS422/485; max. 1

No. of input marks [marks-/rev.]

1 … 16384



Tracking signalsCLK/DIR

[MHz] RS422/485; max. 1

No. of input pulses [pulses-/rev.]

4 … 65536

Tracking signalsCW/CCW

[MHz] RS422/485; max. 1

No. of input pulses [pulses-/rev.]

4 … 65536

Input impedanceA/B/N Re.diff

[Ω] Differential 120 in series with 120 pF high-frequency signal ter-mination, additionally 700 parallel, low-frequency signal termin-ation

Tab. 133 Incremental encoder/counter input [X10]

Technical data

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11.3.10 Standard Ethernet [X18], parameterisation interface

Standard Ethernet [X18], parameterisation interface

Design To IEEE 802.3:2012-001)

Connection design RJ45

Transmission rate [Mbit/s] 10/100 (full/half duplex)

Supported protocols TCP/IP

IP address set at fact-ory (presetting)

192.168.0.1

1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths. Deviating from IEEE 802.3, the isola-tion coordination is therefore done according to the valid product standard IEC 61800-5-1: DVC A, system voltage ≤ 50 V.

Tab. 134 Standard Ethernet [X18]

11.3.11 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])

Real-time Ethernet [X19] ([XF1 IN], [XF1 OUT])

Design RTE communication, physical level toIEEE 802.3:2012-001)

Bus connection design[XF1 IN]

RJ45

Bus connection design[XF2 OUT]

RJ45

Max. transmission rate [Mbit/s] 100

Bus protocol EtherCAT: CMMT-AS-...-EC

Protocol – CoE (CANopen over EtherCAT)– EoE (Ethernet over EtherCATEtherCAT)– FoE (File Access over EtherCAT)

Communication profile – CiA 402

Bus protocol EtherNet/IP: CMMT-AS-...-EP

Protocol – Implicit messaging– Explicit messaging

Bus protocol PROFINET: CMMT-AS-...-PN

Protocol – PROFINET RT– PROFINET IRT

Drive profile – PROFIdrive– PROFIenergy

1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths.

Tab. 135 Real-time Ethernet [X19]

Technical data

122 Festo — CMMT-AS-C2/3/5-11A-P3-... — 2018-10

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