Translation of the original instructions

BISS®, EtherCAT®, EtherNet/IP®, PI PROFIBUS PROFINET®, PHOENIX CONTACT®

are registered trademarks of the respective trademark owners in certain coun­tries.

1 About this document1.1 Target groupThe document is targeted towards individuals who mount and operate theproduct. It is additionally targeted towards individuals who are entrusted with theplanning and application of the product in a safety­related system (safety manualin accordance with EN 61508).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 sub­function

Detailed description of assembly, installationProduct descriptions

Detailed description of safety sub­function

Description/online help plug­in Plug­in:– 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 device­specific plug­ins

Tab. 1 User documentation for the product

1.3 Product variantsThe product is available in 3 fieldbus variants. The following order code indicatesthe equipment features of the product variant.

Feature Order code Type

Servo drive CMMT­ Servo drive, series T

Motor type ST­ Stepper motor or EC motor

Nominal current C8­ 8 A

Nominal input voltage 1C­ 24 … 48 V DC

EC­ EtherCAT

EP­ EtherNet/IP

Bus protocol/activation

PN­ PROFINET

Safety function S0 Basic safety

Tab. 2 Product variants CMMT­ST­... (e.g. CMMT­ST­C8­1C­EC­S0)This documentation refers to the following version:– Servo drive CMMT­ST­...­S0, revision 1 and higher, see product labelling.This is the first available revision.• For later revisions of the product, check whether updated documentation is

available è 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 productlabelling enables identification of the product and shows the following informa­tion:

Product labelling (example) Meaning

CMMT­ST­C8­1C­EC­S0 Order code

8084005  MM­YYYY:XX   Rev 01 Part number, serial number (manufacturingmonth, manufacturing year, plant number), revi­sion

Main Input: 24 … 48 V DC  8 A Technical data for the power supply (PELV fixedpower supply)

Motor Out: 0 … Input V AC  8 ARMS 300 W Technical data for the motor output (outputvoltage, nominal current, nominal output power)

TAMB: max. 50 °C Ambient temperature (TAMB)

IP20 Degree of protection

MAC­ID: XF1 IN XX­XX­XX­XX­XX­XX First MAC address of the device for RTE commu­nication XF1 IN, also represented as a barcode

R­R­FTO­KC­2018­1092 KC mark certificate (test mark for Korea)

01/205/5696.00/19 TÜV certificate number

Data matrix code, 123456789AB Product key as a data matrix code and an11­character alphanumeric code

Festo AG & Co. KG Manufacturer

DE­73734 Esslingen Manufacturer’s address

Made in Germany Manufactured in Germany

Tab. 3 Product labelling (example)

Warning symbol on the front of the productThe following warning symbol can be seen on the front of the product:

1 Attention! Hot surface

Fig. 1 Warning symbol on the front of the product (example CMMT­ST­…EC)

General meaning Meaning for the CMMT-ST

Attention! Hot surface Metallic housing parts of the device can reach high temperaturesduring operation.

Tab. 4 Meaning of the warning symbol

1.5 Specified standards

Version

EN ISO 13849­1:2015 EN 61800­2:2015

EN ISO 14118:2018­02 EN 61800­5­1:2007+A1:2017

EN 60204­1:2018­09 EN 61800­5­2:2017

EN 60715:2017­11 EN 62061:2005+AC:2010+A1:2013+A2:2015

EN 61508 Parts 1­7:2010 –

Tab. 5 Standards specified in the document

2 Safety2.1 Safety instructions

General 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 function might fail, and malfunctions might occur if you do notcomply with the parameters required for the ambient and connection condi­tions.

– Never remove or insert a plug when the power is switched on.

8097145

CMMT-ST-C8-1C-...-S0Servo drive

80971452019­01[8097147]

Instructions | Installation, Safety sub­function

Festo AG & Co. KG Ruiter Straße 82 73734 Esslingen Germany+49 711 347­0

www.festo.com

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

– Prior to commissioning, ensure that the resulting movements of the connec­ted actuators cannot endanger anyone.

– During commissioning: systematically check all control functions and thecommunication and signal interface between controller and drive regulator.

– Keep the documentation somewhere safe throughout the entire product life­cycle.

In the event of damage caused by unauthorised manipulation or any form of useother than that intended, the warranty is invalidated, and the manufacturer is notliable for damages.In the event of damage caused by using unauthorised software or firmware withthe device, the warranty is invalidated, and the manufacturer is not liable for dam­ages.

Safety instructions for the safety sub-functionsIt is only possible to determine whether the product is suitable for specific applic­ations by also assessing further components of the overall system.Analyse and validate the safety function of the entire system.Check the safety functions at adequate intervals for proper functioning. It is theresponsibility of the operator to choose the type and frequency of the checkswithin the specified time period. The manner in which the test is conducted mustmake it possible to verify that the safety device is functioning perfectly in interac­tion with all components. Time period for cyclical testè 15.1 Technical data, safety engineering.Prior to initial commissioning, wire the control inputs of the safety sub­functionSTO. The safety sub­function STO is always available without the need for anyadditional parameterisation.2.2 Intended useThe servo drive CMMT­ST is intended to supply a stepper motor or an EC motorwith power, as well as to regulate them. The integrated electronics permit regula­tion of torque (current), rotational speed and position. Use exclusively:– In perfect technical condition– In its original condition, without unauthorised modifications– Within the limits of the product defined by the technical dataè 15 Technical data

– In an industrial environmentThe safety function might fail, malfunctions might occur, and the connected actu­ators might move unintentionally if you do not comply with the parametersrequired for the ambient and connection conditions.The CMMT­ST­...­S0 supports the following safety sub­functions in accordancewith EN 61800­5­2:– Safe torque off (STO/Safe torque off)– Safe stop 1 time controlled (SS1­t/Safe stop 1 time controlled), can only be

implemented with a suitable safety relay unit and appropriate servo drive cir­cuitry

The safety sub­function STO is intended to switch off the torque of the connectedmotor, thereby preventing an unexpected restart of the motor.The safety sub­function SS1­t is intended to perform a rapid stop with subsequenttorque switch­off.Ensure that wiring is cross­circuit proof in accordance with EN ISO 13849­1.2.2.1 Range of applicationSafety sub­functions may only be used for applications for which the stated safetyreference values are sufficient è 15 Technical data.2.2.2 Permissible componentsThe load and logic power supply must meet the requirements of EN 60204­1 (pro­tective extra­low voltage, PELV).

Supported motors:– Stepper motors– EC motorsThe servo drive supports motors with or without an integrated holding brake(electrical spring­operated brake). The holding brake is actuated automatically bythe controller enable of the servo drive. The actuation concept is based on theassumption that a drive that is already stationary is being held. The actuation sys­tem is not designed for decelerating a moving drive. If a moving drive is deceler­ated, this can cause excessive wear on the brake.

Motor configuration Behaviour following removal of controller enable

Motor without holding brake The drive can move freely.

Motor with holding brake The holding brake is applied and holds the motor and axis in posi­tion.

Tab. 6 Example: removal of controller enableThe holding brake must be designed for the load torque to be stopped. Detailedinformation about brake control è Online help for the CMMT­ST plug­in.

Supported encoders:– BiSS­C encoders– Incremental encodersAdditional information è www.festo.com/catalogue.2.3 Foreseeable misuse

Foreseeable misuse of the safety sub-function STO– Use outside the limits of the product defined in the technical data.– Bypassing of the safety function.

– Cross­wiring of the diagnostic feedback signals of more than 10 servo drives.– Use of the diagnostic contact STA to switch a safety function.

The diagnostic contact STA must not be used to open a secure locking mech­anism directly, for example.The diagnostic contact STA is not part of the safety circuit. The diagnosticcontact STA is used to improve diagnostic coverage of the related safety sub­function. The diagnostic contact STA may only be used in combination withthe related safe control signals (AND operation) plus a reliable time monitor­ing function in the safety relay unit for the purpose of switching additionalsafety­critical functions.

– Use of the safety sub­function STO without external measures for drive axesinfluenced by external torques.If external torques influence the drive axis, use of the safety sub­function STOon its own is not suitable for stopping the axis safely. Additional measuresare required to prevent dangerous movements of the drive axis, such as useof a mechanical brake.

– Operation of EC motors requiring a safety classification of SIL 3, cat. 3, Pl ewithout evaluation of the diagnostic contact STA.

– Operation of the connected motor without the danger zone being restricted orenclosed by suitable means.The user must not be able to enter the danger zone without triggering thesafety function.

– The safety sub­function STO does not provide protection against electricshock, only against dangerous movements.

– The safety sub­function STO cannot prevent non­safety­related sub­functionsfrom failing, e.g. the braking ramp for the SS1­t function or the device's tem­perature monitoring function.

2.4 Training of qualified personnelThe product may be installed and commissioned only by a qualified electricalengineer who is familiar with:– The installation, operation and maintenance of electrical control systems– The applicable regulations for operating safety­related systemsWork on safety­related systems may only be carried out by qualified personneltrained in safety engineering.2.5 Approvals and certificationsThe product has the CE marking. For details of directives, seeè 15.2 Technical data, product conformity and approvals.The product­related EU directives and standards are listed in the declaration ofconformity è www.festo.com/sp.The product is a safety device in accordance with the Machinery Directive. Fordetails of the safety­oriented standards and test values that the product complieswith and fulfils, see è 15.1 Technical data, safety engineering. Please note thatcompliance with the named standards is limited to the CMMT­ST­...­S0.Certain configurations of the product have been certified by Underwriters Laborat­ories Inc. (UL) for the USA 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 theNational Electrical Code (USA), Canadian Electrical Code (Canada) and regulationsof the US federal agency OSHA. When selecting the circuit breaker, comply withthe 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 questionsè www.festo.com.

5 Product overview5.1 Scope of delivery

Component Number

Servo drive CMMT­ST­... 1

Assortment of plugs NEKM­C­22 1

H­rail clamp (premounted) 1

Instruction manual CMMT­ST­... 1

Tab. 7 Scope of delivery

Up­to­date information on the accessories è www.festo.com/catalogue.

5.2 System structureThe servo drive CMMT­ST is a 1­axis servo drive for controlling a stepper motor oran EC motor with connected mechanisms, e.g. an axis from Festo. The device iscontrolled by a higher­level controller using the bus protocol EtherCAT, Ether­Net/IP or PROFINET, depending on the product version, via a real time Ethernetinterface.The device can be parameterised via a PC using either the real­time Ethernet inter­face or the separate standard Ethernet interface.The device is an extra­low­voltage controller. The load and logic power supplymust be provided by a PELV fixed power supply.

1 Servo drive CMMT­ST

2 Stepper motor or EC motor withdrive

3 Fixed power supply (or supplies)for logic and load voltage (PELV)

4 PC with Ethernet connection forparameterisation

5 Bus/network

Fig. 3 System structure (example)

5.2.1 Overview of connection technology

1 Functional earth marking

2 Functional earth connection

3 [XF2 OUT] RTE interface port 2

4 [XF1 IN] RTE interface port 1

5 [X18] Standard Ethernet

6 [X1A] I/O interface

7 [X2] Encoder connection

8 [X6] Motor connection

9 [X1C] Connection for the referenceswitch or limit switch

10 [X9] Load and logic voltage (under­neath)

Fig. 4 Connections of the CMMT­ST (example CMMT­ST­C8­1C­EC)

5.3 Safety sub-functions5.3.1 Function and applicationThe servo drive CMMT­ST­...­S0 has the following safety­related performance fea­tures:– Safe torque off (STO/Safe torque off)– Safe stop 1 time controlled (SS1­t/Safe stop 1 time controlled) with use of a

suitable external safety relay unit and appropriate servo drive circuitry– Diagnostic contact STA for feedback of the active safety sub­function STO5.3.2 Safety sub-function STO

Function and application of STOThe safety sub­function STO switches off the driver power supply for the powersemiconductor, thus preventing the power output stage from supplying theenergy required by the motor. The power supply to the drive is safely disconnec­ted when the safety sub­function STO is active. The drive cannot generate torqueand so cannot perform any dangerous movements.With suspended loads or other external forces, additional measures must be putin place to prevent movements being performed (e.g. mechanical clamping units).In the STO state, the standstill position is not monitored.The machines must be stopped and locked in a safe manner. This especiallyapplies to vertical axes without automatic locking mechanisms, clamping units orcounterbalancing.

STO requestThe safety sub­function STO is requested on 2 channels by simultaneously switch­ing off the control voltage at both control inputs #STO­A and #STO­B.The signals of inputs #STO­A/B are low active, so they are marked with #.The safe state is achieved after the safety sub­function STO has been requested ifall motor coils are switched off and current cannot flow through them.

NOTICE!

Detent movement if the output stage failsIf the output stage of the device fails when a safety sub­function STO is active, itmay result in the drive jerking with a limited detent movement of the rotor. Themaximum rotation angle/travel corresponds to the pole pitch of the motor used.• Take this behaviour into account when designing the system's safety func­

tion.

After the safety sub­function STO has been requested and the request completed,the functional controller enable must be activated.

Feedback via diagnostic contact STAThe state of the safety sub­function STO can be reported to the safety relay unitvia the diagnostic contact STA.If the safety classification of SIL 3, cat. 3, Pl e is required for operation with an ECmotor, the diagnostic contact STA must be evaluated.

The diagnostic feedback signal STA has been designed as a potential­free contact(opto relay). The diagnostic contact STA is only closed (conductive) when STO isrequested on 2 channels via the control inputs #STO­A and #STO­B. If the contactis closed (conductive), the STO state has been achieved (safe state).

#STO-A #STO-B STA-C1/C2

Low level Low level Diagnostic contact closed (low resistance)

Low level High level

High level Low level

High level High level

Diagnostic contact open (high resistance)

Tab. 8 State of the diagnostic contact STAIf the safety sub­function STO is not requested but protective functions aretriggered simultaneously on both channels (#STO­A and #STO­B), e.g. if thevoltage at #STO­A and #STO­B is too high, the internal protective functions switchoff the channels as if STO had been requested and the diagnostic contact STA isclosed (safe state feedback).Recommendation: The safety relay unit should check the state of the diagnosticcontact whenever there is an STO request. The state of STA must change accord­ing to the logictable. The safety relay unit can cyclically test the #STO­A and#STO­B signals for high level with low testpulses and for low level with high test­pulses, within the specified limits è 5.3.5 Safety relay unit.The diagnostic contact STA is not evaluated in terms of safety engineering.5.3.3 Safety sub-function SS1Together with a suitable safety relay unit, the following can be achieved:– Safe stop 1 time controlled (SS1­t); triggering of motor deceleration and, after

an application­specific time delay, triggering of the safety sub­function STOSafety sub­function SS1 è Description Safety sub­function5.3.4 Fault exclusionPut suitable measures in place to prevent faulty wiring:– Exclude wiring faults in accordance with EN 61800­5­2– Configure the safety relay unit to monitor the outputs of the safety relay unit

and wiring up to the servo drive5.3.5 Safety relay unitUse suitable safety relay units with the following characteristics:– 2­channel outputs with

– Cross­circuit detection– Required output current (also for STO)

– Evaluation of the diagnostic contact of the servo driveSafety relay units with test pulses can be used with the following restrictions:– High test pulses up to a maximum length of 1 ms– Low test pulses up to a maximum length of 1 ms– Test pulses are not simultaneous/overlapping on #STO­A/B

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 or installed in thecontrol cabinet. The original packaging offers sufficient protection from typic­al stresses.

7 Assembly

Dimensions

Fig. 5 Dimensions [mm]

7.1 Mounting clearancesThe servo drives of the series CMMT­ST can be arrayed next to each other.For effective output currents > 4.5 A, mounting clearances may be required onboth sides so that the heat generated during operation can be removed by allow­ing sufficient air to flow.Detailed information about the required mounting clearances and any powerreduction that may be necessary as a function of the ambient temperatureè Fig.9The table below shows the mounting clearances for standard output currents andambient temperatures.

Ambient operating temperatureExamples

30 °C 40 °C 50 °C

Continuous, constantoutput current in con­trolled operation [A]

Mounting clearances

4 0 mm

5 3 mm

6

0 mm

10 mm

7 3 mm

8

0 mm

15 mm

Impermissible

Tab. 9 Required mounting clearances (examples)

7.2 Installation

Assembly instructions– Always install the device vertically in the control cabinet (mains supply line

[X9] underneath).– Maintain minimum distances and mounting clearance to guarantee sufficient

air flow. The ambient air in the control cabinet must be able to flow throughthe device from bottom to top without hindrance. Detailed information aboutthe required mounting clearances and any power reduction that may benecessary as a function of the ambient temperature è Fig.9.

– Take into account the required clearance for the wiring (connecting cables ofthe device must be routed from above, from below and from the front).

– Do not mount any temperature­sensitive components near the device. Thedevice can become very hot during operation (switch­off temperature of thetemperature monitoring function è Technical data).

– When mounting on an H­rail: use a DIN mounting rail TH 35­7.5 or TH 35­15in accordance with EN 60715.

– When mounting on the backwall of the control cabinet: screw the device onvertically and flat to the mounting surface.

Mounting the H-rail clamp• If the H­rail clamp is not premounted, screw it onto the back using the original

screw.

Mounting on an H-rail1. Attach the device by hooking the top of the H­rail clamp onto the H­rail from

above.2. Press the lower part of the device onto the H­rail until the H­rail clamp clicks

into place on the H­rail.

Wall mountingThe backwall of the device has a hole at the top and a cutout at the bottom. Thedevice is screwed vertically and flat to the mounting surface using the hole andthe cutout.1. If an H­rail clamp is mounted on the back, remove it.2. Mount the servo drive on the backwall of the control cabinet with suitable

screws while complying with the assembly instructions.

8 Installation8.1 Safety

WARNING!

Danger of burns from hot housing surfaces.Metallic housing parts can reach high temperatures during operation.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 down to room tem­

perature.

Information for operation with safety functions

NOTICE!Check the safety functions to conclude the installation process and after everymodification to the installation.

During installation of safety­related inputs and outputs, also observe the follow­ing:– Meet all specified requirements, e.g.:

– Surrounding area (EMC)– Logic and load power supply– Mating plug– Connecting cables– Cross­wiringAdditional information è Description Assembly, Installation.

– The maximum permissible cable length between the safety relay unit and theplug of the I/O interface is 25 m.

– During installation, make sure you meet the requirements of EN 60204­1relating to the use of PELV fixed power supplies. In the event of a fault, thevoltage must not exceed 60 V DC. The safety relay unit must switch off itsoutputs in the event of a fault.

– A PELV fixed power supply must be used for the safety relay unit and the logicpower supply of the CMMT­ST. The GND (0 V) of both fixed power suppliesmust also be connected to one another. The device power supply and thepower supply of the STO inputs must refer to the same GND potential.

– Carry out wiring between the safety relay unit and the I/O interface of theservo drive in such a way as to exclude the risk of a short circuit between theconductors or to 24 V, as well as a cross circuit è EN 61800­5­2, AnnexD.3.1. Otherwise, the safety relay unit must feature cross­circuit detectionand, in the event of a fault, must switch off the control signals on 2 channels.

– Only use suitable mating plugs and connecting cables è DescriptionAssembly, Installation. Use cable end sleeves for multicore wires.

– Avoid conductive contamination between neighbouring plug pins. – Make sure that no bridges or the like can be inserted parallel to the safety

wiring. For example, use the maximum wire cross section or appropriateplastic cable end sleeves.

– To cross­wire safety­related inputs, use twin cable end sleeves. When cross­wiring diagnostic contacts STA, a maximum of 10 devices may be cross­wiredè Description Assembly, Installation.

– The safety relay unit and its inputs and outputs must meet the necessarysafety classification of the safety function that is required in each case.

– Connect each of the control inputs to the safety relay unit on 2 channels.– If the feedback signal STA of the safety sub­function STO has to be evaluated:

connect diagnostic contact directly to the safety relay unit. It is not permittedto connect the diagnostic contacts in parallel, since a device like this with anactive safety sub­function would report a safe state for all devices.

– Whether the diagnostic contact needs to be evaluated depends on the type ofmotor that is connected and the desired safety classification.

– If diagnostic contacts are cross­wired for a device compound: wire diagnosticcontacts in series.

Basic circuitry concept– Safe sensors – e.g. emergency stop switches, light curtains – are routed to

the safety relay unit (or the safety PLC).– The safety relay unit requests the safety sub­function on the servo drive via 2

channels and evaluates the feedback signal STA.8.2 EMC-compliant installation

A non­EMC­compliant installation can lead to signal interference on the encoder,motor or communication cables.

Cable lengths and cable shield– Only use suitable cables that fulfil the requirements of standard EN 60204­1.– Comply with maximum permissible cable lengths.

Connection Max. cablelength [m]

Cable shield

[X1A] Inputs/outputs for the higher­order PLC

25

[X1C] Inputs/outputs for the refer­ence/limit switches

25

Not required

[X2] Encoder 251) Not required but twisted inpairs2)

[X6] Motor phase connection 25 Not required but twisted inpairs2)

[X9] Logic power supply and loadpower supply

30 Not required

[X18] Standard Ethernet

[XF1 IN] RTE (port 1)

[XF2 OUT] RTE (port 2)

30 Double shielded (CAT 5)

1) Adhere to the maximum permissible cable length for the encoder used.2) Shielded cables from Festo can be used. The shield can only be connected on the motor side.

Tab. 10 Cable lengths and cable shield

Laying cablesComply with general guidelines for EMC­compliant 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 to the maximum possible extent.

– Wherever possible, avoid crossing signal cables with power cables or runningthem at only a 90° angle in relation to one another.

8.3 Connection example

1 BiSS­C or incremental encoder

2 EC motor or stepper motor

3 PELV fixed power supply for logicvoltage (24 V)

4 PELV fixed power supply for loadvoltage (24 V … 48 V)

Fig. 6 Connection example

STO connection exampleIn this example, the safety sub­function STO (safe torque off) is triggered by aninput device that makes the safety request (e.g. light curtain).

1 Input device for safety request(e.g. light curtain)

2 Safety relay unit

3 Servo drive

4 Drive axis

Fig. 7 STO sample circuit

Information on the sample circuitThe safety request is passed on to the servo drive on 2 channels via the inputs#STO­A and #STO­B at the connection [X1A]. This safety request results in the2­channel switch­off of the driver supply to the servo drive's power output stage.The safety relay unit can use the diagnostic contact STA to monitor whether thesafe state has been reached for the safety sub­function STO.The CTRL­EN wiring shown is not required for the safety sub­function STO.8.4 InterfacesObserve the requirements for mating plugs è Description Assembly, Installation.8.4.1 [X1A], inputs and outputs for the higher-order PLCThe I/O interface [X1A] is located on the front of the device. This interface fea­tures:– 2 freely configurable digital outputs (parameterisable switching logic, PNP

logic or NPN logic)– 2 freely configurable digital inputs (parameterisable switching logic, PNP

logic or NPN logic)– 1 digital input for the enable output stage and reset error functions; whether

or not the function will be used can be parameterised in the plug­in (paramet­erisable switching logic, PNP logic or NPN logic)

– 2 inputs for wiring the safety sub­function STO (#STO­A, #STO­B)– 2 contacts for wiring the diagnostic contact of the safety sub­function STO

(STA­C1, STA­C2)Detailed information on the circuitry of the product safety sub­functions can befound in the Description Safety sub­function è 1.2 Applicable documents.The functional inputs and outputs of this I/O interface are used for coupling to ahigher­order PLC, for example. The devices connected to the CMMT­ST all need tohave the same switching logic (PNP/NPN). The configuration

PNP and NPN logic– PNP logic means that a potential is switched.– NPN logic means that earth is switched.The required switching logic can be parameterised using the CMMT­ST plug­inè description of or online help for the CMMT­ST plug­in.

Signal Level Input Output

Logic 0 0 V Internal via pull­down resistor Internal via pull­down resistor

Logic 1 24 V – Via high­side driver (delivers cur­rent)

Tab. 11 PNP logic

Signal Level Input Output

Logic 0 24 V Internal via pull­up resistor Internal via pull­up resistor

Logic 1 0 V – Via low­side driver (consumes cur­rent)

Tab. 12 NPN logic

[X1A] Pin Function Description Mating pluglabelling

1 + 24 V, out + 24 V DC output (fused) 1

2 #STO­A Control input Safe torqueoff, channel A

STO­A

3 #STO­B Control input Safe torqueoff, channel B

STO­B

4 STA­C1

5 STA­C2

Diagnostic contact STASafe torque off acknow­ledge

STA

6 CTRL­EN Enable outputstage/acknowledge error

6

7 Basic in 01 Configurable input 7

8 Basic in 02 Configurable input 8

9 Basic out01

Configurable output 9

10 Basic out02

Configurable output 10

Tab. 13 Inputs and outputs for the higher­order PLCThe inputs and outputs are configured using the CMMT­ST plug­in è descriptionof or online help for the CMMT­ST plug­in. The signals of inputs STO­A/B are low active, so they are marked with #.

Connecting cable requirements

Shielding Not required

Min. conductor cross section incl. plastic cable end sleeve1) 0.2 mm2

Max. conductor cross section incl. plastic cable end sleeve 1.5 mm2

Max. length 25 m

1) The conductor cross section used must be suitable for the currents that arise. If flexible flying leads areused with plastic cable end sleeves, minimum cross sections of 0.14 mm² are possible.

Tab. 14 Connecting cable requirements

8.4.2 [X1C], reference switch/limit switchThe connection [X1C] is located on the front of the device and is used to connectthe reference switch or a limit switch. The switching logic of the input can be para­meterised (PNP logic or NPN logic).

[X1C] Pin Function Description Mating pluglabelling

1 +24 V, out + 24 V DC output (fused) +

2 REF/IN Reference signal/limitswitch signal

IN

3 0 V/GND Reference potential, ref­erence switch

­

Tab. 15 Connection for the reference switch/limit switch

Cable requirements

Shielding Not required

Min. conductor cross section incl. plastic cable end sleeve1) 0.14 mm2

Max. conductor cross section incl. plastic cable end sleeve 1.5 mm2

Max. length 25 m

1) The conductor cross section used must be suitable for the currents that arise.

Tab. 16 Cable requirements

8.4.3 [X2], encoder interfaceThe encoder interface [X2] is located on the front of the device. Communicationwith the encoder is performed via this interface. The encoder signals are received,and the encoder is supplied with voltage.

The following encoders are supported:– Incremental encoders with AB signals (quadrature encoder)– Absolute encoders with BiSS C protocol

[X2] Pin Function Description Mating pluglabelling

1 A_IN A signal input 1

2 B_IN B signal input 2

3 IDX_IN Index signal input 3

4 +5 V 5 V encoder supply 4

5 #A_IN A signal input, inverse 5

6 #B_IN B signal input, inverse 6

7 #IDX_IN Index signal input,inverse

7

8 GND Reference potential ofencoder supply

8

Tab. 17 Incremental encoders with AB signals (quadrature encoder)

[X2] Pin Function Description Mating pluglabelling

1 – – 1

2 MA+ Clock line BiSS C, output 2

3 SLO+ Data transmission lineBiSS C, input

3

4 +5 V 5 V encoder supply 4

5 – – 5

6 MA– Clock line BiSS C, outputinverse

6

7 SLO– Data transmission lineBiSS C, input inverse

7

8 GND Reference potential ofencoder supply

8

Tab. 18 Absolute encoders with BiSS C protocol

Connecting cable requirements

Shielding Not required but twisted in pairs1)

Min. conductor cross section2) 0.2 mm2

Max. conductor cross section 1.5 mm2

Max. length 25 m

1) Shielded cables from Festo can be used. The shield can only be connected on the motor side.2) The conductor cross section used must be suitable for the currents that arise. If flexible flying leads are

used with plastic cable end sleeves, minimum cross sections of 0.14 mm² are possible.

Tab. 19 Connecting cable requirements

8.4.4 [X18], standard EthernetThe interface [X18] is located on the front of the device. The following can be per­formed via the interface [X18] using the commissioning software:– Diagnostics– Parameterisation– Control– Firmware updateThe interface fulfils the requirements of standard IEEE 802.3:2012. The interfaceis galvanically isolated and intended for use with limited cable lengths.The connection [X18] is designed as an RJ45 bushing. 2 LEDs are integrated intothe RJ45 bushing. The green LED lights up if the interface is activated. The yellowLED flashes when communication activity is detected.

Connecting cable requirements

Characteristics CAT 5, patch cable, double shielded

Max. cable length 30 m

Tab. 20 Connecting cable requirementsThe following connections are possible via the Ethernet interface:

Connections Description

Point­to­point connection The device is connected directly to the PC via anEthernet cable.

Network connection The device is connected to an Ethernet network.

Tab. 21 Options for connectionThe device supports the following methods of IP configuration (based on IPv4):

Methods Description

Obtain IP address automatically (DHCP client) The device obtains its IP configuration from aDHCP server in your network. This method issuitable for networks in which a DHCP serveralready exists.

Fixed IP configuration The device uses a fixed IP configuration.The IP configuration of the device can be per­manently assigned manually. However, thedevice can only be addressed if the assigned IPconfiguration matches the IP configuration of thePC.Factory setting: 192.168.0.1

Tab. 22 Options for IP configuration

8.4.5 [XF1 IN] and [XF2 OUT], real-time Ethernet (RTE) port 1 and 2The real­time Ethernet interface [XF1 IN] and [XF2 OUT] is located on the top ofthe device. The interface permits RTE communication. The following protocols aresupported, depending on the product version:

Product variant Supported protocol

CMMT­ST­...­EC EtherCAT

CMMT­ST­...­EP EtherNet/IP

CMMT­ST­...­PN PROFINET

Tab. 23 Supported protocolThe physical level of the interface fulfils the requirements according toIEEE 802.3:2012­00. The interface is galvanically isolated and intended for usewith limited cable lengths.

2 LEDs are integrated into the RJ45 bushings. The behaviour of the LEDs dependson the bus protocol. Use is not always made of both LEDs.

Connecting cable requirements

Characteristics CAT 5, patch cable, double shielded

Max. cable length 30 m

Tab. 24 Connecting cable requirements

8.5 Motor connectionThe connection [X6] is located on the front of the device. The following functionsare carried out via the connection [X6]:– Supply motor coils with current– Actuate optional holding brake of the motorAs a rule, the brakes used are holding brakes. This means the brakes are wellsuited to keeping the motor at a standstill. The holding brake must be designedfor the load torque to be stopped. Holding brakes are not usually suitable forbraking moving masses or loads.• Check that the holding brake used is suitable for the application.The servo drive controls the output for the holding brake automatically. Informa­tion about brake control è  Online help for the CMMT­ST plug­in.Pin allocation for connecting a stepper motor:

[X6] Pin Function Description Mating pluglabelling

1 A String A A

2 A/ String A/ A/

3 B String B B

4 B/ String B/ B/

5 Br+ Brake +24 V Br+

6 Br­/0 V Brake 0 V Br­/

Tab. 25 Motor phase connection for connecting a stepper motorPin allocation for connecting an EC motor:

[X6] Pin Function Description Mating pluglabelling

1 U Phase U A

2 V Phase V A/

3 W Phase W B

4 Reserved Do not connect B/

5 Br+ Brake +24 V Br+

6 Br­/0 V Brake 0 V Br­/

Tab. 26 Motor phase connection for connecting an EC motor

Connecting cable requirements

Shielding Not required but twisted in pairs1)

Min. conductor cross section2) incl. plasticcable end sleeve

0.2 mm2

Max. conductor cross section without cable endsleeve

2.5 mm2

Max. length 25 m

1) Shielded cables from Festo can be used. The shield can only be connected on the motor side.2) The conductor cross section used must be suitable for the currents that arise.

Tab. 27 Connecting cable requirementsFesto offers prefabricated motor cables as accessoriesè www.festo.com/catalogue.8.6 Load and logic power supply

Power supply

WARNING!

Risk of injury due to electric shock.• For the electrical power supply with extra­low voltages, use only SELV circuits

that ensure a reliable separation from the mains network.• Observe IEC 60204­1/EN 60204­1.

Power supply

[X9] Pin Function Description Mating pluglabelling

1 + 48 V Power supply for theload circuit 24 V DC to48 V DC

48 V

2 0 V Reference potential forthe load and logicvoltage

0 V

3 +24 V Power supply for thelogic circuit 24 V DC

24 V

Tab. 28 Power supply

Connecting cable requirements

Shielding Not required

Min. conductor cross section1) incl. plastic cable end sleeve 0.2 mm2

Max. conductor cross section incl. plastic cable end sleeve 2.5 mm2

Max. length 30 m

1) The conductor cross section used must be suitable for the currents that arise.

Tab. 29 Connecting cable requirements

8.7 Cross-wiring of several servo drivesCross­wiring enables a device compound to be created.• When cross­wiring configurable inputs/outputs, observe the current rating of

the cables and the mating plugs.Whether cross­wiring of the diagnostic contact is permissible depends on thesafety classification required.The diagnostic contact must be evaluated separately for EC motors with the clas­sification SIL 3, cat. 3, PL e. It is not permissible to cross­wire the diagnostic con­tact. In all other cases, the following rules apply when cross­wiring several servodrives:– Wire inputs #STO­A and #STO­B in parallel in each case.– Wire diagnostic contacts STA­C1/C2 in series in each case.– Wire the diagnostic contacts of a maximum of 10 servo drives in series. The

maximum cable length applies to the entire line, from the safety relay unit tothe final device.

Example of cross­wiring è www.festo.com/sp, Expert knowledge tab (Applica­tion note).

It is not recommended to perform mixed cross­wiring of diagnostic contacts anddiagnostic outputs.The connections for the load and logic power supply can be cross­wired to createa device compound. Twin cable end sleeves or double mating plugs can be usedfor cross­wiring.According to the mating plug data sheet, conductor cross sections of maximum 2x1 mm² per contact are possible using twin cable end sleeves. With the doublemating plug TFKC 2,5/ 3­ST­5,08 from Phoenix Contact, conductor cross sectionsof maximum 2x 1.5 mm² per contact are possible.

Cross-wiring Twin cable end sleeve Double mating plugTFKC 2,5/ 3-ST-5,08

Max. conductor cross sectionper cable (2)

1 mm² 1.5 mm²

Max. permissible current withheat­resistant cable

19 A 24 A, according to mating plugdata sheet max. 10 A for cUL

Tab. 30 Max. permissible currentRecommendation:– Insert a suitable fuse for line protection. The rated current of the fuse must be

less than or equal to the permissible current rating of the selected conductorcross section.

– The number of devices that can be cross­wired depends on the current con­sumption of the devices.

8.8 STO installation

Inputs and outputs for the safety sub-function STOThe 2­channel request for the safety sub­function is made via the digital inputs#STO­A and #STO­B. The digital input #STO­A must not be connected to the digit­al input #STO­B. Make sure that no bridges or the like can be used parallel to thesafety sub­function.The diagnostic contact STA indicates whether the safe state has been reached forthe safety sub­function STO.

[X1A] Pin Type Identifier Function

X1A.2 #STO­A Safe torque off,channel A

X1A.3

Digital input

#STO­B Safe torque off,channel B

X1A.4 STA­C1

X1A.5

Contact

STA­C2

Safe torque offacknowledge, dia­gnostic contact

Tab. 31 Inputs and outputs for the safety sub­function STOThe motor controller cannot detect a cross circuit in the input circuit by itself. 1. Find out if cross­circuit detection is needed for the input circuit and diagnostic

contact wiring in the application.2. If required, use a safety relay unit with cross­circuit detection.

Information on using EC and stepper motorsWhen using stepper motors with a safety classification of SIL 3, cat. 3, Pl e and ECmotors with a safety classification of SIL 2, cat. 3, Pl d, it is not mandatory tohave a safety relay unit or to evaluate the feedback signal STA. The following com­ponents can be connected to the control inputs #STO­A and #STO­B to requestthe safety sub­function STO:– Safe semiconductor outputs (electronic safety relay units, active safety

sensors, e.g. light curtains with OSSD signals; OSSD = "Output SignalSwitching Device")

– Switch contacts (safety relay units with relay outputs, passive safety sensors,e.g. forced position switches)

When using EC motors that require a safety classification of SIL 3, cat. 3, Pl e, it isnecessary to have a safety relay unit and to evaluate the feedback signal STA viathe diagnostic contact STA. It is not permitted to connect safe sensors directly.8.9 SS1-t installation

Inputs and outputs for the safety sub-function SS1-tThe safety sub­function SS1­t is wired like the safety sub­function STO but is sup­plemented by an emergency stop request (either directly by wiring CTRL­EN orindirectly via another functional controller) so that the braking ramp can be activ­ated by the safety relay unit.8.10 Installation for operation without safety functionFor operation without the safety sub­function, wire inputs X1A.2 to X1A.5 as fol­lows:

[X1A] Pin Type Identifier Function

X1A.2 #STO­A

X1A.3

Digital input

#STO­B

Supplies each onewith 24 V

X1A.4 STA­C1

X1A.5

Contact

STA­C2

Do not connect

Tab. 32 Circuitry of inputs and outputs without safety sub­function

9 Commissioning9.1 Safety

WARNING!

Severe, irreversible injuries from accidental movements of the connected actu-ator technology.Unintentional movements of the connected actuator technology can result fromexchanging the connecting cables of a servo drive or between servo drives.• Before commissioning: All cables must be correctly assigned and connected.

NOTICE!During commissioning: Keep the range of movement of the connected actuatorsclear, so that no persons are endangered.

Use of safety functions

NOTICE!The safety sub­function STO is already available on the servo drive on deliverywithout the need for any additional parameterisation. Prior to initial commission­ing, wire the safety sub­function STO as a minimum.

1. Make sure that each safety function of the system is analysed and validated.It is the responsibility of the operator to determine and verify the requiredsafety classification (safety integrity level, performance level and category) ofthe system.

2. Put the servo drive into operation and validate its behaviour in a test run.During integration of the PDS, observe the measures stipulated by standardEN ISO 13849­1, Chapter G.4:– Functional test– Project management– Documentation– Performance of a black­box test

NOTICE!

Unauthorised access to the device can cause damage or malfunctions.When connecting the device to a network, protect the network from unauthorisedaccess.Measures to protect the network include: • Firewall• Intrusion prevention system (IPS)• Network segmentation• Virtual LAN (VLAN)• Virtual private network (VPN)• Security at physical access level (port security)Further information è Directives and standards for security in information tech­nology, e.g. IEC 62443, ISO/IEC 27001.

9.2 Preparation for commissioningFor initial commissioning, you will need to have the Festo Automation Suite soft­ware installed along with the CMMT­ST plug­in è www.festo.com/sp.

Prepare for commissioning as follows: 1. Check wiring of the CMMT­ST.2. Install Festo Automation Suite plus CMMT­ST plug­in on the PC.3. Create project and add CMMT­ST device.4. Establish connection to the CMMT­ST and set network configuration.5. Identify the technical data of the components that is required for configura­

tion.9.3 Commissioning steps

NOTICE!

Unwanted drive movements or damage to components.Incorrect parameterisation may result in unwanted drive movements or overloadwhen the closed­loop controller is enabled or may lead to connected componentsbecoming overloaded or damaged.• Do not enable the closed­loop controller until the configured components

(servo drive, motor, axis, etc.) match those that are connected exactly.

During initial commissioning with the Festo Automation Suite with the CMMT­STplug­in installed, the following steps must be performed, for example:1. Perform configuration and parameterisation with the CMMT­ST plug­in (hard­

ware configuration, critical limits and parameters).2. If the safety function is being used, check functioning of the safety functionè Description Safety sub­function STO.

3. Check signal behaviour of the digital inputs/outputs (e.g. limit/referenceswitch).

4. Provide required control signals.5. Check direction of rotation/direction of travel of the electromechanical drive

(e.g. in jog operation).6. Carry out homing.7. Test positioning behaviour (test mode, è help for the CMMT­ST plug­in).8. If necessary, optimise controller setting (optional, è help for the CMMT­ST

plug­in).9. Perform fieldbus configuration and test control profile (è description of the

device profile used).10. Complete commissioning (e.g. save project with Festo Automation Suite and

archive project).

10 OperationCheck the safety functions at adequate intervals for proper functioning. It is theresponsibility of the operator to choose the type and frequency of the checkswithin the specified time period. The manner in which the test is conducted mustmake it possible to verify that the safety device is functioning perfectly in interac­tion with all components. Time period for cyclical test (PTI)è 15.1 Technical data, safety engineering.After the safety sub­function STO has been requested and the request completed,the functional controller enable must be reactivated.Have qualified personnel regularly check and document the function of the dia­gnostic contact. The machine manufacturer must specify the exact interval, basedon their application.The CMMT­ST is maintenance­free during its period of use and specified servicelife. The machine manufacturer must ensure the device is protected against restartaccording to the EN ISO 14118 standard “Safety of machinery – Prevention ofunexpected start­up”.With suspended axes, additional measures must be put in place to protect againstfalling loads. The device does not feature a safety sub­function SBC (Safe brakecontrol). Measures must be put in place to protect against loads that are coasting down. We recommend decelerating the drive to a standstill before applying a brake. Seeinformation on implementing the safety function SS1­t.

11 Maintenance and careIf used as intended, the product is maintenance­free.11.1 Cleaning• Clean the outside of the product with a soft cloth.

12 Malfunctions12.1 Diagnostics via LEDsThe device has LEDs for displaying status information on the top and in the RJ45bushings [XF1 IN], [XF2 OUT] and [X18]. The following image shows an example of the LEDs on the front of product variantCMMT­ST­...­EC. The functions of the RTE network status LEDs 2 differ by productversion.

1 Device status LEDs (4x)

2 RTE network status LEDs(example)

3 Ethernet status LEDs

Fig. 8 LEDs on the front (example CMMT­ST­...­EC)

12.1.1 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. 33 Device status LEDs (status, power, safety and application status LEDs)

 Status LED, display of the device status

LED Meaning

Flashesred

An error is present.

Flashesyellow

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

Lightsup yel­low

The servo drive is in the initialisation phase.

Flashesgreen

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

Lightsupgreen

The output stage and the closed­loop controller are enabled.

Tab. 34 Status LED

 Power LED, status of the power supply

LED Meaning

Illumin­atedyellow

The logic power supply is present, but the load power supply is lacking or iscurrently being measured.

Illumin­atedgreen

The load power supply and the logic power supply are present.

Tab. 35 Power LED

 Safety LED, functional status of the safety engineeringMalfunctions of the safety sub­function are detected and displayed in the func­tional device. The following are detected:– Safety sub­function STO requested via 1 channel (discrepancy monitoring)– Plausibility check of STO channel switch­off

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

LED Meaning

Flashesred

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

Illumin­atedyellow

The safety sub­function has been requested and is active.

Illumin­atedgreen

Ready, no safety sub­function has been requested.

Tab. 36 Safety LED

12.2 RepairRepair or maintenance of the product is not permissible. If necessary, replace thecomplete product.1. If there is a defect: always replace the product.2. Send the defective product unchanged, together with a description of the

fault and application, back to Festo.3. Check with your regional Festo contact person to clarify the conditions for the

return shipment.4. Validate the safety function after any modification to the installation. For val­

idation check lists, see Description Safety sub­functionè 1.2 Applicable documents.

13 Disassembly

WARNING!

Danger of burns from hot housing surfaces.Metallic housing parts can reach high temperatures during operation.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 down to room tem­

perature.

Disassemble in reverse order of installation.

Before disassembly1. Switch off the power supply at the main switch.2. Secure the system against accidental reactivation.3. Let the device cool down to room temperature.4. Disconnect all electrical cables.

Disassembly for wall mounting• Loosen retaining screws (2x) and remove the device from the mounting sur­

face.

Disassembly for H-rail mounting• Carefully tilt the servo drive upwards and remove it from the H­rail.

14 Disposal

ENVIRONMENT!The material used in the packaging has been specifically chosen for its recyclabil­ity.• For final disposal of the product, please contact a certified waste manage­

ment company for electronic waste.

15 Technical data15.1 Technical data, safety engineering

General safety reference data

Request rate in accordancewith EN 61508

High request rate

Reaction time when thesafety sub­function isrequested (tSTO,In)

[ms] Max. 11 (typical 6)

Tab. 37 Safety reference data and safety specifications

Safety reference data for the safety sub-function STO

Circuitry Steppermotor

EC motorwithout eval­uation of STA

EC motorwith evalu­ation of STA

Safety sub­function inaccordance withEN 61800­5­2

Safe torque off (STO)

Safety integrity level inaccordance with EN 61508

SIL 3 SIL 2 SIL 3

SIL claim limit for a subsys­tem in accordance withEN 62061

SILCL 3 SILCL 2 SILCL 3

Category in accordance withEN ISO 13849­1

Cat. 3

Safety reference data for the safety sub-function STO

Circuitry Steppermotor

EC motorwithout eval­uation of STA

EC motorwith evalu­ation of STA

Performance level in accord­ance with EN ISO 13849­1

PL e PL d PL e

Probability of dangerous fail­ure per hour in accordancewith EN 61508, PFH

[1/h] 6 * 10­11 8 * 10­9 3 * 10­9

Mean time to dangerous fail­ure in accordance withEN ISO 13849­1, MTTFd

[a] > 12,000 > 5000

Average diagnostic coveragein accordance withEN ISO 13849­1, DCAVG

[%] 91 72 90

Diagnostic coverage inaccordance with EN 61508,DC

[%] 99 85 95

Operating life (mission time)in accordance withEN ISO 13849­1, TM

[a] 20

Proof test interval in accord­ance with EN 61800­5­2,PTI1)

[a] 202) 203) 0.254)

Classification of componentsin accordance with EN 61508

Type B

Safe failure fraction SFF inaccordance with EN 61508

[%] 99

Hardware fault tolerance inaccordance with EN 61508,HFT

1

Common cause factor fordangerous undetected fail­ures β in accordance withEN 61508

[%] 5

1) Depending on the desired safety classification, evaluation of the diagnostic contact STA by the safety relayunit is either mandatory or optional.

2) Evaluation of the diagnostic contact STA is optional to achieve the safety classification SIL 3, cat. 3, PL ewith a stepper motor. An annual test interval is recommended.

3) Evaluation of the diagnostic contact STA is optional to achieve the safety classification SIL 2, cat. 3, PL dwith an EC motor. An annual test interval is recommended.

4) Evaluation of the diagnostic contact STA is mandatory to achieve the safety classification SIL 3, cat. 3, PL ewith an EC motor. This requires a cyclical test that involves dynamically changing the input signals andthen evaluating STA in accordance with EN 13849­1 at least once every 3 months in accordance withEN 61800­5­2.

Tab. 38 Safety reference data for the safety sub­function STO

The technical data for the safety sub­function SS1­t must be calculated individu­ally according to the application. Use the specified safety reference data for STOfor the calculation.

15.2 Technical data, product conformity and approvals

Product conformity and approvals

CE marking (declaration of conformityè www.festo.com/sp)

In accordance with EU EMC Directive1)

In accordance with EU Machinery DirectiveIn accordance with EU RoHS Directive

1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial andresidential/mixed­use areas, it may be necessary to take measures to suppress radio interference.

Tab. 39 Product conformity and approvals

Safety specifications

Type test The functional safety engineering of the product hasbeen certified by an independent testing body, see EC­type examination certificate è www.festo.com/sp.

Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB0035

Certificate no. 01/205/5696.00/19

Tab. 40 Safety specifications

15.3 Technical data, general

General technical data

Type name code CMMT­ST

Type of mounting Mounting plate, attached with screwsH­rail mounting

Mounting position Vertical, free convection with unhindered air flow frombottom to top

Product weight [kg] Approx. 0.35

Tab. 41 General technical data

Ambient conditions, transport in original packaging or in control cabinet

Transport temperature [°C] −25 … +70

Relative humidity [%] 5 … 95 (non­condensing)

Ambient conditions, transport in original packaging or in control cabinet

Max. transportation duration [d] 56 at 70 °C

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

Vibration resistance Vibration test and free fall in packaging in accordancewith EN 61800­2

Tab. 42 Ambient conditions, transport

Ambient conditions, storage in original packaging or in control cabinet

Storage temperature [°C] −25 … +55

Relative humidity [%] 5 … 95 (non­condensing)

Permissible altitude [m] 3000 (above sea level)

Tab. 43 Ambient conditions, storage

Ambient conditions, operation

Ambient temperature [°C] 0 … +50

Relative humidity [%] 5 … 90 (non­condensing)No corrosive media permitted near the device

Permissible installation alti­tude above sea level

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

Degree of protection IP20Use in a control cabinet with at least IP54, design as“closed electrical operating area” in accordance withEN 61800­5­1, Chap. 3.5

Protection class III (protective extra­low voltage)

Overvoltage category I

Degree of contamination 2

Vibration resistance in accordance with EN 61800­5­1 and EN 61800­2

Shock resistance in accordance with EN 61800­2

EMC in accordance with EN 61800­5­2

Tab. 44 Ambient conditions, operation

Service life

Service life of the device atrated load

[h] 25,000Dependent on the required current and the ambienttemperature in compliance with the necessary mount­ing clearances and power reduction è Fig.9

Tab. 45 Service life

15.4 Technical data, electrical15.4.1 Load and logic power supply [X9]

Electrical data, load power supply [X9], pin 1

Voltage range [V DC] 24 – 15 % … 48 + 15 %

Nominal operating voltage [V DC] 24 … 48

Nominal current [A] 8

Peak current [A] 10 for 3 s

Nominal power [W] 300 at 48 V

Load efficiency [%] 96.5 at nominal power 300 W

Short circuit current rating(SCCR)

[A] 5000

Protective functions – Protection against polarity reversal– Overcurrent protection input (15 A fuse, cannot be

reset)– Adjustable protection against feedback on inter­

mediate circuit rise

Tab. 46 Load power supply

Electrical data, logic power supply [X9], pin 3

Logic voltage range [V DC] 24 ± 15 %

Nominal voltage [V DC] 24

Current consumption(without holding brake)

[A] 1

Current consumption (withholding brake)

[A] 2

Logic efficiency [%] 82

Protective functions – Protection against polarity reversal– Overvoltage protection (from approx. 32 V)– Overcurrent protection input (4 A fuse, cannot be

reset)– Overcurrent protection + 24 V DC output [X1A] pin

1 and [X1C] pin 1 (0.5 A fuse, can be reset, PTC)

Tab. 47 Logic supply

15.4.2 Power specifications, motor connection [X6]

Power specifications during operation

Nominal output current [A] 8

Tab. 48 Power specifications during operation

Any power reduction that may be necessary as a function of the ambient temper­ature è Fig.9.The CMMT­ST does not have any built­in electronic overload and overtemperatureprotection functions for the motor. An I²t monitoring function can be paramet­erised for the motor current in order to protect the motor, using the device­specif­ic plug­in, for example.

Power section temperature monitoring (parameterisable)

Warning [°C] 85

Shutdown [°C] > 95

Tab. 49 Temperature monitoring

Output of holding brake at [X6]

Design High­side switch

Max. continuous output cur­rent

[A] 1 (parameterisable holding current reduction)

Max. voltage drop from+ 24 V input at connection[X9] to brake output at [X6]

[V DC] 1

Protective functions Short­circuit and overload­protected

Tab. 50 Output of holding brake at [X6]

15.4.3 Digital inputs and outputs [X1A]

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

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

Nominal voltage [V DC] 24 (relative to 0 V at X9)

Permissible voltage range1) [V DC] –3 … 30

Max. input voltage, high level(UH max)

[V] 28.8

Min. input voltage, high 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 with highlevel (IH max)

[mA] 15

Min. input current with highlevel (IH min)

[mA] 8

Max. input current with lowlevel (IL max)

[mA] 0.6

Min. input current in trans­ition range (IT min)

[mA] 0.4

Tolerance for low test pulses

Tolerated low test pulses(tSTO,TP) up to max.

[ms] 1

Min. time between low testpulses

[ms] 50

Tolerance for high test pulses2)

Tolerated high test pulses(tSTO,TP) up to max.

[ms] 1

Min. time between high testpulses at USTO­A/B < UL max

[ms] 50

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

2) High test pulses must never occur simultaneously at inputs #STO­A and #STO­B, but only with a time off­set.

Tab. 51 Control inputs #STO­A and #STO­B at [X1A]

Diagnostic contact STA at [X1A]

Design Potential­free contact

Voltage range [V DC] 18  … 30

Max. current [mA] 100 (not short­circuit proof)

Max. internal resistance [Ω] < 6

Off­state current (contactopen)

[µA] < 2

Closing reaction time tSTA,Rise [ms] . 80 (typ. 20)

Opening reaction time tSTA,Fall [ms] ≤ 35 (typ. 16)

Galvanic isolation Via optocoupler

Protective functions Overvoltage­resistant up to 60 V DC

Tab. 52 Diagnostic contact STA­C1/C2 at [X1A]

15.5 Additional technical data Additional technical data on the product and detailed descriptions of all interfacesè Description Assembly, Installation.

15.6 Characteristic curves

Required power reductionMounting clearances may be required at output currents > 4.6 A to ensure thedevice reaches its specified service life. The required mounting clearances dependon the ambient temperature and the output current.Mounting clearances from 0 mm are possible for a device compound consisting ofseveral servo drives CMMT­ST. The following characteristic curves show the max­imum permissible effective currents for the lateral mounting clearances 0 mm,3 mm, 10 mm and 15 mm.

1 Mounting clearance 15 mm

2 Mounting clearance 10 mm

3 Mounting clearance 3 mm

4 Mounting clearance 0 mm

Fig. 9 Power reduction as a function of the ambient temperature and mountingclearance