Festo CMMB-AS-07 Manual
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CMMB-AS-07
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Festo CMMB- AS servo manual
Motor controller
CMMB 0x- -AS
Description
Mounting and
installation
For motor controller
CMMB- - AS 0x
8189115
2023-01c
[ ] 8189117
Festo CMMB- AS servo manual
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries or serious damage to property
Other symbols:
Note
Material damage or loss of function
Recommendations, tips, references to other documentation
Essential or useful accessories
Information on environmentally sound use
Text designations:
• Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
Result of an action / references to more detailed information
Festo CMMB- AS servo manual
Revisions history
Version Chapter Date Change
1.00 2017 03 17 All - - First release
1.01 3.2.4, 6.2.1, 6.3.1 - - -2017 05 09 Figure 3 5, tables 6- - 7, 6 11
1.02 2017 07 3.1.1, 3.2.2 - -18 - -2 Table 3 1, Table 3
1.03 6.4.1 2017 10 25 - - - Figure 6 2, text
1 .04
2.1 2020 04 13 - - Figure 2- - -2, tables 2 2, 2 3,
2- 4.
3.2.4 2020 04 13 - - Table 3-4: Definition of X4,
figure 3-5
4.3.2 2020 04 13 - - Table 4-
2: EASY menu
parameters
6.1 2020 04 13 - - 6-2 Table
9.4 2020 04 13 4.01 - - dAdded description for
9.5 2020 04 13 - - -5 Table 9
Chapter 11 New Chapter - - 2020 04 13
1.05
10.2 2021 02 23 - -
Updated the Node ID
Added a negative sign as -
6.1 2022 11 25 - - -2 Table 6
Festo CMMB- AS servo manual
Contents
Chapter 1 Safety and requirements for product use .......................................................... 1
1.1 Safety................................................................................................................................. 1
1.1.1 Safety instructions for commissioning, repair and de-commissioning ................................... 1
1.1.2 Protection against electric shock through protective extra low voltage (PELV)- ...................... 1
1.1.3 Intended use ................................................................................................................... 2
1.2 Requirements for product use .................................................................................................. 2
1.2.1 Transport and storage conditions ...................................................................................... 2
1.2.2 Technical requirements ..................................................................................................... 2
1.2.3 Qualification of the specialists (requirements for personnel) ............................................... 3
1.2.4 Range of application and certifications .............................................................................. 3
Chapter 2 Introduction ....................................................................................................... 3
2.1 Product overview .................................................................................................................... 3
2.1.1 CMMB Motor controller ..................................................................................................... 3
2.1.2 EMMB Servo motor .......................................................................................................... 4
2.1.3 NEBM cables .................................................................................................................... 4
2.2 Device view ............................................................................................................................ 7
Chapter 3 Installation of the CMMB motor controller ........................................................ 8
3.1 Mechanical installation ............................................................................................................ 8
3.1.1 Environment requirements ................................................................................................ 8
3.1.2 Mounting conditions ......................................................................................................... 8
3.2 Electrical installation ............................................................................................................... 9
3.2.1 Front view of CMMB series motor controller ....................................................................... 9
3.2.2 Power connector (X2) ..................................................................................................... 10
3.2.3 RS232 port（X3） .......................................................................................................... 10
3.2.4 Multi-function connector（X4） ...................................................................................... 11
3.2.5 Encoder input（X5） ...................................................................................................... 13
3.3 Wiring of the CMMB servo system .......................................................................................... 13
3.3.1 Selection of fuses, braking resistors and circuit breakers .................................................. 14
Chapter 4 Controller setup with LED panel ...................................................................... 15
4.1 Panel operation..................................................................................................................... 15
4.2 Panel menu structure and navigation ..................................................................................... 16
4.3 Easy Use function ................................................................................................................. 17
4.3.1 Setup process with Easy Use function ............................................................................. 17
4.3.2 Flowchart and description of the EASY menu ................................................................... 18
4.3.3 Flowchart and description of the tunE menu .................................................................... 24
4.3.4 Jog mode (F006) ........................................................................................................... 27
4.3.5 Error History (F007) ....................................................................................................... 27
Chapter 5 CMMB configurator, user guide........................................................................ 29
5.1 Getting started ..................................................................................................................... 29
5.1.1 Language ...................................................................................................................... 29
5.1.2 Opening and saving project files ..................................................................................... 29
5.1.3 Starting communication .................................................................................................. 30
5.1.4 Node ID and baud rate ................................................................................................... 30
5.1.5 Objects (add, delete, help) ............................................................................................. 30
5.2 Init save reboot .................................................................................................................... 31
5.3 Firmware update .................................................................................................................. 31
5.4 Read/write controller configuration ........................................................................................ 32
5.4.1 Read settings from controller .......................................................................................... 32
5.4.2 Write settings to controller ............................................................................................. 32
5.5 Digital IO functions ............................................................................................................... 33
5.5.1 Digital inputs ................................................................................................................. 34
5.5.2 Digital outputs ............................................................................................................... 36
5.5.3 Gear ratio switch (expert only) ........................................................................................ 37
5.5.4 Gain switch (expert only)................................................................................................ 38
5.5.5 Fast Capture .................................................................................................................. 40
5.6 Scope .................................................................................................................................. 41
5.7 Error display and error history ............................................................................................... 42
Chapter 6 Operation modes and control modes ................................................................ 45
6.1 General steps for starting a control mode ............................................................................... 45
6.2 Velocity mode ( 3, 3)- ............................................................................................................ 48
6.2.1 Analog speed mode ....................................................................................................... 48
6.2.2 DIN speed mode ............................................................................................................ 50
6.3 Torque mode (4) ................................................................................................................... 51
6.3.1 Analog torque mode ....................................................................................................... 51
6.4 Position mode (1) ................................................................................................................. 52
6.4.1 Position Table mode ....................................................................................................... 52
6.5 Pulse Train mode (-4)............................................................................................................ 57
6.5.1 Master- slave mode......................................................................................................... 58
6.6 Homing mode (6) ................................................................................................................. 58
Chapter 7 Tuning of the servo system control.................................................................. 68
7.1 Auto- tuning .......................................................................................................................... 68
7.1.1 Parameters for auto- tuning ............................................................................................. 69
7.1.2 Start of auto- tuning........................................................................................................ 69
7.1.3 Problems with auto- tuning.............................................................................................. 70
7.1.4 Adjustment after auto- tuning. ......................................................................................... 70
7.2 Manual tuning ....................................................................................................................... 71
7.2.1 Tuning of the velocity loop .............................................................................................. 71
7.2.2 Tuning of the position loop ............................................................................................. 73
7.3 Factors which influence tuning results .................................................................................... 75
Chapter 8 Alarms and troubleshooting .............................................................................. 76
Chapter 9 List of CMMB series motor controller parameters............................................ 78
9.1 F001 .................................................................................................................................... 78
9.2 F002 .................................................................................................................................... 79
9.3 F003 .................................................................................................................................... 81
9.4 F004 .................................................................................................................................... 84
9.5 F005 .................................................................................................................................... 85
Chapter 10 Communication ............................................................................................. 86
10.1 RS232 wiring ...................................................................................................................... 86
10.1.1 Point to point connection .............................................................................................. 86
10.1.2 Multi- point connection .................................................................................................. 86
10.2 Transport protocol ............................................................................................................... 86
10.2.1 Point to point protocol .................................................................................................. 87
10.2.2 Multi- point protocol ...................................................................................................... 87
10.3 Data protocol ...................................................................................................................... 87
10.3.1 Download (from host to slave) ...................................................................................... 88
10.3.2 Upload (from slave to host) .......................................................................................... 88
10.4 RS232 telegram example ..................................................................................................... 89
Chapter 11 Appendix ............................................................................................................. 90
11.1 Multi-Turn Encoders supported by CMMB .............................................................................. 90
1
Chapter 1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions for commissioning, repair and de- commissioning
Warning
Danger of electric shock
– If cables are not mounted to the . plug X2
– If connecting cables disconnected are when energised.
Touching live lead parts causes severe injuries and may to death.
The product may only be operated in the installed state and when all safeguards have been
initiated.
Before parts touching live repair during maintenance, and cleaning work, and after been long
service interruptions:
Switch off power to the equipment the mains and being electrical via switch it against secure
switched on again.
After is switching off, allow to discharge for at least 10 minutes and check that power turned
off before accessing the controller. Make sure that the charge lamp on the front of the
controller is off.
Note
Danger unexpected of motor or from movement the axis
– Make anyone. sure that motion does not endanger
– Perform a risk assessment in accordance directive. with the EC machinery
– Based this risk assessment, design on the safety system for the entire machine, taking
into account all integrated components. This the also includes electric drives.
–
Bypassing is impermissible. safety equipment
1.1.2 Protection against electric shock through protective extra low voltage (PELV)-
Warning
Use only PELV circuits in accordance with IEC/EN 60204-1 (protective extra-low voltage,
PELV) for electrical power supply. Also comply with the general requirements for PELV
circuits specified in IEC/EN 60204- 1.
Use only power sources which guarantee reliable electrical disconnection of the operating
voltage as per IEC/EN 60204- 1.
Protection against electric shock (protection against direct and indirect contact) is ensured in accordance with
IEC/EN 60204- 1 through the use of PELV circuits (Electrical equipment of machines, general requirements).
2
1.1.3 Intended use
The CMMB- - AS 0x is intended for
– Use in control cabinets for power supply to AC servo motors and regulation of torques (current),
rotational speed and position.
The CMMB- -AS 0x is intended for installation in machines or automated systems and may only be used:
– When in excellent technical condition
– I n original condition without unauthorised modification
– Within the limits of the product defined by the technical data
– In an industrial environment
The product is intended for use in industrial areas. When used outside an industrial environment, e.g. in
commercial and mixed residential areas, measures for radio interference suppression may be necessary.
Note
In the event of damage caused by unauthorised manipulation or other than intended use, the
guarantee is rendered null and void and the manufacturer is not liable for damages.
1.2 Requirements for product use
Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
Take legal regulations applicable at the destination into consideration, as well as:
– Regulations and standards
– Regulations of testing organizations and insurers
– National specifications
1.2.1 Transport and storage conditions
Protect the product during transport and storage from impermissible loads such as:
– Mechanical load
– Impermissible temperatures
– Moisture
– Aggressive atmospheres
Store and transport the product in its original packaging. The original packaging offers sufficient
protection from typical stressing.
1.2.2 Technical requirements
General conditions for correct and safe use of the product, which must be observed at all times:
Comply with the connection and environmental conditions specified in the technical data of the product
and of all connected components.
Compliance with limit values and load limits is mandatory in order to assure operation of the product in
accordance with the relevant safety regulations.
Observe the instructions and warnings in this documentation.
3
1.2.3 Qualification of the specialists (requirements for personnel)
The product may only be placed in operation by a qualified electrician who is familiar with:
– Installation and operation of electrical control systems
– Applicable regulations for operating safety-engineered systems
– Applicable regulations for accident protection and occupational safety
– Documentation for the product
1.2.4 Range of application and certifications
Certificates de and claration of conformity c for this product an be found at
www.festo.com/sp.
The product has been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada and is
marked as follows:
UL listing mark for Canada and the United States
Chapter 2 Introduction
2.1 Product overview
The CMMB motor controller series consists of four models of motor controllers for four different power ratings.
Together with the EMMB servo motor series, the CMMB series provides a pulse train servo system platform
with a rated power range of 100 to 750 W.
2.1.1 CMMB Motor controller
The CMMB motor controller is available in the following models:
Table 2-1: Model type
Model
Power
CMMB-AS- 01
100 W
CMMB-AS- 02
200 W
CMMB-AS- 04
400 W
CMMB-AS- 07
750 W
Figure 2-1: Type code motor controller
5
2.5 - -E- - - NEBM H6G4 2.5 Q13N LE4
5 - -E-5- - NEBM H6G4 Q13N LE4
7.5 - -E- - - NEBM H6G4 7.5 Q13N LE4
10 - -E- - - NEBM H6G4 10 Q13N LE4
15 - -E- - - NEBM H6G4 15 Q13N LE4
20 - -E- - - NEBM H6G4 20 Q13N LE4
25 - -E- - - NEBM H6G4 25 Q13N LE4
6
Table 2- 3: Encoder cable
Standard cable
Length (unit: m) Type
2.5 2.5 Q14N - -K-NEBM REG6 - - REG6
5 - -K-5- - NEBM REG6 Q14N REG6
7.5 7.5 Q14N - -K-NEBM REG6 - - REG6
10 10 Q14N - -K-NEBM REG6 - - REG6
Flexible cable (usable in cable chain)
Length (unit: m)
Type
2.5
NEBM REG6 REG6- -E- - -2.5 Q14N
5
NEBM REG6 REG6- -E-5- -Q14N
7.5 7.5 Q14N - -E-NEBM REG6 - - REG6
10 10 Q14N - -E-NEBM REG6 - - REG6
15 15 Q14N - -E-NEBM REG6 - - REG6
20 20 Q14N - -E-NEBM REG6 - - REG6
25 25 Q14N - -E-NEBM REG6 - - REG6
Table 2-4: Brake cable
Standard cable
Length (unit: m)
Type
2.5
NEBM H7G2- -K- - - 2.5 Q14N LE2
5
NEBM H7G2- -K-5- - Q14N LE2
7.5
NEBM H7G2- -K- - - 7.5 Q14N LE2
10
NEBM H7G2- - K- - - 10 Q14N LE2
Flexible cable (usable in cable chain)
Length (unit: m) Type
2.5 2.5 Q14N - -E-NEBM H7G2 - - LE2
5 - -E-5- - NEBM H7G2 Q14N LE2
7.5 7.5 Q14N - -E-NEBM H7G2 - - LE2
10
NEBM H7G2- -E- - - 10 Q14N LE2
15
NEBM H7G2- -E- - - 15 Q14N LE2
20
NEBM H7G2- -E- - - 20 Q14N LE2
25
NEBM H7G2- -E- - - 25 Q14N LE2
8
Chapter 3 Installation of the CMMB motor controller
3.1 Mechanical installation
3.1.1 Environment requirements
Table 3- 1: Environment requirements
Environment Requirement
Working temperature 0 - ) 40℃(no ice
Working humidity - 5 95%RH (no condensation)
Storage temperature - - ) 10 70℃(no ice
Storage humidity - 5 95%RH (no condensation)
Assembly requirement Indoors without sunlight, corrosive gas, non- flammable gas, no dust.
Altitude Less than 2000 m, power derating between 1000m and 2000m
Vibration Less than 5.9m/s2, 10〜60Hz (not to be used at the resonance point)
Degree of protection IP20
3.1.2 Mounting conditions
Figure 3-1: Installation orientation, distances and clearances
> > >10mm 10mm 10mm
> >20mm 20mm
> >50mm 50mm
Air Inlet Air Inlet
Air Outlet Air Outlet
11
3.2.4 Multi-function connector（
（
（
（（X4）
）
）
））
Figure 3-3: Multi-function connector
Table 3-4: Definition of X4
PIN Function
DIN1 DIN7-
Digital signal input
VinH (active): 12.5VDC- 30VDC,
VinL (inactive): 0VDC- 5VDC,
input freq.: <1KHz
COMI Common pin of digital input
OUT1+ / OUT1- Digital signal output
Maximum output current: 100mA
OUT2+ / OUT2-
OUT3 / OUT4 / OUT5
Digital signal output
Maximum output current: 20mA
COMO Common pin of digital output OUT3, 4, 5
MA+ / MA-
Pulse input
Input voltage: 3.3V- 24V
Maximum frequency: 500KHz
MB+ / MB-
MZ+ / MZ-
ENCO_A+ / ENCO_A-
Encoder output
Voltage: Voh=3.4V, Vol=0.2V
Maximum current: 20mA, maximum frequency: 10MHz±
The ENCO_Z±signal is always happening when the encoder single turn crossing
0.
ENCO_B+ / ENCO_B-
ENCO_Z+ / ENCO_Z-
AIN1+ / AIN2+ / AIN2AIN1- -
Analog input
Resolution: 12 bit, input resistance: 350 KΩ
Analog bandwidth: 1KHz, input voltage range: - 10V +10V
+5V / GND
5VDC power supply output
Maximum current: 100mA
VDD/VEE
24VDC power supply output
Voltage range: 24VDC ± 20%, maximum current: 300 mA
AIN1+
19
AIN1-
21
AIN2+
23
AIN2-
25
MA+
27
MA-
29
MB+
31
MB-
33
MZ+
35
OUT5
20
+5V
22
GND
24
ENCO_Z
26
ENCO_/Z
28
ENCO_B
30
ENCO_/B
32
ENCO_A
34
ENCO_/A
36
COMI
2
DIN1
4
DIN2
6
DIN3
8
DIN4
10
DIN5
12
DIN6
14
DIN7
16
MZ-
18
OUT1+
1
OUT1-
3
OUT2+
5
OUT2-
7
OUT3
9
OUT4
11
COMO
13
VDD
15
VEE
17
12
The following figure shows the wiring of X4 with default IO function. More IO functions can be defined with the
digital panel or PC software. Please refer to chapter 5.5 for more details regarding IO functions.
Figure 3 wiring of digital inputs and digital outputs- -4: X4 NPN
Figure 3 4 shows NPN wiring for the digital input and outputs. Figure 3 5 shows the PNP wiring.- -
Figure 3 wiring of digital inputs and digital outputs- -5: X4 PNP
CMMB series motor controllers do not support the direct motor brake control output. We suggest to using the
OUT1 or OUT2 pin to control a relay which is connected to the motor brake. The wiring schematic is as follows:
Drive
OUT2+
5
OUT2-
7
24V Brake
Power Supply
Motor Brake
﹢-
Relay
Figure 3-6: Motor brake wiring
15
Chapter 4 Controller setup with LED panel
After the servo system has been wired properly and in accordance with relevant standards, the motor controller
can be setup for the desired application.
The CMMB motor controller provides an LED panel at the front panel. It consists of a 5 digit LED display and -
four buttons. Following general functions are possible with this LED panel:
– Real time display of actual values at the LED display. The value which is displayed can be selected in
the F001 menu, Real_Speed_RPM (d1.25) is shown as a default display, for other selections please see
chapter 1.9 table 9-
– Blinking display of error or warning information
– Display of controller parameters and their modification
– Easy controller setupusing special menu functions EASY and tunE
Different functions and parameter groups are arranged in a menu structure. The 4 buttons can be used to
navigate through that menu structure, select single parameters, modify values and access special functions.
4.1 Panel operation
Table 4-1: Panel view
Item Function
Dot ① N/A
Dot ② N/A
Dot ③
When setting parameters: distinguishes between the data for the current object group and the object
address inside the group.
When the internal 32 bit data_appears at the display, the display is showing the high 16 bit of the
current 32 bit data.
Indicates that the earliest error information in the error history is being displayed when the error history
record in F007 appears at the display.
Dot④
When setting parameters and displaying real-time data, indicates the format of the data: HEX data when
dot 4 is on and DEC data when dot 4 is off.
Indicates that the latest error information in the error history is being displayed when the error history
record in F007 appears at the display.
Dot⑤
Lights up to indicates that data has been successfully modified when setting parameters.
Lights up to indicate that internal data is being displayed when real time data appears.
The controller’s power stage is operative when dot 5 flickers.
MODE
S witch function menu.
When setting parameters, press briefly to switch the setting bit, press and hold to return to the last
menu.
▲ Increases the value.
▼ Reduces the value.
MODE
SET
Number
Dot
① ② ③ ④ ⑤
UP BUTTOM
Down BUTTOM
MODE BUTTOM
SET BUTTOM
16
SET
E nter menu.
Check the values of the parameters.
Confirm the setting to access the next step.
When the internal 32 bit data appears at the display, press and hold to switch high / low 16 bit.
O verall flash Error or warning status. Lit up for 1s and dark for 1s indicates a controller error. Continuous flashing (3
consecutive rapid flashes) indicates that the controller is in a warning state.
4.2 Panel menu structure and navigation
The following flowchart shows the main structure of the panel. The user can select single parameters, modify
values and access special functionsusing this flow. A list of all accessible parameters and values can be found
in chapter 9.
Monitor State
SET
Switch on
Driver ID
MODE
MODE
MODE
MODE
MODE
MODE
MODE
MODE
MODE
MODE
SET
SET
SET
SET
SET
Parameter Display
Control Loop
Parameter of IO and
Operation Mode
Motor Configuration
Driver Configuration
Error History
JOG Mode
SET
SET
CPU Version
Figure 4-1: Parameters setting
17
4.3 Easy Use function
The Easy Use function helps users setup the CMMB motor controller for the main types of applications in a
very short time. The LED panel guides the userstep by step through the settings of the few most important
parameters in order to prepare the controller for the desired application. The servo control loops of the motor
controller are pre-configured to useful default settings which are adequate for many applications at as they
are. A robust auto-tuning function can be used additionally to identify the applied mechanical system more
precisely. After that, the user only needs to adjust the controller’s servo performance with the stiffness
parameter.
4.3.1 Setup process with Easy Use function
The process for setting up the CMMB motor controller with the Easy Use function follows a simple procedure.
Step 1: The parameters of the EASY panel menu have to be accessed and confirmed, or set one by one. The
auto-recognized motor type can be confirmed, the control interface has to be selected, interface related main -
parameters have to be set and the mechanical- -and control application types must be chosen. Afterwards,
these parameters have to be saved and the controller has to be rebooted. As a result of these settings the
controller is configured for a suitable I/O setting and the servo control loop parameters are set to matching
defaults. The controller is ready for use for a wide range of standard applications and can be tested.
Step 2: If the servo control performance of the controller has to be further improved, the tunE panel menu
must be accessed. With the help of the functions in this menu, the controller can start an auto tuning motor -
run in order to identify motor load conditions and to measure the inertia. After that the controller calculates
the inertia ratio, which is the ratio of the measured inertia and the motor inertia. Depending on the obtained
inertia ratio the controller defines a suitable stiffness value for the servo behavior. Using the inertia ratio and
the stiffness value the controller tunes the servo loops automatically.
Step 3: Inside the tunE menu the stiffness can be adjusted up/down simply by panel buttons. The stiffness
adjustment can be done also during the testing of the application, while the controller is being commanded
via the selected command interface. After finding the best value for stiffness the tunE parameters need to be
saved and the controller is finally ready for use. If the adjustment of the stiffness does not result in the
required performance, the PC software “CMMB configurator” can be used to for further optimisation.
START
Execute the flow chart of EASY
Jog the machine,
evaluate the performance
Measure the Inertia
Ratio by Tn03
Adjust the
Stiffness by Tn01
Jog the Machine,
evaluate the performance
END
Adjust Gain by PC
Not good
Good
Not Good Can not figure out by
adjusting the stiffness
Good
Figure 4-2: Flow chart of the Easy Use function
18
4.3.2 Flowchart and description of the EASY menu
The following flowchart and table explain the procedure for settings in the EASY menu in detail.
Figure 4-3: Flowchart of the EASY menu
Information
The menu is exited automatically if there is no operation in 30s, and users have to start
again. Entered data is valid immediately, but must be saved via EA00.
19
Table 4-2: EASY menu parameters
LED Parameter Description Default
EA01 Motor Type
For a new motor controller, the set motor type is “00” and “3030”
appears at the LED display. If the new motor controller is connected
to a valid motor, the motor type is auto-recognized and saved.
The motor type saved in the controller and the connected motor type
are compared later on. If they are different, “FFFF” flashes at the
LED display. The user needs to confirm the EA01 value, save motor
data and reboot the controller to eliminate this state.
Examples of motor type, motor code and EA01 display value.
Motor code Motor type LED display
YY -AS- - EMMB 40 01… 5959
Y0 -AS- - EMMB 60 02… 3059
Y1 -AS- - EMMB 60 04… 3159
Y2 -AS- - EMMB 80 07… 3259
/
EA02 Command Type
The command type affects controller internal interface settings, the -
initial operation mode after power on and the default settings for
DIN- and OUT functions (refer to table 4-3).
0: CW/CCW pulse train mode -4 Operation mode =
1: P/D pulse train mode -4 Operation mode =
2: A/B phase control master / slave mode -4 Operation mode =
6: Analog velocity mode by AIN1 -3 Operation mode =
7: Analog velocity mode by AIN2 -3 Operation mode =
8: Communication
9: Position table mode Operation mode = 1
1
EA03
Gear Factor
Numerator Used when EA02 is set to 0- 2.
By default, the display shows the values in decimal format. If the
number is greater than 9999, the display is in hexadecimal format.
1000
EA04
Gear Factor
Denominator 1000
EA05 Analog Speed
Factor
Used when EA02 is set to 6 or 7.
The relationship between analog input voltage and motor velocity the
unit of measure is rpm/V.
For controller use with standard EMMB-AS motors, the maximum
value is 374, the maximum velocity is 3740rpm/10v/.
For more details see chapter 9.3 (d3.29).
300
EA06
1.Load type
2.Application
3.Limit switch
4. Alarm output
polarity
The meaning of each digit of the LED display from right to left.
(1) Load type, influences the control loop.
0: No load
1: Belt drive
2: Ball screw
(2) Application, influences the control loop.
0: P2P
1: CNC
2: Master / slave mode
(3) Limit switch.
0: Controller default
1: Delete the limit switch function
(4) Polarity of OUT5
1001 with Firmware V0012
1011 with Firmware V0013
20
0: Normally closed contacts
1: Normally open contacts
EA07
Homing method
Refer to chapter 6.6
0
EA00 Save
Parameters
Write “1” to save control and motor parameters.
Write “2” to save control and motor parameters and reboot the
servo.
Write “3” to reboot the servo.
Write “10” to initialize the control parameters.
Notice:
Users must save control and motor parameters and reboot the
controller after changing the motor type in EA01.
After saving the parameters, the servo will set the control loop
parameters according to the load type and application.
/
As a result of setting the command type in EA02, the digital I/O configuration of the controller is defaulted
differently, depending on the command type setting as shown in the following table:
Table 4-3: The default settings related to EA02
Pulse Train
Position table
Analog Input for Velocity Control
Control via
RS232
CW/CCW A/B P/D (default) Channel 1 Channel 2
EA02 0 1 2 9 6 7 8
DIN1 Enable Enable Enable Enable Enable Enable
DIN2 Reset Errors Reset Errors Reset Errors Reset Errors Reset Errors Reset Errors
DIN3 Start Homing Start Homing Start Homing Start Homing Start Homing Start Homing
DIN4 P limit+ P limit+ P limit+ PosTable Idx0 P limit+ P limit+ P limit+
DIN5 - - - P limit P limit P limit PosTable Idx1 - - - P limit P limit P limit
DIN6 Start PosTable
DIN7 Home Signal Home Signal Home Signal Home Signal Home Signal Home Signal
Home
Signal
OUT1 Ready Ready Ready Ready Ready Ready Ready
OUT2 Motor Brake Motor Brake Motor Brake Motor Brake Motor Brake Motor Brake Motor Brake
OUT3 Pos Reached Pos Reached Pos Reached Pos Reached Velocity Reached
Velocity
Reached
Pos
Reached
OUT4 Zero Speed Zero Speed Zero Speed
PosTable
Active Zero Speed Zero Speed Zero Speed
OUT5 Error Error Error Error Error Error Error
21
Note
Be aware of the different (default) setting of the digital I/O configuration after setting the
command type in EA02 or changing a motor type. When settings are changed, an active
function may be assigned to digital inputs which have not been in use before as a result of
the new defaults, and signals applied to the digital inputs may inadvertently trigger DIN
functions. It’s recommended to proceed with EASY menu settings with unplugged X4
connector or disconnected power supply to the digital inputs.
It’s strongly recommended to process the EASY menu with switched off drive power input.
Double check X4 wiring before switching on drive power input.
Information
The EASY and tunE menus are designed to be set with button originally. For safety reasons,
the EASY and tunE menus provide only the parameters EA00, EA01 and tn00 if any of
following cases happen, case 1: the user initializes the parameters by any way; case 2: a
motor type is connected to the controller which is different to the in EA01 confirmed one;
case 3: the motor type setting has been changed by other way rather than through EA01
(e.g. by PC software).
After the motor type becomes confirmed in EA01, the contents of the entries in the menus
get default values and the menus get back the full function.
The following pages show four different I/O function configurations based on different command type
settings in EA02 and typical related wiring diagrams for I/O connector X4.
Pulse train mode configuration, command types 0, 1 or 2 in EA02:
Digital
Input
Enable
Reset Errors
Start Homing
P limit+
P limit-
Home Signal
Input Common
PUL+ / CW+ / A+
PUL- / CW- / A-
DIR+ / CCW+ / B+
DIR- / CCW- / B-
Z+
Z-
Impulse
Command
(<500k)
OUT1+
OUT1-
OUT2+
OUT2-
OUT3
OUT4
OUT5
COMO
1
3
5
7
9
11
20
13
ENCO_A
ENCO_/A
ENCO_B
ENCO_/B
ENCO_Z
ENCO_/Z
34
36
30
32
26
28
+5V
GND
22
24
+5V
GND
VDD
VEE
15
17
+24V
VEE
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
COMI
4
6
8
10
12
14
16
2
MA+
MA-
MB+
MB-
MZ+
MZ-
27
29
31
33
35
18
Self-adapt
Self-adapt
Self-adapt
Internal 24V
Output
Internal 24V Output+
Internal 24V Output-
Internal 5V
Output
Internal 5V Output+
Internal 5V Output-
Encoder
Output
Encoder Out A+
Encoder Out A-
Encoder Out B+
Encoder Out B-
Encoder Out Z+
Encoder Out Z-
Digital
Output
Ready
Motor Brake
Pos Reached
Zero Speed
Error
Output Common
Figure 4-4: X4 wiring in pulse train mode
22
Analog control mode configuration, command types 6 or 7 in EA02:
Digital
Input
Enable
Reset Errors
Start Homing
P limit+
P limit-
Home Signal
Input Common
OUT1+
OUT1-
OUT2+
OUT2-
OUT3
OUT4
OUT5
COMO
1
3
5
7
9
11
20
13
ENCO_A
ENCO_/A
ENCO_B
ENCO_/B
ENCO_Z
ENCO_/Z
34
36
30
32
26
28
+5V
GND
22
24
+5V
GND
VDD
VEE
15
17
+24V
VEE
Internal 24V
Output
Internal 24V Output+
Internal 24V Output-
Internal 5V
Output
Internal 5V Output+
Internal 5V Output-
Encoder
Output
Encoder Out A+
Encoder Out A-
Encoder Out B+
Encoder Out B-
Encoder Out Z+
Encoder Out Z-
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
COMI
4
6
8
10
12
14
16
2
Digital
Output
Ready
Motor Brake
Velocity Reached
Zero Speed
Error
Output Common
Analog
Speed
Command
Max. Torque
Limit
AIN1+
AIN1-
AIN2+
AIN2-
19
21
23
25
A/D
Figure 4-5: X4 wiring in analog control mode
Position table mode, command type 9 in EA02:
Figure 4-6: X4 wiring in position table mode
23
RS232 control mode, command type 8 in EA02:
Internal 24V
Output
Internal 24V Output+
Internal 24V Output-
Internal 5V
Output
Internal 5V Output+
Internal 5V Output-
Encoder
Output
Encoder Out A+
Encoder Out A-
Encoder Out B+
Encoder Out B-
Encoder Out Z+
Encoder Out Z-
OUT1+
OUT1-
OUT2+
OUT2-
OUT3
OUT4
OUT5
COMO
1
3
5
7
9
11
20
13
ENCO_A
ENCO_/A
ENCO_B
ENCO_/B
ENCO_Z
ENCO_/Z
34
36
30
32
26
28
+5V
GND
22
24
+5V
GND
VDD
VEE
15
17
+24V
VEE
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
COMI
4
6
8
10
12
14
16
2
Digital
Input
P limit+
P limit-
Home Signal
Input Common
Digital
Output
Ready
Motor Brake
Pos Reached
Zero Speed
Error
Output Common
Figure 4-7: X4 wiring in RS232 control mode
25
Table 4- 4: tunE parameters
LED Parameter Description Default
tn01 Stiffness
Level of control stiffness from 0 to31 determines the bandwidth (BW) of the
velocity loop and the position loop (see table 4 5). The larger the value, the -
greater the stiffness. If this parameter is too large, gain will change
excessively and the machine will become unstable.
When setting tn01 via the up and down buttons on the panel, entered values
are valid immediately, in order to ensure the input of small change steps.
Belt: 10
Screw: 13
tn02 Inertia_Ratio
Ratio of total inertia and motor inertia (unit: 0.1) for example 30 represent an
inertia ratio of 3.
This value becomes defaulted by the EASY procedure and measured by the
inertia measuring function in the tunE menu (tn03).
When setting tn02 by the panel up down buttons, the data will be valid
immediately, to ensure the input of small change steps.
Belt: 50
Screw: 30
tn03 Tuning_Method
Writing 1 starts auto-tuning inertia measurement. The controller is enabled
and the motor executes an oscillating motion for less than 1s.
If tuning is successful, Tuning_Method indicates a value of 1. The measured
inertia is used to determine the Inertia_Ratio. Stiffness is set to 4 to 12
depending on the inertia ratio. The control loop parameters are set according
to Stiffness and Inertia_Ratio.
If the inertia measurement fails, Tuning_Method indicates the fail-reason:
0: The controller could not be enabled by any reason.
- 1: Inertia cannot be measured due to too little motion or too little current.
- 2: The measured inertia result is outside the valid range.
- 3: The resulting Inertia_Ratio value is greater than 250 (inertia ratio > 25).
This is a possible result, but the control loop will not be tuned.
- 4: The resulting Inertia_Ratio value is larger than 500 (inertia ratio > 50).
This is an uncertain result.
In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in the case -3 Inertia_Ratio
is set as measured, Stiffness is set to 7-10
In any fail case the control loop parameters are set to Inertia_Ratio of 30 and
the set Stiffness values. To make the measured Inertia_Ratio of case -3
become effective, the value of tn02 must be confirmed by SET.
tn04 Safe_Dist
Inertia measuring distance (unit: 0.01 rev), for example 22 represents 0.22
motor revolutions. The maximum is 0.4 revolutions. 22
tn00 Saving
parameters
Write “1” to save control and motor parameters.
Write “2” to save control and motor parameters and reboot the servo.
Write “3” to reboot the servo.
Write “10” to initialize the control parameters.
Note: Users must save control and motor parameters and reboot the controller
when changing the motor type.
26
The auto-tuning algorithm uses the following table of control loop bandwidth settings in relation to the stiffness
value:
Table 4-5: Stiffness and control loop settings
Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz] Output filter
[Hz]
Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz] Output filter
[Hz]
0 70 25 18 16 1945 700 464
1 98 35 24 17 2223 800 568
2 139 50 35 18 2500 900 568
3 195 70 49 19 2778 1000 733
4 264 95 66 20 3334 1200 733
5 334 120 83 21 3889 1400 1032
6 389 140 100 22 4723 1700 1032
7 473 170 118 23 5556 2000 1765
8 556 200 146 24 6389 2300 1765
9 639 230 164 25 7500 2700 1765
10 750 270 189 26 8612 3100 1765
11 889 320 222 27 9445 3400 ∞
12 1056 380 268 28 10278 3700 ∞
13 1250 450 340 29 11112 4000 ∞
14 1500 540 360 30 12500 4500 ∞
15 1667 600 392 31 13889 5000 ∞
Information
When the setting for the stiffness or inertia ratio results in a Kvp value of greater than 4000, it
isn’t useful to increase stiffness any more
Note
The EASY procedure must be run first and completed, before tunE may be used.
Inertia measurement might cause the machine to oscillate, please be prepared to shut off
controller power immediately.
Provide enough mechanical space for motor oscillation during inertia measurement in order to
avoid machine damage.
Information
Reasons for the failure of tuning:
Incorrect wiring of the CMMB servo system
DIN function Pre_Enable is configured but not active
Too much friction or external force is applied to the axis to be tuned
Too big backlash in the mechanical path between the motor and the load
27
Inertia ratio is too large
The mechanical path contains too soft components (very soft belts or couplings)
For more information about tuning see chapter 7
4.3.4 Jog mode (F006)
The Jog mode is intended to be used for a motor test run by the buttons of the LED panel without the need
for any other command signal. No matter other Operation_Mode and velocity settings, in the Jog mode the
controller controls the motor rotating with the velocity set by Jog_RPM(d3.52) in instantaneous velocity mode
(Operation_Mode=- 3, refered to chapter 6.1).
Steps of Jog operation:
Step 1: Check all wiring is right, ESAY flow has been completed.
Step 2: Enter panel address F003- >d3.52, set Jog_RPM.
Step 3: Enter panel menu F006, address d6.40 appears, press several times until d6.15 appears, press
several times until d6.25 appears (this is a safety procedure to ensure the and buttons work properly
and do not stick in a pressed state).
Step 3: Press SET and the LED display shows ‘Jog’.
Step 4: Press and hold abled for positive direction or for negative direction. The controller will become en
automatically and the motor shaft will rotate with velocity Jog_RPM. Release and , to stop the motor shaft.
If in Step 4 for more than 20 seconds none of or was pressed, the Jog operation will quit and a new Jog
operation needs to be started from Step 1 again.
Note
In the JOG mode configured Limit Switch functions are not working, the limit switches will be
ignored.
Be aware of the human reaction time when controlling the motor in Jog mode. Use slow
velocity settings for the Jog mode, especially if the motor travel is limited by mechanical
blocks.
Information
If the digital input function Pre_Enable is configured, the Jog mode requires this function active
either by the correct DIN signal or by DIN simulation, otherwise the Jog mode will cause a
controller error “External enable”.
4.3.5 Error History (F007)
The CMMB controller stores the last 8 errors in the error history. Enter panel menu F007, press SET, the value
of Error_State(2601.00) (see chapter 5.7, table 5-7) will be shown, if it displays 0001 then it’s an extended
error, press SET to show the value of Error_State2(2602.00) (see chapter 5.7, table 5- 8).
Press ▲or ▼to go through all error history. On the LED display, from left to right, dot 3 indicates it’s the
earliest error, dot 4 indicates it’s the latest error. There’s mask to specify which errors will be stored in the
error history, please see chapter 5.5 for more details.
Table 4- 6: Panel F007 example
F007 LED display
Meaning
000.1
The latest error is Extended Error. Press “SET” key to see the Error_State 2(2602.00) value.
02.00
The earliest error is Following Error.
0100
There was Chop Resistor error, it’s neither the earliest nor the latest error.
Produkt Specifikationer
| Mærke: | Festo |
| Kategori: | Ikke kategoriseret |
| Model: | CMMB-AS-07 |
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