Quick Guide 1 General information / Preparation 2 Electrical installation

Original instructions
Safety and requirements for product use Front view of CMMB series motor controller
Warning
X1 Reserved connector
Warning 1 X2 Power & motor connector
Motor controller CMMB Danger of electric shock
X3 RS232 connector
Festo SE & Co. KG This product can cause a DC current in the protective ground conductor.
Danger of electric shock X4 Multi function connector
In cases where an error current protection unit (RCD) or an error current
Ruiter Straße 82 • If cables are not mounted to the plug (X2). monitoring device (RCM) is used to protect against direct or indirect con- X5 Encoder connector
73734 Esslingen
Germany • If connecting cables are disconnected when energised. tact, only the Type B kind of RCD or RCM is permitted on the power supply 1 Front panel
+49 711 347-0 Touching live parts causes severe injuries and can lead to death. side of this product. 2 Ground
www.festo.com
The product may only be operated in the installed state and when all 3 Charge lamp
safeguards have been initiated. Intended use
The CMMB is intended for: 2
Before touching live parts during maintenance, repair and cleaning work 3
and after been long service interruptions: • Use in control cabinets for power supply to AC servo motors and their
8081837 regulation of torques (current), rotational speed and position.
2017-11b 1. Switch off power to the electrical equipment via the mains switch and
[8081839] secure it against being switched on again. The CMMB is intended for installation in machines or automated systems
and may only be used: 220VAC
2. After switching-off, allow to discharge for at least 5 minutes and check Power Supply

that power is turned off before accessing the controller. Make sure that • When in excellent technical condition N L

Note the charge lamp on the front of the controller is off. • In original status without unauthorised modifications Circuit Breaker
(MCCB)
• Within the limits of the product defined by the technical data
RS232 Cable
For all available product documentation  www.festo.com/pk Warning • In an industrial environment Motor Brake Cable Brake 24V
The product is intended for use in industrial areas. When used outside an Motor Encoder Cable
Power Supply

Noise Filter
Danger of electric shock industrial environment, e.g. in commercial and mixed residential areas, (NF)
Fuse 1
measures for radio interference suppression may be necessary. L1C Motor
Motor controllers are devices with increased leakage current (> 3.5 mA). If L2C Power Cable
L1
wiring is incorrect or the device is defective, high voltage can occur on the L2
RB1
housing, which can result in serious injury or even death if the housing is Fuse 2
RB-
touched. U
V
• Before commissioning, also for brief measuring and test purposes, con- Magnetic
W
Contactor Braking PE
nect the PE protective conductor. (MC) Resistor

• Observe the regulations of EN 60204-1 for the protective earthing.

1 2 2 3

3 Pin connection 4 Default I/O function 5 Parameter description

X2 – Power connector The following figure shows the wiring of X4 with default IO function. More Easy Use function
IO functions can be defined with the digital panel or PC software. The Easy Use function helps users set up the CMMB motor controller for
Pin 1 L1C Control power input L/N
1 the main types of applications in a very short time. The LED panel guides
Pin 2 L2C
Enable
DIN1 4 1 OUT1+ Ready the user step by step through the settings of the few most important
Pin 3 L1 Drive power input L/N Reset Errors 6 3 OUT1-
Start Homing
DIN2
8 5 OUT2+ Motor Brake
parameters in order to prepare the controller for the desired application.
Pin 4 L2 P limit +
DIN3
The servo control loops of the motor controller are pre-configured to use-
Digital DIN4 10 7 OUT2-
Digital
Pin 5 DC+ DC+ DC bus+ Input
P limit -
DIN5 12 9 OUT3 Position Reached Output
ful default settings which are adequate for many applications at as they
/RB1 1 DIN6 14 11 OUT4 Zero Speed
are. A robust auto-tuning function can be used additionally to identify the
RB1 External braking resistor input Home Signal 16 20 OUT5 Error
DIN7
Pin 6 RB2 Internal braking resistor input Input Common
COMI 2 13 COMO Output Common applied mechanical system more precisely. After that, the user only needs
2 PUL+ / CW+ / A+ MA+ 27 Self-adapt 34 ENCO_A Encoder Out A+ to adjust the controller’s servo performance with the stiffness parameter.
Pin 7 RB- External braking resistor input 29 36 ENCO_/A
PUL- / CW- / A- MA- Encoder Out A-
31 Self-adapt 30 ENCO_B
Pin 8 DC- DC bus- Impulse
Command
(<500k)
DIR+ / CCW+ / B+ MB+
33 32 ENCO_/B
Encoder Out B+ Encoder
Output
Setup process with Easy Use function
DIR- / CCW- / B- MB- Encoder Out B-
Pin 9 U U/V/W phase power output for 1 Pin 1 2 Pin 19 Z+ MZ+ 35 Self-adapt 26 ENCO_Z Encoder Out Z+ The process for setting up the CMMB motor controller with the Easy Use
18 28 ENCO_/Z
Pin 10 V servo motor Z- MZ-
+5V
Encoder Out Z-
function follows a simple procedure.
22 +5V Internal 5V Output+
Pin 11 W X4 – Multi-function connector AIN1+ 19
24 GND
Internal 5V

Step 1: The parameters of the EASY panel menu have to be accessed and
Output
Analog
Internal 5V Output-
Speed
AIN1- 21
Pin 1 OUT1+ Pin 19 AIN1+ Analog
Torque
23 A/D
GND
confirmed, or set one by one. The auto-recognized motor type can be
AIN2+ +24V
Short-circuit DC+ / RB1 and RB2 if choosing controller
Analog
Max.Torque
25 15 VDD Internal 24V Output+
Pin 2 COMI Pin 20 OUT5 AIN2- Internal 24V
confirmed, the control interface has to be selected, interface-related main
internal braking resistor (power: 10 W). 17 VEE Internal 24V Output-
Output

Wire cross section for all pins: Pin 3 OUT1- Pin 21 AIN1- VEE parameters have to be set and the mechanical and control application
AWG 22 (0.32 mm²) to AWG 14 (2.1 mm²) Pin 4 DIN1 Pin 22 +5V types must be chosen. Afterwards, these parameter have to be stored
Pin 5 OUT2+ Pin 23 AIN2+
and the controller has to be rebooted. As a result of these settings, the
1 Pin 1 controller is configured for a suitable I/O setting and the servo control
Pin 6 DIN2 Pin 24 GND
loop parameters are set to matching defaults. The controller is ready for
Pin 7 OUT2- Pin 25 AIN2- use for a wide range of standard applications and can be tested.
Warning
Pin 8 DIN3 Pin 26 ENCO_Z
Step 2: If the servo control performance of the controller has to be further
Pin 9 OUT3 Pin 27 MA+
It is forbidden to use the internal braking resistor if average brake power improved, the tunE panel menu must be accessed. With the help of the
Pin 10 DIN4 Pin 28 ENCO_/Z functions in this menu, the controller can start an auto-tuning motor run
is greater than 10 W.
Pin 11 OUT4 Pin 29 MA- in order to identify motor load conditions and measure load inertia. The
Pin 12 DIN5 Pin 30 ENCO_B controller detects the ratio of the load inertia relative to motor inertia and
Model Fuse 1 Fuse 2 tunes the servo loops according to one single parameter, namely stiff-
Pin 13 COMO Pin 31 MB+
CMMB-AS-01 1A 3.5 A ness. Stiffness can be easily adjusted up or down in the tunE menu with
Pin 14 DIN6 Pin 32 ENCO_/B
CMMB-AS-02 1A 3.5 A the panel buttons. during the application can be test-run via the selected
Pin 15 VDD Pin 33 MB-
CMMB-AS-04 1A 7A command interface. After finding the best value for stiffness, the tunE
Pin 16 DIN7 Pin 34 ENCO_A parameters need to be stored and the controller is finally ready for use.
CMMB-AS-07 1A 15 A
Pin 17 VEE Pin 35 MZ+
If adjustment of stiffness does not result in the required performance, the
Pin 18 MZ- Pin 36 ENCO_/A
PC software “CMMB configurator” can be used to for further optimisation.
3 4 4 5 5 6
 6 Display an switch functions 7 EASY and TunE parameters 8 Flowchart and description of the EASY menu

LED Parameters Description Default LED Parameters Description Default The following flowchart and table explain the procedure for settings in
Display Display the EASY menu in detail.
EA01 Motor Type For a new motor controller, the set motor type is “00” / tn01 Stiffness Level of control stiffness from 0 to 31 determines the Belt:
and “3030” appears at the LED display. If the new bandwidth (BW) of the velocity loop and the position 10
motor controller is connected to a valid motor, the loop. The larger the value, the greater the stiffness. Screw: MODE MODE
motor type is auto-recognized and stored. The motor If this parameter is too large, gain will change 13
type is auto-confirmed for the new motor controller. excessively and the machine will become unstable.
1 The motor type stored in the controller and the When setting tn01 via the up and down buttons on the
SET
connected motor type are compared later on. If they panel, entered values are valid immediately in order to Long press MODE

are different, “FFFF” flashes at the LED display . The ensure the input of small change steps. SET SET SET
user needs to confirm the EA01 value or store motor tn02 Inertia_Ratio Ratio of total inertia and motor inertia (unit: 0.1), for Belt: Motor Type LED is blinking，Press MODE can
data and reboot the controller to eliminate this state. example 30 represents an inertia ratio of 3. 10 ▲ ▼ shift，the parameters below display
in the same way
1 Dot 1 EA02 Command Type The command type affects controller-internal interface 1 This value becomes defaulted by the EASY procedure Screw:
SET
settings, the initial operating mode after power on and and is measured by the inertia measuring function in 50
Item Function the default settings for DIN- and OUT functions. the tunE menu (tn03). When setting tn02 by the panel Command Type
▲ ▼

Dot 1 N/A 0: CW/CCW pulse train mode Operating mode = -4 up down buttons, the data will be valid immediately, to
1: P/D pulse train mode Operating mode = -4 ensure the input of small change steps. SET
Dot 2 N/A 2: A/B phase control tn03 Tuning_ Writing 1 starts auto-tuning inertia measurement. - Gear Factor Numerator
Dot 3 When setting parameters: distinguishes between the data for the current object master/slave mode Operating mode = -4 Method The controller is enabled and the motor executes an ▲ ▼
group and the object address inside the group. When the internal 32 bit data 6: Analog speed mode by AIN1 Operating mode = -3 oscillating motion for less than 1s.
appears at the display, the display is showing the high 16 bit of the current 32 7: Analog speed mode by AIN2 Operating mode = -3 If tuning is successful, Tuning_Method indicates a SET
bit data. Indicates that the earliest error information in the error history is being 8: Communication value of 1. The measured inertia is used to determine Gear Factor denominator
displayed when the error history record in F007 appears at the display. 9: Position table mode Operating mode = 1 the Inertia_Ratio. Stiffness is set to 4 to 12 depending
Circle ▲ ▼

Dot 4 When setting parameters and displaying real-time data, indicates the format of EA03 Gear Factor Used when EA02 is set to 0-2. By default, the display 1000 on the inertia ratio. The control loop parameters are SET
the data: HEX data when dot 4 is on and DEC data when dot 4 is off. Numerator shows the values in decimal format. If the number is set according to Stiffness and Inertia_Ratio.
Indicates that the latest error information in the error history is being displayed EA04 Gear Factor greater than 10,000, the display is in hexadecimal 1000 If the inertia measurement fails, Tuning_Method ▲ ▼
Analog Speed Factor ,Unit is rpm/V

when the error history record in F007 appears at the display. Denominator format. For gear factor 1 the pulse count of 65536 indicates the fail-reason:
Dot 5 Lights up to indicates that data has been successfully modified when setting conforms to 1 revolution of the motor. 0: The controller could not be enabled by any SET

parameters. EA05 Analog Speed Used when EA02 is set to 6 or 7. 300 reason.
From right to left , each LED represent Load Type, Application,
Lights up to indicate that internal data is being displayed when real-time data Factor The relationship between analog input voltage and -1: Inertia cannot be measured due to too little ▲ ▼ Limited Switch, Polar of Alarm Output, please refer to Talbe-2
appears. motor speed – the unit of measure is rpm/V. motion or too little current.
The controller’s power stage is operative when dot 5 flickers. Perhaps to set fail if the factor is too big when the -2: The measured inertia result is outside the valid SET

encoder is with high resolution. For controller use with range. Homing Method
MODE Switch function menu -3: The resulting Inertia_Ratio value is greater than ▲ ▼
When setting parameters, press briefly to switch the setting bit, press and hold to standard EMMB-AS motors, the maximum value is 374,
the maximum velocity is 3740 rpm/10 V. 250 (inertia ratio > 25). This is a possible result,
return to the last menu. but the control loop will not be tuned. SET

▲ Increases the value. EA06 The meaning of each digit of the LED display from right to left 1001 -4: The resulting Inertia_Ratio value is larger than Write“1”to save all the parameters.
Write“2”to save all the parameters and restart the servo
▼ Reduces the value. 1. Load type 0: No load 500 (inertia ratio > 50). This is an uncertain result. Write “3” to reboot the servo
influences the 1: Belt drive In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in Write “10” to initialize the parameters
SET Enter menu. control loop. 2: Ball screw the case -3 Inertia_Ratio is set as measured, Stiffness Notice: Users MUST save all parameters and reboot the
controller if changing the motor type
Check the values of the parameters. is set to 7-10
Confirm the setting to access the next step. 2. Application, 0: P2P
influences the 1: CNC In any fail case the control loop parameters are set
When the internal 32 bit data appears at the display, press and hold to switch to Inertia_Ratio of 30 and the set Stiffness values. To 8 9
high / low 16 bit. control loop. 2: Master/slave mode
make the measured Inertia_Ratio of case -3 become
Overall Error or warning status. Lit up for 1 s and dark for 1 s indicates a controller error. 3. Limit switch 0: Controller default effective, the value of tn02 must be confirmed by SET.

9
flash Continuous flashing (3 consecutive rapid flashes) indicates that the controller is 1: Delete the limit switch function
tn04 Safe_Dist Inertia measuring distance (unit: 0.01 rev), for example 22 Flowchart and description of the tunE menu
in a warning state. 4. Alarm Polarity of OUT5. OUT5 is default to Error 22 represents 0.22 motor revolutions. The maximum is
output polarity 0: Normally closed contacts 0.4 revolutions.
Panel menu structure and navigation 1: Normally open contacts
tn00 Saving Write "1" to save all parameters. - The tunE panel menu includes parameters and functions for auto-tuning
The following flowchart shows the main structure of the panel. The user EA07 Homing For example 35: Homing to actual position. 0 parameters Write "2" to save all parameters and restart the servo.
method with inertia measurement and servo control loop adjustment via just one
can select single parameters, modify values and access special functions Write "3" to reboot the servo.
parameter, namely stiffness.
using this flow. A list of all accessible parameters and values can be found EA00 Save Write "1" to save all parameters. / Write "10" to initialize the parameters.
in chapter 9 in the manual. Parameters Write "2" to save all parameters and restart the servo Note: Users must save control and motor parameters After processing the EASY menu, the controller defaults the stiffness
(users must reboot the drive when changing the motor and reboot the controller when changing the motor
value and the inertia ratio based on reasonable estimated values accord-
Switch on type). type.
Write "3" to reboot the servo. ing to load type and application settings in EA06.
Write "10" to initialize the parameters.
CPU Version If the inertia ratio is known based on the machine’s mechanical system
Notice: After saving the parameters, the servo will
set the control loop according to the load type and
and the payload, the value can be entered directly in tn02 (see also
Driver ID application. table 4-4). The inertia ratio does not need to be 100% correct to achieve
reasonable servo performance by adjustment of stiffness alone. But
the more accurate the inertia ratio, the better the tuning algorithm can
Monitor State
match the different servo control loops to each other. That’s why it is
MODE
highly advisable to obtain a precise inertia ratio result by means of inertia
SET measurement.
MODE
The following flowchart and table explain the procedure for settings in
SET
the tunE menu in detail.
MODE

SET Parameter Display

MODE
MODE

SET Control Loop

MODE
MODE

Parameter of IO and
SET
Operation Mode SET
Long Press MODE
MODE
adjusted by “▼▲”level by level
SET SET
and will be valid immediately
SET Motor Configuration Stiffness
▲ ▼
MODE Long Press MODE
Write automatically after inertia measuring.
SET SET Or written by user. adjusted by “▼▲”level by
SET Driver Configuration level and will be valid immediately
Inertia ratio, unit is 0.1
▲ ▼
MODE Long Press MODE

Circle SET SET SET

SET JOG Mode
Write “1”to start LED is blinking, Confirm the parameter ,the
MODE ▲ ▼ inertia ratio measuring Press MODE can shift. first dot on the right will
the parameters below lighten. the parameters below
SET Error History SET display in the same way. display in the same way.

MODE Measuring Distance,unit is 0.01 cycle

▲ ▼
Note for F006: Press ▼ until 6.15 appears, and press ▲ until 6.25 appears. Press SET to
SET
enter the Jog mode and use ▲ and ▼ to rotate positive or negative. Jog speed can be
set by F003 -> d3.52 in unit of RPM. Write 1 to save all the parameters
Write 2 to save all the parameters and restart servo

6 7 7 8 9