Servo drive

CMMT-AS-C2/C4-3A-...

Description |
Assembly, Installation

8075795
8075795
2018-02
[8075797]
Translation of the original instructions

EnDat®, EtherCAT®, EtherNet/IP®, DR. JOHANNES HEIDENHAIN®, Hiperface®, PI PROFIBUS PROFINET®,

PHOENIX CONTACT® are registered trademarks of the respective trademark owners in certain coun-
tries.

2 Festo — CMMT-AS-C2/C4-3A-... — 2018-02

Table of contents
1 About this document................................................................................................... 5
1.1 Target group................................................................................................................. 5
1.2 Further applicable documents...................................................................................... 5
1.3 Product variants........................................................................................................... 5
1.4 Product labelling.......................................................................................................... 6
1.5 Specified standards...................................................................................................... 9
2 Safety........................................................................................................................... 9
2.1 Safety instructions........................................................................................................ 9
2.2 Intended use................................................................................................................ 10
2.2.1 Application areas.................................................................................................... 11
2.2.2 Permissible components.........................................................................................11
2.3 Training of skilled personnel........................................................................................ 11
2.4 Approvals and certifications......................................................................................... 11
3 Further information..................................................................................................... 12
4 Service..........................................................................................................................12
5 Product overview......................................................................................................... 12
5.1 Scope of delivery.......................................................................................................... 12
5.2 System structure.......................................................................................................... 12
5.2.1 Product design........................................................................................................14
5.2.2 Overview of connection technology........................................................................ 17
6 Transport and storage................................................................................................. 18
7 Assembly..................................................................................................................... 18
7.1 Mounting distances CMMT-AS-...-3A (1-phase)............................................................ 19
7.2 Installation................................................................................................................... 20
8 Installation.................................................................................................................. 21
8.1 Safety............................................................................................................................ 21
8.2 Residual current device................................................................................................ 22
8.3 Mains fuse.................................................................................................................... 22
8.4 Permissible and impermissible electrical network types................................................24
8.5 Connection of the mains side PE protective conductor.................................................. 27
8.6 Information on EMC-compliant installation................................................................... 28
8.7 Connection examples................................................................................................... 31
8.8 Interfaces..................................................................................................................... 33
8.8.1 [X1A], Inputs and outputs for the higher-order PLC................................................. 33
8.8.2 [X1C], Inputs and outputs to the axle...................................................................... 41
8.8.3 [X2], Sensor interface 1........................................................................................... 43
8.8.4 [X3], Sensor interface 2........................................................................................... 49
8.8.5 [X10], SYNC IN/OUT................................................................................................ 52
8.8.6 [X18], standard Ethernet......................................................................................... 57
8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2....................................................59

Festo — CMMT-AS-C2/C4-3A-... — 2018-02 3

8.9 Motor connection.......................................................................................................... 60
8.9.1 [X6A], Motor phase connection.............................................................................. 60
8.9.2 [X6B], Motor auxiliary connection.......................................................................... 62
8.9.3 Shield support of the motor cable.......................................................................... 63
8.10 Power and logic voltage supply..................................................................................... 66
8.10.1 [X9A], Power supply and intermediate circuit connection........................................66
8.10.2 [X9B], Connection, braking resistor........................................................................ 67
8.11 Cross wiring...................................................................................................................69
8.11.1 Cross wiring of the I/O signals at the connection [X1A]........................................... 70
8.11.2 Cross wiring of the mains and logic voltage supply................................................ 72
9 Malfunctions................................................................................................................ 77
9.1 Diagnostics via LED....................................................................................................... 77
9.1.1 Device status displays........................................................................................... 78
9.1.2 Interface status [X2], [X3], [X10], [X18]................................................................... 81
9.1.3 Device and interface status EtherCAT.................................................................... 82
9.1.4 Device and interface status ProfiNet...................................................................... 83
9.1.5 Device and interface status EtherNet/IP................................................................ 84
10 Dismounting................................................................................................................. 86
11 Technical data.............................................................................................................. 87
11.1 Technical data product conformity and approvals......................................................... 87
11.2 General technical data...................................................................................................87
11.3 Technical data, electrical............................................................................................... 90
11.3.1 Load and logic voltage supply [X9A]....................................................................... 90
11.3.2 Electrical data for braking resistor (internal/external) [X9B]................................... 93
11.3.3 Power specifications, motor connection [X6A]....................................................... 94
11.3.4 Motor auxiliary connection [X6B]........................................................................... 96
11.3.5 Encoder interfaces [X2], [X3].................................................................................. 97
11.3.6 Inputs, outputs, ready contact at [X1A].................................................................. 102
11.3.7 Inputs and outputs to the axis [X1C]...................................................................... 109
11.3.8 SYNC IN/OUT [X10]................................................................................................ 111
11.3.9 Standard Ethernet [X18], parameterisation interface.............................................. 112
11.3.10 Real-time Ethernet [X19] ([XF1 IN], [XF2 OUT])........................................................ 113

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About this document

1 About this document

1.1 Target group
The document is targeted towards individuals who perform assembly and installation and service
work on the product.
1.2 Further 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 Table of contents

Instruction manual CMMT-AS-... Instruction manual for assembly, installation,

and safety function
Description CMMT-AS-...-SY-... Description for assembly and installation
Descriptions CMMT-AS-... Descriptions on:
– Operating modes and operational functions
– specifically for each bus protocol/activation:
Device profiles, controller and parameterisa-
tion
– Safety function, STO, SBC, SS1
Help for commissioning software Online help for:
– Function of the commissioning software
– Commissioning and parameterisation of the
CMMT

Tab. 1 User documentation for the product

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

Feature Order code Version

Servo drive CMMT- Servo drive, series T

Motor type AS- AC synchronous
Nominal current C2- 2A
C4- 4A
Nominal input voltage 3A- 230 V AC, 50 … 60 Hz
Number of phases – Single-phase

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About this document

Feature Order code Version

Bus protocol/activation EC- EtherCAT

EP EtherNet/IP
PN- PROFINET
Safety function S1 Standard safety
Cooling method – Integrated cooling element
Firmware type – Basic type
C..- Customer variant …
S..- Sales variant ...
Firmware version – Basic version
V..- Version …
Certification – CE-compliant basic version

Tab. 2 Product variants CMMT-AS-...-3A (e.g. CMMT-AS-C2-3A-EC-S1)

This documentation refers to the following version:
– Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling.
This is the first available revision.
• For later revisions of the product, check whether updated documentation is available
è www.festo.com/pk.
1.4 Product labelling
• Observe the specifications on the product.
The product labelling is located on the left side of the device. The product labelling enables identifica-
tion of the product and shows the following information:

Product labelling (example) Meaning

CMMT-AS-C2-3A-EC-C000-V000-S1 Order code

5340819 J302 Rev 00 Part number, serial number, revision (Rev)
Main input: 100 V AC - 20 % … 230 V AC + 15 % Technical data on power supply (alternating cur-
48 … 62 Hz 2.8 ARMS rent supply connection)
Motor out: 3 x 0 … input V AC 0 … 599 Hz Technical data for the motor output (output
2 ARMS 350 W voltage, max. output frequency, nominal current,
nominal output power)
TAMB: max. 40 °C Ambient temperature (TAMB)
SCCR: 10000 A SCCR (short circuit current rating)
IP10/20 Degree of protection; without counterplug/with
attached counterplug X9A
MSIP-REM-FTO-KC-2017-1001 Certificate KC mark (test mark for Korea)

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About this document

Product labelling (example) Meaning

See manual for internal overload protection and Reference to the existing user documentation,
required external circuit breaker which contains information on overload protec-
tion and the necessary external circuit breaker.
Data matrix code, 123456789ABC... Product key as a data matrix code and an
11-character alphanumeric code
Festo AG & Co. KG Manufacturer
DE-73734 Esslingen Manufacturer’s address
Made in Germany Manufactured in Germany

Tab. 3 Product labelling (example)

Manufacturing period
In the product labelling, the first 2 characters of the serial number indicate the manufacturing period
in encrypted form. The letter specifies the manufacturing year and the character behind it (number or
letter) indicates the month of production.

Year of manufacture (20-year cycle)

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

P Z 2022 R Z 2023 S Z 2024 T Z 2025 U Z 2026
V Z 2027 W Z 2028 X Z 2029 A Z 2030 B Z 2031
C Z 2032 D Z 2033 E Z 2034 F Z 2035 H Z 2036
J Z 2037 … … … …

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

Manufacturing month

1 Z January 2 Z February 3 Z March

4 Z April 5 Z May 6 Z June
7 Z July 8 Z August 9 Z September
O Z October N Z November D Z December

Tab. 5 Manufacturing month

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

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About this document

1 Attention! Hot surface

2 Attention! General danger point
3 Attention! Dangerous voltage
4 5 minutes (wait)

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

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

Attention! Hot surface Metallic housing parts of the device can have high temperatures
during operation. In case of error, internal components can be
overloaded. Overloading of components can result in high temper-
atures and release of hot gases.
Attention! General danger point The touch current in the protective earth connector can exceed an
alternating current of 3.5 mA or a DC current of 10 mA.
The minimum cross-section of the protective earth connector must
comply with the local safety regulations for protective earth con-
nectors for equipment with high leakage current.
Attention! Dangerous voltage The product is equipped with intermediate circuit capacitors,
which store dangerous voltage for up to 5 minutes after the power
supply is switched off. Do not touch power connections for
5 minutes after the power supply is switched off.
5 minutes (wait) After the power supply is switched off, wait at least 5 minutes
until the intermediate circuit capacitors have discharged.

Tab. 6 Meaning of the warning symbols

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Safety

Warnings on the product

The following warnings are attached to the right side of the device:

Warnings on the product (en, fr) Meaning

CAUTION VORSICHT
Risk of Electric Shock! Do not touch electrical connectors for Gefahr des elektrischen Sch-
5 minutes after switching power off! Read manual before lags! Berühren Sie keine
installing! High leakage current! First connect to earth! elektrischen Anschlüsse inner-
ATTENTION halb 5 Minuten nach dem Aus-
Risque de décharge électrique! Après la mise hors tension, ne pas schalten! Lesen Sie das Hand-
toucher les connecteurs électriques pendant au moins 5 minutes! buch vor der Installation! Hoher
Lire le manuel avant installation! Courant de défaut élevé! Relier Ableitstrom nach PE! Gerät
tout d´abord à la terre! zuerst mit PE verbinden!

DANGER Gefahr
Risk of Electric Shock! Disconnect power and wait 5 minutes Gefahr des elektrischen Sch-
before servicing. lags! Vor dem Durchführen von
Risque de décharge électrique! Débranchez l'alimentation et Wartungsarbeiten die Stromver-
attendez 5 min. avant de procéder à l'entretien. sorgung trennen und 5 Minuten
warten.

Tab. 7 Warnings on the product

1.5 Specified standards
Version

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

EN 61800-3:2004+A1:2012 EN 61131-2:2007
EN 61800-5-2:2017 IEC 60364-1:2005
EN 61800-2:2015 –

Tab. 8 Standards specified in the document

2 Safety
2.1 Safety 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 device immediately.
– Observe labelling on the product.
– Take into consideration the ambient conditions at the location of use.
The safety functions might fail and malfunctions might occur if you do not comply with the para-
meters and conditions required for the surroundings and connections.

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Safety

– Wear required personal protective equipment during transport and during assembly and disas-
sembly of very heavy product versions.
– Never remove or insert a plug connector when powered.
– Loosen only the following screws on the product:
– Earthing screw on the cooling element for mounting the PE connection on the mains side
– Retaining screws of the shield clamp on the housing front
– Only when used in IT networks: screw for connection of the internal mains filter to PE
– Install the product in a suitable control cabinet. The control cabinet requires at least degree of
protection IP54.
– Operate product only in an installed condition when all required protective measures have been
taken (è EN 60204-1).
– Completely insulate conducting lines on the product. We recommend cable end sleeves with
plastic sleeves for wiring power connections.
– Ensure correct earth protection and shield connection.
– Prior to commissioning, ensure that the resulting movements of the connected actuators cannot
endanger anyone.
– During commissioning: Systematically check all control functions and the communication and sig-
nal interface between controller and drive regulator.
– The product is equipped with intermediate circuit capacitors, which store dangerous voltage for
up to 5 minutes after the power supply is switched off. Before working on the product, switch off
the power supply via the master switch and secure it against being switched on again unintention-
ally. Before touching the power connections, wait at least 5 minutes.
– Take into consideration the legal regulations for the respective destination.
– Keep the documentation throughout the entire product lifecycle.
In the event of damage caused by unauthorised manipulation or any use other than that intended, the
warranty is invalidated and the manufacturer is not liable for damages.
In the event of damage caused by using unauthorised software or firmware with the device, the war-
ranty is invalidated and the manufacturer is not liable for damages.

Safety instructions on the safety functions of the product è textvar object does not exist.

2.2 Intended use

The servo drive CMMT-AS is intended for supply and control of AC servo motors. The integrated elec-
tronics permit regulation of torque (current), rotational speed and position.
Use exclusively:
– in perfect technical condition
– in original status without unauthorised modifications; only the extensions described in the docu-
mentation supplied with the product are permitted
– within the limits of the product defined by the technical data è 11 Technical data
– in an industrial environment
The safety functions might fail and malfunctions might occur if you do not comply with the parameters
and conditions required for the surroundings and connections.

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Safety

Intended use of the safety functions of the product è textvar object does not exist.

2.2.1 Application areas

The device is intended for use in an industrial environment. Outside of industrial environments, meas-
ures may need to be implemented for radio interference suppression, e.g. in commercial and mixed-
residential areas.
The device is intended to be installed in a control cabinet. The control cabinet requires at least degree
of protection IP54.
The device can be operated in TN, TT and IT systems if certain requirements are met. Detailed informa-
tion on allowed and prohibited electrical network types
è 8.4 Permissible and impermissible electrical network types.
2.2.2 Permissible components
If holding brakes and clamping units without certification are used, the suitability for the related
safety-oriented application must be determined through a risk assessment.
The motors must fulfil the requirements of EN 61800-5-2 appendix D.3.5 and D.3.6 and of
EN 60204-1. Motors approved or specified by Festo for the CMMT-AS fulfil the requirements.
The motor cables and brake lines must fulfil the requirements of EN 61800-5-2 appendix D.3.1 and of
EN 60204-1. Motor cables and brake lines approved by Festo for the CMMT-AS fulfil the requirements.
2.3 Training of skilled personnel
The product may be installed and placed in operation only by a qualified electro technician, who is
familiar with the topics:
– installation and operation of electrical control systems
– applicable regulations for operating safety-engineering systems
Work on safety-related systems may only be carried out by qualified personnel trained in safety engin-
eering.
2.4 Approvals and certifications
The product has the CE marking. Guidelines see
è 11.1 Technical data product conformity and approvals.
The product-relevant EC directives and standards are listed in the declaration of conformity
è www.festo.com/sp.
The product is a safety device in accordance with the Machinery Directive. Safety-oriented standards
and test values that the product complies with and fulfils è textvar object does not exist, technical
data, safety engineering. Observe that compliance with the named standards is limited to the CMMT-
AS-...-S1.
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

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Further information

UL Recognized Component Mark for Canada and the United States.

Only for connection to a NEC/CEC Class 2 supply.
Raccorder Uniquement a un circuit de NEC/CEC Classe 2.
During installation and operation of this product, comply with all safety requirements, statutes, codes,
rules and standards relevant for the product, such as National Electrical Code (USA), Canadian Elec-
trical Code (Canada), regulations of the US federal agency OSHA. When selecting the circuit breaker,
comply with the maximum permissible electrical protection for UL.
3 Further 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 Service
Contact your regional Festo contact person if you have technical questions è www.festo.com.
5 Product overview
5.1 Scope of delivery
Component Number

Servo drive CMMT-AS-... 1

Instruction manual CMMT-AS-... 1

Tab. 9 Scope of delivery

Available as accessories are, for example:
– Plug connector set for single wiring NEKM-C6-...-S
– Plug connector set for double wiring NEKM-C6-...-D
– External braking resistor CACR-...
– Motor cable NEBM-... , e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS
– Sensor line, e.g. for the motor series EMMS-AS, EMME-AS and EMMT-AS
– Patch line NEBC-..., e.g. for linkage of the RTE interface [X19A/B]
– Display and operating unit CDSB-...
– Mains filter

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

5.2 System structure

The servo drive CMMT-AS is a 1-axis servo drive. Depending on the product variant, the following com-
ponents, which are necessary for standard applications, are integrated into the device or into the cool-
ing profile of the device:
– Mains filter (guarantees immunity to interference and limits line-bound emitted interference)
– Electronics for intermediate circuit voltage processing
– Output stage (for motor activation)

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Product overview

– Braking resistor (integrated into the cooling element)

– Brake chopper (switches the braking resistor in the intermediate circuit, as needed)
– Temperature sensors (for monitoring the temperature of the power module and of the air in the
device)
– Fan (dependent on the product variant in the cooling profile)
The device has separate connections for logic and load voltage supply. The load voltage supply comes
directly from the low voltage network. The logic supply must be provided through a PELV power sup-
ply unit (+24 V DC).
The servo drive offers the possibility to connect 2 sensors. In addition, the device has 1 switching out-
put for direct connection of the holding brake in the motor and 1 output for control of an external
clamping unit.
An external braking resistor can be connected instead of the internal braking resistor, if necessary.
An Ethernet interface is available for parameterisation through a PC. The type of activations depends
on the product design (e.g. over bus/network, over EtherCAT, EtherNet/IP or PROFINET).
If required, the CDSB display and operating unit can be plugged in on top of the front side of the
device. The CDSB displays, for example, diagnostic information as well as setpoint and actual values
in plain text and permits updating of parameter record and firmware.
For operation of several servo drives in a device compound, the intermediate circuits of several
devices can be coupled and the power supplies and I/O signals of the devices can be linked through
cross-wiring. The intermediate circuit coupling can increase the energy efficiency of the device com-
pound.

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

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Product overview

1 Bus/network 5 External braking resistor (optional)

2 Master switch 6 Servo drive CMMT-AS
3 Circuit breaker/fuses and all-current-sensit- 7 Servo motor (here EMME-AS)
ive fault current circuit interrupter (RCD) 8 PC with Ethernet connection for paramet-
(optional) erisation
4 Power supply unit for logic voltage supply
24 V DC (PELV)
Fig. 3 System structure (example)
5.2.1 Product design
The device has a compact design. The connections are provided on the front side and top of the device
as pin header, socket strip or RJ45 bushing. The shield clamp and strain relief for the motor cable are
situated in the lower area of the front side.

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Product overview

1 Hood 4 Blind plate

2 Cooling element 5 Front side
3 Top 6 Shield clamp and strain relief
Fig. 4 Servo drive CMMT-AS-...-3A
The cooling element on the rear side of the device serves to dissipate the heat from internal compon-
ents to the ambient air. The cooling element has one slot each on the top and bottom for mounting the
device on the rear wall of the control cabinet. If a display and operating unit is not required, the upper
area is covered with a blind plate.
The rear side of the device is part of the cooling element. The integrated braking resistor is integrated
in the air duct of the cooling element. The connecting cable for the braking resistor is passed from the
cooling profile, emerging from the top of the cooling profile, and is connected to the connection [X9B].

Festo — CMMT-AS-C2/C4-3A-... — 2018-02 15

Product overview

1 Top slot (keyhole shape)

2 Retaining screw for braking resistor (2x)
3 Braking resistor
4 Bottom slot

Fig. 5 Rear side

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Product overview

5.2.2 Overview of connection technology

1 PE connection housing 8 [X2] Sensor connection 1

2 [X9A] Mains voltage, intermediate circuit 9 [X3] Sensor connection 2
voltage and logic voltage 10 [X10] Device synchronisation
3 [XF2 OUT] RTE interface port 2 11 [X18] Standard Ethernet
4 [XF1 IN] RTE interface port 1 12 [X5] Connection for operating unit (behind
5 [X1C] Inputs/outputs to the axle the blind plate)
6 [X6B] Motor auxiliary connection 13 [X1A] I/O interface
7 [X6A] Motor phase connection 14 [X9B] Braking resistor
Fig. 6 Connections of the CMMT-AS-...-3A
The blind plate can be pulled off by hand without tools. The CDSB display and operating unit can be
plugged onto the free place (è Documentation on the CDSB). If a display and operating unit is not
used, the upper area must be sealed with the blind plate.

Festo — CMMT-AS-C2/C4-3A-... — 2018-02 17

Transport and storage

6 Transport and storage

– Protect the product during transport and storage from excessive stress factors. Excessive stress
factors include:
– mechanical stresses
– impermissible temperatures
– moisture
– aggressive atmospheres
– Store and transport the product in its original packaging. The original packaging offers sufficient
protection from typical stresses.
7 Assembly
Dimensions

Fig. 7 Dimensions

Dimension L1 L2 L3 L4 L5 L6 L7

[mm] Approx. 170 200 22 10 6 9

212

Tab. 10 Dimensions part 1

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Assembly

Dimen- H1 H2 B1 B2 B3 D1 D2 D3
sion

[mm] Approx. 170 Approx. 34 Approx. R5.5 5.5 5.5

183 50 25

Tab. 11 Dimensions part 2

7.1 Mounting distances CMMT-AS-...-3A (1-phase)
The servo drives of the series CMMT-AS can be arrayed next to each other. When arraying devices, the
required minimum distance must be maintained, so that the heat arising in operation can be removed
through sufficient air flow.

Fig. 8 Mounting distances and installation clearance for CMMT-AS-...-3A (1-phase)

Servo drive H1 H21) L1 L2 L3

CMMT-AS-C2-3A-... [mm] 70 70 52 70 200

CMMT-AS-C4-3A-... [mm]
1)
Tab. 12 Mounting distances and installation clearance

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Assembly

Servo drive H1 H21) L1 L2 L3

The required minimum lateral distance from neighbouring CMMT-AS devices is thus 2 mm
(52 mm – 50 mm).
For adjacent third-party devices, Festo recommends a distance of at least 10 mm (surface temperat-
ure of third-party device max. 40 °C). The double counterplug for cross wiring of the connection [X9A]
projects approx. 6 … 7 mm over the right side of the device. But this is not an obstacle for arraying
additional CMMT-AS.
7.2 Installation
The servo drive CMMT-AS is intended to be installed in a control cabinet.
The cooling element of the device has one slot each on the top and on the bottom. The device is
screwed vertically and flat to the mounting surface using the two slots.
Assembly instructions
– Use a control cabinet with at least degree of protection IP54.
– Always install device vertically in the control cabinet (mains supply lines [X9A] point upwards).
– Screw device flat to a sufficiently stable mounting surface so that a good heat transfer from the
cooling element to the mounting surface is ensured (e.g. to the rear wall of the control cabinet).
– Maintain minimum distances and installation clearance to ensure sufficient air flow. The surround-
ing air in the control cabinet must be able to flow through the device without hindrance.
– Take into account the required clearance for the wiring (connecting cables of the device are
guided in from above and from the front).
– Do not mount any temperature-sensitive components near the device. The device can become
very hot in operation (switch-off temperature of the temperature monitoring è Technical data).
– When assembling several devices in a device compound, consider general rules for cross-wiring.
For intermediate circuit coupling, devices with greater power use must be placed closer to the
mains supply.
For assembling to the rear panel of the control cabinet, the cooling element of the servo drive has a
slot on top in the shape of a keyhole and on the bottom in the shape of a simple slot.
Assembly of the servo drive
WARNING!

Danger of burns through hot escaping gases and hot surfaces.

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

WARNING!

Danger of burns from hot housing surfaces.

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

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Installation

• Fasten the servo drive to the rear wall of the control cabinet with suitable screws while complying
with the assembly instructions.
8 Installation
8.1 Safety
WARNING!

Risk of injury from electric shock.

Contact with conducting parts at the power connections [X6A], [X9A] and [X9B] can result in severe
injuries or death.
• Do not pull power supply connectors when powered.
• Before touching, wait at least 5 minutes until the intermediate circuit has discharged.

WARNING!

Risk of injury from electric shock.

The leakage current of the device to earth (PE) is > 3.5 mA AC or 10 mA DC. Touching the device if
there is a fault can result in serious injuries or death.
Before commissioning, also for brief measuring and test purposes:
• Connect PE connection to the mains side at the following positions:
– Protective conductor connection (earthing screw) of the housing
– Pin PE of the connection [X9A] (power supply)
The cross section of the protective conductor must equal at least the cross section of the out-
er conductor L [X9A].
• Connect motor cable to the connection [X6A] and the shield of the motor cable on the front side to
PE via the shield clamp of the servo drive.
• Connect all additional PE protective conductors of the connections used.
• Observe the regulations of EN 60204-1 for the protective earthing.

WARNING!

Danger of burns through hot escaping gases and hot surfaces.

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

WARNING!

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

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Installation

8.2 Residual current device

WARNING!

Risk of injury from electric shock.

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

The touch current in the protective earth connector can exceed an alternating current of 3.5 mA or a
DC current of 10 mA. The minimum cross-section of the protective earth connector must comply with
the local safety regulations for protective earth connectors for equipment with high leakage current.
A residual current circuit breaker with 30 mA tripping current can be suitable for a separately wired
CMMT-AS servo drive, depending on configuration. As a rule, residual current protective devices with a
rated leakage current > 30 mA are required for a device compound consisting of several servo drives.
Festo recommends use of a residual current protective device with trigger delay, as high current leak-
age results when switched on. Residual current devices with trigger delay prevent unintended trigger-
ing when switched on.
8.3 Mains fuse
The CMMT-AS has no integrated fuse at the mains input or in the intermediate circuit. An external fuse
at the mains supply of the device is required. Festo recommends the use of a line safety switch (circuit
breaker). A device compound coupled in the intermediate circuit must be protected through a common
line safety switch. Different requirements for line safety switches are specified for the UL approval and
the CE approval.
• Use only line safety switches with corresponding approval and the specifications and fuse protec-
tions named in the following.

Line safety switch (circuit breaker)

Requirement Specification

Short circuit current [kA] Min. 10

rating SCCR
IPEAK (peak let through) [kA] Max. 7.5
Rated voltage [V AC] Min. 230
Overvoltage category III
Degree of contamina- 2
tion
Characteristic C

Tab. 13 Requirements for the line safety switch

The line safety switch is used for line protection. The rated current of the line safety switch must be
less than or equal to the permissible current carrying capacity of the selected conductor cross section.

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Installation

The line safety switch must also take into account the overload case and must not be triggered (over-
load case: a maximum of 3-fold input current for 2 s).

Description Cable cross section at Mains fuse

[X9A]
[mm2] CMMT-AS-C2-3A-... CMMT-AS-C4-3A-...

Possible minimum elec- 0.75 C6

trical protection
Permissible maximum 1.5 In accordance with UL standard: C10
electrical protection1) In accordance with IEC standard: C13
2.5 In accordance with UL standard: C15
In accordance with IEC standard: C16
1) Data apply for an individual device and for the device compound
Tab. 14 Mains fuse

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Installation

8.4 Permissible and impermissible electrical network types

TN systems

TN systems Reference1) Information

TN-S system with separate Fig. 31A1 System is supported.

neutral conductor and pro- Connect device to the distribution network of the current
tective earth in overall sys- source as follows:
tem – either between a mains phase and N or between 2
mains phases (230 V AC, LL)
For DC link coupling, connect only one device directly to
the distribution network of the current source. Connect
the coupled devices to the same mains phase using
cross wiring.2)
TN-S system with separate Fig. 31A2 System is not supported because the system voltage can
earthed outer conductor exceed 300 V!
and protective earth in
overall system
TN-S system with earthed Fig. 31A3 System is not supported because a neutral conductor is
protective conductor required!
without neutral conductor
in overall system
TN-C system with neutral Fig. 31C System is supported.
conductor and protective Connect device to the distribution network of the current
earth function combined in source as follows:
a single conductor, the PEN – either between a mains phase and N or between 2
conductor mains phases (230 V AC, LL)
For DC link coupling, connect only one device directly to
the distribution network of the current source. Connect
the coupled devices to the same mains phase using
cross wiring.2)
TN-C-S system with neutral Fig. 31B1 System is not supported because the separate N con-
conductor and protective ductor may not be suitable for the load currents that
earth function combined in occur.
a single conductor, the PEN
conductor, in one part of
the system
1)
è IEC 60364-1, chapter 312.2.
2) For cross wiring, only 1 master switch and 1 circuit breaker is allowed for the compound device.
Tab. 15 Permissible and impermissible TN systems

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Installation

TT system

TT system Reference1) Information

TT system with separate Fig. 31F1 System is supported.

neutral conductor and pro- Connect device to the distribution network of the current
tective earth in the same source as follows:
system. – either between a mains phase and N or between 2
The N conductor is connec- mains phases (230 V AC, LL)
ted directly to the current For DC link coupling, connect only one device directly to
source. the distribution network of the current source. Connect
the coupled devices to the same mains phase using
cross wiring.2)
1)
è IEC 60364-1, chapter 312.2.
2) For cross wiring, only one master switch and one circuit breaker is allowed for the compound device.
Tab. 16 TT system
IT system

IT system Reference1) Information

IT system with insulation of Fig. 31G1 System is supported.

active parts separated from – Connect device to the distribution network of the
protective earth or connec- current source between a mains phase and N.
ted via high impedance. A device or compound device must not be connected
The exposed conductive between 2 mains phases.
parts are connected to a – The permissible system voltage of the CMMT-AS is
local earth. 300 V in accordance with IEC 61800-5-1. Observe
the restrictions set out in IEC 61800-5-1 when oper-
ating the CMMT-AS in an IT network!
– Use insulation monitoring system so that insulation
faults can be detected immediately (earth-leakage
monitor).
– Interrupt the internal connection of the internal
mains filter to PE
è Interrupting the connection of the internal mains
filter to PE (for IT networks only).
– Use external filter measures that ensure CE conform-
ity.
For DC link coupling, connect only one device directly to
the distribution network of the current source. Connect
the coupled devices to the same mains phase using
cross wiring.
1)
è IEC 60364-1, chapter 312.2.
Tab. 17 IT system

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Installation

After removing the connection of the internal mains filter to PE, the device is not classified in respect
of emitted interference in accordance with EN 61800-3. External filter measures are required.
When operating servo drives in IT networks, the distributor must provide an EMC concept for the over-
all system.
This comprises as a minimum:
– A concept for feeding the converter leakage currents back into the converter intermediate circuit
(Y capacitors to the intermediate circuit)
– Use of external filter measures such as mains filter and converter output filter
Earth-leakage monitor
For IT systems, an earth-leakage monitor is required so that an insulation fault between the mains
phase and PE can be detected immediately. An insulation fault must be rectified immediately after
detection.
Interrupting the connection of the internal mains filter to PE (for IT networks only)
Before using the CMMT-AS in IT networks, the internal connection of the integrated mains filter to PE
must be interrupted. Interrupting the connection prevents unwanted disconnection on faults of the
device and damage to the integrated filter. The connection of the mains filter to PE is interrupted by
removing a screw in the lower area of the right-hand side of the housing.
To unscrew the screw, lever out the housing element in front of the screw. A protective cap for sealing
the recess in the housing is included in the delivery of the plug set NEKM-C6-...-S and NEKM-C6-...-D
(accessories from Festo).
To interrupt the connection of the filter capacitors to PE:
1. Completely disconnect the servo drive from the power supply.
2. Wait 5 minutes until the intermediate DC circuit has discharged.

Fig. 9 Levering out the housing element

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

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Installation

Fig. 10 Undoing the screw

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

Fig. 11 Pushing in the protective cap

5. Push the protective cap fully into the housing recess as contact protection.
For operation in other networks, the internal connection of the mains filter to PE must be re-estab-
lished by screwing the screw back in (tightening torque 1.4 Nm ± 15%).
8.5 Connection of the mains side PE protective conductor
All PE protective conductors must always be connected prior to commissioning for safety reasons.
Observe the regulations of EN 60204-1 when conducting protective earthing.
Always connect PE connection on the mains side (PE rail in the control cabinet) at the following posi-
tions:
– Pin PE of the connection [X9A]
– PE connection (earthing screw) next to the upper slot of the cooling element
The cross section of the protective conductor must equal at least the cross section of the outer con-
ductor L [X9A]. For individually wired devices, carry out wiring in a star shape. For cross-wired devices,
observe the requirements for cross wiring. Recommendation: Use copper earth strap (advantageous
for EMC).
1. Equip protective conductors for the earthing screw with a suitable cable lug.
2. Tighten earthing screw with a TORX® screwdriver of size T20 (tightening torque 1.8 Nm ± 15 %).

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Installation

1 PE connection (earthing screw)

Fig. 12 PE connection (earthing screw) at the cooling element

8.6 Information on EMC-compliant installation

A mains filter is integrated into the device. The mains filter fulfils the following tasks:
– Guarantee of the immunity to interference of the device
– Limitation of the line-bound emitted interference of the device
If installed correctly and if all connecting cables are wired correctly, the device fulfils the specifications
of the related product standard EN 61800-3.

The category that the device fulfils is dependent on the filter measures used and the motor line length.
The integrated mains filter is designed so that the device fulfils the following categories:

Order code Category PWM frequency [kHz] Max. permissible

length of the motor
cable [m]

CMMT-AS-C2-3A C21) 8 15
CMMT-AS-C4-3A 16 52)
C3 8 25
16 25
1) To comply with the line harmonics in accordance with EN 61000-3-2, installation of line inductors in the mains supply lines L1 and N
(each L ³5 mH) is required.
2) To comply with the malfunction limit values of the category C2 at 16 kHz cycle frequency, installation of a snap ferrite (Würth, art. no.
74272722 or compatible) on the motor phases U, V, W (without PE) is required. Perform flying leads 1x.
Tab. 18 Category dependent on the PWM frequency and the cable length
– If set-up and commissioning is performed by a professional with the necessary experience for set-
up and commissioning of drive systems, including their EMC aspects, devices of category C2 can
be used in the first environment (residential area).

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Installation

– For operation of devices of category C2, limit values for harmonic currents apply for the mains
supply (EN 61000-3-2 or EN 61000-3-12). Please check whether this is the case for your facil-
ity/system. As a rule, compliance with the limit values for harmonic currents requires the use of
external filter measures, e.g. installation of a series line inductor.
– Devices of category C3 are intended only for use in the second environment (industrial environ-
ment). Use in the first environment is not permitted.
This product can generate high frequency malfunctions, which may make it necessary to implement
interference suppression measures in residential areas.
For additional information on EMC-appropriate installation è textvar object does not exist.
Line lengths and line shield
– Use only suitable lines that fulfil the normative requirements of EN 60204-1.
– Observe max. permissible cable lengths and requirements for shield.
– Observe requirements for the shield support.

Connection Max. cable length [m] Line shield

[X1A] Inputs/outputs for the 3 Unshielded

higher-order PLC
[X1C] Inputs/outputs to the 50 Unshielded/shielded1)
axle
[X2] Sensor 1 50 Shielded
[X3] Sensor 2
[X6A] Motor phase connec- Dependent on category Shielded
tion and PWM
frequencyè Tab. 18
Category dependent
on the PWM frequency
and the cable length
[X6B] Motor auxiliary connec- 50 Shielded
tion
[X9A] Power supply and inter- Individual device: 2 Unshielded
mediate circuit connec- Device compound: 0.5
tion
[X9B] Braking resistor 22) Shielded2)

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Installation

Connection Max. cable length [m] Line shield

[X10] Device synchronisation Individual device: 3 Double shielded

Device compound: 0.5 (CAT 5)
[X19] RTE (Port 1 and Port 2) 30 Double shielded
(CAT 5)
[X18] Standard Ethernet 30 Double shielded
(CAT 5)
1) Use a shielded cable outside the control cabinet for safety-related applications. Otherwise, a shield is not absolutely required, but is
recommended.
2) With connection of an external braking resistor
Tab. 19 Line lengths and line shield
Shielded cables without shielded plug housing necessarily have short unshielded cable ends at their
two ends.
Make unshielded cable ends as short as possible.
Maximum permissible length of unshielded wires at the connection:
– [X6A] Max. 100 mm
– [X6B] Max. 100 mm
– [X1C] Max. 35 mm
Placing cables
Comply with general guidelines for EMC-appropriate 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 as far as possible from the
power cables.
– Avoid crossing signal cables with power cables or running them at a 90° angle.

EMC-correct installation of the motor cable and sensor cables

– Keep motor cable as short as possible so that current leakage and loss in the motor cable are kept
as low as possible.
– Place the motor cable over a large area under the shield clamp in the lower area of the front of the
housing. The shield of the motor cable must be placed on the related servo drive so that the cur-
rent leakage can flow back into the servo drive controller that causes it.
– Connect the PE inner conductor of the motor cable to the PE connection point of the motor con-
nection [X6A].
– Connect shield of the motor cable to the PE over a large surface area on the motor side (e.g. over
the intended shield connection of the motor plug or the shield contact surface in the motor junc-
tion box).
– If separate cables are used for the holding brake and the temperature sensor, connect the
respective shield to the corresponding PE connection point of the motor auxiliary connection
[X6B].
– Connect the shield of the sensor cable on both sides: on the device side to the respective plug
housing, on the motor side to the sensor or plug housing.

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Installation

– Guide the signal cables [X2], [X3], [X10], [X1C] and [X6B] downward and relieve strain with cable
binders at the cutouts of the shield clamp of the drive controller.
8.7 Connection examples
Connection plan, 1-phase mains connection

1 Braking resistor 4 Sensor 2 (optional)

2 Line safety switch 5 Sensor 1
3 PELV power supply unit for 24 V supply
Fig. 13 Connection example, 1-phase mains connection

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Installation

Connection plan, 2-phase mains connection

NOTICE!

Damage to the servo drive with 2-phase connection to a low voltage network with a star voltage of
230 V.
A low voltage network common in Europe with a nominal star voltage value of 230 V has an inter-
linked voltage of approx. 400 V between the 2 phases.
• Do not connect a servo drive to 2 phases of the low voltage mains common in Europe.
• Comply with the maximum permissible voltage between the phases.

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Installation

1 Brake resistor 4 Sensor 2 (optional)

2 Line safety switch 5 Sensor 1
3 PELV power supply unit for 24 V supply
Fig. 14 Connection example, 2-phase mains connection

8.8 Interfaces
8.8.1 [X1A], Inputs and outputs for the higher-order PLC
The I/O interface [X1A] is located on the top of the device. This interface offers access to functional
and safety-relevant inputs and outputs of the device. These include, for example:
– Digital inputs for 24 V level (PNP logic)
– Digital outputs for 24 V level (PNP logic)
– Signal contact for safety chain (RDY-C1, RDY-C2)

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Installation

– Differential analogue input ±10 V control voltage

The inputs and outputs of this I/O interface are used for coupling with a higher-order PLC. The safety-
relevant inputs and outputs are connected to a safety relay unit.

[X1A] Pin Function Description

24 RDY-C1 Normally open contact: ready for

23 RDY-C2 operation message (Ready)

22 STA Diagnostic output Safe torque off

acknowledge
21 SBA Diagnostic output Safe brake con-
trol acknowledge
20 – Reserved, do not connect
19 –

18 SIN4 Release brake request

17 GND Reference potential
16 TRG0 Fast output for triggering external
components, channel 0
15 TRG1 Like TRG0, but channel 1
14 CAP0 Fast input for position detection,
channel 0
13 CAP1 Like CAP0, but channel 1
12 #STO-A Control input Safe torque off,
channel A
11 #STO-B Control input Safe torque off,
channel B
10 #SBC-A Control input Safe brake control,
channel A
9 #SBC-B Control input Safe brake control,
channel B
8 – Reserved, do not connect
7
6
5
4 ERR-RST Error acknowledgment

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Installation

[X1A] Pin Function Description

3 CTRL-EN Output stage enable

2 AIN0 Analogue input differential
1 #AIN0

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

Requirements for the counterplugs (2 required)

Design FMC-1.5/12-ST-3.5 from

Phoenix Contact or compatible
Signal contacts 12 (12-pin, 1-row)
Nominal current 8A
Rated voltage (III/2) 160 V
Grid dimension 3.5 mm
Strip length 10 mm

Tab. 21 Requirements for the counterplug

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Installation

Requirements for the connect- Individual device Device compound

ing cable

Shielding Unshielded
Min. conductor cross section 0.25 mm2 –

incl. cable end sleeve with

plastic sleeve
Max. conductor cross section 0.75 mm2 –

incl. cable end sleeve with

plastic sleeve
Min. conductor cross section – 0.25 mm2
incl. double cable end sleeve
with plastic sleeve
Max. conductor cross section – 0.5 mm2
incl. double cable end sleeve
with plastic sleeve
Max. length 3m 0.5 m

Tab. 22 Requirements for the connecting cable

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

Signal name Name Function Can be para-

meterised

X1A.24 Ready 1 (RDY- Normally open contact; ready No

C1) If the device is ready for operation, the contact is
X1A.23 Ready 2 (RDY- closed. If there is an error, the contact is opened.
C2)
X1A.22 Safe torque off Diagnostic output for the safety function STO;
acknowledge the output switches to high when the safety func-
(STA) tion STO is requested over 2 channels and the
control of the power output stage is switched off
safely over 2 channels (detailed information on
this è textvar object does not exist).
X1A.21 Safe brake Diagnostic output for the safety function SBC;
control the output switches to high when the safety func-
acknowledge tion SBC is requested over 2 channels and both
(SBA) brake outputs are switched off safely (detailed
information on this è textvar object does not
exist).

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Installation

Signal name Name Function Can be para-

meterised

X1A.20 n. c. Reserved for future extensions; do not connect

X1A.19 n. c.
X1A.18 Release brake With high level at this input, the brake can be Yes
(SIN4) released functionally if the function has been
previously configured in the servo drive. But a
requested SBC function has the higher priority in
any case and results in the brake not being
triggered/enabled.
X1A.17 0 V (GND) Reference potential for I/O signals; internally connected with 0 V
of the 24 V logic supply. Therefore, use only when the I/O signals
are galvanically separated from the 24 V logic supply on the
opposite side (controller).
X1A.16 Trigger 0 Trigger output channel 0 (fast output for trigger- Yes
(TRG0) ing external components)
The output switches dependent on a reference
position. Over the output, logical switching con-
ditions can be output by virtual position
switches, rotor position switches and cam con-
trollers.
X1A.15 Trigger 1 Trigger output channel 1 (like TRG0, but channel
(TRG1) 1)
X1A.14 Capture, chan- Fast input for position detection, channel 0
nel 0 (CAP0) The current actual position of the sensor is saved
with the parameterised edge change. The higher-
order controller can call up the stored actual pos-
itions via the active fieldbus.
X1A.13 Capture, chan- Fast input for position detection, channel 1
nel 1 (CAP1) (like CAP0, but channel 1)
X1A.12 Safe torque The safety function STO is requested with low No
off, channel A level at the inputs #STO-A and #STO-B. Control of
(#STO-A) the power output stage is then safely blocked. If
X1A.11 Safe torque the safety function STO is not required, both
off, channel B inputs must be switched to 24 V, so that the
(#STO-B) motor can be moved (detailed information on this
è textvar object does not exist).

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Installation

Signal name Name Function Can be para-

meterised

X1A.10 Safe brake The safety function SBC is requested with low No
control, chan- level at the inputs #SBC-A and #SBC-B. The con-
nel A (#SBC-A) trol outputs for the motor holding brake and
X1A.9 Safe brake external clamping unit are then switched off. If
control, chan- the safety function SBC is not required, both
nel B (#SBC-B ) inputs must be switched to 24 V, so that the
motor can be moved (detailed information on this
è textvar object does not exist).

X1A.8 n. c. Reserved for future extensions; do not connect

X1A.7 n. c.
X1A.6 n. c.
X1A.5 n. c.
X1A.4 Acknowledge Acknowledgeable error messages can be No
error (ERR- acknowledged through a rising edge at this
RST) input.

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Installation

Signal name Name Function Can be para-

meterised

X1A.3 Enable (CTRL- Behaviour can be parameterised. Yes

EN) – Behaviour 1: The closed-loop controller can
only be enabled over the drive profile when
high level is present.
– Behaviour 2: With a rising edge, the control-
ler is enabled without taking into account the
drive profile. The drive is energised and is in
the operating mode requested in the signal
transfer.
– Behaviour 3: Enabling of the controller can
only be controlled over the drive profile.
If the request is withdrawn, the drive is braked
with a behaviour of the stop category 1. After the
braking ramp ends, the brake is engaged and the
output stage is switched off functionally.
X1A.2 AIN0 Differential analogue input for typical input level Yes
X1A.1 #AIN0 of ± 10 V
Through the analogue input, the following set-
point values and limits can be specified in the
form of analogue voltage:
– Setpoint values for position, speed or
force/current
– Limits for position or force/current

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

Internal design of digital inputs (DIN) - does not apply for STO inputs
The following equivalent circuit shows an example of the internal design of a digital input (DIN).
The digital inputs are designed for +24 V level corresponding to type 3 in accordance with EN 61131-2.
The digital inputs are not galvanically separated and have integrated EMC protective functions.
Two-channel safe inputs correspond in their internal design to two 1-channel inputs. But the equival-
ent circuit is not valid for the STO inputs. Information on 2-channel safe inputs è textvar object does
not exist.

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Installation

DIN µC

Fig. 15 Internal design of digital inputs (DIN)

Internal design of digital outputs (DOUT)

The digital outputs TRG0 and TRG1 supply +24 V signals, which are implemented with a high side
driver.

Fig. 16 Internal design of digital outputs (DOUT)

Internal design of analogue input 0 (AIN0)

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

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Installation

VREF

AIN
ADU
#AIN

Fig. 17 Internal design of analogue input 0 (AIN0)

8.8.2 [X1C], Inputs and outputs to the axle
The I/O interface [X1C] is located on the front side of the device. This interface makes available func-
tional and safety-relevant inputs and outputs for components on the axle. The output BR-EXT is used
in connection with the safety function Safe brake control è textvar object does not exist.

[X1C] Pin Function Description

10 GND Reference potential

9 24 V Power supply output for
sensors
8 GND Reference potential
7 LIM1 Digital input for limit
switches 1 (PNP logic,
24 V DC)
6 LIM0 Digital input for limit
switches 0 (PNP logic,
24 V DC)
5 GND Reference potential
4 24 V Power supply output for
sensors

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Installation

[X1C] Pin Function Description

3 – Reserved, do not connect

2 REF-A Digital input for reference
switches (PNP logic,
24 V DC)
1 BR-EXT Output for connection of an
external clamping unit (high
side switch, low test
impulses at #SBC-B are
transferred to BR-EXT)

Tab. 24 Inputs and outputs to the axle

Requirements for the counterplug

Design DFMC 1.5/ 3-ST-3.5 from

Phoenix Contact or compatible
Signal contacts 10 (5-pin, 2-row)
Nominal current 8A
Rated voltage (III/2) 160 V
Grid dimension 3.5 mm
Strip length 10 mm

Tab. 25 Requirements for the counterplug

Requirements for the cable

Shielding Unshielded/shielded1)
Min. conductor cross section including cable end 0.25 mm2
sleeve with plastic sleeve
Max. conductor cross section including cable end 0.75 mm2
sleeve with plastic sleeve
Max. length 50 m
1) Use a shielded cable outside the control cabinet for safety-related applications. Otherwise, a shield is not absolutely required, but is
recommended.
Tab. 26 Requirements for the cable
Requirements for the shield support
Put on shield
1. Place shield of the device-side cable on the shield clamp for the motor cable.
2. Place shield of the machine-side cable onto an earthed machine part.

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8.8.3 [X2], Sensor interface 1

The sensor interface [X2] is located on the front side of the device. The sensor interface [X2] primarily
serves to connect the position sensor integrated into the motor.

Supported standards/protocols Supported sensors

Hiperface SEK/SEL 37
SKS/SKM 36
EnDat 2.2 ECI 1118/EBI 1135
ECI 1119/EQI 1131
ECN 1113/EQN 1125
ECN 1123/EQN 1135
EnDat 2.1 Only in connection with motors of the series
EMMS-AS from Festo that have an integrated
sensor with EnDat 2.1 protocol
Digital incremental sensor with square wave sig- ROD 426 or compatible
nals and with RS422-compatible signal output
(differential A, B, N signals)
Analogue SIN/COS incremental sensor with dif- HEIDENHAIN LS 187/LS 487 (20 µm signal peri-
ferential analogue signals with 1 Vss od) or compatible
Position sensor with asynchronous two-wire Nikon MAR-M50A or compatible (18 bit data
communication interface (RS485) frames)

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

NOTICE!

Damage to the sensor when sensor type is changed.

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

Change of the sensor type

1. Disconnect sensor from the device.
2. Set up and configure new sensor type in the CMMT-AS.
3. Save setting in the CMMT-AS.
4. Switch off CMMT-AS.
5. Connect new sensor type.
6. Switch CMMT-AS back on.
At the connection [X2], voltage drops in the sensor cable are compensated for sensors with purely
digital communication, which require a regulated +5 V supply (EnDat 2.1, Nikon).
The connection [X2] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. For digit-
al incremental sensors, the LED lights green when the sensor interface is active. For sensors with com-
munication interface, the LED lights green when a connection to the sensor exists.

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Installation

Requirements for the counterplug

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

compatible
Number of pins 8
Shielded Yes
Nominal current > 1A
Rated voltage 120 V AC
Degree of protection IP20

Tab. 28 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover > 85 %
– Signal pairs separately twisted
– Recommended design: (4 x (2 x 0.25 mm2))1)
Max. cable length 50 m
1) For sensors with no compensation for voltage drops, thicker supply lines may be required.
Tab. 29 Requirements for the connecting cable
Requirements for the shield support
Put on sensor cable shield
1. Place the sensor cable shield on the device side onto the plug housing.
2. Place the sensor cable shield on the motor side onto the sensor or sensor plug.

Pin assignment of EnDat sensor (EnDat 2.1 and EnDat 2.2)

[X2] Pin Function Value Description

1 SCLK 5 Vss, Ri = 120 W Cycle line, output,

2 #SCLK RS485-conforming,
differential
3 VCC-IN Measured value Only for EnDat 2.1:
Back measurement
sensor voltage, dif-
ferential
4 DATA Differential signal: Data cable, bidirec-
5 #DATA 5 Vss, Ri = 120 W tional, RS485-con-
forming, differential

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Installation

Pin assignment of EnDat sensor (EnDat 2.1 and EnDat 2.2)

[X2] Pin Function Value Description

6 #VCC-IN Measured value Only for EnDat 2.1:

Back measurement
sensor voltage, dif-
ferential, inverse
7 VCC1 – EnDat 2.1: Sensor supply,
5.00 V … 5.50 V, switchable
max. 250 mA – EnDat 2.1: 5 V
– EnDat 2.2: – EnDat 2.2: 10 V
9.50 V … 10.50 -
V, max. 250 mA
8 GND 0V Reference potential
of sensor supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 30 EnDat sensor

Hiperface sensor pin allocation

[X2] Pin Function Value Description

1 COS 1 Vss, Ri = 120 W COS track signal

2 #COS from the high resolu-
tion incremental
sensor, RS485-con-
forming, differential
3 SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high resolution
incremental sensor,
RS485-conforming,
differential
4 DATA 5 Vss, Ri = 120 W Hiperface data cable,
5 #DATA bidirectional, asyn-
chronous, 115 kbit/s
RS485-conforming,
differential

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Installation

Hiperface sensor pin allocation

[X2] Pin Function Value Description

6 #SIN 1 Vss, Ri = 120 Ω SIN track signal from

the high resolution
incremental sensor,
RS485-conforming,
differential, inverse
7 VCC1 9.50 V … 10.50 V Sensor supply,
Max. 250 mA switchable; Hiper-
face: 10 V
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 31 Hiperface sensor

Digital incremental sensor pin allocation

[X2] Pin Function Value Description

1 A 5 Vss, Ri = 120 W A-track signal from

2 #A the incremental
sensor, RS485-con-
forming, differential
3 B 5 Vss, Ri = 120 W B-track signal from
the incremental
sensor, RS485-con-
forming, differential
4 N 5 Vss, Ri = 120 W Zero impulse, or N-
5 #N track signal from the
incremental sensor,
RS485-conforming,
differential
6 #B 5 Vss, Ri = 120 W B-track signal from
the incremental
sensor, RS485-con-
forming, inverse

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Installation

Digital incremental sensor pin allocation

[X2] Pin Function Value Description

7 VCC1 5.00 V … 5.50 V, Sensor supply,

max. 250 mA switchable; incre-
mental sensor: 5 V
Voltage drop in the
sensor cable is not
compensated
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 32 Digital incremental sensor

Pin allocation, analogue SIN/COS incremental sensor

[X2] Pin Function Value Description

1 COS 1 Vss, Ri = 120 Ω COS track signal

2 #COS from the high resolu-
tion incremental
sensor, RS485-con-
forming, differential
3 SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high resolution
incremental sensor,
RS485-conforming,
differential
4 N 5 Vss, Ri = 120 Ω Zero impulse, or N-
5 #N track signal from the
incremental sensor,
RS485-conforming,
differential
6 #SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high resolution
incremental sensor,
RS485-conforming,
differential, inverse

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Installation

Pin allocation, analogue SIN/COS incremental sensor

[X2] Pin Function Value Description

7 VCC1 5.00 V … 5.50 V, Sensor supply,

max. 250 mA switchable; SIN/COS
sensor: 5 V
Voltage drop in the
sensor cable is not
compensated
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 33 Analogue SIN/COS incremental sensor

Pin allocation, sensor with asynchronous communication interface

[X2] Pin Function Value Description

1 – – –

2 –

3 VCC-IN Measured value Back measurement

sensor voltage, dif-
ferential
4 DATA 5 Vss, Ri = 120 W Data cable, bidirec-
5 #DATA tional, asynchron-
ous, max.
4000 kbit/s,
RS485-conforming,
differential
6 #VCC-IN Measured value Back measurement
sensor voltage, dif-
ferential, inverse

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Installation

Pin allocation, sensor with asynchronous communication interface

[X2] Pin Function Value Description

7 VCC1 5.00 V … 5.50 V, Sensor supply,

max. 250 mA switchable; 5 V
Voltage drop in the
sensor cable is com-
pensated
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 34 Sensor with asynchronous communication interface

8.8.4 [X3], Sensor interface 2
The sensor interface [X3] is located on the front side of the device. The sensor interface [X3] primarily
serves to connect a second position sensor to the axle (e.g. as redundant measuring system of a
safety function).

Supported standards/protocols Supported sensors

Digital incremental sensor with square wave sig- ROD 426 or compatible
nals and with RS422-compatible signal output ELGO LMIX 22
(differential A, B, N signals)
Analogue SIN/COS incremental sensor with dif- HEIDENHAIN LS 187/LS 487 (20 µm signal peri-
ferential analogue signals with 1 Vss od) or compatible

Tab. 35 Supported standards and protocols of the sensor interface [X3]

[X3] is designed to be electrically compatible with [X2], but does not support all sensors and functions
like [X2].
The connection [X3] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. The LED
displays the connection status. If there is a connection to the sensor, the LED lights green.

Requirements for the counterplug

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

compatible
Number of pins 8
Shielded Yes

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Installation

Requirements for the counterplug

Nominal current > 1A

Rated voltage 120 V AC
Degree of protection IP20

Tab. 36 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover > 85 %
– Signal pairs separately twisted
– Recommended design: (4 x (2 x 0.25 mm2))
Max. cable length 50 m

Tab. 37 Requirements for the connecting cable

Requirements for the shield support
Put on sensor cable shield
1. Place sensor cable shield on the device side onto the plug housing.
2. Place sensor cable shield on the motor side onto the sensor or sensor plug.

Digital incremental sensor pin allocation

[X3] Pin Function Value Description

1 A 5 Vss, Ri = 20 Ω A-track signal from

2 #A the incremental
sensor, RS485-con-
forming, differential
3 B 5 Vss, Ri = 20 Ω B-track signal from
the incremental
sensor, RS485-con-
forming, differential
4 N 5 Vss, Ri = 20 Ω Zero impulse, or N-
5 #N track signal from the
incremental sensor,
RS485-conforming,
differential
6 #B 5 Vss, Ri = 20 Ω B-track signal from
the incremental
sensor, RS485-con-
forming, inverse

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Digital incremental sensor pin allocation

[X3] Pin Function Value Description

7 VCC1 5.00 V … 5.50 V, Sensor supply,

max. 250 mA switchable; incre-
mental sensor: 5 V
Voltage drop is not
compensated
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 38 Digital incremental sensor

Pin allocation, analogue SIN/COS incremental sensor

[X3] Pin Function Value Description

1 COS 1 Vss, Ri = 120 Ω COS track signal

2 #COS from the high resolu-
tion incremental
sensor, RS485-con-
forming, differential
3 SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high resolution
incremental sensor,
RS485-conforming,
differential
4 N 5 Vss, Ri = 20 Ω Zero impulse, or N-
5 #N track signal from the
incremental sensor,
RS485-conforming,
differential
6 #SIN 1 Vss, Ri = 120 Ω SIN track signal from
the high resolution
incremental sensor,
RS485-conforming,
differential, inverse

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Installation

Pin allocation, analogue SIN/COS incremental sensor

[X3] Pin Function Value Description

7 VCC1 5.00 V … 5.50 V, Sensor supply,

max. 250 mA switchable; SIN/COS
sensor: 5 V
Voltage drop is not
compensated
8 GND 0V Reference potential
supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 39 Analogue SIN/COS incremental sensor

8.8.5 [X10], SYNC IN/OUT
The interface [X10] is located on the front side of the device. The interface [X10] permits master-slave
coupling. In the master-slave coupling, the axles of several devices (slave axles) are synchronised over
a device (master axle). The function of the SYNC interface can be configured and is used as follows:

Possible functions Description

Incremental sensor output Output of a master axle that emulates encoder

signals (encoder emulation)
Incremental encoder input Input of a slave axle, through which the conduct-
ance values of a master axle are received
Pulse direction input Input of a slave axle, through which the pulse dir-
ection signals or count signals with
upward/downward count impulses are received

Tab. 40 Possible functions of the connection [X10]

The connection [X10] is designed as an RJ45 socket. An LED is integrated into the RJ45 socket. The LED
shows whether the interface has been activated. If the interface has been activated, the LED lights up
green. The CMMT-AS cannot detect whether a sensor is attached.

Requirements for the counterplug

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

compatible
Number of pins 8
Shielded Yes

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Installation

Requirements for the counterplug

Nominal current > 1A

Rated voltage 120 V AC
Degree of protection IP20

Tab. 41 Requirements for the counterplug

Requirements for the connecting cable

Characteristics – Sensor cable for servo drives, shielded

– Optical shield cover > 85 %
– Signal pairs separately twisted
– Recommended design: (4 x (2 x 0.25 mm2))
Max. cable length 3m

Tab. 42 Requirements for the connecting cable

Requirements for the shield support
Place both sides of the connecting cable shield onto the plug housings.
Possible connections

Connection possibilities Description

Direct connection of 2 devices Two devices can be connected directly with a

patch cable (point-to-point connection).
Recommendation: Use patch cable of category
Cat 5E; maximum length: 25 cm
Connection of several devices over RJ45 T A maximum of 16 devices may be connected.
adapter and patch cables Recommendation: Use T adapter and patch
cables of category Cat 5E; maximum length per
cable: 25 cm
Connection of several devices over patch cables A maximum of 16 devices may be connected.
and a connector box (accessories Recommendation: Use patch cables of category
è www.festo.com/catalogue) Cat 5E, maximum length per cable: 100 cm

Tab. 43 Connection possibilities

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Installation

Direct connection of 2 devices

1 Point-to-point connection
Fig. 18 Possible connection through the SYNC connection

Connection of several devices over RJ45 T adapter and patch cables

1 RJ45 T adapter
Fig. 19 Connection over RJ45 T adapter and patch cables

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Installation

Connection of several devices over patch cables and a connector box

1 Connection over a connector box

Fig. 20 Possible connection through the SYNC connection

Incremental sensor In/Out

[X10] Pin Function Description

1 A 5 Vss, Ri = 120 Ω A track signal1),

2 #A RS485-conforming,
differential
3 B 5 Vss, Ri 120 Ω B track signal1),
RS485-conforming,
differential
4 Z 5 Vss, Ri = 120 Ω Zero impulse or Z
5 #Z track signal1),
RS485-conforming,
differential

6 #B 5 Vss, Ri = 120 Ω B track signal1),

RS485-conforming,
differential, inverse

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Installation

Incremental sensor In/Out

[X10] Pin Function Description

7 n. c. – –

8 GND 0V Reference potential

supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.
1) of an input or output channel, depending on the configuration
Tab. 44 Incremental sensor In/Out

Pulse/direction input
[X10] Pin Function Description

1 CLK 5 Vss, Ri = 120 Ω CLK signal from a

2 #CLK controller,
RS485-conforming,
differential
3 DIR 5 Vss, Ri = 120 Ω DIR signal from a
controller,
RS485-conforming,
differential
4 – - Reserved, do not
5 – connect

6 #DIR 5 Vss, Ri = 120 Ω DIR signal from a

controller,
RS485-conforming,
differential, inverse
7 n. c. – –

8 GND 0V Reference potential

supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.

Tab. 45 Pulse/direction input

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Incremental encoder input CW/CCW

[X10] Pin Function Description

1 CW1) 5 Vss, Ri = 120 Ω CW signal from a

2 #CW controller,
RS485-conforming,
differential
3 CCW2) 5 Vss, Ri = 120 Ω CCW signal from a
controller,
RS485-conforming,
differential
4 – – Reserved, do not
5 – connect

6 #CCW 5 Vss, Ri = 120 Ω CCW signal from a

controller,
RS485-conforming,
differential, inverse
7 n. c. – –

8 GND 0V Reference potential

supply
Housing FE, connected to PE – The housing is used
as a support of the
cable shield and is
connected to the PE.
1) signal CW: count impulse forward/upward (clockwise)
2) signal CCW: count impulse backward/downward (counterclockwise)
Tab. 46 Incremental encoder input CW/CCW
8.8.6 [X18], standard Ethernet
The interface [X18] is located on the front side of the device. Through the interface [X18], the following
can be performed with the commissioning software:
– Diagnostics
– Parameterisation
– Control
– Firmware update
The interface is designed to conform to the standard IEEE 802.3. The interface is galvanically separ-
ated and intended for use with limited cable lengths
è Tab. 49 Requirements for the connecting cable. Deviating from the IEEE 802.3, the isolation
coordination is therefore done according to the valid product standard IEC 61800-5-1.
The connection [X18] is designed as an RJ45 socket. Two LEDs are integrated into the RJ45 socket. The
green LED lights up if the interface is activated. The yellow LED flashes with communication activity.

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Installation

Standard Ethernet
[X18] Pin Function Description

1 TX+ Transmitted data+

2 TX- Transmitted data-
3 RX+ Received data+
4 n. c. Not connected
5 n. c.
6 RX- Received data-
7 n. c. Not connected
8 n. c.
Housing FE, connected to PE The housing is used as a
support of the cable shield
and is connected to the PE.

Tab. 47 Standard Ethernet

Requirements for the counterplug

Design VS-08-RJ45-5-Q/IP20 fromPhoenix Contact or

compatible
Number of pins 8
Shielded Yes
Nominal current > 1A
Rated voltage 120 V AC
Degree of protection IP20

Tab. 48 Requirements for the counterplug

Requirements for the connecting cable

Characteristics CAT 5, patch cable, double shielded

Max. cable length 30 m

Tab. 49 Requirements for the connecting cable

Through the Ethernet interface, the following connections are possible:

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Connections Description

Point-to-point connection The device is connected directly to the PC via an

Ethernet cable.
Network connection The device is connected to an Ethernet network.

Tab. 50 Options for connection

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

Methods Description

Obtain IP address automatically (DHCP client) The device obtains its IP configuration from a
DHCP server in your network. This method is suit-
able for networks in which a DHCP server already
exists.
Fixed IP configuration The device uses a fixed IP configuration.
The IP configuration of the device can be perman-
ently assigned manually. However, the device
can only be addressed if the assigned IP config-
uration matches the IP configuration of the PC.
Factory setting: 192.168.0.1

Tab. 51 Options for IP configuration

1. Connect CMMT to your network or directly to the PC via a hub/switch.
2. Place both sides of the cable shield onto the plug housings.
8.8.7 [X19], Real-time Ethernet (RTE) port 1 and port 2
The interface [X19] is located on the top of the device. The interface [X19] permits RTE communication.
The following protocols are supported by the interface [X19], depending on the product design:

Product variant Supported protocol

CMMT-AS-...-EC EtherCAT
CMMT-AS-...-EP EtherNet/IP
CMMT-AS-...-PN PROFINET

Tab. 52 Supported protocol

The physical level of the interface also fulfils the requirements according to IEEE 802.3. The interface
is galvanically separated and intended for use with limited cable lengths
è Tab. 55 Requirements for the connecting cable.
The interface [X19] makes 2 ports available.
– Port 1, labelled on the device with [X19, XF1 IN]
– Port 2, labelled on the device with [X19, XF2 OUT]
Two LEDs are integrated into each of the two RJ45 sockets. The behaviour of the LEDs depends on the
bus protocol. Both LEDs are not always used.

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Installation

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

[X19] Pin Function Description

1 TX+ Transmitted data+

2 TX- Transmitted data-
3 RX+ Received data+
4 n. c. Not connected
5 n. c.
6 RX- Received data-
7 n. c. Not connected
8 n. c.
Housing FE, connected to PE The housing is used as a
support of the cable shield
and is connected to the PE.

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

Requirements for the counterplug

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

compatible
Number of pins 8
Shielded Yes
Nominal current > 1A
Rated voltage 120 V AC
Degree of protection IP20

Tab. 54 Requirements for the counterplug

Requirements for the connecting cable

Characteristics CAT 5, patch cable, double shielded

Max. cable length 30 m

Tab. 55 Requirements for the connecting cable

1. Place both sides of the cable shield onto the plug housings.
2. If possible and supported by the bus protocol, plan for ring redundancy in the connection with the
controller.
8.9 Motor connection
8.9.1 [X6A], Motor phase connection
The connection [X6A] is located on the front side of the device. The following connections to the motor
are created through the connection [X6A]:

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Installation

– Motor phases U, V, W
– PE connection

[X6A] Pin Function Description

4 PE Protective earth motor

3 W Third motor phase
2 V Second motor phase
1 U First motor phase

Tab. 56 Motor phase connection

The cable shield of the motor cable is placed on the support surface on the lower part of the housing
and fastened with the shield clamp.

Requirements for the counterplug

Design FKIC 2.5 HC/4-ST-5.08 from

Phoenix Contact or compatible
Power contacts 4
Nominal current 16 A
Rated voltage (III/2) 320 V
Grid dimension 5.08 mm
Strip length 10 mm

Tab. 57 Requirements for the counterplug

Requirements for the connecting cable

Wires and shielding At least 8 wires

– 4 power wires shielded
– 2 x holding brake, separately shielded
– 2 x motor temperature, separately shielded
Design Use only cables for which safe separation is
ensured between the motor phases and the
shielded signals of the holding brake and motor
temperature sensor.
è 8.9.3 Shield support of the motor cable

Max. cable length èTechnical data for the integrated mains filter

Max. capacity < 250 pF/m

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Installation

Requirements for the connecting cable

Nominal cross section of power wires 0.75 mm2 … 1.5 mm²

Cable diameter of the stripped cable or shield 11 mm … 15 mm
sleeve (clamping area of the shield clamp)
Only motor cables are permitted that fulfil the requirements of EN 61800-5-2 appendix D.3.1 and the
requirements of EN 60204-1.

Tab. 58 Requirements for the connecting cable

Festo offers prefabricated motor cables as accessories è www.festo.com/catalogue.
– Use only motor cables that have been approved for operation with the servo drive from Festo.
Motor cables of other manufacturers are permitted if they meet the specified requirements.
8.9.2 [X6B], Motor auxiliary connection
The connection [X6B] is located on the front side of the device. The holding brake of the motor and the
motor temperature sensor can be connected to the connection [X6B]. The output for the holding brake
is used both functionally and in connection with the safety function Safe brake control è textvar
object does not exist.
To monitor the motor temperature, the following are supported:
– N/C and N/O contacts
– KTY 81 … 84 (silicon temperature sensors)
– PTC (PTC resistor, positive temperature coefficient)
– NTC (negative temperature coefficient)
– Pt1000 (platinum measuring resistor)
The servo drive monitors whether the motor temperature violates an upper or lower limit. With switch-
ing sensors, only the upper limit value can be monitored (e.g. with a normally closed contact). The lim-
it values and the error reactions can be parameterised.

[X6B] Pin Function Description

6 MT– Motor temperature (negative

potential)
5 MT+ Motor temperature (positive
potential)
4 PE Protective earth
3 BR– Holding brake (negative
potential)
2 BR+ Holding brake (positive
potential)
1 PE Protective earth

Tab. 59 Motor auxiliary connection

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Requirements for the counterplug

Design DFMC 1.5/ 3-ST-3.5 from

Phoenix Contact or compatible
Signal contacts 6 (3-pin, 2-row)
Nominal current 8A
Rated voltage (III/2) 160 V
Grid dimension 3.5 mm
Strip length 10 mm

Tab. 60 Requirements for the counterplug

Requirements for the connecting cable

Design – 2 wires for the line to the holding brake, twis-

ted in pairs, separately shielded
– 2 wires for the line to the temperature
sensor, twisted in pairs, separately shielded
Min. conductor cross section including cable end 0.25 mm2
sleeve with plastic sleeve
Max. conductor cross section including cable end 0.75 mm2
sleeve with plastic sleeve
Max. length 50 m

Tab. 61 Requirements for the connecting cable

Requirement for the temperature sensor in the motor
– Electrically safe separation from the motor phases in accordance with IEC 61800-5-1, voltage
class C, overvoltage category III.
Requirements for the shield support
– Make unshielded cable ends as short as possible (max. 150 mm).
– Put in place both sides of the cable shield.
8.9.3 Shield support of the motor cable
Requirements for the device-side shield support of the motor cable
The type of shield support depends on the design of the motor cable. If, for example, a hybrid cable is
used to connect the motor, holding brake, and temperature sensor, the following options exist for pla-
cing the shield on the device side:
Option 1: All motor cable shields are connected over a large surface with a shield sleeve at the cable
end and placed below the shield clamp on the front side of the CMMT-AS.

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Installation

1 Shield sleeve
Fig. 21 Shared shield support of all cable shields (example)
Option 2: The outside shield of the motor cable is placed separately over a large area below the shield
clamp on the front of the CMMT-AS. The inside shields are placed separately on the intended PE pin of
the connection [X6B].

1 Inside shield placed separately 3 Shield sleeve

2 Inside shield placed separately
Fig. 22 Separate shield support of all cable shields (example)
• Make unshielded cable ends as short as possible.
Mounting the shield clamp
The lower area of the front of the housing serves as a shield support surface. The shield support sur-
face, together with the shield clamp, permits large surface support of the motor cable shield.
1. Press the shield of the motor cable or the conducting shield end sleeve of the motor cable with the
shield clamp onto the shield support surface of the housing è Fig.23.

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Installation

2. Tighten retaining screws (2x) of the shield clamp with a hexagon screwdriver of size 3 mm. In
doing so, comply with the following tightening torques.
– Cable diameter 11 mm (shield clamp in place): max. 1.8 Nm ± 15 %
– Cable diameter > 11 mm (shield clamp not in place): min. 0.5 Nm ± 15 %

1 Retaining screws of the shield clamp

2 Motor cable
3 Cutout for fastening cable binders (2x)
4 Shield clamp
5 Shield of the motor cable is placed over a large area below the shield clamp
Fig. 23 Shield clamp of the motor cable

Motor-side shield support of the motor cable

Detailed information on the motor-side connection with motor cables from Festo è Assembly instruc-
tions of the motor cable used è www.festo.com/sp.

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Installation

• Connect all shields on the motor side to PE over a large surface, e.g. over the intended shield con-
nection of the motor plug or the shield contact surface in the motor junction box.
8.10 Power and logic voltage supply
8.10.1 [X9A], Power supply and intermediate circuit connection
The connection [X9A] is located on the top of the device.
Through the connection [X9A], the control element and the power element of the device are supplied
separately with electric voltage. In addition, the connection provides pins for intermediate circuit
coupling.
– Supply of the control element with 24 V DC (PELV, logic voltage supply)
– Supply of the power element with 1-phase mains voltage (100 V AC … 230 V AC)
– Optional: intermediate circuit coupling of 1-phase devices of the same CMMT-AS series
Cross wiring of the mains and logic voltage supply is possible with and without intermediate circuit
coupling è 8.11 Cross wiring.
Supply of the control element (logic voltage supply)
WARNING!

Risk of injury due to electric shock.

• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reli-
able separation from the mains network.
• Observe IEC 60204-1/EN 60204-1.

• Connect only PELV circuits with max. 25 A output current. Otherwise, use a separate external
fuse: 25 A.
Power supply and intermediate circuit connection

[X9A] Pin Function Description

7 DC+ Intermediate circuit positive potential

6 DC- Intermediate circuit negative potential
5 L1 Mains supply phase L1
4 N For 1-phase mains connection: mains sup-
ply, neutral conductor
For 2-phase mains connection: mains sup-
ply phase L2
3 PE Protective earth
2 24 V Positive potential of the 24 V logic voltage
1 0V Reference potential of the 24 V logic
voltage

Tab. 62 Power supply and intermediate circuit connection

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Installation

counterplug Requirements for the counterplug

Design for single wiring FKC 2.5 HC/7-ST-5.08 from

Phoenix Contact or compatible
Design for cross-wiring TFKC 2.5 HC/7-ST-5.08 from
Phoenix Contact or compatible
Number of pins 7
Nominal current 16 A
Rated voltage (III/2) 320 V
Grid dimension 5.08 mm
Strip length 10 mm

Tab. 63 Requirements for the counterplug

Requirements for the connect- Individual device Device compound

ing cable

Number of wires and shielding 5 wires, unshielded Without intermediate circuit

coupling: 5 wires, unshielded
With intermediate circuit coup-
ling: 7 wires, unshielded
Min. conductor cross section 0.5 mm2 1 mm2
including cable end sleeve with
plastic sleeve
Max. conductor cross section 2.5 mm2 2.5 mm2
including cable end sleeve with
plastic sleeve
Max. length 2m £ 0.5 m

Tab. 64 Requirements for the connecting cable

8.10.2 [X9B], Connection, braking resistor
The connection [X9B] is located on the top of the device. The internal braking resistor or a suitable
external braking resistor is attached to the connection [X9B].
During braking, the motor works as a generator. In these cases, the motor feeds electrical energy back
into the intermediate circuit. The excess energy must be absorbed by the braking resistor and conver-
ted into heat.

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Installation

The braking resistor integrated into the device is sufficient for many applications with moderate cycle
times and small moving loads. Therefore, frequently no external braking resistor is needed.
• Connect an external braking resistor if larger impulse or continuous loads have to be absorbed
than the integrated braking resistor permits.
The braking resistor is also used as a precharging resistor for the intermediate circuit. The intermedi-
ate circuit cannot be loaded without a braking resistor. If no braking resistor is connected, the device
reports an error.

[X9B] Pin Function Description

2 BR+Ch Braking resistor positive

connection
1 BR-Ch Braking resistor negative
connection

Tab. 65 Connection for the braking resistor

Requirements for the counterplug

Design GIC 2.5 HCV/2-ST-7.62 from

Phoenix Contact or compatible
Number of pins 2
Nominal current 16 A
Rated voltage (III/2) 1000 V
Grid dimension 7.62 mm
Strip length 8 mm
Tightening torque GIC 2.5 0.5 ... 0.6 Nm1)
HCV/2-ST-7.62
1) Specification of the manufacturer at the time the documentation was approved
Tab. 66 Requirements for the counterplug

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Installation

Requirements for the connecting cable1)

Number of wires and shielding 2 wires, shielded

Min. conductor cross section incl. cable end 0.25 mm2
sleeve with plastic sleeve
Max. conductor cross section incl. cable end 2.5 mm2
sleeve with plastic sleeve
Max. cable length 2m
Wiring Within the control cabinet, shield on PE
1) with connection of an external braking resistor
Tab. 67 Requirements for the connecting cable
Requirements for the shield support with connection of an external braking resistor
• Place shield of the cable on the device side onto the earthing screw next to the upper slot of the
cooling element.
Selection of suitable external braking resistors
The connected braking resistor must fulfil the following prerequisites:
– External braking resistors must meet the normative requirements of IEC 61800-5-1.
– The braking resistor must be designed for operation with high pulse energy during braking.
– The braking resistor must be suitable for the intermediate circuit voltage that occurs.
– The resistance value of the braking resistor must be low enough so that the highest braking per-
formance can be absorbed (typically 2 … 2.5 times the nominal output of the motor).
– The resistance value of the braking resistor must be within the permitted range, so that the brake
chopper in the device is not overloaded. Therefore, use only suitable braking resistors that, with
reference to the voltage, current and pulse energy capacity, are suitable for the power data of the
output stage of the servo drive used.
Technical data for the integrated braking resistor and additional requirements for external braking res-
istors è 11.3.2 Electrical data for braking resistor (internal/external) [X9B]
Overload protection for external braking resistors
The external braking resistor can be monitored by the firmware of the device with the help of a thermal
model calculation. The CMMT-AS must therefore be parameterised as follows:
– Activation of external braking resistor
– Input of the following data: resistance value, continuous power, and permissible impulse energy
When the impulse energy limit is reached, the brake chopper is switched off. If the intermediate circuit
voltage rises again as a result, the output stage switches off with the message “Overload in the inter-
mediate circuit”.
8.11 Cross wiring
Cross wiring permits the design of a device compound, consisting of up to 10 CMMT-AS servo drives.
The following cross wiring options are differentiated:
– Cross wiring of I/O signals at the connection [X1A]
– Cross wiring of the mains and logic voltage supply without intermediate circuit coupling
– Cross wiring of the mains and logic voltage supply with intermediate circuit coupling

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Installation

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

The following table shows which signals of the connection [X1A] in the device compound can be dir-
ectly connected with the same signals of neighbouring devices:

Signal name Type Short identifier Function Information

X1A.24 – RDY-C1 Normally open con- Max. 10 devices,

X1A.23 RDY-C2 tact: message ”ready series connection of
for operation the contacts
(Ready)“
X1A.22 DOUT STA Safe torque off Max. 10 devices,
acknowledge parallel wiring
X1A.21 DOUT SBA Safe brake control
acknowledge
X1A.20 – – Reserved, do not –

X1A.19 – – connect

X1A.18 DIN SIN4 Release brake Max. 10 devices,

request parallel wiring
X1A.17 – GND Reference potential Max. 10 devices,
must be cross wired
X1A.16 DOUT TRG0 Like TRG1 Use separately!
X1A.15 DOUT TRG1 Fast output for trig-
gering external com-
ponents
X1A.14 DIN CAP0 Like CAP1 Intended for separ-
X 1A.13 DIN CAP1 Fast input for posi- ate use, cross wiring
tion detection normally does not
make sense, max. 10
devices, parallel wir-
ing
X1A.12 #STO-A Safe torque off, Max. 10 devices,
channel A parallel wiring
X1A.11 DIN #STO-B Safe torque off,
channel B
X1A.10 #SBC-A Safe brake control,
channel A
X1A.9 DIN #SBC-B Safe brake control,
channel B

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Installation

Signal name Type Short identifier Function Information

X1A.8 – – Reserved, do not –

X1A.7 connect

X1A.6
X1A.5
X1A.4 DIN ERR-RST Functional error Max. 10 devices,
acknowledgment parallel wiring
X1A.3 DIN CTRL-EN Output stage enable
X1A.2 AIN AIN0 Analogue input dif- Cross wiring only
X1A.1 #AIN0 ferential makes sense if sev-
eral drive regulators
should receive the
same setpoint value
over AIN0.

Tab. 68 Information on cross wiring of the I/O signals at the connection [X1A]
• Carry out cross wiring of the I/O signals at the connection [X1A] with the required counterplug in
combination with double wire end sleeves.
Example for cross wiring of I/O signals
The following image schematically shows cross wiring with the example of the signal contact (RDY-…),
a 1-channel input (here IN) and a 1-channel diagnostic output (here SOUT; digital output (OUT) of a
safety function (S), e.g. SBA).

Fig. 24 Cross-wiring, example

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Installation

The signal contacts (RDY-...) are wired in series. For the condition “Contact closed”, there results an
AND link. The link result is guided to a digital input (IN) of the higher-order PLC.
1-channel digital inputs (IN) are wired parallel to an output (OUT) of the PLC. If, for example, all CTRL-
EN inputs of the device compound are wired in parallel to a digital output, enabling of the output
stages of the device compound can be controlled over this one digital output.
For cross-wired diagnostic outputs (e.g. STA and SBA), the condensed state results from a logical AND
link. A high signal is present at the two inputs of the safety PLC (here SIN-A and SIN-B) only if all dia-
gnostic outputs (here SOUT) deliver HIGH signals. A cable break can be detected in the PLC through
the ring-shaped cross wiring of the diagnostic outputs with sensing at the beginning (SIN-A) and end
(SIN-B) of the signal chain.
In cross wiring of I/O signals, the following should also be cross wired:
– reference potentials GND (X1A.17) of all cross-wired servo drives
– Logic supply
8.11.2 Cross wiring of the mains and logic voltage supply

Cross wiring of the mains and logic voltage sup- Description

ply

... without intermediate circuit coupling The connections for the mains and logic supply
are cross-wired and connected with the respect-
ive voltage source.
The intermediate circuits are not connected.
... with intermediate circuit coupling The connections for the mains and logic supply
are cross-wired and connected with the respect-
ive voltage source.
In addition, the intermediate circuits of the
devices are cross-wired (intermediate circuit
coupling).

Tab. 69 Options for cross wiring of the mains and logic voltage supply
Cross wiring can be performed easily with the help of the counterplugs, available as accessories.

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Installation

1 Double counterplug
Fig. 25 Cross-wiring CMMT-AS-...-3A (schematic diagram)

Intermediate circuit coupling

If several servo drives of type CMMT-AS are used in an application, the intermediate circuit coupling
can make sense.
With intermediate circuit coupling, the energy regained during braking can be provided to other servo
drives through the intermediate circuit instead of being converted almost completely into heat
through braking resistors. This improves the energy efficiency of the device compound through use of
the regained energy.
In addition, the intermediate circuit coupling causes the following:
– increase of the intermediate circuit capacity through shared use
– increase of the braking energy to be absorbed through shared use of the braking resistors
Rules for cross wiring of the mains and logic voltage supply with and without intermediate circuit
coupling
NOTICE!
Errors in the cross wiring can destroy the internal electronics.
• Always observe rules for cross wiring.

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Installation

– Only cross wire devices with the same mains voltage. The devices may therefore either be 1-phase
devices or only 3-phase devices with the same mains voltage supply and intermediate circuit
voltage. Cross wiring of the mains and logic voltage supply between 1-phase devices and 3-phase
devices is not permitted and results directly in destruction of the servo drive!
– For 1-phase devices: Connect all devices to the same mains phase.
– For 3-phase devices: Connect all devices to the same 3 mains phases.
– Place devices with greater power use closer to the mains infeed.
– Insert a suitable fuse into the mains supply line for line protection and semiconductor protection.
– Do not exceed the maximum number of devices in the device compound.
A device compound may consist of a maximum of 10 devices. But the permitted number is
dependent on the output data of the devices used and the parameterised nominal currents of the
connected motors. The number is limited by the amount of the maximum permitted total current
and the maximum permitted total nominal power (dependent on the conductor cross section of
the cross wiring).
– Always connect all devices with the mains supply, even with intermediate circuit coupling. It is not
permitted to connect only one device or only one part of the device compound to the mains sup-
ply. Such wiring can overload and destroy devices.
Braking resistors in the device compound
– A braking resistor must be attached to each device in the device compound (internal or external).
– If devices with different output power are combined, dimension the braking resistors appropri-
ately to the output power of the devices. This is ensured if the internal braking resistors are used.
Electrical protection of a device compound
A shared external fuse is required at the mains connection of the devices. The fuse fulfils the following
functions:
– Cable protection; the rated current of the fuse must be less than or equal to the permissible cur-
rent carrying capacity of the selected conductor cross section.
– Semiconductor protection; the diode rectifiers of the devices are not protected against short cir-
cuit currents in the DC intermediate circuit.
Recommendation:
– Use circuit breakers as line protection with appropriate tripping current and switching character-
istics C. For additional information è 8.3 Mains fuse.
Data for operation in the device compound (CMMT-AS-...-3A)
A device compound may consist of a maximum of 10 devices. But the permitted number is dependent
on the output data of the devices used.
The number is limited by the amount of the maximum permitted total current and the maximum per-
mitted total nominal power of the device compound and depends on the conductor cross section.
Choice of mains protection
1. Determine total mains current of the device compound.
2. Determine total current of the logic supply.
3. Select the required conductor cross section for the cross wiring.
4. Required mains protection, considering the conductor cross section and the standard classifica-
tion (according to UL or IEC).
Permissible maximum values è Tab. 14 Mains fuse.

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Installation

Approximate calculation to determine the mains current

For 1-phase devices, the mains current can be calculated approximately as follows:
Imains = 0,008 A/W x Pnom, out
Imains: mains current [A]; Pnom, out: nominal power, outgoing
Example
Two servo drives CMMT-AS-C4-3A-... drive motors with a nominal power (Pnom) of 500 watts.
Assumed degree of efficiency of the motors: 80 %.
Pnom, out = 2 x 500 W ¸ 0,8 = 1250 W
Imains = 0,008 A/W x 1250 W = 10 A
Fuse design is for Imains: 10 Aeff
Examples of possible device combinations
The following table shows examples of possible device combinations with the required fuses a con-
verter load with 100 % nominal power:

Conductor Max. permit- Examples of device combina- Required cur- Selected elec-
cross section ted current tions rent [Aeff] trical protec-
on [X9A] tion

1.5 mm2 In accordance 4 x CMMT-AS-C2-3A (each 11.2 C13

with IEC stand- 2.8 Aeff)
ard: 13 A 2 x CMMT-AS-C4-3A (each 11.2
5.6 Aeff)
In accordance 3 x CMMT-AS-C2-3A (each 8.4 C10
with UL stand- 2.8 Aeff)
ard: 10 A 1 x CMMT-AS-C2-3A (each 8.4
2.8 Aeff)
1 x CMMT-AS-C4-3A (each
5.6 Aeff)
2.5 mm2 In accordance 5 x CMMT-AS-C2-3A (each 14 C15
with UL and 2.8 Aeff)
IEC standard: 3 x CMMT-AS-C2-3A (each 14
15 A 2.8 Aeff)
1 x CMMT-AS-C4-3A (each
5.6 Aeff)
In accordance With load at 90 % nominal 15.12 C16
with IEC stand- power:
ard: 16 A 3 x CMMT-AS-C4-3A (each
5.04 Aeff)

Tab. 70 Examples of possible device combinations

Cross wiring without intermediate circuit coupling

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Installation

All contacts for the mains and logic supply are cross wired at the connection [X9A]. The intermediate
circuits are not cross wired (DC+/DC-). The first device is connected with the two voltage sources.
1-phase devices with the same power class and 1-phase devices with different power classes can be
connected.

1 Master switch 2 Line safety switch

Fig. 26 Cross wiring without intermediate circuit coupling

Cross wiring with intermediate circuit coupling

All contacts at the connection [X9A] are cross wired. The first device is connected with the voltage
source. 1-phase devices with the same power class and 1-phase devices with different power classes
can be connected.

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Malfunctions

1 Master switch 2 Line safety switch

Fig. 27 Cross wiring with intermediate circuit coupling

9 Malfunctions
9.1 Diagnostics via LED
The device has 12 LEDs for the display of status information. Ten LEDs are located on the front side of
the device. Two LEDs are located on the top of the device at the connection [X19], XF1 IN and XF2 OUT.
The following image shows an example of the LEDs on the front side of the product variant CMMT-
AS-...-EC. Labelling and function of the LED Run and LED Error depend on the product variant.

1 Device status (4 LED)

2 Run (example CMMT-AS-...-EC)
3 Error (example CMMT-AS-...-EC)
4 Ethernet interface activated [X18]
5 Communication activity [X18]
6 Sync interface activated [X10]
7 Sensor status, sensor interface [X3]
8 Sensor status, sensor interface [X2]

Fig. 28 LEDs on the front side (example CMMT-AS-...-EC)

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Malfunctions

9.1.1 Device status displays

LED Designation Brief description

Status LED Shows the general device status

Power LED Shows the status of the power supply
Safety LED Shows the status of the safety equipment
Application status LED Shows the identification sequence and is
reserved for future extensions

Tab. 71 Device status LEDs (status, power, safety and application status LED)
LED test
After the device is switched on, it runs through an initialisation phase. When the initialisation phase is
complete, the device performs an LED test. In the LED test, the 4 device status LEDs run through the
following colour sequence simultaneously:
– Red
– Yellow
– Green
The duration of each colour corresponds to a flash period. The test is ended after one pass. By
observing them, one can tell if one of the 4 LEDs is defective.
Status LED, display of the device status

LED Meaning

Flash- An error is present.

es red
Flash- A warning is present, or the servo drive is currently performing a firmware update.
es yel-
low
Lights The servo drive is in the initialisation phase.
up
yellow
Flash- The servo drive is ready and the output stage is switched off (Ready).
es
green
Lights The output stage and the closed-loop controller are enabled.
up
green

Tab. 72 Status LED

Power LED, status of the power supply

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Malfunctions

LED Meaning

Flash- The logic voltage and AC supply are present. The intermediate circuit is loaded.
es yel-
low
Lights The logic voltage supply is present, but the AC supply is lacking.
up
yellow
Lights The logic voltage supply is present and the intermediate circuit is loaded.
up
green

Tab. 73 Power LED

Safety LED, status of the safety equipment
Malfunctions in the safety functions are detected and displayed in the functional device. Detected are:
– 1-channel requested safety functions (discrepancy monitoring)
– Internal device errors that lead to impulse monitoring not being switched off or only switched off
one-channel
– Errors in the brake outputs or the external wiring that result in voltage on the brake output des-
pite requested safety function
Malfunctions are reported by the functional part to the outside, also over the additional communica-
tion interfaces (fieldbus, commissioning software).

LED Meaning

Flash- Error in the safety part, or a safety condition is violated.

es red
Flash- The safety function is requested, but not yet active.
es yel-
low
Lights The safety function is requested and active.
up
yellow
Flash- Output stage, brake outputs and safety diagnostic outputs are blocked (safety
es parameterisation is running).
green
Lights Ready, no safety function is requested.
up
green

Tab. 74 Safety LED

Application status

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Malfunctions

LED Meaning

Flash- Identification sequence active (for optical identification of the device in a network),
es which can be activated over the parameterisation software
altern-
at-
ingly
red,
yel-
low,
green
Flash- Reserved for future extensions
es yel-
low
Lights
up
yellow
Flash-
es
green
Lights
up
green

Tab. 75 Application status LED

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

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Malfunctions

Error number Description

1 The start program detected a CRC error in the firmware after switching on.
2 The start program detected a CRC error in the start program after switching on.
3 The start program is supposed to update the firmware but detected an error in the
system update file.
4 The start program is supposed to update itself and the firmware but detected a
defective start program in the system update file.
5 The start program cannot access the file system or the file for the system update, or
the file for the system update is defective.

Tab. 76 Error messages of the start program (bootloader)

9.1.2 Interface status [X2], [X3], [X10], [X18]
LED at [X2] and [X3]; encoder status

LED Meaning

Lights – For digital incremental sensors: sensor evaluation active.

up – For sensors with communication interface: connection to the sensor exists.
green

Tab. 77 LED at [X2] and [X3]

LED at [X10]; sync-connection status

LED Meaning

Lights Interface is activated.

up
green

Tab. 78 LED at [X10]

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

LED Meaning (upper LED)

Off Interface is deactivated.

Lights Interface is activated.

up
green

Tab. 79 Upper LED at [X18]

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Malfunctions

LED Meaning (lower LED)

Off No communication activity is present.

Flash- Communication activity is present.

es yel-
low

Tab. 80 Lower LED at [X18]

9.1.3 Device and interface status EtherCAT
EtherCAT LED displays (only CMMT-AS-...-EC)
The Run LED and the Error LED on the front side display the bus/network status together with the
2 LEDs on the upper side.
EtherCAT, Run LED; operating status

LED Meaning Remedy

Off The device is in the Init status (initialisa- –

tion).
Flash- The device is in the pre-operational –

es status.
green
Flash- The device is in the safe-operational –

es status.
green1)
Lights The device is in the operational status –

up (normal operating status).

green
1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)
Tab. 81 Run LED
EtherCAT®, LED error; error status

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Malfunctions

LED Meaning Remedy

Off No error –

Flash- Invalid configuration, general configura- – Eliminate configuration error.

es red tion error, a status change specified by
the master is not possible.
Flash- Local error, the slave device application –
es independently changed the EtherCAT
red1) status. This can have the following
causes:
– A host watchdog time-out occurred.
– Synchronisation error, the device
changes automatically into the safe-
operational status.
Flash- A process data watchdog time-out –

es occurred.
red2)
1) Single flash: single short flashing (1x flash, pause, 1x flash, etc.)
2) Double flash: double short flash (2x flash, pause, 2x flash, etc.)
Tab. 82 LED error
EtherCAT, LED LINK/ACTIVITY; connection status at XF1 IN and XF2 OUT

LED Meaning Remedy

Off There is no network connection. – Check network connection.

Flick- Data traffic ongoing (traffic). –

ers
green
(appr-
ox.
10 Hz)
Lights Network connection is OK (link). –

up
green

Tab. 83 LED at XF1 IN and XF2 OUT

9.1.4 Device and interface status ProfiNet
PROFINET LED displays (only CMMT-AS-...-PN)
The NF LEDs on the front side, together with the 4 LEDs on the upper side, display the bus/network
status.
PROFINET, LED NF; bus error

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Malfunctions

LED Meaning Remedy

Off No error –

Flash- Network error – Check network configuration and

es red – No data transmission network connection.
(2 Hz) – No configuration
– No network connection or network
connection is malfunctioning

Tab. 84 LED NF
PROFINET, LEDs at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy

Off No network connection – Check network connection.

Lights Network connection is OK (link). –

up
green

Tab. 85 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic –

Lights Data traffic ongoing (traffic). –

up
yellow

Tab. 86 Yellow LED at XF1 IN and XF2 OUT

9.1.5 Device and interface status EtherNet/IP
LED displays EtherNet/IP (only CMMT-AS-...-EP)
The MS LED and the NS LED on the front side display the bus/network status together with the 4 LEDs
on the top (link/ activity).
EtherNet/IP, MS LED; module status

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Malfunctions

LED Meaning Remedy

Off Logic voltage supply lacking. – Check logic voltage supply.

Flash- Device is not configured. – Perform configuration.

es
green
Lights Normal operating status –

up
green
Flash- Device performs a self test. –

es
red/g-
reen
Flash- Repairable error, a configuration error – Check configuration.
es red might be present.
Lights Non-repairable error Contact Festo Service è www.festo.com
up red

Tab. 87 MS LED
EtherNet/IP, NS LED; network status

LED Meaning Remedy

Off The device is switched off or has no IP – Switch on device or check IP address
address. off.
Flash- The device has an IP address but no CIP – Eliminate configuration error.
es connection.
green Perhaps the device is not assigned to a
master/scanner.
Lights Normal operating status. –

up The device is online and has a CIP con-

green nection.

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Dismounting

LED Meaning Remedy

Flash- Device performs a self test. –

es
red/g-
reen
Flash- One or more “I/O connections” are in the – Check the physical connection to the
es red “time-out status”. master/scanner.
Lights The IP address of the device has already – Check IP addresses in the network
up red been assigned. and correct.

Tab. 88 NS LED
EtherNet/IP, LED at XF1 IN and XF2 OUT; connection status, data traffic

LED Meaning of the green LED Remedy

Off There is no network connection. – Check network connection.

Lights Network connection is OK (link). –

up
green

Tab. 89 Green LED at XF1 IN and XF2 OUT

LED Meaning of the yellow LED Remedy

Off No data traffic –

Flick- Data traffic ongoing (activity). –

ers
yellow

Tab. 90 Yellow LED at XF1 IN and XF2 OUT

10 Dismounting
Disassemble in reverse order of installation.
Before dismounting
1. Switch off the power supply at the master switch.
2. Protect the system from being switched back on accidentally.
3. Wait at least 5 minutes until the intermediate circuit has discharged.
4. Let the device cool off to room temperature.
5. Before touching the power connections [X6A], [X9A], [X9B], check to ensure they are free of
voltage.
6. Disconnect all electrical lines.
To dismount the device

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Technical data

• Loosen retaining screws (2x) and remove the device from the attachment surface.
11 Technical data
11.1 Technical data product conformity and approvals
Product conformity and approvals

CE marking (declaration of con- In accordance with EU-EMC Directive1)

formity è www.festo.com/sp) In accordance with EU Machinery Directive
In accordance with EU Low Voltage Directive
Additional approvals For product variants with corresponding identification:
– UL/NEC
– CSA/NEC
– RCM
1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas,
actions to suppress interference may have to be taken.
Tab. 91 Product conformity and approvals

Safety specifications

Type test The functional safety engineering of the product has been certi-
fied by an independent testing body, see EC-type examination
certificate è www.festo.com/sp
Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035
Certificate no. 01/205/5640.00/18

Tab. 92 Safety specifications

11.2 General technical data
General technical data

Type name code CMMT

Type of mounting Screw-clamped to mounting plate
Mounting position Hanging vertically, with unhindered air flow from bottom to top
Dimensions (H*W*D) è Dimensions

Product weight [kg] CMMT-AS-C2-3A: 1.3

CMMT-AS-C4-3A: 1.4

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Technical data

General technical data

Displays – Device status display: 4 LEDs

– Bus-specific status: 2 LEDs
– Interface status [X19] (IN, OUT): 2 LEDs
– Interface status [X2], [X3], [X10], [X18]: 4 LEDs
– Interface activity [X18]: 1 LED
Parameterisation inter- – [X18], Ethernet; parameterisation and configuration over
face commissioning software (è www.festo.com/sp)
– [X19] IN/OUT, RT-Ethernet; parameterisation and configura-
tion per bus protocol
– [X5], Configuration/date transfer over the removable display
and operating unit
Protocol RT Ethernet CMMT-AS-...-EC: EtherCAT
CMMT-AS-...-EP: EtherNet/IP
CMMT-AS-...-PN: PROFINET

Tab. 93 General technical data

Ambient conditions, transport

Transport temperature [°C] −25 … +70

Relative humidity [%] 5 … 95 (non-condensing)
Max. transportation [d] 30
duration
Permissible altitude [m] 12000 (above sea level) for 12 h
Vibration resistance Vibration test and free fall in packaging in accordance with
EN 61800-2

Tab. 94 Ambient conditions, transport

Ambient conditions, storage

Storage temperature [°C] −25 … +55

Relative humidity [%] 5 … 95 (non-condensing)
Permissible altitude [m] 3000 (above sea level)

Tab. 95 Ambient conditions, storage

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Technical data

Ambient conditions for operation

Ambient temperature [°C] 0 … +40

at nominal power
Ambient temperature [°C] 0 … +50
with power reduction
(–3 %/°C at
40 °C … 50 °C)
Cooling through surrounding air in the control cabinet
Temperature monitor- Monitoring of:
ing – Cooling element (power module)
– Air in the device
Switch off at temperature that is too high or too low
Relative humidity [%] 5 … 90 (not condensing) No corrosive media permitted near the
device
Permissible setup alti- [m] 0 … 1000
tude above sea level at
nominal power
Permissible setup alti- [m] 0 … 2000
tude above sea level Operation above 2000 m is not permitted!
with power reduction
(–10 %/1000 m at
1000 m … 2000 m)
Degree of protection IP20 (with plugged-in counterplug X9A, otherwise IP10);
use in a control cabinet with at least IP54, design as “closed
electrical operating area” in accordance with IEC 61800-5-1,
Chap.3.5
Protection class I
Overvoltage category III
Degree of contamina- 2
tion
Vibration resistance in IEC 61800-5-1 and EN 61800-2
accordance with
Shock resistance in EN 61800-2
accordance with

Tab. 96 Ambient conditions for operation

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Technical data

Service life

Service life of the [h] 25000

device with nominal
load in S1 operation1)
and 40 °C ambient
temperature
Service life of the [h] 50000
device with < 50 %
nominal load in S1
operation1) and 40 °C
ambient temperature
1) continuous operation with constant load
Tab. 97 Service life

Materials

Housing Polymer
Cooling profile Die-cast aluminium

Tab. 98 Materials
11.3 Technical data, electrical
11.3.1 Load and logic voltage supply [X9A]

Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A

Number of phases 1
Voltage range [V AC] 100 V AC – 20 % … 230 V AC + 15 %
Nominal voltage [V AC] 230
System voltage in [V AC] 300
accordance with
IEC61800-5-1
Mains current con- [ARMS] 2.8 5.6
sumption1) at nominal
power approx.
Mains frequency [Hz] 48 … 62
Network connec- L è N: TT, TN, IT
tion/allowed electrical L1 è L2: TT, TN
network types

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Technical data

Electrical data, load voltage supply [X9A]

CMMT-AS C2-3A C4-3A

Required quality of the Corresponds to the requirements of EN 61800-3, if not specified

mains supply otherwise
Short circuit current [A] 10000
rating (SCCR)
Alternative DC supply [V DC] 80 … 360
feed
1) dependent on the network impedance; if a line inductor is used, somewhat less mains current results
Tab. 99 Load voltage supply

Electrical data, logic voltage supply

CMMT-AS- C2-3A C4-3A

Logic voltage range [V DC] 24 ± 20 %

Nominal voltage [V DC] 24
Current consumption [A] 0.5
(without holding brake,
CDSB, digital I/Os and
auxiliary supply out-
puts without load)
Current consumption [A] 1.3 1.5
(with holding brake)
Current consumption [A] 2.1 2.3
(with holding brake,
with CDSB, digital I/Os
and auxiliary supply
outputs with load and
with fan, if present)
Starting current (with [A] < 20
28.8 V)
Protective functions – Overvoltage
– Polarity reversal
– Short circuit to 0 V (24 V outputs)

Tab. 100 Logic supply

Intermediate circuit and brake chopper

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Technical data

Electrical data, intermediate circuit

CMMT-AS- C2-3A C4-3A

Intermediate circuit [V DC] 310 … 320

voltage with feed of
nominal voltage at the
mains input
Permitted maximum [V DC] < 395
voltage

Tab. 101 Intermediate circuit

The intermediate circuit voltage is continuously monitored by the firmware of the device. The switch-
ing thresholds can be parameterised. The device can thus be adapted to different feed voltages.
Presetting of the switching thresholds as delivered:
– Undervoltage: 250 V
– Overvoltage: 400 V
The preload time of the intermediate circuit is controlled and monitored by the firmware. The firmware
monitors whether the intermediate circuit can be loaded in the correct time window. The soft-start
relay is closed after 1 s.

Electrical data, brake chopper

CMMT-AS- C2-3A C4-3A

Brake chopper switch- [V DC] Typical 380

ing threshold ON
Brake chopper hyster- [V DC] Typical 5
esis ON OFF
Protective function If an external braking resistor is used, correct parameterisation
of the data of this external braking resistor is required.
– Short circuit detection against DC+ with fast switch-off of the
brake chopper and the power output stage
– Monitoring of the pulse energy and the continuous power of
the braking resistor by the firmware with switching off of the
braking resistor and of the power output stage when the
power limit is reached

Tab. 102 Brake chopper

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Technical data

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

Integrated braking resistor [X9B]

CMMT-AS- C2-3A C4-3A

Resistor [Ω] 100

Pulse power 1) [W] 1600
Pulse energy [Ws] 230
Continuous power [W] 23
(specification accord-
ing to IEC) at 70°C
ambient temperature2)
Continuous power [W] 15
(specification for UL) at
70°C ambient temper-
ature2)
1) Taking account the component tolerances (10%) at 370 V DC DC-link voltage
2) Air temperature in cooling duct (assembly position of braking resistor)
Tab. 103 Integrated braking resistor [X9B]

Requirements on external braking resistor [X9B]

CMMT-AS- C2-3A C4-3A

Max. resistance [Ω] 160 100

Min. resistance [Ω] 100 70
Permissible continuous [W] 180 350
power of external res-
istor (or of brake chop-
per in device)
Pulse power [W] 1500 2000
Permissible pulse [Ws] 2000 4000
energy (for the brake
chopper)
Operating voltage [V DC] ³ 500
Parasitic inductance [uH] £ 200
Thermal protection Yes, possible to monitor the power in the braking resistor in the
device firmware

Tab. 104 Requirements on external braking resistor [X9B]

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Technical data

11.3.3 Power specifications, motor connection [X6A]

Internal protective functions detect short circuits between 2 motor phases and short circuits of a
motor phase against PE. If a short circuit is detected, the PWM signals are switched off.

Parameters for the power specifications

CMMT-AS- C2-3A C4-3A

Nominal voltage of [VRMS] 230

mains connection
Ambient temperature [°C] £ 40
(air)
Setup altitude [m] £ 1000

Tab. 105 Parameters

Power specifications in operation under the named parameters [X6A]

CMMT-AS- C2-3A C4-3A
PWM frequency [kHz] 8 16 8 16

Current regulator cycle [µs] 62.5

time
Nominal output power [W] 350 255 700 500
(S1 operation; cos(phi)
> 0.8)

Nominal current (S1 [ARMS] 2.0 1.5 4 2.5

operation)
Max. output power [W] 1000 700 2000 1400
(S2 operation; cos(phi)
> 0.8)

Output voltage range [VRMS] 3 x 0 V … Input

Output voltage with [VRMS] 205
feeding of nominal
voltage and nominal
power
Output frequency [Hz] 0 … 599

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Technical data

Power specifications in operation under the named parameters [X6A]

CMMT-AS- C2-3A C4-3A
PWM frequency [kHz] 8 16 8 16

Maximum current [ARMS] 6 4.5 12 7.5

Duration for maximum [s] 2
current
(fs > 5 Hz)
Duration for maximum [s] 0.2
current at standstill
(fs £ 5 Hz); minimum
cycle time 1 s!

Tab. 106 Power specifications, motor connection [X6A]

If parameters deviate, the above specified power specifications are not achieved. The following power
reductions are then valid. The power reductions refer simultaneously to nominal output power, max.
output power, nominal current and maximum current.

Power reduction
CMMT-AS- C2-3A C4-3A

Changed mains voltage – No power reduction with current

80 VRMS … 265 VRMS – Reduced achievable rotary speed/speed and power with
reduced mains voltage
Ambient temperature [%] -3/°C
(air) 40 °C … 50 °C
Setup altitude [%] -10/1000 m
> 1000 m
(1000 m … 2000 m)

Tab. 107 Power reduction

Temperature monitoring
CMMT-AS- C2-3A C4-3A

Power section temperature

Warning [°C] 80 85
Shutdown [°C] > 85 > 90

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Technical data

Temperature monitoring
CMMT-AS- C2-3A C4-3A

Air temperature
Warning [°C] 70 75
Shutdown [°C] > 75 > 80
Shutdown if air temperat- [°C] 0
ure too low

Tab. 108 Temperature monitoring

11.3.4 Motor auxiliary connection [X6B]

Motor temperature monitoring [X6B]

Analogue sensors Analogue temperature sensors with gain and offset

– KTY 81 … 84 (silicon temperature sensors)
– PTC (PTC resistor, positive temperature coefficient)
– NTC (negative temperature coefficient)
– Pt1000 (platinum measuring resistor)
Digital sensors – N/C contact
– N/O contact

Tab. 109 Motor temperature monitoring [X6B]

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Technical data

Output of holding brake [X6B]

CMMT-AS- C2-3A C4-3A

Max. continuous out- [A] 0.8 1

put current
Max. voltage drop from [V DC] 1.5
+ 24 V input at connec-
tion [X9A] to brake out-
put at [X6B]
Max. permissible [H] < 5
inductive load
Protective functions – Short circuit to 0 V/PE
– Overvoltage-proof to 60 V1)
– Thermal overload protection
Fault detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Output SBA
– Error message on device
1) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.
Tab. 110 Output of holding brake [X6B]
11.3.5 Encoder interfaces [X2], [X3]

EnDat 2.1 encoder at [X2]

Parameterisable no. of 1 … 16777216 position values/revolution (24 bit)

encoder pulses
Angle resolution/inter- None; digital angle signal from encoder
polation
Clock signal [MHz] RS422/485; max. 2
Data channel [MHz] RS422/485; max. 2
Input impedance data [Ω] RS422/485; 120
Output supply [mA] Max. 250 (at 5.00 V … 5.50 V)
Support: mechanical Yes, up to 4096 revolutions
multiturn encoder
Support: battery-buf- No
fered multiturn
encoder

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Technical data

EnDat 2.1 encoder at [X2]

Support: encoder para- Yes, storing of controller parameters in encoder

meter memory
Support: encoder error Yes, supported
messages
Encoder communica- Up to 2 corrupted/failed encoder messages tolerated. After this
tion failure an error message will be generated.

Tab. 111 EnDat 2.1 encoder at [X2]

EnDat 2.2 encoder at [X2]

Parameterisable no. of 1 … 16777216 position values/revolution (24 bit)

encoder pulses
Angle resolution/inter- None; digital angle signal from encoder
polation
Clock signal [MHz] RS422/485; max. 4
Data channel [MHz] RS422/485; max. 4
Input impedance data [Ω] RS422/485; 120
Output supply [mA] Max. 250 (at 9.50 V … 10.50 V)
Support: mechanical Yes, up to 4096 revolutions
multiturn encoder
Support: battery-buf- Yes, up to 16 bit; battery buffer not integrated in CMMT-AS
fered multiturn (cable adapter/box required)
encoder
Support: encoder para- Yes, storing of controller parameters in encoder
meter memory
Support: encoder error Yes, supported
messages
Encoder communica- Up to 2 corrupted/failed encoder messages tolerated. After this
tion failure an error message will be generated.

Tab. 112 EnDat 2.2 encoder at [X2]

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Hiperface encoder at [X2]

Parameterisable no. of 1 … 1024 periods/revolution (10 bit)

encoder pulses
Angle resolution/inter- Min. 10 bits/period
polation
Data channel Hiperface [MHz] RS422/485; max. 4
(Hiperface 9.6 kbit/s to 115 kbit/s)
Input impedance for [Ω] RS422/485; 120
data channel
Tracking signals SIN, [V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)
COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)
Input impedance SIN, [Ω] 120 (differential input)
COS
Critical frequency SIN, [kHz] Approx. 50 (high-resolution tracking)
COS
Noise-free angle resol- [bit] 10 (measured on noise-free SIN/COS signals)
ution within one SIN,
COS period
Noise-free angle resol- [bit] Min. 12, typically 13 (10 m motor/encoder line, active drive con-
ution with SEK/SEL 37 trol)
per motor revolution
Noise-free angle resol- [bit] Min. 15, typically 17 (10 m motor/encoder line, active drive con-
ution with SKS/SKM 36 trol)
per motor revolution
Output supply [V] 10 ± 10 %
[mA] Max. 250
Support: mechanical Yes, up to 4096 revolutions
multiturn encoder

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Technical data

Hiperface encoder at [X2]

Support: battery-buf- Yes, up to 16 bit; battery buffer not integrated in CMMT-AS

fered multiturn (cable adapter/box required)
encoder
Support: encoder para- Yes, storing of controller parameters in encoder
meter memory
Encoder signal monit- Vector length monitoring for SIN/COS signals, signal amplitude
oring range –30% ... +20%, error message if position determination is
no longer possible. A cyclical comparison of the position values
of the SIN/COS signals with the absolute position read via the
data channel detects miscounting by an entire signal period.

Tab. 113 Hiperface encoder at [X2]

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

Parameterisable no. of 1 … 65536 periods/revolution (16 bit)

encoder pulses
Angle resolution/inter- Min. 10 bits/period
polation
Tracking signals SIN, [V] 2.5 ± 20% (DC offset on SIN, #SIN, COS, #COS)
COS [Vss] 1 ± 10% (differential signal SIN - #SIN, COS - #COS)
Input impedance SIN, [Ω] 120 (differential input)
COS
Critical frequency fcrit [kHz] Approx. 50 (high-resolution tracking)
SIN, COS
Noise-free angle resol- [bit] 10 (measured on noise-free SIN/COS signals)
ution within one SIN,
COS period
Noise-free angle resol- [nm] < 100
ution with LS 187
(20 µm signal period)
Output supply [V] 5±5%
[mA] Max. 250
Support: mechanical No
multiturn encoder

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

Support: battery-buf- No
fered multiturn
encoder
Support: encoder para- No
meter memory
Encoder signal monit- Vector length monitoring for SIN/COS signals, signal amplitude
oring range –30% ... +20%, error message if position determination is
no longer possible.

Tab. 114 SIN/COS encoder at [X2], [X3]

Digital incremental sensor at [X2], [X3]

Parameterisable no. of 1 … 262144 periods/revolution (18 bit)

encoder pulses
Angle resolution/inter- 4-fold evaluation as 4 steps (2 bits) per period
polation
Tracking signals A/B/N [MHz] RS422/485; max. 4
Input impedance [Ω] 120 (differential input)
A/B/N
Critical frequency fcrit [MHz] > 4
A/B/N
Output supply [V] 5.00 … 5.50
[mA] Max. 250, unregulated (no Sense cable)
Support: mechanical No
multiturn encoder
Support: battery-buf- No
fered multiturn
encoder
Support: encoder para- No
meter memory
Encoder signal monit- No, no direct encoder signal monitoring
oring

Tab. 115 Digital incremental sensor at [X2], [X3]

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Technical data

Encoder with asynchronous communication interface at [X2]

Parameterisable no. of 1 … 16777216 position values/revolution (24 bit)

encoder pulses
Angle resolution/inter- None; digital angle signal from encoder
polation
Clock signal [MHz] None; asynchronous communication
Data channel RS422/485, asynchronous communication
Bit rate: 1 MHz/2 MHz/4 MHz
18 bit/frame
Input impedance [Ω] RS422/485; 120
A/B/N
Output supply [V] 5.00 … 5.50
[mA] Max. 250
Support: mechanical [bit] Yes, 16
multiturn encoder
Support: battery-buf- Yes, up to 16 bit; battery buffer not integrated in CMMT-AS
fered multiturn (cable adapter/box required)
encoder
Support: encoder para- Yes, storing of controller parameters in encoder
meter memory
Support: encoder error Yes, supported
messages
Encoder signal monit- Up to 2 corrupted/failed encoder messages tolerated. After this
oring an error message will be generated.

Tab. 116 Encoder with asynchronous communication interface at [X2]

11.3.6 Inputs, outputs, ready contact at [X1A]
Operating ranges of digital inputs drawing current

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Fig. 29 Operating ranges of digital inputs drawing current

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

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

Nominal voltage [V DC] 24
Permissible voltage [V DC] –3 … 30
range1)
Max. input voltage [V] 28.8
high-level (UH max)
Min. input voltage [V] 17
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)
Min. input voltage low- [V] –3
level (UL min)
Max. input current with [mA] 75
high-level (IH max)
Min. input current with [mA] 50
high-level (IH min)

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Technical data

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

Max. input current with [mA] 75

low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSTO,TP) up to
max.
Min. time between low [ms] 200
test pulses at
UH min < USTO-A/B £ 20 V
Min. time between low [ms] 100
test pulses at
USTO-A/B > 20 V
Tolerance for high test pulses2)
Tolerated high test [ms] 1
pulses (tSTO,TP) up to
max.
Min. time between high [ms] 200
test pulses at
USTO-A/B < UL max
1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the input exceeds the permissible
maximum value, the channel is shut down.
2) High test pulses must not occur simultaneously at inputs #STO-A and #STO-B but only with a time offset.
Tab. 117 Control inputs #STO-A and #STO-B at [X1A]

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

Specification Based on type 3 to EN 61131-2

Nominal voltage [V DC] 24
Permissible voltage [V DC] –3 … 30
range
Max. input voltage [V] 30
high-level (UH max)
Min. input voltage [V] 13
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)

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

Min. input voltage low- [V] –3

level (UL min)
Max. input current with [mA] 15
high-level (IH max)
Min. input current with [mA] 5
high-level (IH min)
Max. input current with [mA] 15
low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSBC,TP) up to
max.
Min. time between low [ms] 200
test pulses at
UH min < USBC-A/B £ 20 V
Min. time between low [ms] 100
test pulses [ms]
atUSBC-A/B > 20 V
Tolerance for high test pulses1)
Tolerated high test [ms] 1
pulses (tSBC,TP) up to
max.
Min. time between high [ms] 200
test pulses at
USBC-A/B < UL max
1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset.
Tab. 118 Control inputs #SBC-A and #SBC-B at [X1A]

Diagnostic outputs STA and SBA at [X1A]

Design Asymmetrical push-pull output

Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 15
rent for high-level

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Technical data

Diagnostic outputs STA and SBA at [X1A]

Voltage loss at high- [V] < 3

level
Permissible output cur- [mA] < –400
rent at low-level1)
Voltage loss at low- [V] < 1.5
level
Pull-down resistance [kΩ] < 50
Protective function – Short-circuit proof
– Feedback-proof
– Overvoltage-resistant up to 60 V
Loads
Ohmic load (min.) [kΩ] 1.2
Inductive load [µH] < 10
Capacitive load 2) [nF] < 10
Test pulses
Test pulses at outputs None (for time-offset test pulses on the associated A/B control
inputs)
1) Current flows from outside via the internal low-side switch to 0 V reference potential of 24 V supply
2) Requires connection of the output to a Type 3 input
Tab. 119 Diagnostic outputs STA and SBA at [X1A]

Digital inputs at [X1A] without safety inputs

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

Nominal voltage [V DC] 24
Permissible voltage [V DC] −3 … 30
range
Max. input voltage [V] 30
high-level (UH max)
Min. input voltage [V] 13
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)
Min. input voltage low- [V] –3
level (UL min)
Max. input current with [mA] 15
high-level (IH max)

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Technical data

Digital inputs at [X1A] without safety inputs

Min. input current with [mA] 5

high-level (IH min)
Max. input current with [mA] 15
low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Data for inputs CAP0, CAP1
Delay time in the hard- [µs] < 2
ware
Min. permissible pulse [µs] 10
length (high or low)
Time resolution/accur- [µs] < 1
acy (high or low)
Tolerance for low test No
pulses
Data for remaining inputs
Delay time in the hard- [µs] < 200
ware
Min. permissible pulse [µs] 1000
length (high or low)
Tolerance for low test [ms] 1
pulses
Min. period length [ms] 100
between test pulses

Tab. 120 Digital inputs at [X1A] without safety inputs

Digital trigger outputs TRG0 and TRG1 at [X1A]

Design High-side switch without test pulse monitoring

Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 20
rent for high-level
Protective function – Short-circuit proof
– Feedback-proof to 30 V
– Automatic switch-off in event of over-temperature (> 150°C)

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Technical data

Digital trigger outputs TRG0 and TRG1 at [X1A]

Loads
Ohmic load (min.) [kΩ] 1.2
Inductive load [µH] < 10
Capacitive load1) [nF] < 10
1) Requires connection of the output to a Type 3 input
Tab. 121 Digital trigger outputs TRG0 and TRG1 at [X1A]

Ready contact at [X1A]

Design N/O contact (electronic)

The N/O contact is not fully isolated from the logic supply. The
CMMT-AS can check the function of the contact via a diagnostic
pickoff.
Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 50
rent with contact
closed
Permissible leakage [µA] < 100
current with contact
open
Pull-down resistance [kΩ] Approx. 50
Short-circuit protection Not short-circuit proof
Overvoltage strength [V] Up to max. 60
Loads (X1A.24 connected to 24 V logic voltage supply; load between X1A.23 and GND24)
Ohmic load (min.) [Ω] 600
Inductive load [µH] < 10
Capacitive load1) [nF] < 10
Switching delay from [ms] < 5
control gate
1) Requires connection of the output to a Type 3 input
Tab. 122 Ready contact at [X1A]

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Technical data

Analogue input AIN0 at [X1A]

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

ence to GND
Measuring range [V DC] –10 … +10
Gain error [%] ±1
Offset error [mV] ± 50
Resolution [bit] 12
Input bandwidth [kHz] 2
Input impedance [kΩ] Approx. 70
In-phase suppression [dB] Approx. 40 (in in-phase voltage range ± 12 V to GND)
Input capacitance [nF] Typically 1 (for 1 kΩ)
Permissible voltage [V DC] –30 … 30
range

Tab. 123 Analogue input AIN0 at [X1A]

11.3.7 Inputs and outputs to the axis [X1C]

Inputs LIM0, LIM1 at [X1C]

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

Nominal voltage [V] 24
Permissible voltage [V] –3 … 30
range
Max. input voltage [V] 30
high-level (UH max)
Min. input voltage [V] 13
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)
Min. input voltage low- [V] –3
level (UL min)
Max. input current with [mA] 15
high-level (IH max)
Min. input current with [mA] 5
high-level (IH min)
Max. input current with [mA] 15
low-level (IL max)

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Technical data

Inputs LIM0, LIM1 at [X1C]

Min. input current in [mA] 1.5

transition range (IT min)
Delay time in the hard- [µs] < 200
ware
Min. permissible pulse [µs] 1000
length (high or low)
Tolerance for low test [ms] 1.5
pulses
Min. permissible pulse [µs] 1000
length (high or low)
Min. period length [ms] 100
between test pulses

Tab. 124 Inputs LIM0, LIM1

Output BR-EXT at [X1C]

Design High-side switch with test pulse monitoring

Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 100
rent for high-level
Voltage loss at high- [V] < 3
level
Pull-down resistance [kΩ] < 50
Protective function – Short-circuit proof
– Feedback-proof
– Overvoltage-resistant up to 60 V
– Thermal overload protection
Fault detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Output SBA
– Error message on device
Test pulse length The test pulses for control input #SBC-B are mapped to the out-
put.
Min. time between test [ms] 100
pulses

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Technical data

Output BR-EXT at [X1C]

Loads
Ohmic load (min.) [Ω] 240
Inductive load [mH] < 100
Capacitive load [nF] < 10

Tab. 125 Output BR-EXT

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

Output voltage [V DC] +24 ± 20 %

Max. output current [mA] 100
Protective function – Polarity reversal
– Short circuit to 0 V
– Feedback-proof

Tab. 126 Power supply at [X1C]

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

Encoder emulation/incremental encoder output [X10]

No. of output marks [marks- 1 … 16384

/rev.]
Angle resolution/inter- 4-fold evaluation as 4 steps (2 bits) per period
polation
Tracking signals A/B [MHz] RS422/485; max.1
Tracking signals Z [kHz] RS422/485; valid up to a max. output frequency A/B of 100; Z
signal can be shut down
Output impedance [Ω] Differential 120
A/B/N Ra.diff
Permissible load on FAN-OUT = 16 (16 inputs on other CMMT-AS)
output
Critical frequency [MHz] 4 (FAN-OUT = 1); 0.1 (FAN-OUT = 16)
A/B/N

Tab. 127 Encoder emulation/incremental encoder output [X10]

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Technical data

Incremental encoder/counter input [X10]

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

No. of input marks [marks- 1 … 16384
/rev.]
Angle resolution/inter- 4-fold evaluation as 4 steps (2 bits) per period
polation
Tracking signals [MHz] RS422/485; max. 1
CLK/DIR
No. of input pulses [pulses- 4 … 65536
/rev.]
Tracking signals [MHz] RS422/485; max. 1
CW/CCW
No. of input pulses [pulses- 4 … 65536
/rev.]
Input impedance [Ω] Differential 120 in series with 120 pF high-frequency signal ter-
A/B/N Re.diff mination, additionally 700 parallel, low-frequency signal termin-
ation

Tab. 128 Incremental encoder/counter input [X10]

11.3.9 Standard Ethernet [X18], parameterisation interface

Standard Ethernet [X18], parameterisation interface

Design To IEEE 802.3:2012-001)

Connection design RJ45
Transmission rate [Mbit/s] 10/100 (full/half duplex)
Supported protocols TCP/IP
IP address set at fact- 192.168.0.1
ory (presetting)
1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths. Deviating from IEEE 802.3, the isola-
tion coordination is therefore done according to the valid product standard IEC 61800-5-1: DVC A, system voltage ≤ 50 V.
Tab. 129 Standard Ethernet [X18]

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Technical data

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

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

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

Bus connection design RJ45
[XF1 IN]
Bus connection design RJ45
[XF2 OUT]
Max. transmission rate [Mbit/s] 100
Bus protocol EtherCAT: CMMT-AS-...-EC
Protocol – CoE (CANopen over EtherCAT)
– EoE (Ethernet over EtherCAT)
– FoE (file access over EtherCAT)
Drive profile – CIA 402
Bus protocol EtherNet/IP: CMMT-AS-...-EP
Protocol – Implicit messaging
– Explicit messaging
Bus protocol PROFINET: CMMT-AS-...-PN
Protocol – PROFINET RT
– PROFINET IRT
Drive profile – PROFIdrive
– PROFIenergy
1) Restriction: The interface is galvanically isolated and intended for use with limited cable lengths.
Tab. 130 Real-time Ethernet [X19]

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