CMMP-AS-...-M3 CMMP-AS-...-M3 8046776 1507b
CMMP-AS-...-M3 GDCP-CMMP-M3-HW-ZH CANopen, Heidenhain, EnDat, PHOENIX, Windows. : : : 1. / 2 Festo GDCP-CMMP-M3-HW-ZH 1507b
CMMP-AS-...-M3 CMMP-AS-...-M3... 6... 6... 6... 6 /... 6... 8 1... 9 1.1... 9 1.1.1... 9 1.1.2 (PELV)... 10 1.1.3... 10 1.2... 11 1.2.1... 11 1.2.2... 11 1.2.3 ()... 11 1.2.4... 11 2... 13 2.1 CMMP-AS-...-M3... 13 2.2... 14 2.3... 15 3... 19 3.1... 19 3.2... 20 3.2.1 Ext3... 20 3.2.2 Ext1 Ext2( )... 22 3.2.3... 23 4... 25 4.1... 25 4.2... 27 4.3 :I/O [X1]... 31 4.3.1 [X1]... 31 4.3.2 [X1]... 31 4.3.3... 32 4.4 : [X2A]... 34 4.4.1 [X2A]... 34 4.4.2 [X2A]... 34 Festo GDCP-CMMP-M3-HW-ZH 1507b 3
CMMP-AS-...-M3 4.5 : [X2B]... 35 4.5.1 [X2B]... 35 4.5.2 [X2B]... 35 4.6 :CAN [X4]... 38 4.6.1 [X4]... 38 4.6.2 [X4]... 38 4.7 : [X6]... 39 4.7.1 [X6]... 39 4.7.2 [X6]... 39 4.8 : [X9]... 41 4.8.1... 41 4.8.2 [X9]... 41 4.8.3 [X9] 3... 42 4.8.4... 43 4.8.5 AC... 43 4.8.6... 45 4.9 : [X10]... 46 4.9.1 [X10]... 46 4.9.2 [X10]... 46 4.9.3 [X10]... 47 4.9.4 [X10]... 47 4.10 : [X11]... 47 4.10.1 [X11]... 47 4.10.2 [X11]... 47 4.11 FCT... 48 4.11.1... 48 4.11.2 USB[X19]... 48 4.11.3 TCP/IP [X18]... 49 4.12 EMC... 51 4.12.1... 51 4.12.2 EMC... 51 4.12.3 EMC :... 52 4.12.4 EMC... 53 4.12.5... 54 4.12.6... 54 5... 55 5.1... 55 5.2 /... 55 5.3... 55 5.4 CMMP-AS-...-M3... 56 5.5... 56 5.6... 57 4 Festo GDCP-CMMP-M3-HW-ZH 1507b
CMMP-AS-...-M3 6... 58 6.1... 58 6.1.1... 58 6.1.2... 58 6.1.3... 58 6.1.4... 58 6.1.5... 58 6.1.6... 59 6.1.7 I2t... 59 6.1.8... 59 6.1.9... 60 6.1.10... 60 6.1.11... 60 6.2... 60 6.2.1... 60 6.2.2 7... 61 6.2.3... 62 6.2.4... 62 7... 63 7.1... 63 7.2... 63 7.3... 63 7.3.1... 63 7.3.2... 63 A... 64 A.1 CMMP-AS-...-M3... 64 A.1.1... 72 A.2 CAMC-... 76 A.3... 77 B... 79 B.1... 79 B.2... 80... 130 Festo GDCP-CMMP-M3-HW-ZH 1507b 5
CMMP-AS-...-M3,CMMP-AS-...-M3 : Rev 01 FCT CMMP-AS, 2.3.x, FCT : www.festo.com/sp () Tab. 1 CMMP-AS-C2-3A-M3 1501325 XX Rev XX IND. CONT. EQ. 1UD1 In: 1* (100...230)V AC±10% (50...60)Hz 3A Out: 3*(0...270)V AC (0...1000)Hz 2,5A Max surround air temp 40 C D-73734 Esslingen CMMP-AS-C2-3A-M3 CMMP-AS-C2-3A-M3 1501325 XX Rev XX 100 230 V AC ±10 % 50 60 Hz 3 A 40 C 0 270 V AC 0 1000 Hz 2.5 A, Festo / 2006/42/EC EN 61326-1:2006-05 2006/95/EC EN 50178:1997-10 2004/108/EC EN 60204-1:2006-06 EN 61800-3:2004-12 IEC 61131-2:2007-09 Tab. 2 / 6 Festo GDCP-CMMP-M3-HW-ZH 1507b
CMMP-AS-...-M3 2 ( Tab. 1), () X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 Tab. 3 (20 ) 1 2 3 4 5 6 7 8 9 O N D Tab. 4 CMMP, CMMP AS C5 11a P3 M3 AS AC C2 2.5 A C5 5 A C10 10 A C15 15 A 3O 100... 230 V AC 11a 3 x 230... 480 V AC P3 () M3 3 Fig. 1 Festo GDCP-CMMP-M3-HW-ZH 1507b 7
CMMP-AS-...-M3, : CMMP-AS-...-M3,, GDCP-CMMP-M3-HW-..., GDCP-CMMP-M3-FW-... FHPP, GDCP-CMMP-M3/-M0-C-HP-... CiA 402 (DS 402), GDCP-CMMP-M3/-M0-C-CO-... CAM, P.BE-CMMP-CAM-SW-... GDCP-CAMC-G-S1-... GDCP-CAMC-G-S3-... FCT CMMP-AS Tab. 5 CMMP-AS-...-M3 /(1 3 ) CMMP-AS-...-M3 () CMMP-AS-...-M3, Festo FHPP CMMP-AS-...-M3 : CANopen PROFINET PROFIBUS EtherNet/IP DeviceNet EtherCAT CMMP-AS-...-M0 CANopen CiA 402 (DS 402) CMMP-AS-...-M3:CANopen EtherCAT CMMP-AS-...-M0 CANopen CMMP-AS-...-M3/-M0 (CAM) STO SS1 SS2 SOS SLS SSR SSM SBC Festo CMMP-AS www.festo.com/sp 8 Festo GDCP-CMMP-M3-HW-ZH 1507b
1 1 1.1 1.1.1 Ext1 Ext3 [X6] [X9],,: 1., 2., 5,,,!, Festo GDCP-CMMP-M3-HW-ZH 1507b 9
1 1.1.2 (PELV) IEC DIN EN 60204-1(,PELV) PELV IEC/DIN EN 60204-1 PELV IEC DIN EN 60204-1 PELV, IEC DIN EN 60204-1 ( )(, ) 1.1.3 CMMP-AS-...-M3..., AC () CMMP-AS-...-M3.,:,,, ( A ),,:,, 10 Festo GDCP-CMMP-M3-HW-ZH 1507b
1 1.2 :,,, 1.2.1,,:,,, 1.2.2 : ( A), 1.2.3 (),:,,, 1.2.4, ( A) EG, www.festo.com/sp Festo GDCP-CMMP-M3-HW-ZH 1507b 11
1 (...-C1) Underwriters Laboratories Inc. (UL) : UL Listing Mark for Canada and the United States UL,: UL UL Underwriters Laboratories Inc. UL : UL Listing Mark for the United States 12 Festo GDCP-CMMP-M3-HW-ZH 1507b
2 2 2.1 CMMP-AS-...-M3 CMMP-AS-...-M3 14 Fig. 2.1 : (RCD), 300 ma ( CMMP-AS-C15-...) 24 V DC CMMP-AS-...-M3, USB Windows 4 Festo GDCP-CMMP-M3-HW-ZH 1507b 13
2 1 2 3 4 5 6 7 8 1 2 3 4 ( CMMP-AS-C15-...) Fig. 2.1 PC CMMP-AS-...-M3 5 : 6 CMMP-AS-...-M3 7 PC 8 (:EMMS-AS, ) 2.2 : CMMP-AS-...-M3 CD NEKM-C-7 Tab. 2.1 14 Festo GDCP-CMMP-M3-HW-ZH 1507b
2 2.3 ac ab aa 1 aj 9 8 2 7 6 3 4 5 1 [Ext3] 2 [S1] 3 [Ext1] 4 [Ext2] 5 [S3] 6 SD/MMC [M1] Fig. 2.2 CMMP-AS-...-M3: 7 CANopen [S2] 8 CANopen [X4] 9 [X18] aj USB [X19] aa 7 ab ac LED Festo GDCP-CMMP-M3-HW-ZH 1507b 15
2 1 2 3 4 5 1 PE 2 [X9] 3 [X11] Fig. 2.3 CMMP-AS-...-3A-M3: 4 [X10] 5 I/O [X1] 16 Festo GDCP-CMMP-M3-HW-ZH 1507b
2 1 2 3 4 5 1 PE 2 [X9] 3 [X11] Fig. 2.4 CMMP-AS-...-11A-P3-M3: 4 [X10] 5 I/O [X1] Festo GDCP-CMMP-M3-HW-ZH 1507b 17
2 4 3 2 1 1 2 [X6] Fig. 2.5 CMMP-AS-...-M3: 3 [X2A] 4 [X2B] 18 Festo GDCP-CMMP-M3-HW-ZH 1507b
3 3 3.1, ( ) CMMP-AS-...-M3, [X9] :, 100 mm, 150 mm! CMMP-AS-...-M3,, / CMMP-AS-...-M3 ( Fig. 3.4)! Festo GDCP-CMMP-M3-HW-ZH 1507b 19
3 3.2 1,! 3.2.1 Ext3 CMMP-AS-...-M3, Ext3, Ext3 : CAMC-DS-M1 CAMC-G-S... 1. 2. 0.4 Nm ± 20% : 1. 2.,, Fig. 3.1 / 20 Festo GDCP-CMMP-M3-HW-ZH 1507b
3 DIP (Ext3) DIP DIP, DIP DIP CANopen/DriveBus DeviceNe t Onboard CAMC-DN PROFIBUS PROFINET EtherNet/IP EtherCAT CAMC-PB CAMC-F-PN 1 KN 0 KN 0 KN 0 2 KN 1 KN 1 KN 1 3 KN 2 KN 2 KN 2 4 KN 3 KN 3 KN 3 5 KN 4 KN 4 KN 4 6 KN 5 7 KN 6 8 KN = Tab. 3.1 CAMC-F-EP CAMC-EC DIP 1 mbit/s 1) 500 kbit/s 250 kbit/s 125 kbit/s 6 ON OFF ON OFF 7 ON ON OFF OFF 1) CANopen/DriveBus ; DeviceNet 500 kbit/s Tab. 3.2 CANopen DeviceNet DIP 8 1 0 Tab. 3.3 DIP 8 CAMC-..., CAN [X4] Festo GDCP-CMMP-M3-HW-ZH 1507b 21
3 3.2.2 Ext1 Ext2( ) CMMP-AS-...-M3 Ext1 Ext2, I/O / Tab. 3.4 CAMC-F-PN CAMC-PB CAMC-F-EP CAMC-DN CAMC-EC CAMC-D-8E8A Ext1 1) 1) 1) x 1) x Ext2 x x x 1) x x 1) CAMC-D-8E8A Tab. 3.4 Ext1 Ext2 1. 1 2. 2 3. 3 4. 1 0.4 Nm ± 20% : 1. 1 2. 2 3. 3 4. 2 1 3 4 Fig. 3.2 (:CAMC-PB) 1 22 Festo GDCP-CMMP-M3-HW-ZH 1507b
3 3.2.3 CMMP-AS-...-M3, CMMP-AS-...-M3 M5 Fig. 3.3 CMMP-AS-...-M3: CMMP-AS-... H1 L1 L2 L3 L4 L5 L6 B1 B2 B3 D1 D2-3A-M3 [mm] 207 281 248 227 202 12.5 10.5 66 61 30.7 10 5.5-11A-P3-M3 [mm] 247 330 297 276 252 12.5 10.5 79 75 37.5 10 5.5 Tab. 3.5 CMMP-AS-...-M3: Festo GDCP-CMMP-M3-HW-ZH 1507b 23
3 Fig. 3.4 CMMP-AS-...-M3: L1 H1 1) CMMP-AS-...-3A-M3 [mm] 71 100 CMMP-AS-...-11A-P3-M3 [mm] 85 100 1), 150 mm! Tab. 3.6 CMMP-AS-...-M3: 24 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4 4.1 ( 3.5 ma),,, PE : PE [X9], PE [X9] L [X9] EN 60204-1 [EXT] [X6] [X9] : 1., 2., 5,, (RCD) (RCM), B RCD RCM Festo GDCP-CMMP-M3-HW-ZH 1507b 25
4,, www.festo.com/catalogue,,, ESD() :, ESD (: ) : Sub-D ( ) 26 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.2 CMMP-AS-...-M3 100 V AC -10 % 230 V AC +10 % L N PE +24 V 0 V 24 V DC X9 T M 3~ U V W PE X6 / E Fig. 4.1 CMMP-AS-...-3A-M3: L N ZK+ ZK- BR-INT BR-CH PE 24V+ GND24V MT+ MT- PE BR+ BR- X2A/X2B / Festo GDCP-CMMP-M3-HW-ZH 1507b 27
4 100 V AC -10 % 230 V AC +10 % L1 L2 PE +24 V 0 V 24 V DC 2 L N ZK+ ZK- BR-INT BR-CH PE 24V+ GND24V X9 T M 3~ U V W PE X6 MT+ MT- PE BR+ BR- E X2A/X2B / Fig. 4.2 CMMP-AS-...-3A-M3: 2 L1/L2 230 V AC +10 % 230 V, 400 V,! 28 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 230 V AC -10 % 480 V AC +10 % L1 L2 L3 PE +24 V 0 V 24 V DC () L1 L2 L3 ZK+ ZK- BR-EXT BR-CH BR-INT PE 24V+ GND24V X9 T M 3~ U V W PE X6 MT+ MT- PE BR+ BR- E X2A/X2B / Fig. 4.3 CMMP-AS-...-11A-M3: 3 Festo GDCP-CMMP-M3-HW-ZH 1507b 29
4 : 4.8.5 AC L, N L1, L2, L3 DC ZK+, ZK Tab. 4.1 PTC / 1) (:KTY81) 1) MT+, MT ; [X6] MT+, MT ; [X2A] [X2B] 1) EMMS-AS PTC Tab. 4.2 D-SUB [X2A] [X2B] Fig. 4.1, Fig. 4.2 Fig. 4.3, CMMP-AS-...-M3 30 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.3 :I/O [X1] 4.3.1 [X1] CMMP-AS-...-M3 Sub-D,25, Sub-D,25, Tab. 4.3 [X1] 4.3.2 [X1], A.1.1 () I/O Tab. 4.4 [X1] 13 DOUT3, DIN11 25 DOUT2, DIN10 12 DOUT1 24 DOUT0, 11 DIN9 23 DIN8, 10 DIN7 1 ( n 0), 22 DIN6 0 ( n 0), 9 DIN5, 21 DIN4, 8 DIN3 Bit 3, 20 DIN2 Bit 2, 7 DIN1 Bit 1, 19 DIN0 Bit 0, 6 GND24 I/O 18 +24 V 24 V 5 AOUT1 17 AOUT0 4 +VREF 16 AIN13 2,, DIN13 1) 3 AIN12 1,, DIN12 1) 15 #AIN0 0, 2 AIN0 14 AGND 1 AGND,AGND 1) FCT 4.3.3. Tab. 4.4 :I/O [X1]() Festo GDCP-CMMP-M3-HW-ZH 1507b 31
4 FCT I/O Tab. 4.5 [X1] 13 DOUT3,, DIN11 25 DOUT2,, DIN10 12 DOUT1 Motion Complete, 24 DOUT0, 11 DIN9 ()/, 23 DIN8, 10 DIN7 1 ( n 0), 22 DIN6 0 ( n 0), 9 DIN5, 21 DIN4, 8 DIN3 Bit 3, 20 DIN2 Bit 2, 7 DIN1 Bit 1, 19 DIN0 Bit 0, 6 GND24 I/O 18 +24 V 24 V 5 AOUT1, 17 AOUT0, 4 +VREF 16 AIN2 2,, DIN13 1) 3 AIN1 1,, DIN12 1) 15 #AIN0 0, 2 AIN0 14 AGND 1 AGND,AGND 1) FCT 4.3.3. Tab. 4.5 :I/O [X1](FCT ) 4.3.3 AIN1 ANI2, X1 Pin 14 6 AGND GND24 AGND GND24 32 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 CMMP-AS- -M3 AIN0 #AIN0 AIN0 #AIN0 X1 2 15 AIN1/AIN2 AGND AIN1 AIN2 3 16 AGND +VREF 4 +VREF +15VDC AGND 14 AOUT0 17 AOUT1 5 AGND 100 ma! AGND 14 1 AGND AMON0/1 AGND 24 V DC 18 +24VDC GND AGND DIN0 19 DINX 100 ma! DIN9 DOUT0 DOUT3 GND24 11 24 13 6 GND24 GND24 +24VDC DOUTX GND24 GND GND PE Fig. 4.4 [X1] PE D-Sub www.festo.com/catalogue Festo GDCP-CMMP-M3-HW-ZH 1507b 33
4 4.4 : [X2A] 4.4.1 [X2A] CMMP-AS-...-M3 Sub-D,9, Sub-D,9, Tab. 4.6 [X2A] 4.4.2 [X2A] [X2A] Tab. 4.7 [X2A] 1 S2 3.5 V eff 5-10 khz 6 S4 R i 5 kω 2 s1 3.5 V eff 5-10 khz 7 S3 R i 5 kω,, 3 AGND 0 V () 8 MT- GND 4 R1 7 V eff 5-10 khz I A 150 ma eff 9 R2 GND 5 MT+ +3.3 V R i = 2 kω PE () CMMP-AS-...-M3 [X2A] PIN3, PTC KTY... 34 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.5 : [X2B] 4.5.1 [X2B] CMMP-AS-...-M3 Sub-D,15, Sub-D,15, Tab. 4.8 [X2B] 4.5.2 [X2B] [X2B] 1 MT+ +3.3 V R i = 2 kω, PTC KTY... 9 U_SENS+ 5 V 12 V 2 U_SENS- R I L 1 kω 10 US 5 V/12 V ±10% I = 300 ma 3 GND 0 V 11 R 0.2 V SS 0.8 V SS 4 R# R I L 120 Ω 12 COS_Z1 1) 1 V SS 5 COS_Z1# 1) R I L 120 Ω 13 SIN_Z1 1) 1 V SS 6 SIN_Z1# 1) R I L 120 Ω 14 COS_Z0 1) 1 V SS ±10% 7 COS_Z0# 1) R I L 120 Ω 15 SIN_Z0 1) 1 V SS ±10% 8 SIN_Z0# 1) R I L 120 Ω 1) Heidenhain :A=SIN_Z0; B=COS_Z0, C=SIN_Z1; D=COS_Z1 Tab. 4.9 : PE () () () () () () Festo GDCP-CMMP-M3-HW-ZH 1507b 35
4 [X2B] 1 MT+ +3.3 V R i = 2 kω 9 U_SENS+ 5 V 12 V 2 U_SENS- R I L 1 kω 10 US 5 V/12 V ±10% I = 300 ma, PTC KTY... 3 GND 0 V 11 4 12 DATA 5 V SS 5 DATA# R I L 120 Ω 13 SCLK 5 V SS 6 SCLK# R I L 120 Ω 14 COS_Z0 1) 1 V SS ±10% 7 COS_Z0 1) # R I L 120 Ω 15 SIN_Z0 1) 1 V SS ±10% 8 SIN_Z0 1) # R I L 120 Ω 1) Heidenhain :A=SIN_Z0; B=COS_Z0 Tab. 4.10:,:EnDat PE () RS485 () RS485() () () 36 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 [X2B] 1 MT+ +3.3 V R i = 2 kω 9 U_SENS+ 5 V 12 V 2 U_SENS- R I L 1 kω 10 US 5 V/12 V / ±10% I = 300 ma, PTC KTY... 3 GND 0 V 11 N 2 V SS 5 V SS 4 N# R I L 120 Ω RS422() 12 H_U 0 V/5 V U 5 H_V R I L 2 kω V 13 H_W VCC W 6 14 O 2 V SS 5 V SS A 7 A# R I L 120 Ω RS422() 15 B 2 V SS 5 V SS B 8 B# R I L 120 Ω RS422() Tab. 4.11: PE () Festo GDCP-CMMP-M3-HW-ZH 1507b 37
4 4.6 :CAN [X4] 4.6.1 [X4] CMMP-AS-...-M3 Sub-D,9, Sub-D,9, Tab. 4.12 [X4] 4.6.2 [X4] [X4] Tab. 4.13 CAN [X4] 1 6 CAN-GND GND 2 CAN-L CAN-(Dominant Low ()) 7 CAN-H CAN (Dominant High ()) 3 CAN-GND GND 8 4 9 5 CAN-Shield 38 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.7 : [X6] 4.7.1 [X6] CMMP-AS-... / /...-C2-3A-M3...-C5-3A-M3...-11A-P3-M3...-C10-11A-P3-M3 PHOENIX Contact MSTBA 2.5/9-G-5.08 BK PHOENIX Power- Combicon PC 5/9-G-7.62 BK 1 (BR-) PHOENIX Contact MSTB 2.5/9-ST-5.08 BK PHOENIX Power- Combicon PC 5/9-ST-7.62 BK 9 (U) Tab. 4.14 [X6] 4.7.2 [X6] [X6] 1) 1 1 BR - 0 V (), 2 BR + 24 V High-Side/ Low-Side(/) 3 PE PE ( Festo : ) 4 -MTdig GND 5 +MTdig +3.3 V 5 ma PTC KTY... 6 PE PE 7 W 8 V Tab. A.9 9 9 U 1) CMMP-AS-...-3A-M3 Tab. 4.15 [X6]: (:Fig. 2.5 18 ) BR+ BR- CMMP-AS-...-M3, Tab. A.4 66, Fig. 4.5 40 : Festo GDCP-CMMP-M3-HW-ZH 1507b 39
4 BR+ BR- CMMP-AS-...-M3 +24 V GND +24 V GND Fig. 4.5,,,,:Evox RIFA RC,:PMR205AC6470M022 (22 Ω RC 0.47 μf ) 40 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.8 : [X9] CMMP-AS-...-M3 [X9] 24 V DC CMMP-AS- -3A-M3 3 CMMP-AS- -11A-P3-M3 4.8.1 CMMP-AS-... / /...-C2-3A-M3...-C5-3A-M3...-C5-11A-P3-M3...-C10-11A-P3-M3 Tab. 4.16 [X9] PHOENIX MSTBA 2.5/9-G-5.08-BK PHOENIX Power-COMBICON PC 5/11-G-7.62-BK 9 (GND24V) PHOENIX MSTB 2.5/9-ST-5.08-BK PHOENIX Power-COMBICON PC 5/11-ST-7.62-BK 1 (L) 4.8.2 [X9] [X9] 1) 1 9 1) CMMP-AS-...-3A-M3 Tab. 4.17 [X9] 1 L 100 230 VAC 2 N ±10% 50 60 Hz () 3 ZK + 440 VDC : 4 ZK- GND_ZK : 5 BR-INT 460 VDC ( BR-CH) 6 BR-CH 460 VDC, - BR-INT - - ZK+ 7 PE PE 8 +24 V +24 VDC IO 9 GND24 V GND24 VDC 0 V Festo GDCP-CMMP-M3-HW-ZH 1507b 41
4 4.8.3 [X9] 3 [X9] 1) 1 11 1 L1 230 480 VAC 1 2 L2 ±10% 2 3 L3 50 60 Hz 3 4 ZK+ 700 VDC : 5 ZK- GND_ZK : 6 BR-EXT 800 VDC 7 BR-CH 800 VDC, BR-INT BR-EXT 8 BR-INT 800 VDC (, BR-CH ) 9 PE PE 10 +24 V +24 VDC IO 11 GND24 V GND24 VDC 1) CMMP-AS-...-11A-P3-M3 Tab. 4.18 [X9] 3 DC 230/400 V 277/480 V 42 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.8.4 1) : CMMP-AS-C2-3A-M3 1 B10 CMMP-AS-C5-3A-M3 1 B16 CMMP-AS-C5-11A-P3-M3 3 B16 CMMP-AS-C10-11A-P3-M3 3 B16 CMMP-AS-C15-11A-P3-M3 3 B16 1)! Tab. 4.19 : EN 60204-1 - - 1 : :,, 4.8.5 AC : CMMP-AS-...-M3,( 1 s), AC PFC PFC (CMMP-AS-...-3A-M3), (N), (N) (L1) : (N), N Festo GDCP-CMMP-M3-HW-ZH 1507b 43
4 DC - AC, DC [X9] ZK+ ZK - (CMMP-AS-...-3A-M0/ -M3 CMMP-AS-...-11A-P3-M0/-M3),, (CMMP-AS-...-3A-M3),, PFC,( L1) Fig. 4.6 L N PE +24 V 0 V L N ZK +ZK BR-INT - BR-CH PE 24V+ GND24V X9 L N ZK + ZK BR-INT - BR-CH PE 24V+ GND24V X9 Fig. 4.6 Fig. 4.6, 4.8.4 44 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.8.6,,! Tab. 4.17 Tab. 4.18, [X9] 4.7.2 Fig. 4.5 ( A.1,Tab. A.6),, Festo GDCP-CMMP-M3-HW-ZH 1507b 45
4 4.9 : [X10] 4.9.1 [X10] CMMP-AS-...-M3 Sub-D,9, Sub-D,9, Tab. 4.20 [X10] 4.9.2 [X10] [X10] 1 A/CLK/CW 5 V R I L 120 Ω A CLK CW RS422 6 A#/CLK#/CW# 5 V R I L 120 Ω A CLK CW RS422 2 B/DIR/CCW 5 V R I L 120 Ω B DIR CCW RS422 7 B#/DIR#/CCW# 5 V R I L 120 Ω B DIR CCW RS422 3 N 5 V R I L 120 Ω N RS422 8 N# 5 V R I L 120 Ω N RS422 4 GND 9 GND 5 VCC +5 V ±5% 100 ma Tab. 4.21 X10:, 100mA,! [X11] [X10], 5 (+5 V - ) 46 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.9.3 [X10],, 4.9.4 [X10], [X10] RS422 4.10 : [X11] 4.10.1 [X11] CMMP-AS-...-M3 Sub-D,9, Sub-D,9, Tab. 4.22 [X11] 4.10.2 [X11] [X11] 1 O 5 V RA L 66 Ω 1) A 6 A# 5 V RA L 66 Ω 1) A# 2 B 5 V RA L 66 Ω 1) B 7 B# 5 V RA L 66 Ω 1) B# 3 N 5 V RA L 66 Ω 1) N 8 N# 5 V RA L 66 Ω 1) N# 4 GND - 9 GND - 5 VCC +5 V ±5% 100 ma 1) *) RA Tab. 4.23 [X11]:, 100 ma,! (5 V) RS422 32 [X11] [X10], 5 (+5 V - ) Festo GDCP-CMMP-M3-HW-ZH 1507b 47
4 4.11 FCT 4.11.1 1 2 1 [X19]: USB 2 [X18]: Fig. 4.7 FCT 4.11.2 USB[X19] CMMP-AS-...-M3 USB USB FCT : USB RS232 FCT CMMP-AS-...-M3 FCT B 5, USB USB (CMMP-AS -M3,PC ) USB USB 1.1 PC USB FCT WinUsb.sys, WinUSB API USB FCT : Windows XP SP 2 Windows Vista Windows 7 WinUsb.sys 48 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.11.3 TCP/IP [X18] CMMP-AS- -M3A : PC FCT CMMP-AS-...-M3 PC CMMP-AS-...-M3, ( Modbus TCP) : : (Intrusion Prevention System = IPS) LAN (VLAN) (Virtual Private Network = VPN) (Port Security)., IEC 62443, ISO/IEC 27001 8P8C (RJ45) LED : () (/) IEEE 802.3u FTP5 100Base-TX (1:1), () : TCP/IP UDP/IP DNS(ARP BOOTP) DHCP AutoIP TFTP Windows TFTP, Festo GDCP-CMMP-M3-HW-ZH 1507b 49
4 (IP ),: DHCP ( DHCP IP IP ) Auto IP ( DHCP, 169.254.1.0 169.254.254.255 ) IP ( FCT ) : 1. DHCP 2. AutoIP 3. IP IP, DHCP, AutoIP 50 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.12 EMC 4.12.1 (EMV), EMC (electromagnetic compatibility), EMI(electromagnetic interference,):, PE PE PE () CMMP-AS-...-M3 [X9], 4.12.2 EMC, :, CMMP-AS-...-M3, CMMP-AS-...-M3, CMMP-AS-C2-3A-M3 CMMP-AS-C5-3A-M3 CMMP-AS-C5-11A-P3-M3 CMMP-AS-C10-11A-P3-M3 CMMP-AS-C15-11A-P3-M3,, Festo CADF- C15-11A-P3 25 m, EMC Tab. 4.24 Festo GDCP-CMMP-M3-HW-ZH 1507b 51
4 CMMP-AS-...-M3 EMV EN 61800-3,Festo Festo,, EMV ( 4.12.3, Tab. 4.25) www.festo.com 4.12.3 EMC :, CMMP-AS-...-M3 EN 61800-3, (C2), (C3),, CMMP-AS-...-M3 : EMC ( ) CMMP-AS-C2/C5/C10-...: 25 m CMMP-AS-C15-...: Festo CADF-C15-11A-P3 25 m, EMC ( ) Tab. 4.25 EMC 25 50 m, 52 Festo GDCP-CMMP-M3-HW-ZH 1507b
4 4.12.4 EMC EMC, ( 4.2, 27 ): CMMP-AS-...-M3 [m] X1 I/O 5 : X2A Resolver( ) 50 X2B Encoder( ) 50 X4 CAN 40 1Mbit/s () X6 25 ( 50 m,) X9 2 X10 30 X11 5 X18 10 CAT-5 X19 USB 5 USB USB 1.1 Tab. 4.26 CMMP-AS-...-M3 1., CMMP-AS-...-M3 ( 4.12.5 54 ) 2. 3. CMMP-AS-...-M3 (,),, 4. PE [X9] PE 5. PE [X6] PE 6., ( 90 ) 7. /, 8. ( ) : ; 40 mm 35 mm PE ; 40 mm ; 40 mm( NEBM-... ), PE EN 50178 EN 60204-1! Festo GDCP-CMMP-M3-HW-ZH 1507b 53
4 4.12.5 /,, FCT FCT PWM : CMMP FCT 15 m 62.5 μs 1), 2) > 15 m, 25 m 62.5 μs 1), > 25 m 125 μs,, 1), FCT 2) Tab. 4.27 FCT,,: 25 m, < 200 pf/m, < 150 pf/m,!, () 4.12.6 Sub-D ESD (electrostatic discharge ()) CMMP-AS-...-M3, : 24 V / 54 Festo GDCP-CMMP-M3-HW-ZH 1507b
5 5 5.1 EMC, 4.12.4 53! 1 9, 5.2 / 1 USB 5.3 1. 2. PHOENIX [X6] 3. () 4. 5. D-SUB [X2A] [X2B], 6. Festo GDCP-CMMP-M3-HW-ZH 1507b 55
5 5.4 CMMP-AS-...-M3 Ext1 Ext3 [X6] [X9],,: 1., 2., 5,, 1. 2. PE PE 3. PHOENIX [X9] 4. 24 V 5. 6. 5.5 1. USB 4.11.2 USB[X19] 4.11.3 TCP/IP [X18] 56 Festo GDCP-CMMP-M3-HW-ZH 1507b
5 5.6 1. ( :[X1] DIN 5) 2. READY-LED READY-LED, E,, A 64,: 1. 2. 5, 3. 4. 24 V 5. 6. Festo GDCP-CMMP-M3-HW-ZH 1507b 57
6 6 6.1 6.1.1 CMMP-AS-...-M3, : (PE) ( Ext 3) 6.1.2 CMMP-AS-...-11A-P3-M3 () ( ) 6.1.3, PE, 6.1.4, 6.1.5 Tab. A.3 65 5 C 58 Festo GDCP-CMMP-M3-HW-ZH 1507b
6 6.1.6, CMMP-AS-...-M3 : :, CMMP-AS-...-M3 E 08-8 CMMP-AS-...-M3 [X6]: PTC, [X2A] [X2B]: KTY (NTC, PTC), SW Tab. 6.1 6.1.7 I 2 t CMMP-AS-...-M3 I 2 t,,, 6.1.8 I 2 t 100 % I²t, E 07-0,,,,,, Festo GDCP-CMMP-M3-HW-ZH 1507b 59
6 6.1.9 Festo,, CMMP-AS-...-M3, A,, 6.1.10, EN 60204-1,,, 5 ( ) 6.1.11 (51-1 51-6) (CAMC-G-S1) (51-5) CAMC-G-S3 (53-x 59-x) 6.2 6.2.1 CMMP-AS-...-M3 LED, LED 7,, 6.2.2 LED1 LED2 LED3 CAN Tab. 6.2 60 Festo GDCP-CMMP-M3-HW-ZH 1507b
6 6.2.2 7 : 1) A F. () ( ) d SD H() H : STO (Safe Torque Off) H E L L O (),, I P x x x ( xxx,) 000 001...255 001... 255 259/260 / 262 CAM-IN / CAM-OUT( ) 264/265 FCT FHPP, P H x ( x,) 0 1 2 E x x y xx y - x x y xx y 7 1) Tab. 6.3 Festo GDCP-CMMP-M3-HW-ZH 1507b 61
6 6.2.3 : ( ) DIN5 [X1] DIN5 [X1] 1 1 L 80 ms Fig. 6.1 :, 6.2.4 : A 62 Festo GDCP-CMMP-M3-HW-ZH 1507b
7 7 7.1,,: 1., 2., 5,,, 7.2, 7.3 7.3.1, 7.1 : 3.2 4 5 7.3.2 RoHS Festo GDCP-CMMP-M3-HW-ZH 1507b 63
A A A.1 CMMP-AS-...-M3 CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 7 USB 1.1 TCP/IP CE () (HxBxT) 1) [mm] 202x66x207 227x66x207 252x79x247 [mm] 248x61 297x75 [kg] 2.1 2.2 3.5 1) Tab. A.1 : CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 [ C] -25 +70 Tab. A.2 : 64 Festo GDCP-CMMP-M3-HW-ZH 1507b
A CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 [m] 1000 1) [m] 1000 2000() [%] 0 90 ( ) IP20 2 Ext 3 CAMC-G-S3 [ C] 0 +40 2.5 % K [ C] +40 +50 Ext 3 CAMC-G-S3 2) [ C] 0 +35 0 +40 0 +40 0 +40 0 +40 [ C] +35 +40 +40 +50 +40 +50 +40 +45 +40 +50 2) / I/O, C 100 80 80 80 85 1) 1000 m, 100 m 1 % 2),CAMC-G-S3,CMMP-AS-M3 Ext1 Ext2 CMMP-AS-M3 CAMC-G-S3, Tab. A.3 : Festo GDCP-CMMP-M3-HW-ZH 1507b 65
A CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 [V DC] 24 ±20% 1) [A] 0.55 0.65 1 [A] 1 2 Fig. 4.5 40 1) I/O Tab. A.4 : () 100 %, CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 1 3 [V AC] 100 230 ±10% 230 480 ±10% [Hz] 50 60 [A eff ] 3 6 5,5 11 13 [V DC] 310 320 560 570 ( PFC) ( PFC) [V DC] 360 380 DC [V DC] 60 380 60 700 230 VAC ±10% PFC [W] 500 1000 [W] 1000 2000 Tab. A.5 :,PFC 66 Festo GDCP-CMMP-M3-HW-ZH 1507b
A PFC (kw) 1 2 PFC () 0,5 1 0,25 CMMP-AS-C2-3A-... 0,5 CMMP-AS-C5-3A-... Fig. A.1 PFC PFC I²t (50 %) 110 200 255 (Veff ) CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 ( PFC) [V] 389 760 ( [V] 440 PFC) [V] 400 800 ( PFC) [V] 460 ( PFC), [Ω] 60 68 [kw] 2.8 8.5 [W] 10 20 110, [Ω] 50 40 [V] 460 800 [W] 2500 5000 Tab. A.6 : Festo GDCP-CMMP-M3-HW-ZH 1507b 67
A CMMP-AS- C2-3A C5-3A C5-11A-P3 C10-11A-P3 C15-11A-P3 [m] 25() 25 () [pf/m] 200 Tab. A.7 : : R 500 Ω R 100 kω,:kty81 82 R + LR25 L 2000 Ω R100 L 3400 Ω Tab. A.8 : CMMP-AS- C2-3A 1) C5-3A 1) C5-11A-P3 2) C10-11A-P3 2) C15-11A-P3 2) [VAC] 0 270 0 360 [kva] 0.5 1 3 6 9 5 [kva] 1 2 6 12 18 1) 1x230 V AC [±10 %],50 60 Hz 2) 3x400 V AC [±10 %],50 60 Hz Tab. A.9 : Tab. A.10 Tab. A.11 Tab. A.12 Tab. A.13 Tab. A.14 Tab. A.15 FCT,,, 4.12.5 68 Festo GDCP-CMMP-M3-HW-ZH 1507b
A CMMP-AS-C2-3A-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 2.5 2.2 2.5 2.5 [A eff ] 5 4.4 5 5 [s] 5 5 5 5 [A eff ] 7.5 6.6 7.5 7.5 [s] 1.3 1.3 1.3 1.3 [A eff ] 10 8.8 10 10 [s] 0.5 0.5 0.5 0.5 1) FCT Tab. A.10 CMMP-AS-C2-3A-M3 CMMP-AS-C5-3A-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 5 4.4 5 5 [A eff ] 10 8.8 10 10 [s] 5 5 5 5 [A eff ] 15 13.2 15 15 [s] 1.3 1.3 1.3 1.3 [A eff ] 20 17.6 20 20 [s] 0.5 0.5 0.5 0.5 1) FCT Tab. A.11 CMMP-AS-C5-3A-M3 Festo GDCP-CMMP-M3-HW-ZH 1507b 69
A CMMP-AS-C5-11A-P3-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 5 2.5 5 5 [A eff ] 10 5 10 10 [s] 5 5 5 5 [A eff ] 15 7.5 15 15 [s] 0.8 1.2 0.8 0.8 [A eff ] 20 10 20 20 [s] 0.1 0.15 0.1 0.1 1) FCT Tab. A.12 CMMP-AS-C5-11A-P3-M3 5 Hz CMMP-AS-C5-11A-P3-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 5 2.5 5 5 [A2 eff ] 10 5 10 10 [s] 5 5 5 5 [A eff ] 15 7.5 15 15 [s] 2 2 2 2 [A eff ] 20 10 20 20 [s] 0.5 0.5 0.5 0.5 1) FCT Tab. A.13 CMMP-AS-C5-11A-P3-M3 20 Hz 70 Festo GDCP-CMMP-M3-HW-ZH 1507b
A CMMP-AS-C10-11A-P3-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 8 3.45 10 8 [A eff ] 16 6.9 20 16 [s] 5 5 5 5 [A eff ] 24 10.35 30 24 [s] 0.1 0.2 0.1 0.1 [A eff ] 32 13.8 40 32 [s] 0.07 0.15 0.07 0.07 1) FCT Tab. A.14 CMMP-AS-C10-11A-P3-M3 5 Hz CMMP-AS-C10-11A-P3-M3 1) [μs] 62.5 125 1) [khz] 8 16 4 8 [A eff ] 8 3.45 10 8 [A eff ] 16 6.9 20 16 [s] 5 5 5 5 [A eff ] 24 10.35 30 24 [s] 2 2 2 2 [A eff ] 32 13.8 40 32 [s] 0.5 0.5 0.5 0.5 1) FCT Tab. A.15 CMMP-AS-C10-11A-P3-M3 20 Hz CMMP-AS-C15-11A-P3-M3 1) [μs] 62.5 125 [khz] 8 16 4 8 [A eff ] 11 2.5 15 11 [A eff ] 22 5 30 22 [s] 5 5 5 5 [A eff ] 33 7.5 45 33 [s] 1 1 1 1 1) FCT Tab. A.16 CMMP-AS-C15-11A-P3-M3 Festo GDCP-CMMP-M3-HW-ZH 1507b 71
A A.1.1 I/O [X1] / DIN0 DIN9 DOUT 0 DOUT3 [V] 24, EN 61131-2 [V] 8 30 [V] 24, 1) [V] 8 30 [ma] 100 +24 V [V] 24 [ma] 100 GND24 [V] 0 I/O 1) ( FCT ) Tab. A.17 :/ [X1] / AIN0 #AINO [V] ±10 Bit 16 [μs] 250 [V] 30 R I [kω] 30 AIN1 [V] ±10 single ended() Bit 10 [μs] 250 AIN2 [V] ±10 single ended() 8 V DIN12 1) 8 V DIN13 1) [Bit] 10 [μs] 250 AOUT0, AOUT1 [V] ±10 [Bit] 9 [khz] 1 AGND [V] 0 +VREF [V] 0 10 1) FCT 4.3.3. Tab. A.18 :/ [X1] 72 Festo GDCP-CMMP-M3-HW-ZH 1507b
A [X2A] S1 S3 S2 S4 [Veff] 3.5 + [khz] 5 10 - R i [kω] 5 [Veff] 3.5 + [khz] 5 10 - R i [kω] 5 R1 [Veff] 7 [khz) 5 10 [maeff] I A 150 R2 GND MT+ [V] + 3.3, PTC KTY R i [kω] 2 MT- Tab. A.19 : [X2A] 0.5 [khz] 5 10 [Veff] 7, ( 10 khz ) [Ω] (20 + j20) [Ω] (500 + j1000) Tab. A.20 : [X2A] [Bit] 16 [μs] 200 [rpm] 4 ['] 5 [rpm] 16000 Tab. A.21 [X2A] Festo GDCP-CMMP-M3-HW-ZH 1507b 73
A [X2B] [/ ] 1 262144 / [ /] 10 A, B [Vss] 1 ;2.5 V N [Vss] 0.2 1 ;2.5 V A1, B1() [Vss] 1 ;2.5 V [Ω] 120 f [khz] 300 [khz] 10 EnDat (Heidenhain) HIPERFACE (Stegmann) BiSS, [V] 5 12 [ma] 300 Tab. A.22 : [X2B] CAN-Bus [X4] CANopen CANopen ISODIS 11898,Full-CAN, 1M Baud CiA301 CiA402 Tab. A.23 :CAN [X4] [X10] [/ ] 1 2 28 RS422 A,A#,B,B#,N,N# [khz] 1000 RS422 CLK,CLK#,DIR,DIR#, RESET,RESET# [V] 5 [ma] 100 Tab. A.24 : [X10] 74 Festo GDCP-CMMP-M3-HW-ZH 1507b
A [X11] [/ ] 1 8192, 16384, RS422 A,B,N RS422 R a,diff [Ω] 66 f [MHz] 1.8 / [V] 5 [ma] 100 Tab. A.25 : [X11] Festo GDCP-CMMP-M3-HW-ZH 1507b 75
A A.2 CAMC- CAMC- D-E8A8 PB EC DN [ C] -25 +75 [ C] 0 +50, [%] 0 90 [m] 2000 (LxBxH) [mm] 87x65x19 92x65x19 87x65x19 [g] 50 55 50 Tab. A.26 CAMC-, CAMC-D-E8A8 8 [V DC] 24 [V DC] -30 +30 High( ) [V DC] 8 Low( ) [V DC] 2 [V DC] 1 [kω] 4.7 [V DC] -30 ( - ) [μs] 100 Tab. A.27 CAMC-D-E8A8 CAMC-D-E8A8 8 High-Side() [V DC] 24 [V DC] +18 +30 [ma] 100 [V DC] 1 [μa] 100 / [ma] 500 [ C] 150 ( - ) [μs] 100 Tab. A.28 CAMC-D-E8A8 76 Festo GDCP-CMMP-M3-HW-ZH 1507b
A A.3 [X2A] 0.5 ±10 %, 7 Vrms Tab. A.29 Yaskawa - Yaskawa-OEM [X2B] Yaskawa Sigma-1 A Tab. A.30 ROD 400 ERO 1200, 1300, 1400 ERN 100, 400, 1100, 1300 [X2B] Heidenhain, Tab. A.31 EnDat ROC 400 ECI 1100, 1300 ECN 100, 400, 1100, 1300 ROQ 400 EQI 1100, 1300 EQN 100, 400, 1100, 1300 EnDat 2.1 (01/21) EnDat 2.2 (22) EnDat 2.1 (01/21) EnDat 2.2 (22) LC 100, 400 EnDat 2.1 (01) EnDat 2.2 (22) Tab. A.32 EnDat [X2B] [X2B] [X2B] Heidenhain Single-turn(),/ Heidenhain Multi-turn(),/ Heidenhain Festo GDCP-CMMP-M3-HW-ZH 1507b 77
A HIPERFACE SCS60, 70 SCM60, 70 SRS 50, 60, 64 SCKxx SRM 50, 60, 64 SCLxx SKS36 SKM36 SEK37, 52 SEL37, 52 HIPERFACE [X2B] Stegmann / / 512 :±2048 U HIPERFACE [X2B] Stegmann / / 1024 :±2048 U HIPERFACE [X2B] Stegmann / / 128. :±2048 U HIPERFACE [X2B] Stegmann / / 16. :±2048 U L230 HIPERFACE [X2B] Stegmann :156.25 μm 40 m Tab. A.33 HIPERFACE BiSS ME 20.20-0.40 BiSS [X2B] ELGO ( ELGL-LAS... ) Tab. A.34 BiSS 78 Festo GDCP-CMMP-M3-HW-ZH 1507b
B B, CMMP-AS-...-M3 E(),:- E 0 1 0 -,:- 1 7 0 - B.1 : () FHPP FCT CiA 301 (Hex) FCT : (, ): PS off(), MCStop(), QStop(), Warn(), Ignore(, ), NoLog(,) Tab. B.1, B.2 Festo GDCP-CMMP-M3-HW-ZH 1507b 79
B B.2 0 0-0 - Ignore : () 0 0-1 - Ignore : () 0-2 - Ignore : 0-4 - / () Ignore : 0-7 - Ignore : 0-8 - Ignore : 0-9 - Ignore : 0-11 - : Ignore : 0-12 - : Ignore : 0-21 - Ignore : 0-22 - Ignore : 80 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 1 Stack overflow () 1-0 6180h Stack overflow () PSoff?, ( ) 2 2-0 3220h ( )?, () () PNU 203/213 : 16 : 16 :( 17.1 digit/v) 3 3-0 4310h QStop,???? (,) : Festo GDCP-CMMP-M3-HW-ZH 1507b 81
B 3 3-1 4310h,?? (,) : 3-2 4310h : ( ) 3-3 4310h : () 4 / 4-0 4210h???,? () 4-1 4280h???,? () 82 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 5 5-0 5114h 1 PSoff /,, 5-1 5115h 2 PSoff /,, 5-2 5116h PSoff /,, 5-3 5410h I/O PSoff I/O?? (?) 5-4 5410h I/O PSoff I/O?? (?) 5-5 - Ext1/Ext2 PSoff 5-6 - X10 X11 RS232 PSoff? Festo GDCP-CMMP-M3-HW-ZH 1507b 83
B 5 5-7 - PSoff 5-8 - 3(15 V) PSoff 5-9 - PSoff 6 6-0 2320h PSoff,, PE, / PE () a) f) : a) : ( ) b) : ( ),( ) c) d) [X6], e) :,, f), FCT ( ) 84 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 6 6-1 2320h PSoff ( ) 7 7-0 3210h PSoff,?? (), (/) 8 8-0 7380h a) c) a) ( ) (), b) : ( SIN/COS ),, c), ( :A = 0.5) Festo GDCP-CMMP-M3-HW-ZH 1507b 85
B 8 8-1 - SIN/COS : [X2B] ( ),: SIN- / COS SIN+ / SIN- COS+ / COS- :, 30, 8-2 7382h Z0 [X2B] Z0??? : a) Z0, b)? c) Tab. B.2,129 EnDat 2.2 EnDat 2.1 Heidenhain : EnDat 22 EnDat 21, 8-3 7383h Z1 X2B Z1??? : a) Z1 b)? c) Tab. B.2,129 86 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 8 8-4 7384h [X2B] [X2B] A B N??? a)? b) Tab. B.2,129 8-5 7385h [X2B]??? a)? b) Tab. B.2,129 8-6 7386h (EnDat HIPERFACE BiSS )???, a) c) : a)?? b)? c) Tab. B.2,129 8-7 7387h [X10] [X10] A B N??? a)? b) Tab. B.2,129 Festo GDCP-CMMP-M3-HW-ZH 1507b 87
B 8 8-8 7388h [X2B]???, 8-9 7389h [X2B] [X2B]?? / (PNU 203/213): 0001:HIPERFACE:FW, 0002: EnDat: EnDat 0003:EnDat:FW, 0004: EnDat:, 0005: EnDat: EnDat 2.2, EnDat2.1, EnDat 2.1 0006: EnDat: EnDat2.1,, Z0 0007: EnDat2.1,, Z0 88 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 9 9-0 73A1h : EEPROM 24 V, 9-1 73A2h EEPROM, EEPROM, (), ( ) 9-2 73A3h EEPROM, ( ) ( ) 9-3 73A4h EEPROM,,, Festo GDCP-CMMP-M3-HW-ZH 1507b 89
B 9 9-4 - EEPROM : :,: :, (!) :,,(!) 9-5 - EEPROM / Hiperface :EEPROM, 9-7 73A5h EEPROM EEPROM Hiperface EEPROM (: ), ( ) 9-9 73A6h EEPROM EEPROM, 10 10-0 -,, 90 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 11 ) 11-0 8A80h 11-1 8A81h,: ( ), 11-2 8A82h : 11-3 8A83h :, 11-4 8A84h :? : ( ),?, (/) Festo GDCP-CMMP-M3-HW-ZH 1507b 91
B 11 ) 11-5 8A85h :I²t /, :( )? 11-6 8A86h :,? 11-7 - :?,:, 12 CAN 12-0 8180h CAN: CAN 12-1 8120h CAN:, CAN-Chip ( OFF) :,,,,,?,, 92 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 12 CAN 12-2 8181h CAN:, Boot-Up :,,,,,?,, 12-3 8182h CAN: :,,,,,?,, 12-4 -? :? 12-5 - CAN:RPDO RPDO 12-9 - CAN: CAN 13 CAN 13-0 - CAN: CAN Festo GDCP-CMMP-M3-HW-ZH 1507b 93
B 14 14-0 - : PSoff () 14-1 - : PSoff 14-2 - : PSoff DIN4 14-3 - : PSoff 14-5 - : PSoff? 14-6 - : PSoff Hall 3 1205 605, 14-7 - : PSoff?,:? 14-8 - : PSoff 15 15-0 6185h 0 PSoff Mathe-Library 0, 94 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 15 15-1 6186h PSoff Mathe-Library, 15-2 - PSoff, 16 16-0 6181h PSoff CPU,, 16-1 6182h PSoff CPU IRQ,, 16-2 6187h PSoff,, 16-3 6183h PSoff CPU (Case ),, 17 17-0 8611h ( I²t?) Festo GDCP-CMMP-M3-HW-ZH 1507b 95
B 17 17-1 8611h?,, 18 18-0 - () T_max. 5? 21 21-0 5280h 1 U PSoff 1 U,, 21-1 5281h 1 V PSoff 1 V, 21-2 5282h 2 U PSoff 2 U, 21-3 5283h 2 V PSoff 2 V, 22 PROFIBUS 22-0 - PROFIBUS PROFIBUS? 22-2 - PROFIBUS: 96 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 22 PROFIBUS 22-3 - PROFIBUS: 126 22-4 - PROFIBUS: 23 / 23-0 - :, : 1. 2. 3. 23-1 - : : 1. 2. 3. 23-2 - : : 1. 2. 3. Festo GDCP-CMMP-M3-HW-ZH 1507b 97
B 25 / 25-0 6080h PSoff 25-1 6081h PSoff,, 25-2 6082h PSoff, 25-3 6083h : PSoff, 25-4 - PSoff EEPROM 26 26-0 5580h PSoff, 26-1 5581h PSoff, 26-2 5582h : PSoff, 26-3 5583h : PSoff, 98 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 26 26-4 5584h : PSoff /, 26-5 5585h PSoff / 26-6 5586h PSoff /, 26-7 - (AM) PSoff, 27 27-0 8611h??? 28 28-0 FF01h, 28-1 FF02h :,,, Festo GDCP-CMMP-M3-HW-ZH 1507b 99
B 28 28-2 FF03h 24 V,,, 28-3 FF04h,, 29 29-0 - : ( DCO, FW ), DIP- S3 ON,/! 29-1 - : :! PC 100 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 29 29-2 - : :, DCO >> DCO DCO DCO >> DCO DCO INFO.TXT 5 PC 29-3 - : DCO INFO.TXT, (99)! 29-4 - : : FW FW FW, SRecord PC 30 30-0 6380h PSoff Festo GDCP-CMMP-M3-HW-ZH 1507b 101
B 31 I²t 31-0 2312h I²t I²t /? 31-1 2311h I²t I²t??, 31-2 2313h I²t-PFC PFC PFC (FCT) 31-3 2314h I²t- 32 32-0 3280h, 32-1 3281h PFC PFC 130 V DC 32-5 3282h 100 %, / 102 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 32 32-6 3283h, 32-7 3284h,, ( ) 32-8 3285h QStop,/ 32-9 3286h QStop () 33 33-0 8A87h ( ) [X11] [X11], 34 34-0 8780h IPO Festo GDCP-CMMP-M3-HW-ZH 1507b 103
B 34 34-1 8781h ()? (IPO )/? 35 35-0 8480h?, EMC /,, ( = ) 35-5 - : a), b),,,, (%) c) (),,, 104 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 36 36-0 6320h, 36-1 6320h (: ) 40 40-0 8612h 40-1 8612h 40-2 8612h, 40-3 8612h, 41 41-0 - : Festo GDCP-CMMP-M3-HW-ZH 1507b 105
B 42 42-0 8680h : 42-1 8681h :, 42-2 8682h : 42-3 - : 42-4 -, 42-5 - :, 42-9 -, 43 43-0 8081h : 106 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 43 43-1 8082h : 43-2 8083h :? 44 44-0 - 44-1 - :, 47 47-0 -, 48 48-0 - QStop,, Festo GDCP-CMMP-M3-HW-ZH 1507b 107
B 49 DCO 49-1 - DCO : QStop ( ) 50 CAN 50-0 - PDO PDO SYNC PDO, PDO, PDO, 50-1 - SDO SDO SDO 51 / 51-0 8091h / PSoff, 51-2 8093h : PSoff : 108 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 51 / 51-3 8094h : PSoff,, ; :, 51-4 8095h :SSIO PSoff CAMC-G-S3,,, 51-5 8096h : PSoff () 51-6 8097h : PSoff CAMC-G-S3 : CAMC-G-S3 52 52-1 8099h : PSoff STO-A STO-B STO-A STO-B STO-A STO-B OS US ( ) /, STO-A STO-B?, Festo GDCP-CMMP-M3-HW-ZH 1507b 109
B 52 52-2 809Ah :PWM, PSoff 52-3 809Bh : PSoff,, SSFx, 53 53-0 80A1h USF0: / USF0 / SSF0,SSF0 : a) b) a) - -? / b), ; () 53-1 80A2h USF1: / USF1 / SSF1,SSF1 USF0, 53-0 53-2 80A3h USF2: / USF2 / SSF2,SSF2 USF0, 53-0 53-3 80A4h USF3: / USF3 / SSF3,SSF3 USF0, 53-0 110 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 54 54-0 80AAh SBC:,?? ( ) 54-2 80ACh SS2: : a) b) a) - -? / a), : b), b), 54-3 80ADh SOS: ( ),, : Festo GDCP-CMMP-M3-HW-ZH 1507b 111
B 54 54-4 80AEh SS1: : a) b) a) - -? / a), : b), b),: 54-5 80AFh : (),, : 54-6 80B0h : > 24 h, 24h, [X6] :, 24 V,() DOUT4x :, 24h 54-7 80B1h : > 24 h 24 h,, 112 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 55 1 55-0 80C1h /, > 24 h, SSF SS1 SS2, () 55-1 80C2h SINCOS [X2B] - sin²+cos² > 1 SIN-/COS Hiperface (, / / EMC 55-2 80C3h SINCOS [X2B] - > 24 h SinCos 24h ( ) SS2, 55-3 80C4h [X2A] - sin²+cos² ( ) (, / / EMC 55-4 - EnDat [X2B] - ENDAT ENDAT ENDAT (, / ENDAT / EMC Festo GDCP-CMMP-M3-HW-ZH 1507b 113
B 55 1 55-5 - EnDat [X2B] - 55-6 80C5h [X10] - (, / / EMC 55-7 80C6h [X2B] -, X2B, X2B (, / ENDAT / EMC 55-8 - EMC :, / EMC /: (P06.07)? (P06.07) 30%...50% 114 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 56 2 56-8 80D1h 1-2 / μc 1 2 μc 1 2,,, 56-9 - μc1 μc2,, 57 / 57-0 80E1h I/O(/) DOUT40... DOUT42 ( ) DIN40... DIN49 ( ) X6 (, ) () DOUT40 DOUT42 ( ) DOUT40... DOUT42 ( ) ( ) :,: 1. X6( ) 2., X6 : X6, () Festo GDCP-CMMP-M3-HW-ZH 1507b 115
B 57 / 57-1 80E2h - (DIN40... DIN43 /,) ( ) :?? 57-2 - - (DOUT40... DOUT42) (DIN40...DIN49) DOUTx DIN4x ( 0 V 24 V ) /? 57-6 -, μc 1 μc2-20 +75 C ( ) ( / ), 58 / 58-0 80E9h,, SafetyTool SafetyTool, 58-1 - > 8 h 8 h, 116 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 58 / 58-4 80E9h //(),,, FCT SafetyTool 58-5 80EAh - μc1 <- μc2 μc1 <- μc2 FCT SafetyTool 58-6 80EBh 1-2 ( )( μc1 μc2 ) IO (5 V 3. V 24 V) (2. V) SIN/COS ( ) EMC,??, Festo GDCP-CMMP-M3-HW-ZH 1507b 117
B 59 59-1 80F1h /, 59-2 80F2h 2.5 V +24 V, 59-3 80F3h ( 3.3 V 5 V ADU ), 59-4 80F4h : :,? FCT, :, 59-5 80F5h,,, 59-6 80F6h / 24 V,, 59-7 80F7h / (),,, :, 118 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 59 59-8 80F8h 1-2 :, OP, /,, 59-9 80F9h?, 62 EtherCAT 62-0 - EtherCAT: EtherCAT EtherCAT 62-1 - EtherCAT: 62-2 - EtherCAT: EtherCAT CAN EtherCAT 62-3 - EtherCAT: RPDO Sync Manager 2 RPDO 62-4 - EtherCAT: TPDO Sync Manager 3 TPDO 62-5 - EtherCAT:, Festo GDCP-CMMP-M3-HW-ZH 1507b 119
B 63 EtherCAT 63-0 - EtherCAT: 63-1 - EtherCAT: 63-2 - EtherCAT: TPDO EtherCAT 63-3 - EtherCAT: Distributed Clock : Distributed Clock EtherCAT SYNC (Distributed Clock) EtherCAT Frame :, EtherCAT 63-4 - EtherCAT:IPO SYNC IPO 64 DeviceNet 64-0 - DeviceNet:MAC ID MAC-ID MAC-ID MAC-ID 64-1 - DeviceNet: DeviceNet 24 V DC, DeviceNet 24 V DC 64-2 - DeviceNet: 120 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 64 DeviceNet 64-3 - DeviceNet: CAN 64-4 - DeviceNet:IO I/O, 64-5 - DeviceNet: CAN OFF, 64-6 - DeviceNet:CAN CAN 65 DeviceNet 65-0 - DeviceNet, DeviceNet, DeviceNet 65-1 - IO I/O I/O 66 Modbus/TCP 66-0 - Modbus/TCP: TCP/IP TCP, HW Festo GDCP-CMMP-M3-HW-ZH 1507b 121
B 67 Modbus/TCP 67-0 - Modbus/TCP:TCP/IP TCP?,? 67-1 - Modbus/TCP:TCP/IP TCP,? 67-2 - Modbus/TCP: 67-3 - Modbus/TCP: 67-4 - Modbus/TCP: 68 /IP 68-0 - EtherNet/IP:, 68-1 - EtherNet/IP: EtherNet/IP, 68-2 - EtherNet/IP: 122 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 68 /IP 68-3 - EtherNet/IP: 68-5 - EtherNet/IP:, IP IP 69 /IP 69-0 - EtherNet/IP: EtherNet/IP 69-1 - EtherNet/IP:IP IP IP 69-2 - EtherNet/IP: EtherNet/IP-, Ext2 EtherNet/IP- 69-3 - EtherNet/IP: EtherNet/IP- 70 FHPP 70-1 - FHPP:,/ 70-2 - FHPP: Festo GDCP-CMMP-M3-HW-ZH 1507b 123
B 70 FHPP 70-3 - FHPP: S5 Reaction to fault () S4 Operation enabled () OPM, : SA1 Ready () Record Select () Direct Mode () 71 FHPP 71-1 - FHPP: () FCT FHPP + 71-2 - FHPP: ( ) FCT FHPP + 72 PROFINET 72-0 - PROFINET: 72-1 - PROFINET: (: ) PROFINET- 72-3 - PROFINET: IP IP FCT IP 72-4 - PROFINET: PROFINET-, PROFINET ( PROFINET ) FCT PROFINET 124 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 72 PROFINET 72-5 - PROFINET: CAMC-F-PN 72-6 - PROFINET: / PROFINET 73 PROFINET 73-0 - PROFIenergy:, 78 NRT ( CMMP-AS-...-M3) 78-0 - NRT Frame,NRT Frame 80 IRQ 80-0 F080h IRQ PSoff // 80-1 F081h IRQ PSoff // 80-2 F082h IRQ PSoff // 80-3 F083h IRQ PSoff // Festo GDCP-CMMP-M3-HW-ZH 1507b 125
B 81 IRQ 81-4 F084h IRQ PSoff // 81-5 F085h MDC IRQ PSoff // 82 82-0 - : IRQ4 (10 ms IRQ) : - 82-1 - KO (USB ) 83 Ext1/Ext2 83-0 - (:SERCOS 2 EtherCAT) : / 83-1 -, 83-2 - : HW () 126 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 84 84-0 - : DIN4() DIN5( ) (TFTP) FW DCO DCO FW FW DCO 90 90-0 5080h RAM PSoff SRAM / SRAM (RAM ) 90-2 5080h FPGA PSoff FPGA() FPGA, (24 V), 90-3 5080h SD-ADU PSoff SD-ADU() SD-ADU (24 V), 90-4 5080h SD-ADU PSoff SD-ADU() SD-ADU, SD-ADU (24 V), Festo GDCP-CMMP-M3-HW-ZH 1507b 127
B 90 90-5 5080h SD-ADU PSoff SD-ADU() SD-ADU,, EMV (24 V), 90-6 5080h IRQ0( ): PSoff, IRQ (24 V), 90-9 5080h PSoff, 91 91-0 6000h PSoff, SRAM, 91-1 - PSoff RAM (24 V),, 91-2 - PSoff ID-EEPROM, (24 V), 91-3 - PSoff a) b), 92 Bootloader/ 92-0 - PSoff 128 Festo GDCP-CMMP-M3-HW-ZH 1507b
B 92 Bootloader/ 92-1 - Bootloader PSoff Bootloader Bootloader 08-2 08-7?,:? EMC (?) : TTL ( TTL ): GND, = GND, =? ( )(SENSE+ SENSE-),( ) ( ), Tab. B.2 08-2 08-7 Festo GDCP-CMMP-M3-HW-ZH 1507b 129
CMMP-AS-...-M3 C CAN-Bus [X4]... 74 CMMP-AS... 13 E ESD... 26 ESD... 54 I I/O [X1]... 72 P PFC... 43... 24... 19, 24... 10 [X2B]... 74... 60... 6... 25... 55... 58... 51 EMC... 51... 58... 19... 64... 57... 27 :CAN [X4]... 38 :I/O [X1]... 31 : [X2B]... 35 : [X2A]... 34 : [X9]... 41 : [X6]... 39 : [X11]... 47 : [X10]... 46 [X2A]... 73... 51... 56... 56 EMC... 51 130 Festo GDCP-CMMP-M3-HW-ZH 1507b
CMMP-AS-...-M3... 15... 72... 6... 7... 6... 7... 44 Festo GDCP-CMMP-M3-HW-ZH 1507b 131
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