Motors and controllers

Transcription

1 Motors and controllers

2 You need outstanding performance. You want minimum complexity. We are your dependable solutions partner. Everything from a single source: the high standards we demand from ourselves are also applied to our motors and controllers. You can now take advantage of our complete range of electric drive solutions which has been expanded even further. Our free software tools give you peace of mind as they help avoid oversizing, whether for a simple stepper motor or a highly dynamic servo motor. And low-cost, closed-loop servo functionality is included too, because the stepper motor controller operates in servo mode. This is advanced thinking for you. 2

3 Optimal configuration! Reach your goals reliably and efficiently: with software support Servo technology The highly functional motor controller CMMP-AS, the standard controller CMMS-AS, the double controller CMMD-AS and the servo motor EMMS-AS offer excellent dynamic response and precision, Stepper motor technology The motor controller CMMS-ST and the stepper motor EMMS-ST for reliable and low-cost solutions for standard tasks. 12 Single-field controllers With high protection class for specialised drives and solutions with integrated motor: SFC-DC for drives with integrated stepper motor and SFC-LACI dependent on linear motor drives Software for quick and reliable results PositioningDrives Prevents design errors and improves energy efficiency by helping you to choose the right components. PositioningDrives is easy to use and provides motion profiles, dynamic load data, product characteristics and bills of materials. Just try it out for yourself! Functional safety Technical protective measures according to the EC Machinery Directive. Electric drives Powerful, fast and precise, for movement inside the working space. Festo Configuration Tool FCT Made for flexible configuration and parameterisation. With FCT you can parameterise positioning options and diagnostic functions, either online or offline. 17 Multi-axis controllers Designed for controlling multi-axis systems with different control concepts, such as 3D, 2.5D and point-to-point. Easy to integrate into existing control concepts and systems thanks to fieldbus communication and a wide range of input and output modules. WebConfig For the perfect fit! Quick and easy configuration and diagnostics of electrical positioning systems with WebConfig and WebDiag, now integrated into the HTML web server. 18 Software tools Software support helps to create the ideal drive package in no time, including simple and reliable configuration and commissioning. 3

4 Mechatronic motion solutions: an overview of the electric drive spectrum Management level Management system Control level Modular controller CECX Controller CECC Integrated controller CDPX Control system Motor controller SFC-LACI Servo motor controllers CMMS-AS CMFL CMMP-AS Controllers Field level Actuation Linear motor axes Drives ELGL-LAS Gantry axes EGC EGC-HD DNCE-LAS DGE ELGR/ELGG Pneumatic Servopneumatic Electrical DFME-LAS ADNE-LAS ELGA EGSK/EGSP Front units Grippers Vacuum 4

5 Robotic controller Integrated controller Axis interface CMXR CPX-CEC CPX-CMXX EtherNet FHPP Festo Handling and Positioning CMMD-AS Stepper motor controllers CMMO-ST CMMS-ST Motor controller SFC-DC Fieldbus Profile CoDeSys Provided by Festo FST 4 Festo Software Servo motors Stepper motors Servo motors Tool EMMS/E-AS EMMS-ST MTR-DCI Cantilever axes DGEA Electric cylinders EPCO Slide unit EGSL AS-Interface FCT Festo Configuration ESBF SLTE with Modbus TCP Tool DC motor DNCE PositioningDrives Sizing and calculation software for Rotary drives Vision systems electric drives 5

6 Servo motors and servo motor controllers Servo motor controller CMMP-AS This range of servo motor controllers provides a highly functional solution for dynamic movements. It is ideally suited for the electronic control of cam discs. Servo motor controller CMMS-AS The servo motor controller CMMS-AS is particularly wellsuited for standard applications and positioning tasks with I/O and fieldbus connection. Three controller versions one philosophy The software tools provided by Festo offer an integral concept from commissioning to programming to parameterisation. Uniform and easy operation Integrated safe holding with restart blocking for safetyrelated applications SD card for parameters and firmware Integrated safety function Safe Torque Off (STO) up to category 4, PLe integrated Further safety functions can be realised using external components Solution examples available For more information see page 15 Servo motor double controller CMMD-AS The double controller for standard applications controls two servo motors independently of one another thanks to the combination of two controllers in one housing. Servo motor EMMS/E-AS Servo motors for 2 controller types. As a permanently energised, brushless servo motor with eight torque ranges, this motor is designed for dynamic positioning tasks. Single-turn rotary encoder (standard), multi-turn rotary encoder (optional) Motor housing and power/ encoder connection with protection class IP65 Motor shaft bearings: Standard IP54 Optionally with additional shaft seal IP65 Range of matching straighttoothed planetary gear units with protection class IP54 6

7 Technical data and functions CMMS-AS/CMMD-AS CMMS-AS: motor current single-phase 4 A CMMD-AS: motor current 2 x 4 A (adjustable up to 2 A/6 A) 64 integrated positioning records SD card for parameters and firmware Automatic motor brake External braking resistor (optional) Jerk-free positioning Infinitely variable positioning, closed-loop operation Speed adjustment Position control Current control Torque control Technical data and functions CMMP-AS As the CMMS-AS, but: Motor current single-phase: 2.5 and 5 A Motor current three-phase: 5 and 10 A Primary voltage: 100/1 n /1 n 230/3 n /3 n 256 integrated positioning records Flying measurement Electronic cam disc Flexible software limit switches The performance ranges of the motors in combination with controllers from Festo EMMS/E-AS + CMMP-AS EMMS-AS + CMMS-AS/CMMD-AS EMMS-ST + CMMS-ST/CMMO-ST NM CMMP-AS CMMS/D-AS CMMS/O-ST rpm Motor controller for motor type CMMP-AS-_-M... Servo motor CMMS-AS/CMMD-AS Servo motor Positioning records Displacement encoder Incremental/absolute Incremental/absolute Extended I/O interface Can be configured flexibly 4 working modes Remaining distance message Separately for all positions 1 for n Torque reduction Separately for all positions No Record linking With branching Linear Safe Torque Off (STO) Cat. 4, PLe (EN 13849), SIL3 (EN 61508) Cat. 3, PLd (EN 13849), SIL2 (EN 61508) Primary voltage V AC V AC Motor current Single-phase : 2.5 and 5 A Three-phase: 5, 10 and 20 A CMMS-AS: 4 A (single-phase) CMMD-AS: 2 x 4 A (can be adjusted as desired up to 2 A/6 A) 7

8 Stepper motors and stepper motor controllers Stepper motor controller CMMS-ST Stepper motor technology in a real Festo plug & work solution package: the single-axis position controller CMMS-ST combined with stepper motors EMMS-ST for single and multi-axis handling applications with moving loads of up to 20 kg. This is a fully fledged closedloop servo system for the highest degree of operational reliability and fast dynamic response by using the best possible motor characteristic curve. This sets the stepper motor controller CMMS-ST apart from conventional controllers of this type. Alternatively, the CMMS-ST can also be used as a low-cost open-loop system with stepper motors without encoders. The extensive range of functions and the optimum price/performance ratio provide further advantages. The integral platform software Festo Configuration Tool (FCT) and the standardised data profile FHPP ensure problem-free commissioning, programming and parameterisation. Stepper motor EMMS-ST Stepper motor series with two-phase hybrid technology for a long service life 6 torque ranges Encoder for closed-loop function (optional) Optional motor brake Motor housing and plug connector with protection class IP65 (dependent on size or special design) Motor shaft bearings IP54 Matching range of planetary gear units Standard range in stock; others on request Optimally matched with all electric axes from Festo 8

9 Integrated safety function Safe Torque Off (STO) up to category 3, PLd integrated Further safety functions can be realised using external components Solution examples available For more information see page 15 Technical data and functions CMMS-ST Primary voltage: V DC Motor current: 8 A/peak 12 A Step resolution: full steps up to 4,000 steps/revolution 63 integrated positioning records, e.g. acceleration ramps SD card for parameters and firmware Automatic motor brake External braking resistor (optional) Jerk-free positioning Infinitely variable positioning The digital inputs and outputs are protected against short circuit, overload and reverse voltages The performance ranges of the motors in combination with controllers from Festo 60 CMMP-AS EMMS/E-AS + CMMP-AS EMMS-AS + CMMS-AS/CMMD-AS EMMS-ST + CMMS-ST/CMMO-ST NM 10 CMMS/D-AS CMMS/O-ST rpm Motor controller for motor type CMMS-ST Stepper motor CMMO-ST Stepper motor Positioning records 63 7/31 Displacement encoder Incremental Incremental Extended I/O interface 4 working modes Valve or binary profile Remaining distance message 1 for n Separately for all positions Torque reduction No Separately for all positions Record linking Linear Linear Safe Torque Off (STO) Cat. 3, PLd EN /Cat. 3, PLe, EN 61508/SIL3 Primary voltage V DC 24 V DC Motor current 8 O 5.7 A Integrated positioning records (including homing) 9

10 Motor controller CMMO-ST Simple, quick selection with 1 order code. Everything matches perfectly thanks also to WebConfig and WebDiag, the integrated HTML web server for configuration and diagnostics. CMMO-ST is a closed-loop servo controller for stepper motors, equipped with all the functions you might need. Includes low heat development, monitored safe positions and smooth motor running. This is a fully fledged closedloop servo system for the highest degree of operational reliability and fast dynamic response by using the best possible motor characteristic curve. This sets the stepper motor controller CMMO-ST apart from conventional controllers of this type. Alternatively, the CMMO-ST can also function as a low-cost open-loop system with stepper motors without encoders. The extensive range of functions and the optimum price/performance ratio provide further advantages. Digital I/O control interface Control mode valve profile (7) Configuration and parameterisation via WebConfig Easy control of up to 7 freely definable positions via directly assigned inputs and outputs, to which movements are reported as assigned. This makes programming the PLC very easy. Control mode binary profile (31) Configuration and parameterisation using FCT 31 extensive control sets are available for binary control with 5 inputs. The setpoint values for position, force and speed can be freely selected. Several control sets can be combined to form a workflow sequence, regardless of their setpoint value. This allows the generation of movement profiles which travel to a specific position via two speed levels and end without delay in a clamping function with a defined force. Positioning system EPCO 1 order for a complete system: motor controller + cylinder with motor and connecting cables. That significantly reduces your workload and costs and ensures that everything matches. Cylinder Electric cylinder with ball screw and non-rotating plain bearingguided piston rod, with a premounted, perfectly adjusted motor EMMS-ST, in 3 sizes with strokes up to 1500 mm. Connecting cables Pre-assembled cable sets, suitable for use with energy chains, for motors and encoders, in 5 standard lengths, with straight or angled (90 ) outlet directions, and suitable plugs for connecting the cables to the motor controller. 10

11 Integrated safety function Technical data and functions Acceleration with jerk limiting Interfaces CMMO-ST Safe Torque Off (STO) up to CMMO-ST Monitoring of freely defined EtherNet for configuration and category 3, PLe integrated Primary voltage: 24 V DC positions and torque ranges diagnostics, optionally also for Further safety functions can Motor current: 5.7 A Monitoring of different process control tasks be realised using external 7/31 integrated positioning variables such as torque, Motor terminals for 2 phase components records speed, position and time synchronous motors Solution examples available Digital I/O control interface, 3-channel encoder connection For more information record linking for workflow (A, B, Z) for RS 422 signals see page 15 sequences I/O process interface with 11 digital inputs and outputs each 3-pin digital input for reference signal Safe Torque Off, SIL2 for digital inputs The performance ranges of the motors in combination with controllers from Festo 60 CMMP-AS EMMS/E-AS + CMMP-AS EMMS-AS + CMMS-AS/CMMD-AS EMMS-ST + CMMS-ST/CMMO-ST NM 10 CMMS/D-AS CMMS/O-ST rpm Motor controller for motor type CMMS-ST Stepper motor CMMO-ST Stepper motor Positioning records 63 7/31 Displacement encoder Incremental Incremental Extended I/O interface 4 working modes Valve or binary profile Remaining distance message 1 for n Separately for all positions Torque reduction No Separately for all positions Record linking Linear Linear Safe Torque Off (STO) Cat. 3, PL d EN / Cat. 3, PLe, EN 61508/SIL3 Primary voltage V DC 24 V DC Motor current 8 O 5.7 A Integrated positioning records (including homing) 11

12 Single-Field-Controller Motor controller SFC-DC Simple selection and commissioning. The SFC-DC enables the easy input of positioning records at the controller via the humanmachine interface or via the computer-aided Festo Configuration Tool. Perfect as a ready-toinstall Festo plug and work solution in combination with the electric gripper HGPLE. Position controller SFC-LACI The position controller also comprises the additional power electronics needed to control linear motor drives. The speed, power and position can all be set independently of one another, and up to 31 travel profiles can be created directly in the SFC-LACI. Advantages The SFC can be installed in the application thanks to protection class IP54 The motor controller SFC is available with or without control panel Easy actuation via I/O interface or fieldbus. Easy configuration Both single-field controllers are very easy to configure and commission using the FCT software for parameterisation and commissioning: simply enter the parameters and positioning records and you're done. Basic parameterisation of the mechanical components, position controller and position records Positioning run and teach-in run Teach-in mode Homing Diagnostic function Electrical data SFC-DC SFC-LACI General Rated output [W] Load supply Nominal voltage [V DC] 24 ±10% 48 +5/-10% Nominal current [A] 3 10 Peak current [A] 5 20 Logic supply Nominal voltage [V DC] 24 ±10% 24 ±10% Nominal current [A] Peak current [A] Max. current per output (digital logic outputs) [A]

13 Single-field controllers SFC-DC for controlling the electric mini slide SLTE The advantage: only one cable needed to connect the SLTE to the SFC-DC. Electromechanical mini slide SLTE Precise and rigid guide Freely positionable Fast positioning times Sensors can be integrated Gentle starting and stopping Payloads up to 4 kg Constant travel speeds of mm/s SFC-DC for controlling the electric gripper HGPLE The advantage: only one cable needed to connect the HGPLE to the SFC-DC. Electric T-slot parallel gripper HGPLE Free, speed-controlled selection of the gripping positions with long stroke Perfect for soft or highly sensitive workpieces thanks to tactile gripping option Alternatively: reliable gripping of large and heavy workpieces Heavy-duty design: T-slot for very high torque resistance together with high precision At least 5 million strokes guaranteed Reduced access times thanks to the "holding positions": the gripper fingers stop just short of the workpiece Short opening and closing times of 0.6 s with a total stroke of 40 mm per gripper jaw SFC-LACI for controlling the linear motor cylinder with piston rod DNCE-LAS Optimised for small loads and high dynamic response. Ideal for pusher applications or if small loads have to be positioned within a very short time, e.g. 40 ms for 15 mm stroke. All the required components such as the linear motor, displacement encoder, guide and reference switch are combined to form a ready-to-use axis. Minimum travel speeds of 2 mm/s without stick-slip effect! SFC-LACI for controlling the guided linear drive DFME-LAS High dynamic response with small loads including guidance of the piston rod in the cylinder. That enables it to position small loads in the shortest possible time, for example in packaging systems, small parts assembly, or separating tasks. Minimum travel speeds of 3 mm/s without stick-slip effect! Optional: pneumatic clamping cartridge as holding brake Common features Long service life and virtually maintenance-free operation, internal plain-bearing guide with integrated grease reserve keeps maintenance work and downtime to a minimum Can be configured and commissioned using the Festo Configuration Tool FCT. Simply enter the parameters and positioning records and you're ready! 13

14 Intelligent servo motor Intelligent servo motor The servo motor with its wide torque range is ideally suited for positioning tasks. All in one, it includes all necessary components: motor, gear unit, motor controller and power electronics. Its integrated power electronics and controller remove the need for long motor cables, thus improving the electromagnetic compatibility and reducing the cable costs. Additional, integrated monitoring functions ensure optimised reliability and system availability and simplify the fault finding process. The entire commissioning process is performed on-site or from a PC using a simple teach-in function, thanks to an optional LCD screen and clear menu navigation. It is also supported by the FCT (Festo Configuration Tool) software. Functions Compact design with integrated display Complete unit with integrated gear unit and position controller Closed-loop operation DC motor with planetary gear unit and encoder Activation via I/O or fieldbus Protection class IP54 Positioning functionality 16 traversing records (including homing) Constant acceleration and braking Homing mode up to switching signal or mechanical stop Position control Protective functions Temperature monitoring Current monitoring Voltage failure detection Following error monitoring Software end-position detection MTR-DCI as replacement for handwheel MTR-DCI with handling Electrical data Motor Size adjustment 52 module HSW 62 Nominal voltage [V DC] 24 ± 10% %/+5% Nominal/peak current [A] 0.73/2.1 2/3.8 5/7.7 /20 Gear ratio G7 G14 G (7:1); 1-stage (14:1); 2-stage 22.1 (22:1); 2-stage Mechanical data Motor Gear ratio G7 G14 G7 G14 G7 G14 G7 G14 G22 Gear unit output speed [rpm] Gear unit output torque [Nm] Radial/axial shaft load [N] 40/10 70/20 160/50 230/80 200/60 320/ /50 360/70 360/70 14

15 Functional safety The EC Machinery Directive 2006/42/EC permits numerous safety functions as protective measures for sufficient risk reduction in accordance with the standards DIN EN and EN Implementing these safety functions in a practical manner requires different components that can easily be integrated in an overall concept. Safety system CMGA Safely monitors command input devices, safety sensors, safety switches, encoders and measuring systems and processes their input signals in order to guarantee the safe status of a handling unit through appropriate, safetyoriented reactions. There are numerous pre-programmed application programs for simple configuration. If required, inhouse programming is possible. Motor controller CMM... The safety function STO is integrated as standard in all motor controllers in the CMM... series. This allows easy implementation of the emergency stop requirements with safe stop SS1 up to category 3, PLd. For more demanding requirements, the series CMMP-AS- _-M... provides optional safety modules for safety functions up to category 4, PLe. Intelligent solutions for monitoring linear axes The slide position cannot be monitored directly by the encoder in the motor for safety critical applications since if there is a fault in the motor encoder, a secondary system is required to determine if the axis slide is moving. However, with an external linear displacement encoder mounted directly on the drive the axis slide position can be monitored and the information fed back to a safety system, for safety functions up to category 4, PLe. SLS v 0 v s 0 SDI t t SS1 STO v s 0 t v 0 STO t Solution examples How do I implement safety functions with electric drive technology components? Festo provides solution examples. Descriptions, bills of materials, circuit diagrams, application programs and Sistema projects allow fast integration into your safety concept with the appropriate documentation. Ask our specialists 15

16 Electric drives Suitable for Festo motors EMMS-ST, EMMS/E-AS, MTR-DCI * Electric toothed-belt and spindle axes EGC Electric heavy-duty axes with toothed belt and spindle drive EGC-HD Electric toothed-belt axes with plainbearing guide ELGA-TB-G/-RF Electric toothed belt axis DGE-ZR-RF Electric toothed belt axis ELGR Electric toothed-belt axis with biparting slides ELGG Electric axes EGSK/EGSP Electric mini slide EGSL Electric cylinder EPCO Electric cylinder with piston rod DNCE Electric cylinder ESBF Cantilever axis with toothed belt drive DGEA * Also suitable for attaching third-party motors Note: For matching gear units, visit: 16

17 Multi-axis controllers Robotic controller CMXR Modular controller CECX True 3D functionality for free path control For 3 main axes and 3 auxiliary axes, compatible with Cartesian and parallel kinematic systems Integrated CoDeSys PLC, e.g. for tracking moving objects or gluing applications The modular controller CECX expands the Festo range of controllers by adding fieldbus master functionality and electric actuation options to the upper segment Two product versions Modular master controller Motion controllers Graphic display and operating unit CDPX Controller CECC Powerful processors are combined with widescreen technology for greater functionality, higher resolution and a variety of tasks Visualises data and acts as a server for external clients all over the world EtherNet interface for easy networking Compact and versatile controller with CoDeSys to IEC /8 digital inputs/outputs 2 high-speed counters up to 250 khz EtherNet, Modbus TCP, CANopen 4 IO-Link master, 1 IO-Link device USB interface CoDeSys embedded controller CPX-CEC Multi-axis interface CPX-CMXX Intelligent remote system with CANopen master for up to 31 electric axes Soft motion function for 2.5D interpolation and flexible cam function for up to 8 axes CPX module for parameterising and controlling electric drives Designed to provide easy commissioning and integration of multi-axis systems into all modern control systems 17

18 Software tool for designing axis systems PositioningDrives PositioningDrives prevents system design errors and improves energy efficiency by helping you to choose the right components. Dimensioning drive mechanisms, gear units and motors separately can lead to an accumulation of safety factors and result in oversized electric drive systems. Toothed belt drives, spindle drives or direct drives, servo motors, stepper motors or DC motors, ball bearing guides or plain-bearing guides the wealth of options to choose from presents the user with a major challenge: calculating the correct drive package. Once a few application details have been entered, the PositioningDrives software calculates the ideal combination from the extensive, harmonised range of electric linear axes, motors, gear units, controllers and software. The ideal drive package for the respective requirements can then be selected from the list of results. Application parameters such as mounting position, load, stroke and precision need to be entered. If desired, the travel time can be limited. A pre-selection of drive and motor technology as well as guide variants soon cuts down the number of possible variants and allows a results list to be generated quickly. Select the required solution package Different sorting options are provided for ease of selection. The combination of axis, motor/gear unit and controller is presented graphically; the degree of utilisation of the load factor is shown as a bar graph. One click on the component picture opens the respective documentation in the set language. Detailed results The program then provides detailed information such as the motion profile, dynamic load data, product characteristics and a bill of materials. Finally, the range of functions also includes project documentation and data backup. 18

19 Design, faster project planning, commissioning and operation CAD hotline and design Standard designs from the mechatronic multi-axis modular system Simple modifications, e.g. adjustment of the strokes 3D models and 2D drawings Designs from the mechatronic multi-axis modular system Frames made of aluminium or steel tube profiles to match the products from the multiaxis modular system Customised industry-specific solutions for handling systems and frames Expertise in the design of vacuum systems and gripper fingers for your workpieces FCT software Festo Configuration Tool for commissioning All drives in a system can be managed and saved in a common project Project and data management for all supported device types Simple to use thanks to graphically-supported parameter entry Universal mode of operation for all drives Working offline at your desk or online at the machine FHPP Festo Handling and Positioning Profile Festo has developed an optimised data profile, the "Festo Handling and Positioning Profile (FHPP)", specifically tailored to handling and positioning applications. The FHPP data profile permits the actuation of Festo motor controllers, using a fieldbus interface, via standardised control and status bytes. Fieldbus communication Record selection Direct operation Parameter channel Mode ModePosition Speed Free access to all parameters read read and write and write 19

20 We drive automation for your success. We are your partner to inspire you. We shape the future together. Companies seeking to be globally successful need to systematically increase their competitiveness. We can support you in achieving this by focusing on our shared goal of improving your productivity. Benefit from the expertise in electric and pneumatic handling systems that we have built up over decades. From front-end units with grippers, vacuum solutions, linear, rotary and semi-rotary drives up to highly complex parallel kinematic systems and motion control. Always the best solution everything from a single source en 2013/12 All rights reseved