4 Motors and controllers

Transcription

1 Motors and controllers 2015/11 ubject to change 509

2 Motors and controllers > ervo motors tepper motors Controllers and control systems Gear unit for electromechanical drives Accessories for position controllers and regulators ubject to change 2015/11

3 Motors and controllers > Highlights EMME-A ervo motor Brushless, permanently excited synchronous servo motor Digital absolute displacement encoder, single turn or multi-turn Page 518 Table of contents Product overview ervo motor EMME-A ervo motor EMM-A tepper motor EMM-T Motor controller CMMP-A Motor controller CMMO-T Motor controller CMM-T Gear unit EMGA-T Gear unit EMGA-A /11 ubject to change 511

4 Motors and controllers > Product overview oftware tool Festo Configuration Tool (FCT) FCT is a configuration and parameterisation software program that supports all Festo devices, in particular motor controllers. The parameterisation software can be found on the website under upport > upport Portal > enter search term. CODEY It is extremely flexible, provides full support for the device properties and is simple and intuitive to operate. The user is guided step-by-step through the commissioning process while each individual step is checked. CODEY for standardised programming of embedded devices according to IEC It makes your life easier with simple commissioning, quick programming and parameterisation. Advantages Hardware-neutral software platform for quick and easy configuration, programming and commissioning of pneumatic and electric automation solutions Extensive module libraries for single or multi-axis positioning motions The IEC standard means that CODEY is flexible and open for all types of control tasks. Modular: offline and online functions as well as components for hardware configuration and visualisation User-friendly IEC function block extension Re-use of existing application parts The parameterisation software can be found on the website under upport > upport Portal > enter search term. ervo motors Type ervo motor EMME A ervo motor EMM A Motor unit MTR DCI Nominal torque Nm Nm Nominal rotational speed rpm rpm rpm Peak torque Nm Nm Max. rotational speed rpm rpm rpm Description Brushless, permanently excited synchronous servo motor Digital absolute displacement encoder, single turn or multi-turn Reliable, dynamic, precise Optimised connection technology Over 0 stock types Permanently excited, electrodynamic, brushless servo motor Digital absolute displacement encoder, single turn or multi-turn 66 stock types 90 built-to-order variants Optionally with holding brake, IP65, resolver DC motor with encoder Gear unit, controller, power electronics integrated R232 parameterisation interface I/O, PROFIBU, CANopen, PROFIBU DP, DeviceNet interface Control panel with display, optional Gear ratios: 7:1, 1:1, 22:1 Available with holding brake Various winding variants Page/online mtr tepper motors Type tepper motor EMM T Maximum speed /min Motor holding torque Nm Description mall increment and high driving torques by 2-phase hybrid technology Optimised connection technology 28 stock types With incremental encoder for closed-loop operation Available with holding brake Page/online ubject to change 2015/11

5 Motors and controllers > Product overview Controllers for AC servo motors Type Nominal current Nominal operating voltage AC Nominal operating voltage phases Rated output of controller Fieldbus coupling Description Motor controller CMMP A A V 1-phase, 3-phase VA CANopen, DeviceNet, Ethernet, EtherNet/IP, PROFIBU DP, PROFINET, ercos Many interfaces and functions for decentral motion functions (flying saw, flying measurement, modulo function, ) For cam disk controllers and highly dynamic movements tandardised interfaces allow seamless integration in mechatronic multi-axis modular systems Reliable and easy commissioning and parameterisation with the Festo Configuration Tool (FCT) Optionally with 3 slots for switch or safety module, for extension module Integrated process interfaces: Modbus/TCP, CAN bus and digital I/O module Further extension modules: PROFIBU, PROFINET, EtherCAT, Page/online 558 Controllers for DC servo motors Type Motor controller FC LACI Motor controller FC DC End-position controller CMFL Nominal current, load supply 10O 3O 3O Nominal voltage, load supply DC 8 V 2 V 2 V or 8 V Rated output of controller 80 VA 75 VA Fieldbus coupling CANopen, DeviceNet, PROFIBU DP CANopen, DeviceNet, PROFIBU DP Description For controlling electric cylinder DNCE-LA and guided drives DFME-LA Open-loop and closed-loop position controller Easy actuation via I/O interface, PROFIBU, CANopen With or without control panel Parameterisation via control panel or parameterisation software FCT Field controller with degree of protection IP5 For actuating mini slide LTE and parallel gripper HGPLE Easy actuation via I/O interface, PROFIBU, CANopen, DeviceNet With or without control panel Parameterisation via control panel or parameterisation software FCT For actuating mini slide LTE, parallel gripper HGPLE End-position controller for the electric short-stroke cylinder ADNE-LA No parameterisation necessary as the controller learns everything relevant for the application automatically via a teach function. Field controller with degree of protection IP65 imple and quick control via digital I/O modules Only one cable is required between the shortstroke cylinder and end-position controller. Reliable and easy commissioning and parameterisation with the Festo Configuration Tool (FCT) Field controller with degree of protection IP5 Reliable and easy commissioning and parameterisation with the Festo Configuration Tool (FCT) Page/online sfc laci sfc dc cmfl 2015/11 ubject to change 513

6 Motors and controllers > Product overview Controllers for stepper motors Type Motor controller CMMO T Motor controller CMM T Motor controller EC T Nominal current 5 A A Nominal current, load supply 6 A 8 A Max. step frequency khz 0 khz Controller operating mode Cascade controller with PI speed controller, PI current PWM MOFET power end stage Bipolar chopper driver controller, P position controller, PWM MOFET power end stage Fieldbus coupling CANopen, PROFIBU DP Description Motor controller of the Optimised Motion eries (for EPCO, ELGR, ERMO) With convenient FCT commissioning for stepper For controlling stepper motors EMM-T and Optimised Motion eries (for EPCO, ELGR, ERMO) Easy and convenient: commissioning and firmware Compact unit, ready for installation Current reduction Pre-assembled, electrical connection accessories motor EMM-T imple and quick parameters configuration via web browser and parameter cloud Reliable and easy commissioning and parameterisation with the Festo Configuration Tool (FCT) imple control via digital I/Os, IO-Link, I-Port, Modbus TCP afety function afe Torque Off (TO) PLe inusoidal current injection for especially silent motor operation updates via D card slot Reliable and easy commissioning and parameterisation with the Festo Configuration Tool (FCT) Integrated process interface: digital I/O module, CAN, R85 Optional PROFIBU and DeviceNet afety function afe Torque Off (TO) PLd Page/online sec st Multi-axis controllers Type Control block CPX CEC M1 Controller CECX X M1 Controller CECX X C1 Operating voltage V DC VDC V DC Operating voltage range DC Control interface CAN bus CAN bus CAN bus Fieldbus coupling CODEY Level 2, EasyIP, Modbus TCP/IP, EasyIP, Modbus TCP TCP/IP, EasyIP, Modbus TCP TCP, TCP/IP upported kinematic systems Description Easy actuation of valve terminal configurations Programming with CODEY to IEC Connection to all fieldbuses as a remote controller and for pre-processing Motion controller with CODEY and oftmotion Programming to standard IEC Three plug-in slots for optional modules Optional: communication module for PROFIBU Modular master controller with CODEY Programming to standard IEC Three plug-in slots for optional modules Optional: communication module for PROFIBU Actuation of electric drives via CANopen oftmotion functions for coordinated multi-axis movements Page/online cpx cec m1 cecx cecx 51 ubject to change 2015/11

7 Motors and controllers > Product overview Multi-axis controllers Type Controller CMXR C1 Controller CMXR C2 Operating voltage 2 V DC +20%/15%, 2 V DC +25%/20% 2 V DC +20%/15%, 2 V DC +25%/20% Operating voltage range DC Control interface Fieldbus coupling 2 x CANopen masters 2 x CANopen masters upported kinematic systems 2-axis gantries X Z/Y Z/X Y, 3-axis gantries X Y Z, any interpolation, tripod 2-axis gantries X Z/Y Z/X Y, 3-axis gantries X Y Z, any interpolation, tripod Description Multi-axis controller for linear and three-dimensional gantries as well as parallel kinematic systems Optional teach pendant CDA Point-to-point and complex path control Ethernet and CAN Bus interface Page/online cmxr c1 cmxr c2 Individual integration in higher-order controllers or simple integration of peripheral devices, e.g. tracking function via vision systems with integrated CODEY PLC Ideal for bonding or sealing applications: greater process reliability and quality with defined, speed-independent switching points on the path Increased flexibility: modular control system for digital and analogue I/O optionally expandable Positioner process automation Positioner Type CMX tandard nominal flow rate l/min Ambient temperature C Reference value 0-10 V, 0-20 ma, - 20 ma Operating pressure bar afety note Adjustable, holding, closing, opening Description For position control of double-acting pneumatic quarter turn actuators in process automation systems imple and efficient position control based on the PID control algorithm uitable for quarter turn actuators with a swivel angle of approx. 90 and a mechanical interface in accordance with VDI/VDE Directive 385 Power supply 2 V DC Page/online cmsx 2015/11 ubject to change 515

8 Motors and controllers > Product overview afety systems Type afety system CMGA B1, CMGA E1 afety function Encoder upervisor (EC), afe Torque Off (TO), afely Limited Acceleration (LA), afely Limited peed (L), afely Limited Position (LP), afely Limited Increment (LI), afe Emergency Limit (EL), afe Direction (DI), afe Brake Control (BC), afe Acceleration Range (AR), afe Operating top (O), afe Cam (CA), afe top 1 (1), afe top 2 (2), suppression, position monitoring (PDM), safe encoder evaluation, safe logic functions afety integrity level (IL) IL 3 Encoder interface 1 proximity sensor, 1 I, 1 incr. HTL, 1 incr. TTL, 1 sin/cos, 2 proximity sensors, 2 I, 2 incr. HTL, 2 incr. TTL, 2 sin/cos, no Input, function Number of digital logic inputs Digital output 1 safe relay output, 10 safe digital inputs/outputs, 2 signal outputs, 2 pulse outputs, 2 safe digital outputs version Description Basic modules CMGA B1 and extension modules CMGA E1: one basic module can actuate max. two extension modules Compact safety system with the option of integrated drive monitoring for one axis For safe processing of emergency stop switches, door monitoring, light curtains, two-hand buttons, enabling buttons, limit switches, displacement encoders Programming software GPF for creating custom application programs Page/online cmga Gear units Type Gear unit EMGA T Gear unit EMGA EA Gear unit EMGA A Continuous output torque Nm Nm Nm Max. drive speed rpm rpm rpm Torsional rigidity Nm/arc Nm/arc Nm/arc Torsional backlash Mass moment of inertia kgcm² kgcm² kgcm² of gear unit Max. efficiency 98% 98% 98% Description Planetary gear unit for stepper motors EMM-T Gear ratio i = 3 and i = 5, available ex-stock Life-time lubrication Planetary gear unit for servo motors EMM A Gear ratio i = 3 and i = 5, available ex-stock Life-time lubrication Planetary gear unit for servo motors EMM-A Gear ratio i = 3 and i = 5, available ex-stock Life-time lubrication Page/online ubject to change 2015/11

9 Motors and controllers > Product overview Power supply units Type Power supply unit CACN Power supply unit VG Nominal output voltage V 30.1 V DC Nominal output current A.8 A Input voltage range AC V V Input current A, A, A, A, A A Power failure buffering ms 20 ms Description H-rail mounting Mounting position: free convection Page/online cacn svg H-rail mounting Mounting position: free convection 2015/11 ubject to change 517

10 Motors and controllers > Overview/Configuration/Ordering Additional information/upport/user documentation ervo motors ervo motors EMME-A Brushless, permanently excited synchronous servo motor Reliable, dynamic, precise Choice of feedback systems: digital absolute displacement encoder in single-turn or multi-turn version Optimised connection technology ubject to change 2015/11

11 Motors and controllers > ervo motors > ervo motors EMME-A uitable for motor controller CMMP-A Brushless, permanently excited synchronous servo motors Reliable, dynamic, precise Digital absolute displacement encoder with single turn (standard), multi-turn (optional) Matching gear unit Quick ordering of basic designs emme-as Product range overview Motor flange size Nominal voltage Nominal torque With gear unit With brake [V AC] [Nm] , Product options M hort Medium L LV H Low-voltage, standard Low-voltage, speed-optimised High-voltage, standard A M Angled plug Absolute encoder, single turn Absolute encoder, multi-turn B Brake 2015/11 ubject to change 519

12 Motors and controllers > ervo motors > ervo motors EMME-A Data sheet Technical data Dimensions 529 Motor flange size Length M M M M Winding LV LV L L L H L H H H Nominal voltage [V AC] Nominal current [A] Continuous current at standstill Peak current [A] Rated output [W] Nominal torque [Nm] Peak torque [Nm] Torque at standstill [Nm] Nominal rotary speed [rpm] Max. rotational speed [rpm] Brake Operating voltage [V DC] % Holding torque [Nm] Technical data Encoder Measuring unit EMME-A- - Absolute, single turn (EK 3/37) EMME-A- - M Absolute, multi-turn (EL 3/37) Operating voltage [V DC] 7 12 (±5%) Interface signals/protocol HIPERFACE Process data channel IN, REFIN, CO, REFCO (analogue differential) Measuring principle Capacitive inusoidal/cosinusoidal periods per revolution 16 Parameter channel R85 (digital) Absolute position values per revolution 512 (resolution 9 bits) Max. rotational speed For absolute value generation [rpm] 6000 Mechanical [rpm] Revolutions revolutions, 12 bits Interpolation of sine/cosine signals in the motor controller 1) Measurement step at 12 bits 20'' (angular seconds) Angular accuracy ±20' (angular minutes) 1) Dependent on the motor controller. Operating conditions Ambient temperature [ C] (up to 100 C with derating of 1.5% per degree Celsius) Degree of protection Motor shaft IP21 Motor shaft and connection technology IP65 Insulation class F (155 C) Rated class acc. to EN (continuous operation) Thermal class acc. to EN F (155 C) ubject to change 2015/11

13 Motors and controllers > ervo motors > ervo motors EMME-A Data sheet Torque M as a function of rotational speed n Flange size 0 Length Winding LV Length M Winding LV Flange size 60 Length Winding L Length M Winding L Peak torque Nominal torque Note Typical motor characteristic curve with nominal voltage and optimal motor controller. 2015/11 ubject to change 521

14 Motors and controllers > ervo motors > ervo motors EMME-A Data sheet Torque M as a function of rotational speed n Flange size 80 Length Winding L Length Winding H Length M Winding L Length M Winding H Flange size 100 Length Winding H Length M Winding H Peak torque Nominal torque Note Typical motor characteristic curve with nominal voltage and optimal motor controller ubject to change 2015/11

15 Motors and controllers > ervo motors > ervo motors EMME-A Ordering code Flange size 0 EMME A 0 LV A Type EMME Motor Motor type A ervo motor Motor flange size 0 0 mm Length M Winding LV hort Medium Low-voltage, speed optimised Electrical connection A Measuring unit M Brake Without B With brake Angled plug, fixed outlet direction: shaft Absolute encoder, single turn Absolute encoder, multi-turn Order example: EMME-A-0-M-LV-AB Motor EMME - servo motor - flange size 0 - length: medium - winding: low-voltage, speed-optimised - angled plug - measuring unit: absolute encoder, single turn - with brake 2015/11 ubject to change 523

16 Motors and controllers > ervo motors > ervo motors EMME-A Ordering code Flange size 60 EMME A 60 L A Type EMME Motor Motor type A ervo motor Motor flange size mm Length M Winding L hort Medium Low-voltage, standard Electrical connection A Measuring unit M Brake Without B With brake Angled plug, fixed outlet direction: shaft Absolute encoder, single turn Absolute encoder, multi-turn Order example: EMME-A-60-M-L-AB Motor EMME - servo motor - flange size 60 - length: medium - winding: low-voltage, standard - angled plug - measuring unit: absolute encoder, single turn - with brake 52 ubject to change 2015/11

17 Motors and controllers > ervo motors > ervo motors EMME-A Ordering code Flange size 80 EMME A 80 A Type EMME Motor Motor type A ervo motor Motor flange size mm Length M Winding L H hort Medium Low-voltage, standard High-voltage, standard Electrical connection A Angled plug, fixed outlet direction: shaft Measuring unit M Brake Without B With brake Absolute encoder, single turn Absolute encoder, multi-turn Order example: EMME-A-80-M-L-AB Motor EMME - servo motor - flange size 80 - length: medium - winding: low-voltage, standard - angled plug - measuring unit: absolute encoder, single turn - with brake 2015/11 ubject to change 525

18 Motors and controllers > ervo motors > ervo motors EMME-A Ordering code Flange size 100 EMME A 100 H A Type EMME Motor Motor type A ervo motor Motor flange size mm Length M Winding H hort Medium High-voltage, standard Electrical connection A Measuring unit M Brake Without B With brake Angled plug, fixed outlet direction: shaft Absolute encoder, single turn Absolute encoder, multi-turn Order example: EMME-A-100-M-H-AB Motor EMME - servo motor - flange size length: medium - winding: high-voltage, standard - angled plug - measuring unit: absolute encoder, single turn - with brake ubject to change 2015/11

19 Motors and controllers > ervo motors > ervo motors EMME-A Quick ordering 1) Part no. Type Part no. Type Part no. Type Flange size 0, length: short EMME-A-0--LV-A EMME-A-0--LV-AB EMME-A-0--LV-AM EMME-A-0--LV-AMB Flange size 0, length: medium 2082 EMME-A-0-M-LV-A EMME-A-0-M-LV-AB EMME-A-0-M-LV-AM EMME-A-0-M-LV-AMB Flange size 60, length: short EMME-A-60--L-A EMME-A-60--L-AB EMME-A-60--L-AM EMME-A-60--L-AMB Flange size 60, length: medium EMME-A-60-M-L-A EMME-A-60-M-L-AB EMME-A-60-M-L-AM EMME-A-60-M-L-AMB Flange size 80, length: short EMME-A-80--L-A EMME-A-80--L-AB EMME-A-80--L-AM EMME-A-80--L-AMB EMME-A-80--H-A EMME-A-80--H-AB EMME-A-80--H-AM EMME-A-80--H-AMB Flange size 80, length: medium EMME-A-80-M-L-A EMME-A-80-M-L-AB EMME-A-80-M-L-AM EMME-A-80-M-L-AMB EMME-A-80-M-H-A EMME-A-80-M-H-AB EMME-A-80-M-H-AM EMME-A-80-M-H-AMB Flange size 100, length: short EMME-A-100--H-A EMME-A-100--H-AB EMME-A-100--H-AM EMME-A-100--H-AMB Flange size 100, length: medium EMME-A-100-M-H-A EMME-A-100-M-H-AB EMME-A-100-M-H-AM EMME-A-100-M-H-AMB 1) All products in this table are easy to select and quick to order. Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. 2015/11 ubject to change 527

20 Motors and controllers > ervo motors > ervo motors EMME-A Accessories Ordering data Motor cable Cable length [m] Part no. Type for EMME-A-0/60 (cable cross section: 0.75 mm 2 ) NEBM-M16G8-E-2.5-Q7-LE NEBM-M16G8-E-5-Q7-LE NEBM-M16G8-E-7.5-Q7-LE NEBM-M16G8-E-10-Q7-LE NEBM-M16G8-E-15-Q7-LE8 X length 1) NEBM-M16G8-E--Q7-LE8 for EMME-A-80/100 (cable cross section: 1.5 mm 2 ) NEBM-M16G8-E-2.5-Q9-LE NEBM-M16G8-E-5-Q9-LE NEBM-M16G8-E-7.5-Q9-LE NEBM-M16G8-E-10-Q9-LE NEBM-M16G8-E-15-Q9-LE8 X length 1) NEBM-M16G8-E--Q9-LE8 1) Max. 25 m. Cable lengths > 25 m possible following technical clarification; up to 100 m on request. Available in 0.1 m increments. Encoder cable Cable length Part no. Type [m] for EMME-A-0/60/80/ NEBM-M12G8-E-2.5-N-1G NEBM-M12G8-E-5-N-1G NEBM-M12G8-E-7.5-N-1G NEBM-M12G8-E-10-N-1G NEBM-M12G8-E-15-N-1G15 X length 1) NEBM-M12G8-E--N-1G15 1) Max. 25 m. Cable lengths > 25 m possible following technical clarification; up to 100 m on request. Available in 0.1 m increments ubject to change 2015/11

21 Motors and controllers > ervo motors > ervo motors EMME-A Dimensions Download CAD data 1 Encoder cable 2 Motor cable Flange size Length B1 B2 B3 D1 h6 0 M 60 M 80 M 100 M M M M M6 D2 D3 h7 D Flange size Length D5 D6 H1 H2 H3 L1 With brake ±0.3 ±2 ± M M M M Flange size Length L2 L3 L L5 L6 L7 T1 0 M 60 M 80 M 100 M ±0.2 ± ,5/ ,5/ ,/ ,/ /11 ubject to change 529

22 Motors and controllers > Overview/Configuration/Ordering Additional information/upport/user documentation ervo motors ervo motors EMM-A ervo motor: permanently excited, electrodynamic, brushless Digital absolute displacement encoder in single-turn or multi-turn version Optionally with holding brake Optimised connection technology ubject to change 2015/11

23 Motors and controllers > ervo motors > ervomotoren EMM-A uitable for motor controller CMMP-A Brushless, permanently excited synchronous servo motors Digital absolute displacement encoder with single turn (standard), multi-turn (optional) No homing after voltage failure Matching gear unit emms-as Product range overview Motor flange size Nominal voltage Nominal torque With gear unit With brake [V AC] [Nm] , , Product options M L K hort Medium Long haft acc. to DIN 6885 with feather key L LV H HV Low-voltage, standard Low-voltage, speed-optimised High-voltage, standard High-voltage, speed-optimised A R T Angled plug Angled plug, rotatable traight plug Terminal box M R B 1 Absolute encoder, single turn Absolute encoder, multi-turn Resolver Brake IP65 (with shaft sealing ring) 2015/11 ubject to change 531

24 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Technical data Dimensions 55 Motor flange size Length M M M Winding L L L H L H L LV H HV Nominal voltage [V AC] Nominal current [A] Peak current [A] Rated output [W] Nominal torque [Nm] Peak torque [Nm] tandstill torque [Nm] Nominal rotary speed [rpm] Max. rotational speed [rpm] Brake Operating voltage [V DC] % Holding torque [Nm] Flange size Length M M M M M L L Winding L LV H HV H H H HV Nominal voltage [V AC] Nominal current [A] Peak current [A] Rated output [W] Nominal torque [Nm] Peak torque [Nm] tandstill torque [Nm] Nominal rotary speed [rpm] Max. rotational speed [rpm] Brake Operating voltage [V DC] % Holding torque [Nm] 2 9 Flange size Length L L M Winding H HV H HV H H Nominal voltage [V AC] Nominal current [A] Peak current [A] Rated output [W] Nominal torque [Nm] Peak torque [Nm] tandstill torque [Nm] Nominal rotary speed [rpm] Max. rotational speed [rpm] Brake Operating voltage [V DC] % Holding torque [Nm] ubject to change 2015/11

25 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Technical data Encoder Type EMM-A- - Absolute, single turn EMM-A- - M Absolute, multi-turn Operating voltage [V DC] 5 Protocol EnDat 2.1, digital channel only, max. cycle rate (CLOCK) 2 MHz Position values per revolution Resolution 18 bit 096 revolutions, 12 bits Technical data Resolver Version Transmitter Input voltage [V DC] Input current [ma] 50 Number of poles 2 Carrier frequency [khz] Operating conditions Encoder Resolver Ambient temperature [ C] (up to 100 C with derating) 0 +0 (up to 130 C with derating) Degree of protection Motor shaft IP5 Motor housing incl. connection technology IP65 With shaft sealing ring IP65 Insulation class F Rated class acc. to EN Thermal class acc. to EN F 2015/11 ubject to change 533

26 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Torque M as a function of rotational speed n Flange size 0 Length Winding L Length M Winding L Flange size 55 Length Winding L Length Winding H Length M Winding L Length M Winding H Peak torque Nominal torque Note Typical motor characteristic curve with nominal voltage and optimal motor controller ubject to change 2015/11

27 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Torque M as a function of rotational speed n Flange size 70 Length Winding L, LV Length Winding H, HV Length M Winding L, LV Peak torque EMM-A- -L Nominal torque EMM-A- -L Peak torque EMM-A- -LV Nominal torque EMM-A- -LV Length M Winding H, HV Peak torque EMM-A- -H Nominal torque EMM-A- -H Peak torque EMM-A- -HV Nominal torque EMM-A- -HV Peak torque EMM-A- -L Nominal torque EMM-A- -L Peak torque EMM-A- -LV Nominal torque EMM-A- -LV Peak torque EMM-A- -H Nominal torque EMM-A- -H Peak torque EMM-A- -HV Nominal torque EMM-A- -HV Note Typical motor characteristic curve with nominal voltage and optimal motor controller. 2015/11 ubject to change 535

28 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Torque M as a function of rotational speed n Flange size 100 Length Winding H Length M Winding H Length L Winding H Length L Winding HV Flange size 10 Length Winding H Length Winding HV Peak torque Nominal torque Note Typical motor characteristic curve with nominal voltage and optimal motor controller ubject to change 2015/11

29 Motors and controllers > ervo motors > ervo motors EMM-A Data sheet Torque M as a function of rotational speed n Flange size 10 Length L Winding H Length L Winding HV Flange size 190 Length Winding H Length M Winding H Peak torque Nominal torque Note Typical motor characteristic curve with nominal voltage and optimal motor controller. 2015/11 ubject to change 537

30 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 0 EMM A 0 L Type EMM Motor Motor type A ervo motor Motor flange size 0 0 mm Length M hort Medium Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding L Low-voltage, standard Electrical connection T Measuring unit traight plug Terminal box Absolute encoder, single turn 1 M Absolute encoder, multi-turn 1 R Resolver 2 Brake Without B With brake 1 Only with electrical connection T. 2 Only with electrical connection. Order example: EMM-A-0-M-L-TB Motor EMM - servo motor - flange size 0 - length: medium - output shaft: smooth shaft - winding: low-voltage, standard - electrical connection: terminal box - measuring unit: absolute encoder, single turn - with brake ubject to change 2015/11

31 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 55 EMM A 55 Type EMM Motor Motor type A ervo motor Motor flange size mm Length M hort Medium Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding L H Low-voltage, standard High-voltage, standard Electrical connection R T Measuring unit Angled plug, rotatable Terminal box Absolute encoder, single turn 1 M Absolute encoder, multi-turn 1 R Resolver 2 Brake Without B With brake Degree of protection tandard 1 IP65 (with shaft sealing ring) 1 Only with electrical connection T. 2 Only with electrical connection R. Order example: EMM-A-55-M-L-TB Motor EMM - servo motor - flange size 55 - length: medium - output shaft: smooth shaft - winding: low-voltage, standard - electrical connection: terminal box - measuring unit: absolute encoder, single turn - with brake 2015/11 ubject to change 539

32 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 70 EMM A 70 Type EMM Motor Motor type A ervo motor Motor flange size mm Length M hort Medium Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding L LV H HV Low-voltage, standard Low-voltage, speed optimised High-voltage, standard High-voltage, speed-optimised Electrical connection R Measuring unit M R Brake Angled plug, rotatable Without B With brake Degree of protection Absolute encoder, single turn Absolute encoder, multi-turn Resolver tandard 1 IP65 (with shaft sealing ring) Order example: EMM-A-70-M-L-RB Motor EMM - servo motor - flange size 70 - length: medium - output shaft: smooth shaft - winding: low-voltage, standard - electrical connection: angled plug, rotatable - measuring unit: absolute encoder, single turn - with brake - degree of protection: standard 50 ubject to change 2015/11

33 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 100 EMM A 100 Type EMM Motor Motor type A ervo motor Motor flange size mm Length M L hort Medium Long Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding H High-voltage, standard HV High-voltage, speed-optimised 1 Electrical connection R Measuring unit M R Brake Angled plug, rotatable Without B With brake Degree of protection tandard 1 Absolute encoder, single turn Absolute encoder, multi-turn Resolver IP65 (with shaft sealing ring) 1 Only with length L. Order example: EMM-A-100-M-H-RB Motor EMM - servo motor - flange size length: medium - output shaft: smooth shaft - winding: high-voltage, standard - electrical connection: angled plug, rotatable - measuring unit: absolute encoder, single turn - with brake - degree of protection: standard 2015/11 ubject to change 51

34 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 10 EMM A 10 Type EMM Motor Motor type A ervo motor Motor flange size mm Length L hort Long Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding H HV High-voltage, standard High-voltage, speed-optimised Electrical connection R Measuring unit M R Brake Angled plug, rotatable Without B With brake Degree of protection Absolute encoder, single turn Absolute encoder, multi-turn Resolver tandard 1 IP65 (with shaft sealing ring) Order example: EMM-A-10-L-H-RB Motor EMM - servo motor - flange size 10 - length: long - output shaft: smooth shaft - winding: high-voltage, standard - electrical connection: angled plug, rotatable - measuring unit: absolute encoder, single turn - with brake - degree of protection: standard 52 ubject to change 2015/11

35 Motors and controllers > ervo motors > ervo motors EMM-A Ordering code Flange size 190 EMM A 190 Type EMM Motor Motor type A ervo motor Motor flange size mm Length M hort Medium Output shaft mooth shaft K haft acc. to DIN 6885 (with feather key) Winding H High-voltage, standard Electrical connection A Measuring unit M R Brake Angled plug Without B Degree of protection Absolute encoder, single turn Absolute encoder, multi-turn Resolver With brake tandard 1 IP65 (with shaft sealing ring) Order example: EMM-A-190-M-H-AB Motor EMM - servo motor - flange size length: medium - output shaft: smooth shaft - winding: high-voltage, standard - electrical connection: angled plug - measuring unit: absolute encoder, single turn - with brake - degree of protection: standard Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. 2015/11 ubject to change 53

36 Motors and controllers > ervo motors > ervo motors EMM-A Accessories Ordering data Motor cable Cable length Part no. Type [m] for EMM-A-0/55 with encoder NEBM-T1G7-E-5-N-LE NEBM-T1G7-E-10-N-LE NEBM-T1G7-E-15-N-LE7 X length 1) NEBM-T1G7-E- -N-LE7 for EMM-A-70 and EMM-A/0/55 with resolver NEBM-M23G8-E-5-N-LE NEBM-M23G8-E-10-N-LE NEBM-M23G8-E-15-N-LE8 X length 1) NEBM-M23G8-E- -N-LE8 for EMM-A-70/100/ NEBM-M23G6-E-5-N-LE NEBM-M23G6-E-10-N-LE NEBM-M23G6-E-15-N-LE7 X length 1) NEBM-M23G6-E- -N-LE7 for EMM-A NEBM-M0G8-E-5-N-LE NEBM-M0G8-E-10-N-LE NEBM-M0G8-E-15-N-LE7 X length 1) NEBM-M0G8-E- -N-LE7 1) Max. 25 m. Cable lengths > 25 m possible following technical clarification; up to 100 m on request. Available in 0.1 m increments. Encoder cable Cable length Part no. Type [m] for EMM-A-0/ NEBM-T1G8-E-5-N-1G NEBM-T1G8-E-10-N-1G NEBM-T1G8-E-15-N-1G15 X length 1) NEBM-T1G8-E- -N-1G15 for EMM-A-70/100/10/ NEBM-M12W8-E-5-N-1G NEBM-M12W8-E-10-N-1G NEBM-M12W8-E-15-N-1G15 X length 1) NEBM-M12W8-E- -N-1G15 1) Max. 25 m. Cable lengths > 25 m possible following technical clarification; up to 100 m on request. Available in 0.1 m increments. Resolver cable Cable length Part no. Type [m] for EMM-A-0/55/70/100/10/ NEBM-M23G12-E-5-N-1G NEBM-M23G12-E-10-N-1G NEBM-M23G12-E-15-N-1G9 X length 1) NEBM-M23G12-E- -N-1G9 1) Max. 25 m. Cable lengths > 25 m possible following technical clarification; up to 100 m on request. Available in 0.1 m increments. 5 ubject to change 2015/11

37 Motors and controllers > ervo motors > ervo motors EMM-A Dimensions Flange size 0 with encoder Download CAD data 1 Encoder cable 2 Motor cable Length B1 B2 B3 D1 M / D / D D5 D6 Length D7 H1 H2 L1 L2 L3 L T M M Flange size 0 with resolver Note Dimensions of the shaft and mounting holes drawing above 1 Resolver connection 2 Motor connection Length H1 H3 H L1 L2 L5 L6 With brake With brake M /11 ubject to change 55

38 Motors and controllers > ervo motors > ervo motors EMM-A Dimensions Flange size 55 with encoder Download CAD data 1 Encoder cable 2 Motor cable Length B1 B3 D1 M +0.01/ D / M D3 D D5 Length H1 H2 L1 L2 L3 L L5 T M 16. ± Flange size 55 with resolver Note Dimensions of the shaft and mounting holes drawing above 1 Resolver connection 2 Motor connection Length H1 H2 H3 L1 L2 L6 L7 With brake With brake M ubject to change 2015/11

39 Motors and controllers > ervo motors > ervo motors EMM-A Dimensions Flange size 70, 100, 10, 190 with encoder Download CAD data 1 Encoder cable 2 Motor cable Length B1 D1 D2 D3 D D5 H1 H2 H3 Flange size 70 M Flange size 100 M L Flange size 10 L Flange size 190 M ,012/ ,012/ M ,015/ ,013/ M ,015/ ,018/ M ,018/ ,1/ M Length L1 L2 L3 L L5 L6 L7 L8 T1 Flange size M Flange size M 23.3 L 29.3 Flange size L Flange size M /11 ubject to change 57

40 Motors and controllers > ervo motors > ervo motors EMM-A Dimensions Flange size 70, 100, 10, 190 with resolver Download CAD data Flange size Resolver connection 2 Motor connection Note Dimensions of the shaft and mounting holes 57 Length H1 H2 H3 H L1 L2 L6 L7 L8 With brake With brake Flange size M Flange size M L Flange size L Flange size M Note Only motors without feather key should be used in combination with parallel and axial kits (EAMM-U/EAMM-A) ubject to change 2015/11

41 Motors and controllers > Overview/Configuration/Ordering Additional information/upport/user documentation tepper motors tepper motors EMM-T 2-phase hybrid technology tep angle 1.8 tandard industrial connection technology Optional: encoder, brake 2015/11 ubject to change 59

42 Motors and controllers > tepper motors > tepper motors EMM-T uitable for motor controller CMM-T Optional encoder with full closed-loop functionality Matching gear unit Degree of protection IP5 Quick ordering of basic designs 55 emms-st Product range overview Motor flange size Nominal voltage Holding torque With encoder With gear unit With brake [V DC] [Nm] ubject to change 2015/11

43 Motors and controllers > tepper motors > tepper motors EMM-T Data sheet Technical data Dimensions 556 Motor flange size M M 87-L Nominal voltage [V DC] 8 Nominal current [A] Holding torque [Nm] tep angle [ ] 1.8 ±5% Brake Operating voltage [V DC] 2 ±10% Holding torque [Nm] Technical data Encoder Encoder, optical Operating voltage [V DC] 5 Pulses/revolution [1/rev] 500 Zero pulse Yes Line driver R22 protocol Operating conditions Motor flange size M M 87-L Ambient temperature [ C] Degree of protection: motor shaft IP5 Degree of protection: motor housing IP65 incl. connection technology Insulation class B IP5 2015/11 ubject to change 551

44 Motors and controllers > tepper motors > tepper motors EMM-T Data sheet Torque M as a function of rotational speed n EMM-T-28 EMM-T-2 EMM-T-57- EMM-T-57-M EMM-T-87- EMM-T-87-M EMM-T-87-L 2VDC 8VDC 72VDC 2 V DC ¼ step 8 V DC ¼ step Note The characteristic curves apply in combination with the motor controller CMM-T. The size EMM-T-87 is operated with the motor controller CMM-T with max. 8 A ubject to change 2015/11

45 Motors and controllers > tepper motors > tepper motors EMM-T Order code EMM T Type EMM Motor Motor technology T Motor flange size tepper motor Length M L hort Medium Long Electrical connection Measuring unit traight plug Not specified E Encoder Brake Not specified B Brake Generation G2 2nd generation 1 Only with length L 2 Only with length 3 Only with lengths and M Not with flange size 28 Order example: EMM-T-2--EB-G2 Motor EMM - stepper motor - flange size 2 - length: short - electrical connection: straight plug - measuring unit: encoder - brake - second generation Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. 2015/11 ubject to change 553

46 Motors and controllers > tepper motors > tepper motors EMM-T Quick ordering 1) Part no. Type Part no. Type Part no. Type Flange size 28, length: long EMM-T-28-L EMM-T-28-L-E EMM-T-28-L-B EMM-T-28-L-EB Flange size 2, length: short EMM-T-2---G EMM-T-2--E-G EMM-T-2--B-G EMM-T-2--EB-G2 Flange size 57, length: short EMM-T-57---G EMM-T-57--E-G EMM-T-57--B-G EMM-T-57--EB-G2 Flange size 57, length: medium EMM-T-57-M--G EMM-T-57-M-E-G EMM-T-57-M-B-G EMM-T-57-M-EB-G2 Flange size 87, length: short EMM-T-87---G EMM-T-87--E-G EMM-T-87--B-G EMM-T-87--EB-G2 Flange size 87, length: medium EMM-T-87-M--G EMM-T-87-M-E-G EMM-T-87-M-B-G EMM-T-87-M-EB-G2 Flange size 87, length: long EMM-T-87-L--G EMM-T-87-L-E-G EMM-T-87-L-B-G EMM-T-87-L-EB-G2 1) All products in this table are easy to select and quick to order ubject to change 2015/11

47 Motors and controllers > tepper motors > tepper motors EMM-T Accessories Ordering data Motor cable Cable length [m] Part no. Type For EMM-T-28 and motor controller CMMO-T traight plug NEBM-M12G8-E-1.5-Q5-LE NEBM-M12G8-E-2.5-Q5-LE NEBM-M12G8-E-5-Q5-LE NEBM-M12G8-E-7-Q5-LE NEBM-M12G8-E-10-Q5-LE6 X length 1) NEBM-M12G8-E- -Q5-LE6 For EMM-T-2/57 and motor controller CMM-T traight plug NEBM-1G9-E-5-LE NEBM-1G9-E-10-LE NEBM-1G9-E-15-LE6 X length 1) NEBM-1G9-E- -LE6 and motor controller CMMO-T Angled plug connector NEBM-1W9-E-1.5-Q5-LE NEBM-1W9-E-2.5-Q5-LE NEBM-1W9-E-5-Q5-LE NEBM-1W9-E-7-Q5-LE NEBM-1W9-E-10-Q5-LE6 X length 1) NEBM-1W9-E- -Q5-LE6 traight plug NEBM-1G9-E-1.5-Q5-LE NEBM-1G9-E-2.5-Q5-LE NEBM-1G9-E-5-Q5-LE NEBM-1G9-E-7-Q5-LE NEBM-1G9-E-10-Q5-LE6 X length 1) NEBM-1G9-E- -Q5-LE6 Encoder cable Cable Part no. Type length [m] For motor controller CMM-T traight plug NEBM-M12G8-E-5-1G NEBM-M12G8-E-10-1G NEBM-M12G8-E-15-1G9 X length 1) NEBM-M12G8-E- -1G9 For motor controller CMMO-T traight plug NEBM-M12G8-E-1.5-LE NEBM-M12G8-E-2.5-LE NEBM-M12G8-E-5-LE NEBM-M12G8-E-7-LE NEBM-M12G8-E-10-LE8 X length 1) NEBM-M12G8-E- -LE8 Angled plug connector NEBM-M12W8-E-1.5-LE NEBM-M12W8-E-2.5-LE NEBM-M12W8-E-5-LE NEBM-M12W8-E-7-LE NEBM-M12W8-E-10-LE8 X length 1) NEBM-M12W8-E- -LE8 1) Max. 25 m. Cable lengths > 25 m possible following technical consultation; up to 100 m on request. Available in 0.1 m increments. For EMM-T-87 and motor controller CMM-T traight plug NEBM-1G15-E-5-LE NEBM-1G15-E-10-LE NEBM-1G15-E-15-LE6 X length 1) NEBM-1G15-E- -LE6 and motor controller CMMO-T Angled plug connector NEBM-1W15-E-1.5-Q7-LE NEBM-1W15-E-2.5-Q7-LE NEBM-1W15-E-5-Q7-LE NEBM-1W15-E-7-Q7-LE NEBM-1W15-E-10-Q7-LE6 X length 1) NEBM-1W15-E- -Q7-LE6 traight plug NEBM-1G15-E-1.5-Q7-LE NEBM-1G15-E-2.5-Q7-LE NEBM-1G15-E-5-Q7-LE NEBM-1G15-E-7-Q7-LE NEBM-1G15-E-10-Q7-LE6 X length 1) NEBM-1G15-E- -Q7-LE6 2015/11 ubject to change 555

48 Motors and controllers > tepper motors > tepper motors EMM-T Dimensions ize 28 EMM-T- -/E Download CAD data EMM-T- -B/EB 1 Motor cable 2 Encoder cable Type EMM-T-28-L- EMM-T-28-L-E EMM-T-28-L-B EMM-T-28-L-EB B1 1 B2 0.2 D D M2.5x.5 D3 H1 Type L1 L2 L3 L L5 L6 EMM-T-28-L- EMM-T-28-L-E EMM-T-28-L-B EMM-T-28-L-EB ubject to change 2015/11

49 Motors and controllers > tepper motors > tepper motors EMM-T Dimensions ize 2, 57, 87 EMM-T- - EMM-T- -B Download CAD data EMM-T- -E/EB Plug pattern 9-pin ub-d plug with size 2, pin ub-d plug with size 87 Type B1 B2 D1 D2 D3 D H1 H2 L1 L2 L3 L 0.2 EMM-T-2---G2 661 EMM-T-2--E-G2 M , M3x.5 EMM-T-2--B-G2 111,3 EMM-T-2--EB-G2 M ,3 EMM-T-57---G ,8 EMM-T-57--E-G2 M ,1 EMM-T-57--B-G ,1 EMM-T-57--EB-G2 M , ,025 5 EMM-T-57-M--G2 950,8 EMM-T-57-M-E-G2 M ,1 EMM-T-57-M-B-G2 151,1 EMM-T-57-M-EB-G2 M ,1 6.5 EMM-T-87---G EMM-T-87--E-G2 M ,3 EMM-T-87--B-G ,3 EMM-T-87--EB-G2 M ,3 EMM-T-87-M--G EMM-T-87-M-E-G2 M , EMM-T-87-M-B-G ,3 EMM-T-87-M-EB-G2 M ,3 EMM-T-87-L--G EMM-T-87-L-E-G2 M ,3 EMM-T-87-L-B-G ,3 EMM-T-87-L-EB-G2 M , , /11 ubject to change 557

50 Motors and controllers > Overview/Configuration/Order Additional information/upport/user documentation Controllers Controllers for servo motors Motor controllers for servo motors CMMP-A Flying saw For cam disk controllers and highly dynamic movements tandardised interfaces allow seamless integration in mechatronic multi-axis modular systems Reliable and convenient commissioning, programming and parameterisation via software tools Optionally with 3 slots for switch or safety module, for extension module ubject to change 2015/11

51 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Closed-loop operation with speed, position, current and torque control Optional operation of linear motors uitable for motor EMM-A Easy configuration with free FCT software Quick ordering of basic designs 563 Product range overview Type Nominal voltage Load Nominal voltage Logic [V AC] [V DC] Interfaces I/O interface CANOpen cmmp-as Modbus/ TCP PROFIBU DP DeviceNet EtherCAT EtherNet/IP PROFINET RT CMMP-A-C CMMP-A-C5-3A CMMP-A-C5-11A- 3x CMMP-A-C10-3x CMMP-A-C20-3x Features Compactness Motion control mall dimensions Full integration of all components for the controller and power section, including R232- and CANopen interface Integrated brake chopper Integrated EMC filters Automatic actuation for a holding brake Complies with the current CE and EN standards without additional external measures (motor cable length of up to 25 m) Evaluation of digital absolute encoder (EnDat/HIPERFACE) in single-turn or multi-turn versions Can be operated as a torque, speed or position controller Integrated position controller Time-optimised (trapezoidal) or jerkfree (-shaped) positioning Absolute and relative movements Point-to-point positioning with and without motion path smoothing Position synchronisation Electronic gear unit 255 position sets Wide range of homing methods Fieldbus interfaces Input / Output Integrated sequence control Integrated: Optional: Optional: Freely programmable I/Os High-resolution 16-bit analogue input Jog/Teach mode imple connection to a higher-order controller via I/O or fieldbus ynchronous operation Master/lave mode Additional I/Os with the plug-in card CAMC-D-8E8A 56 Automatic sequence of position sets without a higher-order controller Linear and cyclical position sequences Adjustable delay times Branches and wait positions Overlapping restart possible during the movement PROFIBU, PROFINET, DeviceNet, CANopen, EtherCAT, EtherNet/IP is a registered trademark of its respective trademark holder in certain countries. 2015/11 ubject to change 559

52 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Features Integrated safety functions Interpolating multi-axis movement With a suitable controller, the CMMP- A can perform path movements with interpolation via CANopen or EtherCat. The controller specifies setpoint position values in a fixed time slot pattern The motor controller CMMP-A supports the "afe Torque Off (TO)" safety function and, by providing a reliable time delay, also supports "afe top 1 (1)" with protection against unexpected start-up in accordance with EN Two-channel disconnection of the output stage Less external wiring horter response times in the event of an error Faster restart, intermediate circuit remains charged to this end. In between, the servo position controller independently interpolates the data values between two data points. Travel program Linking of any number of position sets into a travel program tep criteria for the travel program possible via digital inputs, for example MC motion complete I/O digital inputs MC I/O Library for EPLAN EPLAN macros for fast and reliable planning of electrical projects in combination with motor controllers, motors and cables. This enables a high level of planning reliability, standardisation of documentation, no need to create symbols, graphics and master data. Cam disc functionality The "electronic cam disc" application type creates optimised motion profiles that generate less vibration and acceleration force at the machine. In addition, the motion of the motor is always synchronous in position with a master axis, which enables easy definition of overlapping, time-optimised motion sequences. ystem overview To be able to use the cam disc function, you will need the Festo Configuration Tool (FCT) and also the curve editor online: cmmp. Key features: High flexibility of the system. The mechanics do not need to be modified if the requirements for the curve shapes change. User-friendly motion plan editor. All limits for position, speed and acceleration are immediately displayed in the editor. Up to 16 cam discs with a total of up to 208 data points can be managed. The data points can be randomly distributed along the cam discs. There are four digital trip cams coupled with each cam disc. Each cam disc can be offset by a certain amount from the master axis aj 7 1 Main switch 2 Circuit breaker 3 2 V DC power supply unit External braking resistor (optional) 5 Motor controller CMMP-A 6 Motor EMM-A 7 PC 8 Encoder cable 9 Motor cable aj Programming cable eplan is a registered trademark of its respective trademark holder in certain countries ubject to change 2015/11

53 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Data sheet Fieldbus interfaces Technical data Download CAD data CMMP-A- C2-3A- C5-3A- C5-11A-P3- C10-11A-P3- C20-11A-P3 Parameterisation interface UB, Ethernet R232 Active PFC Yes Encoder interface input Resolver Incremental encoder with analogue or digital tracking signals Absolute encoder with EnDat V2.1 serial/v2.2 Absolute encoder with HIPERFACE Additional input for synchronous/cam disc operation Encoder interface output Actual value feedback via encoder signals in speed control mode etpoint specification for downstream slave drive Resolution up to 1638 ppr Braking resistor, integrated [] Pulse power of braking resistor [kva] Number of analogue outputs 2 Operating range of analogue outputs [V] 10 Resolution of analogue outputs [bit] 9 Number of analogue inputs 3 Operating range of analogue inputs [V] 10 Mains filter Integrated afety function Optional 56 Integrated Electrical data CMMP-A- C2-3A- C5-3A- C5-11A-P3- C10-11A-P3- C20-11A-P3 Load supply Input voltage range [V AC] _10% 3x _10% Max. nominal input current [A] Rated output [VA] Peak power [VA] Mains frequency [Hz] Logic supply Nominal voltage [V DC] 2 20% Nominal current [A] 0.55/2.05 1) 0.65/2.15 1) 1/3.5 1) 1) Max. current with brake and I/Os. Operating conditions CMMP-A- C2-3A- C5-3A- C5-11A-P3- C10-11A-P3- C20-11A-P3 Ambient temperature [ C] 0 +0 Degree of protection IP20 afety function afe Torque Off (TO) Performance Level (PL) Category, Performance Level e Category 3, Performance Level d afety Integrity Level (IL) IL 3 IL 2 CE marking (see declaration of conformity) To EU EMC Directive To EC Machinery Directive 2015/11 ubject to change 561

54 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Data sheet Technical data Fieldbus interface Interfaces I/O Additional I/O 1) TCP Number of digital logic outputs Characteristics of digital logic outputs Freely configurable Number of digital logic inputs Characteristics of logic inputs Freely configurable Process coupling 16 (127) position sets 2) 255 position sets 250 position sets Communication profile D301, FHPP+ D301, DP02 PROFIBU DP FHPP+ DP-V0 / FHPP+ DeviceNet EtherCAT EtherNet/ IP FHPP+ D301, FHPP+ CoE: D301, DP02 Max. fieldbus transmission rate [Mbps] Interface CMMP-A- -M0 Integrated CMMP-A- -M3 Integrated Optional 3) CMMP-A-C20-11A-P3 Integrated Optional 3) FHPP+ PROFINET RT FHPP+ 1) With additional I/O plug-in card CAMC-D8E8A 56. 2) Can be expanded with configurable logic inputs up to max. 127 position sets 3) Plug-in cards can be ordered separately 56 Order code CMMP A Type CMMP Motor controller, premium Motor technology A AC synchronous Nominal current C2 2.5 A C5 5 A C10 10 A C20 20 A Input voltage 3 A V AC 1 11 A 3x V AC 2 Number of phases 1-phase 3 P3 3-phase Number of slots M0 No slot 5 With 2 slots 6 1 Not with nominal current C10, C20. 2 Not with nominal current C2. 3 Not with input voltage 11 A. Not with input voltage 3 A. 5 Only with nominal current C2, C5, C10. 6 Only with nominal current C20. Order example: CMMP-A-C2-3A-M0 Motor controller CMMP - AC synchronous - nominal current 2.5 A - input voltage 230 V - single-phase - no slot ubject to change 2015/11

55 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. Quick ordering 1) Description Part no. Type CMMP-A- -M3 With 3 slots A plug-in card in slot 7 is mandatory for operation. Possible plug-in cards: CAMC-D-M1 56 CAMC-G-1 56 CAMC-G-3 The plug assortment NEKM ( 563) is included in the scope of delivery of the motor controller CMMP-A-C2-3A-M CMMP-A-C5-3A-M CMMP-A-C5-11A-P3-M CMMP-A-C10-11A-P3-M3 1) All products in this table are easy to select and quick to order. Accessories Ordering data Part no. Type Cable and plug Control cable, for I/O interface to any controller NEBC-1G25-K-2.5N-LE NEBC-1G25-K-3.2N-LE25 2 Programming cable For CMMP-A-C2/C5/C10-M NEBC-U1G-K-1.8-N-U2G Encoder plug Plug For CMMP-A-C20-11A-P P1-ZK11-NULLMODEM-1,5M 5626 NECC-A--1G9-C2M For PROFIBU interface FB-UB-9-W-PB-K For CANopen interface FB-UB-9-W-CO-K For DeviceNet interface FBD-KL-2X5POL Part no. Type Cable and plug Assortment of plugs For CMMP-A-C2/-C5-3A-M0, CMMP-A-C2/-C5-3A-M NEKM-C-7 3 For CMMP-A-C5/-C10-11A-P3-M0, For CMMP-A-C5/-C10-11A-P3-M NEKM-C-3 3 For CMMP-A-C20-11A-P NEKM-C-6 For interface CAMC-D-8E8A NEKM-C-5 5 For safety module CAMC-G-1 Motor controller CMMP-A-0-M NEKM-C-8 6 For safety module CAMC-G NEKM-C-9 7 Plug-in card For PROFIBU interface 5750 CAMC-PB For DeviceNet interface 5751 CAMC-DN For EtherCat interface CAMC-EC For EtherNet/IP interface CAMC-F-EP For PROFINET RT interface CAMC-F-PN 1) Recommended for analogue signals since the cable is shielded 2) Cannot be used if the incremental encoder interface (input) is in use 3) Plugs are included in the scope of delivery of the motor controller CMMP-A- -M0, CMMP-A- -M3. ) Plugs are included in the scope of delivery of the motor controller CMMP-A-C20-11A-P3. 5) Plugs are included in the scope of delivery of the plug-in card CAMC-D-8E8A Plug is included in the scope of delivery of the motor controller CMMP-A- -M0. 6) Plug is included in the scope of delivery of the plug-in card CAMC-G-1. 7) Plug is included in the scope of delivery of the plug-in card CAMC-G /11 ubject to change 563

56 Motors and controllers > Controllers > Controllers for servo motors > Motor controllers CMMP-A, for servo motors Accessories Ordering data Plug-in card 1) afety module witch module Part no. Type CAMC-G-1 afe Torque Off (TO) afe Brake Control (BC) CAMC-G-3 afe Torque Off (TO) afe Brake Control (BC) afe top 1 (1) afe Operating top (O) afe top 2 (2) afely Limited peed (L) afe speed range (R) afe speed monitor (M) CAMC-D-M1 Braking resistor 3) Recommended braking resistor. Part no. Type For CMMP-A-C2-3A, CMMP-A-C5-3A CACR-LE2-50-W CACR-LE2-72-W500 For CMMP-A-C5-11A-P3, CMMP-A-C10-11A-P CACR-KL2-67-W CACR-KL2-0-W For CMMP-A-C20-11A-P CACR-KL2-33-W200 Type Documentation and software Ordering data online: cmmp Interface, for extending the digital I/Os 2) CAMC-D-8E8A 1) The plugs are included in the scope of delivery. 2) 8 digital input/outputs. Note Operation of the motor controller CMMP-A- -M3 absolutely requires that a plug-in card (CAMC-G-1, CAMC- G-3 or CAMC-D-M1) be inserted in slot ubject to change 2015/11

57 Motors and controllers > Overview/Configuration/Order Additional information/upport/user documentation Controllers Controllers for stepper motors Motor controllers for stepper motors CMMO-T As open-loop and closed-loop position controller eparate load and logic supply upports the afe Torque Off (TO) safety function Easy actuation via I/O interface Monitoring of freely definable position zones Backup file enables seamless device replacement 2015/11 ubject to change 565

58 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMMO-T, for stepper motors Open-loop and closed-loop position controller Closed-loop encoder option, therefore no step losses Monitoring of freely definable position zones imple activation with digital I/O interface or IO-Link Easy parameterisation with FCT configuration package or Ethernet interface with integrated web server Quick ordering of basic designs cmmo-st Product range overview Type Nominal voltage Nominal current Interfaces I/O interface IO-Link [V DC] [A] -DIOP/-DION -LKP CMMO-T 2 ±15% 6 Technical data Technical data Download CAD data CMMO-T- -DIOP/-DION -LKP Operating mode Open-loop operation inusoidal current form Closed-loop operation Controlled sinusoidal current, cascade controller for speed and position Rotary position encoder Encoder Encoder interface input R22 Parameterisation interface Ethernet EtherCat, supported protocols TCP/IP TCP/IP, Modbus TCP Protocol IO-Link I-Port Modbus TCP Position sets 32 6 Communication profile FHPP Number of digital logic inputs 11 1 Number of digital logic outputs 11 3 Electrical data CMMO-T- -DIOP -DION -LKP General information Max. DC link voltage [V DC] Nominal output current [A] 5.7 Load voltage Nominal voltage [V DC] 2 ±15% Nominal current [A] 6 Peak current [A] 8 Logic supply Nominal voltage [V DC] 2 ±15% Nominal current [A] 0.3 Max. current per output [ma] 100 witching logic, input/output PNP NPN PNP ubject to change 2015/11

59 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMMO-T, for stepper motors Data sheet Operating conditions Ambient temperature [ C] Degree of protection IP0 afety function afe Torque Off (TO) Performance Level (PL) Category 3, Performance Level e afety Integrity Level (IL) IL 3/IL CL 3 Certificate issuing authority TÜV 01/205/ /15 CE marking (see declaration of conformity) In accordance with EU EMC Directive In accordance with EU Machinery Directive Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. Quick ordering Description Part no. Type With I/O interface witching input/output PNP CMMO-T-C5-1-DIOP witching input/output NPN CMMO-T-C5-1-DION With IO-Link witching input/output PNP CMMO-T-C5-1-LKP Accessories Ordering data Cable length [m] 1) Part no. Type Motor cable for EPCO-16; ERMO-12/-16; EMM-T-28 traight plug NEBM-M12G8-E-1.5-Q5-LE NEBM-M12G8-E-2.5-Q5-LE NEBM-M12G8-E-5-Q5-LE NEBM-M12G8-E-7-Q5-LE NEBM-M12G8-E-10-Q5-LE6 for EPCO-25/-0; ELGR-35; ERMO-25/-32, EMM-T-2/-57 traight plug NEBM-1G9-E-1.5-Q5-LE NEBM-1G9-E-2.5-Q5-LE NEBM-1G9-E-5-Q5-LE NEBM-1G9-E-7-Q5-LE NEBM-1G9-E-10-Q5-LE6 Angled plug NEBM-1W9-E-1.5-Q5-LE NEBM-1W9-E-2.5-Q5-LE NEBM-1W9-E-5-Q5-LE NEBM-1W9-E-7-Q5-LE NEBM-1W9-E-10-Q5-LE6 Cable length [m] 1) Part no. Type Motor cable for ELGR-5/-55; EMM-T-87 traight plug traight plug NEBM-1G15-E-1.5-Q7-LE NEBM-1G15-E-2.5-Q7-LE NEBM-1G15-E-5-Q7-LE NEBM-1G15-E-7-Q7-LE NEBM-1G15-E-10-Q7-LE6 Angled plug NEBM-1W15-E-1.5-Q7-LE NEBM-1W15-E-2.5-Q7-LE NEBM-1W15-E-5-Q7-LE NEBM-1W15-E-7-Q7-LE NEBM-1W15-E-10-Q7-LE6 1) Other cable lengths on request. 2015/11 ubject to change 567

60 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMMO-T, for stepper motors Accessories Ordering data Cable length [m] 1) Part no. Type Encoder cable for EPCO-16/-25/-0; ELGR-35/-5/-55; ERMO-12/-16/-25/-32; EMM-T-28/-2/-57/-87 traight plug NEBM-M12G8-E-1.5-LE NEBM-M12G8-E-2.5-LE NEBM-M12G8-E-5-LE NEBM-M12G8-E-7-LE NEBM-M12G8-E-10-LE8 Cable length [m] 1) Part no. Type Encoder cable for EPCO-25/-0; ERMO-25/32; EMM-T-2/-57/-87 Angled plug NEBM-M12W8-E-1.5-LE NEBM-M12W8-E-2.5-LE NEBM-M12W8-E-5-LE NEBM-M12W8-E-7-LE NEBM-M12W8-E-10-LE8 1) Other cable lengths on request. Description Part no. Type Assortment of plugs Plugs for motor cable, encoder cable, power supply, reference switch, TO safety function NEKM-C-10 2 Plugs for motor cable, encoder cable, power supply, reference switch, TO safety function and IO-Link NEKM-C-1 2 2) Plugs are included in the scope of delivery of the motor controller. Connection options from I/O interface to controller Description Cable length Part no. Type [m] Manifold block Ensures simple and clear wiring. The connection to the motor controller is established via the connecting cable NEBC-1G25-K NEFC-1G25-C2W25-7 Connecting cable Connects the motor controller to the connection block NEBC-1G25-K-1.0-N-1G NEBC-1G25-K-2.0-N-1G NEBC-1G25-K-5.0-N-1G25 Control cable Is connected to the motor controller. The other end comprises individual flying leads NEBC-1G25-K-3.2-N-LE25 Plug 25-pin sub-d plug. Each wire can be individually assembled using screw terminals NEFC-1G25-C2W ubject to change 2015/11

61 Motors and controllers > Overview/Configuration/Order Additional information/upport/user documentation Controllers Controllers for stepper motors Motor controllers for stepper motors CMM-T Can be operated as a torque, speed or position controller Position controller, integrated brake chopper I/O coupling Electronic gear unit 2015/11 ubject to change 569

62 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMM-T, for stepper motors Open-loop operation, optional closed-loop operation with encoder Integrated D card slot Compatible with motor EMM-T Easy configuration with free FCT software cmms-st Product range overview Type Nominal voltage Load Nominal voltage Logic Interfaces I/O interface CANopen PROFIBU DeviceNet [V DC] [V DC] CMM-T-C8-7-G Features Compactness mall dimensions Full integration of all components for the controller and power section, including R232- and CANopen interface Integrated brake chopper Integrated EMC filters Motion control Can be operated as a torque, speed or position controller Integrated position controller Time-optimised (trapezoidal) or jerkfree (-shaped) positioning Absolute and relative movements Point-to-point positioning with and Automatic actuation for a holding brake Complies with the current CE and EN standards without additional external measures (motor cable length of up to 15 m) without motion path smoothing Position synchronisation Electronic gear unit 63 position sets 8 positioning profiles Wide range of homing methods Fieldbus interfaces Input / Output Integrated sequence control Integrated: Optional: Freely programmable I/Os High-resolution 12-bit analogue input Jog/Teach mode imple connection to a higher-order controller via I/O or fieldbus ynchronous operation Master/slave mode Automatic sequence of position sets without a higher-order controller Linear and cyclical position sequences Adjustable delay times afety functions The motor controller CMM-T supports the "afe Torque Off (TO)" safety function and, by providing a reliable time delay, also supports "afe top 1 (1)" with protection against unexpected start-up in accordance with EN Interpolating multi-axis movement With a suitable controller, the CMM- T can perform path movements with interpolation via CANopen. To do this, the controller specifies setpoint posi Two-channel disconnection of the output stage horter response times in the event of an error tion values in a fixed time slot pattern. In between, the servo position controller independently interpolates the data values between two data points. ervo mode Encoder option (closed loop), in other words no step losses, following errors are corrected PROFIBU, DeviceNet, CANopen is a registered trademark of its respective trademark holder in certain countries ubject to change 2015/11

63 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMM-T, for stepper motors Features Travel program Linking of any number of position sets into a travel program tep criteria for the travel program possible via digital inputs, for example MC motion complete I/O digital inputs MC I/O Library for EPLAN ystem overview EPLAN macros for fast and reliable planning of electrical projects in combination with motor controllers, motors and cables. 1 This enables a high level of planning reliability, standardisation of documentation, no need to create symbols, graphics and master data Main switch 2 Circuit breaker 3 2 V DC power supply unit Motor controller CMM-T 5 Motor EMM-T 6 PC 7 Motor cable 8 Encoder cable 9 Programming cable eplan is a registered trademark of its respective trademark holder in certain countries. 2015/11 ubject to change 571

64 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMM-T, for stepper motors Data sheet Fieldbus interfaces Technical data Motor activation Rotor position encoder Parameterisation interface Encoder interface input inusoidal current injection Encoder R232 ( bits/s) As speed/position specification for the slave drive in synchronous mode R22 Encoder interface output etpoint specification for downstream slave drive Braking resistor, integrated [] 17 Pulse power of braking resistor [kva] 0.5 Impedance of setpoint input [k] 20 Number of analogue outputs 1 Operating range of analogue outputs [V] 10 Number of analogue inputs 1 Operating range of analogue inputs [V] 10 Mains filter Integrated Download CAD data Electrical data Load supply Nominal voltage [V DC] 2 8 Nominal current [A] 8 Peak current [A] 12 Logic supply Nominal voltage [V DC] 2 20% Nominal current [A] 0.2 Operating conditions Ambient temperature [ C] Degree of protection IP20 afety function afe Torque Off (TO) Performance Level (PL) Category 3, Performance Level d afety integrity level (IL) IL 2 Certificate issuing authority BG MF CE marking (see declaration of conformity) To EU EMC Directive To EC Machinery Directive Technical data Fieldbus interface Interfaces I/O CANopen PROFIBU DP DeviceNet Communication profile D301, FHPP DP-V0 / FHPP+ FHPP D301, DP02 Max. fieldbus transmission rate [Mbps] Interface Integrated Optional ubject to change 2015/11

65 Motors and controllers > Controllers > Controllers for stepper motors > Motor controllers CMM-T, for stepper motors Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. Ordering data Description Part no. Type The plug assortment NEKM ( 573) is included in the CMM-T-C8-7-G2 scope of delivery of the motor controller. Accessories Ordering data Part no. Type Cable and plug Control cable, for I/O interface to any controller NEBC-1G25-K-2.5N-LE26 Part no. Type Cable and plug Plug, for DeviceNet interface FBD-KL-2X5POL Programming cable P1-ZK11-NULLMODEM-1,5M Plug-in card Interface, for PROFIBU interface 5750 CAMC-PB Interface, for DeviceNet interface 5751 CAMC-DN Encoder plug 5626 NECC-A--1G9-C2M Memory card for data backup and firmware download CAMC-M--F10-V1 Plug assortment 5752 NEKM-C-1 Type Documentation and software Ordering data online: cmms Plug For PROFIBU interface FB-UB-9-W-PB-K For CANopen interface FB-UB-9-W-CO-K Nominal output voltage [V DC] Power supply unit Nominal output current [A] Part no CACN-3A CACN-3A CACN-3A CACN-3A CACN-11A-7-20 Type Technical data online: cacn Note If a common power supply unit is used to supply the power section and the control section, the voltage tolerances for the supply to the control section cannot be maintained at high braking power. This can result in damage to the control section. Always use separate power supply units to supply the power section and the control section. 2015/11 ubject to change 573

66 Motors and controllers > Overview/Configuration/Ordering Additional information/upport/user documentation Accessories Gear units Gear units for stepper motors EMGA-T Planetary gear unit for stepper motors EMM T Gear ratio i = 3 and 5, available ex-stock Life-time lubrication 57 ubject to change 2015/11

67 Motors and controllers > Accessories > Gear units > Gear units EMGA-T, for stepper motors Low-backlash planetary gear unit Gear ratio i = 3 and 5, available ex-stock Life-time lubrication Protection class IP5 Quick ordering of basic designs emga Product range overview Flange size Output torque Gear ratio [Nm] 3 5 2, 57, Data sheet Technical data Dimensions 576 Motor flange size Gear unit type EMGA-0-P-G EMGA-60-P-G EMGA-80-P-G Gear ratio [i] Continuous output torque 1) [Nm] Max. output torque [Nm] Torsional backlash [deg] Moment of inertia 2) [kgcm2] Operating temperature 3) [ C] Degree of protection IP5 1) At the output shaft 2) In relation to the drive shaft 3) Note the temperature range of the motor 2015/11 ubject to change 575

68 Motors and controllers > Accessories > Gear units > Gear units EMGA-T, for stepper motors Quick ordering 1) Motor flange size Part no. Type Motor flange size Part no. Type EMGA-0-P-G3-T EMGA-0-P-G5-T EMGA-60-P-G3-T EMGA-60-P-G5-T EMGA-80-P-G3-T EMGA-80-P-G5-T-87 1) All products in this table are easy to select and quick to order. Ordering Product options Configurable product This product and all its options can be ordered using the configurator. The configurator can be found under Products on the DVD or Enter the type code in the search field. Dimensions Download CAD data Motor flange size B1 D1 h7 D2 h M M M M5 M6 D3 D D5 D6 D7 Motor flange size L1 L2 L3 L L5 L6 T1 T , , , ubject to change 2015/11

69 Motors and controllers > Overview/Configuration/Ordering Additional information/upport/user documentation Accessories Gear units Gear units for servo motors EMGA-A Planetary gear unit for servo motors EMM A Gear ratio i = 3 and 5, available ex-stock Life-time lubrication 2015/11 ubject to change 577