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Festo CMXR-C2 Mounting And Installation

Festo CMXR-C2 Mounting And Installation

Multi-axis controller
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Multi-axis controller
CMXR-C2
Description
Mounting and
installation
571694
1501b
[8039851]

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Summary of Contents for Festo CMXR-C2

  • Page 1 Multi-axis controller CMXR-C2 Description Mounting and installation 571694 1501b [8039851]...
  • Page 3 Version ______________________________________________________________ 1501b Designation ____________________________________________ GDCP-CMXR-C2-HW-EN Order no. ___________________________________________________________ 571694  Festo AG & Co., 73726 Esslingen, Germany, 2015 Internet: http://www.festo.com E-mail: service_international@festo.com Reproduction, distribution and utilisation of this document, as well as the communication of its contents to others without explicit authorisation, is prohibited. Offenders will be held liable for damages.
  • Page 4 IEC 60068-2-27:2010-02 EN 60715:2001-09 IEC 60204-1:2007-06 EN ISO 13849-1:2008-12 IEC 61131-2:2008-04 IEC 60068-2-6:2008-10 ISO 11898:2003-12 Table 1.2 Directives/standards specified in the document Trademarks CANopen® and PROFIBUS® are registered trademarks of the respective trademark owners in certain countries. Festo GDCP-CMXR-C2-HW-EN 1501b...
  • Page 5 Notes on this documentation This description includes specific information about the system of the multi-axis controller CMXR-C2 with the software version from Version 1.0. In addition to the actual multi-axis control system, this system also includes the operator unit CDSA-D1-VX and its emulation via software as a PC application.
  • Page 6 Terminating resistor Resistor at the line end of bus segments for minimising signal reflections. Table 1.3 Terms and abbreviations used Additional documentation The total functionality of the multi-axis control system CMXR-C2 is described in the following documents: Name Contents GDCP-CMXR-SY-…...

  • Page 7: Table Of Contents

    3.3 Guidelines for the installation ................22 3.4 H-rail mounting ....................23 3.5 Dismounting ......................25 Installation of the central control unit CMXR-C2 ..........26 4.1 General instructions on installation..............26 4.2 Selecting the power supply unit ................26 4.3 Notes on wiring ....................27 4.4 Display, connection and operator control elements ..........
  • Page 8 7.2 Cleaning ......................48 Appendix ......................49 A.1 Technical data ..................... 49 A.1.1 General ....................49 A.1.2 Central control unit CMXR-C2 ............. 50 A.2 Accessories ......................50 A.3 Notes on EMC-compliant wiring ................51 Index ........................53 Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 9: Safety And Requirements For Product Use

    • Observe the handling specifications for electrostatically sensitive devices. Note Destruction of modules and damage to the CMXR-C2 central control unit! • Switch off supply voltages before you mount or remove modules. • Install the device in a suitable control cabinet ( 3.3 Guidelines for the installation).

  • Page 10: Intended Use

    The device is intended for use as a multi-axis control system with robotics functions. The device takes over the following functions: − Control of selected Festo motor controllers via CAN bus (Festo DriveBus) − Control of peripheral equipment (digital, analogue, position encoder) •...

  • Page 11: Range Of Applications And Certifications

    − regulations and standards − regulations of the testing organisations and insurers − national specifications For correct and safe use: • Observe all warnings and notes. • Comply with all load limits of the product and the connected components. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 12: Qualification Of Specialized Personnel

    The following knowledge is required: − installation and operation of electrical control systems − applicable regulations for operating safety-engineering systems − Applicable regulations for accident prevention and operational reliability − documentation and mode of operation of the product. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 13: System Overview Cmxr-C2

    The device has two CAN interfaces in this version. Drives - optionally Festo stepper motors or servo motors - can be connected via the CAN interface [X6]. Communication with the drives occurs on the basis of CANopen profile DS402 via Festo DriveBus.

  • Page 14: Structure Of The Device

    7 Multi-axis control system CMXR 4 Motor controller connected via Festo DriveBus [X6] Fig. 2.1 Structure of a multi-axis system with multi-axis control system CMXR-C2 (example) The operator unit CDSA-D1-VX is used for operating, observing and programming the multi-axis control system.

  • Page 15: Central Control Unit

    2 System overview CMXR-C2 2.2.1 Central control unit The central control unit is the centrepiece of the multi-axis control system. It provides the required resources for processing the user programs (processor, main memory, etc.). The central control unit offers 3 slots for optional modules, to make available additional interfaces.

  • Page 16: Peripheral Modules

    2 System overview CMXR-C2 2.2.3 Peripheral modules The central control unit can be adapted to the wide range of requirements by means of peripheral modules. Peripheral modules establish the connection to the process. Sensors and actuators are, for example, connected via digital modules and analogue modules.

  • Page 17: Mounting

    The central control unit and peripheral modules are connected via an internal bus. Peripheral modules of the same type are differentiated by the module addresses. The module address can be set with an address selector switch on the peripheral module ( 3.2.2 Mounting peripheral modules). Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 18: Installing And Removing Optional Modules

    1 Central control unit 2 Optional module CECX-F-CO 3 Optional module CECX-C-ET Fig. 3.1 Standard device configuration for the multi-axis control system CMXR-C2 3.2.1 Installing and removing optional modules Note Assemblies and modules may be damaged if they are not handled correctly.

  • Page 19: Mounting Peripheral Modules

    Figure 3.2 Address switch and bus plug on a peripheral module (example) Additional information can be found in the manual for the respective periphery module. Note Damage to components when setting the module address. • Use an appropriate tool (screwdriver). • Do not damage adjacent components. Festo GDCP-CMXR-C2-HW-EN 1501b...
  • Page 20 To protect against contamination and damage, both covers (for bus plug and address switch) must be attached to the last module. 1 Cover (on right side) 2 Bus plug 3 Upper mechanical interlock 4 Lower mechanical interlock Fig. 3.3 Mounting a peripheral module Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 21: Dismounting Peripheral Modules

    3. Unlock upper and lower mechanical interlocks by pressing lightly. 4. Carefully withdraw the peripheral module from the device. 5. Reattach the bus plug’s right cover. 1 Upper mechanical interlock 2 Lower mechanical interlock Fig. 3.4 Dismounting a peripheral module Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 22: Guidelines For The Installation

    20 mm must be taken into account. 121 mm 270 mm 72 mm 22.5 mm 50 mm 10 mm 4 mm Fig. 3.5 Dimensions and mounting clearances Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 23: H-Rail Mounting

    H-rail on both left and right sides. • When mounting the H-rail, adhere to the maximum permissible screw interval of 120 mm. 1 Permissible screw interval 2 H-rail Fig. 3.6 Maximum permissible screw spacing for H-rail mounting Festo GDCP-CMXR-C2-HW-EN 1501b...
  • Page 24 3. Press the lower half of the device onto the H-rail. 4. Lock all H-rail locking levers one after the other. 5. Secure the device with end supports (device end terminals) ( Following section). 1 H-rail fixture 2 H-rail latching lever 3 H-rail Fig. 3.7 H-rail mounting Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 25: Dismounting

    • Switch off the power supply and remove all cable connections prior to dismounting. Procedure 1. Switch off the operating and load voltage supplies. 2. Disconnect all cable connections from the device. 3. Pull out all H-rail locking levers (unlock). 4. Remove the device from the H-rail. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 26: Installation Of The Central Control Unit Cmxr-C2

    4 Installation of the central control unit CMXR-C2 Installation of the central control unit CMXR-C2 General instructions on installation Caution Uncontrolled movements of the connected actuators can cause personal injury or material damage. • Before undertaking installation or maintenance work, switch off the operating voltage supply.

  • Page 27: Notes On Wiring

    4 Installation of the central control unit CMXR-C2 The power requirement of the device depends on the amount and type of integrated modules ( Technical data for the used module). Recommendation: • Use regulated power supplies and, when selecting the power supply units, check that they have sufficient output.
  • Page 28 4 Installation of the central control unit CMXR-C2 I/O cables, digital I/O cables, digital Description Cable type Unscreened cable Plug type Plug with grid dimension 5.08 mm Table 4.2 Specification for I/O cables (digital) Recommendation: • Distribute the connector blocks in such a way that associated signals are present on one plug.
  • Page 29 9-pin Sub-D (socket) with completely conductive housing Table 4.5 CAN cable specification The CAN connection must be made using an appropriate cable. Festo recommends a cable in accordance with ISO 11898 (CAN standard). A multicore, twisted cable can also be used. Note that the CAN signals (CAN+ and CAN-) are carried over a common, twisted pair of conductors.
  • Page 30 4 Installation of the central control unit CMXR-C2 1 Twisted two-wire cable (CAN+, CAN–) 2 Signal earth (SGND) 3 Screen with earth shield Fig. 4.2 CAN cable The cable must be connected flush with the plug’s screen housing. An additional screening and earthing connection is not necessary.
  • Page 31 4 Installation of the central control unit CMXR-C2 Cable for encoder supply output and reference voltage output Encoder supply and Description reference voltage output Cable type Twisted pair cables with screen against low-frequency 50 Hz fields Plug type Plug with grid dimension 5.08 mm Table 4.7 Cable for encoder supply output and reference voltage output...

  • Page 32: Display, Connection And Operator Control Elements

    4 Installation of the central control unit CMXR-C2 Display, connection and operator control elements The following display, connecting and operating elements can be found on the central control unit: 1 7-segments display 2 Power LED (top) and CTRL key (bottom)

  • Page 33: Connecting The Operating Voltage

    4 Installation of the central control unit CMXR-C2 4.4.1 Connecting the operating voltage Caution Damage to components! • Design the load voltage and operating voltage supply as a circuit with limited energy in accordance with IEC 61131-2, or provide fuse protection of maximum 10 A.

  • Page 34: Earthing The Multi-Axis Control System

    4 Installation of the central control unit CMXR-C2 4.4.2 Earthing the multi-axis control system The correct earthing for the device is important for faultless operation and electrical safety. For earthing, a low-impedance connection between the device’s earth terminal and the earth potential must be created.

  • Page 35: Rs232C Interface [X3]/[X9]

    Fig. 4.6 Interfaces at the central control unit 4.4.4 USB interfaces [X8]/[X10] The modular control system CMXR-C2 includes one USB master. The USB port [X8] can be used to transfer data and programs from/to the multi-axis controller. The USB port [X10] is currently not usable 4.4.5...

  • Page 36: Can Interface [X4] (Optional Module Cecx-F-Co)

    4 Integrated terminating resistor Fig. 4.7 CAN interface with activated bus terminal The CAN connection must be made using an appropriate cable. Festo recommends a cable in accordance with ISO 11898 (CAN standard). 4.4.7 CAN interface [X4] (optional module CECX-F-CO) Like CAN interface [X6] (...

  • Page 37: Ethernet Interface [X5]

    4 Installation of the central control unit CMXR-C2 4.4.8 Ethernet interface [X5] The central control unit is equipped at the factory with the CECX-C-ET optional module as standard. This module provides an Ethernet connection for the Ethernet controller built into the central control unit. An RJ45 connection is available on the front panel for programming.

  • Page 38: 4.4.10 Using Compact Flash Memory Cards

    The memory card can not be used as a removable medium, because system programs are also stored on it. Only the memory card CAMC-P3-C-M256 from the Festo catalogue can be used ( www.festo.com/catalogue). Note Only approved memory cards may be used.
  • Page 39 4 Installation of the central control unit CMXR-C2 Inserting the memory card 1. Switch off the supply voltage. 2. Using slight pressure, carefully insert the memory card into the slot in the direction of the arrow until it engages. 1 Memory card Fig.

  • Page 40: Commissioning Instructions

    5 Commissioning instructions Commissioning instructions General information on commissioning The multi-axis control system CMXR-C2 is configured and commissioned using the associated software. Information on this can be found in the online help for the software as well as in the associated system manual ( GDCP-CMXR-C2-SY-…).
  • Page 41 The application is unloaded and the memory is enabled. The application is loaded into the memory. STOP: The application is loaded, but will not yet be processed The application is started. The application is running Table 5.2 Display during running up of the application Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 42: Operating Statuses

    5 Commissioning instructions 5.2.2 Operating statuses Detailed information on the performance of the multi-axis control system can be found in the system description ( GDCP-CMXR-C2-SY-…). The control system recognizes the following operating statuses: 7-segments Operating Description display status Init In this operating status: −...

  • Page 43: Control Key (Ctrl Key)

    This key can be used by the service technician, for example, to delete data from the memory card, create report files or delete retain data. System error and data loss through incorrect use of the CTRL key. • The CTRL key may only be pressed if instructed by Festo service staff. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 44: Diagnostics And Error Handling

    (RJ45). They light up when sending or receiving telegrams. Description Link status (green) Lights up as soon as an EtherCat connection is present. Activity (yellow) Lights up when data are sent and received. Table 6.4 Ethernet status LEDs Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 45: Status Led For The Memory Card

    The following sequence of characters signals error 51 in the “Load Firmware” status (no firmware found): Status Error Example: display during running up of the application The following sequence of characters signals error 203 in the “Init” status (installation of the application failed): Status Error Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 46: Error Codes

    This means that a first diagnosis is possible without reading out the status report files. Error displays not listed are intended for the support team at Festo. Running-up error: error during Power-on self-test Error display...

  • Page 47: Maintenance And Care

    7 Maintenance and care Maintenance and care The device may only be opened by qualified specialists, and maintenance work may only be carried out if expressly permitted by Festo. Other manipulations to the device invalidate the guarantee. Changing the battery The central control unit is equipped with a real-time clock (RTC).

  • Page 48: Cleaning

    Although batteries have a low voltage, they can give off enough current in a short circuit to cause combustible materials to ignite. • Observe the regulations for hazardous waste when disposing of the batteries. Cleaning Clean the device, if required, with a soft cloth. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 49: Appendix

    3.5 mm path at 5 … 9 Hz, IEC 60068-2-6 1 g acceleration at 9 … 150 Hz Resistance to shock in accordance IEC 60068-2-27 Max. 15 g, 11 ms (half sine) Table A.1 General technical data Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 50: Central Control Unit Cmxr-C2

    RS232C serial interface (optional) 1x unassigned Slot for memory card (Compact Flash type 1) 1x permanently assigned Table A.2 Technical data of the central control unit CMXR-C2 Accessories • Select the corresponding accessories from the Festo catalogue ( www.festo.com/catalogue). Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 51: Notes On Emc-Compliant Wiring

    − use of wide earthing straps. − Plane-form contact of bare metal is required. − Contact surfaces must be protected against corrosion. − Use toothed discs when connecting painted parts or parts with an unclean surface, where possible, on all connecting points. Festo GDCP-CMXR-C2-HW-EN 1501b...
  • Page 52 − Is cable screening connected to the 0 V terminal in the analogue module via cable in order to screen 50 Hz fields? Fundamentally, for all of the device’s interfaces, you do not have to observe any special installation of the lines. Festo GDCP-CMXR-C2-HW-EN 1501b...

  • Page 53: Index

    Earth terminal ........34 Earthing ..........34 Segment display ......... 45 Error codes .......... 46 Setting the module address ....19 Ethernet connection ......37 Slot ..........38, 40 Status report ......... 6 Insert the memory card ......39 Festo GDCP-CMXR-C2-HW-EN 1501b...
  • Page 56 Copyright: Festo AG & Co. KG Postfach D-73726 Esslingen, Germany Phone: +49 711 347 0 Fax: +49 711 347 2144 E-mail: service_international@festo.com The reproduction, distribution or sale of this document or Internet: communication of its contents to others without express www.festo.com...

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