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Festo CMXR-C2 Description

Festo CMXR-C2 Description

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CMXR-C2
Description
571688
en 1205b
[761546]

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  • Page 1 Controller Description System description Type CMXR-C2 Description 571688 en 1205b [761546]...
  • Page 3 Edition ____________________________________________________ en 1205b Designation ________________________________ Festo GDCP-CMXR-C2-SY-EN Order no. ___________________________________________________ 571688  Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2012 Internet: http://www.festo.com E-mail: service_international@festo.com The copying, distribution and utilisation of this document as well as the communication of its contents to others without express authorisation is prohibited.
  • Page 4 File name: File saved in: Consec. no. Description Revisions index Date of revision Produced: 1002NH 21.03.2010 Revision 1011a 08.11.2010 Revision 1205b 2012-04-10 Trademarks ® ® ® CANopen , CiA and PROFIBUS are registered trademark owners in certain countries. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 5: Table Of Contents

    Qualified personnel ................... 11 Safety instructions for this manual ..............11 Safety instructions for the products ..............11 Safety instructions for the product ..............12 Modular multi-axis control system CMXR-C2 ............14 Central control unit CMXR-C2 ................15 Memory card ..................... 16 3.2.1 File system ..................
  • Page 6 Manual override ....................41 Automatic mode ....................42 Stopping the kinematics, EMERGENCY-STOP ............. 42 Repositioning ....................44 Activation method ....................46 CMXR-C2 in stand-alone mode ................46 9.1.1 System signals ................... 47 Higher-order controller and write permission ............. 48 9.2.1 Mode of operation ................
  • Page 7 EXPT kinematics system ..................73 11.5.1 Origin of the tool coordinate system ........... 74 11.6 T-gantry ......................76 11.1 H-gantry ......................78 11.2 Axis interpolation ....................80 11.3 Overview of all supported kinematics systems ........... 81 INDEX ........................82 Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 8: Introduction

    1. Introduction Introduction This document describes the “Festo CMXR-C2- multi-axis control system with robotic technology functions” system with software version 1.0 and later. In addition to the actual multi-axis control system, this system also includes the handheld terminal CDSA-D1-VX and its emulation via software as a PC application.

  • Page 9: Additional Documents

    1. Introduction Additional documents The total functionality of the multi-axis control system CMXR-C2 is described in the following documents: Part No. Name Contents 571688 GDCP−CMXR−C2−SY-EN This system manual 571694 GDCP−CMXR−C2−HW−EN Hardware description of the CMXR-C2 560316 GDCP−CMXR−SW-EN Basis programming of the CMXR family 571706 GDCP−CMXR−C2-ST−EN...

  • Page 10: Safety Instructions

    Using the documentation This document is intended for users and programmers of multi-axis structures and robots that work together with the Festo CMXR multi-axis control system. There is a training induction programme for the operation and programming. Appropriate personnel training is a requirement.

  • Page 11: Qualified Personnel

    They must not, therefore, be disposed of together with conductive materials (such as metal chips, wire wool contaminated with oil, etc.). Electrostatically sensitive devices: Incorrect handling can result in damage to components. Information Instructions for EMC-approved installations can be found in the product manual. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 12: Safety Instructions For The Product

    Retrofittings and modifications may impair the safety of the system! The consequences of this could be personal injury, material damage or damage to the environment. Possible retrofittings or modifications to the system with component parts from external manufacturers must therefore be approved by Festo. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 13 Any measuring or test work required on the system must be carried out by expert electrical technicians. Caution Only spare parts approved by Festo may be used. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 14: Modular Multi-Axis Control System Cmxr-C2

    3. Modular multi-axis control system CMXR-C2 Modular multi-axis control system CMXR-C2 The multi-axis control system CMXR-C2 is a modular control system composed of a central control unit CMXR-C2 with various communication interfaces, input/output modules and a handheld terminal. The multi-axis control system is used for activating kinematics from the Festo Modular System for Handling and Assembly Technology, additional axes and peripheral equipment.

  • Page 15: Central Control Unit Cmxr-C2

    Further information can be found in the CDSA software manual. X9 serial interface Serial interface for use under CoDeSys X10 USB interface Reserved for later extensions. Table 3.1 Scope of delivery CMXR-C2 Fig. 3.1 Components on the front of the CMXR-C2 Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 16: Memory Card

    To produce backup copies, the memory card can be very easily copied. This can be done via a PC using a punch card reader or via Festo Configuration Tool (FCT). Should the CMXR hardware or the memory card become defective, the defective part can be easily exchanged.

  • Page 17: File System

    CMXR multi-axis control system as well as all FTL projects and programs in the application. Note With the aid of the Festo Configuration Tool (FCT) all system data, the configuration and the FTL programs required for the operation are generated and stored on the memory card.

  • Page 18: Application Directory

    “_global” and “cube” are created. CAN interfaces X4/ X6 The CAN X6 interface of the CMXR-C2 is reserved for the communication with the motor controllers of the kinematics via DriveBus. A different use is not possible.

  • Page 19: Ethernet Interfaces X5/ X7

    3. Modular multi-axis control system CMXR-C2 Ethernet interfaces X5/ X7 The multi-axis control system CMXR-C2 has two Ethernet interfaces with RJ45. X5 without gateway for local networks X7 with gateway for higher-level networks Note The use of an Ethernet switch is recommended for minimising the load for the Ethernet network.

  • Page 20: Serial Interfaces X3/ X9

    3. Modular multi-axis control system CMXR-C2 Serial interfaces X3/ X9 The CMXR-C2 permits operation of two serial interfaces. Configuration and use of the interfaces takes place under CoDeSys. The option slot X3 is not equipped on delivery and serves to extend the CMXR-C2 control system with an additional serial interface.

  • Page 21: Addressing Of The Extension Modules

    Digital mixed module with eight inputs and eight PROFIBUS slave module DPV1 outputs Note The planning of the modules is managed by Festo Configuration Tool (FCT). Please refer to the CMXR programming manual for the application of the modules in FTL programs.

  • Page 22: Card Modules

    3.7.3 Card modules The CMXR-C2 central control unit has 3 slots for card modules. Of these, X4 and X5 are equipped on delivery and by definition belong permanently to the actual central control unit. The slot X3 is reserved for expansion with a serial interface.
  • Page 23 Should signal cables have to be disconnected for commissioning, then the power supply for the modules is maintained. An overview of available plug connectors can be found at http://www.festo.com/katalog. Illustration of 8-pin plug NECC-L1G8-C1 with spring-loaded terminal Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 24: Configuration Using Fct

    4. Configuration using FCT Configuration using FCT The configuration of the multi-axis control system CMXR-C2 is carried out via the Festo Configuration Tool (FCT). This software has graphically supported dialogue pages for the guided input of the required data. Example of a graphical configuration page:...

  • Page 25: Festo Teach Language (Ftl)

    The FTL programs can be programmed offline and online. The FTL Editor is available in the Festo Configuration Tool (FCT) for offline programming. Online programming is carried out via the CDSA-D1-VX mobile handheld terminal. Please refer to the CMXR programming manual for more information.

  • Page 26: Program Processing

    5.1.1 Downloading FTL programs FTL programs are normally written via the CMXR plug-in in the Festo Configuration Tool (FCT) and then transferred to the CMXR memory card per download. The memory card can also be connected to the PC via Ethernet and by using the IP address of the CMXR central control unit.

  • Page 27: Cdsa-D1-Vx Handheld Terminal

    6.5” TFT colour display with touch screen, which can be operated by finger or touch pin Touch pin Pin for operating the touch screen USB interface X8 On the import and export of FTL programs and saving status reports Table 6.1 Functions of the CDSA handheld terminal, front Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 28 Table 6.2 Functions of the handheld terminal, rear side The ergonomic design of the handheld terminal also allows operation while lying down, e.g. on a table. The arrangement of the housing and handle also makes sure the terminal is in a secure standing position. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 29: Installation

    This is the only way a PC (with FCT software) and an operator unit can be connected up simultaneously. Note Please refer to the relevant manuals for more information on the installation. Due to the application involved, the required safety regulations must also be observed. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 30: Cami-C Interface Unit

    EMERGENCY STOP circuit. To be able to continue working despite a disconnected handheld terminal (control could come from an external control system), the bridge connector (named CAMF-B-M25-G4) is screwed into the interface unit instead of the handheld terminal. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 31 EMERGENCY-STOP button is not possible. 1 Bridge connector screwed onto interface unit 2 Wire cable with eyelet for fixing 3 Bridge connector Fig. 6.5 CAMF-B-M25-G4 bridge connector Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 32: Hardware Overview

    Specialist programming or computer knowledge is not required to learn how the handheld terminal is handled. All information is available in German and English. The language is selected within the software for the handheld terminal, without having to restart the system. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 33: User Rights

    This prevents unauthorised persons from gaining access to functions in the system. The user account can be selected via the graphical mask. After the correct password has been entered, all the released rights for the user are activated. Design of graphical mask for selecting user: Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 34: User Levels

    In the CMXR multi-axis control system, a user level consisting of several levels between 1 and 15 can be allocated to every user. The highest level 16 has no restrictions, it should be reserved for the administrator. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 35 Open project / program (translate only) Close/End Close project / End program Info Display program information Update Update project view File File manipulation functions Configuration Execution mask View Display selected program Step/Cont Switching Step / Continue End program Table 6.6 Project functions Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 36 ID display of ID numbers instead of texts Help Display help for selected message Message Mask for message log Display ID display of ID numbers instead of texts Help Display help for selected message Table 6.9 Message functions Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 37: Set Users On Delivery

    It is true to say that communication can be established via the setting of another Ethernet address, but this is not feasible due to the hardware signals for the permission buttons, since these are wired via a hardware solution. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 38: Synchronisation Of Dialogue Software

    Host IP (CMXR) 192.168.100.100 The addressing for the delivery status is married to the delivery status of the CMXR. If these devices are operated together, without network integration, then no settings are necessary in the IP addresses. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 39: Screen Control

    Caution The CDSA emulation is strictly a PC application. It does not have the safety equipment of the operator unit CDSA-D1-VX. The emergency off and permission button function must be ensured in some other way. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 40: Drive Systems

    7. Drive systems Drive systems Only Festo electric motor controllers are used for operating the kinetics. Both the Festo servo motor technology and the Festo stepper motor technology can be used in the process. The following Festo motor controllers are currently supported:...

  • Page 41: Operating Modes

    Teaching of positions Generating and modifying programs Testing programs in the step mode or continuous mode at reduced speed. Pressing down the permission button is a requirement for this Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 42: Automatic Mode

    8. Operating modes Note The values for the reduced speed must be configured via Festo Configuration Tool (FCT). It is here that limits for the maximum speeds are specified according to the parameter. The integrated 2-channel, 3-stage enabling buttons are used for manual travel using the handheld terminal.
  • Page 43 A true-to-path stop is possible in the left part of the graph. In the right part, the drive power is shut down via the safety-related hardware, e.g. a 2-channel time relay. Note The applicable regulations must be observed when setting the delay time for shutting down the drive power via the hardware. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 44: Repositioning

    Repositioning is carried out at a defined speed. This is configured via the Festo Configuration Tool (FCT). It is recommended that moderate dynamic values that can be controlled are set here.
  • Page 45 Caution: Danger of collision If repositioning is carried out using a Cartesian linear interpolation, then defined tools are taken into account on the path. This can lead to unexpected compensating movements in the kinematics. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 46: Activation Method

    9. Activation method Activation method The multi-axis control system CMXR-C2 - besides the handheld terminal - always be actuated via the integrated CoDeSys controller. If an additional controller is to be assigned a higher order, this can be realised via the access routes digital I/O, PROFIBUS DP, Ethernet TCP/IP or CAN by means of CoDeSys modules.

  • Page 47: System Signals

    Table 9.1 CMXR components, stand-alone mode with CoDeSys Note In stand-alone mode, at least one additional central input/output module CECX-D-8E8A-NP-2 at the multi-axis control system CMXR-C2 is recommended. 9.1.1 System signals The table below includes the system signals and the signal assignment of the recommend- ed I/O card CECX-D-8E8A-NP-2.

  • Page 48: Higher-Order Controller And Write Permission

    Background colour = grey: no write permission/no higher-order controller present Background colour = blue: Write permission/higher-order controller present These states are also transmitted on the interface for the external control system. The following illustration shows how this is represented graphically on the handheld terminal. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 49: User Level

    The following table provides an overview of the active and passive functions of the individual connections and participants. Handheld Function CoDeSys terminal CDSA Active functions with write permission Jogging of axes Teaching of positions Starting and stopping programs Delete errors Passive functions without write permission Mode selection Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 50: Integration Example

    Manual override without higher-order control Manual override with higher-order control Automatic mode. To execute automatic mode, the external control system always requires the higher-order control, otherwise programs cannot be started, for example. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 51: Coordinate Systems

    This is determined by the mechanical design of the kinematics. Examples: The kinematic model of the Festo EXPT is illustrated in the picture on the left. The position of the axes and thus the axis coordinate system is determined by the kinematic model.

  • Page 52: Orientation Axes A, B, C

    In doing so, the thumb indicates in the positive axis direction, the fingers in the fist indicate in the positive direction of the rotation around the axis. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 53: Euler Orientation Zyz

    The so-called base coordinate system for the kinematics is defined by virtue of the arrangement of the axes in the available space and their parameterisation. It is a Cartesian coordinate system. This is defined by the direction of rotation of the drives and the axis zero point, Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 54 All parameter settings, e.g. for the axes or drives, must be set such that the specifications are fulfilled for the respective kinematics. The following graphic shows a Festo three-dimensional gantry with its base coordinate system whose origin is formed from the zero points of the individual axes.

  • Page 55: Global Coordinate System

    Note Should a shift in the position or the orientation of the original base coordinate system for the kinematics be necessary, then this can be defined by a configurable offset via the Festo Configuration Tool (FCT). Example: Two three-dimensional gantries are mounted on a shared conveyor system. There is a common zero point on this conveyor system which applies to both kinematics systems.
  • Page 56 Note If the base coordinate system is not offset, then the global coordinate system is equal to the base coordinate system. In this case, it is also called a global coordinate system. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 57: Tool Coordinate System

    CDSA handheld terminal. The tool coordinate system is only significant for teaching positions and manual operation. If positions are complete, they are stored as Cartesian or axis positions depending on the variables used. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 58 A4, is displayed for orientation axes instead of the orientation designation A, B, C. The following illustration shows a key assignment on the handheld terminal after selecting the tool coordinate system for a limited kinematics system. Axes X, Y and Z of the tool Orientation axis Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 59: Supported Kinematic Systems

    If a tool is attached to the basic axes, then its orientation is coupled to the position of the basic axes and cannot be affected. The illustrations show the Festo kinematics systems EXTP and three-dimensional gantry. The axes A1, A2 and A3 form the basic axes of the kinematics systems.

  • Page 60: Orientation Axes (Wrist Axes)

    The orientation axis is rotated by +45 in the following example. The tool coordinate system (Tx and Ty) is carried along with it analogously. The global coordinate system is not affected by this. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 61 = 0 degrees = 45 degrees If a reference system is activated by programming in FTL (Festo Teach Language), this has an additive impact on the global coordinate system. If a rotation that can be covered by the kinematics' degree of freedom (e.g. rotation around the Z-axis) is generated in the reference system, then the orientation axis is automatically adjusted.

  • Page 62: Interpolation Of Orientation Axes

    This is necessary so that position, orientation and tool adapt to the path. Path of the tool flange Path of the tool Note Axes movements that follow the orientation change are also known as a compensating movements. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 63 When integrating the orientation axes into the movement, a commissioning procedure must be implemented to ensure that a rotation of the orientation axis moves in the required direction. We recommend you teach and test the orientation movements via the handheld terminal. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 64 320 degree position, while having the sign taken into account. In this example, the orientation axis effectively travels 280 degrees. 320° 40° Path of the tool 0° 90° 270° 180° Path of the orientation axis when an axis position is specified Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 65: Electric And Pneumatic Wrist Axes

    Auxiliary axes are jointly interpolated by the CMXR multi-axis control system for the Cartesian movement of the basic and wrist axes in the form of a point-to-point movement. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 66: Programming The Manual And Auxiliary Axes

    This means a path's programmed Cartesian dynamics has no effect on the dynamics of the manual and auxiliary axes. To influence the dynamics of the manual and auxiliary axes, the percentage dynamic specifications, as in a PTP, are also needed for the Cartesian dynamics. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 67: Designation Of Axis Sequence For Kinematics

    Cartesian system. These axes are arranged in a Cartesian fashion in a X-Z- or Y-Z sequence. The vertical axis always forms the Cartesian Z-axis. As an option, an orientation axis can be attached to the tool flange. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 68 Table 11.1 Configurations of linear gantry The arrangement of the Cartesian axes in X-Z or Y-Z design is set via the Festo Configuration Tool (FCT). Note The zero point of the global coordinate system is defined by the zero point of axes 1 and 2.

  • Page 69: Cartesian Planar Surface Gantry

    Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo linear gantry: 11.3 Cartesian planar surface gantry A planar surface gantry is a Cartesian kinematics system that comprises two basic axes which stand perpendicular to one another.
  • Page 70 Note Positioning commands to a non-available degree of freedom are not possible and will lead to an error. The repositioning of the planar surface gantry is carried out via a PTP movement. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 71: Cartesian Three-Dimensional Gantry

    Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo planar surface gantry with a pneumatic Z-axis: 11.4 Cartesian three-dimensional gantry A three-dimensional gantry is a Cartesian kinematics system that can move in the avail- able space with its three basic axes.
  • Page 72 The repositioning of the three-dimensional gantry is carried out via a PTP movement. Caution Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo three-dimensional gantry: Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 73: Expt Kinematics System

    The position of the Cartesian coordinate system is determined by axis 1 for the tripod. If axis 1 is projected onto the horizontal level, then the axis vector describes the direction of the Cartesian X-axis. The positive direction of the Cartesian X-axis is determined by the negative direction of axis 1. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 74: Origin Of The Tool Coordinate System

    1. The precise alignment is carried out by offsetting the global coordinate system. This is defined via the Festo Configuration Tool (FCT). Owing to the design of the kinematics, the repositioning for the tripod is carried out with Cartesian linear interpolation.
  • Page 75 The offset to the flange plate must be taken into consideration along with any other constructions. Note When defining the TCP vector, the offset dimension to the flange plate must be taken into consideration. Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 76: T-Gantry

    Tz) is the same as the base coordinate system of the kinematics system. Number of basic Number of Axis Kinematics system axes manual axes sequence T-gantry without axis of rotation T-gantry with axis of LL-R rotation Table 11.5 T-gantry configurations Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 77 The T-gantry cannot be selected directly as a kinematics type in the FCT plug-in. A Cartesian linear gantry (Y-Z) must be selected and the base in B and C in each case twisted by 90 degrees. The following illustration shows a Festo T-gantry: Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 78: H-Gantry

    The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is the same as the base coordinate system for the kinematics system. Festo GDCP-CMXR-C2-SY-EN 1205b...
  • Page 79 H-gantry 2D without axis of rotation 2 H-gantry 2D with axis of rotation LL-R H-gantry 3D without axis of rotation 3 H-gantry 3D with axis of rotation LLL-R Table 11.6 H-gantry configurations The following illustration shows a Festo H-gantry: Festo GDCP-CMXR-C2-SY-EN 1205b...

  • Page 80: Axis Interpolation

    (PtP). All functions that operate in the Cartesian way are not allowed and lead to an error. The illustration below shows examples of Festo linear and rotating axes: Examples of linear axes Examples of rotating axes...

  • Page 81: Overview Of All Supported Kinematics Systems

    Free kinematics None None Table 11.7 Overview of supported kinematics The required kinematics model is selected during configuration via the Festo Configuration Tool (FCT). Note The wrist axes in the table are electric axes that interpolate with the kinematics. Pneumatic rotary and semi-rotary drives cannot be used here.

  • Page 82: Index

    Automatic mode ........41 Manual override ........41 Auxiliary axes ........66 Memory card ........16 Axis coordinate system ......52 Multi-axis control system CMXR-C2 ..8 Axis interpolation ........ 81 Operating modes ........ 41 Basic axes ........... 60 Bridge connector ......... 30 Password ..........

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