Festo CMXR-C1 Description
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Festo CMXR-C1 Description

Festo CMXR-C1 Description

Multi-axis control system. plc interface.
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Multi-axis control system
CMXR-C1
Description
PLC interface
560328
1501b
[8039883]

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Summary of Contents for Festo CMXR-C1

  • Page 1 Multi-axis control system CMXR-C1 Description PLC interface 560328 1501b [8039883]...
  • Page 2 Festo GDCP-CMXR-F-EN 1501b...
  • Page 3 Version ______________________________________________________________ 1501b Designation _________________________________________________ GDCP-CMXR-F-EN Order no. ___________________________________________________________ 560328  (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 15.01.2015 Table 1.1 Directory of revisions Specified directives/standards Issue status EN ISO 13849-1:2008-12 Table 1.2 Directives/standards specified in the document Trademarks Microsoft® Windows® Registered trademark of Microsoft Corporation PROFIBUS, PROFIBUS DP® registered trademarks of PROFIBUS International (PI) Festo GDCP-CMXR-F-EN 1501b...
  • Page 5 Recommendation, tip, reference to other documentation. Necessary or useful accessories. Information on environmentally friendly use. Text designation: • Activities that can be carried out in any order. 1. Activities which should be carried out in the specified sequence. − General lists. Festo GDCP-CMXR-F-EN 1501b...
  • Page 6 Additional documentation The total functionality of the multi-axis control system CMXR-C1 is described in the following documents: Name Contents GDCP-CMXR-SY-… System description GDCP-CMXR-HW-… Mounting and installation GDCP-CMXR-F-… PLC interface (this document) GDCP-CMXR-SW-… Programming instructions for CMXR FTL base Table 1.3 Further documentation – CMXR-C1 multi-axis control system...

  • Page 7: Table Of Contents

    Stopping program ................34 3.4.15 Parallel programs ................. 35 3.4.16 Override ....................35 3.4.17 Exchange of cyclical I/O data ..............36 PLC interface MCP2 ....................37 4.1 MCP2-PB ........................ 37 4.1.1 Control signals ..................37 4.1.2 Status signals..................37 Festo GDCP-CMXR-F-EN 1501b...
  • Page 8 Interface format..................42 5.2 Reference system variables ................... 42 5.2.1 Access from the robot program ............42 5.2.2 Interface format..................43 5.3 Word variables ....................... 43 5.3.1 Access from the robot program ............43 5.3.2 Interface format..................43 Festo GDCP-CMXR-F-EN 1501b...

  • Page 9: Safety And Requirements For Product Use

    Measuring or test work on the system must be carried out only by electrically skilled persons. Note Damage to the product from incorrect handling. • Never unplug or plug in a product when powered. • Observe the handling specifications for electrostatically sensitive devices. Festo GDCP-CMXR-F-EN 1501b...

  • Page 10: Intended Use

    − within the limits of the product defined by the technical data − in an industrial environment. Warning The Festo CMXR multi-axis control system is not designed for safety-relevant control tasks (e.g. emergency stop or monitoring of reduced speeds). The CMXR multi-axis control system conforms to category B of EN ISO 13849-1 and is thus not sufficient for the implementation of safety functions for the protection of persons.

  • Page 11: Requirements For Product Use

    − applicable regulations for accident protection and operational safety − documentation and mode of operation of the product. Service • Please consult your local Festo service or write to the following e-mail address if you have any technical problems ( service_international@festo.com). Festo GDCP-CMXR-F-EN 1501b...

  • Page 12: Control Interfaces For External Activation

    − MotionControl Profile MCP1-PB (with 12 byte data packet) − MotionControl Profile MCP2-PB (with 64 byte data packet) − Operation without external control (not described here,  System description GDCP-CMXR-SY-…). The CDSA operator unit can be connected with all activating methods. Festo GDCP-CMXR-F-EN 1501b...

  • Page 13: Plc Interface Mcp1

    Activation via digital I/O is done through wiring with three I/O modules of type CECX-D-8E8A-NP-2. The MCP1 I/O signals are assigned to concrete inputs/outputs in the control system configuration with the Festo Configuration Tool (FCT). The following describes the signal allocation of the three I/O modules.
  • Page 14 DO:7 WDBIT Watchdog bit 3.4.1 DI:0 – DI:1 – DI:2 – DI:3 DRENA Enable drive 3.4.7 DI:4 HALTENA Enable HOLD 3.4.8 DI:5 WRREQU Request write access 3.4.6 DI:6 QUITERR Acknowledge error 3.4.2 DI:7 WDBIT Watchdog bit 3.4.1 Festo GDCP-CMXR-F-EN 1501b...
  • Page 15 Selection of program no. DI:2 PRGNR Bit2 Selection of program no. DI:3 PRGNR Bit3 Selection of program no. DI:4 STOP Interrupt program 3.4.14 DI:5 START Start/continue program 3.4.13 DI:6 UNLOAD Unload program 3.4.12 DI:7 LOAD Load program 3.4.11 Festo GDCP-CMXR-F-EN 1501b...

  • Page 16: Activation Via Profibus

    * Manual operating mode 3.4.10 DI:4 Unassigned For free use DI:5 Unassigned For free use DI:6 Unassigned For free use DI:7 Unassigned For free use (*) The mode can also be selected via PROFIBUS as an option. Festo GDCP-CMXR-F-EN 1501b...

  • Page 17: Control Signals In The Profibus Data Packet

    Size 1 byte, possible program numbers 1 … 255. The program number can be used to address the desired FTL program on the control system. The program number is assigned to the FTL program via an assignment table in the FCT. Festo GDCP-CMXR-F-EN 1501b...
  • Page 18 Access in the FTL program: VarTest := plc_InBool[0-15] Target position of the JOG axis Size 4 bytes. The target position is used to specify a position for the selected axis, which can be approached via the Jog command. Festo GDCP-CMXR-F-EN 1501b...

  • Page 19: Status Signals In The Profibus Data Packet

    Status register 2 SREG2 LOADED RUNNING NACK JPRDY Unassigne HAND AUTO Program Program Program Program Manual Auto loaded running NACK position active active enabled Status register 3 Bit order SREG3 Unassigned MSG MSGNR Message class Message number Festo GDCP-CMXR-F-EN 1501b...
  • Page 20 The multi-axis control system can send freely definable signals to the PLC over the 16 binary outputs. Access in the FTL program: plc_OutBool[0-15] := VarTest Actual position of the JOG axis Size 4 bytes. The actual position is used to display the current position of the selected axis. Festo GDCP-CMXR-F-EN 1501b...

  • Page 21: Function Of The Plc Interface Mcp1

    Coding of message class MSG and message number MSGNR: The “Component” column lists the component number of the error message or error group contained in the status display of the CDSA-D1-VX operator unit and the reports of the multi-axis control system on these errors. Festo GDCP-CMXR-F-EN 1501b...

  • Page 22: Acknowledge Error

    It is advisable to use special tools for more exact investigation of the cause. Message acknowledgement and prioritisation Due to the fact that only one bit is available for acknowledging the messages, the following prioritisation has been introduced for acknowledging the messages. Priority Message class PLC interface error System error Festo GDCP-CMXR-F-EN 1501b...

  • Page 23: Requesting The Master Control

    SREG.WRACC will never be TRUE. Surrendering master control If the interface has master control, it can be surrendered again with a trailing edge at bit CREG.WRREQU. Surrendering master control is confirmed using SREG.WRACC = FALSE. Festo GDCP-CMXR-F-EN 1501b...

  • Page 24: Switching On Drives

    − Interface answers with SREG.HALT “Hold active”. The program is continued as soon as the bit CREG.HALTENA is reset. After that, SREG.HALT returns to FALSE. Detailed information can be taken from the CMXR FTL-base programming instructions ( GDCP-CMXR-SW-…). Festo GDCP-CMXR-F-EN 1501b...

  • Page 25: Jog

    When resetting the JOGN or JOGP bit, the movement is stopped. Wrist axes can only be run to a specified position in the axis coordinate system. This is not possible in other coordinate systems. Festo GDCP-CMXR-F-EN 1501b...

  • Page 26: Selecting Operating Mode

    The period of time for switching from one operating mode to another valid operating mode is currently defined at 1.00 second. The system behaviour for an invalid operating mode can be found in the system manual ( GDCP-CMXR-SY-…). Festo GDCP-CMXR-F-EN 1501b...

  • Page 27: Load Program

    − Program number 1 ... n is in the program register − MCP1-EA: CREG.PRGNR register (4 bit) − MCP1-PB: PRGNR register (1 byte) Action − Set bit CREG.LOAD (rising edge). − Wait for Acknowledge SREG.ACK or Not Acknowledge SREG.NACK Reaction Program/project is loaded. Festo GDCP-CMXR-F-EN 1501b...
  • Page 28 PLC, it may reset LOAD to 0. The CMXR reacts with a trailing edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 1501b...
  • Page 29 NACK. 5 As soon as NACK = 0 has been recognised by the PLC, the controller is ready for a new job. ” The cause of the failed loading process is reported as an error. Festo GDCP-CMXR-F-EN 1501b...
  • Page 30 PLC, it may reset LOAD to 0. The CMXR reacts with a trailing edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 1501b...
  • Page 31 NACK. 5 As soon as NACK = 0 has been recognised by the PLC, the controller is ready for a new job. ” The cause of the failed loading process is reported as an error. Festo GDCP-CMXR-F-EN 1501b...

  • Page 32: Unloading Program

    PLC, it may reset UNLOAD to 0. The CMXR reacts with a trailing edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 1501b...

  • Page 33: Starting Program

    PLC, it may reset START to 0. The CMXR reacts with a trailing edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 1501b...

  • Page 34: Stopping Program

    PLC, it may reset STOP to 0. The CMXR reacts with a trailing edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 1501b...

  • Page 35: Parallel Programs

    Deviating values (< 0 and > 100) are ignored, and the previously valid override remains unchanged. Condition Master control on PLC interface. Action Write the new override into the COVR control register. Reaction The specified override is accepted and reflected in the SOVR status register. Festo GDCP-CMXR-F-EN 1501b...

  • Page 36: Exchange Of Cyclical I/O Data

    The I/O variable values can be accessed from the user program. The names of the variables are: − plc_InBool[0-15] for input data − plc_OutBool[0-15] for output data Byte order EDATA1, ADATA1 = Low byte EDATA2, ADATA2 = High byte Festo GDCP-CMXR-F-EN 1501b...

  • Page 37: Plc Interface Mcp2

    Data index CREG EXECUTE Unassigned Unassigned Unassigned Unassigned Unassigned Unassigned Unassigned Valid 4.1.2 Status signals Byte Header SREG CODE SUBCODE INDEX Status register Function code Subfunction code Data index SREG RETVAL ERROR DONE Return value Error bit End Festo GDCP-CMXR-F-EN 1501b...

  • Page 38: Function Of The Plc Interface Mcp2

    The transferred parameters are only valid if the interface reports back DONE = TRUE. In the event of an error, the error code RETVAL is also only valid if the ERROR and DONE bits both report TRUE. Festo GDCP-CMXR-F-EN 1501b...
  • Page 39 CREG.B0 EXECUTE replies with DONE = TRUE and ERROR = TRUE 4 A trailing edge at EXECUTE ends the faulty transmission 5 A job can be executed again as soon as DONE goes back to FALSE. Festo GDCP-CMXR-F-EN 1501b...

  • Page 40: Function Codes

    ( 5 Communication variables) 4.3.1 Return values The following codes are located in the RETVAL register after a command has been executed. RETVAL Significance Command executed correctly Incorrect CODE was transmitted Incorrect SUBCODE was transmitted Incorrect INDEX was transmitted Festo GDCP-CMXR-F-EN 1501b...

  • Page 41: Communication Variables

    − plc_CartPos [0 … 255]: CARTPOS − plc_AxisPos [0 … 255]: AXISPOS The data types CARTPOS and AXISPOS are standard data types for representing positions. Example: Use in the robot program − Ptp (plc_CartPos [0]) − Lin (plc_AxisPos [0]) Festo GDCP-CMXR-F-EN 1501b...

  • Page 42: Interface Format

    Reference system variables 5.2.1 Access from the robot program The PLC interface includes 16 reference systems. These are predefined as follows: − plc_RefSys [0 … 15] : REFSYSDATA Example: Use in the robot program − SetRefSys (plc_RefSys [0] ) Festo GDCP-CMXR-F-EN 1501b...

  • Page 43: Interface Format

    − plc_Dint [0 ... 255] : DINT Example: Use in the robot program − plc_Dint [0] := 100 5.3.2 Interface format The DINT variables are not subjected to a conversion and are transmitted 1:1 into the multi-axis control system or PLC. Festo GDCP-CMXR-F-EN 1501b...
  • Page 44 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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