Festo CMXR-C1 System Manual
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Festo CMXR-C1 System Manual

Festo CMXR-C1 System Manual

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Controller
Description
System manual
Type
CMXR-C1
Description
560 310
en 0805NH
[721 643]

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Summary of Contents for Festo CMXR-C1

  • Page 1 Controller Description System manual Type CMXR-C1 Description 560 310 en 0805NH [721 643]...
  • Page 3 Edition ______________________________________________________________ 0805NH Designation _________________________________________________ GDCP-CMXR-SY-EN Order no. ____________________________________________________________ 560 310 Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2008 Internet: http://www.festo.com E-mail: service_international@festo.com Copying and distributing this document as well as utilising and communicating its contents is prohibited without express authorisation.
  • Page 4 Index of revisions Author: Name of manual: GDCP-CMXR-SY-EN File name: File saved at: Consec. no. Description Index of revisions Date of amendment Produced: 0805NH 07.07.2008 Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 5: Table Of Contents

    Safety notes on this manual................10 Safety notes on the products ................10 Safety instructions for the described product............. 11 Modular multi-axis control system CMXR ............13 Central control unit CMXR-C1 ................13 3.1.1 CAN interfaces ..................14 Memory card ..................... 15 File system ......................
  • Page 6 Euler orientation ZYZ ................61 10.3 Coordinate systems for the kinematics .............. 61 10.3.1 Base coordinate system ..............61 10.3.2 World coordinate system ..............63 10.3.3 Tool coordinate system ..............65 10.3.4 Working with the tool coordinate system ..........65 Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 7 Cartesian planar surface gantry ................. 78 11.4 Cartesian three-dimensional gantry ..............79 11.5 Tripod kinematics ....................82 11.5.1 Origin of the tool coordinate system ........... 84 11.6 Axis interpolation ....................85 11.7 Overview of all supported kinematics systems ........... 86 Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 8: Introduction

    DriveBus Channel of communication between the CMXR multi-axis control system and Festo motor controllers on a CANopen DS402 basis Festo Configuration Tool (FCT) Parameterisation and commissioning software for Festo drives (also FCT software) FCT PlugIn Software module for a certain device in the Festo Configuration Tool (FCT)

  • Page 9: Safety Instructions

    Festo is not liable for damage caused by failure to observe the warning instructions in these operating instructions. Note The safety instructions on the products (chapter 2.5) and the safety...

  • Page 10: 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-SY-EN 0805NH...

  • Page 11: Safety Instructions For The Described Product

    Retrofittings and modifications can compromise the safety of the system! The consequences of this could be personal injury, material damage or environmental damage. Possible retrofittings or modifications to the system using component parts from external manufacturers must therefore be approved by Festo. Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 12 Should measuring or test work be needed on the system, this must be carried out by expert electrical technicians. Caution Only replacement parts approved by Festo may be used. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 13: Modular Multi-Axis Control System Cmxr

    Central control unit CMXR-C1 The CMXR-C1 central control unit is an intelligent processor module that is responsible for the processing of the programs, for example. The scope of delivery includes: Two CAN bus interfaces, whereby CAN 0 is reserved for the Festo DriveBus...

  • Page 14: Can Interfaces

    Ethernet network. 3.1.1 CAN interfaces The CAN 0 interface for the CMXR-C1 is reserved for the drive communication via DriveBus. Another use is not possible. Other peripheral equipment, such as the Festo CPV valve terminal, can be connected up via interface CAN 1.

  • Page 15: Memory Card

    3. Modular multi-axis control system CMXR Memory card The data for the CMXR-C1 are saved on a memory card. This includes all data required for the operation, such as the operating system, configuration data and movement programs. The memory card is inserted in the relevant slot in the CMXR central control unit. Pulling and inserting the card is not permitted during the operation.

  • Page 16: 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 loaded onto the memory card.

  • Page 17: Application Directory

    Network parameter Value IP address 192.168.100.100 Subnet mask 255.255.255.0 Gateway address 0.0.0.0 Table 3.4 Preset network parameters To establish a connection to the CMXR multi-axis control system, the corresponding network settings have to be undertaken on the PC. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 18: Peripheral Modules

    Analogue module with four inputs (14 bits), four outputs (12 bits) for voltage supply CECX-A-4E4A-A Analogue module with four inputs, four outputs for current CECX-C-2G2 Encoder module with two inputs CECX-F-PB-S-V0 PROFIBUS slave module DP V0 Table 3.5 CMXR peripheral modules system Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 19: Addressing The Peripheral Modules

    Digital mixed module with eight inputs and eight PROFIBUS slave module DPV0 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 20: Front Panel Plug

    2-pin for the power supply 8-pin for signals CECX-C-2G2 2-pin for the power supply 2-pin for latch signals SUB-D 9-pin (socket) for the encoder CECX-F-PB-S-V0 PROFIBUS plug with switchable terminating resistor Table 3.6 Plugs for peripheral modules on the CMXR-C1 Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 21: Peripherals At Interface Can 1

    Illustration of 8-pin plug NECC-L1G8-C1 with spring-loaded terminal Peripherals at interface CAN 1 Other typical process peripheral equipment, such as Festo valve terminals or I/O modules, can be connected up via interface CAN 1. The devices must support CANopen DS 301.

  • Page 22: Configuration Using Fct

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

  • Page 23: Programming, 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 teach pendant. Please refer to the CMXR programming manual for more information.

  • Page 24: Program Processing

    5.1.1 Downloading FTL programs FTL programs are normally written via the Festo Configuration Tool (FCT) and then transferred to the CMXR-C1 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 25 5. Programming, Festo Teach Language (FTL) Note An active, loaded project is not updated in the CMXR control system's RAM by downloading it to the memory card. The project must be unloaded and then loaded again to update the data.

  • Page 26: Cdsa Teach Pendant

    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 Not currently supported Table 6.1 Functions of the CDSA teach pendant, front Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 27 Table 6.2 Functions of the teach pendant, rear side The ergonomic design of the teach pendant 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-SY-EN 0805NH...

  • Page 28: Installation

    The interface for both communication partners is formed by an interface unit that has connections for the teach pendant and the CMXR multi-axis control system. Overview diagram of teach pendant's installation: Control cabinet CMXR-C1 multi-axis control system Ethernet cable (crossover) / Ethernet...

  • Page 29: Cami-C Interface Unit

    The teach pendant can be disconnected if the commissioning work is concluded. If a teach pendant is disconnected at the interface unit during operation, then the EMERGENCY-STOP-circuit is opened. There is now an EMERGENCY-STOP situation that cannot Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 30 EMERGENCY-STOP button is not possible. 1 Bridge con- nector screwed onto interface unit 2 Wire cable with eyelet for fixing 3 Bridge con- nector Fig. 6.5 CAMF-B-M25-G4 bridge connector Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 31: Hardware Overview

    Specialist programming or computer knowledge is not required to learn how the teach pendant is handled. All information is available in German and English. The language is selected within the software for the teach pendant, without having to restart the system. Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 32 6. CDSA teach pendant Example of the graphical interface, display of actual positions: Example of the graphical interface, programming editor: Please refer to the documentation on the teach pendant software for additional information. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 33: User Rights

    The user rights are divided into levels of 1 to 16. Level 16 has all rights and should be reserved for the administrator. Design of graphical mask for user administration: Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 34: User Levels

    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-SY-EN 0805NH...
  • Page 35 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-SY-EN 0805NH...

  • Page 36: Set Users On Delivery

    Note It is only possible to communicate with the CMXR multi-axis control system that accommodates the interface unit, since the hardware signals of the permission buttons have to be assigned according to a kinematics system. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 37: Synchronisation Of Dialogue Software

    CMXR multi-axis control system is set up. The dialogue software for the teach pendant can be found on the memory card of the CMXR-C1 central control unit. To operate the teach pendant, the software is loaded onto it and stored there.

  • Page 38: Screen Control

    The screen saver is activated after approx. 10 minutes. The touchscreen is reactivated when it is touched. Note Touching the display deactivates the reduced background illumination or screen saver. Full illumination is activated. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 39: 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 supported:...

  • Page 40: Homing Run

    At the same time, the axes can execute the homing run sequentially or in parallel, as needed. For more information on the homing run, please refer to the associated FTL commands in the CMXR programming manual. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 41: Operation Modes

    The rotational speed of the axis must be calculated in proportion to this length and must be entered in the configuration. Teaching 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-SY-EN 0805NH...

  • Page 42: Automatic Mode

    8. Operation 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 2-channel, 3-stage permission buttons on the teach pendant are used for manual movement using the teach pendant.
  • Page 43 A true-to-path stop is possible in the first part of the graph. In the second 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-SY-EN 0805NH...

  • 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 This depends on the kinematics used. 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-SY-EN 0805NH...

  • Page 46: Activation Method

    Caution The applicable regulations must be observed when executing the activation methods. An activation method is selected using the Festo Configuration Tool (FCT). Any parameters for these activation methods are also set from there. Note All the named activation methods of the CMXR multi-axis control system are examples and do not lay claim to be correct and complete.
  • Page 47 NECC-L1G2-C1 2-pin plug NECC-L1G8-C1 8-pin plug CDSA-D1-VX Teach pendant NESC-C-D1-5-C1 Cable for teach pendant, e.g. 5 m CAMI-C Interface unit for teach pendant NECC-L1G11-C1 11-pin plug for interface unit Table 9.1 CMXR components, operation with teach pendant Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 48: System Signals

    CECX-D-8E8A-NP-2 is required. This I/O card has a fixed allocation of the system signals for four inputs and four outputs; these cannot be changed. During configuration with the Festo Configuration Tool (FCT), these signals are automatically pre-assigned when the operation mode “Without external control”...

  • Page 49: External Control Via The Digital I/O Interface

    I/O interface. The number of extension modules, such as digital I/O cards, can be increased according to the application. Type Number Meaning CMXR-C1 Central control unit with Ethernet, CAN and memory card CECX-D-8E8A-NP-2 Digital mixed module with eight inputs and eight outputs NECC-L1G2-C1 2-pin plug Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 50: Functions Of The I/O Interface

    Starting and stopping up to 15 different programs Loading and unloading programs Watchdog signal for monitoring the communication Acknowledging errors Disabling teach pendant Drive enable Programmed stop Please refer to separate documentation for a more detailed description of the digital I/O interface. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 51: External Control Via Profibus Dp

    I/O cards, can be increased according to the application. Type Number Meaning CMXR-C1 Central control unit with Ethernet, CAN and memory card CECX-D-8E8A-NP-2 Digital mixed module with eight inputs and eight outputs CECX-F-PB-S-V0 PROFIBUS DPV0 slave module Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 52: System Signals

    Error active Output 1 Reserved Output 2 Automatic operation mode active Output 3 Manual override operation mode active Output 4 Unassigned Output 5 Unassigned Output 6 Unassigned Output 7 Unassigned Input 0 EMERGENCY-OFF Input 1 Permission button Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 53: Functions Of The Profibus Interface

    Table 9.5 Assignment of I/O for system signals for PROFIBUS The four unassigned inputs and four outputs on the I/O card can be used as application signals. The assignment is carried out via the Festo Configuration Tool (FCT). 9.3.2 Functions of the PROFIBUS interface The PROFIBUS interface provides two services of differing levels in their functions: Multi-axis control system profile 1 (MCP 1) with 12-byte control and user data.
  • Page 54 If data have to be changed during the running operation, then you must make sure that the program processing is not impaired. Any solutions to prevent this (e.g. locking) have to be programmed individually in the application. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 55: Higher-Order Control

    The status of the higher-order control (available or active) is displayed on the teach pendant with a symbol in the header line. These states are also transmitted on the interface for the external control system. The following illustration shows how this is represented graphically on the teach pendant. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 56: User Level

    Furthermore, the options are dependent upon the active interface. The following table provides an overview of the active and passive functions of the individual connections and participants. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 57: Integration Example

    Depending on the status of the selector switch, the external control system obtains the higher-order control or gives it back to administration. It is also possible to integrate this higher-order control into a selection of operation modes. E.g.: Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 58 9. Activation method Manual override without higher-order control Manual override with higher-order control Automatic mode To execute automatic mode, the external control system requires the higher-order control, otherwise programs cannot be started, for example. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 59: Coordinate Systems

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

  • Page 60: 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-SY-EN 0805NH...

  • Page 61: 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 Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 62 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 63: World 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 64 Note If the base coordinate system is not offset, then the world coordinate system is equal to the base coordinate system. In this case, it is also called a world coordinate system. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 65: Tool Coordinate System

    CDSA teach pendant. 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-SY-EN 0805NH...
  • Page 66 A4, is displayed for orientation axes instead of the orientation designation A, B, C. The following illustration shows a key assignment on the teach pendant after selecting the tool coordinate system for a limited kinematics system. Axes X, Y and Z of the tool Orientation axis Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 67: Supported Kinematics

    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 tripod and three-dimensional gantry kinematics systems. The axes A1, A2 and A3 form the basic axes of the kinematics systems.

  • Page 68: Orientation Axes (Manual Axes)

    When the orientation axis is rotated, the orientation of the tool follows simultaneously. This means the orientation of the tool coordinate system, whose origin is on the TCP, changes analogously with the orientation of the orientation axis. Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 69 0 degrees degrees If a reference system is activated by programming in FTL (Festo Teach Language), this has an additive impact on the world 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 70: Interpolation Of Orientation Axes

    Cartesian axes X, Y and Z carry out a so-called compensating movement in overlapping fashion to the path movement. This is necessary so that position, orientation and tool adapt to the path. Path of the tool flange Path of the tool Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 71 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 teach pendant. Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 72 320 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-SY-EN 0805NH...

  • Page 73: Electric And Pneumatic Manual Axes

    Auxiliary axes are jointly interpolated by the CMXR multi-axis control system for the Cartesian movement of the basic and manual axes in the form of a point-to-point movement. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 74: Programming The Manual And Auxiliary Axes

    11.1.7 Programming the manual and auxiliary axes Manual and auxiliary axes are moved via a PTP movement on the basis of the internal interpolation. This interpolation type needs a dynamic specification, as is the case for PTP Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 75: 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-SY-EN 0805NH...
  • Page 76 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 world coordinate system is defined by the zero point of axes 1 and 2.
  • Page 77 The repositioning of the linear 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 linear gantry: Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 78: Cartesian Planar Surface Gantry

    1 and 2. The zero position and the direction of rotation of axis 3 must be parameterised such that the tool coor- dinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 79: 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 available space with its three basic axes.
  • Page 80 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-SY-EN 0805NH...
  • Page 81 11. Supported kinematics Festo GDCP-CMXR-SY-EN 0805NH...

  • Page 82: Tripod Kinematics

    (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. Kinematics Number of Number of Axis sequence basic axes manual axes Tripod without axis of rotation Tripod with axis of LLL-R rotation Table 11.4 Configuration of tripod kinematics Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 83 1. The precise alignment is carried out by offsetting the world coor- dinate 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 84: Origin Of The Tool Coordinate System

    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-SY-EN 0805NH...

  • Page 85: Axis Interpolation

    11. Supported kinematics The illustration below shows the Festo tripod kinematics: 11.6 Axis interpolation Kinematics systems for which no internal kinematics model exist can be controlled using pure axis interpolation. This means that all movements can only be carried out as a point-to-point movement (PtP).

  • Page 86: Overview Of All Supported Kinematics Systems

    The illustration below shows examples of Festo linear and rotating axes: Examples of linear axes Examples of rotating axes 11.7 Overview of all supported kinematics systems The table below shows an overview of all kinematics models supported by CMXR-C1. Kinematics name Number of Number of Auxiliary...
  • Page 87 11. Supported kinematics Note The maximum number of axes = Basic axes + manual axes + auxiliary axes = 6. Festo GDCP-CMXR-SY-EN 0805NH...
  • Page 88 Bridge connector ........30 CDSA ............. 26 CDSA-D1-VX teach pendant ..... 8 Central module ........13 CMXR ............. 13 CMXR-C1 multi-axis control system ..8 Data memory ......... 15 Directory structure ......... 16 Emergency stop ........42 File system ..........16 Front panel plug ........

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