Festo CMXR-C2 Assembly And Installation Manual
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Festo CMXR-C2 Assembly And Installation Manual

Festo CMXR-C2 Assembly And Installation Manual

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Controller
Description
Assembly and
installation
Type
CMXR-C2
Description
571 694
en 1002NH
[751 509]

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Summary of Contents for Festo CMXR-C2

  • Page 1 Controller Description Assembly and installation Type CMXR-C2 Description 571 694 en 1002NH [751 509]...
  • Page 3 Edition __________________________________________________ en 1002NH Designation ____________________________________ GDCP-CMXR-C2-HW-EN (Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2010) 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. Offenders shall be liable for damages.
  • Page 4 Index of revisions Author: Name of manual: Multi-axis control system CMXR-C2 File name: File saved in: Consec. no. Description Revisions index Date of revision de 1002NH 31/03/2010 Trademarks ® ® ® ® ® Microsoft Windows , CANopen , CiA and PROFIBUS are registered trademarks of the respective trademark owners in certain countries.
  • Page 5 Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 6: Table Of Contents

    Target group ......................... 13 Service ........................13 Contents of this description ..................13 Documentation on the multi-axis control system CMXR-C2 ........... 14 Required software versions ..................14 General product-specific terms and abbreviations ............15 CMXR system overview ..................16 Product versions ....................16 Structure of the device ..................
  • Page 7 Changing the battery ..................54 Cleaning ......................55 Technical appendix ..................... 57 Technical data ....................57 A.1.1 General technical data ................ 57 A.1.2 CMXR-C2, centralcontrol unit .............. 58 Accessories ....................... 58 Instructions on EMC-compliant wiring ..............58 Index ........................61 Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 8: Intended Use

    Use only the modules in the CECX series for setting up the modular multi-axis control system CMXR-C2. The use of modules from this series in combination with modules from other series is impermissible. The products or system components described may only be used for the applications set out in the technical description and only in combination with the recommended or permitted external devices.

  • Page 9: Range Of Application And Certifications

    Only class 2 power sources may be used for the electrical supply (“only for use in Class 2 circuits”). The modules for the multi-axis control system CMXR-C2 described here are “open type equipment” and must therefore be installed into a control cabinet.
  • Page 10 Pictograms Information: Recommendations, tips and references with regard to other sources of information. Accessories: Information on necessary or useful accessories for the Festo product. Environment: Information on the environmentally-friendly use of Festo products. Text designations Bullet points indicate activities that may be carried out in any sequence.

  • Page 11: Safety Instructions

    The documentation cannot take every conceivable application into consideration. Should you require additional information, then please ask for this at your nearest Festo branch. During installation, commissioning and maintenance work, please observe the documen- tation appurtenant to your multi-axis control system.
  • Page 12 Additional external measures, which guarantee a safe operating status of the entire system even in the event of a fault, must be put in place anywhere, where faults occurring in the control system could result in personal injuries or extensive material damage. Festo GDCP-CMXR-C2-HW-DE 1002NH...

  • Page 13: Target Group

    Service Please consult your local Festo repair service if you have any technical problems. Contents of this description This documentation describes the following: Design and assembly of the CMXR-C2 central control unit...

  • Page 14: Documentation On The Multi-Axis Control System Cmxr-C2

    Handheld terminal CDSA Software manual for the handheld terminal CDSA Online help for FCT FCT with CMXR PlugIn software package Table 0.2: Documentation on the multi-axis control system CMXR-C2 Required software versions This documentation refers to the following versions: Hardware/software Firmware version Multi-axis control system CMXR-C2 from V 1.0...

  • Page 15: General Product-Specific Terms And Abbreviations

    They can be read out for service purposes. Terminating resistor Resistor for minimising signal reflections at the fieldbus. Terminating resistors must be installed or connected at the end of bus segment cables. Table 0.4: Product-specific terms and abbreviations Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 16: Cmxr System Overview

    Used for controlling a gantry robot, linear robot or tripod robot. In this context, the device assumes the following functions: Control of selected Festo stepper motor and servo motor controllers via CAN-Bus [X6] (Festo DriveBus) Control of peripheral equipment (digital, analogue, position encoder) Expanding the device with further modules is permissible.
  • Page 17 1. CMXR system overview Multi-axis control system CMXR-C2 product version The device has two CAN interfaces in this version. Drives – either Festo stepper motors or servo motors – can be connected via the CAN interfaces [X6]. Communication with the drives occurs on the basis of the CANopen profile DS 402 via Festo DriveBus.

  • Page 18: Structure Of The Device

    If necessary, display and operating devices. 1.2.1 Central control unit The central control unit is the core component of the multi-axis control system CMXR-C2. It provides the required resources for processing the user programs (processor, main memory, etc.). The central control unit offers 3 slots for optional modules, which offer further ports for interfaces of the central control unit.

  • Page 19: Optional Modules

    1. CMXR system overview 1.2.2 Optional modules Optional modules can be used to increase the communication ability of the central control unit. The optional modules are components of the central control unit CMXR-C2: Optional modules Description ETHERNET INTERFACE Ethernet connection [X5] for the Ethernet controller integrated in the central...

  • Page 20: Assembly

    Guidelines on the CMXR-C2 device configuration Guidelines on the device configuration for the multi-axis control system CMXR-C2 The multi-axis control system CMXR-C2 is supplied pre-assembled ex-works. You may adapt the device to your requirements by adding or removing modules.

  • Page 21: Fitting And Removing Optional Modules

    Sub-assemblies and modules may be damaged if they are not handled correctly. Do not touch any components. Observe the handling specifications for electrostatically sensitive devices. To protect the modules against discharges of static electricity: Discharge yourself of static electricity before fitting or removing the modules. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 22: Assembling Peripheral Modules

    The address switch is normally located on the right-hand side of the peripheral modules, under the bottom cover. The address must be set prior to the device being assembled. The bus plug is located under the top cover (also see description of peripheral module). Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 23 The central control unit always takes up the outer left position within the multi-axis control system CMXR-C2. Peripheral modules are arranged to the right of this and connected with one another via bus plugs. They are then held in place with two mechanical locking mechanisms.

  • Page 24: Dismantling Peripheral Modules

    1. Switch off the operating and load voltage supplies. 2. If necessary, remove the device from the H-rail (for disassembling the device, see section 2.5). 3. Carefully press (unlock) the upper and lower mechanical locking mechanisms on the left (see Fig.). Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 25 5. Reattach the bus plug's right side plate to the device (to protect against contamination and damage caused by electrostatic discharge when touched). 1 Upper mechanical locking mechanism 2 Lower mechanical locking mechanism Fig. 2.4 Dismantling a peripheral module Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 26: Guidelines For The Installation

    The upper and lower sides of the module are equipped with ventilation slots for heat dissipation. When the permissible ambient temperature is maintained there is no need for an external fan. It is, however, absolutely vital that the ventilation slots are kept clear. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 27: H-Rail Mounting

    The device is intended for fitting on an H-rail (DIN mounting rail as per EN 60715). When mounting the H-rail, maintain the max. permissible screw spacing. For reasons of stability, the screw spacing must not exceed 120 mm, as shown in the graphic. Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 28 2. Assembly 1 Screw spacing 2 H-rail Fig. 2.6 Maximum permissible screw spacing for H-rail mounting Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 29 5. Secure the device with end supports (device end terminals) (see the following section). Securing with end supports (device end terminals) To safeguard the modules from slipping or shaking loose due to vibrations, attach an end support to the H-rail on both the right and left sides. Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 30 2. Assembly 1 End supports Fig. 2.8 Securing the device with end supports Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 31: Dismantling

    This is how you dismantle the device: 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 1002NH...

  • Page 32: Installation Of The Central Control Unit Cmxr-C2

    3. 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 33: Instructions On Wiring

    Recommendation: Use regulated power supply units. When selecting the power supply units, check that they have sufficient output. Instructions on wiring With the multi-axis control system CMXR-C2, you do not have to observe any type of special wiring. Instructions on EMC-compliant wiring can be found in the Appendix A.3.
  • Page 34 3. 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 (see Appendix A.2). Table 3.2 Specification for I/O cables (digital) Recommendation: Divide the connector blocks in such a way that associated signals are present on the same plug.
  • Page 35 Screened, twisted pair data transmission lines Surge impedance of 100 Ohm +/- 15%). An additional screening and earthing connection is not necessary. CAN cable In CMXR-C2, the central control unit can be connected to other bus stations via a CAN cable. Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 36 3. Installation of the central control unit CMXR-C2 CAN cable Description Cable type Twisted, screened two-wire cable with signal earth. The CAN connection must be made using a suitable cable. We recommend a data cable as set out in ISO/DIS 11898 (CAN standard). A multi-strand, twisted cable can also be used.
  • Page 37 3. Installation of the central control unit CMXR-C2 The CAN interface X6 is set permanently to 1000 kbit/s. The length specifications shown in the table are maximum values in ideal conditions. The cable length possible in practice is reduced with poor screen contact, high interference, branch lines and poor cable quality.

  • Page 38: Display, Connection And Control Elements On The Central Control Unit

    3. Installation of the central control unit CMXR-C2 Display, connection and control elements on the central control unit The following display, connection and control elements can be found on the central control unit: 1 7-segment display 2 Power LED (top)

  • Page 39: Connecting The Operating Voltage

    3. Installation of the central control unit CMXR-C2 3.4.1 Connecting the operating voltage Caution Damage to components! Provide the load voltage and the operating voltage supply as a circuit with limited energy as per IEC/DIN/EN 61131-2, or always make sure there is a fuse protection of maximum 10 A (see graphic “Block circuit diagram for supplying the +24 V...

  • Page 40: Rs-232-C Interface

    3. Installation of the central control unit CMXR-C2 1 Earth terminal (threaded bush M4) Fig. 3.5 Earth terminal for the device 3.4.3 RS-232-C interface This interface can be used with CoDeSys. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 41: Usb Interfaces

    Fig. 3.6 Rotary switches on the central module (reserved for subsequent expansions) 3.4.4 USB interfaces The modular control system CMXR-C2 includes one USB Master. The USB port [X8] can be used to transfer data and programmes to and from the multi-axis controller.
  • Page 42 3. Installation of the central control unit CMXR-C2 CAN [X6] connection Signal Meaning n.c. Not connected CAN-L CAN bus low SGND Signal ground TERM1 TERM1 *) TERM1 TERM1 *) Optional GND CAN-H CAN bus high TERM2 TERM2 *) TERM2 TERM2 *)

  • Page 43: Can Interface [X4] (Optional Module Cecx-F-Co)

    3. Installation of the central control unit CMXR-C2 3.4.7 CAN interface [X4] (optional module CECX-F-CO) As per CAN interface [X6] (see section 3.4.6). 3.4.8 Ethernet interface [X5] (optional module ETHERNET) The central control unit is equipped at the factory with the optional module ETHERNET as standard.

  • Page 44: 3.4.10 Using Compact Flash Memory Cards

    Instructions on wiring can be found in section 3.3. 3.4.10 Using Compact Flash memory cards To operate the multi-axis control system CMXR-C2, a Compact Flash memory card with the corresponding firmware and application (where necessary) must be inserted in the slot.
  • Page 45 3. Installation of the central control unit CMXR-C2 Note Only approved memory cards may be used. Inserting the memory card This is how you insert the memory card: 1. Switch off the supply voltage. 2. Using only slight pressure, carefully insert the memory card in the direction of the arrow until it engages.
  • Page 46 3. Installation of the central control unit CMXR-C2 Additional instructions on handling the memory card can be found in the system description for the multi-axis control system CMXR-C2. 1 Memory card 2 Ejection button Fig. 3.9 Removing the memory card...

  • Page 47: Instructions On Commissioning

    4. Instructions on commissioning Instructions on commissioning General instructions for commissioning The multi-axis control system CMXR-C2 is configured and commissioned using the appropriate software. Information on this can be found in the online help for the software as well as in the associated system description.
  • Page 48 Running up of the firmware is completed. The CP module is now ready to operate. If an application is already present on the memory card, this will now be loaded. Table 4.1 Display during running up of the firmware Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 49: Operating States

    (no path data available) the exchange of process data is started, the output data are set to zero (digital and analogue outputs: 0 V, drives in the “Switch-on lock” status). The inputs from other I/O modules are not applied. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 50: Behaviour In The Event Of Module Errors

    Caution Operational errors in conjunction with the CTRL key can cause system faults and lead to data loss. Only press the CTRL key upon being instructed to do so by Festo service staff. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 51: Diagnostics And Error Handling

    Lights up briefly when a CAN message is sent Table 5.3 CAN status LEDs 5.2.3 Ethernet status LEDs A Link status LED (green) and an Activity LED (yellow) are located on the Ethernet socket (RJ-45). They light up when telegrams are sent or received. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 52: 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 the 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 1002NH...

  • Page 53: 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 errors: Errors during Power-on self-test...

  • Page 54: Maintenance And Care

    1. To avoid data loss, the power supply may not be disconnected while changing the battery. 2. Remove the battery holder. 3. Remove the old battery and insert the new one. Pay attention to the polarity. 4. Re-insert the battery holder into the CMXR-C2 until it clicks into place. Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 55: 6.2 Cleaning

    6. Maintenance and care 1 Insert battery 2 Insert battery holder Fig. 6.1 Position of the battery 6.2 Cleaning If required, clean the device with a soft cloth. Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 56 6. Maintenance and care Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 57: Technical Appendix

    IEC 60068-2-6-FC; 3.5 mm displacement at 5 ... 9 Hz, 1 g acceleration at 9 ... 150 Hz Resistance to shock as per IEC 60068-2-27; max. 15 g, 11 ms (half sine) Table A.1 General technical data Festo GDCP-CMXR-C2-HW-EN 1002NH...

  • Page 58: Cmxr-C2, Centralcontrol Unit

    A. Technical appendix A.1.2 CMXR-C2, centralcontrol unit Type CMXR-C2 Dimensions (W x H x D) [mm] 270 x 120 x 100 Product weight 1270 Control elements CTRL key Status displays 7-segment display Power LED (green) CPU data 400MHz processor, 256 MB DRAM...
  • Page 59 Use toothed discs when fitting painted parts or parts with an unclean surface; where possible, on all connecting points. Just earthing an electrical system is an insufficient EMC measure and is mainly used for protection against electric shock if conductive parts are touched. Festo GDCP-CMXR-C2-HW-EN 1002NH...
  • Page 60 Is cable screening connected to the 0 V terminal in the analogue module via cable, to screen 50 Hz fields? Fundamentally, for all of the device's interfaces, you do not have to observe any type of special wiring. Festo GDCP-CMXR-C2-HW-DE 1002NH...

  • Page 61: Index

    Service ..........12 Ethernet connection ......42 Setting the module address ....21 Slot ..........43, 46 Status report ........14 Fieldbus interface ........ 18 Target group ........12 Inserting the memory card ....44 Intended use ......... 7 Festo GDCP-CMXR-C2-HW-EN 1002NH...

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