Festo CMXR-C1 Assembly And Installation Manual
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Festo CMXR-C1 Assembly And Installation Manual

Festo CMXR-C1 Assembly And Installation Manual

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Beschneiden:
Oben: 61,5 mm
Unten: 61,5 mm
Links:
43,5 mm
Rechts: 43,5 mm
Controller
Description
Assembly and
installation
Type
CMXR-C1
Description
560 322
en 0805NH
[729 232]

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Summary of Contents for Festo CMXR-C1

  • Page 1 Beschneiden: Oben: 61,5 mm Unten: 61,5 mm Links: 43,5 mm Rechts: 43,5 mm Controller Description Assembly and installation Type CMXR-C1 Description 560 322 en 0805NH [729 232]...
  • Page 3 Edition ____________________________________________________________ en 0805NH Designation ________________________________________________ GDCP-CMXR-HW-EN (Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2007) Internet: http://www.festo.com E-mail: service_international@festo.com The reproduction, distribution and utilisation of this document, as well as the communica- tion of its contents to others without explicit authorisation, is prohibited. Offenders will be held liable for compensation of damages.
  • Page 4 CMXR multi-axis control system File name: File saved at: Consec. no. Description Index of revisions Date of amendment en 0805NH 30.06.08 Trademarks Microsoft® Windows® Registered trademark of Microsoft Corporation PROFIBUS, PROFIBUS-DP® Registered trademarks of Profibus International (P.I.) Festo GDCP-CMXR-HW-EN en...

  • Page 5: Table Of Contents

    Dismantling peripheral modules ............28 Guidelines for the installation ................29 H-rail mounting ....................30 Dismantling ....................... 34 Installation of the CMXR-C1 central control unit ..........35 General instructions on installation ..............35 Selecting the power unit ..................35 Instructions on wiring ..................36 Display, connecting and operating elements on the central control unit .....
  • Page 6 Technical appendix ..................... 61 Technical data ....................62 A.1.1 General technical data ................ 62 A.1.2 CMXR-C1, centralcontrol unit .............. 63 Accessories ....................... 64 Power consumption of components and modules ..........65 Instructions on EMC-compliant wiring ..............66 Index ........................68...

  • Page 7: Intended Use

    Contents and general safety instructions Intended use The CMXR-C1 multi-axis control system is intended for fitting into a control cabinet. Product version Description CMXR-C1 robot In this product version *), the device's intended use is as a multi-axis control system control with robotic technology functions.

  • Page 8: Areas Of Application And Approval By Authorities

    A distinction is made be- tween the following danger warnings: Notes on the use of this manual Warning ... means that failure to observe this instruction may result in seri- ous personal injury or damage to property. Festo GDCP-CMXR-HW-EN en...
  • Page 9 ... means that failure to observe this instruction may result in dam- age to property. The following pictogram marks passages in the text which describe activities using elec- trostatically sensitive devices. Electrostatically sensitive devices: incorrect handling can result in damage to components. Festo GDCP-CMXR-HW-EN 0805NH...
  • Page 10 Pictograms Information: Recommendations, tips and references to other sources of informa- tion. Accessories: Information on necessary or useful accessories for the Festo product. Environment: Information on the environmentally-friendly use of Festo products. Text designations The bullet indicates activities which may be carried out in any order.

  • Page 11: Safety Precautions

    The documentation can not take every conceivable application into consideration. Should you need any more information, then please ask for this at your nearest Festo subsidiary. During installation, commissioning and maintenance work, please observe the associated documents of your multi-axis control system.
  • Page 12 Additional external measures, which assure a safe operating status of the overall sys- tem even in the event of a fault, must be put in place anywhere where faults occurring in the control system could result in injuries or extensive material damage. Festo GDCP-CMXR-HW-EN en...

  • Page 13: Target Group

    Service Please consult your local Festo repair service if you have any technical problems. Contents of this manual This documentation describes the following: Design and assembly of the CMXR-C1 central control unit...

  • Page 14: Documentation On The Cmxr-C1 Control System

    Documentation on the CMXR-C1 control system Type *) Title Description Electronics CMXR multi-axis control This manual: provides an overview of the structure, description system components and assembly of the CMXR multi-axis con- troller; installation of the central module and the op- tional modules CECX-D-...digital module...

  • Page 15: General Product-Specific Terms And Abbreviations

    They can be read out for service purposes. Terminating resistor Resistor for minimizing signal reflections at the fieldbus. Terminating resistors must be installed or switched in at the end of bus segment cables. Table 0.4 Product-specific terms and abbreviations Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 16: Cmxr System Overview

    Used for constructing a gantry robot, a linear or tripod robot. In this context, the device takes over the follow- ing tasks: – The control of selected Festo stepping motor and servo motor controllers, via CAN bus X6 (Festo Drive- Bus) –...
  • Page 17 1. CMXR system overview Product version of CMXR multi-axis control system The device has two CAN interfaces in this version. Drives - Festo stepper motors or servo motors - can be connected via CAN interface (X6). Communication with the drives occurs on the basis of CANopen profile DS402 via Festo DriveBus.

  • Page 18: Structure Of The Device

    – Slots for optional modules (CAN, Ethernet and RS-232-C inter- face) – CAN interface X6 for servo axes – Bus connection for peripheral modules – Slot for Compact Flash memory card – USB interface Table 1.2 Central control unit Festo GDCP-CMXR-HW-EN en...

  • 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 CMXR-C1 central control unit: Optional modules Description ELECTRICAL INTERFACE Ethernet connection X5 for the Ethernet controller integrated in the central...
  • Page 20 4 analogue current outputs 0 … 20 mA, resolution: 12 bit INPUT/OUTPUT MODULE Analogue input/output module CECX-A-4E4A-V – 4 analogue voltage inputs differential +/-10 V or 0 V - Uref, resolution: 14 bit 4 analogue voltage inputs +/-10 V, resolution: 12 bit Festo GDCP-CMXR-HW-EN en...

  • Page 21: Operator Units For The Modular Control System

    The CDSA-D1-VX handheld control is available for the CMXR multi-axis control system for programming and monitoring: Operation and display Description OPERATOR UNIT Used for operating, observing and programming the CMXR-C1 multi-axis con- CDSA-D1-VX trol system. Table 1.5 Operator unit Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 22: Assembly

    7 W (see section A.3). Peripheral modules of the same type must be set to different module addresses (see section 2.2.2). Peripheral modules with varying type designation (e.g. CECX-D-16E and CECX-D-14A-2) can have the same module addresses. Festo GDCP-CMXR-HW-EN en...

  • Page 23: Fitting And Removing Optional Modules

    Do not touch the electrical contacts of the modules. Observe the handling specifications for electrostatic sensitive devices. Protecting the components against discharges of static elec- tricity: Discharge yourself of static electricity before fitting or removing the modules. Festo GDCP-CMXR-HW-EN 0805NH...
  • Page 24 1. Switch off the operating and load voltage supplies. 2. Carefully press in the mounting lever and pull the module out of the slot. 3. Close off the free slots using the blind plate. This ensures the protection (against acci- dental contact) of ESD-sensitive parts. Festo GDCP-CMXR-HW-EN en...

  • Page 25: 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 before prior to the device being assem- bled. The bus plug is located under the top cover (also see description of peripheral mod- ule). Festo GDCP-CMXR-HW-EN 0805NH...
  • Page 26 2. Check the address setting and, if necessary, set it using a suitable screwdriver (mod- ules with the same type designation need different module addresses). 3. Reattach the side plate (to protect against contamination and damage caused by elec- trostatic discharge when touched). Festo GDCP-CMXR-HW-EN en...
  • Page 27 4. To assemble more peripheral modules, repeat points 2 and 3. 1 Cover (on the right side) 2 Bus plug 3 Upper mechani- cal locking mecha- nism 4 Lower mechani- cal locking mecha- nism Fig. 2.5 Assembling a peripheral module Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 28: Dismantling Peripheral Modules

    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 mechani- cal locking mecha- nism 2 Lower mechani- cal locking mecha- nism Fig. 2.6 Dismantling a peripheral module Festo GDCP-CMXR-HW-EN en...

  • Page 29: Guidelines For The Installation

    Leave sufficient distance for the wiring and cooling system. Mounting dimensions and clearances A clearance of 30 mm, above and below the modules, must be maintained for the air circu- lation. Fig. 2.7 Dimensions and mounting clearances Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 30: H-Rail Mounting

    To safeguard the modules from slipping or shaking loose due to vibrations: Attach an end support on the H-rail, both to the left and right side. The device is intended for fitting on an H-rail (mounting rail to EN 60715). Festo GDCP-CMXR-HW-EN en...
  • Page 31 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. 1 Min. screw spacing 2 H-rail Fig. 2.8 Maximum permissible screw spacing for H-rail mounting Festo GDCP-CMXR-HW-EN 0805NH...
  • Page 32 3. Press the lower half of the device onto the H-rail. 4. Lock all H-rail locking levers one after the other (see Fig.). 5. Secure the device with end supports (device end terminals) (see the following sec- tion). Festo GDCP-CMXR-HW-EN en...
  • Page 33 Securing with end supports (device end terminals) To safeguard the modules from slipping or shaking loose due to vibrations, attach an end support on the H-rail, both on the right and left. 1 End supports Fig. 2.10 Securing the device with end supports Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 34: Dismantling

    This is how you dismantle the device: 1. Switch off the operating and load voltage supplies. 2. Disconnect all cable connections on the device. 3. Pull out all H-rail locking levers (unlock). 4. Remove the device from the H-rail. Festo GDCP-CMXR-HW-EN en...

  • Page 35: Installation Of The Cmxr-C1 Central Control Unit

    3. Installation of the CMXR-C1 central control unit Installation of the CMXR-C1 central control unit General instructions on installation Caution Sudden unexpected movements of the connected actuators can cause injury to human beings and damage to property. Before undertaking installation or maintenance work, switch off the operating voltage supply.

  • Page 36: Instructions On Wiring

    5.08 mm, are required for the connection. Only use the appropriate plugs that guarantee a secure push-in connection. Plugs from the Festo range are appropriate (see Appendix A.2). Cable specifications for Festo plugs (see Appendix A.2): Cable cross section min: 0.2 mm²...
  • Page 37 3. Installation of the CMXR-C1 central control unit Supply cables Supply cable Description Cable type Unscreened cable. The cable cross section must be adapted to the module's power consumption. Plug type Plug with grid dimension 5.08 mm (see Appendix A.2).
  • Page 38 The screened connection was tested with the following cable type: A cable with the following features must be used for the connection: Data cables twisted in pairs and screened Surge impedance of 100 Ohm +/- 15%). An additional screening and earthing connection is not necessary. Festo GDCP-CMXR-HW-EN en...
  • Page 39 3. Installation of the CMXR-C1 central control unit CAN cable In CMXR, the central control unit can be connected to other bus slaves via a CAN cable. 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).
  • Page 40 9-pin D-SUB plug with completely conductive housing Table 3.8 Specification Cable for incremental encoder input The cable screening must be connected flush with the plug's screen housing. An addi- tional screening and earthing connection is not necessary. Festo GDCP-CMXR-HW-EN en...

  • Page 41: Display, Connecting And Operating Elements On The Central Control Unit

    3. Installation of the CMXR-C1 central control unit Display, connecting and operating elements on the central control unit The following display, connecting and operating elements can be found on the central control unit: 1 7-segment dis- play 2 Power LED (top)

  • Page 42: Connecting The Operating Voltage

    2 External fuse 3 Operating volt- age connection (X2) Fig. 3.4 Connection diagram for supplying +24 V supply (example) Power supply for the peripheral modules Detailed instructions on this can be found in the manual for the relevant module. Festo GDCP-CMXR-HW-EN en...

  • Page 43: Earthing The Cmxr Multi-Axis Control System

    3. Installation of the CMXR-C1 central control unit 3.4.2 Earthing the CMXR multi-axis control system The correct earthing for the device is important for faultless operation and electrical safety. For earthing, you must produce a low-impedance connection between the device's earth terminal and the earth potential. A low-impedance connection can be achieved by using a, where possible, short, low-impedance cable and a large surface area contacting.

  • Page 44: Rs 485 A Interface (Reserved For Expansion)

    These rotary switches are planned for later expansions (factory setting = 0). 3.4.6 CAN interface X6 For the servo controller connection, a 9-pin CAN connection is located on the central con- trol module (Sub-D plug). This connection is used as an incoming and continuing field bus cable. Festo GDCP-CMXR-HW-EN en...
  • Page 45 3. Installation of the CMXR-C1 central control unit Only use the appropriate sockets that guarantee a secure push-in connection. Sockets from the Festo range are appropriate (see Appendix A.2). CAN (X6) connection Signal Meaning n.c. Not connected CAN–L CAN Bus Low...

  • Page 46: Can Interface X4 (Optional Module Cecx-F-Co)

    (e.g. tool data and recipes), dependent on the application used. The memory card can not be used as a removable medium, because system programs are also stored on it. It is recommended that the Festo memory card, CAMC-CMXR-C1-CF-256M, be used. The following memory cards are compatible:...
  • Page 47 3. Installation of the CMXR-C1 central control unit Memory capacity Type (manufactured by Toshiba) Type (manufactured by Simple Tech) 128 MB THNCF128MDGI SLCF128JU 256 MB THNCF256MDGI SLCF256JU 512 MB THNCF512MDGI SLCF512JU 1 GB THNCF1G02DGI SLCF1GBJU Table 3.11 Compatible memory cards...
  • Page 48 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. 1 Status LED for the memory card 2 Memory card Fig. 3.8 Inserting the memory card Festo GDCP-CMXR-HW-EN en...
  • Page 49 3. Installation of the CMXR-C1 central control unit Removing the memory card 1. Switch off the supply voltage. 2. Carefully press the ejection button using a suitable object (e.g. blunt pencil). The card will then be ejected by a few millimetres.

  • Page 50: Instructions On Commissioning

    An error display will be activated if errors are detected during the running up. Errors are displayed parallel to the states. Here, the status is initially displayed and then the two- or three-digit error number (e.g. "-,0,-,E,1,0") alternately. Every character is dis- played for one second. Festo GDCP-CMXR-HW-EN en...
  • Page 51 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, then this will now be loaded. Table 4.1 Display during the running up of the firmware Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 52: Operating States

    In this operating status: – the application programs are processed, the process data is exchanged according to the configuration. – the process output data are updated (Unfreeze IO). – the visualisation application is loaded. Table 4.3 Operating states Festo GDCP-CMXR-HW-EN en...

  • Page 53: Behaviour In The Event Of Module Errors

    Report files or delete Retain data. Caution Operational errors in conjunction with the CTRL key can cause sys- tem faults and lead to loss of data. Only press the CTRL key upon being instructed to do so by Festo service staff. Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 54: 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-HW-EN en...

  • Page 55: 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-HW-EN 0805NH...

  • Page 56: Error Codes

    This means that a first diagnosis is possi- ble without reading out the status report files. Error displays not listed are intended for the support team at Festo. Running-up errors: Error during Power-on self-test...
  • Page 57 Too many peripheral modules connected Reduce the number of modules connected in series in series Error handling More detailed information on handling the errors in your CMXR multi-axis control system can be found in the system manual. Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 58: Maintenance And Care

    Maintenance and care The device may only be opened by qualified specialists and main- tenance work may only be carried out if expressly permitted by Festo. Other manipulations on the device result in the guarantee being invalidated. Changing the battery The central control unit is equipped with a real-time clock (RTC).

  • Page 59: Cleaning

    (insert battery) 2 Position 2 (battery engages) 3 Battery (behind the cover) 4 Right-hand side of housing of cen- tral control unit Fig. 6.1 Position of the battery Cleaning Clean the device, if required, with a soft cloth. Festo GDCP-CMXR-HW-EN 0805NH...
  • Page 60 Festo GDCP-CMXR-HW-EN en...

  • Page 61: Technical Appendix

    A.1. Technical data Technical appendix Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 62: Technical Data

    IEC 60068-2-6-FC; 3.5 mm path at 5 ... 9 Hz, 1 g acceleration at 9 ... 150 Hz Insensitivity test against shock as per IEC 60068-2-27; max. 15 g, 11 ms (half sine) Table A.1 General technical data Festo GDCP-CMXR-HW-EN en...

  • Page 63: Cmxr-C1, Centralcontrol Unit

    A.1. Technical data A.1.2 CMXR-C1, centralcontrol unit Type CMXR-C1 Product weight Control elements CTRL key Status displays – 7-segment display – Power LED (green) CPU data 400MHz processor, 64 MB DRAM Serial interface RS 485 (cannot be used currently) – Connection technology Sub-D pin, 9-pin –...

  • Page 64: Accessories

    Accessories Please select the appropriate accessories from our catalogue www.festo.com/catalogue Festo GDCP-CMXR-HW-EN en...

  • Page 65: Power Consumption Of Components And Modules

    1 x CECX-C-ET: 0.5 W 1 x CECX-D-8E8A-NP-2: 0.4 W 2 x CECX-D-16E 0.8 W Total: 1.7 W The complete device (incl. central control unit) would have a power consumption of 8 W + 1.7 W = 9.7 W Festo GDCP-CMXR-HW-EN 0805NH...

  • Page 66: Instructions On Emc-Compliant Wiring

    Use toothed discs when connecting 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-HW-EN en...
  • Page 67 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-HW-EN 0805NH...

  • Page 68: Index

    Index Air-conditioning and venting ....28 Mounting ..........28 Areas of application and approval by Mounting clearances ......27 authorities .......... 6 Mounting dimensions ......27 Battery ..........56 Operating states ......... 50 Optional modules ........ 17 Output module ........18 CAN bus terminal .........

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