Festo EXCM-30 -PF Series Manual
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Festo EXCM-30 -PF Series Manual

Festo EXCM-30 -PF Series Manual

Planar surface gantry with controller
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Planar surface gantry with
controller
EXCM-30/-40-...-PF
Description
Commissioning
8059530
1603
[8059532]

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Summary of Contents for Festo EXCM-30 -PF Series

  • Page 1 Planar surface gantry with controller EXCM-30/-40-...-PF Description Commissioning 8059530 1603 [8059532]...
  • Page 2 • Activities that may be carried out in any order 1. Activities that should be carried out in the order stated – General lists è Result of an action/References to more detailed information Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 3: Table Of Contents

    ........... . Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 4 ..........Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 5 ..............Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 6: Requirements For Product Use

    – within the limits of the product defined by the technical data Note In the event of damage caused by unauthorised manipulation or other than intended use, the guarantee is invalidated and the manufacturer is not liable for damages. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 7: Foreseeable Misuse

    CMXH controller Description Use of the STO safety function (Safe torque off ) CMXH Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH All available documents for the product è www.festo.com/pk. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 8: Range Of Application And Certifications

    EN 62061:2005-04 Tab. 1.3 Standards specified in the document Certificates and the declaration of conformity for this product (è www.festo.com). Obligations of the machine manufacturer The product is an incomplete machine. Commissioning of the product is prohibited until it has been established that the machinery in which the product will be installed is in compliance with the provi­...

  • Page 9: Overview

    Overview Overview General characteristics – FCT-compatible: configuration, parameterisation and backup via Festo Configuration Tool (FCT) – Energy-optimised operation and low heat development – Separation between load and logic voltage – LED-display components for representation of device and communication status – 7-segment display for representation of equipment statuses, errors and warnings System overview Ì...

  • Page 10: Function And Application

    The controller has numerous monitoring functions, such as: – monitoring of logic and load voltage – current monitoring/I²t monitoring – software end-position detection – standstill and following error monitoring – short circuit detection Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 11: Switch-Off Functions Of The Controller

    If the External Stop - ESTOP switch-off function is requested, the motors are decelerated with the quick stop braking ramp (Quick Stop) until they are at rest. After standstill is reached, the brake control is activated and the output stage switched off. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 12: Safety Function Safe Torque Off - Sto

    After the fixed stop is reached, a movement to zero is automatically performed in order to reach a permanently defined and unchangeable minimum distance from the mechanical stop. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 13: Brake

    – Avoid immediate blocking of the drive during movement – Before blocking the drive, make sure that the drive is stopped, such as by resetting STOP (control byte CCON bit 1) or by triggering an external stop (input ESTOP at [X4]) Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 14 “Output stage off ”), the brake remains released, as the signal for releasing the brake is present: – Leave the signal at “brake active” (0 V at the input RB). – Release the brake only in a concrete case of need Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 15: Operating Modes Of The Controller

    – If positioning is begun, it is always continued to the end in all operating modes. – A new positioning job is ignored before the end of a started positioning. – Records can only be parameterised via the Festo Configuration Tool (FCT) (è 4.5.1 Record Table).

  • Page 16: Measurement System

    The controller works in the range of the drive controller with encoder increments (EINC). In contrast, so-called interface increments (SINC) are used at all user interfaces and in the field of internal data management. 1 mm = 1000 SINC 1 EINC L 19 μm Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 17: Selection Of The Coordinate System

    Axis zero point at corner point 3 Fig. 2.7 Axis zero point at corner point 4 Establishment of the axis zero point is performed exclusively through the Festo Configur­ ation Tool (FCT) (è 4.4 Configuration). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 18: Dimension Reference Points

    Offset BZ to AZ (fixed) EXCM-30: 1.4 mm EXCM-40: 2.0 mm Offset AZ to PZ Offset PZ to TP/AP Offset AZ to SLN Working stroke Offset AZ to SLP Tab. 2.1 Explanation of dimension reference points Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 19: General Structure Of The Controller

    The controller has three interfaces in order to communicate with a higher-order controller: – I/O interface – CANopen interface – Ethernet interface The active control interface is established via the Festo Configuration Tool (FCT) (è 4.4 Configuration). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 20: Led Display Components

    Flashes green (– – – …) (uncontrolled status) Illuminated red Error is present Warning is present or controller identi­ Flashes red (–– –– –– …) fication is active (è 4.5.4 Controller identification) Tab. 2.2 LED indicator - device Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 21 (node guarding). Tab. 2.4 LED indicator COM - CANopen operation COM - CVE operation Status Meaning (green/yellow/red) Communication active. Flashes green (– · – · …) Tab. 2.5 LED indicator COM - CVE operation Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 22: 7-Segment Display

    7-segment display, it may be the case that not all malfunctions are displayed. • Read the diagnostic memory (è 6.1 Diagnostic memory) in order to have all the re­ corded messages displayed. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 23: Emergency Stop Concept

    • As part of your emergency stop concept, check which measures are required for your machine/system in case of an emergency stop. • Observe the contents of this documentation on the switch-off functions (è 2.5 Switch-off functions of the controller). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 24: Electrical Installation

    To ensure compliance with the IP protection class (if required): • Note that the specified IP degree of protection is only achieved if all pins are as­ signed. Observe the tightening torques in the documentation of the cables and plugs used. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 25: Connections And Interfaces

    Connections on the front Encoder motor 1 Voltage supply motor 2 Screening motor 1 Screening motor 2 Voltage supply motor 1 Encoder motor 2 Reserved [X6] Fig. 3.2 Connections on the back cover Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 26: Power Supply [X1]

    (galvanically separated from the reference potentials) to comply with EMC security. Connection Function Functional earth Tab. 3.2 Functional earth connection Note • Connect the functional earth connection with low impedance to the earth potential to avoid electromagnetic interferences. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 27: I/O Interface [X2]

    Low signal 0 V (GND) Reference potential – Not used Screening Screened connection – Not used CAN-H High signal – Not used – Not used Tab. 3.4 Connection, CANopen interface [X3] to the controller Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 28: Switch-Off Functions Interface [X4]

    “Output stage off ”), the brake remains released, as the signal for releasing the brake is present: – Leave the signal at “brake active” (0 V at the input RB). – Manually release the brake only in a concrete case of need Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 29: Ethernet Interface [X5]

    BR– = GND, BR+ is switched (+24 V) 1) Next to the motor connections is an M4 threaded pin to connect the screening of the motor cable through a cable lug Tab. 3.7 Motor connection Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 30: Commissioning With The Fct

    Interruption of ongoing tasks due to inadequate load voltage. • Make sure that the tolerance of the load voltage at the input of the controller is complied with under full load (è A.1.4 Electrical characteristics). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 31: Network Connection Via Ethernet

    Connection to PC/laptop 4.2.2 Network settings Network settings upon delivery Parameter Value 192.168.178.1 DHCP server Active Port (FCT) 7508 Port (CVE) 49700 Subnet mask 255.255.255.0 Gateway 0.0.0.0 (none) Tab. 4.1 Network settings upon delivery Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 32: Safety In The Network

    FCT on the “Error management” page (malfunction number 0x32). The typical timeout is 1 s, but can be longer in slow networks, since the timeout is adjusted dynamically to the transmission rate. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 33: The Festo Configuration Tool (Fct)

    After installation of the FCT software on your PC, you can start it in two ways. • Double-click on the FCT icon on the desktop. • Select the entry [Festo Software] [Festo Configuration Tool] in the start menu from the list of programs. 4.3.4 Create new project After you have installed and started the FCT, you can create a new project as follows.

  • Page 34: Configuration

    Then navigate with the buttons [Continue] and [Back] through the individual parameter pages and execute the settings for the individual topics. In the View [Workplace], you can directly select a page in the displayed tree. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 35: Gantry

    – Record type: Positioning absolute (PA), relative to the setpoint position (PRN) or relative to the actual position (PRA) – Target position X and target position Y – Speed, acceleration and jerk – Comments (optional) Records are parameterised exclusively via the Festo Configuration Tool (FCT). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 36: Teaching

    – The red LED display component “Device” (è 2.9.2 LED display components) and the point of the 7-segment display (è Fig. 4.2 Controller identification) of the identified controller flash. 5. Then switch the controller identification back off [Identification] [Off ]. Point for controller identification Fig. 4.2 Controller identification Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 37: Firmware Update

    2. Create new component with this plug-in version. 3. Create connection to the controller with the old firmware. 4. Read and back up the project. 5. Perform a firmware download 6. Create a connection and perform a project download. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 38: Operation

    • But observe the maintenance information of the planar surface gantry as well as possible additional components Disposal and environment Note Environmentally friendly disposal • Observe the local regulations for environmentally-friendly disposal of electronic components. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 39: Communication Principle, General

    Communication principle, general Communication between a higher-order controller and the controller takes place in all operating modes through the FHPP protocol (Festo Handling and Positioning Profile) with cyclical data exchange of 8 bytes of output and 8 bytes of input data each.

  • Page 40: Description Of The Control Bytes Ccon/Cpos

    Reserved Reserved Axis selection AXSEL Only effective during jogging X-axis selected for jogging Y-axis selected for jogging Operating mode Record selection mode selection Direct mode Reserved Reserved Tab. 5.5 Control byte CCON Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 41 As long as the bit is set, the drive travels with configured speed in the direction of smaller actual values of the axis selected in AXSEL. Reserved Reserved Reserved Reserved Reserved Reserved Tab. 5.6 Control byte CPOS Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 42: Description Of The Status Bytes Scon/Spos

    FCT not active, device control through control interface possible FCT active, device control through control interface not possible Feedback Record selection mode (standard) Operating mode Direct mode Reserved Reserved Tab. 5.7 Status byte SCON Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 43 Speed of the axis  limit value Drive is moving Speed of the axis  limit value Reserved Reserved Reserved Reserved Drive referenced Homing must be executed Homing not necessary, reference information present Tab. 5.8 Status byte SPOS Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 44: Start Of Positioning

    Response of the CMXH to rising edge of START 3: ACK=1 MC=0 Response of the control to 4: START=0 Response of the CMXH to 5: ACK=0 Positioning task completed: MC=1 Fig. 5.1 Timing diagram Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 45: Control Via I/O Interface

    Ready for start Start carried out Output: motion complete Positioning task active Positioning task completed (possibly with error) GND24 Logic voltage reference potential Tab. 5.9 Description of the input and output interface [X2] Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 46: Examples

    START. – The signal ACK = 1 is applied as soon as homing has been started. – As soon as the reference position is reached, the signal MC=1 is applied. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 47 – The selected record number is taken over through a rising edge at START and the record is started. – The signal ACK=1 is applied as soon as the record has been started. – As soon as the target position is reached, the signal MC=1 is applied. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 48: Controller Via Canopen Interface

    Unit [0.1 mm] Tab. 5.11 Receive PDOs Note • Use the EDS file for configuration in a CANopen network. You can find a current EDS file on the Festo Internet page (è www.festo.com). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 49: Examples

    – With detection of the rising edge at CPOS.HOM, homing is started 2. Set CPOS.HOM=0 as soon as SPOS.ACK=1 has the value 1. – As soon as the reference position is reached, SPOS.MC=1 and SPOS.REF=1 are set. Homing is completed. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 50 – With detection of the rising edge at CPOS.START, the direct application is taken over and started. – While the direct application is being executed, SPOS.MC=0. – As soon as the direct application has been concluded, SPOS.MC=1. 5. Set CPOS.START=0 as soon as SPOS.ACK=1. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 51: Control Via Ethernet (Cve)

    With the function “Control via Ethernet” (CVE), the controller can be controlled via the Ethernet inter­ face. The controller is pre-parameterised for this purpose with the Festo Configuration Tool (FCT). It is possible to start and jog both homing and positioning jobs through CVE.

  • Page 52: Cve Protocol

    Tab. 5.14. Write object To write a CVE object, a request corresponding to Tab. 5.15 must be sent to the controller. This sends back a response Tab. 5.16. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 53 Index of the CVE object to be read. 0x0F 0x10 Object subindex UINT08 Subindex of the CVE object to be read. 0x11 Reserved UINT08 Position holder (initialise with 0). Tab. 5.13 Request “Read CVE object” Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 54 Data type of the read CVE object. 0x12 Data byte 1 Corresponding Value of the read CVE object. to data type of … Data byte K the CVE object Tab. 5.14 Response “Read CVE object” Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 55 UINT08 Data type of the CVE object to be written. 0x12 Data byte 1 Corresponding Value to data type of … Data byte K the CVE object Tab. 5.15 Request “Write CVE object” Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 56 Data type of the written CVE object. If an attempt has been made to write an object with an invalid data type, the correct data type is returned. Tab. 5.16 Response “Write CVE object” Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 57 The CVE object cannot be written, as it is password Remove password protection via FCT. protected. 0xE0 Control interface is blocked through FCT. Enabling the control interface in the FCT. Tab. 5.17 Confirmation (acknowledge) Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 58: Examples

    – As soon as this status has been reached, SCON.ENABLED=1 is set. 4. Enable operation by setting CCON.STOP=1. – As soon as this status has been reached, SCON.OPEN=1 is set. The operation is enabled (controlled status). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 59 – With detection of the rising edge at CPOS.START, the pending record number is taken over and the selected record is started. – As long as the record is being executed, SPOS.MC=0. – As soon as the record has been concluded, SPOS.MC=1. 4. Set CPOS.START=0 as soon as SPOS.ACK=1. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 60 – With detection of the rising edge at CPOS.START, the direct application is taken over and started. – While the direct application is being executed, SPOS.MC=0. – As soon as the direct application has been concluded, SPOS.MC=1. 5. Set CPOS.START=0 as soon as SPOS.ACK=1. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 61: Diagnostics

    A maximum of 200 error messages are stored securely against power failure in the ring buffer of the diagnostic memory. The diagnostic memory can be read and erased via the Festo Configuration Tool (FCT). Erasing gener­ ates a “switch-on event” (malfunction 0x3D). The malfunction counter is not reset thereby.
  • Page 62 1) Displayed only 2x, one after the other Tab. 6.1 General error messages CANopen-specific error messages LED display Malfunction Priority No bus cable connected or no parameters configured. Bus OFF Warning Limit or Node Guarding Tab. 6.2 CANopen-specific error messages Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 63: Malfunctions: Causes And Remedy

    Tab. 6.3 Error responses 6.3.2 Table of error messages You can parameterise the error messages via the Festo Configuration Tool (FCT) on the page “Parameterise error management”. Explanations for table of error messages: Can be parameterised as: F/W/I = fault/warning/information (è...
  • Page 64 An error has occurred during evaluation of the encoder; the position values might be incorrect. • Execute a software reset with commutation angle search and homing. – Acknowledgement option: Cannot be acknowledged, software reset required. Parameterisable error response(s): A Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 65 The I²t limit for the motor is reached. The motor or the drive system may be insufficient for the re­ quired task. • Check design of the drive system and mechanical system for sluggishness. • Reduce load/dynamics, longer breaks. – Acknowledgement option: Error can be acknowledged. Definable error response(s): B, C Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 66 • Separate device from the entire peripheral equipment and check whether the error is still present after reset. If it is, it means there is an internal defect and the device has to be replaced. – Acknowledgement option: Cannot be acknowledged, software reset required. Parameterisable error response(s): A Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 67 • Check the CAN cable for a wire break: Repair or replace the CAN cable. • Check the function of the CAN-Master. – Acknowledgement option: Error can be acknowledged. Parameterisable error response(s): B, C, E, F Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 68 • Perform a homing run or repeat the last homing process if it was not completed successfully. – Acknowledgement option: Error can only be acknowledged after eliminating the cause. Definable error response(s): B, C, D, E, F, G Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 69 • Ascertain the version of your hardware. You can ascertain the compatible firmware versions and download the appropriate firmware from the Festo website. – For parameterisation as an error: The error can only be acknowledged after eliminating the cause.
  • Page 70 – If parameterisation as a warning: The warning disappears when the connection to the FCT has been established again. – For parameterisation as an error: The error can only be acknowledged after the cause is eliminated. Definable error response(s): B, C, D, E, F, G Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 71 During a parameter file procedure, all other reading and writing routines for the parameter file are blocked. • Wait until the process is complete. The time between two parameter file downloads should not fall below 3 seconds. – Acknowledgement option: Error can be acknowledged. Parameterisable error response(s): G Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 72 An internal firmware error has been detected. • Contact Festo Service. – Acknowledgement option: Error can only be acknowledged after eliminating the cause. Parameterisable error response(s): A Tab. 6.4 Table of error messages Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 73: Problems With The Ethernet Connection

    Error in the power supply. • Observe the tolerances of the data in the appendix (è A.1.4 Electrical characteristics). Tab. 6.5 Other problems and remedies Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 74: A Technical Appendix

    (see declaration of conformity è www.festo.com) Approvals RCM (Regulatory Compliance Mark) 1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas, actions to suppress interference may have to be taken. Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 75: Electrical Characteristics

    2) Use of a brake reduces the mains buffering time. Ensure the required mains buffering time through suitable measures (e.g. clocked power supply unit or buffer module). System characteristics System characteristics of the product combination of planar surface gantry and controller (è www.festo.com/catalogue). Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 76: Bcanopen

    Life time factor UINT8 Factor for monitoring time 1014h COB-ID emergency ob­ UINT32 COB-ID of the emergency object ject Specification: 128 + Node-ID 1015h Inhibit time EMCY UINT16 Inhibit time for emergency message Specification: 0 Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 77 String 21F4h Project zero point X INT32 Distance from the axis zero point to the project zero point; default: 0 21F5h Project zero point Y INT32 Unit: [SINC] (1 mm = 1000 SINC) Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 78 1) When setting the project zero point (PZ), consider the resulting range of setpoint and actual values. The sum of project zero point (PZ) and stroke must be less than 3276.8 mm (è Tab. 2.1 Explanation of dimension reference points) Tab. B.1 CANopen object overview Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 79: C Control Via Ethernet (Cve)

    In record selection mode, the current record number is in the high byte. In direct mode, the high byte = 0. Values: 0 … 255 Default: 255 (255 is not an error, values are in the low byte) Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 80 Index 304 Subindex 0 Setpoint position X FHPP SINT32 R/-/-/-/- The current setpoint position X is calculated by the controller. Unit: [SINC] (1 mm = 1000 SINC) Values: –2147483648 … 2147483647 Default: 0 Festo – EXCM-30/-40-...-PF-EN – 1603 – English...
  • Page 81 Path jerk (only in Germany) FHPP SINT32 R/W1/W2/-/- Maximum jerk during acceleration and deceleration. Unit: [(SINC/s )/10] (1 mm = 1000 SINC) Value 0: maximum jerk, no return limit active Values: –2147483648 … 2147483647 Default: 0 Festo – EXCM-30/-40-...-PF-EN – 1603 – English...

  • Page 82: D Glossary

    (FCT = Festo Configuration Tool) FHPP Communication protocol for data exchange (FHPP = Festo Handling and Positioning Profile) Following error Calculated deviation during execution of a record between the target position (in accordance with previously calculated course of the path) and the actual position.
  • Page 84 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 E-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica­ tion of its contents to others without express authorization is Internet: prohibited.

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Excm-40 -pf series

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