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Festo CMXR-C1 Description

Plc interface
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Controller
Description
PLC interface
Type
CMXR-C1
Description
560 328
en 0909a
[748 998]

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Summary of Contents for Festo CMXR-C1

  • Page 1 Controller Description PLC interface Type CMXR-C1 Description 560 328 en 0909a [748 998]...
  • Page 3 _________________________________________ en 0909a Designation _____________________________________ GDCP-CMXR-F Order No. __________________________________________ 560 328 (Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2009) Internet: http://www.festo.com E-mail: service_international@festo.com The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorisation is prohibited.
  • Page 4 File saved at: Consec. no. Description Index of revisions Date of amendment First edition en 0805NH 09.07.08 Revision en 0909a 02.09.09 Trademarks Microsoft® Windows® Registered trademark of Microsoft Corporation PROFIBUS, PROFIBUS−DP® Registered trademarks of PROFIBUS International (P.I.) Festo GDCP-CMXR-F-EN 0909a...

  • Page 5: Table Of Contents

    TABLE OF CONTENTS General ......................... 7 Further documentation on the CMXR-C1 control system ........7 Target group ......................7 Service ........................ 8 Safety precautions ....................9 Safety instructions on handling ................9 Safety instructions on planning ................. 10 Safety instructions on maintenance ..............11 Delimitation .......................
  • Page 6 6.1.2 Interface format.................. 39 Reference system variables ................40 6.2.1 Access from the robot program ............40 6.2.2 Interface format.................. 40 Word variables ....................40 6.3.1 Access from the robot program ............40 6.3.2 Interface format.................. 41 Festo GDCP-CMXR-F-EN 0909a...

  • Page 7: General

    GDCP-CDSA-SW-... User interface for the teach pendant Online help for FCT FCT with CMXR-C1 PlugIn Configuration and programming of the CMXR-C1 software package multi-axis control system *) The manuals can be found on the supplied CD-ROM as a PDF file.

  • Page 8: Service

    1. General Service Please consult your local Festo repair service if you have any technical problems. Festo GDCP-CMXR-F-EN 0909a...

  • Page 9: Safety Precautions

    The documentation cannot 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 10: Safety Instructions On Planning

    Additional external measures, which assure a safe operating status of the overall system 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-F-EN 0909a...

  • Page 11: Safety Instructions On Maintenance

    Delimitation This document is intended for users and programmers of the CMXR multi-axis control system. Warning The CMXR-C1 multi-axis control system is not designed for safety- relevant control tasks (e.g.: shutdown in emergency or monitoring reduced speeds). Warning The CMXR-C1 multi-axis control system conforms only to category B of EN ISO 13849 and is thus not adequate for the implementation of safety functions for the protection of persons.

  • Page 12: Control Interfaces For External Activation

    Controlled by a higher-level control system via digital inputs and outputs with MotionControl Profile MPC1-EA. Controlled by a higher-level control system via PROFIBUS DP in two performance classes : - MotionControl Profile MPC1-PB with 12-byte data packet - MotionControl Profile MPC2-PB with 64-byte data packet Festo GDCP-CMXR-F-EN 0909a...

  • Page 13: Plc Interface Mcp1

    Permission button System manual DI:2 dinAutoSelect Automatic operation mode 4.4.10 DI:3 dinManSelect Manual operation mode 4.4.10 DI:4 Unassigned For free use DI:5 Unassigned For free use DI:6 Unassigned For free use DI:7 Unassigned For free use Festo GDCP-CMXR-F-EN 0909a...
  • Page 14 Error is active 4.4.2 DO:7 WDBIT Watchdog bit 4.4.1 DI:0 DI:1 DI:2 DI:3 DRENA Enable drive 4.4.7 DI:4 HALTENA Enable HOLD 4.4.8 DI:5 WRREQU Request write access 4.4.6 DI:6 QUITERR Acknowledge error 4.4.2 DI:7 WDBIT Watchdog bit 4.4.1 Festo GDCP-CMXR-F-EN 0909a...
  • Page 15 Selection of program no. DI:2 PRGNR Bit2 Selection of program no. DI:3 PRGNR Bit3 Selection of program no. DI:4 STOP Interrupt program 4.4.14 DI:5 START Start/continue program 4.4.13 DI:6 UNLOAD Unload the program 4.4.12 DI:7 LOAD Load the program 4.4.11 Festo GDCP-CMXR-F-EN 0909a...

  • Page 16: Activation Via Profibus

    * Manual operation mode 4.4.10 DI:4 Unassigned For free use DI:5 Unassigned For free use DI:6 Unassigned For free use DI:7 Unassigned For free use (*) The mode can also be selected via PROFIBUS as an option. Festo GDCP-CMXR-F-EN 0909a...

  • Page 17: Control Signals In The Profibus Data Packet

    Control register 2: CREG2 LOAD UNLOAD START STOP UNAS- UNAS- DEVENA EMSTOP SIGNED SIGNED Load the Unload Start Interrupt Permis- Emergen- program program program sion cy off program button Festo GDCP-CMXR-F-EN 0909a...
  • Page 18 Access in the FTL program: VarTest := plc_InBool[0-15] Target position of the JOG axis Size 4 bytes. The target position is used to specify a position for the selected axis, which can be approached via the Jog command. Festo GDCP-CMXR-F-EN 0909a...

  • Page 19: Status Signals In The Profibus Data Packet

    Status register 2: CREG2 LOADED RUNNING NACK JPRDY UNAS- HAND AUTO SIGNED Program Program Program Program Man. Auto is loaded is running NACK position active active enabled Festo GDCP-CMXR-F-EN 0909a...
  • Page 20 The multi-axis control system uses the 16 binary outputs to send freely definable signals to the SPS. Access in the FTL program: plc_OutBool[0-15] := VarTest Actual position of the JOG axis Size 4 bytes. The actual position is used to display the current position of the selected axis. Festo GDCP-CMXR-F-EN 0909a...

  • Page 21: Function Of The Plc Interface Mcp1

    It is displayed in the status register SREG3.MSGNR with a further 4 bits. Note The applied message only becomes valid as soon as SREG3.MSG is not equal to 0 or if the error bit SREG.ERROR is set. Festo GDCP-CMXR-F-EN 0909a...

  • Page 22: Acknowledging The Error

    Coding of message class MSG and message number MSGNR: The "Component" column lists the component number of the error message or error group contained in the status display of the CDSA-D1-VX and the reports of the CMXR-C1 on these errors.

  • Page 23: Requesting Control Sovereignty

    Switching on the drives Control sovereignty on interface Condition Valid operating mode is selected No errors are present Emergency off is not active Activity Set the CREG.DRENA bit The robot's drives are switched on. Reaction ITF replies SREG.DRRDY=TRUE. Festo GDCP-CMXR-F-EN 0909a...

  • Page 24: Programmed Stop

    Set the CJOG.JOGN or CJOG.JOGP bit Reaction When setting the CJOG.JOGN or CJOG.JOGP bit (both is possible), the jogging movement is towards the position that is in the Jog-data control register. When resetting the JOGn or JOGP bit, the movement is stopped. Festo GDCP-CMXR-F-EN 0909a...

  • Page 25: Selecting The Operation Mode

    JOG status register AXIS Active JOG axis COORD Active FOG coordinate system Negative limit switch reached Positive limit switch reached 4.4.10 Selecting the operation mode The interface can be used to select two operation modes, MANUAL and AUTOMATIC. Festo GDCP-CMXR-F-EN 0909a...

  • Page 26: Load The Program

    Set the CREG.LOAD bit (rising edge). Activity Wait for Acknowledge SREG.ACK or Not Acknowledge SREG.NACK Reaction The program/project is loaded Loading first program with positive confirmation SREG.ACK is set and shows that the loading procedure was Condition Festo GDCP-CMXR-F-EN 0909a...
  • Page 27 Output data 4 As soon as ACK = 1 has been recognised by the PLC, it may reset LOAD to 0. The CMXR reacts with a falling edge at ACK. 5 As soon as ACK = 0 has Festo GDCP-CMXR-F-EN 0909a...
  • Page 28 NACK. 5 As soon as NACK = 0 has been recognised by the PLC, the controller is ready for a new job. ” The cause of the failed load procedure is registered as an error. Festo GDCP-CMXR-F-EN 0909a...
  • Page 29 PLC, it may reset LOAD to 0. The CMXR reacts with a falling edge at ACK. 5 As soon as ACK = 0 has been recognised by the PLC, the controller is ready for a new job. Festo GDCP-CMXR-F-EN 0909a...

  • Page 30: Unloading The Program

    MCP1-EA: CREG.PRGNR register (4 bits) MCP1-PB: PRGNR register (1 byte) Set the CREG.UNLOAD bit (rising edge). Activity Wait for Acknowledge SREG.ACK or Not Acknowledge SREG.NACK A program is unloaded. Reaction In the event of an error, SREG.ERROR is set. Festo GDCP-CMXR-F-EN 0909a...

  • Page 31: Starting The Program

    MCP1-EA: CREG.PRGNR register (4 bits). MCP1-PB: PRGNR register (1 byte). Set the CREG.START bit (rising edge). Activity Wait for Acknowledge SREG.ACK or Not Acknowledge SREG.NACK The program will be started. Reaction In the event of an error, SREG.ERROR is set. Festo GDCP-CMXR-F-EN 0909a...

  • Page 32: Stopping The Program

    The program to be stopped has started. Set the CREG.STOP bit (rising edge). Activity Wait for Acknowledge SREG.ACK or Not Acknowledge SREG.NACK. The program will be stopped. Reaction In the event of an error, SREG.ERROR is set. Festo GDCP-CMXR-F-EN 0909a...

  • Page 33: Parallel Programs

    UNLOAD: also unloads all subprograms 4.4.16 Override Note This function is only possible via MCP1-PB and not via MCP1-EA. The COVR register can be used to specify the override for the controller. The current override is shown in the SOVR register. Festo GDCP-CMXR-F-EN 0909a...

  • Page 34: Exchange Of Cyclic I/O Data

    The I/O variable values can be accessed from the user program. The names of the variables are: plc_InBool[0-15] for input data plc_OutBool[0-15] for output data Byte order EDATA1, ADATA1 = Low byte EDATA2, ADATA2 = High byte Festo GDCP-CMXR-F-EN 0909a...

  • Page 35: Plc Interface Mcp 2

    UNAS- UNAS- UNAS- Valid SIGNED SIGNED SIGNED SIGNED SIGNED SIGNED SIGNED 5.1.2 Status signals Byte Header SREG CODE SUBCODE INDEX Status register Function code Subfunction code Data index SREG RETVAL ERROR DONE Return value Error bit End Festo GDCP-CMXR-F-EN 0909a...

  • Page 36: Function Of The Plc Interface Mcp2

    ERROR and returns a 6-bit error code RETVAL in the SREG byte. The transferred parameters are only valid if the interface reports back DONE = TRUE. In the event of an error, the error code RETVAL is also only valid if the ERROR and DONE bits report TRUE. Festo GDCP-CMXR-F-EN 0909a...
  • Page 37 DONE = TRUE and ERROR = TRUE 4 A negative edge at EXECUTE finishes the erroneous transmission 5 A job can be executed again as soon as DONE goes back to False. Fig. 5.2 MCP2 transmission not successful Festo GDCP-CMXR-F-EN 0909a...

  • Page 38: Function Codes

    (see communication variables) 5.3.1 Return values The following codes are located in the RETVAL register after a command has been executed. RETVAL Meaning Command executed correctly Incorrect CODE was transmitted Incorrect SUBCODE was transmitted Incorrect INDEX was transmitted Festo GDCP-CMXR-F-EN 0909a...

  • Page 39: Communication Variables

    The conversion to flow point form is done via a configurable factor (posResolution). Format of Cartesian position in the interface (CARTPOSREG type): Variable Meaning x, y, z: DINT Position of the tool a, b, c: DINT Orientation of the tool aux1 ... 3: DINT Position of the auxiliary axes Festo GDCP-CMXR-F-EN 0909a...

  • Page 40: Reference System Variables

    Access from the robot program This interface includes 255 integer variables of type DINT (4 bytes). They are predefined as follows: plc_Dint [0 ... 255] : DINT Example: Use in the robot program plc_Dint [0] := 100 Festo GDCP-CMXR-F-EN 0909a...

  • Page 41: Interface Format

    6. Communication variables 6.3.2 Interface format The DINT variables are not subjected to a conversion and are transmitted 1:1 into the CMXR control system or PLC. Festo GDCP-CMXR-F-EN 0909a...
  • Page 42 6. Communication variables Festo GDCP-CMXR-F-EN 0909a...

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