Festo CMXR-C1 Multi-axis controllers Manuals

Manuals and User Guides for Festo CMXR-C1 Multi-axis controllers. We have 5 Festo CMXR-C1 Multi-axis controllers manuals available for free PDF download: Programming Instructions Manual, System Manual, Assembly And Installation Manual, Description

Festo CMXR-C1 Programming Instructions Manual (192 pages)

Brand: Festo | Category: Controller | Size: 5.64 MB

Table of Contents
5
1 Introduction

11
2 Safety Precautions

12
3 Program Processing

15
- General Information
  15
- Interpreter
  15
- Program Start
  15
- Set Forerun
  15
- Program Structure
  17
- FTL Projects
  17
  - Global FTL Project
    18
- FTL Program File "Tip
  18
  - Project-Global Programs
    19
- FTL Data File "<Name>.Tid
  19
  - Local Program Data
    19
  - Project-Global Data
    20
  - System-Global Data
    20
  - Instancing of Variables
    21
4 Language Set-Up

23
- Formatting
  23
- Identifiers
  23
- Keywords
  23
- Numeric Constants
  24
- Strings
  24
- Operators and Limiting Characters
  24
  - Arithmetical Operators
    24
  - Logical Operators
    25
  - Comparators
    25
  - Other Operators
    25
  - Limiting Characters
    26
5 Master Data Types

27
- Boolean Data Type (BOOL)
  28
- Integer Types, REAL Data Type, Bit Pattern Types
  28
- Strings
  29
- Structured Data Types
  29
- Arrays
  29
6 Declaration of Variables

30
- Initialisation
  30
7 Statements

31
- Execution Sequence in Statements
  31
8 Program Control

32
- Instructions
  32
- Value Assignment
  32
- Conditions
  32
- Branching <IF
  34
- Jump Commands
  35
  - Jump Label <LABEL
    35
  - Conditional Jump <IF
    36
  - Absolute Jump <GOTO
    36
- Loops
  36
  - WHILE Instruction <WHILE
    37
  - LOOP Instruction <LOOP
    37
- Subprograms
  38
  - Subprogram Call-Up <CALL
    39
  - Program Return <RETURN
    40
- Parallel Programs
  41
  - Starting the Parallel Program <RUN
    42
  - Stopping the Parallel Program <KILL
    42
- WAIT - Instruction with Time <Waittime
  42
- WAIT Instruction with Condition <WAIT
  43
- Adding Comments
  46
- Deactivating the Program Line
  46
9 Movement Commands

48
10 Dynamics Commands

72
- Speeds <Vel
  72
- Acceleration <Acc
  73
- Jerk <Jerk
  74
- Override
  76
  - Override on the Teach Pendant <Ovr
    76
  - Dynamic Override <Dynovr
    77
- Acceleration Ramps
  78
  - Setting the Ramp Forms <Ramp
    79
- Switching on Constant Path Speed <Vconston
  80
- Switching off Constant Path Speed <Vconstoff
  82
11 Smooth-Transition Commands

83
12 Referencing a Kinematics System

96
13 Tools

102
- Tool Data
  102
  - Data for the TCP Vector
    102
- Activating Tool Data <Tool
  105
  - Effect of TCP Data
    105
14 PROFIBUS Interface

110
- Boolean Inputs and Outputs
  110
- 32-Bit Integer Variables
  111
- Positions
  112
- Reference Systems
  113
- Programmed Stop <Proghold
  114
15 Message System

116
- Message Texts
  116
- Information <Setinfo
  118
- Warning <Setwarning
  119
- Error Message <Seterror
  120
16 Functions

121
- Reading the Actual Position <Readactualpos
  121
- Reading the Target Position <Readtargetpos
  122
- Permanently Saving Position Value <Saveposition
  123
- Reading the System Time <Time
  123
- Converting Time into Text <Timetostr
  124
- Sine <SIN>, <ASIN
  125
- Cosine <COS>, <ACOS
  126
- Tangent <TAN>, <ATAN
  128
- Cotangent <COT>, <ACOT
  129
- Tangent2 <ATAN2
  130
- Logarithm <LN
  130
- Exponent <EXP
  130
- Absolute Value <ABS
  131
- Square Root <SQRT
  131
- Shifting Bit-By-Bit <SHR>, <SHL
  132
- Rotating Bit-By-Bit <ROR>, <ROL
  133
17 Modules

134
- Functions
  135
- Variables
  135
- Runtime Behaviour
  136
  - Parameter Ovlenable
    136
- Digital Input Module DIN
  137
  - Instancing
    137
  - Methods
    139
  - Waiting for the Status, Methods Wait / Waitn
    140
  - Reading Status with Read Method
    140
  - Risingedge Method
    140
  - Resetrisingedge Method
    141
- Digital Output Module DOUT
  141
  - Instancing
    141
  - Variables
    143
  - Methods
    144
  - Waiting for the Status, Methods Wait / Waitn
    145
  - Reading Status with Read Method
    145
  - Risingedge Method
    145
  - Resetrisingedge
    146
  - Set / Reset Methods
    146
  - Setting the Output, Write Method
    147
- Analogue Input Module AIN
  147
- Analogue Output Module AOUT
  152
  - Instancing
    152
  - Variables
    153
  - Methods
    154
  - Writing the Output Value, Write Method
    155
  - Waiting until the Value Is Greater/Less - Waitlss/Waitgrt Methods
    155
  - Reading Output Value, Read Method
    156
- Timer Module CLOCK
  157
  - Instancing
    157
  - Methods
    158
  - Starting the Timer, Start Method
    158
  - Stopping the Timer, Stop Method
    159
  - Resetting the Timer, Reset Method
    159
  - Reading the Timer, Read Method
    159
  - Converting Time Value into String
    160
- Encoder Module ENCODER
  161
  - Instancing
    161
  - Variables
    162
  - Methods
    162
  - Setting the Encoder, Set Method
    163
  - Reading the Encoder, Read Method
    163
- Canopen Module COPDEVICE
  164
  - Instancing
    164
  - Methods
    165
  - Writing SDO, Writesdo Method
    165
  - Reading SDO, Readsdosigned Method
    166
  - Reading SDO, Readsdounsigned Method
    168
18 Peripheral Signals

169
- Working with Digital Inputs and Outputs
  169
- Working with Analogue Inputs and Outputs
  169
19 Examples

171
- Stopping the Movements
  171
- Working with Input and Output Modules
  174
- Controlling the Set Forerun
  175
- Working with Grippers
  176
  - Vacuum Grippers
    177
  - Pneumatic Parallel Grippers
    180
  - Pneumatic Swivel/Gripper Unit
    183
- Working with the PLC Interface
  187
  - Problem Definition
    187
  - PLC Interface
    187
  - Sequence Program
    188

Festo CMXR-C1 System Manual (88 pages)

Brand: Festo | Category: Controller | Size: 5.72 MB

Table of Contents
5
1 Introduction

8
- Terminology Used
  8
2 Safety Instructions

9
3 Modular Multi-Axis Control System CMXR

13
- Central Control Unit CMXR-C1
  13
  - CAN Interfaces
    14
- Memory Card
  15
- File System
  16
- Application Directory
  17
- IP Address on Delivery
  17
- Peripheral Modules
  18
  - Addressing the Peripheral Modules
    19
  - Front Panel Plug
    20
- Peripherals at Interface CAN 1
  21
4 Configuration Using FCT

22
5 Programming, Festo Teach Language (FTL)

23
- Program Processing
  24
  - Downloading FTL Programs
    24
6 CDSA Teach Pendant

26
- Installation
  28
- CAMI-C Interface Unit
  29
- Disconnecting the Teach Pendant
  29
- Hardware Overview
  31
- Software
  31
- User Rights
  33
  - User Levels
    34
  - Set Users on Delivery
    36
- Communication with the CMXR Multi-Axis Control System
  36
  - Synchronisation of Dialogue Software
    37
- IP Addresses on Delivery
  37
- Screen Control
  38
7 Drive Systems

39
8 Operation Modes

41
- Manual Override
  41
- Automatic Mode
  42
- Stopping the Kinematics, EMERGENCY-STOP
  42
- Repositioning
  44
9 Activation Method

46
- Operation Without External Control
  46
  - System Signals
    48
- External Control Via the Digital I/O Interface
  49
  - Functions of the I/O Interface
    50
- External Control Via PROFIBUS DP
  51
- Higher-Order Control
  55
  - Method of Operation
    55
  - User Level
    56
  - Influence of the Higher-Order Control
    56
  - Integration Example
    57
10 Coordinate Systems

59
- Axis Coordinate Systems
  59
- Cartesian Coordinate Systems
  59
  - Translatory Axes X, Y, Z
    59
  - Orientation Axes A, B, C
    60
  - Euler Orientation ZYZ
    61
- Coordinate Systems for the Kinematics
  61
11 Supported Kinematics

67

Festo CMXR-C1 Assembly And Installation Manual (68 pages)

Brand: Festo | Category: Controller | Size: 4.24 MB

Table of Contents
5
Intended Use
7
Areas of Application and Approval by Authorities
8
Important User Instructions
8
Safety Precautions
11
Target Group
13
Service
13
Contents of this Manual
13
Documentation on the CMXR-C1 Control System
14
Required Software Versions
14
General Product-Specific Terms and Abbreviations
15
1 CMXR System Overview

16
- Product Versions
  16
- Structure of the Device
  18
  - Central Control Unit
    18
  - Optional Modules
    19
  - Peripheral Modules
    19
- Operator Units for the Modular Control System
  21
2 Assembly

22
3 Installation of the CMXR-C1 Central Control Unit

35
4 Instructions on Commissioning

50
- General Instructions on Commissioning
  50
- Performance of the Central Control Unit
  50
5 Diagnostics and Error Handling

54
- Summary of Diagnostic Options
  54
- On-The-Spot Diagnosis Via LED
  54
  - Power LED
    54
  - CAN Status Leds
    54
  - Ethernet Status Leds
    54
  - Status LED for the Memory Card
    55
- On-The-Spot Diagnosis Via the 7-Segment Display
  55
  - Error Codes
    56
6 Maintenance and Care

58
- Changing the Battery
  58
- Cleaning
  59
Technical Appendix

61
- Technical Data
  62
  - General Technical Data
    62
  - A.1 Technical Data
    62
  - CMXR-C1, Centralcontrol Unit
    63
- Accessories
  64
- A.2 Accessories
  64
- Power Consumption of Components and Modules
  65
- Instructions on EMC-Compliant Wiring
  66
Index

68

Festo CMXR-C1 Description (44 pages)

Multi-axis control system. PLC interface.

Brand: Festo | Category: Control Systems | Size: 0.59 MB

Table of Contents
7
1 Safety and Requirements for Product Use

9
- Safety
  9
  - General Safety Information
    9
  - Intended Use
    10
- Requirements for Product Use
  11
  - Qualification of Specialized Personnel
    11
- Service
  11
2 Control Interfaces for External Activation

12
3 PLC Interface MCP1

13
- General
  13
- Activation Via Digital I/O
  13
- Activation Via PROFIBUS
  16
- Function of the PLC Interface MCP1
  21
  - Watchdog
    21
  - Error Active
    21
  - Message System
    21
  - Message Classes and Message Numbers
    21
  - Acknowledge Error
    22
  - Requesting the Master Control
    23
  - Switching on Drives
    24
  - Programmed Stop
    24
  - Jog
    25
  - Selecting Operating Mode
    26
  - Load Program
    27
  - Unloading Program
    32
  - Starting Program
    33
  - Stopping Program
    34
  - Parallel Programs
    35
  - Override
    35
  - Exchange of Cyclical I/O Data
    36
4 PLC Interface MCP2

37
- Mcp2-Pb
  37
  - Control Signals
    37
  - Status Signals
    37
- Function of the PLC Interface MCP2
  38
- Function Codes
  40
  - Return Values
    40
5 Communication Variables

41
- Position Variables
  41
  - Access from the Robot Program
    41
  - Interface Format
    42
- Reference System Variables
  42
  - Access from the Robot Program
    42
  - Interface Format
    43
- Word Variables
  43
  - Access from the Robot Program
    43

Festo CMXR-C1 Description (42 pages)

PLC interface

Brand: Festo | Category: Controller | Size: 4.02 MB

Table of Contents
5
1 General

7
2 Safety Precautions

9
3 Control Interfaces for External Activation

12
4 PLC Interface MCP1

13
- General Information
  13
- Activation Via Digital I/O
  13
- Activation Via PROFIBUS
  16
- Function of the PLC Interface MCP1
  21
  - Watchdog
    21
  - Error Active
    21
  - Message System
    21
  - Message Classes and Numbers in MCP1
    21
  - Acknowledging the Error
    22
  - Requesting Control Sovereignty
    23
  - Switching on the Drives
    23
  - Programmed Stop
    24
  - Jog
    24
  - Selecting the Operation Mode
    25
  - Load the Program
    26
  - Unloading the Program
    30
  - Starting the Program
    31
  - Stopping the Program
    32
  - Parallel Programs
    33
  - Override
    33
  - Exchange of Cyclic I/O Data
    34
5 PLC Interface MCP 2

35
- Mcp2-Pb
  35
  - Control Signals
    35
  - Status Signals
    35
- Function of the PLC Interface MCP2
  36
- Function Codes
  38
  - Return Values
    38
6 Communication Variables

39
- Position Variables
  39
  - Access from the Robot Program
    39
  - Interface Format
    39
- Reference System Variables
  40
  - Access from the Robot Program
    40
  - Interface Format
    40
- Word Variables
  40
  - Interface Format
    41

Festo Categories

Industrial Equipment Control Unit Controller Touch terminals DC Drives

More Festo Manuals

Festo CMXR-C1 Multi-axis controllers Manuals

Festo CMXR-C1 Programming Instructions Manual (192 pages)

Table of Contents

1 Introduction

2 Safety Precautions

3 Program Processing

4 Language Set-Up

5 Master Data Types

6 Declaration of Variables

7 Statements

8 Program Control

9 Movement Commands

10 Dynamics Commands

11 Smooth-Transition Commands

12 Referencing a Kinematics System

13 Tools

14 PROFIBUS Interface

15 Message System

16 Functions

17 Modules

18 Peripheral Signals

19 Examples

Festo CMXR-C1 System Manual (88 pages)

Table of Contents

1 Introduction

2 Safety Instructions

3 Modular Multi-Axis Control System CMXR

4 Configuration Using FCT

5 Programming, Festo Teach Language (FTL)

6 CDSA Teach Pendant

7 Drive Systems

8 Operation Modes

9 Activation Method

10 Coordinate Systems

11 Supported Kinematics

Festo CMXR-C1 Assembly And Installation Manual (68 pages)

Table of Contents

1 CMXR System Overview

2 Assembly

3 Installation of the CMXR-C1 Central Control Unit

4 Instructions on Commissioning

5 Diagnostics and Error Handling

6 Maintenance and Care

Technical Appendix

Index

Festo CMXR-C1 Description (44 pages)

Table of Contents

1 Safety and Requirements for Product Use

2 Control Interfaces for External Activation

3 PLC Interface MCP1

4 PLC Interface MCP2

5 Communication Variables

Festo CMXR-C1 Description (42 pages)

Table of Contents

1 General

2 Safety Precautions

3 Control Interfaces for External Activation

4 PLC Interface MCP1

5 PLC Interface MCP 2

6 Communication Variables

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