Festo CMXR-C1 Operating and installation instructions

Multi-axis control system
CMXR
-C1
Description
PLC interface
560328
1501b
[8039883]

Festo GDCP-CMXR-F-EN 1501b 2

Version ______________________________________________________________ 1501b
Designation _________________________________________________ GDCP-CMXR-F-EN
Order no. ___________________________________________________________ 560328
(Festo AG & Co., 73726 Esslingen, Germany, 2015)
Internet: http://www.festo.com
E-Mail: [email protected]
Reproduction, distribution and utilisation of this document, as well as the communication
of its contents to others without explicit authorisation, is prohibited. Offenders will be
held liable for damages. All rights reserved, in particular the right to file patent, utility
model and registered design applications.
Festo GDCP-CMXR-F-EN 1501b 3

Directory of revisions
Created by:
Handbook title: GDCP-CMXR-F-EN
Filename:
File storage location:
Sequential no. Description Revisions index Date of revision
001 Created 0805NH 09.07.2008
002 Revision 0909a 25.08.2009
003 Revision 1501b 15.01.2015
Table 1.1 Directory of revisions
Specified directives/standards
Issue status
EN ISO 13849-1:2008-12
Table 1.2 Directives/standards specified in the document
Trademarks
Microsoft® Windows® Registered trademark of Microsoft Corporation
PROFIBUS, PROFIBUS DP® registered trademarks of PROFIBUS International (PI)
4 Festo GDCP-CMXR-F-EN 1501b

Notes on this documentation
This documentation describes the MotionControl Profile (MCP) for activating the CMXR
multi-axis control system via PROFIBUS as well as via the digital I/O interface.
Identification of dangers and instructions on how to avoid them:
Warning
Dangers which can lead to death or serious injuries.
Caution
Dangers which can lead to slight injuries or to serious material damage.
Other symbols:
Note
Material damage or failure of function.
Recommendation, tip, reference to other documentation.
Necessary or useful accessories.
Information on environmentally friendly use.
Text designation:
•Activities that can be carried out in any order.
1. Activities which should be carried out in the specified sequence.
−General lists.
Festo GDCP-CMXR-F-EN 1501b 5

Additional documentation
The total functionality of the multi-axis control system CMXR-C1 is described in the
following documents:
Name
Contents
GDCP-CMXR-SY-… System description
GDCP-CMXR-HW-… Mounting and installation
GDCP-CMXR-F-… PLC interface (this document)
GDCP-CMXR-SW-… Programming instructions for CMXR FTL base
Table 1.3 Further documentation – CMXR-C1 multi-axis control system
The operator unit CDSA-D1-VX also has additional documents available:
Name
Contents
GDCP-CDSA-SY-… System manual
GDCP-CDSA-SW-… Software manual
Table 1.4 Additional documentation – operator unit CDSA-D1-VX
The listed documents are available for download in the Festo Support
Portal (www.festo.com/sp).
6 Festo GDCP-CMXR-F-EN 1501b

Table of contents
Table of contents
1. Safety and requirements for product use ................................................................ 9
1.1 Safety ...................................................................................................................... 9
1.1.1 General safety information ..................................................................... 9
1.1.2 Intended use ........................................................................................ 10
1.2 Requirements for product use................................................................................ 11
1.2.1 Qualification of specialized personnel .................................................. 11
1.3 Service................................................................................................................... 11
2. Control interfaces for external activation .............................................................. 12
3. PLC interface MCP1............................................................................................... 13
3.1 General.................................................................................................................. 13
3.2 Activation via digital I/O ........................................................................................ 13
3.3 Activation via PROFIBUS ........................................................................................ 16
3.3.1 I/O module BasicIO (optional).............................................................. 16
3.3.2 Control signals in the PROFIBUS data packet........................................ 17
3.3.3 Status signals in the PROFIBUS data packet ......................................... 19
3.4 Function of the PLC interface MCP1........................................................................ 21
3.4.1 Watchdog............................................................................................. 21
3.4.2 Error active........................................................................................... 21
3.4.3 Message system................................................................................... 21
3.4.4 Message classes and message numbers .............................................. 21
3.4.5Acknowledge error ............................................................................... 22
3.4.6 Requesting the master control.............................................................. 23
3.4.7 Switching on drives .............................................................................. 24
3.4.8 Programmed stop................................................................................. 24
3.4.9 Jog ....................................................................................................... 25
3.4.10 Selecting operating mode..................................................................... 26
3.4.11 Load program....................................................................................... 27
3.4.12 Unloading program .............................................................................. 32
3.4.13 Starting program .................................................................................. 33
3.4.14 Stopping program ................................................................................ 34
3.4.15 Parallel programs ................................................................................. 35
3.4.16 Override ............................................................................................... 35
3.4.17 Exchange of cyclical I/O data................................................................ 36
4. PLC interface MCP2............................................................................................... 37
4.1 MCP2-PB................................................................................................................ 37
4.1.1 Control signals ..................................................................................... 37
4.1.2 Status signals....................................................................................... 37
Festo GDCP-CMXR-F-EN 1501b 7

Table of contents
4.2 Function of the PLC interface MCP2........................................................................ 38
4.3 Function codes....................................................................................................... 40
4.3.1 Return values ....................................................................................... 40
5. Communication variables...................................................................................... 41
5.1 Position variables .................................................................................................. 41
5.1.1 Access from the robot program ............................................................ 41
5.1.2 Interface format.................................................................................... 42
5.2 Reference system variables ................................................................................... 42
5.2.1 Access from the robot program ............................................................ 42
5.2.2 Interface format.................................................................................... 43
5.3 Word variables....................................................................................................... 43
5.3.1 Access from the robot program ............................................................ 43
5.3.2 Interface format.................................................................................... 43
8 Festo GDCP-CMXR-F-EN 1501b

1Safety and requirements for product use
1. Safety and requirements for product use
1.1 Safety
1.1.1 General safety information
Caution
Malfunction of the machine or system due to improper manipulation.
•
Provide the load and operating voltage as a circuit with limited energy in
accordance with IEC 61131−2 and always make sure there is fuse
protection with max. 10 A.
•The power supply for the equipment must be assured by reliable
isolation of the low-voltage from contact-hazardous voltages.
•Make sure that an interrupted program can be properly restarted after
voltage drops and voltage failure. The occurrence of dangerous
operating statuses must be avoided, even if temporary.
•Emergency stop equipment must remain effective in all operating
modes. Unlocking the emergency stop equipment must not initiate an
uncontrolled restart.
•Additional external measures, which guarantee a safe operating status
of the entire system even in the event of an error, must be put in place
everywhere that errors that occur in the control system could result in
personal injuries or extensive material damage.
Warning
Dangerous voltage!
•If not otherwise specified, maintenance work must always be carried out
with the system switched off! At the same time, the system must be
protected against unauthorised or unintentional restart.
Measuring or test work on the system must be carried out only by
electrically skilled persons.
Note
Damage to the product from incorrect handling.
•Never unplug or plug in a product when powered.
•Observe the handling specifications for electrostatically sensitive
devices.
Festo GDCP-CMXR-F-EN 1501b 9

1 Safety and requirements for product use
1.1.2 Intended use
The CMXR multi-axis control system is intended to operate a kinematics system in the
environment of a machine or automated system.
•Use the multi-axis control system only as follows:
−in perfect technical condition
−in original status without unauthorised modifications, except for the adaptations
described in this documentation
−within the limits of the product defined by the technical data
−in an industrial environment.
Warning
The Festo CMXR multi-axis control system is not designed for safety-
relevant
control tasks (e.g. emergency stop or monitoring of reduced speeds).
The CMXR multi-axis control system conforms to category B of
EN ISO 13849-1 and is thus not sufficient for the implementation of safety
functions for the protection of persons.
•Additional external safeguarding that ensures the safe operating status
of the entire system even in the event of a malfunction must be adopted
for safety-relevant control tasks or for the safety of persons.
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.
10 Festo GDCP-CMXR-F-EN 1501b

1 Safety and requirements for product use
1.2 Requirements for product use
•Provide this documentation to the following persons:
−design engineer
−installer
−commissioner of the machine or system
•Comply with the specifications of the documentation. Follow all accompanying
documentation and the documentation of any associated accessories.
•Take the following into consideration for the destination:
−applicable legal regulations
−regulations and standards
−regulations of the testing organisations and insurers
−national specifications
For correct and safe use:
•Observe all warnings and notes.
•Comply with all load limits of the product and the connected components.
1.2.1 Qualification of specialized personnel
•The product should only be installed by specialized personnel with corresponding
qualifications.
The following knowledge is required:
−installation and operation of electrical control systems
−applicable regulations for operating safety-engineering systems
−applicable regulations for accident protection and operational safety
−documentation and mode of operation of the product.
1.3 Service
•Please consult your local Festo service or write to the following e-mail address if you
have any technical problems (service_internat[email protected]).
Festo GDCP-CMXR-F-EN 1501b 11

2 Control interfaces for external activation
2. Control interfaces for external activation
The CMXR multi-axis control system can be controlled through 3 different methods:
−through a higher-level control system via digital inputs/outputs with the
MotionControl Profile MPC1-EA.
−through a higher-level control system via PROFIBUS DP. The following 2 performance
classes are distinguished:
−MotionControl Profile MCP1-PB (with 12 byte data packet)
−MotionControl Profile MCP2-PB (with 64 byte data packet)
−Operation without external control (not described here, System description
GDCP-CMXR-SY-…).
The CDSA operator unit can be connected with all activating methods.
12 Festo GDCP-CMXR-F-EN 1501b

3 PLC interface MCP1
3. PLC interface MCP1
3.1 General
The PLC interface can be reached via PROFIBUS as well as via digital I/O in a simpler
variant. Refer to the system manual for information on how these settings are carried out.
3.2 Activation via digital I/O
Activation via digital I/O is done through wiring with three I/O modules of type
CECX-D-8E8A-NP-2. The MCP1 I/O signals are assigned to concrete inputs/outputs in the
control system configuration with the Festo Configuration Tool (FCT).
The following describes the signal allocation of the three I/O modules.
I/O module - BasicIO
Signal
Name
Function
Master
control
required
Description
DO:0 doutError CMXR error active No 3.4.2
DO:1 Reserved –
DO:2 doutAutoSelected Automatic operating mode set No 3.4.10
DO:3 doutManSelected Manual operating mode set No 3.4.10
DO:4 Unassigned For free use
DO:5 Unassigned For free use
DO:6 Unassigned For free use
DO:7 Unassigned For free use
DI:0 dinEMStop Emergency stop No System description
DI:1 dinEnabling Enabling button No System description
DI:2 dinAutoSelect Automatic operating mode No 3.4.10
DI:3 dinManSelect Manual operating mode No 3.4.10
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 1501b 13

3 PLC interface MCP1
I/O module - MCPIO1
Signal
Name
Function
Master
control
required
Description
DO:0 CTRDY Controller ready No System description
DO:1 HOLD HOLD active No 3.4.8
DO:2 DRRDY Drives ready No System description
DO:3 DRREF Drives referenced No System description
DO:4 ACCENA Write access not assigned No 3.4.6
DO:5 WRACC Write access received Yes 3.4.6
DO:6 ERROR Error is active No 3.4.2
DO:7 WDBIT Watchdog bit No 3.4.1
DI:0 –
DI:1 –
DI:2 –
DI:3 DRENA Enable drive Yes 3.4.7
DI:4 HALTENA Enable HOLD Yes 3.4.8
DI:5 WRREQU Request write access No 3.4.6
DI:6 QUITERR Acknowledge error Yes 3.4.2
DI:7 WDBIT Watchdog bit No 3.4.1
14 Festo GDCP-CMXR-F-EN 1501b

3 PLC interface MCP1
I/O module - MCPIO2
Signal
Name
Function
Master
control
required
Description
DO:0 –
DO:1 –
DO:2 –
DO:3 –
DO:4 ACK Load the program/start
executed
No 3.4.11 ff.
DO:5 NACK Load the program/start not
executed
No 3.4.11 ff.
DO:6 RUNNING Program running No 3.4.11 ff.
DO:7 LOADED Program loaded No 3.4.11 ff.
DI:0 PRGNR Bit0 Selection of program no. Yes
DI:1 PRGNR Bit1 Selection of program no. Yes
DI:2 PRGNR Bit2 Selection of program no. Yes
DI:3 PRGNR Bit3 Selection of program no. Yes
DI:4 STOP Interrupt program Yes 3.4.14
DI:5 START Start/continue program Yes 3.4.13
DI:6 UNLOAD Unload program Yes 3.4.12
DI:7 LOAD Load program Yes 3.4.11
Festo GDCP-CMXR-F-EN 1501b 15

3 PLC interface MCP1
3.3 Activation via PROFIBUS
3.3.1 I/O module BasicIO (optional)
With activation via PROFIBUS, the I/O module - BasicIO can be omitted. The signals of this
module are then transmitted via PROFIBUS.
I/O module - BasicIO
Signal
Name
Function
Master
control
required
Description
DO:0 doutError CMXR error active No 3.4.2
DO:1 Reserved –
DO:2 doutAutoSelected * Automatic operating mode set No 3.4.10
DO:3 doutManSelected * Manual operating mode set No 3.4.10
DO:4 Unassigned For free use
DO:5 Unassigned For free use
DO:6 Unassigned For free use
DO:7 Unassigned For free use
DI:0 dinEMStop Emergency stop No System description
DI:1 dinEnabling Enabling button No System description
DI:2 dinAutoSelect * Automatic operating mode No 3.4.10
DI:3 dinManSelect * Manual operating mode No 3.4.10
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.
16 Festo GDCP-CMXR-F-EN 1501b

3 PLC interface MCP1
3.3.2 Control signals in the PROFIBUS data packet
MCP1-PB includes 12-byte control signals and 12-byte status signals, which are cyclically
exchanged. The signals are exchanged as I/O data packets on PROFIBUS.
Byte 1
Byte 2
Byte 3
Byte 4
CREG CREG2 Unassigned PRGNR
Control register 1 Control register 2 Program number
Byte 5
Byte 6
Byte 7
Byte 8
COVR CJOG EDATA1 EDATA2
Override JOG register 8 input bits 8 input bits
Byte 9
Byte 10
Byte 11
Byte 12
JOGPOS
Target position of the JOG axis
Control register 1
Bit
7
6
5
4
3
2
1
0
CREG WDBIT QUITERR WRREQU HALTENA DRENA JPENA HAND AUTO
Watchdog
bit
Acknowle
dge error
Request
master
control
Enable
HOLD
Enable
drives
Enable Jog
position
Manual
operating
mode
Automatic
operating
mode
Control register 2
Bit
7
6
5
4
3
2
1
0
CREG2 LOAD UNLOAD START STOP Unassigned Unassigned DEVENA EMSTOP
Load
program
Unload
program
Start
program
Interrupt
program
Enabling
button
Emergency
stop
Program number
Size 1 byte, possible program numbers 1 … 255.
The program number can be used to address the desired FTL program on the control
system. The program number is assigned to the FTL program via an assignment table in
the FCT.
Festo GDCP-CMXR-F-EN 1501b 17

3 PLC interface MCP1
Override
Size 1 byte, possible values 0 … 100 %.
The override can be used to limit the nominal value of the speed of the kinematics, e.g. for
commissioning.
Jog register
Bit
7
6
5
4
3
2
1
0
CJOG JOGP JOGN COORD AXIS
Jog
positive
Jog
negative
JOG coordinate
system
JOG axis
EDATA1/EDATA2
Size 2 x 8 bit.
The PLC can send freely definable signals to the multi-axis control system over the 16
binary inputs.
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.
18 Festo GDCP-CMXR-F-EN 1501b

3 PLC interface MCP1
3.3.3 Status signals in the PROFIBUS data packet
Byte 1
Byte 2
Byte 3
Byte 4
SREG SREG2 SREG3 Unassigned
Status register 1 Status register 2 Status register 3
Byte 5
Byte 6
Byte 7
Byte 8
SOVR SJOG ADATA1 ADATA2
Override status JOG register 8 output bits 8 output bits
Byte 9
Byte 10
Byte 11
Byte 12
ACTPOS
Actual position of the JOG axis
Status register 1
Bit
7
6
5
4
3
2
1
0
SREG WDBIT ERROR WRACC ACCENA DRREF DRRDY HOLD CTRDY
Watchdog
bit
Error is
active
Master
control
received
Master
control
not
assigned
Drives
referenced
Drives
ready
Halt active
Controller
ready
Status register 2
Bit
7
6
5
4
3
2
1
0
SREG2 LOADED RUNNING NACK ACK JPRDY Unassigne
d
HAND AUTO
Program
loaded
Program
running
Program
ACK
Program
NACK
Jog
position
enabled
Manual
active
Auto
active
Status register 3
Bit
Bit order
7
6
2
0
5
2
1
4
2
2
3
2
0
2
2
1
1
2
2
0
2
3
SREG3 Unassigned MSG MSGNR
Message class Message number
Festo GDCP-CMXR-F-EN 1501b 19

3 PLC interface MCP1
Override status
Size 1 byte, possible values 0 … 100 %.
The override status displays the active override value.
JOG register
Bit
7
6
5
4
3
2
1
0
SJOG AXIS COORD ESN ESP
JOG axis JOG coordinate
system
Limit switch
negative
Limit switch
positive
ADATA1/ADATA2
Size 2 x 8 bit.
The multi-axis control system can send freely definable signals to the PLC over the
16 binary outputs.
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.
20 Festo GDCP-CMXR-F-EN 1501b