Festo CMXR-C1 Instruction Manual

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Controller
Description
Assembly and
installation
Type
CMXR-C1
Description
560 322
en 0805NH
[
72
9
232
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Festo GDCP-CMXR-HW-EN 0805NH 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: [email protected]
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. All rights reserved, in particular the right to
carry out patent, utility model or ornamental design registrations.

4 Festo GDCP-CMXR-HW-EN en
Index of revisions
Author:
Name of manual:
CMXR multi-axis control system
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Consec. no.
Description
Index of revisions
Date of amendment
001
en 0805NH
30.06.08
Trademarks
Microsoft® Windows® Registered trademark of Microsoft Corporation
PROFIBUS, PROFIBUS-DP® Registered trademarks of Profibus International (P.I.)

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 5
Table of contents
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
1.1 Product versions................................................................................................ 16
1.2 Structure of the device ...................................................................................... 18
1.2.1 Central control unit............................................................................. 18
1.2.2 Optional modules............................................................................... 19
1.2.3 Peripheral modules ............................................................................ 19
1.3 Operator units for the modular control system................................................... 21
2. Assembly ............................................................................................................ 22
2.1 General instructions on assembly and dismantling ............................................ 22
2.2 Guidelines on the CMXR device configuration .................................................... 22
2.2.1 Fitting and removing optional modules............................................... 23
2.2.2 Assembling peripheral modules ......................................................... 25
2.2.3 Dismantling peripheral modules......................................................... 28
2.3 Guidelines for the installation............................................................................ 29
2.4 H-rail mounting.................................................................................................. 30
2.5 Dismantling ....................................................................................................... 34
3. Installation of the CMXR-C1 central control unit................................................. 35
3.1 General instructions on installation ................................................................... 35
3.2 Selecting the power unit.................................................................................... 35
3.3 Instructions on wiring ........................................................................................ 36
3.4 Display, connecting and operating elements on the central control unit............. 41
3.4.1 Connecting the operating voltage....................................................... 42
3.4.2 Earthing the CMXR multi-axis control system...................................... 43
3.4.3 RS 485 A interface (reserved for expansion) ....................................... 44

Table of contents
6 Festo GDCP-CMXR-HW-EN en
3.4.4 USB interface (for the service technician) ........................................... 44
3.4.5 Rotary switch (reserved for expansion)............................................... 44
3.4.6 CAN interface X6................................................................................. 44
3.4.7 CAN interface X4 (optional module CECX-F-CO)................................... 46
3.4.8 Ethernet interface X5 (optional module CECX-C-ET) ............................ 46
3.4.9 Using Compact Flash memory cards ................................................... 46
4. Instructions on commissioning ........................................................................... 50
4.1 General instructions on commissioning ............................................................. 50
4.2 Performance of the central control unit.............................................................. 50
4.2.1 Running up performance .................................................................... 50
4.2.2 Operating states................................................................................. 52
4.2.3 Behaviour in the event of module errors............................................. 53
4.2.4 Behaviour in the event of power supply failure................................... 53
4.2.5 Control key (CTRL key)........................................................................ 53
5. Diagnostics and error handling........................................................................... 54
5.1 Summary of diagnostic options ......................................................................... 54
5.2 On-the-spot diagnosis via LED ........................................................................... 54
5.2.1 Power LED.......................................................................................... 54
5.2.2 CAN status LEDs................................................................................. 54
5.2.3 Ethernet status LEDs .......................................................................... 54
5.2.4 Status LED for the memory card ......................................................... 55
5.3 On-the-spot diagnosis via the 7-segment display............................................... 55
5.3.1 Error codes......................................................................................... 56
6. Maintenance and care......................................................................................... 58
6.1 Changing the battery ......................................................................................... 58
6.2 Cleaning ............................................................................................................ 59
A. Technical appendix ............................................................................................. 61
A.1 Technical data ................................................................................................... 62
A.1.1 General technical data........................................................................ 62
A.1.2 CMXR-C1, centralcontrol unit.............................................................. 63
A.2 Accessories ....................................................................................................... 64
A.3 Power consumption of components and modules.............................................. 65
A.4 Instructions on EMC-compliant wiring................................................................ 66
B. Index................................................................................................................... 68

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 7
Intended use
The CMXR-C1 multi-axis control system is intended for fitting into a control cabinet.
Product version
Description
CMXR-C1 robot
control
In this product version *), the device's intended use is as a multi-axis control system
with robotic technology functions. In this context, the device takes over the follow-
ing tasks:
–Controlling selected stepping motor and servo motor controllers from Festo, via
CAN bus (Festo DriveBus), e.g. for constructing a gantry robot, a linear robot or
tripod robot
–Controlling the peripherals (digital, analogue, displacement encoder)
*) Special firmware is included in this product version.
Table 0.1 Possible product versions
The CMXR multi-axis control system must be used as follows:
-Only in an industrial environment
-As intended
-In the original status without unauthorised alterations. Only the conversions or modi-
fications described in the documentation supplied with the product are permitted.
-In perfect technical condition.
When used together with commercially available components, such as sensors and actu-
ators, the specified limits for pressures, temperatures, electrical data, torques etc. must
be observed. National and local safety regulations must also be observed.
Use only the modules in the CECX series for setting up the modular CMXR multi-axis con-
trol system. The use of modules from this series in combination with modules from other
series is impermissible. The products or system components described may only be used
for the applications set out in the technical description and only in combination with the
recommended or permissible external devices.
The products described were developed, manufactured, tested and documented in com-
pliance with the relevant safety standards. If the instructions and safety notes described
in this manual for the designated use are observed, the product will not normally pose a
risk in regard to material damage or people's health.
The following scopes of application are explicitly excluded for the CMXR multi-axis con-
trol system:
-Its application in potentially explosive or combustible areas.
-Its application in mining.
-Its application outside.

8 Festo GDCP-CMXR-HW-EN en
The central module is not planned for safety-relevant control tasks (e.g.: shutdown in an
emergency). Additional external protective measures, which ensure the safe operating
status of the system even in the event of a malfunction, must be implemented for safety-
relevant control tasks or safety to persons.
Areas of application and approval by authorities
The product fulfils the requirements of EU directives and bears the CE mark.
Standards and test values, which the product must comply with and fulfil, can be found in
the section "Technical data". The product-relevant EU directive can be found in the declar-
ation of conformance.
Certain configurations of the product have been certified by the Underwriters Laboratories
Inc. (UL) for the USA and Canada. These configurations are marked as follows:
UL Listing Mark for Canada and the United States
Certification conditions / requirements for application for compliance with UL:
Only class 2 power units may be used for the electrical supply ("Only for use in Class 2
circuits").
The modules for the CMXR multi-axis control system described here are "open type
equipment" and must, therefore, be installed into a control cabinet.
All modules with front panel voltage supply must be protected with a back-up fuse. A 10 A
fuse is recommended.
Important user instructions
Danger categories
This manual includes instructions on the possible dangers which can occur if the product
is not used correctly. These instructions are marked (Warning, Caution, etc), printed on a
shaded background and marked additionally with a pictogram. 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.

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 9
Caution
... means that failure to observe this instruction may result in per-
sonal injury or damage to property.
Note
... 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.

10 Festo GDCP-CMXR-HW-EN en
Identifying special information
The following pictograms mark passages in the text which contain special information.
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.
1. Digits indicate activities which must be carried out in the specified sequence.
-Hyphens indicate general activities.

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 11
Safety precautions
The documentation includes the information required for assembling the CMXR multi-axis
control system and for installing the central module.
Knowing and implementing perfectly the information contained in the documents is a
requirement for the successful planning and safe installation, commissioning and mainte-
nance of control systems. Only qualified personnel have the required specialised knowl-
edge to correctly interpret and implement the instructions contained in these instructions.
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.
The documents are intended for qualified personnel. These are persons who have the
relevant knowledge in the field of automation technology matching their field of activity.
Safety instructions on handling
The modules used in the system are sensitive against electrostatic discharge in a disman-
tled state.
Caution
Assemblies and modules may be damaged if they are not handled
correctly.
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.
Caution
Destruction of modules and damage to the CMXR-C1 central proc-
essor unit
Switch off the supply voltages before you mount or remove the
modules.
Install the device into a suitable control cabinet (see sec-
tion 2.3).
Caution
Unqualified accessing of the multi-axle control system can trigger a
malfunction in the machine/system and cause injury or material
damage
Make sure that only suitably qualified personnel can access the
modular control system.

12 Festo GDCP-CMXR-HW-EN en
Safety instructions on planning
Caution
Unqualified accessing of the multi-axle control system can trigger a
malfunction in the machine/system and cause injury or material
damage
Please observe the following instructions:
-Follow the safety instructions in the continuing documentation of your multi-axis con-
trol system.
-The instructions contained in the documents must always be adhered to. Sources of
danger could otherwise result or safety devices integrated in the multi-axis control
system could be rendered ineffective.
-The safety and accident prevention regulations relevant to each application must be
observed regardless of the safety instructions specified in these manuals.
-Provide the load and operating voltage as a circuit with limited energy as per
IEC/DIN/EN 61131–2 and always make sure there is fuse protection with max. 10 A.
-The 24 V supply for the equipment must be assured by reliable isolation of the low-
voltage of contact-hazardous voltages.
-Put precautionary measures in place that allow an interrupted program to continue to
operate after voltage drops and voltage failure. The occurrence of dangerous operat-
ing states must be avoided, however temporary they may be.
-Emergency-stop devices must remain operative in all operating modes of the automa-
tion equipment. Unlocking the emergency-stop device must not initiate an uncon-
trolled restart.
-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.

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 13
Safety instructions on maintenance
Caution
Unqualified accessing can cause injury or material damage
Please observe that the device may only be opened by qualified
specialists and maintenance work may only be carried out if ex-
pressly permitted by Festo (see the "Maintenance instructions"
section).
Before opening the device:
1. Interrupt the power supply and
2. disconnect interface connections.
Target group
This document is intended exclusively for technicians trained in control and automation
technology who have experience in installing and commissioning programmable logic con-
trollers.
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
-Assembly of optional and peripheral modules
-Installation of the central module and the optional modules
-General measures for adhering to EMC
-General guidelines for installing the modular control system
-Maintenance instructions
-General technical data for the multi-axis control system.
Furthermore, the installation and configuration are described to such an extent so as to
provide a central control unit that will be ready for operation. "Ready for operation"
means the module is ready for loading the firmware and the application.
Installation instructions on the optional and peripheral modules
used by you can be found in the brief description and manual for
the respective module.
Additional information on installation and commissioning the prod-
uct version used by you can be found in the corresponding system
manual (see the following tables).

14 Festo GDCP-CMXR-HW-EN en
Documentation on the CMXR-C1 control system
Type *)
Title
Description
Electronics
description
CMXR multi-axis control
system
This manual: provides an overview of the structure,
components and assembly of the CMXR multi-axis con-
troller; installation of the central module and the op-
tional modules
CECX-D-...digital module
Assembly, installation and commissioning instructions
for the corresponding CECX digital input/output module
CECX-A-...analogue module
Assembly, installation and commissioning instructions
for the corresponding CECX analogue input/output
module
CECX-C-2G2 encoder inter-
face
Assembly, installation and commissioning instructions
for the corresponding module
CECX-F-PB-S-V0
fieldbus interface
Assembly, installation and commissioning instructions
for the corresponding PROFIBUS interface
CDSA-D1-VX operator unit
Assembly, installation and operating functions of the
CDSA-D1-VX operator unit
System manual
CMXR multi-axis control
system
Programming in-
structions
CMXR multi-axis control
system
CDSA manual
CDSA handheld terminal
Software for CDSA
CDSA handheld terminal
Online help for FCT
software package
FCT with CMXR PlugIn
Commissioning the CMXR multi-axis control system
*) The manuals can be found on the supplied CD-ROM as a PDF file.
Table 0.2 Documentation on the CMXR multi-axis control system
Required software versions
This documentation refers to the following versions:
Hardware/software
Firmware version
CMXR multi-axis control system
from V 1.0
Table 0.3 Hardware and software states

Contents and general safety instructions
Festo GDCP-CMXR-HW-EN 0805NH 15
General product-specific terms and abbreviations
The following product-specific abbreviations are used in this documentation:
Term / abbreviation
Meaning
A
Digital output
Address switch
Used to set the internal module address.
Analogue in-
put/outputs
Analogue inputs and outputs
Application
Sum of user programs
CANopen
Fieldbus protocol base on CAN, which is standardised as a European standard.
E
Digital input
Ethernet
Physical protocol and network for connecting various devices.
Functional earth
Earthing whose sole purpose it is to safeguard the intended function of the elec-
trical equipment. The functional earth is used to discharge interference voltage,
which otherwise could lead to impermissible influences on the device.
I/O module
Common term for those modules that provide digital or analogue inputs and/or
outputs.
Logic 0
0 V applied at input, or output supplies 0 V.
Logic 1
24 V applied at input, or output supplies 24 V.
Optional modules
Are plugged into slots (max. 3) on the central module and provide special inter-
faces for the central module.
Peripheral modules
For expanding the range of functions, peripheral modules can be plugged into the
central module on the right-hand side. Signal generators and actuators are con-
nected, for example, via input/output modules.
Retain data
Data which are written into the memory of the control system by the application.
Normally these are quantities, information on time or similar. Retain data keep
their value after the device has been switched off and on. If the program is re-
started, you can continue to work with the saved data. The data are not saved on
the Compact Flash memory card.
Runtime system
Operating system attachment
Status report
Files which the device can save for error analysis. These include important infor-
mation about the state of the device at the time the error occurred. 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

16 Festo GDCP-CMXR-HW-EN en
1. CMXR system overview
1.1 Product versions
The device is available in the following versions:
Product version
Description
Central control unit
CMXR-C1
Multi-axis control system 1)
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)
–The control of the peripherals (digital, analogue,
displacement encoder)
Expanding the device with further modules is permis-
sible.
1) Shown here is the standard configuration
Table 1.1 Product versions of the modular control system
The device configurations shown in this manual can thus deviate
from your device configuration.

1. CMXR system overview
Festo GDCP-CMXR-HW-EN 0805NH 17
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.
The peripherals can be controlled using the CANopen protocol via the second CAN inter-
face (X4), e.g. Festo CPV valve clusters.
Furthermore, you can adapt the structure of the CMXR multi-axis control system to your
requirements, because the device can be equipped in this product version with further
digital, analogue and fieldbus modules (see section 1.2.3).
1Wall bracket
CAFM-D1-W
2Operator unit
CDSA-D1-VX
3Interface unit
for operator unit
CAMI-C
4Motor controller
(connected here via
Festo DriveBus X6)
5Motor
6Peripheral
equipment (here
CPV valve cluster)
connected via
CAN (X4)
7CMXR multi-axis
control system
Fig. 1.1 Structure of a multi-axis system with CMXR multi-axis control system (example)
Display and control unit CDSA-D1-VX is used for operating, observing and programming
the multi-axis control system.
1
2
4
6
3
7
5

18 Festo GDCP-CMXR-HW-EN en
1.2 Structure of the device
The device is constructed on a modular basis. It essentially consists of:
-One central module
-Optional modules (are inserted into a slot in the central module)
-Peripheral modules (are connected in series on the right of the central module)
-If necessary, display and operating devices.
1.2.1 Central control unit
The central control unit is the centrepiece of the CMXR multi-axis control system. It pro-
vides the required resources for processing the user programs (processor, RAM, etc.).
The central control unit offers 3 slots for optional modules, which offer further ports for
interfaces of the central control unit. To expand functions, the peripheral modules can be
connected to the central control unit, on the right-hand side.
Central control unit
Description
–Motorola Power PC 400 MHz
–64 MB RAM
–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

1. CMXR system overview
Festo GDCP-CMXR-HW-EN 0805NH 19
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
CECX-C-ET
Ethernet connection X5 for the Ethernet controller integrated in the central
module
Baud rate: 10 Mbit
FIELDBUS INTERFACE
CECX-F-CO
CAN connection X4 for the CAN controller integrated in the central module
Baud rate: up to 1 Mbit
Table 1.3 Optional modules
1.2.3 Peripheral modules
The central control unit can be adapted to the wide range of requirements by means of
peripheral modules. Peripheral modules establish the connection for the process. Sensors
and actuators are, for example, connected via digital modules and analogue modules.
Fieldbus modules establish the connection to control systems. The following peripheral
modules are supported:
Peripheral modules
Brief description
INPUT MODULE
CECX-D-16E
Digital input module
16 digital inputs

20 Festo GDCP-CMXR-HW-EN en
Peripheral modules
Brief description
INPUT/OUTPUT MODULE
CECX-D-8E8A-NP-2
Digital input/output module
8 digital inputs and
8 digital outputs 2 A at 50% concurrence, short-circuit proof and overload proof
OUTPUT MODULE
CECX-D-14A-2
Digital output module
14 digital outputs, 2 A at 50% concurrence per group, short-circuit proof and
overload proof
INPUT/OUTPUT MODULE
CECX-A-4E4A-A
Analogue input/output module
–4 analogue current inputs
differential 0 … 20 mA, resolution: 14 bit
4 analogue current outputs 0 … 20 mA, resolution: 12 bit
INPUT/OUTPUT MODULE
CECX-A-4E4A-V
Analogue input/output module
–4 analogue voltage inputs differential
+/-10 V or 0 V - Uref, resolution: 14 bit
4 analogue voltage inputs +/-10 V, resolution: 12 bit