Festo CMXR-C1 Operating and installation instructions

Beschneiden:
Oben: 61,5 mm
Unten: 61,5 mm
Links: 43,5 mm
Rechts: 43,5 mm
Controller
Description
PLC interface
Type
CMXR-C1
Description
560 328
en 0909a
[748 998]

Festo GDCP-CMXR-F-EN 0909a 3
Edition _________________________________________ 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: [email protected]
The reproduction, distribution and utilization of this document as well as the
communication of its contents to others without express 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.

Festo GDCP-CMXR-F-EN 0909a 4
Index of revisions
Author:
Name of manual:
GDCP-CMXR-F
File name:
File saved at:
Consec. no.
Description
Index of revisions
Date of amendment
001
First edition
en 0805NH
09.07.08
002
Revision
en 0909a
02.09.09
Trademarks
Microsoft® Windows® Registered trademark of Microsoft Corporation
PROFIBUS, PROFIBUS−DP® Registered trademarks of PROFIBUS International (P.I.)

TABLE OF CONTENTS
Festo GDCP-CMXR-F-EN 0909a 5
1. General ................................................................................................................. 7
1.1 Further documentation on the CMXR-C1 control system....................................... 7
1.2 Target group........................................................................................................ 7
1.3 Service ................................................................................................................ 8
2. Safety precautions ................................................................................................ 9
2.1 Safety instructions on handling ........................................................................... 9
2.2 Safety instructions on planning ......................................................................... 10
2.3 Safety instructions on maintenance................................................................... 11
2.4 Delimitation....................................................................................................... 11
3. Control interfaces for external activation............................................................ 12
4. PLC interface MCP1............................................................................................. 13
4.1 General information........................................................................................... 13
4.2 Activation via digital I/O .................................................................................... 13
4.3 Activation via PROFIBUS .................................................................................... 16
4.3.1 I/O card BasicIO (optional) ................................................................. 16
4.3.2 Control signals in the PROFIBUS data packet...................................... 17
4.3.3 Status signals in the PROFIBUS data packet ....................................... 19
4.4 Function of the PLC interface MCP1.................................................................... 21
4.4.1 Watchdog........................................................................................... 21
4.4.2 Error active......................................................................................... 21
4.4.3 Message system................................................................................. 21
4.4.4 Message classes and numbers in MCP1.............................................. 21
4.4.5 Acknowledging the error .................................................................... 22
4.4.6 Requesting control sovereignty .......................................................... 23
4.4.7 Switching on the drives ...................................................................... 23
4.4.8 Programmed stop............................................................................... 24
4.4.9 Jog ..................................................................................................... 24
4.4.10 Selecting the operation mode............................................................. 25
4.4.11 Load the program............................................................................... 26
4.4.12 Unloading the program....................................................................... 30
4.4.13 Starting the program .......................................................................... 31
4.4.14 Stopping the program ........................................................................ 32
4.4.15 Parallel programs ............................................................................... 33
4.4.16 Override ............................................................................................. 33
4.4.17 Exchange of cyclic I/O data................................................................. 34
5. PLC interface MCP 2 ............................................................................................ 35
5.1 MCP2-PB ........................................................................................................... 35
5.1.1 Control signals ................................................................................... 35

TABLE OF CONTENTS
6 Festo GDCP-CMXR-F-EN 0909a
5.1.2 Status signals..................................................................................... 35
5.2 Function of the PLC interface MCP2.................................................................... 36
5.3 Function codes .................................................................................................. 38
5.3.1 Return values ..................................................................................... 38
6. Communication variables.................................................................................... 39
6.1 Position variables .............................................................................................. 39
6.1.1 Access from the robot program .......................................................... 39
6.1.2 Interface format.................................................................................. 39
6.2 Reference system variables ............................................................................... 40
6.2.1 Access from the robot program .......................................................... 40
6.2.2 Interface format.................................................................................. 40
6.3 Word variables .................................................................................................. 40
6.3.1 Access from the robot program .......................................................... 40
6.3.2 Interface format.................................................................................. 41

1. General
Festo GDCP-CMXR-F-EN 0909a 7
1. General
This documentation describes the MotionControl Profile (MCP) for activating the CMXR
multi-axis control system via PROFIBUS and/or via the digital I/O interface. The PROFIBUS
interface or I/O interface is configured using the FCT program.
The activating methods are described in the GDCP-CMXR-SY system description.
1.1 Further documentation on the CMXR-C1 control
system
Type *)
Title
Description
Electronics
description
GDCP-CMXR-HW-...
This manual: provides an overview of the structure,
components and assembly of the CMXR multi-axis
controller; installation of the central module and the
optional modules
GDCC-CECX-D-...
Assembly, installation and commissioning instructions
for the corresponding CECX digital input/output
module
GDCC-CECX-A-4E-4A-...
Assembly, installation and commissioning instructions
for the corresponding CECX analogue input/output
module
GDCC-CECX-C-2G2-...
Assembly, installation and commissioning instructions
for the corresponding encoder interface
GDCC-CDCX-G-PB-S-V0-...
Assembly, installation and commissioning instructions
for the corresponding PROFIBUS slave interface
GDCP-CDSA-SY-...
Assembly, installation and operating functions of the
CDSA-D1-VX teach pendant
System description
GDCP-CMXR-SY-...
Entire system of the multi-axis control system
Programming
instructions
GDCP-CMXR-SW-...
Programming instructions
Software for CDSA
GDCP-CDSA-SW-...
User interface for the teach pendant
Online help for FCT
software package
FCT with CMXR-C1 PlugIn
Configuration and programming of the CMXR-C1
multi-axis control system
*) The manuals can be found on the supplied CD-ROM as a PDF file.
Table 1.1 Documentation on the CMXR multi-axis control system
1.2 Target group
This document is intended exclusively for technicians trained in control and automation
technology who have experience in installing and commissioning programmable logic
controllers.

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

2. Safety precautions
Festo GDCP-CMXR-F-EN 0909a 9
2. Safety precautions
This documentation includes the information required by the user and programmer for
activating the CMXR multi-axis control system.
Only qualified personnel have the required specialised knowledge to correctly interpret
and implement the instructions contained in these documents.
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.
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.
2.1 Safety instructions on handling
The modules used in the system are sensitive against electrostatic discharge in a
dismantled 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.
To protect the components against discharges of static
electricity: Discharge yourself of static electricity before
fitting or removing the modules.
Caution
Destruction of modules and damage to the CMXR-C1 central
processor unit
Switch off the supply voltages before you mount or
remove the modules.
Install the device into a suitable control cabinet.
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.

2. Safety precautions
10 Festo GDCP-CMXR-F-EN 0909a
2.2 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
control 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 operating states must be avoided, however temporary they may be.
-Emergency-stop devices must remain operative in all operating modes of the
automation equipment. Unlocking the emergency-stop device must not initiate
an uncontrolled restart.
-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.

2. Safety precautions
Festo GDCP-CMXR-F-EN 0909a 11
2.3 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 expressly permitted by Festo (see the
“Maintenance instructions”section).
Before opening the device:
1. Interrupt the power supply and
2. disconnect interface connections.
2.4 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.
Warning
Additional external protective measures that ensure the safe
operating status of the overall system even in the event of a mal-
function must be implemented for safety-relevant control tasks or
for the safety of persons.

3. Control interfaces for external activation
12 Festo GDCP-CMXR-F-EN 0909a
3. Control interfaces for external activation
The CMXR multi-axis control system can operate with three activating methods, the CDSA-
D1-VX teach pendant can be connected for all methods:
-Operation without external control (not covered here, see the system manual).
-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

4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a 13
4. PLC interface MCP1
4.1 General information
The PLC interface can be reached via PROFIBUS as well as via digital I/O in a simpler
variant. Please refer to the system manual for information on how these settings are
carried out.
4.2 Activation via digital I/O
Activation via digital I/O is done via wiring with three CECX-D-8E8A-NP-2 cards. The MCP1
I/O signals are assigned to concrete inputs/outputs in the control system configuration
using FCT.
Here is a description of the three I/O modules:
BasicIO
Signal
Name
Function
Control
sovereignty
required
Description
DO:0
doutError
CMXR error active
No
4.4.2
DO:1
Reserved
--
DO:2
doutAutoSelected
Automatic operation mode set
No
4.4.10
DO:3
doutManSelected
Manual operation mode set
No
4.4.10
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 manual
DI:1
dinEnabling
Permission button
No
System manual
DI:2
dinAutoSelect
Automatic operation mode
No
4.4.10
DI:3
dinManSelect
Manual operation mode
No
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

4. PLC interface MCP1
14 Festo GDCP-CMXR-F-EN 0909a
MCPIO1
Signal
Name
Function
Control
sovereignty
required
Description
DO:0
CTRDY
Controller ready
No
System manual
DO:1
HOLD
HOLD active
No
4.4.8
DO:2
DRRDY
Drives ready
No
System manual
DO:3
DRREF
Drives referenced
No
System manual
DO:4
ACCENA
Write access not assigned
No
4.4.6
DO:5
WRACC
Write access received
Yes
4.4.6
DO:6
ERROR
Error is active
No
4.4.2
DO:7
WDBIT
Watchdog bit
No
4.4.1
DI:0
--
DI:1
--
DI:2
--
DI:3
DRENA
Enable drive
Yes
4.4.7
DI:4
HALTENA
Enable HOLD
Yes
4.4.8
DI:5
WRREQU
Request write access
No
4.4.6
DI:6
QUITERR
Acknowledge error
Yes
4.4.2
DI:7
WDBIT
Watchdog bit
No
4.4.1

4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a 15
MCPIO2
Signal
Name
Function
Control
sovereignty
required
Description
DO:0
--
DO:1
--
DO:2
--
DO:3
--
DO:4
ACK
Load the program/Start
executed
No
4.4.11 ff.
DO:5
NACK
Load the program/Start not
executed
No
4.4.11 ff.
DO:6
RUNNING
Program is running
No
4.4.11 ff.
DO:7
LOADED
Program is loaded
No
4.4.11 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
4.4.14
DI:5
START
Start/continue program
Yes
4.4.13
DI:6
UNLOAD
Unload the program
Yes
4.4.12
DI:7
LOAD
Load the program
Yes
4.4.11

4. PLC interface MCP1
16 Festo GDCP-CMXR-F-EN 0909a
4.3 Activation via PROFIBUS
4.3.1 I/O card BasicIO (optional)
As an option, the BasicIO card can be omitted when activating via PROFIBUS. The BasicIO
card's signals are then transmitted via PROFIBUS.
BasicIO
Signal
Name
Function
Control
sovereignty
required
Description
DO:0
doutError
CMXR error active
No
4.4.2
DO:1
Reserved
--
DO:2
doutAutoSelected *
Automatic operation mode set
No
4.4.10
DO:3
doutManSelected *
Manual operation mode set
No
4.4.10
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 manual
DI:1
dinEnabling
Permission button
No
System manual
DI:2
dinAutoSelect *
Automatic operation mode
No
4.4.10
DI:3
dinManSelect *
Manual operation mode
No
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.

4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a 17
4.3.2 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
CREG1
WDBIT
QUITERR
WRREQU
HALTENA
DRENA
JPENA
HAND
AUTO
Watchdog
bit
Acknow-
ledge
error
Request
control
sovereignty
Enable
HOLD
Enable
drives
Enable Jog
position
Manual
operation
mode
Automatic
operation
mode
Control register 2:
Bit
7
6
5
4
3
2
1
0
CREG2
LOAD
UNLOAD
START
STOP
UNAS-
SIGNED
UNAS-
SIGNED
DEVENA
EMSTOP
Load the
program
Unload
the
program
Start
program
Interrupt
program
Permis-
sion
button
Emergen-
cy off

4. PLC interface MCP1
18 Festo GDCP-CMXR-F-EN 0909a
Program number
Size 1 byte, possible program numbers 1-255.
The program numbers can be used to address the required FTL program on the control
system. The program number is assigned to the FTL program via an assignment table in
FCT.
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
the commissioning procedure.
Jog register:
Bit
7
6
5
4
3
2
1
0
CTJOG
AXIS
COORD
JOGN
JOGP
JOG axis
JOG coordinate
system
Jogging
negative
Jogging
positive
EDATA1 / EDATA2
Size 2x8 bits.
The SPS uses the 16 binary inputs to send freely definable signals to the multi-axis control
system.
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.

4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a 19
4.3.3 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
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
Control
sovereignty
received
Control
sover-
eignty not
assigned
Drives
referenced
Drives
ready
Hold
active
Controller
ready
Status register 2:
Bit
7
6
5
4
3
2
1
0
CREG2
LOADED
RUNNING
NACK
ACK
JPRDY
UNAS-
SIGNED
HAND
AUTO
Program
is loaded
Program
is running
Program
ACK
Program
NACK
Jog
position
enabled
Man.
active
Auto
active

4. PLC interface MCP1
20 Festo GDCP-CMXR-F-EN 0909a
Status register 3:
Bit
7
6
5
4
3
2
1
0
SREG3
UNAS-
SIGNED
MSG
MSGNR
Message class
Message number
Override status
Size 1 byte, possible values 0-100%.
The override status is used to display 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 2x8 bits.
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.