Festo CMXR-C1 User guide

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Controller
Description
System manual
Type
CMXR-C1
Description
560 310
en 0805NH
[721 643]

Festo GDCP-CMXR-SY-EN 0805NH 3
Edition ______________________________________________________________ 0805NH
Designation _________________________________________________ GDCP-CMXR-SY-EN
Order no. ____________________________________________________________ 560 310
Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2008
Internet: http://www.festo.com
E-mail: [email protected]
Copying and distributing this document as well as utilising and communicating its contents
is prohibited without express authorisation. Offenders will be held liable for payment of
damages. All rights reserved, in particular the right to carry out patent, utility model or
ornamental design registrations.

4 Festo GDCP-CMXR-SY-EN 0805NH
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Produced:
0805NH
07.07.2008

Table of contents
Festo GDCP-CMXR-SY-EN 0805NH 5
Table of contents
1. Introduction .......................................................................................................... 8
1.1 Terminology used ................................................................................................ 8
2. Safety instructions ................................................................................................ 9
2.1 Using the documentation..................................................................................... 9
2.2 Recommended operating conditions.................................................................... 9
2.3 Qualified personnel ........................................................................................... 10
2.4 Safety notes on this manual............................................................................... 10
2.5 Safety notes on the products ............................................................................. 10
2.6 Safety instructions for the described product..................................................... 11
3. Modular multi-axis control system CMXR........................................................... 13
3.1 Central control unit CMXR-C1............................................................................. 13
3.1.1 CAN interfaces.................................................................................... 14
3.2 Memory card ..................................................................................................... 15
3.3 File system ........................................................................................................ 16
3.4Application directory ......................................................................................... 17
3.5 IP address on delivery........................................................................................ 17
3.6 Peripheral modules ........................................................................................... 18
3.6.1 Addressing the peripheral modules .................................................... 19
3.6.2 Front panel plug ................................................................................. 20
3.7 Peripherals at interface CAN 1 ........................................................................... 21
4. Configuration using FCT ...................................................................................... 22
5. Programming, Festo Teach Language (FTL) ........................................................ 23
5.1 Program processing........................................................................................... 24
5.1.1 Downloading FTL programs ................................................................ 24
6. CDSA teach pendant............................................................................................ 26
6.1 Installation ........................................................................................................ 28
6.2 CAMI-C interface unit ......................................................................................... 29
6.3 Disconnecting the teach pendant....................................................................... 29
6.4 Hardware overview............................................................................................ 31
6.5 Software............................................................................................................ 31
6.6 User rights......................................................................................................... 33
6.6.1 User levels ......................................................................................... 34
6.6.2 Set users on delivery.......................................................................... 36
6.7 Communication with the CMXR multi-axis control system .................................. 36

Table of contents
6 Festo GDCP-CMXR-SY-EN 0805NH
6.7.1 Synchronisation of dialogue software................................................. 37
6.8 IP addresses on delivery .................................................................................... 37
6.9 Screen control ................................................................................................... 38
7. Drive systems...................................................................................................... 39
7.1 Setting for servo configuration .......................................................................... 39
7.2 CAN bus address for motor controllers............................................................... 39
7.3 Homing run........................................................................................................ 40
8. Operation modes................................................................................................. 41
8.1 Manual override ................................................................................................ 41
8.2 Automatic mode ................................................................................................ 42
8.3 Stopping the kinematics, EMERGENCY-STOP ..................................................... 42
8.4 Repositioning .................................................................................................... 44
9. Activation method ............................................................................................... 46
9.1 Operation without external control .................................................................... 46
9.1.1 System signals ................................................................................... 48
9.2 External control via the digital I/O interface....................................................... 49
9.2.1 Functions of the I/O interface ............................................................. 50
9.3 External control via PROFIBUS DP ...................................................................... 51
9.3.1 System signals ................................................................................... 52
9.3.2 Functions of the PROFIBUS interface .................................................. 53
9.3.3 Interface for the FTL program.............................................................. 53
9.4 Higher-order control .......................................................................................... 55
9.4.1 Method of operation........................................................................... 55
9.4.2 User level ........................................................................................... 56
9.4.3 Influence of the higher-order control .................................................. 56
9.4.4 Integration example ........................................................................... 57
10. Coordinate systems............................................................................................. 59
10.1 Axis coordinate systems .................................................................................... 59
10.2 Cartesian coordinate systems............................................................................ 59
10.2.1 Translatory axes X, Y, Z....................................................................... 59
10.2.2 Orientation axes A, B, C ...................................................................... 60
10.2.3 Euler orientation ZYZ .......................................................................... 61
10.3 Coordinate systems for the kinematics .............................................................. 61
10.3.1 Base coordinate system ..................................................................... 61
10.3.2 World coordinate system.................................................................... 63
10.3.3 Tool coordinate system ...................................................................... 65
10.3.4 Working with the tool coordinate system............................................ 65

Table of contents
Festo GDCP-CMXR-SY-EN 0805NH 7
11. Supported kinematics ......................................................................................... 67
11.1 Configuration of kinematics ............................................................................... 67
11.1.1 Basic axes .......................................................................................... 67
11.1.2 Orientation axes (manual axes) .......................................................... 68
11.1.3 Adjustment of orientation axes........................................................... 68
11.1.4 Interpolation of orientation axes ........................................................ 70
11.1.5 Electric and pneumatic manual axes................................................... 73
11.1.6 Auxiliary axes ..................................................................................... 73
11.1.7 Programming the manual and auxiliary axes....................................... 74
11.1.8 Designation of axis sequence for kinematics ...................................... 75
11.2 Cartesian linear gantry....................................................................................... 75
11.3 Cartesian planar surface gantry ......................................................................... 78
11.4 Cartesian three-dimensional gantry ................................................................... 79
11.5 Tripod kinematics .............................................................................................. 82
11.5.1 Origin of the tool coordinate system................................................... 84
11.6 Axis interpolation .............................................................................................. 85
11.7 Overview of all supported kinematics systems................................................... 86

1. Introduction
8 Festo GDCP-CMXR-SY-EN 0805NH
1. Introduction
This document describes the “Festo CMXR multi-axis control system with robotic technology
functions” system with the with the software status of version 1.0. Both the actual multi-axis
control system and the CDSA-D1-VX teach pendant are part of this system.
CMXR-C1 multi-axis control system CDSA-D1-VX teach pendant
1.1 Terminology used
Designation
Meaning
Central control unit
Basic unit of the CMXR multi-axis control system
Multi-axis control system
Central control unit with connected peripheral modules
Memory card
Compact Flash Card CF Type I
FTL
Festo Teach Language, movement-oriented programming language for the
CMXR multi-axis control system
TCP
Tool Center Point
DriveBus
Channel of communication between the CMXR multi-axis control system
and Festo motor controllers on a CANopen DS402 basis
Festo Configuration Tool (FCT)
Parameterisation and commissioning software for Festo drives (also FCT
software)
FCT PlugIn
Software module for a certain device in the Festo Configuration Tool (FCT)

2. Safety instructions
Festo GDCP-CMXR-SY-EN 0805NH 9
2. Safety instructions
2.1 Using the documentation
This document is intended for users and programmers of multi-axis structures and robots that
work together with the Festo CMXR multi-axis control system. There is a training induction
programme for the operation and programming. Appropriate personnel training is a
requirement.
2.2 Recommended operating conditions
Warning
The Festo CMXR multi-axis control system is not designed for
safety-relevant control tasks (e.g.: shutdown in emergency or
monitoring reduced speeds).
The Festo CMXR multi-axis control system conforms to category B
of EN-954-1 and is thus not adequate for the implementation of
safety functions for the protection of persons.
Additional external protective measures that ensure the safe
operating status of the overall system even in the event of a
malfunction must be adopted for safety-relevant control tasks or
for the safety of persons.
Festo is not liable for damage caused by failure to observe the warning instructions in these
operating instructions.
Note
The safety instructions on the products (chapter 2.5) and the safety
instructions on this manual (chapter 2.6) must be read prior to
commissioning.
If the documentation is not clearly understood in this language version, please inform the
supplier.
The faultless and reliable operation of the control system depends on its correct transport,
storage, mounting and installation as well as on careful operation and maintenance.

2. Safety instructions
10 Festo GDCP-CMXR-SY-EN 0805NH
2.3 Qualified personnel
Note
Only trained and qualified personnel should be allowed to handle
the electrical installations.
2.4 Safety notes on this manual
Warning
DANGER!
Considerable damage to property and injury to human beings may
occur if these instructions are not observed.
Caution
Considerable damage to property may occur if these instructions
are not observed.
2.5 Safety notes on the products
Warning
DANGER!
The regulations for special waste must be observed when
disposing of the batteries.
Although batteries have a low voltage, they can give off enough
current in a short circuit to cause flammable materials to ignite.
They must not, therefore, be disposed of together with conductive
materials (such as metal chips, wire wool contaminated with oil
etc.).
Electrostatically sensitive devices: incorrect handling can result in
damage to components.
Information
Instructions for EMC-approved installations can be found in the
product manual.

2. Safety instructions
Festo GDCP-CMXR-SY-EN 0805NH 11
Warning
DANGER!
Dangerous movements!
Danger of death, serious bodily injury or damage to property due to
unintentional movement of the axes!
2.6 Safety instructions for the described product
Warning
Danger!
Danger of death due to inadequate EMERGENCY-STOP devices!
Emergency-stop devices must remain operative and accessible in
all operating modes of the system. Unlocking the EMERGENCY-
STOP device must not initiate an uncontrolled restart of the system!
Check the EMERGENCY-STOP chain first, then switch on!
Warning
DANGER!
Danger to people and equipment!
Test every new program before you commission the system!
Warning
DANGER!
Retrofittings and modifications can compromise the safety of the
system!
The consequences of this could be personal injury, material
damage or environmental damage. Possible retrofittings or
modifications to the system using component parts from external
manufacturers must therefore be approved by Festo.

2. Safety instructions
12 Festo GDCP-CMXR-SY-EN 0805NH
Warning
DANGER!
Hazardous electric 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 use and against
being switched on again unintentionally.
Should measuring or test work be needed on the system, this must
be carried out by expert electrical technicians.
Caution
Only replacement parts approved by Festo may be used.

3. Modular multi-axis control system CMXR
Festo GDCP-CMXR-SY-EN 0805NH 13
3. Modular multi-axis control system CMXR
The CMXR multi-axis control system is a modular control system composed of a central control
unit CMXR-C1, input/output modules, fieldbuses and a teach pendant. The CMXR multi-axis
control system is used for activating kinematics from the Festo Modular System for Handling
and Assembly Technology, additional axes and peripheral equipment. Programming is done in
the language FTL (Festo Teach Language).
Note
All the examples and applications used in this manual are non-
binding and do not lay claim to be correct and complete. All the
necessary regulations must be observed when using the CMXR
multi-axis control system.
3.1 Central control unit CMXR-C1
The CMXR-C1 central control unit is an intelligent processor module that is responsible for the
processing of the programs, for example. The scope of delivery includes:
Two CAN bus interfaces, whereby CAN 0 is reserved for the Festo DriveBus
One Ethernet interface
One memory card CF Type I, size 512 MB, for example
Teach pendant
Kinematics
CMXR
Valve units
Gripper
Electric drives

3. Modular multi-axis control system CMXR
14 Festo GDCP-CMXR-SY-EN 0805NH
124V DC power
supply
27-segment
display
3CAN 1,
peripheral
equipment
4Ethernet
5CAN 0, DriveBus
6Memory card
7USB interface
Fig. 3.1 Structure of a multi-axis system with CMXR multi-axis control system (example)
Designation
Meaning
CAN 0, DriveBus
Interface for the drive regulators
CAN 1, peripheral
equipment
Connection of peripheral devices, e.g. valve terminal
Memory card
Data memory of central control unit
USB interface
USB port for saving and restoring programs, as well as for removing diagnostic
information for servicing purposes. Further information can be found in the
CDSA software manual.
Ethernet
Interface for the teach pendant or programming, for example
7-segment display
Information on diagnosis
Power supply
24V DC power supply
Table 3.1 Central control unit CMXR-C1
Note
The use of an intelligent Ethernet switch is recommended for
minimising the load for the Ethernet network.
3.1.1 CAN interfaces
The CAN 0 interface for the CMXR-C1 is reserved for the drive communication via DriveBus.
Another use is not possible.
Other peripheral equipment, such as the Festo CPV valve terminal, can be connected up via
interface CAN 1. The configuration of the signals is carried out via the Festo Configuration Tool
(FCT).
1
2
4
6
3
7
5

3. Modular multi-axis control system CMXR
Festo GDCP-CMXR-SY-EN 0805NH 15
3.2 Memory card
The data for the CMXR-C1 are saved on a memory card. This includes all data required for the
operation, such as the operating system, configuration data and movement programs.
The memory card is inserted in the relevant slot in the CMXR central control unit. Pulling and
inserting the card is not permitted during the operation.
Note
To pull out the memory card, always make sure the CMXR central
control unit is disconnected from the power supply. Pulling the card
out is not allowed if the control unit is still live.
There are many versions and manufacturers of memory cards on the market. These are
distinguished however by their performance and the permissible write cycles. For this reason,
special memory cards are recommended for the operation of the CMXR multi-axis control
system. For the card types, please refer to the hardware description for the CMXR-C1 central
control unit.
To produce backup copies, the memory card can be very easily copied. This can be done via a
PC using a punch card reader or via Festo Configuration Tool (FCT).
Should the CMXR hardware or the memory card become defective, the defective part can be
easily exchanged. Additional software or a PC is not required for the change. An exchange can
be quickly taken care of during servicing work.
Caution
The memory card is a storage location for the CMXR multi-axis
control system's data. Using this data carrier for other purposes
must be avoided. Doing so can impair the operatability of the
storage medium.

3. Modular multi-axis control system CMXR
16 Festo GDCP-CMXR-SY-EN 0805NH
3.3 File system
The memory card has a directory structure in which required data, such as configuration,
program and system data, can be stored. These directories are created during the installation
of the CMXR multi-axis control system and must not be changed or added to. Otherwise, the
operatability of the system can no longer be guaranteed.
Caution
The required directory structure is created during the installation of
the CMXR multi-axis control system. This structure must not neither
be changed nor added to. Any type of manipulation here results in
the operatability not being guaranteed.
Illustration of the directory structure on the memory card:
Directory name
Meaning
application
File for all user data such as configuration, programs and program data
protocol
File for report files
retain
System directory
system
System directory
systemsettings
System directory
terminal
System directory
Table 3.2 File directories on the memory card
All the required data for the application are stored in the “application” directory. This applies
to the configuration of the CMXR multi-axis control system as well as all FTL projects and
programs in the application.
Note
With the aid of the Festo Configuration Tool (FCT) all system data,
the configuration and the FTL programs required for the operation
are generated and loaded onto the memory card.

3. Modular multi-axis control system CMXR
Festo GDCP-CMXR-SY-EN 0805NH 17
3.4 Application directory
All configuration data, FTL project data and program data are stored in the
“application\control” directory.
Illustration of the directory structure for the application directory:
The application directory includes a “control” directory. This is divided into the following
directories:
Directory name
Meaning
config
Target directory of the application configuration
ieccontrol
Not in use
teachcontrol
Contains all FTL projects
text
Contains any message texts in the application
Table 3.3 Application directory
The “teachcontrol” directory contains all FTL projects which are each represented by a
directory. All FTL programs assigned to the project are located in this project directory.
In the above graphic, the projects “_global” and “cube” are created as examples.
3.5 IP address on delivery
The CMXR multi-axis control system has, on delivery, a minimal installation on the memory
card so that the network connection can be established after connection to the power supply.
The network settings are pre-assigned as follows:
Network parameter
Value
IP address
192.168.100.100
Subnet mask
255.255.255.0
Gateway address
0.0.0.0
Table 3.4 Preset network parameters
To establish a connection to the CMXR multi-axis control system, the corresponding network
settings have to be undertaken on the PC.

3. Modular multi-axis control system CMXR
18 Festo GDCP-CMXR-SY-EN 0805NH
Note
The CMXR multi-axis control system is not DHCP-capable.
The multi-axis control system cannot assign an IP address from
a DHCP-server; it has to be configured via FCT.
3.6 Peripheral modules
The modular CMXR multi-axis control system can be expanded with peripheral modules, which
are connected up on the right-hand side of the central control unit. The modules are
connected up via the system bus, which is established via a plug contact.
The position of a peripheral module can be selected at will. Since each module has its own
address, it can be assigned unequivocally. A maximum of eight peripheral modules can be
connected up to the CMXR multi-axis control system.
Designation
Meaning
CMXR-C1
Central control unit
CECX-D-16E
Digital input module with 16 inputs
CECX-D-14A-2
Digital output module with 14 outputs, 2A load capacity, group fusing function
CECX-D-8E8A-NP-2
Digital mixed module with eight inputs and eight outputs, outputs with 2A load
capacity
CECX-A-4E4A-V
Analogue module with four inputs (14 bits), four outputs (12 bits) for voltage supply
CECX-A-4E4A-A
Analogue module with four inputs, four outputs for current
CECX-C-2G2
Encoder module with two inputs
CECX-F-PB-S-V0
PROFIBUS slave module DP V0
Table 3.5 CMXR peripheral modules system

3. Modular multi-axis control system CMXR
Festo GDCP-CMXR-SY-EN 0805NH 19
Note
The maximum possible eight modules can be a mixture of the
named peripheral modules. An exception is the PROFIBUS slave
module. This may be used only once in the system.
Examples for peripheral modules:
CDCX-D-8E8A-NP-2
CECX-F-PB-S-V0
Digital mixed module with eight inputs and eight
outputs
PROFIBUS slave module DPV0
Note
The planning of the modules is managed by Festo Configuration
Tool (FCT).
Please refer to the CMXR programming manual for the application
of the modules in FTL programs.
3.6.1 Addressing the peripheral modules
Every one of the peripheral modules has an address switch that is located underneath a latch.
Using a suitable tool, the module address is set on the address switch, which is designed as a
rotary switch.
The following applies:
Each address may only be used once inside a module type.
The same addresses are allowed in different modules.
Note
An exception to this is the PROFIBUS slave module. This does not
have an address switch, since only one module may be installed in
the system.

3. Modular multi-axis control system CMXR
20 Festo GDCP-CMXR-SY-EN 0805NH
1Bus plug (rear
cover)
2Recess for H-rail
3Address switch
(module
address)
4H-rail locking
lever
3.6.2 Front panel plug
Standard plugs with a grid dimension of 5.08 mm are needed for the power supply and for
connecting the digital and analogue signal cables. Encoder signals are connected via a SUB-D
plug, the fieldbuses CAN and PROFIBUS via suitably approved fieldbus plugs.
The following tables contain the required plug combinations and a recommended selection of
plugs. The number of pins can be selected differently, depending on the requirement.
Designation
Number
Meaning
CMXR-C1
1
1
2-pin for the power supply
9-pin SUB-D (socket) for every CAN bus
CECX-D-16E
1
2
2-pin for the power supply
8-pin for signals
CECX-D-14A-2
2
1
1
2-pin for the power supply
8-pin for signals
6-pin for signals
CECX-D-8E8A-NP-2
1
2
2-pin for the power supply
8-pin for signals
CECX-A-4E4A-V
1
2
2-pin for the power supply
8-pin for signals
CECX-A-4E4A-A
1
2
2-pin for the power supply
8-pin for signals
CECX-C-2G2
1
1
2
2-pin for the power supply
2-pin for latch signals
SUB-D 9-pin (socket) for the encoder
CECX-F-PB-S-V0
1
PROFIBUS plug with switchable terminating
resistor
Table 3.6 Plugs for peripheral modules on the CMXR-C1
4
1
2
3