Festo CMXR-C2 Guide

Multi-axis controller
CMXR
-C2
Description
Mounting and
installation
571694
1501b
[8039851]

Version ______________________________________________________________ 1501b
Designation ____________________________________________ GDCP-CMXR-C2-HW-EN
Order no. ___________________________________________________________ 571694
Festo AG & Co., 73726 Esslingen, Germany, 2015
Internet: http://www.festo.com
E-mail: service[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-C2-HW-EN 1501b 3

Revisions index
Author:
Handbook title:
GDCP-CMXR-C2-HW-EN
Filename:
File storage location:
Consec. no.
Description
Revisions index
Date of revision
001
Creation
1002NH
31.03.2010
002
CPU and power consumption revised
1010a
10.11.2010
003
Revision
1501b
15.01.2015
Table 1.1 Directory of revisions
Specified directives/standards
Version status
EN 60529:2000-09
IEC 60068-2-27:2010-02
EN 60715:2001-09
IEC 60204-1:2007-06
EN ISO 13849-1:2008-12
IEC 61131-2:2008-04
IEC 60068-2-6:2008-10
ISO 11898:2003-12
Table 1.2 Directives/standards specified in the document
Trademarks
CANopen® and PROFIBUS® are registered trademarks of the respective trademark
owners in certain countries.
4 Festo GDCP-CMXR-C2-HW-EN 1501b

Notes on this documentation
This description includes specific information about the system of the multi-axis controller
CMXR-C2 with the software version from Version 1.0. In addition to the actual multi-axis
control system, this system also includes the operator unit CDSA-D1-VX and its emulation
via software as a PC application.
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-C2-HW-EN 1501b 5

Terms and abbreviations used
Term/abbreviation
Significance
A
Digital output
Address switch
For setting the internal module address
Analogue I/Os
Analogue inputs and outputs
Application
Sum of user programs
CANopen
CAN-based fieldbus protocol (standardised as a European Standard)
Ethernet
Physical protocol and network for connecting various devices
I
Digital input
I/O module
Collective term for those modules that provide digital or analogue inputs and/or
outputs.
Optional modules
These are plugged into slots (maximum 3) on the central module and make
special interfaces of the central module available.
Peripheral modules
To expand the function range, peripheral modules can be plugged into the central
module on the right-hand side. Signal generators and final control elements are
connected via I/O modules, for example.
Retain data
Data which are written into the memory of the control system by the application
(normally numbers of items, time information or the like). Retain data keep their
value after the device has been switched off and on. If the program is restarted,
you can continue to work with the saved data. The data are not saved on the
Compact Flash memory card.
Status report
Files which the device can save for error analysis. These include important
information about the status of the device at the time the error occurred. They
can be read out for service purposes.
Terminating resistor
Resistor at the line end of bus segments for minimising signal reflections.
Table 1.3 Terms and abbreviations used
Additional documentation
The total functionality of the multi-axis control system CMXR-C2 is described in the
following documents:
Name
Contents
GDCP-CMXR-SY-…
System description
GDCP-CMXR-HW-…
Mounting and installation (this document)
GDCP-CMXR-F-…
PLC interface
GDCP-CMXR-SW-…
Programming instructions for CMXR FTL base
Table 1.4 Further documentation – CMXR-C2 multi-axis control system
The listed documents are available for download in the Festo Support
Portal (www.festo.com/sp).
6 Festo GDCP-CMXR-C2-HW-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
1.1.3 Range of applications and certifications ............................................. 11
1.2 Requirements for product use.............................................................................. 11
1.2.1 Qualification of specialized personnel ................................................ 12
2. System overview CMXR-C2 ................................................................................. 13
2.1 Tasks and functions ............................................................................................. 13
2.2 Structure of the device......................................................................................... 14
2.2.1 Central control unit............................................................................. 15
2.2.2 Optional modules............................................................................... 15
2.2.3 Peripheral modules ............................................................................ 16
2.3 Operator unit CDSA-D1-VX................................................................................... 16
3. Mounting............................................................................................................. 17
3.1 General instructions on mounting and dismounting ............................................. 17
3.2 Guidelines for device configuration...................................................................... 17
3.2.1 Installing and removing optional modules.......................................... 18
3.2.2 Mounting peripheral modules ............................................................ 19
3.2.3 Dismounting peripheral modules ....................................................... 21
3.3 Guidelines for the installation .............................................................................. 22
3.4 H-rail mounting.................................................................................................... 23
3.5 Dismounting ........................................................................................................ 25
4. Installation of the central control unit CMXR-C2................................................. 26
4.1 General instructions on installation...................................................................... 26
4.2 Selecting the power supply unit........................................................................... 26
4.3 Notes on wiring.................................................................................................... 27
4.4 Display, connection and operator control elements.............................................. 32
4.4.1 Connecting the operating voltage....................................................... 33
4.4.2 Earthing the multi-axis control system................................................ 34
4.4.3 RS232C interface [X3]/[X9] ................................................................. 35
4.4.4 USB interfaces [X8]/[X10] ................................................................... 35
4.4.5 Rotary switch (reserved for expansion)............................................... 35
4.4.6 CAN interface [X6]............................................................................... 35
4.4.7 CAN interface [X4] (optional module CECX-F-CO)................................. 36
4.4.8 Ethernet interface [X5]........................................................................ 37
Festo GDCP-CMXR-C2-HW-EN 1501b 7

Table of contents
4.4.9 Ethernet interface [X7]........................................................................ 37
4.4.10 Using Compact Flash memory cards ................................................... 38
5. Commissioning instructions................................................................................ 40
5.1 General information on commissioning................................................................ 40
5.2 Performance of the central control unit ................................................................ 40
5.2.1 Running-up performance.................................................................... 40
5.2.2 Operating statuses............................................................................. 42
5.2.3 Behaviour in the event of module error............................................... 42
5.2.4 Behaviour in the event of power failure .............................................. 42
5.2.5 Control key (CTRL key)........................................................................ 43
6. Diagnostics and error handling........................................................................... 44
6.1 Summary of diagnostics options.......................................................................... 44
6.2 On the spot diagnostics via LEDs ......................................................................... 44
6.2.1 Power LED.......................................................................................... 44
6.2.2 CAN status LEDs ................................................................................. 44
6.2.3 Ethernet status LEDs .......................................................................... 44
6.2.4 Status LED for the memory card ......................................................... 45
6.3 On-the-spot diagnosis via the 7-segments display ............................................... 45
6.3.1 Error codes......................................................................................... 46
7. Maintenance and care......................................................................................... 47
7.1 Changing the battery ........................................................................................... 47
7.2 Cleaning .............................................................................................................. 48
A. Appendix ............................................................................................................. 49
A.1 Technical data ..................................................................................................... 49
A.1.1 General .............................................................................................. 49
A.1.2 Central control unit CMXR-C2 ............................................................. 50
A.2 Accessories.......................................................................................................... 50
A.3 Notes on EMC-compliant wiring ........................................................................... 51
B. Index................................................................................................................... 53
8 Festo GDCP-CMXR-C2-HW-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, even if momentary, must be avoided.
•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 a fault, must be put in place
anywhere, where faults occurring in the control system could result in
personal injuries or extensive material damage.
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.
Note
Destruction of modules and damage to the CMXR-C2 central control unit!
•Switch off supply voltages before you mount or remove modules.
•Install the device in a suitable control cabinet (3.3 Guidelines for the
installation).
Festo GDCP-CMXR-C2-HW-EN 1501b 9

1Safety 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 through 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 protective measures that ensure 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
The products or system components described may only be used for the
applications set out in the description and only in combination with the
recommended or permitted external devices.
The multi-axis control system is intended for installation in a control cabinet.
The device is intended for use as a multi-axis control system with robotics functions.
The device takes over the following functions:
−Control of selected Festo motor controllers via CAN bus (Festo DriveBus)
−Control of peripheral equipment (digital, analogue, position encoder)
•Use only the modules in the CECX series for setting up the modular multi-axis control
system. Use of modules from this series in combination with modules from other
series is impermissible.
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-C2-HW-EN 1501b

1Safety and requirements for product use
1.1.3 Range of applications and certifications
The product fulfils the requirements of EU directives and is marked with the CE marking.
Standards and test values which the product must comply with and fulfil can be found in
the section “Technical data”. The product-relevant EU directives can be found in the
declaration of conformity.
Certain configurations of the product have been certified by Underwriters Laboratories
Inc. (UL) for the USA and Canada.
These configurations bear the following mark:
UL Listing Mark for Canada and the United States
Certification conditions/requirements for UL-compliant use
Only class 2 power sources may be used for the electrical supply (“Only for use in Class 2
circuits”).
The modules for the multi-axis control system described here are “open type equipment”
and must, therefore, be installed in a control cabinet.
All modules with front panel power supply must be protected with a back-up fuse. A 10 A
fuse is recommended.
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.
Festo GDCP-CMXR-C2-HW-EN 1501b 11

1Safety and requirements for product use
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 prevention and operational reliability
−documentation and mode of operation of the product.
12 Festo GDCP-CMXR-C2-HW-EN 1501b

2System overview CMXR-C2
2. System overview CMXR-C2
2.1 Tasks and functions
Product version
Description
Central control unit CMXR-C2
The multi-axis control system1) controls a gantry robot or
the parallel kinematic system EXPT from Festo.
The device takes over the following functions:
−Control of selected Festo stepping motor and servo
motor controllers via CAN bus (Festo DriveBus)
−Control of peripheral equipment (digital, analogue,
position encoder)
Expanding the device with further modules is permissible.
1) Shown here is the standard configuration
Table 2.1 Standard design of the modular control system
The device can be extended through use of additional modules. The device
configurations shown in this manual can thus deviate from your device
configuration.
The device has two CAN interfaces in this version. Drives - optionally Festo stepper motors
or servo motors - can be connected via the CAN interface [X6]. Communication with the
drives occurs on the basis of CANopen profile DS402 via Festo DriveBus.
Peripheral equipment can be controlled using the CANopen protocol via the second CAN
interface [X4], e.g. Festo CPV valve terminals.
Furthermore, you can adapt the structure of the multi-axis control system to your
requirements, because the device can be equipped in this product version with further
digital, analogue and fieldbus modules (2.2.3 Peripheral modules).
Festo GDCP-CMXR-C2-HW-EN 1501b 13

2System overview CMXR-C2
Example of a multi-axis system with multi-axis control system CMXR-C2
1Retainer CAFM-D1-W
2Operator unit CDSA-D1-VX
3Interface housing CAMI-C
4Motor controller connected via Festo
DriveBus [X6]
5Motor
6Peripheral equipment (here a CPV valve
terminal) connected via CAN interface [X4]
7Multi-axis control system CMXR
Fig. 2.1 Structure of a multi-axis system with multi-axis control system CMXR-C2 (example)
The operator unit CDSA-D1-VX is used for operating, observing and
programming the multi-axis control system.
2.2 Structure of the device
The device is designed modularly and consists mainly of:
−a central control unit
−optional modules (these are inserted into a slot on the central module)
−peripheral modules (added to the right side of the central module)
−display and operating devices.
1
2
4
6
3
7
5
14 Festo GDCP-CMXR-C2-HW-EN 1501b

2System overview CMXR-C2
2.2.1 Central control unit
The central control unit is the centrepiece of the multi-axis control system. It provides the
required resources for processing the user programs (processor, main memory, etc.).
The central control unit offers 3 slots for optional modules, to make available additional
interfaces. To increase functional capacity, peripheral modules can be connected on the
right side of the central control unit.
Central control unit
Description
−Intel Celeron 600 MHz
−256 MB SDRAM/512 kB SRAM
−Slots for optional modules (CAN, Ethernet and RS-232-C
interface)
−CAN interface [X6] for the motor controller of the servo axes
−Bus connection for peripheral modules
−Slot for Compact Flash memory card
−USB interfaces
Table 2.2 Central control unit
2.2.2 Optional modules
Optional modules can be used to increase the communication ability of the central control
unit. The optional modules are components of the central control unit.
Optional module
Description
CECX-C-ET
Electrical interface
Ethernet connection [X5] for the Ethernet controller integrated
into the central control unit.
Rate of transmission: 10/100 Mbit/s
CECX-F-CO
Fieldbus interface
CAN connection [X4] for the CAN controller integrated into the
central control unit.
Rate of transmission: up to 1 Mbit/s
Table 2.3 Optional modules
Festo GDCP-CMXR-C2-HW-EN 1501b 15

2System overview CMXR-C2
2.2.3 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 to the process. Sensors
and actuators are, for example, connected via digital modules and analogue modules.
Fieldbus modules establish the connection to control systems.
Most peripheral modules of the CECX device family are supported
(www.festo.com/catalogue).
2.3 Operator unit CDSA-D1-VX
The CDSA-D1-VX operator unit is available for the multi-axis control system for
programming and monitoring
Operator unit CDSA-D1-VX
Description
Used for operating, monitoring and programming the multi-axis
controller.
Table 2.4 Operator unit
16 Festo GDCP-CMXR-C2-HW-EN 1501b

3Mounting
3. Mounting
3.1 General instructions on mounting and dismounting
Caution
Sub-assemblies, modules and control systems may be damaged if they are
not handled correctly.
•
Before carrying out mounting, installation and maintenance work, switch
off the operating and load voltage supply.
Note
Damage to components!
•Handle all modules and components with great care.
Pay particular attention to the following:
−Contact surfaces must be clean (avoid contact errors).
−The bus plug contacts must not be bent.
−Make sure that no bits of wire, filling material or shavings fall into the
device when you drill holes or connect wires.
3.2 Guidelines for device configuration
The multi-axis control system is supplied pre-assembled. The device can be adapted to
the requirements by adding or removing peripheral modules.
Rules for set-up
−A maximum of 12 peripheral modules may be connected on the right side of the central
control unit.
−The layout of the peripheral modules is freely selectable.
−The power requirements of the attached peripheral modules must not exceed 45 W.
−Peripheral modules of the same type must be set to different module addresses
(3.2.2 Mounting peripheral modules).
−Peripheral modules with varying type designation (e.g. CECX-D-16E and CECX-D-14A-2)
can have the same module addresses.
Recommendation: For peripheral modules of the same type, assign the
module addresses in ascending order.
The central control unit and peripheral modules are connected via an internal bus.
Peripheral modules of the same type are differentiated by the module addresses. The
module address can be set with an address selector switch on the peripheral module
(3.2.2 Mounting peripheral modules).
Festo GDCP-CMXR-C2-HW-EN 1501b 17

3Mounting
The following figure shows the standard device configuration:
1Central control unit
2Optional module
CECX-F-CO
3Optional module
CECX-C-ET
Fig. 3.1 Standard device configuration for the multi-axis control system CMXR-C2
3.2.1 Installing and removing optional modules
Note
Assemblies and modules may be damaged if they are not handled correctly.
•
Switch off the operating voltage supply for the central control unit before
inserting or disconnecting optional modules.
•Do not touch any components.
•Observe the handling specifications for electrostatically sensitive
devices.
The slots in the central control unit are intended for the following optional modules; the
modules only fit in exactly these slots:
Slot
Identification on the
central control unit
Permissible
optional module
Description
Left
X3 serial interface
CECX-C-S1
RS-232-C connection (optional)
Middle
X4 CAN
CECX-F-CO
CAN connection
Right
X5 Ethernet
CECX-C-ET
Ethernet connection
Table 3.1 Assignment of slots
Detailed information on optional modules can be found in the respective,
associated manual.
1
2
3
18 Festo GDCP-CMXR-C2-HW-EN 1501b

3Mounting
3.2.2 Mounting peripheral modules
Note
Assemblies and modules may be damaged if they are not handled correctly.
•
Switch off the supply voltage before mounting or dismounting peripheral
modules.
•Do not touch any components.
•Observe the handling specifications for electrostatically sensitive
devices.
Peripheral modules are shipped with the address setting 0.
•Before mounting, check the address setting and change it, if necessary.
•Observe guidelines for device configuration (3.2 Guidelines for device
configuration).
Setting the module address
The address switch for setting the module address is located on the right side under the
bottom cover. The module address must be set prior to mounting of the module. The bus
plug is located under the upper cover.
1Bus plug (behind cover)
2Recess for H-rail
3Address switch (module
address)
4H-rail locking lever
Figure 3.2 Address switch and bus plug on a peripheral module (example)
Additional information can be found in the manual for the respective
periphery module.
Note
Damage to components when setting the module address.
•Use an appropriate tool (screwdriver).
•Do not damage adjacent components.
4
1
2
3
Festo GDCP-CMXR-C2-HW-EN 1501b 19

3Mounting
Procedure
1. Remove cover of the address selector switch.
2. Check address setting and change it, if necessary.
3. Attach cover again.
Mounting peripheral modules
The central control unit always takes up the outer left position within the multi-axis
control system. Peripheral modules are arranged to the right of this and connected with
one another via the bus plug. The total assembly can then be snapped onto an H-rail
(3.4 H-rail mounting).
Note
If handled incorrectly, the pins on the bus plug can bend!
•Proceed cautiously when mounting the peripheral modules.
Procedure
1. Switch off the operating voltage and the load voltage supplies.
2. Remove the bus plug’s right cover on the device (see figure).
3. Carefully insert the peripheral module until the upper and lower mechanical locking
mechanisms engage.
Note
To protect against contamination and damage, both covers (for bus plug
and address switch) must be attached to the last module.
1Cover (on right
side)
2Bus plug
3Upper
mechanical
interlock
4Lower
mechanical
interlock
Fig. 3.3 Mounting a peripheral module
3
2
4
1
20 Festo GDCP-CMXR-C2-HW-EN 1501b