Festo CMXR-C2 Instruction Manual

Controller
Description
Assembly and
installation
Type
CMXR-C2
Description
571 694
en 1002NH
[751 509]

Festo GDCP-CMXR-C2-HW-EN 1002NH 3
Edition __________________________________________________ en 1002NH
Designation____________________________________ GDCP-CMXR-C2-HW-EN
(Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2010)
Internet: http://www.festo.com
E-mail: [email protected]
The copying, distribution and utilisation of this document as well as the communication of
its contents to others without express authorisation is prohibited. Offenders shall be
liable for damages. All rights reserved, in particular the right to file patent, utility model or
registered design applications.

4 Festo GDCP-CMXR-C2-HW-EN 1002NH
Index of revisions
Author:
Name of manual:
Multi-axis control system CMXR-C2
File name:
File saved in:
Consec. no.
Description
Revisions index
Date of revision
001
de 1002NH
31/03/2010
Trademarks
Microsoft®Windows®, CANopen®, CiA®and PROFIBUS®are registered trademarks of the
respective trademark owners in certain countries.

Festo GDCP-CMXR-C2-HW-EN 1002NH 5

Table of contents
6 Festo GDCP-CMXR-C2-HW-DE 1002NH
Table of contents
Table of contents............................................................................................................ 6
Intended use .................................................................................................................. 8
Range of application and certifications ........................................................................... 9
Important user instructions ............................................................................................ 9
Safety instructions........................................................................................................ 11
Target group................................................................................................................. 13
Service .................................................................................................................. 13
Contents of this description.......................................................................................... 13
Documentation on the multi-axis control system CMXR-C2 ........................................... 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................................................... 19
2. Assembly ............................................................................................................ 20
2.1 General instructions on assembly and dismantling ............................................ 20
2.2 Guidelines on the CMXR-C2 device configuration............................................... 20
2.2.1 Fitting and removing optional modules............................................... 21
2.2.2 Assembling peripheral modules ......................................................... 22
2.2.3 Dismantling peripheral modules......................................................... 24
2.3 Guidelines for the installation............................................................................ 26
2.4 H-rail mounting.................................................................................................. 27
2.5 Dismantling ....................................................................................................... 31
3. Installation of the central control unit CMXR-C2................................................. 32
3.1 General instructions on installation ................................................................... 32
3.2 Selecting the power supply unit......................................................................... 32
3.3 Instructions on wiring ........................................................................................ 33
3.4 Display, connection and control elements on the central control unit................. 38
3.4.1 Connecting the operating voltage....................................................... 39
3.4.2 Earthing the multi-axis control system CMXR...................................... 39
3.4.3 RS-232-C interface ............................................................................. 40

Table of contents
Festo GDCP-CMXR-C2-HW-EN 1002NH 7
3.4.4 USB interfaces.................................................................................... 41
3.4.5 Rotary switches (reserved for expansion) ........................................... 41
3.4.6 CAN interface [X6]............................................................................... 41
3.4.7 CAN interface [X4] (optional module CECX-F-CO)................................. 43
3.4.8 Ethernet interface [X5] (optional module ETHERNET) .......................... 43
3.4.9 Ethernet interface [X7]........................................................................ 43
3.4.10 Using Compact Flash memory cards ................................................... 44
4. Instructions on commissioning ........................................................................... 47
4.1 General instructions for commissioning ............................................................. 47
4.2 Performance of the central control unit.............................................................. 47
4.2.1 Running up performance .................................................................... 47
4.2.2 Operating states................................................................................. 49
4.2.3 Behaviour in the event of module errors............................................. 50
4.2.4 Behaviour in the event of supply voltage failure ................................. 50
4.2.5 Control key (CTRL key)........................................................................ 50
5. Diagnostics and error handling........................................................................... 51
5.1 Summary of diagnostics options........................................................................ 51
5.2 On the spot diagnostics via LED......................................................................... 51
5.2.1 Power LED.......................................................................................... 51
5.2.2 CAN status LEDs................................................................................. 51
5.2.3 Ethernet status LEDs .......................................................................... 51
5.2.4 Status LED for the memory card ......................................................... 52
5.3 On the spot diagnostics via the 7-segment display ............................................ 52
5.3.1 Error codes......................................................................................... 53
6. Maintenance and care......................................................................................... 54
6.1 Changing the battery ......................................................................................... 54
6.2 Cleaning ............................................................................................................ 55
A. Technical appendix ............................................................................................. 57
A.1 Technical data ................................................................................................... 57
A.1.1 General technical data........................................................................ 57
A.1.2 CMXR-C2, centralcontrol unit.............................................................. 58
A.2 Accessories ....................................................................................................... 58
A.3 Instructions on EMC-compliant wiring................................................................ 58
B. Index................................................................................................................... 61

Contents and general safety instructions
8 Festo GDCP-CMXR-C2-HW-DE 1002NH
Intended use
The multi-axis control system CMXR-C2 is intended for installation into a control cabinet.
Product version
Description
Robotic control
system CMXR-C2
In this product version *), the device is intended for use as a multi-axis control
system with robotic technology functions. In this context, the device assumes the
following functions:
Control of selected Festo stepper motor and servo motor controllers via CAN-Bus
(Festo DriveBus), e.g. in the construction of a gantry robot, linear robot or tripod
robot
Control of peripheral equipment (digital, analogue, position encoder)
*) Special firmware is included in this product version.
Table 0.1: Possible product versions
The multi-axis control system CMXR-C2 is to be used as follows:
-Only in an industrial environment
-As intended
-In original status without unauthorised modifications. Only the conversions or
modifications 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
actuators, the specified limits for pressures, temperatures, electrical data, torques etc.
must be observed. The relevant national and local safety regulations (e.g. trade
association, German Technical Control Board (TÜV), VDE) must also be observed.
Use only the modules in the CECX series for setting up the modular multi-axis control
system CMXR-C2. 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 permitted external devices.
The products described were developed, manufactured, tested and documented in
compliance with the relevant safety standards. By adhering to the instructions for
designated use and the safety notes, the product will not normally present any danger of
material damage or injury to persons.
The following scopes of application are explicitly excluded for the multi-axis control
system CMXR-C2:
-Its application in potentially explosive or combustible areas.
-Its application in mining.
-Its application outdoors.

Contents and general safety instructions
Festo GDCP-CMXR-C2-HW-EN 1002NH 9
The central module is not intended for safety-relevant control tasks (e.g. emergency stop).
Additional external protective measures, which guarantee the safe operating status of the
system even in the event of a malfunction, must be implemented for safety-relevant
control tasks or personal safety.
Range of application and certifications
The product fulfils the requirements of EC directives and bears 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 EC directive can be found in the
declaration of conformity.
Certain product configurations 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 UL-compliant application:
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 CMXR-C2 described here are “open type
equipment” and must therefore be installed into a control cabinet.
All modules with front panel power supply must be protected with a back-up fuse. A 10 A
fuse is recommended.
Important user instructions
Danger categories
This description contains instructions on the possible dangers which can arise 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 between the following danger warnings:
Notes on the present description
Warning
... means that failure to observe this instruction may result in
serious personal injury or material damage.

Contents and general safety instructions
10 Festo GDCP-CMXR-C2-HW-DE 1002NH
Caution
... means that failure to observe this instruction may result in
personal injury or material damage.
Note
... means that failure to observe this instruction may result in
material damage.
Additionally, the following pictogram designates text passages, which describe activities
with electrostatically sensitive devices:
Electrostatically sensitive devices: Incorrect handling can result in
damage to components.
Identification of special information
The following pictograms designate text passages that contain special information.
Pictograms
Information:
Recommendations, tips and references with regard to other
sources of information.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally-friendly use of Festo products.
Text designations
Bullet points indicate activities that may be carried out in any sequence.
1. Numerals indicate activities that must be carried out in the sequence specified.
-Arrowheads indicate general listings.

Contents and general safety instructions
Festo GDCP-CMXR-C2-HW-EN 1002NH 11
Safety instructions
The documentation includes the information required for assembling the multi-axis
control system CMXR-C2 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, operation
and maintenance of control systems. 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 require additional information, then please ask for this at your nearest Festo branch.
During installation, commissioning and maintenance work, please observe the documen-
tation appurtenant to your multi-axis control system.
The documents are intended for qualified personnel. These are persons who have
appropriate knowledge in the area of automation technology relevant to their field of
activity.
Safety instructions on handling
When in a dismantled state, the modules used in the system are sensitive to electro-static
discharge.
Caution
Sub-assemblies and modules may be damaged if they are not
handled correctly.
Do not touch any components.
Observe the handling specifications for electrostatically
sensitive devices.
To protect the modules 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-C2 central control
unit
Switch off the supply voltages before you mount or remove
modules.
Install the device into a suitable control cabinet
(see section 2.3).

Contents and general safety instructions
12 Festo GDCP-CMXR-C2-HW-DE 1002NH
Caution
Unqualified accessing of the multi-axis control system can trigger a
malfunction in the machine/system and cause personal injury or
material damage!
Make sure that only suitably qualified personnel can access the
modular control system.
Safety instructions for project planning
Caution
Unqualified accessing of the multi-axis control system can trigger a
malfunction in the machine/system and cause personal injury or
material damage!
Please observe the following instructions:
-Observe the safety instructions in the documentation related to your multi-axis control
system.
-The instructions contained in the documents must always be strictly 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 supplies as a circuit with limited energy as per
IEC/DIN/EN 61131-2 and always make sure there is a 10 A fuse (max.) fitted.
-The 24 V–supply for the equipment must be guaranteed by reliable isolation of the
extra-low voltage of contact-hazardous voltages.
-Precautionary measures should be put in place that allow an interrupted program to
continue to operate correctly after voltage drops and voltage failure. The occurrence of
dangerous operating states must be avoided, however temporary they may be.
-Emergency-off devices must remain operative in all operating modes of the
automation equipment. Unlocking the emergency-off device must not cause 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.

Contents and general safety instructions
Festo GDCP-CMXR-C2-HW-EN 1002NH 13
Safety instructions for maintenance
Caution
Unqualified intervention can cause personal 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 instruc-
tions” section).
Before opening the device:
1. Interrupt the power supply and
2. disconnect the interface connections.
Target group
This documentation is intended exclusively for technicians trained in control and
automation technology who have experience in installing and commissioning
programmable logic controllers.
Service
Please consult your local Festo repair service if you have any technical problems.
Contents of this description
This documentation describes the following:
-Design and assembly of the CMXR-C2 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 that the module is ready for the loading of the firmware and the application.
Installation instructions for the optional and peripheral modules
you wish to use can be found in the brief description as well as in
the description for the respective module.
Additional information on the installation and commissioning of the
product version you are using can be found in the corresponding
system description (see the following tables).

Contents and general safety instructions
14 Festo GDCP-CMXR-C2-HW-DE 1002NH
Documentation on the multi-axis control system CMXR-C2
Type
Title
Description
Electronics
description
Multi-axis control system
CMXR
This description: Overview of the structure,
components and assembly of the multi-axis control
system CMXR; installation of the central module and
the optional modules
Peripheral modules CECX-...
Assembly, installation and commissioning
instructions for the corresponding module
Operator unit CDSA-D1-VX
Assembly, installation and operating functions of
the operator unit CDSA-D1-VX
System description
Commissioning the multi-axis control system CMXR
Basis programming
manual
Multi-axis control system
CMXR
FTL basis
Basis programming of the CMXR family
Tracking
programming
manual
Multi-axis control system
CMXR
Technology module
“Tracking”
Tracking programming manual for CMXR-C2
CDSA description
Handheld terminal CDSA
System manual for the handheld terminal CDSA
Software for CDSA
Handheld terminal CDSA
Software manual for the handheld terminal CDSA
Online help for FCT
software package
FCT with CMXR PlugIn
Table 0.2: Documentation on the multi-axis control system CMXR-C2
Required software versions
This documentation refers to the following versions:
Hardware/software
Firmware version
Multi-axis control system CMXR-C2
from V 1.0
Table 0.3: Hardware and software versions

Contents and general safety instructions
Festo GDCP-CMXR-C2-HW-EN 1002NH 15
General product-specific terms and abbreviations
The following product-specific abbreviations are used in this documentation:
Term/abbreviation
Meaning
O
Digital output
Address switch
Used to set the internal module address
Analogue
inputs/outputs
Analogue inputs and outputs
Application
Sum of user programs
CANopen
Fieldbus protocol based on CAN, which is standardised as a European standard.
Ethernet
Physical protocol and network for connecting various devices
Functional earth
Earthing whose sole purpose is to safeguard the intended function of the
electrical equipment. The functional earth is used to discharge interference
voltages, which could otherwise lead to impermissible influences on the device.
I
Digital input
I/O module
Collective 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
These are plugged into slots (max. 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 input/output modules, for example.
Retain data
Data which are written into the memory of the control system by the application.
Normally these are quantities, time information or similar. 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.
Runtime system
Operating system which manages all software components of the system and
whose initialisation is event-driven or timer-controlled.
Status report
Files which the device can save for error analysis. These include important
information on the state of the device at the time the error occurred. They can be
read out for service purposes.
Terminating resistor
Resistor for minimising signal reflections at the fieldbus. Terminating resistors
must be installed or connected at the end of bus segment cables.
Table 0.4: Product-specific terms and abbreviations

1. CMXR system overview
16 Festo GDCP-CMXR-C2-HW-EN 1002NH
1. CMXR system overview
1.1 Product versions
The device is available in the following versions:
Product version
Description
Central control unit
CMXR-C2
Multi-axis control system 1)
Used for controlling a gantry robot, linear robot or tripod
robot. In this context, the device assumes the following
functions:
Control of selected Festo stepper motor and servo motor
controllers via CAN-Bus [X6]
(Festo DriveBus)
Control of peripheral equipment (digital, analogue,
position encoder)
Expanding the device with further modules is permissible.
1) Figure shows the central control unit
Table 1.1 Product versions of the modular control system
The device configurations shown in this description can thus
deviate from your device configuration.

1. CMXR system overview
Festo GDCP-CMXR-C2-HW-EN 1002NH 17
Multi-axis control system CMXR-C2 product version
The device has two CAN interfaces in this version. Drives –either Festo stepper motors or
servo motors –can be connected via the CAN interfaces [X6]. Communication with the
drives occurs on the basis of the CANopen profile DS 402 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 CMXR-C2
according to your requirements, because with this product version the device can be
equipped 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 a
CPV valve terminal)
connected via
CAN [X4]
7Multi-axis
control system
CMXR-C2
Fig. 1.1 Structure of a multi-axis system with multi-axis control system CMXR-C2 (example)
The display and operating device CDSA-D1-VX is used for operating, observing and
programming the multi-axis control system.
1
2
4
6
3
7
5

1. CMXR system overview
18 Festo GDCP-CMXR-C2-HW-EN 1002NH
1.2 Structure of the device
The device is constructed on a modular basis. It essentially consists of:
-One central module
-Optional modules (these are inserted into a slot on the central module)
-Peripheral modules (these are connected in series on the right-hand side of the central
module)
-If necessary, display and operating devices.
1.2.1 Central control unit
The central control unit is the core component of the multi-axis control system CMXR-C2.
It provides the required resources for processing the user programs (processor, main
memory, etc.).
The central control unit offers 3 slots for optional modules, which offer further ports for
interfaces of the central control unit. To increase functional capacity, peripheral modules
can be connected on the right-hand side of the central control unit.
Central control unit
Description
Intel Celeron 400 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 1.2 Central control unit

1. CMXR system overview
Festo GDCP-CMXR-C2-HW-EN 1002NH 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 central control unit CMXR-C2:
Optional modules
Description
ETHERNET INTERFACE
ETHERNET
Ethernet connection [X5] for the Ethernet controller integrated in the central
module
Transmission rate: 10/100 Mbps
FIELDBUS INTERFACE
CECX-F-CO
CAN connection [X4] for the CAN controller integrated in the central control unit
Transmission rate: up to 1 Mbps
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. All peripheral modules of
the device family CECX are supported.
1.3 Operator units for the modular control system
The handheld terminal CDSA-D1-VX is available for programming and monitoring of the
multi-axis control system CMXR-C2
Operation and display
Description
OPERATOR UNIT
CDSA-D1-VX
Used for operating, observing and programming the multi-axis control system
CMXR-C2.
Table 1.4 Operator unit

2. Assembly
20 Festo GDCP-CMXR-C2-HW-EN 1002NH
2. Assembly
2.1 General instructions on assembly and dismantling
Caution
Sub-assemblies, modules and control systems may be damaged if
they are not handled correctly.
Before carrying out assembly, installation and maintenance
work, always switch off the operating and load voltage supplies.
Note
Damage to components!
Handle all modules and components with great care. Note
especially 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.
2.2 Guidelines on the CMXR-C2 device configuration
Guidelines on the device configuration for the multi-axis control system CMXR-C2
The multi-axis control system CMXR-C2 is supplied pre-assembled ex-works. You may
adapt the device to your requirements by adding or removing modules.
Rules for assembly
-A maximum of 12 peripheral modules may be connected in series on the right-hand
side of the central module.
-The layout of the peripheral modules is freely selectable.
-The central module provides 45 W (24 V) and 24 W (5 V) to power the peripheral
modules and optional modules respectively.
-Peripheral modules of the same type must be set to different module addresses
(see section 2.2.2).
-Peripheral modules with different type designations (e.g. CECX-D-16E and CECX-D-14A-2)
can have the same module addresses.