Festo CMXR-C2 Operating and installation instructions

Trimming:
Top: 61.5 mm
Bottom: 61.5 mm
Left: 43.5 mm
Right: 43.5 mm
Controller
Description
System
description
Type
CMXR-C2
Description
571688
en 1205b
[761546]

Festo GDCP-CMXR-C2-SY-EN 1205b 3
Edition ____________________________________________________en 1205b
Designation ________________________________ Festo GDCP-CMXR-C2-SY-EN
Order no. ___________________________________________________ 571688
Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2012
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 will be held
liable for compensation of damages. All rights reserved, in particular the right to file
patent, utility model or registered design applications.

4 Festo GDCP-CMXR-C2-SY-EN 1205b
Index of revisions
Author:
Name of manual:
GDCP-CMXR-C2-SY-EN
File name:
File saved in:
Consec. no.
Description
Revisions index
Date of revision
001
Produced:
1002NH
21.03.2010
002
Revision
1011a
08.11.2010
003
Revision
1205b
2012-04-10
Trademarks
CANopen®, CiA®and PROFIBUS®are registered trademark owners in certain countries.

Table of contents
Festo GDCP-CMXR-C2-SY-EN 1205b 5
Table of contents
1. Introduction .......................................................................................................... 8
1.1 Terminology used ................................................................................................ 8
1.2 Additional documents.......................................................................................... 9
2. Safety instructions .............................................................................................. 10
2.1 Using the documentation................................................................................... 10
2.2 Recommended operating conditions.................................................................. 10
2.3 Qualified personnel ........................................................................................... 11
2.4 Safety instructions for this manual .................................................................... 11
2.5 Safety instructions for the products................................................................... 11
2.6 Safety instructions for the product..................................................................... 12
3. Modular multi-axis control system CMXR-C2...................................................... 14
3.1 Central control unit CMXR-C2............................................................................. 15
3.2 Memory card ..................................................................................................... 16
3.2.1 File system ......................................................................................... 17
3.2.2 Application directory .......................................................................... 18
3.3 CAN interfaces X4/ X6........................................................................................ 18
3.4Ethernet interfaces X5/ X7 ................................................................................. 19
3.4.1 IP address on delivery ........................................................................ 19
3.5 USB interfaces X8/ X10...................................................................................... 19
3.6 Serial interfaces X3/ X9 ..................................................................................... 20
3.7 Peripheral modules ........................................................................................... 20
3.7.1 Extension modules ............................................................................. 20
3.7.2 Addressing of the extension modules ................................................. 21
3.7.3 Card modules..................................................................................... 22
3.7.4 Front panel plug ................................................................................. 22
4. Configuration using FCT ...................................................................................... 24
5. Festo Teach Language (FTL)................................................................................ 25
5.1 Program processing........................................................................................... 26
5.1.1 Downloading FTL programs ................................................................ 26
6. CDSA-D1-VX handheld terminal.......................................................................... 27
6.1 Installation ........................................................................................................ 29
6.2 CAMI-C interface unit ......................................................................................... 30
6.3 Disconnecting the handheld terminal................................................................. 30

Table of contents
6 Festo GDCP-CMXR-C2-SY-EN 1205b
6.4 Hardware overview............................................................................................ 32
6.5 Software............................................................................................................ 32
6.6 User rights......................................................................................................... 33
6.6.1 User levels ......................................................................................... 34
6.6.2 Set users on delivery.......................................................................... 37
6.7 Communication with the CMXR multi-axis control system .................................. 37
6.7.1 Synchronisation of dialogue software................................................. 38
6.8 IP addresses on delivery .................................................................................... 38
6.9 Screen control ................................................................................................... 39
6.10 CDSA emulation................................................................................................. 39
7. Drive systems...................................................................................................... 40
7.1 Configuration of the motor controllers ............................................................... 40
7.2 CAN bus address for motor controllers............................................................... 40
8. Operating 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 CMXR-C2 in stand-alone mode........................................................................... 46
9.1.1 System signals ................................................................................... 47
9.2 Higher-order controller and write permission..................................................... 48
9.2.1 Mode of operation.............................................................................. 48
9.2.2 User level ........................................................................................... 49
9.2.3 Influence of the higher-order control .................................................. 49
9.2.4 Integration example ........................................................................... 50
10. Coordinate systems............................................................................................. 51
10.1 Axis coordinate systems .................................................................................... 51
10.2 Cartesian coordinate systems............................................................................ 51
10.2.1 Translatory axes X, Y, Z....................................................................... 51
10.2.2 Orientation axes A, B, C ...................................................................... 52
10.2.3 Euler orientation ZYZ .......................................................................... 53
10.3 Coordinate systems for the kinematics .............................................................. 53
10.3.1 Base coordinate system ..................................................................... 53
10.3.2 Global coordinate system................................................................... 55
10.3.3 Tool coordinate system ...................................................................... 57
10.3.4 Working with the tool coordinate system............................................ 57

Table of contents
Festo GDCP-CMXR-C2-SY-EN 1205b 7
11. Supported kinematic systems ............................................................................. 59
11.1 Configuration of kinematics ............................................................................... 59
11.1.1 Basic axes .......................................................................................... 59
11.1.2 Orientation axes (wrist axes) .............................................................. 60
11.1.3 Adjustment of orientation axes........................................................... 60
11.1.4 Interpolation of orientation axes ........................................................ 62
11.1.5 Electric and pneumatic wrist axes....................................................... 65
11.1.6 Auxiliary axes ..................................................................................... 65
11.1.7 Programming the manual and auxiliary axes....................................... 66
11.1.8 Designation of axis sequence for kinematics ...................................... 67
11.2 Cartesian linear gantry....................................................................................... 67
11.3 Cartesian planar surface gantry ......................................................................... 69
11.4 Cartesian three-dimensional gantry ................................................................... 71
11.5 EXPT kinematics system .................................................................................... 73
11.5.1 Origin of the tool coordinate system................................................... 74
11.6 T-gantry............................................................................................................. 76
11.1 H-gantry ............................................................................................................ 78
11.2 Axis interpolation .............................................................................................. 80
11.3 Overview of all supported kinematics systems................................................... 81
A. INDEX.................................................................................................................. 82

1. Introduction
8 Festo GDCP-CMXR-C2-SY-EN 1205b
1. Introduction
This document describes the “Festo CMXR-C2- multi-axis control system with robotic
technology functions” system with software version 1.0 and later. In addition to the actual
multi-axis control system, this system also includes the handheld terminal CDSA-D1-VX
and its emulation via software as a PC application.
CMXR-C2 multi-axis control system CDSA-D1-VX handheld terminal
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
FCT PlugIn
Software module for a particular device in the Festo Configuration Tool
(FCT)
Handheld terminal
CDSA-D1-VX as commissioning and operator unit
CDSA emulation
Emulation of the functions of the handheld terminal on a PC
CoDeSys
Integrated PLC (process control)

1. Introduction
Festo GDCP-CMXR-C2-SY-EN 1205b 9
1.2 Additional documents
The total functionality of the multi-axis control system CMXR-C2 is described in the
following documents:
Part No.
Name
Contents
571688
GDCP−CMXR−C2−SY-EN
This system manual
571694
GDCP−CMXR−C2−HW−EN
Hardware description of the CMXR-C2
560316
GDCP−CMXR−SW-EN
Basis programming of the CMXR family
571706
GDCP−CMXR−C2-ST−EN
Special programming instructions for tracking
571700
GDCP−CMXR−C2−CS−EN
Programming under CoDeSys
The operator unit CDSA-D1-VX also has two documents available:
Part No.
Name
Contents
560334
GDCP-CDSA-SY-EN
System manual for operator unit CDSA
560340
GDCP-CDSA-SW-EN
CDSA software manual
Note
These documents are available in six languages: DE, EN, ES, FR, IT
and SV. See brief operating instructions GDSP−CMXR−C2−SY−ML.

2. Safety instructions
10 Festo GDCP-CMXR-C2-SY-EN 1205b
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.: emergency stop or monitoring of
reduced speeds).
The Festo CMXR multi-axis control system conforms to category B
of EN-13849-1 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 condition of the entire system even in the event of a
malfunction must be adopted for safety-related control tasks or for
the safety of personnel.
Festo accepts no liability for any damage resulting from non-compliance with 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, please inform the supplier.
Fault-free and reliable operation of the control system depends on proper and professional
transportation, storage, assembly and installation as well as on careful operation and
maintenance.

2. Safety instructions
Festo GDCP-CMXR-C2-SY-EN 1205b 11
2.3 Qualified personnel
Note
Only trained and qualified personnel should be allowed to handle
the electrical systems.
2.4 Safety instructions for this manual
Warning
DANGER!
Considerable material damage and personal injury can occur if
these instructions are not observed.
Caution
Failure to comply can result in severe material damage.
2.5 Safety instructions for the products
Warning
DANGER!
The applicable regulations on 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 combustible 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
12 Festo GDCP-CMXR-C2-SY-EN 1205b
Warning
DANGER!
Dangerous movements!
Danger of death, serious bodily injury or material damage due to
unintentional movement of the axes!
2.6 Safety instructions for the product
Warning
DANGER!
Danger of death due to insufficient EMERGENCY STOP devices!
Emergency stop devices must remain operational and accessible in
all operating modes of the system. Unlocking the EMERGENCY
STOP device must not cause an uncontrolled restart of the system!
First check the EMERGENCY STOP chain, then switch on!
Warning
DANGER!
Danger to personnel and equipment!
Test every new program before commissioning the system!
Warning
DANGER!
Retrofittings and modifications may impair the safety of the system!
The consequences of this could be personal injury, material
damage or damage to the environment. Possible retrofittings or
modifications to the system with component parts from external
manufacturers must therefore be approved by Festo.

2. Safety instructions
Festo GDCP-CMXR-C2-SY-EN 1205b 13
Warning
DANGER!
Dangerous voltage!
Unless otherwise specified, maintenance work must always be
carried out with the system switched off! At the same time, the
system must be protected against being restarted again by
unauthorised persons or unintentionally.
Any measuring or test work required on the system must be carried
out by expert electrical technicians.
Caution
Only spare parts approved by Festo may be used.

3. Modular multi-axis control system CMXR-C2
14 Festo GDCP-CMXR-C2-SY-EN 1205b
3. Modular multi-axis control system CMXR-C2
The multi-axis control system CMXR-C2 is a modular control system composed of a central
control unit CMXR-C2 with various communication interfaces, input/output modules and a
handheld terminal. The 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).
The multi-axis control system CMXR-C2 is especially suitable for tracking problems; for
parts detection, vision sensors (camera ...) can be connected.
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.
Mechanics +
vision
Handheld terminal
Electrical drive technology
Valve terminals, remote I/O
Grippers,
drives

3. Modular multi-axis control system CMXR-C2
Festo GDCP-CMXR-C2-SY-EN 1205b 15
3.1 Central control unit CMXR-C2
Scope of delivery:
No.
Designation
Significance
-
Central control unit
CPU and housing for H-rail mounting in the control cabinet
-
CF memory card
CompactFlash memory card CF Type I, size 256 MB
-
7-segment display
Information on diagnostics
1
X1 DVI interface
Currently not used
2
X2 power supply
Power supply 24 V DC
3
X3 slot
Free slot for optional serial interface
4
X4 CAN, peripherals
Connection of peripheral devices under CoDeSys, e.g. valve terminal
5
X5 Ethernet
Local interface (without gateway), preferably for commissioning
6
X6 CAN, DriveBus
Interface to the motor controllers of the kinematics
7
X7 Ethernet
General interface with gateway; for network and commissioning
8
X8 USB interface
USB port for saving and restoring programmes as well as for removing diagnostic
information for servicing purposes. Further information can be found in the CDSA
software manual.
9
X9 serial interface
Serial interface for use under CoDeSys
aJ
X10 USB interface
Reserved for later extensions.
Table 3.1 Scope of delivery CMXR-C2
Fig. 3.1 Components on the front of the CMXR-C2
1
3
4
5
2
6
7
9
aJ
8

3. Modular multi-axis control system CMXR-C2
16 Festo GDCP-CMXR-C2-SY-EN 1205b
3.2 Memory card
The data for the CMXR-C2 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 into the
associated slot. Pulling and inserting the
card is not permitted during the operation.
Note
To eject or insert the memory card, always make sure the central
control unit is disconnected from the power supply. Ejecting or
inserting is not allowed if the control unit is still live.
The type of the memory card can be found in the hardware description of the 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.

3. Modular multi-axis control system CMXR-C2
Festo GDCP-CMXR-C2-SY-EN 1205b 17
Caution
The memory card is a storage location for all the multi-axis control
system's data. Using this data carrier for other purposes is imper-
missible. Otherwise, the operability of the storage medium may be
impaired.
3.2.1 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 instal-
lation of the multi-axis control system and must not be changed or added to. Otherwise,
the operability of the system is no longer guaranteed.
Caution
The required directory structure is created during the installation of
the multi-axis control system. It must not neither be changed nor
added to. Any type of manipulation here results in the operability
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
encoder
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 stored on the memory card.

3. Modular multi-axis control system CMXR-C2
18 Festo GDCP-CMXR-C2-SY-EN 1205b
3.2.2 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
Data for CoDeSys
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 directory tree, the projects “_global” and “cube” are created.
3.3 CAN interfaces X4/ X6
The CAN X6 interface of the CMXR-C2 is reserved for the communication with the motor
controllers of the kinematics via DriveBus. A different use is not possible.
Other typical process peripheral equipment, such as Festo valve terminals or I/O modules,
can be connected via interface CAN X4. The devices must support CANopen DS 301.
Configuration and programming are done via CoDeSys.

3. Modular multi-axis control system CMXR-C2
Festo GDCP-CMXR-C2-SY-EN 1205b 19
3.4 Ethernet interfaces X5/ X7
The multi-axis control system CMXR-C2 has two Ethernet interfaces with RJ45.
-X5 without gateway for local networks
-X7 with gateway for higher-level networks
Note
The use of an Ethernet switch is recommended for minimising the
load for the Ethernet network.
Note
The CMXR-C2 multi-axis control system is not DHCP-capable.
Caution
X5 and X7 may not be located in the same network
3.4.1 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:
-X5 deactivated
-X7 activated
Network parameter X7
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 X7
To establish a connection to the CMXR multi-axis control system, the corresponding
network settings have to be undertaken on the PC.
3.5 USB interfaces X8/ X10
The CMXR-C2 has 2 USB interfaces:
The USB port X8 for saving and restoring programmes as well as for removing
diagnostic information if servicing is required. Further information can be found in
the CDSA software manual.
The USB port X10. It is reserved and cannot be used.

3. Modular multi-axis control system CMXR-C2
20 Festo GDCP-CMXR-C2-SY-EN 1205b
3.6 Serial interfaces X3/ X9
The CMXR-C2 permits operation of two serial interfaces. Configuration and use of the
interfaces takes place under CoDeSys. The option slot X3 is not equipped on delivery and
serves to extend the CMXR-C2 control system with an additional serial interface.
3.7 Peripheral modules
The modular multi-axis control system can be expanded with peripheral modules from the
CECX series.
3.7.1 Extension modules
The extension modules are attached on the right side of the central control unit. The
modules are connected through the system bus by means of a pin contact. The location of
an extension module is freely selectable. Since each module has its own address, it can be
uniquely identified. A maximum of 12 peripheral modules can be connected to the multi-
axis control system CMXR-C2.
Part No.
Designation
Meaning
FTL
CoDeSys
552096
CECX-D-16E
Digital input module with 16 inputs
x
x
552097
CECX-D-14A-2
Digital output module with 14 outputs
x
x
552099
CECX-D-8E8A-NP-2
Digital mixed module with eight inputs and eight outputs
x
x
552100
CECX-A-4E4A-V
Analogue module with four inputs, four outputs for voltage
x
x
552101
CECX-A-4E4A-A
Analogue module with four inputs, four outputs for current
x
x
552117
CECX-C-2G2
Encoder module with two inputs
x
x
553972
CECX-D-6E8A-PN-2
Digital I/O module in NPN technology
x
x
553973
CECX-E-4E-T-P1
Temperature measurement module,
x
x
553974
CECX-E-6E-T-P2
Temperature measurement module,
x
553979
CECX-S-S4
Optional module RS485/422
x
553981
CECX-F-PB-V1
PROFIBUS Master V1
x
565598
CECX-F-PB-S-V1
PROFIBUS slave V1
Table 3.5 Peripheral modules system CMXR-C2