Festo CPX-CMXX User manual

Manual
Electronics
Multi−axisinterface
CPX−CMXX
CPX terminal
Manual
564 222
en 0805NH
[737 773]

Contentsand general instructions
I
Festo P.BE−CPX−CMXX−E N en 0805NH
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0805NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−CMXX−EN. . . . . . . . . . . . . . . . . . . . . .
Order no. 564 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2008)
Internet: http://www.festo.com
E−Mail:[e-mail]
Thereproduction, distribution and utilization ofthis docu−
ment as well as thecomunication ofitscontentsto others
without express authorization is prohibited. Offenderswill
beheld liable for thepayment ofdamages. All rightsre−
served in theevent ofthegrant ofapatent, utility module
or design.

Contentsand general instructions
II Festo P.BE−CPX−CMXX−E N en 0805NH
TORX® is aregistered tradenameofCAMCAR TEXTRON INC.,
Rockford, Ill., USA

Contentsand general instructions
III
Festo P.BE−CPX−CMXX−E N en 0805NH
Contents
Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user information VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety regulationsX
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on this manual XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 TheCPX−CMXX Multi−axis interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functionsand characteristics 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2Advantages 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3Tasks1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Method ofoperation 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2Supported drivecontrollers1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3Controlpossibilities 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Design ofamulti−axis system 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5System configuration 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Autonomousautomation solution 1−10. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2ControloftheCPX terminal through ahigher−level PLC1−11. . . . . . . . .
1.5.3Autonomousautomation solution with communication
with ahigher−level PLC1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6Connection and display components1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsand general instructions
IV Festo P.BE−CPX−CMXX−E N en 0805NH
2. Fitting and installation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General notes on installation 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2Dismantling and fitting 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2Assembly2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3Setting theswitches 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 RUN/STOP rotary switch2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2DIL switches 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Controlinterface 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5Connecting theCAN bus2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 CAN busline2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2Connection with Festo CAN busplug 2−11. . . . . . . . . . . . . . . . . . . . . . . .
2.5.3Further connection possibilities for theCAN bus
with adapters2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6Ethernet interface 2−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7Compliance with protection class IP65/IP67 2−16. . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General instructionson commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2Preparing configuration and parameterization 3−4. . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Installing FCT and FCT PlugIns3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3Parameterization oftheconnected drivecontrollers3−6. . . . . . . . . . . . . . . . . . .
3.3.1 Connecting PCwith thedrivecontrollers3−6. . . . . . . . . . . . . . . . . . . . .
3.3.2Communication between CPX−CMXX and thedrivecontrollers3−6. . .
3.3.3Specific settingsfor CMMP−AS drivecontroller3−8
. . . . . . . . . . . . . . . .
3.3.4 Specific settingsfor MTR−DCI drivecontroller3−9. . . . . . . . . . . . . . . . .
3.3.5Specific settingsfor SFC−DCdrivecontroller3−9. . . . . . . . . . . . . . . . . .
3.4 Configuration oftheCPX−CMXX 3−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Connecting PCto CPX−CMXX 3−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2PreparePC3−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3Configuring and parameterizing CPX−CMXX 3−13. . . . . . . . . . . . . . . . . .

Contentsand general instructions
V
Festo P.BE−CPX−CMXX−E N en 0805NH
4. Diagnosis and error treatment 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Overview ofdiagnostic possibilities 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2Errorsand warnings4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Behavior in case oferrorsand warnings4−4. . . . . . . . . . . . . . . . . . . . .
4.2.2Quitting errors4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3Fault numbers4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3Diagnostics via LEDs4−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Diagnosis at theCPX terminal 4−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Statusbitsin thesystem statusoftheCPX terminal 4−13. . . . . . . . . . . .
4.4.2I/O diagnostic interface and diagnostic memory 4−14. . . . . . . . . . . . . .
4.4.3Definition ofdiagnosis channels 4−17. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 Other diagnostic information 4−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical dataA−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2Accessories A−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3Device−specific information at theMMI A−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsand general instructions
VI Festo P.BE−CPX−CMXX−E N en 0805NH

Contentsand general instructions
VII
Festo P.BE−CPX−CMXX−E N en 0805NH
Intended use
TheCPX−CMXX multi−axis interface documented in this
manual is intended exclusively for use in Festo CPX terminals
for installation in amachineor an automation controlsystem.
Themulti−axis interface CPX−CMXX permitscoordination of
axis portals and positioning axes in conjunction with aPLC.
TheCPX terminal may only beused with theCPX−CMMX as
follows:
as specified in industrial applications.
without any modificationsby theuser. Only theconver
sionsor modificationsdescribed in thedocumentation
supplied with theproduct arepermitted.
in faultless technical condition.
only in combination with permitted components,
i.e. fieldbusnodeand drivecontrollers, see section 1.2
and 1.3.
Themaximum values specified for pressures, temperatures,
electrical data, torques etc. must beobserved.
Please comply with national and local safety lawsand
regulations.
Target group
This manual is directed exclusively at technicianstrained in
controland automation technology.
Service
Please consult your local Festo Service agent if you haveany
technical problems.

Contentsand general instructions
VIII Festo P.BE−CPX−CMXX−E N en 0805NH
Important user information
Hazard categories
This manual containsinformation on possible hazardsthat
can occur if theproduct is used incorrectly. This information
is marked with asignal word (warning, careful, etc.), shaded,
and also marked with apictogram. Thefollowing hazard
information is differentiated:
Warning
... meansthat severepersonal injury or property damage
can occur if not observed.
Caution
... meansthat personal injury or property damagecan
occur if not observed.
Please note
... meansthat property damagecan occur if not observed.
In addition, thefollowing pictogram markstextsthat describe
activities with electrostatically endangered component
elements:
Elektrostatically endangered component elements: Improper
handling can result in damageto component elements.

Contentsand general instructions
IX
Festo P.BE−CPX−CMXX−E N en 0805NH
Designation ofspecial information
Thefollowing pictogramsdesignatetextsthat contain special
information.
Pictograms
Information:
Recommendations, tipsand cross−references to other
information sources.
Accessories:
Information about necessary or usefulaccessories for the
Festo product.
Environment:
Information on theenvironmentally friendly use ofFesto
products.
Text markings
·Thelist point designates activities that can beperformed
in any order desired.
1. Numerals designateactivities that must beperformed in
thespecified order.
Hyphensdesignategeneral lists.
Bracketsdesignatemenu entries.
Example: [Configuration], see section 3.3.4.
Arrow bracketsmark placeholdersfor designations.
Example: Statusof<Your Connection>", see section 3.4.2.
Quotation marksdesignatenames ofwindows, dialogues and
buttons.
Example: Statusof<Your Connection>", see section 3.4.2.

Contentsand general instructions
XFesto P.BE−CPX−CMXX−E N en 0805NH
Safety regulations
Please note
In safety−relevant applications, theCPX−CMMX and all ofits
design variantsmay only beused in combination with
additional measures according to EN 954−1. A risk analysis
by theuser/designer is essential.
Warning
·Switch off thepower supply beforeconnecting or
disconnecting plugs(otherwise this could lead to
functional damage).
Use only power unitswhich guarantee reliable isolation ofthe
operating voltageas per IEC742/EN 60742/VDE 0551 with at
least 4 kV isolation resistance (Protected ExtraLow Voltage
PELV). Switch power packsarepermitted, providing they
guarantee reliable isolation as per EN 60950/VDE 0805.
TheCPX−CMXX containselectrostatically sensitivecomponents.
Therefore, do not touch any contacts. Observethehandling
specificationsfor electrostatically sensitivecomponents.
Please note
Commission only aCPX terminal which has been fitted and
wired completely.

Contentsand general instructions
XI
Festo P.BE−CPX−CMXX−E N en 0805NH
Notes on this manual
Please note
This manual refersto themulti−axis interface CPX−CMXX
from Revision 01.
You will find therevision on thetypeplate
This manual containsspecial information on themethod of
operation, fitting, installing and commissioning the
CPX−CMMX multi−axis interface.
You will find additional information on theCPX−CMXX
multi−axis interface in thefollowing documentation.
Document Contents
Onlinehelp on theFCT PlugIn
CMXX
Description oftheconfiguration,
parameterization and
commissioning ofthemulti−axis
interface CPX−CMXX
Manual on theFesto handling
and positioning profile for
multi−axis movements
(FHPP−MAX),
P. B E − CMXX−FHPP−SW−...
Manual oftheFesto dataprofile
FHPP−MAX, which is used for
communication between PLCand
CPX−CMXX.
Short description ofCPX−CMXX,
P.BE−K−CPX−CMXX
Information on fitting and
installation ofthemulti−axis
interface CPX−CMXX.
Tab.0/1: Overview ofadditonal documentation on the
multi−axis interface CPX−CMXX

Contentsand general instructions
XII Festo P.BE−CPX−CMXX−E N en 0805NH
You will find additional information on theCPX terminal in the
following documentation.
Type Title Description
Manual
Electronics
System manual"
P. B E − CPX−SYS−...
Overview ofstructure, componentsand method of
operation ofCPX terminals;
installation and commissioning instructionsas well
as basic principles ofparameterising
CPX field busnode"
P. B E − CPX−FB...
Instructionsfor theassembly, installation,
commissioning and diagnosis oftherelevant
fieldbusnodes
CPX−FEC"
P. B E − CPX−FEC−...
Instructionsfor fitting, installing, commissioning
and diagnosing theCPX Front End Controller.
Tab.0/2: Extract from theoverview ofadditional documentation on theCPX terminal

Contentsand general instructions
XIII
Festo P.BE−CPX−CMXX−E N en 0805NH
Glossary
Thefollowing product−specific termsand abbreviationsare
used in this manual:
Term/
abbreviation
Meaning
0−signal Input or output provides 0V (also LOW, FALSE or logical 0)
1−signal Input or output provides 24 V (also HIGH, TRUE or logical 1)
0xA0
A0h
Hexadecimal numbersaremarked by aprefixed 0x" or by alowered h".
Example: 0xA0= A0h= 160 decimal
Axis Drivecontroller, linear/rotativeaxis, motor and gears
Axis group An axis group consistsofup to 4 axes. Themulti−axis interface can controla
maximum of2axis groups. Theaxis group can contain up to 3gantry axes and
up to 4 positioning axes.
Controlinterface Interface oftheCPX−CMXX for connection ofthedrivecontrollersvia CAN bus
CPX−FECFront−end controller as CPX module
PLCintegrated into theCPX terminal
CPX module Collectiveterm for thevariousmodules which can beintegrated in aCPX terminal
CPX terminal Completesystem consisting ofCPX modules
FE Functional earth
FieldbusnodeProvides theconnection to specific field buses. Transmit controlsignals to the
connected modules and monitor their functioning (as CPX module: CPX fieldbus
node).
Gantry axis Gantry axes areaxes with thefollowing characteristics:
Gantry axes run synchronously, see synchronousPtP movement
Handheld / MMI Hand−operated device for service purposes
I Digital input
I/OsDigital inputsand outputs
O Digital output
OB Output byte

Contentsand general instructions
XIV Festo P.BE−CPX−CMXX−E N en 0805NH
Term/
abbreviation
Meaning
Parameter Parameterswhich must beset so that thesystem can beoperated
PLC ControloftheCPX terminal and theCPX−CMMX is alternatively carried out
through:
ahigher−level PLC:aPLCconnected via fieldbusto theCPX terminal
aCPX−FEC:PLCintegrated into theCPX terminal
Positioning axis Positioning axes areaxes with thefollowing characteristics:
cannot run synchronously with each other.
can berun synchronously only to thegantry axes
thecalculated accelertation and braking havethesamevalue
SynchronousPtP
movement
Thesynchronouspoint−to−point movement is acoordinated multi−axis
movement with thefollowing characteristics.
Thepositioning times oftheaxes areadapted to theaxis with thegreatest
positioning time.
All axes end their movementsimultaneously.
Tab.0/3:Termsand abbreviations

System summary
1−1Festo P.BE−CPX−CMXX−E N en 0805NH
Chapter 1

1. System summary
1−2Festo P.BE−CPX−CMXX−E N en 0805NH
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 TheCPX−CMXX Multi−axis interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functionsand characteristics 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2Advantages 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3Tasks1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Method ofoperation 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2Supported drivecontrollers1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3Controlpossibilities 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Design ofamulti−axis system 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5System configuration 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Autonomousautomation solution 1−10. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2ControloftheCPX terminal through ahigher−level PLC1−11. . . . . . . . .
1.5.3Autonomousautomation solution with communication
with ahigher−level PLC1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6Connection and display components1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary
1−3
Festo P.BE−CPX−CMXX−E N en 0805NH
1.1 The CPX−CMXX Multi−axis interface
TheCPX−CMXX multi−axis interface is an intelligent module in
theCPX terminal for controlling electrical driveunitsfrom
Festo. With it, besides single−axis applications, especially
coordinated multi−axis movementscan beachieved very
easily.
Coordinated movementsmean, in connection with the
CPX−CMXX, that synchronousPtP movementscan be
performed.
Programming oftheCPX−CMXX is not required for this.
Through itsuser−friendly surface, theFesto Configuration Tool
FCT makes it simple to configure, parameterizeand commis
sion theCPX−CMXX and theaxes. TheCPX−CMXX is designed
for atotal of2axis groupswith up to 4 axes each. Theaxes
areconnected via CANopen.
TheCPX−CMXX multi−axis interface is controlled by ahigher−
level PLCvia aCPX fieldbusnodeor through theCPX−FECPLC
integrated into theCPX terminal. Communication with the
CPX−CMXX takes place over theFesto dataprofile FHPP−MAX.
TheFesto dataprofile is based on theFesto dataprofile FHPP,
which was expanded for themulti−axis mode.

1. System summary
1−4 Festo P.BE−CPX−CMXX−E N en 0805NH
1.1.1 Functionsand characteristics
Configuration of2axis groupswith up to 4 axes each is
possible
Per axis group, 1024 position recordsareavailable
Configuration with theFesto Configuration Tool(FCT)
Simple input or teaching ofpositionsin aspecified record
structure
Operating functionsin theFCT for commissioning without
connection to thePLC
1.1.2Advantages
With theCPX−CMXX, Festo offersholistic solutions
(i.e. mechanisms+ electrical drivesystem + motion
controller).
Theplug and work concept reduces theengineering effort
and commissioning times.
Noprogramming necessary. In this way, functioning multi−
axis handling unitscan besuccessfully created faster and
moreeasily.
Completeadvance test oftheapplication is possible
without PLC.
Asadecentralised intelligence for movement control, the
CPX−CMXX relieves thePLCconsiderably.
Different operating modes (record select, direct mode, ...),
but also theuse oftheCPX−CMXX in combination with the
CPX−FECas acontrolunit in theCPX terminal, ensureuni
versal use ofthemulti−axis interface.