Festo CPX Series User manual

Manual
electronics
Multi−Axis Interface
CPX−CMXX
CPX Terminal
Manual
564 222
en 0910a
[750 490]

Contents and general instructions
I
Festo P.BE−CPX−CMXX−E N en 0910a
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0910a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−CMXX−EN. . . . . . . . . . . . . . . . . . . . . .
Order no. 564 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2009)
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilization of this
document as well as the comunication of its contents to
others without express authorization is prohibited.
Offenders will be held liable for the payment of damages.
All rights reserved in the event of the grant of a patent,
utility module or design.

Contents and general instructions
II Festo P.BE−CPX−CMXX−E N en 0910a
TORX® is a registered trade name of CAMCAR TEXTRON INC.,
Rockford, Ill., USA
PROFIBUS, PROFIBUS−DP,
PROFINET IO ®
are registered trademarks of PROFIBUS International (P.I.)
DeviceNet ®isa registered trademark of Open DeviceNet Vendor
Association. Inc. (ODVA)
RSLinx, RSLogix,
RSNetworx for DeviceNet ®
are registered trademarks of Rockwell Software Inc. or
Rockwell Automation
EtherNet/IP ®isa registered trade name of ControlNet International Ltd.
and the Open DeviceNet Vendor Association. Inc. (ODVA)
CC−Link ®isa registered trade mark of Mitsubishi Electric Corp.
Interbus ®isa registered trade name of Phoenix Contact GmbH & Co. KG,
Blomberg, Germany

Contents and general instructions
III
Festo P.BE−CPX−CMXX−E N en 0910a
Contents
Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on this description XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CPX−CMXX Multi−Axis Interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functions and characteristics 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Advantages 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Tasks 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Mode of operation 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control possibilities 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Design of a multi−axis system 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 System configuration 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Autonomous automation solution 1−10. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2 Control of the CPX terminal through a higher−level controller 1−11. . . .
1.5.3 Autonomous automation solution with communication
with a higher−level controller 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Connection and display components 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting and installation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and mounting 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Mounting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Setting the switches 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 RUN/STOP rotary switch 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 DIL switch 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−CPX−CMXX−E N en 0910a
2.4 Control interface 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Connecting the CAN bus 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 CAN bus line 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Connection with Festo CAN bus plug 2−11. . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 Further connection possibilities for the CAN bus with adapters 2−13. .
2.6 Ethernet interface 2−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 Ensuring protection classIP65/IP67 2−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General instructions on commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Preparing configuration and parameterisation 3−4. . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Installing FCT and FCT plug−ins 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Parameterisation of the connected motor controllers 3−7. . . . . . . . . . . . . . . . . .
3.3.1 Connecting PC with the motor controller 3−7. . . . . . . . . . . . . . . . . . . . .
3.3.2 Communication between CPX−CMXX and the motor controllers 3−8. . .
3.3.3 Specific settings for CMMx−xx motor controller 3−10. . . . . . . . . . . . . . . .
3.3.4 Specific settings for MTR−DCI motor unit 3−11. . . . . . . . . . . . . . . . . . . . .
3.3.5 Specific settings for SFC−DC motor controller 3−11. . . . . . . . . . . . . . . . .
3.3.6 Specific settings for SFC−LAC motor controller 3−12. . . . . . . . . . . . . . . .
3.4 Configuration of the CPX−CMXX 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Connecting PC to CPX−CMXX 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Prepare PC 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Configuring and parameterising CPX−CMXX 3−16. . . . . . . . . . . . . . . . . .
4. Diagnosis and error treatment 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Overview of diagnostics options 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Errors and warnings 4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Behavior in case of errors and warnings 4−4. . . . . . . . . . . . . . . . . . . . .
4.2.2 Acknowledging errors 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Error numbers 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Diagnostics via LEDs 4−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Festo P.BE−CPX−CMXX−E N en 0910a
4.4 Diagnosis at the CPX terminal 4−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Status bits in the system status of the CPX terminal 4−16. . . . . . . . . . . .
4.4.2 I/O diagnostic interface and diagnostic memory 4−16. . . . . . . . . . . . . .
4.4.3 Definition of diagnosis channels 4−19. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 Other diagnostic information 4−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical Data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Device−specific information on the CPX−MMI handheld A−6. . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−CPX−CMXX−E N en 0910a

Contents and general instructions
VII
Festo P.BE−CPX−CMXX−E N en 0910a
Intended use
The CPX−CMXX multi−axis interface documented in this
manual is intended exclusively for use in Festo CPX terminals
for installation in a machine or an automation control system.
The multi−axis interface CPX−CMXX permits coordination of
axis portals and positioning axes in conjunction with a
controller
The CPX terminal may only be used with the CPX−CMMX as
follows:
Asspecified in an industrial environment.
Inits original condition without unauthorised
modifications. Only the conversions or modifications
described in the documentation supplied with the product
are permitted.
Inperfect technical condition.
 Only in combination with approved components,
e.g.CPXmodules and motor controllers
(seechapter1.2and 1.3).
The limit values specified for pressures, temperatures,
electrical data, torques etc. should be observed.
Observe the regulations of the trade associations,
GermanTechnical Control Board (TÜV), VDE stipulations or
corresponding national laws and regulations.

Contents and general instructions
VIII Festo P.BE−CPX−CMXX−E N en 0910a
Target group
This description is intended exclusively for technicians
trained in control and automation technology, who have
experience in installing, commissioning, programming and
diagnosing positioning systems.
Service
Please consult your local Festo Service agent if you have any
technical problems.

Contents and general instructions
IX
Festo P.BE−CPX−CMXX−E N en 0910a
Important user instructions
Danger categories
This description contains instructions on the possible dangers
which can occur if the product is not used correctly.
Theseinstructions are marked with a signal word
(Warning,Caution, etc.), printed on a shaded background and
marked additionally with a pictogram. A distinction is made
between the following danger instructions:
Warning
... means that failure to observe this instruction may result
in serious personal injury or material damage.
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 damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive devices:
Electrostatically sensitive components: Improper handling
can result in damage to components.

Contents and general instructions
XFesto P.BE−CPX−CMXX−E N en 0910a
Identification of special information
The following pictograms designate texts that contain special
information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information
Accessories:
Information about 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 order.
1. Numerals denote activities which must be carried out in
the numerical order specified.
 Hyphens designate general lists.
Brackets designate menu entries.
Example: [Configuration], see chapter 3.3.4.
Arrow brackets mark placeholders for designations.
Example:Status of <Your Connection>", see chapter 3.4.2.
Quotation marks designate names of windows, dialogues and
buttons. Example: Status of <Your Connection>",
seechapter3.4.2.

Contents and general instructions
XI
Festo P.BE−CPX−CMXX−E N en 0910a
Safety instructions
Protection against dangerous movements
Warning
High acceleration forces at the connected actuators!
Undesired movements can cause collisions and severe
injuries.
Dangerous movements can occur through faulty
controlling of connected actuators, e.g. via:
 unsafe or faulty circuitry or cabling,
 faulty operation of the components,
 errors in the measured value and signal generators,
 faulty or non−EMC−compliant components,
 errors in the higher−order control system,
Simply switching off the compressed air supply or load
voltage are not suitable locking procedures.
Intheeventofa malfunction, this could lead to
unintentional movement of the drive.
·Before doing mounting, installation and service work,
bring the system into a safe condition
(e.g.bybringingthe drive into a safe position and
deactivating the controller).
Always make sure that the compressed air supply and
power supply are switched off and locked when working
in the machine area.
·Make sure that no persons are in the operating range of
the drive or any other connected actuators.
·Do not switch on the compressed air supply until the
system is correctly installed and parameterised.

Contents and general instructions
XII Festo P.BE−CPX−CMXX−E N en 0910a
·Brakes controlled by the drive controller alone are not
suitable to ensure personal protection!
Secure vertical axes from falling or sliding down when
the compressed air and load voltage are switched off,
asfollows:
 mechanical locking of the vertical axis,
 external braking/safety catch/clamping device or
 sufficient counterbalance of the axis.
·Additional measures are required for use in
safety−related applications; in Europe, for example, the
standards listed under the EC Machinery Directive must
be observed. Without additional measures in
accordance with statutory minimum requirements,
theproduct is not suitable for use in safety−related
sections of control systems.
Protection from pressurised tubing
Caution
Danger of injury through inappropriate handling of
pressurised tubing!
Uncontrolled movements of the connected actuators and
uncontrolled movements of loose tubing can cause injury
to human beings or damage to property.
·Do not connect, disconnect or open pressurised tubing.
·The tubing must always be vented before removal
(release compressed air).
·Use suitable protective equipment
(e.g.safetygoggles,safety shoes, etc.).

Contents and general instructions
XIII
Festo P.BE−CPX−CMXX−E N en 0910a
Notes on this description
Note
This manual refers to the multi−axis interface CPX−CMXX
from Revision 03.
You will find the revision number on the name plate
This description contains special information on the method
of operation, mounting, installation and commissioning of the
CPX−CMMX multi−axis interface.
You will find additional information on the CPX−CMXX
multi−axis interface in the following documentation.
Document Contents
Onlinehelp on the FCT plug−in
CMXX
Description of the configuration,
parameterisation and
commissioning of the multi−axis
interface CPX−CMXX
Description of the Festo
handling and positioning profile
for multi−axis movements
(FHPP−MAX),
P.BE−CMXX−FHPP−SW−...
Description of the Festo data
profile FHPP−MAX, which is used
for communication between
controller and CPX−CMXX.
Short description of CPX−CMXX,
P.BE−K−CPX−CMXX
Information on fitting and
installation of the multi−axis
interface CPX−CMXX.
Tab.0/1: Overview of additonal documentation on the
multi−axis interface CPX−CMXX

Contents and general instructions
XIV Festo P.BE−CPX−CMXX−E N en 0910a
General basic information on the mode of operation,
mounting, installing and commissioning of CPX terminals can
be found in the CPX system description, type P.BE−CPX−SYS−...
Observe also the user documentation of the components
used in the CPX terminal.

Contents and general instructions
XV
Festo P.BE−CPX−CMXX−E N en 0910a
Glossary
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0−signal Input or output provides 0 V (also LOW, FALSE or logic 0).
1−signal Input or output provides 24 V (also HIGH, TRUE or logic 1).
0xA0
A0h
Hexadecimal numbers are marked by a prefixed 0x" or by a lowered h."
Example: 0xA0 = A0h= 160 decimal.
O Digital output
AB Output byte
Axis Motor controller/motor unit, linear/rotative axis, motor and gears
Axis group An axis group consists of up to 4 axes. The multi−axis interface can control
a maximum of 2 axis groups. The axis group can contain up to 3 gantry axes
and up to 4 positioning axes.
Control interface Interface of the CPX−CMXX for connection of the motor controller/motor
units via CAN bus.
Controller Control of the CPX terminal and the CPX−CMMX is alternatively carried out
through:
ahigher−level controller
a controller connected via fieldbus to the CPX terminal
aCPX−FEC/CPX−CEC:
a controller integrated into the CPX terminal
CPX−CEC−... The CoDeSys controller as CPX module. Controller integrated into the
CPXterminal.
CPX−FEC Front−end controller as CPX module. Controller integrated into the
CPXterminal.
CPX module Collective term for the various modules which can be integrated in a
CPXterminal.
CPX terminal Complete system consisting of CPX modules.
FE Functional earth

Contents and general instructions
XVI Festo P.BE−CPX−CMXX−E N en 0910a
Term/abbreviation Meaning
Field bus node Provide the connection to specific fieldbuses. Transmit control signals to
the connected modules and monitor their functioning
(asaCPXmodule:CPX fieldbus node).
Gantry axis Gantry axes are axes with the following characteristics:
 Gantry axes run synchronously, see synchronous PtP movement.
HandheldCPX−MMI Hand−operated device for service purposes
I Digital input
I/Os Digital inputs and outputs
Parameter Parameters which must be set so that the system can be operated.
Positioning axis Positioning axes are axes with the following characteristics:
 cannot run synchronously with each other.
 can be run synchronously only to the gantry axes
 the calculated acceleration and braking have the same value
Synchronous PtP
movement
The synchronous point−to−point movement is a coordinated multi−axis
movement with the following characteristics.
 The positioning times of the axes are adapted to the axis with the
greatest positioning time.
 All axes end their movementsimultaneously.
Tab.0/2: Terms and abbreviations

System summary
1−1Festo P.BE−CPX−CMXX−E N en 0910a
Chapter 1

1. System summary
1−2 Festo P.BE−CPX−CMXX−E N en 0910a
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CPX−CMXX Multi−Axis Interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functions and characteristics 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Advantages 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Tasks 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Mode of operation 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control possibilities 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Design of a multi−axis system 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 System configuration 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Autonomous automation solution 1−10. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2 Control of the CPX terminal through a higher−level controller 1−11. . . .
1.5.3 Autonomous automation solution with communication
with a higher−level controller 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Connection and display components 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .