Festo CPX Series User manual

Manual
electronics
Multi-Axis Interface
CPX-CMXX
CPX Terminal
Manual
564 222
en 1102b
[757 652]

Contents and general instructions
I
Festo P.BE-CPX-CMXX-EN en 1102b
Original de.......................................
Edition en 1102b..................................
Designation P.BE-CPX-CMXX-EN......................
Order no. 564 222.................................
© (Festo AG & Co. KG, D -73726 Esslingen, 2011)
Internet: http://www.festo.com
E-mail: [e-mail]
The reproduction of this document and disclosure to third
parties and the utilisation or communication of its contents
without explicit authorization is prohibited. Offenders will
be held liable for compensation of damages. All rights
reserved, in particular the right to carry out patent, utility
model or ornamental design registrations.

Contents and general instructions
II Festo P.BE-CPX-CMXX-EN en 1102b
TORX ®,PROFIBUS
®,PROFIBUS-DP ®,PROFINETIO®, DeviceNet ®, EtherNet/IP ®, CC-Link®
and Interbus ®are registered trademarks of the respective owners in certain countries.

Contents and general instructions
III
Festo P.BE-CPX-CMXX-EN en 1102b
Contents
Intended use VII..........................................................
Target group VIII..........................................................
Service VIII...............................................................
Important user instructions IX..............................................
Safety regulations XII......................................................
Instructions on this manual XIV..............................................
Glossary XVI..............................................................
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-order controller 1-11....
1.5.3 Autonomous automation solution with communication
with a higher-order controller 1-12..............................
1.6 Connection and display components 1-13...............................

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IV Festo P.BE-CPX-CMXX-EN en 1102b
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 switches 2-7............................................
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 You will then comply with protection class IP65/IP67 2-17..................
3. Commissioning 3-1................................................
3.1 General instructions on commissioning 3-3.............................
3.2 Preparing configuration and parametrisation 3-4........................
3.2.1 Installing FCT and FCT plug-ins 3-4.............................
3.3 Parametrisation 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/SFC-LACI 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 parametrising CPX-CMXX 3-16...................

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Festo P.BE-CPX-CMXX-EN en 1102b
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 Behaviour 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............................................
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 handheld unit CPX-MMI A-6.............
B. Index B-1.........................................................

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VI Festo P.BE-CPX-CMXX-EN en 1102b

Contents and general instructions
VII
Festo P.BE-CPX-CMXX-EN en 1102b
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 PLC.
TheCPXterminalmayonlybeusedwiththeCPX-CMMXas
follows:
– As specified in industrial applications
– In original status without unauthorised alterations.
Only the conversions or modifications described in the
documentation supplied with the product are permitted.
– In perfect 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.
Please comply with national and local safety laws and regula-
tions.

Contents and general instructions
VIII Festo P.BE-CPX-CMXX-EN en 1102b
Target group
This manual 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.

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Festo P.BE-CPX-CMXX-EN en 1102b
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto-
gram. A distinction is made between the following danger
warnings:
Warning
This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
This means that failure to observe this instruction may
result in personal injury or damage to property.
Note
This 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 compo-
nents.
Electrostatically sensitive components may be damaged if
they are not handled correctly.

Contents and general instructions
XFesto P.BE-CPX-CMXX-EN en 1102b
Marking special information
The following pictograms mark passages in the text
containing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Environment:
Information on environment-friendly use of Festo products.
Text markings
•The bullet indicates activities which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
– Hyphens indicate general activities.
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.

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Festo P.BE-CPX-CMXX-EN en 1102b

Contents and general instructions
XII Festo P.BE-CPX-CMXX-EN en 1102b
Safety regulations
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 con-
trolling 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 con-
troller).
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 parametrised.

Contents and general instructions
XIII
Festo P.BE-CPX-CMXX-EN en 1102b
•Brakes controlled by the drive controller are alone 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).
•Usesuitableprotectiveequipment(e.g.safetygoggles,
safety shoes, etc.).

Contents and general instructions
XIV Festo P.BE-CPX-CMXX-EN en 1102b
Instructions on this manual
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 manual contains special information on the mode of op-
eration, 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
Online help on the FCT plug-in
CMXX
Description of the configuration,
parametrisation and
commissioning of the multi-axis
interface CPX-CMXX
Manual for the Festo handling
and positioning profile for
multi-axis movements
(FHPP-MAX),
P.BE-CMXX-FHPP-SW-...
Description for the Festo data
profile FHPP-MAX, which is used
for communication between the
controller and CPX-CMXX.
Short description of CPX-CMXX,
P.BE-K-CPX-CMXX
Informationonmountingand
installation of the multi-axis
interface CPX-CMXX.
Tab. 0/1: Overview of additonal documentation on the
multi-axis interface CPX-CMXX

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Festo P.BE-CPX-CMXX-EN en 1102b
General basic information on the mode of operation, mount-
ing, installation 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
XVI Festo P.BE-CPX-CMXX-EN en 1102b
Glossary
The following product-specific terms and abbreviations are
used in this manual:
Term/abbreviation Significance
0xA0
A0h
Hexadecimal numbers are marked by a prefixed “0x” or by a lowered “h”.
Example: 0xA0 = A0h= 160 decimal.
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
andupto4positioningaxes.
Control Control of the CPX terminal and the CPX-CMMX is alternatively carried out
through:
– a higher-level controller:
a controller connected via fieldbus to the CPX terminal
– a CPX-FEC/CPX-CEC:
a controller integrated into the CPX terminal
Control interface Interface of the CPX-CMXX for connection of the motor controller/motor
units via CAN bus.
CPX-FEC Front-end controller as CPX module. Controller can be integrated into the
CPX terminal.
CPX-CEC-... CoDeSys controller as CPX module. Controller can be 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 earthing
Fieldbus 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.
Handheld CPX-MMI Hand-operated device for service purposes

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Festo P.BE-CPX-CMXX-EN en 1102b
Term/abbreviation Significance
IDigital input
I/Os Digital inputs and outputs
Logic 0 Input or output provides 0 V (also LOW, FALSE or logic 0).
Logic 1 Input or output provides 24 V (also HIGH, TRUE or logic 1).
ODigital output
OB Output byte
Parameters 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 movement simultaneously.
Tab. 0/2: Terms and abbreviations

Contents and general instructions
XVIII Festo P.BE-CPX-CMXX-EN en 1102b