description 560 310 [721 643] - festo 560 310 en 0805nh [721 643] festo gdcp-cmxr-sy-en 0805nh 3...

Beschneiden: Oben: 61,5 mm Unten: 61,5 mm Links: 43,5 mm Rechts: 43,5 mm

Controller

Description System manual Type CMXR-C1

Description 560 310 en 0805NH [721 643]

Festo GDCP-CMXR-SY-EN 0805NH 3

Edition ______________________________________________________________ 0805NH

Designation _________________________________________________ GDCP-CMXR-SY-EN

Order no. ____________________________________________________________ 560 310

Festo AG & Co KG., D-73726 Esslingen, Federal Republic of Germany, 2008

Internet: http://www.festo.com

E-mail: [email protected]

Copying and distributing this document as well as utilising and communicating its contents is prohibited without express authorisation. Offenders will be held liable for payment of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations.

http://www.festo.com/

4 Festo GDCP-CMXR-SY-EN 0805NH

Index of revisions

Author:

Name of manual: GDCP-CMXR-SY-EN

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File saved at:

Consec. no. Description Index of revisions Date of amendment

001 Produced: 0805NH 07.07.2008

Table of contents


Table of contents

1. Introduction .......................................................................................................... 8

1.1 Terminology used ................................................................................................ 8

2. Safety instructions ................................................................................................ 9

2.1 Using the documentation ..................................................................................... 9

2.2 Recommended operating conditions .................................................................... 9

2.3 Qualified personnel ........................................................................................... 10

2.4 Safety notes on this manual............................................................................... 10

2.5 Safety notes on the products ............................................................................. 10

2.6 Safety instructions for the described product..................................................... 11

3. Modular multi-axis control system CMXR ........................................................... 13

3.1 Central control unit CMXR-C1 ............................................................................. 13

3.1.1 CAN interfaces .................................................................................... 14

3.2 Memory card ..................................................................................................... 15

3.3 File system ........................................................................................................ 16

3.4 Application directory ......................................................................................... 17

3.5 IP address on delivery ........................................................................................ 17

3.6 Peripheral modules ........................................................................................... 18

3.6.1 Addressing the peripheral modules .................................................... 19

3.6.2 Front panel plug ................................................................................. 20

3.7 Peripherals at interface CAN 1 ........................................................................... 21

4. Configuration using FCT ...................................................................................... 22

5. Programming, Festo Teach Language (FTL) ........................................................ 23

5.1 Program processing ........................................................................................... 24

5.1.1 Downloading FTL programs ................................................................ 24

6. CDSA teach pendant ............................................................................................ 26

6.1 Installation ........................................................................................................ 28

6.2 CAMI-C interface unit ......................................................................................... 29

6.3 Disconnecting the teach pendant ....................................................................... 29

6.4 Hardware overview ............................................................................................ 31

6.5 Software ............................................................................................................ 31

6.6 User rights ......................................................................................................... 33

6.6.1 User levels ......................................................................................... 34

6.6.2 Set users on delivery .......................................................................... 36

6.7 Communication with the CMXR multi-axis control system .................................. 36

Table of contents


6.7.1 Synchronisation of dialogue software ................................................. 37

6.8 IP addresses on delivery .................................................................................... 37

6.9 Screen control ................................................................................................... 38

7. Drive systems ...................................................................................................... 39

7.1 Setting for servo configuration .......................................................................... 39

7.2 CAN bus address for motor controllers ............................................................... 39

7.3 Homing run ........................................................................................................ 40

8. Operation 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 Operation without external control .................................................................... 46

9.1.1 System signals ................................................................................... 48

9.2 External control via the digital I/O interface ....................................................... 49

9.2.1 Functions of the I/O interface ............................................................. 50

9.3 External control via PROFIBUS DP ...................................................................... 51

9.3.1 System signals ................................................................................... 52

9.3.2 Functions of the PROFIBUS interface .................................................. 53

9.3.3 Interface for the FTL program.............................................................. 53

9.4 Higher-order control .......................................................................................... 55

9.4.1 Method of operation........................................................................... 55

9.4.2 User level ........................................................................................... 56

9.4.3 Influence of the higher-order control .................................................. 56

9.4.4 Integration example ........................................................................... 57

10. Coordinate systems ............................................................................................. 59

10.1 Axis coordinate systems .................................................................................... 59

10.2 Cartesian coordinate systems ............................................................................ 59

10.2.1 Translatory axes X, Y, Z ....................................................................... 59

10.2.2 Orientation axes A, B, C ...................................................................... 60

10.2.3 Euler orientation ZYZ .......................................................................... 61

10.3 Coordinate systems for the kinematics .............................................................. 61

10.3.1 Base coordinate system ..................................................................... 61

10.3.2 World coordinate system .................................................................... 63

10.3.3 Tool coordinate system ...................................................................... 65

10.3.4 Working with the tool coordinate system ............................................ 65

Table of contents


11. Supported kinematics ......................................................................................... 67

11.1 Configuration of kinematics ............................................................................... 67

11.1.1 Basic axes .......................................................................................... 67

11.1.2 Orientation axes (manual axes) .......................................................... 68

11.1.3 Adjustment of orientation axes ........................................................... 68

11.1.4 Interpolation of orientation axes ........................................................ 70

11.1.5 Electric and pneumatic manual axes ................................................... 73

11.1.6 Auxiliary axes ..................................................................................... 73

11.1.7 Programming the manual and auxiliary axes ....................................... 74

11.1.8 Designation of axis sequence for kinematics ...................................... 75

11.2 Cartesian linear gantry ....................................................................................... 75

11.3 Cartesian planar surface gantry ......................................................................... 78

11.4 Cartesian three-dimensional gantry ................................................................... 79

11.5 Tripod kinematics .............................................................................................. 82

11.5.1 Origin of the tool coordinate system ................................................... 84

11.6 Axis interpolation .............................................................................................. 85

11.7 Overview of all supported kinematics systems ................................................... 86

1. Introduction


1. Introduction

This document describes the “Festo CMXR multi-axis control system with robotic technology functions” system with the with the software status of version 1.0. Both the actual multi-axis control system and the CDSA-D1-VX teach pendant are part of this system.

CMXR-C1 multi-axis control system CDSA-D1-VX teach pendant

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 (also FCT

software)

FCT PlugIn Software module for a certain device in the Festo Configuration Tool (FCT)

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.: shutdown in emergency or monitoring reduced speeds).

The Festo CMXR multi-axis control system conforms to category B of EN-954-1 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 status of the overall system even in the event of a malfunction must be adopted for safety-relevant control tasks or for the safety of persons.

Festo is not liable for damage caused by failure to observe 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 version, please inform the supplier.

The faultless and reliable operation of the control system depends on its correct transport, storage, mounting and installation as well as on careful operation and maintenance.



2.3 Qualified personnel

Note

Only trained and qualified personnel should be allowed to handle the electrical installations.

2.4 Safety notes on this manual

Warning

DANGER!

Considerable damage to property and injury to human beings may occur if these instructions are not observed.

Caution

Considerable damage to property may occur if these instructions are not observed.

2.5 Safety notes on the products

Warning

DANGER!

The regulations for 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 flammable 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.



Warning

DANGER!

Dangerous movements!

Danger of death, serious bodily injury or damage to property due to unintentional movement of the axes!

2.6 Safety instructions for the described product

Warning

Danger!

Danger of death due to inadequate EMERGENCY-STOP devices!

Emergency-stop devices must remain operative and accessible in all operating modes of the system. Unlocking the EMERGENCY-STOP device must not initiate an uncontrolled restart of the system!

Check the EMERGENCY-STOP chain first, then switch on!

Warning

DANGER!

Danger to people and equipment!

Test every new program before you commission the system!

Warning

DANGER!

Retrofittings and modifications can compromise the safety of the system!

The consequences of this could be personal injury, material damage or environmental damage. Possible retrofittings or modifications to the system using component parts from external manufacturers must therefore be approved by Festo.



Warning

DANGER!

Hazardous electric voltage!

If not otherwise specified, maintenance work must always be carried out with the system switched off! At the same time, the system must be protected against unauthorised use and against being switched on again unintentionally.

Should measuring or test work be needed on the system, this must be carried out by expert electrical technicians.

Caution

Only replacement parts approved by Festo may be used.

3. Modular multi-axis control system CMXR


3. Modular multi-axis control system CMXR The CMXR multi-axis control system is a modular control system composed of a central control unit CMXR-C1, input/output modules, fieldbuses and a teach pendant. The CMXR 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).

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.

3.1 Central control unit CMXR-C1

The CMXR-C1 central control unit is an intelligent processor module that is responsible for the processing of the programs, for example. The scope of delivery includes:

Two CAN bus interfaces, whereby CAN 0 is reserved for the Festo DriveBus One Ethernet interface One memory card CF Type I, size 512 MB, for example

Teach pendant

Kinematics CMXR

Valve units

Gripper Electric drives



1 24V DC power supply

2 7-segment display

3 CAN 1, peripheral equipment

4 Ethernet

5 CAN 0, DriveBus

6 Memory card

7 USB interface

Fig. 3.1 Structure of a multi-axis system with CMXR multi-axis control system (example)

Designation Meaning

CAN 0, DriveBus Interface for the drive regulators

CAN 1, peripheral

equipment

Connection of peripheral devices, e.g. valve terminal

Memory card Data memory of central control unit

USB interface USB port for saving and restoring programs, as well as for removing diagnostic

information for servicing purposes. Further information can be found in the

CDSA software manual.

Ethernet Interface for the teach pendant or programming, for example

7-segment display Information on diagnosis

Power supply 24V DC power supply

Table 3.1 Central control unit CMXR-C1

Note

The use of an intelligent Ethernet switch is recommended for minimising the load for the Ethernet network.

3.1.1 CAN interfaces

The CAN 0 interface for the CMXR-C1 is reserved for the drive communication via DriveBus. Another use is not possible.

Other peripheral equipment, such as the Festo CPV valve terminal, can be connected up via

interface CAN 1. The configuration of the signals is carried out via the Festo Configuration Tool (FCT).

1

2

4

6

3

7

5



3.2 Memory card

The data for the CMXR-C1 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 in the relevant slot in the CMXR central control unit. Pulling and inserting the card is not permitted during the operation.

Note

To pull out the memory card, always make sure the CMXR central control unit is disconnected from the power supply. Pulling the card out is not allowed if the control unit is still live.

There are many versions and manufacturers of memory cards on the market. These are distinguished however by their performance and the permissible write cycles. For this reason, special memory cards are recommended for the operation of the CMXR multi-axis control system. For the card types, please refer to the hardware description for the CMXR-C1 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 for the change. An exchange can be quickly taken care of during servicing work.

Caution

The memory card is a storage location for the CMXR multi-axis control system's data. Using this data carrier for other purposes must be avoided. Doing so can impair the operatability of the storage medium.



3.3 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 installation of the CMXR multi-axis control system and must not be changed or added to. Otherwise, the operatability of the system can no longer be guaranteed.

Caution

The required directory structure is created during the installation of the CMXR multi-axis control system. This structure must not neither be changed nor added to. Any type of manipulation here results in the operatability 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

retain System directory

system 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 loaded onto the memory card.



3.4 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 Not in use

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 graphic, the projects “_global” and “cube” are created as examples.

3.5 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:

Network parameter 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

To establish a connection to the CMXR multi-axis control system, the corresponding network settings have to be undertaken on the PC.



Note

The CMXR multi-axis control system is not DHCP-capable.

The multi-axis control system cannot assign an IP address from a DHCP-server; it has to be configured via FCT.

3.6 Peripheral modules

The modular CMXR multi-axis control system can be expanded with peripheral modules, which are connected up on the right-hand side of the central control unit. The modules are

connected up via the system bus, which is established via a plug contact.

The position of a peripheral module can be selected at will. Since each module has its own address, it can be assigned unequivocally. A maximum of eight peripheral modules can be connected up to the CMXR multi-axis control system.

Designation Meaning

CMXR-C1 Central control unit

CECX-D-16E Digital input module with 16 inputs

CECX-D-14A-2 Digital output module with 14 outputs, 2A load capacity, group fusing function

CECX-D-8E8A-NP-2 Digital mixed module with eight inputs and eight outputs, outputs with 2A load

capacity

CECX-A-4E4A-V Analogue module with four inputs (14 bits), four outputs (12 bits) for voltage supply

CECX-A-4E4A-A Analogue module with four inputs, four outputs for current

CECX-C-2G2 Encoder module with two inputs

CECX-F-PB-S-V0 PROFIBUS slave module DP V0

Table 3.5 CMXR peripheral modules system



Note

The maximum possible eight modules can be a mixture of the named peripheral modules. An exception is the PROFIBUS slave module. This may be used only once in the system.

Examples for peripheral modules:

CDCX-D-8E8A-NP-2 CECX-F-PB-S-V0

Digital mixed module with eight inputs and eight

outputs

PROFIBUS slave module DPV0

Note

The planning of the modules is managed by Festo Configuration Tool (FCT).

Please refer to the CMXR programming manual for the application of the modules in FTL programs.

3.6.1 Addressing the peripheral modules

Every one of the peripheral modules has an address switch that is located underneath a latch. Using a suitable tool, the module address is set on the address switch, which is designed as a

rotary switch.

The following applies: Each address may only be used once inside a module type. The same addresses are allowed in different modules.

Note

An exception to this is the PROFIBUS slave module. This does not have an address switch, since only one module may be installed in the system.



1 Bus plug (rear

cover)

2 Recess for H-rail

3 Address switch

(module address)

4 H-rail locking

lever

3.6.2 Front panel plug

Standard plugs with a grid dimension of 5.08 mm are needed for the power supply and for connecting the digital and analogue signal cables. Encoder signals are connected via a SUB-D plug, the fieldbuses CAN and PROFIBUS via suitably approved fieldbus plugs.

The following tables contain the required plug combinations and a recommended selection of plugs. The number of pins can be selected differently, depending on the requirement.

Designation Number Meaning

CMXR-C1 1

1

2-pin for the power supply

9-pin SUB-D (socket) for every CAN bus

CECX-D-16E 1

2


8-pin for signals

CECX-D-14A-2 2

1

1


8-pin for signals

6-pin for signals

CECX-D-8E8A-NP-2 1

2


8-pin for signals

CECX-A-4E4A-V 1

2


8-pin for signals

CECX-A-4E4A-A 1

2


8-pin for signals

CECX-C-2G2 1

1

2


2-pin for latch signals

SUB-D 9-pin (socket) for the encoder

CECX-F-PB-S-V0 1 PROFIBUS plug with switchable terminating

resistor

Table 3.6 Plugs for peripheral modules on the CMXR-C1

4

1

2

3



Note

It is recommended you use 2-pin plugs for connecting up the power supply. Should signal cables have to be disconnected for commissioning, then the power supply for the modules is maintained.

Overview of the available plugs:

Designation Meaning

NECC-L1G2-C1 2-pin plug with spring-loaded terminal





FBS-SUB-9-WS-PB-K 9-pin SUB-D plug for PROFIBUS without terminating resistor

FBS-SUB-9-WS-CO-K 9-pin SUB-D plug for CAN bus without terminating resistor

Table 3.7 Plugs for peripheral modules

Illustration of 8-pin plug NECC-L1G8-C1 with spring-loaded terminal

3.7 Peripherals at interface CAN 1

Other typical process peripheral equipment, such as Festo valve terminals or I/O modules, can be connected up via interface CAN 1. The devices must support CANopen DS 301.

The so-called “cyclic I/O” group includes all devices with purely digital inputs/outputs; up to 32 digital inputs and 32 digital outputs are supported.

The configuration of the signals is carried out via an FCT PlugIn.

The group of “acyclic” devices in principle allows the connection of all devices that correspond with CANopen. With these devices, communication can only take place via SDO access. Please refer to the CMXR programming manual for more information.

4. Configuration using FCT


4. Configuration using FCT The configuration of the CMXR multi-axis control system is carried out via the Festo Configuration Tool (FCT). This software has graphical dialogue pages for the guided input of the required data.

Example of a graphical configuration page:

The Festo Configuration Tool (FCT) is used to deal with the configuration of the CMXR central control unit Peripheral signals Activation method Selection of the kinematics

Data for axis dynamics

for example. Please refer to the CMXR PlugIn documentation in Festo Configuration Tool (FCT) for more information.

5. Programming, Festo Teach Language (FTL)


5. Programming, Festo Teach Language (FTL) The movement programs are written using the text-based macro programming language FTL (Festo Teach Language). FTL provides a high-performance store of commands, e.g. for movements, dynamics, branchings, loops and the integration of peripheral signals. In the CMXR multi-axis control system the FTL program is processed by an interpreter.

The FTL programs can be programmed offline and online. The FTL Editor is available in the Festo Configuration Tool (FCT) for offline programming. Online programming is carried out via the CDSA-D1-VX mobile teach pendant. Please refer to the CMXR programming manual for more information.

Example of an FTL program – shown in FCT PlugIn

Example of an FTL program – shown on the CDSA-D1-VX control unit:



5.1 Program processing

An FTL program is processed in the CMXR multi-axis control system by an interpreter. This allows making very quick changes to the program, which take immediate effect.

The FTL programs are not processed by the memory card, but rather from the CMXR's internal memory. To start a program, it must be previously loaded from the memory card. It will be ready for starting after this loading process.

Note

The maximum number of positions in a project is, due to the memory capacity, approx. 1,500. If the memory capacity is exceeded, this will be registered as an error.

5.1.1 Downloading FTL programs

FTL programs are normally written via the Festo Configuration Tool (FCT) and then transferred to the CMXR-C1 memory card per download.

The memory card can also be connected to the PC via Ethernet and by using the IP address of the CMXR central control unit. This connection can also be used to load FTL programs onto the

memory card. These programs can be loaded and started by an external control system. To start the programs from the teach pendant, the entire project has to be unloaded and then loaded again.

Please note here, however, that all FTL projects are loaded into the application\teachcontrol directory. Using and creating other directories is not permitted. Frequent write access continues to burden the service life of the memory card.

Note

Make sure that when downloading, the programs are not over-written and simultaneously loaded into the CMXR multi-axis control system.

Should an FTL-program download and start be executed automatically, then locks should be used to ensure that no faults occur. This can, for example, be done via an interface to a higher-level system.

If a project that is already loaded on the memory of the CMXR control system is copied onto the memory card, then this project will not be updated. To load the new project from the memory card onto the CMXR control system's memory, the active project must be closed (it will be unloaded) and then loaded again. This procedure can be carried out via the project

mask in the teach pendant or via an external control system.



Note

An active, loaded project is not updated in the CMXR control system's RAM by downloading it to the memory card. The project must be unloaded and then loaded again to update the data.

6. CDSA teach pendant


6. CDSA teach pendant All operations and the programming can be carried out with the help of the mobile CDSA teach pendant.

The following illustration shows the CDSA teach pendant from the front side:

1 EMERGENCY-STOP

2 Touch pin

3 Start and stop buttons

4 Buttons for jog mode

5 Buttons for selecting functions

6 Coloured touch screen

7 Buttons for selecting functions

8 Display LEDs

9 Cover for USB interface

Fig. 6.1 CDSA teach pendant

Function Description

EMERGENCY STOP

button

2-channel EMERGENCY STOP button acc. to category 3, for integration in the

customer-specific EMERGENCY STOP circuit

Start and stop buttons For starting and stopping the movement program

Buttons for jog mode Buttons for moving the axes in different coordinate systems

Buttons for selecting the

functions

Buttons for selecting the various functions, such as coordinate systems,

position display, programming

Display LEDs Display of states, e.g. errors

Touch screen 6.5” TFT colour display with touch screen, which can be operated by finger or

touch pin

Touch pin Pin for operating the touch screen

USB interface Not currently supported

Table 6.1 Functions of the CDSA teach pendant, front

1

2

4

6

3

7

5

8

9



The following illustration shows the CDSA teach pendant from the rear side:

1 Handle for right- and left-handed people

2 Permission button

3 Cable outlet

Fig. 6.2 CDSA teach pendant - rear side

Function Designation

Handle The teach pendant has an ergonomic handle that can also be used as a hand rest and is

suitable for right- and left-handed people.

Permission

button

The handle has a 3-stage, 2-channel permission button built in on both the right- and left-

hand side (for right- or left-handed people) and prepared for the customer-specific safety

circuit.

Cable outlet The cable outlet can be defined as being on the right or left depending on the installation

of the cable.

Table 6.2 Functions of the teach pendant, rear side

The ergonomic design of the teach pendant also allows operation while lying down, e.g. on a table. The arrangement of the housing and handle also makes sure the terminal is in a secure standing position.

1

3

2

3

2



6.1 Installation

The teach pendant communicates with the CMXR multi-axis control system via an Ethernet connection. The interface for both communication partners is formed by an interface unit that has connections for the teach pendant and the CMXR multi-axis control system.

Overview diagram of teach pendant's installation:

1 Control cabinet

2 CMXR-C1 multi-axis control system

3 Ethernet cable (crossover) / Ethernet cable with switch

4 CAMI-C interface unit with 2-channel EMERGENCY-STOP 2-channel permission button 24V supply

5 CAMF-B bridge

connector

6 NESC-C-D1-x-C1 cable

7 CDSA teach pendant

Fig. 6.3 Installation of CDSA teach pendant

The interface unit is normally installed in the control cabinet. A cutout is used to secure the terminal socket for the interface unit against turning and allows the unit to be guided through

to the outside. A lock nut is used to fix down the interface unit.

Note

We recommend an intelligent switch is used for the Ethernet connection. This is the only way a PC (with FCT software) and an operator unit can be connected up simultaneously.

Note

Please refer to the relevant manuals for more information on the installation. Due to the application involved, the required safety regulations must also be observed.

1

2

3

6

4

5

7



6.2 CAMI-C interface unit

The teach pendant is connected up to the CMXR multi-axis control system via an interface unit. The interface unit has the following connections:

Ethernet connection, communication between CMXR and teach pendant 11-pin connector for

o 24V DC power supply for the teach pendant o 2-channel connection for EMERGENCY-STOP switch o 2-channel connection for permission buttons

1 Connector for supply, EMERGENCY- STOP and permission button signals

2 9-pin SUB-D plug, not in use

3 Connecting thread for teach pendant cable

4 Retaining nut

5 Control cabinet panel

6 Ethernet connection

Fig. 6.4 CAMI-C interface unit

The illustration shows the CAMI-C interface unit installed on an outside panel of the control cabinet. Please observe that the cutout must be made using a suitable tool.

6.3 Disconnecting the teach pendant

It is possible to control the CMXR multi-axis control system via an external control system, i.e. to specify instructions such as start or stop externally. The teach pendant is not absolutely necessary for such operations. The teach pendant can be disconnected if the commissioning

work is concluded.

If a teach pendant is disconnected at the interface unit during operation, then the EMERGENCY-STOP-circuit is opened. There is now an EMERGENCY-STOP situation that cannot

6

5

1

2

4



be acknowledged due to the open EMERGENCY-STOP-circuit. To be able to continue working despite a disconnected teach pendant (control could come from an external control system), the bridge connector (named CAMF-B-M25-G4) is screwed into the interface unit instead of the teach pendant.

The bridge connector has two internal bridges for the 2-channel EMERGENCY-STOP signal. These two bridges close the EMERGENCY-STOP circuit and the EMERGENCY-STOP situation can be acknowledged.

Note

A solution which allows the teach pendant to be disconnected without interrupting the EMERGENCY-STOP circuit is not planned. This would require taking the whole installation into consideration and with it the applicable safety regulations. If this is required, then the customer has to find a special solution parallel to the required safety regulations.

Caution

The EMERGENCY-STOP button for a disconnected teach pendant is not active. The operator is under obligation to clear up the dis-connected teach pendants such that inadvertent actuation of the inactive EMERGENCY-STOP button is not possible.

1 Bridge con-

nector screwed onto interface unit

2 Wire cable with

eyelet for fixing

3 Bridge con-

nector

Fig. 6.5 CAMF-B-M25-G4 bridge connector

1

2

3



6.4 Hardware overview

Three prefabricated cables are available at various lengths for connecting the teach pendant to the interface unit. Also available is the bridge connector for bridging the EMERGENCY-STOP signals in the disconnected status, as well as a wall bracket with a cable holder for setting down the teach pendant.

Type Meaning

CDSA-D1-VX Teach pendant

NESC-C-D1-5-C1 Prefabricated connecting cable, length 5 m



CAMI-C Interface unit

NECC-L1G11-C1 11-pin plug for interface unit

CAMF-B-M25-G4 Bridge connector for interface unit

CAFM-D1-W Wall bracket with holder for cable

Table 6.3 Teach pendant's hardware overview

6.5 Software

The teach pendant has a graphical user interface that has an easy-to-understand and intuitive design. Specialist programming or computer knowledge is not required to learn how the teach pendant is handled. All information is available in German and English. The language is

selected within the software for the teach pendant, without having to restart the system.

Prefabricated connecting cable

NESC-C-D1-xx-C1

Wall bracket CAFM-D1-W CAMI-C interface unit



Example of the graphical interface, display of actual positions:

Example of the graphical interface, programming editor:

Please refer to the documentation on the teach pendant software for additional information.



6.6 User rights

The user has to log in with a user name and password to work with the teach pendant. This prevents unauthorised persons from gaining access to functions in the system. The user account can be selected via the graphical mask. After the correct password has been entered, all the released rights for the user are activated.

Design of graphical mask for selecting user:

New user accounts can be created via user administration. Every user is allocated a password and a rights level in the process. The user rights are divided into levels of 1 to 16. Level 16 has all rights and should be reserved for the administrator.

Design of graphical mask for user administration:



6.6.1 User levels

In the CMXR multi-axis control system, a user level consisting of several levels between 1 and 15 can be allocated to every user. The highest level 16 has no restrictions, it should be reserved for the administrator.

List of functions with the required user level

Menu button Function Level Write

Setup Settings mask 1 -

User User mask 1 -

Display Setting display properties 1 -

System Pop-up menu for system settings 15 -

Disable Disables the touch function for 30 seconds 1 -

Report Service area 7 Yes

Table 6.4 Service area


Variables Monitor mask for variables 1 -

Variable Pop-up menu for manipulating 7 Yes

Clean up Deletes unused variables 7 Yes

Check use Check use of variables 7 Yes

Table 6.5 Variable function


Project Project mask 1 -

Load Load project / program 1 Yes

Open Open project / program (translate only) 1 Yes

Close/End Close project / End program 1 Yes

Info Display program information 1 -

Update Update project view 1 -

File File manipulation functions 7 Yes

Configuration Execution mask 1 -

View Display selected program 1 -

Step/Cont Switching Step / Continue 7 Yes

End End program 7 Yes

Table 6.6 Project functions




Program Program mask 1 -

Modify Modify selected program line 7 Yes

Macro Repeat last insertion macro 7 Yes

New Insert new macro 7 Yes

PC Set sentence pointer 7 Yes

Step/Cont Switching Step / Continue 7 Yes

Process Program processing functions 7 Yes

Selection Select lines for cutting out or copying 7 Yes

Delete Delete selected lines 7 Yes

Undo Undo the last operation 7 Yes

Text editor Text editor mask 7 Yes

Table 6.7 Program functions


Positions Robot position mask 1 -

Drives Display drive positions 1 -

Axes Display robotic axis positions 1 -

World Display positions in the World coordinates 1 -

Object Display positions in the Object coordinates 1 -

V-Jog Set jogging speed 1 Yes

Jog Set Jog coordinate system 1 Yes

Table 6.8 Robot status und functions


Messages Message mask 1 -

Acknowledge Acknowledge selected message 1 Yes

All Acknowledge all messages 1 Yes

Display ID display of ID numbers instead of texts 1

Help Display help for selected message 1 -

Message Mask for message log 1 -

Display ID display of ID numbers instead of texts 1

Help Display help for selected message 1 -

Table 6.9 Message functions



6.6.2 Set users on delivery Four user accounts are set up during the installation of the CMXR multi-axis control system. These users serve as a basis for further settings. User accounts can be created, modified or deleted via the “Administrator” user. Please refer to the documentation on the teach pendant software for additional information.

User name Password User level

Administrator admin 16

Service service 15

Teacher teacher 7

Operator operator 1

Table 6.10 Set users on installation

Note

The “Service” user is required by the system and must not be deleted. It cannot be used for working on the system.

Note

The same users accounts are valid for accessing the CMXR multi-axis control system via a network connection (connect network drive). Nevertheless, the user rights are insignificant for these services. A network connection can be established with the relevant password by every user.

6.7 Communication with the CMXR multi-axis control system

Communication between the teach pendant and the CMXR multi-axis control system takes place via the Ethernet interface using permanently set IP addresses.

Should communication with another CMXR multi-axis control system be established, then the teach pendant must be reconnected to the interface unit for the required system. It is true to say that communication can be established via the setting of another Ethernet address, but this is not feasible due to the hardware signals for the permission buttons, since these are wired via a hardware solution.

Note

It is only possible to communicate with the CMXR multi-axis control system that accommodates the interface unit, since the hardware signals of the permission buttons have to be assigned according to a kinematics system.



Note

An interface unit is needed for every CMXR multi-axis control system so that communication can take place with the teach pendant.

6.7.1 Synchronisation of dialogue software

The power supply is established when a teach pendant is connected to the interface unit, and communication to the CMXR multi-axis control system is set up. The dialogue software for the

teach pendant can be found on the memory card of the CMXR-C1 central control unit. To operate the teach pendant, the software is loaded onto it and stored there.

Every time the teach pendant is run up, the software versions on the teach pendant and the

CMXR central control unit's memory card are compared with each other. Should these differ, then the software is loaded onto the teach pendant. This requires a little bit of time.

Note

The dialogue software for the teach pendant is stored on the memory card for the CMXR-C1 central control unit and in the teach pendant. Should the versions differ, then the software from the controller's memory card is loaded onto the teach pendant.

6.8 IP addresses on delivery

Communication between the CDSA teach pendant and the CMXR is taken care of via Ethernet. The CDSA teach pendant has the following settings on delivery:

Network parameter Value

IP address (CDSA) 192.168.100.101

Subnet mask 255.255.255.0

Gateway address 0.0.0.0

Host IP (CMXR) 192.168.100.100

The addressing for the delivery status is married to the delivery status of the CMXR. If these devices are operated together, without network integration, then no settings are necessary in the IP addresses.

Note

If the teach pendant is integrated in a network, then make sure that the addressing is correct. In this case, the delivery status settings must be changed.



Note

The CMXR multi-axis control system is not DHCP-capable.

The multi-axis control system cannot assign an IP address from a DHCP-server; it has to be configured via FCT.

6.9 Screen control

If no task is undertaken at the touchscreen, then the background illumination is reduced after approx. two minutes to protect the display. The screen saver is activated after approx. 10

minutes. The touchscreen is reactivated when it is touched.

Note

Touching the display deactivates the reduced background illumination or screen saver. Full illumination is activated.

7. Drive systems


7. Drive systems Only Festo electric motor controllers are used for operating the kinetics. Both the Festo servo motor technology and the Festo stepper motor technology can be used in the process. The following Festo motor controllers are supported:

Type Meaning

CMMS-ST Festo stepping motor controller

CMMS-AS Festo Standard servo motor controller

CMMP-AS Festo Premium servo motor controller

Table 7.1 Supported Festo motor controllers

Communication to the motor controllers takes place via the Festo DriveBus, which is based on the CANopen DS402 profile.

7.1 Setting for servo configuration

Every motor controller is parameterized with its assigned FCT PlugIn (module in the software for Festo Configuration Tool FCT). A basic functional commissioning of every participating axis is recommended prior to shared operation with the CMXR multi-axis control system.

Special features for the parameterization of motor controllers Control interface: DriveBus Referencing method: As planned in the CMXR multi-axis control system Position set table: Only for local test purposes (not for the multi-axis control

system) Error management: The “Hardware limit switch” group must not be set to

“Warn” or “Ignore".

7.2 CAN bus address for motor controllers

When communication takes place via the Festo DriveBus at interface CAN 0, the CMXR multi-axis control system is the master; all motor controllers are operated as slaves. The bus address for the motor controllers is determined and defined as follows:

As from CAN-ID 2: Controllers for all basic axes Immediately thereafter: Controllers for all manual axes Immediately thereafter: Controllers for all auxiliary axes

If there are a maximum of six permissible axes, the CAN addresses 2 … 7 are assigned.

7. Drive systems


7.3 Homing run

The axes' homing run is activated via an FTL movement program. This allows an individual sequence of the referencing procedure to be put together. At the same time, the axes can execute the homing run sequentially or in parallel, as needed.

For more information on the homing run, please refer to the associated FTL commands in the CMXR programming manual.

8. Operation modes


8. Operation modes The CMXR multi-axis control system has two operation modes:

Manual override with reduced speed Automatic mode

Caution

The reduced speed in manual override is not a safe function. Additional external protective measures that ensure the safe operating status of the overall system even in the event of a malfunction must be adopted for safety-relevant control tasks or for the safety of persons.

Each operation mode is selected via the respective digital input (e.g. a key-operated switch) or via a signal on PROFIBUS. Each active operation mode is displayed with a digital signal.

Depending on regulations, the signals for the operation modes are generated via a safety-related logic, since under certain circumstances this safety-related logic must have the appropriate status for activating an operation mode.

8.1 Manual override

Manual override is used for moving the kinematics, e.g. via the teach pendant. This operation mode is used for setting up and commissioning the programs. The speed is limited (e.g. the path speed for the TCP to a maximum 250 mm/s). This speed restriction is not safe. Additional external protective measures must be adopted for safety-relevant control tasks or for the safety of persons.

Functions in manual mode: Moving the kinematics at reduced speed. Pressing down the permission button is a

requirement for this.

o For Cartesian movements, a maximum 250 mm/sec on TCP.

o For the movement of individual linear axes, a maximum 250 mm/sec.

o For the movement of individual rotating axes, it must taken into account for the projecting component that 250 mm/sec are not exceeded at the longest end. The rotational speed of the axis must be calculated in proportion to this length and must be entered in the configuration.

Teaching positions Generating and modifying programs Testing programs in the step mode or continuous mode at reduced speed. Pressing down

the permission button is a requirement for this.

8. Operation modes


Note

The values for the reduced speed must be configured via Festo Configuration Tool (FCT). It is here that limits for the maximum speeds are specified according to the parameter.

The 2-channel, 3-stage permission buttons on the teach pendant are used for manual movement using the teach pendant. These are connected up to the CMXR multi-axis control system via a digital input.

8.2 Automatic mode

In automatic mode, all movements of the kinematics are processed at full speed, i.e. all dynamic values set in the program are processed and executed.

Caution

Considerable speeds can be generated in automatic mode. To execute this operation mode, the valid regulations and safety devices for operating the kinematics must be observed.

It is not possible to move the axes manually in automatic mode. The teach pendant's permission buttons are not taken into account.

8.3 Stopping the kinematics, EMERGENCY-STOP

The kinematics are stopped on the path. This means that all the axes participating in the interpolation brake together up to standstill. To do this, the CMXR multi-axis control system requires the EMERGENCY-STOP signal and the permission buttons' signal. If the CMXR multi-axis control system does not brake the participating axes on the path in a coordinated way, then this could result in collisions – for example, with the tool.

A coordinated stop on the path can only take place if all the necessary axes for this are ready for operation, i.e. do not have any errors. If there is an error in the axis, then the axis cannot be stopped true to the path. The axis normally stops the drive itself as a consequence of the error. In such a case, a deviation from the path will occur which cannot be influenced by the CMXR multi-axis control system.

Caution

An uncoordinated stop of the axes can trigger collisions, e.g. with the tool, since the path is deviated from.

8. Operation modes


The CMXR multi-axis control system needs time to stop the axes true to path. This period of time commences as from the EMERGENCY-STOP signal until the power of the drives are shut down after a defined and permissible duration via a safety-related module. The CMXR multi-axis control system must stop the drives true to path within this period of time. If it does not succeed in doing this, the safety-related module will most certainly intervene and shut down the power in the drives.

Note

The CMXR multi-axis control system brakes with the maximum possible path values feasible, as determined by the axis dynamics. This must be taken into account when calculating a braking time.

The following graph shows the signals for shutting down the drives and for the true-to-path stop of the kinematics axes:

A true-to-path stop is possible in the first part of the graph. In the second part, the drive power is shut down via the safety-related hardware, e.g. a 2-channel time relay.

Note

The applicable regulations must be observed when setting the delay time for shutting down the drive power via the hardware.

Movement

Drive enable regulator

EMERGENCY-STOP

signal

Time suffices for true-

to-path stop

t

Time does not suffice for true-to-path

stop, axes are stopped via the drive regulator

t

8. Operation modes


8.4 Repositioning

The CMXR multi-axis control system has the “Repositioning” function. This is understood as the automatic approach to a point where a program was interrupted and is now to be continued. The interrupt point is automatically approached.

A kinematics system can leave the path, for example, as a result of the kinematics axes bending, e.g. when the brakes engage or a manual movement of the kinematics

After a program has been restarted, the kinematics are moved directly from the actual position to the interrupt position. If the kinematics were moved manually, this could lead to a

collision when repositioning. For this reason, you must take care to avoid a collision when repositioning.

Caution: Danger of collision

Repositioning is carried out directly. This means that the axes move from the current position to the interruption position by the direct route.

To minimise the danger of collision, it is recommended that you move the kinematics manually into the proximity of the interruption position prior to repositioning. At the same time, any orientation axes should also be moved into the approximate orientation position they were in when the interruption took place.

Repositioning is carried out at a defined speed. This is configured via the Festo Configuration Tool (FCT). It is recommended that moderate dynamic values that can be controlled are set here.

Note

When configuring the dynamic values, make sure the values are reasonable and can be controlled.

8. Operation modes


Note

Depending on the type of kinematics, a PTP or a Cartesian linear interpolation is used for repositioning. This depends on the kinematics used.


If repositioning is carried out using a Cartesian linear interpolation, then defined tools are taken into account on the path. This can lead to unexpected compensating movements in the kinematics.

Interrupt position on the path

Intermediate position

Direct repositioning movement

Travelling from the path, e.g. by moving manually

9. Activation method


9. Activation method The CMXR multi-axis control system can operate with three activating methods, the teach pendant can be connected for all methods:

Operation without external control, controlled by a higher-level control system via digital inputs and outputs, controlled by a higher-level control system via PROFIBUS DP.

Caution

The applicable regulations must be observed when executing the activation methods.

An activation method is selected using the Festo Configuration Tool (FCT). Any parameters for these activation methods are also set from there.

Note

All the named activation methods of the CMXR multi-axis control system are examples and do not lay claim to be correct and complete. For every installation, please observe the applicable regulations that could not be considered here.

9.1 Operation without external control

A kinematics system can be controlled and operated using a digital I/O module; an external control system is not needed. This stand-alone solution offers direct operation of the kinematics in combination with the teach pendant.

The teach pendant is connected up to the CMXR multi-axis control system via the CAMI-C interface unit. The interface unit has the following connections:

24V power supply for the teach pendant Ethernet communication between CMXR and teach pendant 2-channel connection for EMERGENCY-STOP switch 2-channel connection for permission buttons

The following illustration shows an example for installation without an external control system:



In this example, the drive enable, e.g. an EMERGENCY-STOP signal, is triggered via the safety

technology. This logic element has the capacity to set a time delay for achieving a time-delayed shutdown for the drive enable. With the feedback signal for the active operation mode or if an error is active, a signalling element, e.g. a lamp, can be activated.

The following table contains all the components that are needed for the activation method “Without external control”. The number of extension modules can be increased according to the application.

Type Number Meaning

CMXR-C1 1 Central control unit with Ethernet, CAN and memory

card

CECX-D-8E8A-NP-2 1 Digital mixed module with eight inputs and eight

outputs

NECC-L1G2-C1 2 2-pin plug


CDSA-D1-VX 1 Teach pendant

NESC-C-D1-5-C1 1 Cable for teach pendant, e.g. 5 m

CAMI-C 1 Interface unit for teach pendant

NECC-L1G11-C1 1 11-pin plug for interface unit

Table 9.1 CMXR components, operation with teach pendant

CMXR Example of safety technology

CAMI-C interface unit CDSA teach pendant

Automatic operation mode

Manual operation mode

EMERGENCY-STOP signal

Permission button

Permission button


Further EMERGENCY-STOP signals

2-channel design

Drives

Drive enable

Feedback signal for Manual override operation mode

Feedback signal for Automatic operation mode

Ethernet

Feedback signal that error is active



To ensure operation with the teach pendant, at lease one digital input/output card of the type CECX-D-8E8A-NP-2 is required. This I/O card has a fixed allocation of the system signals for four inputs and four outputs; these cannot be changed. During configuration with the Festo Configuration Tool (FCT), these signals are automatically pre-assigned when the operation mode “Without external control” is selected.

Note

Operation without external control requires an additional central input/output module CECX-D-8E8A-NP-2 at the CMXR multi-axis control system.

9.1.1 System signals

The table below includes the system signals and the signal assignment of the required I/O card CECX-D-8E8A-NP-2.

Signal Meaning

Output 0 Error active

Output 1 Reserved

Output 2 Automatic operation mode active

Output 3 Manual operation mode active

Output 4 Unassigned

Output 5 Unassigned

Output 6 Unassigned

Output 7 Unassigned

Input 0 EMERGENCY-OFF

Input 1 Permission button

Input 2 Automatic operation mode

Input 3 Manual operation mode

Input 4 Unassigned

Input 5 Unassigned

Input 6 Unassigned

Input 7 Unassigned

Table 9.2 Assignment of I/O for system signals

The unassigned inputs and outputs on the I/O card can be used as application signals.

The assignment is carried out via the Festo Configuration Tool (FCT).



9.2 External control via the digital I/O interface

The CMXR multi-axis control system can be controlled via two I/O modules CECX-D-8E8A-NP-2, this method is suitable for many applications. The I/O points are assigned with fixed functions.

A total of three I/O modules are used:

- One module for the system signals (see above)

- Two modules as actual control interfaces.

The following illustration shows an example of operating the CMXR multi-axis control system

via digital I/O:

It is not possible to simultaneously operate the CMXR multi-axis control system via the teach pendant and via the external control system. There can only be one partner with higher-order control.

The table below includes all the components needed for controlling via an external control system using an I/O interface. The number of extension modules, such as digital I/O cards, can be increased according to the application.

Type Number Meaning

CMXR-C1 1 Central control unit with Ethernet, CAN and memory card

CECX-D-8E8A-NP-2 3 Digital mixed module with eight inputs and eight outputs





Manual override operation mode


Permission button

Permission button


2-channel design

Drives

Drive enable

Ethernet

External control I/O interface

Further EMERGENCY-STOP

signals



Type Number Meaning






FBS-SUB-9-WS-CO-K 1 9-pin SUB-D plug for CAN bus without terminating resistor

Table 9.3 CMXR components, operation with I/O interface

Note

External operation with digital inputs and outputs requires three additional central input/output modules CECX-D-8E8A-NP-2 at the CMXR control system.

The teach pendant is not absolutely necessary during operation and can be disconnected after the commissioning procedure. When operating via the external control system, the teach pendant has an observer status.

Note

The two other I/O cards of the type CECX-D-8E8A-NP-2 include interface signals for activating the CMXR multi-axis control system. Please refer to the documentation on the interfaces for the assign-ment of these I/O cards.

9.2.1 Functions of the I/O interface

The digital I/O interface includes 16 digital inputs and 16 digital outputs. This interface is user-friendly in its design and handling as a result of the slim extent of the address. The digital

I/O interface, in its functionality, focuses on the basics by virtue of the limited extent of the address.

The following functions are possible: Starting and stopping up to 15 different programs Loading and unloading programs Watchdog signal for monitoring the communication Acknowledging errors Disabling teach pendant Drive enable

Programmed stop

Please refer to separate documentation for a more detailed description of the digital I/O interface.



9.3 External control via PROFIBUS DP

The PROFIBUS interface for the CMXR multi-axis control system is a user-friendly interface with extensive functions for connection to an external control system.

Two configurations are supported, which are selected via the FCT software:

- Control via digital I/O and PROFIBUS DP You can select here whether the operation modes Automatic and Manual are selected via PROFIBUS DP or digital I/O.

- Control only via PROFIBUS (without digital I/O)

All signals are transferred by PROFIBUS DP.

The following illustration shows an example of operating the CMXR multi-axis control system with digital I/O and PROFIBUS DP. The system signals “EMERGENCY-STOP” and “Permission button” are transferred via digital I/O; the operation modes via PROFIBUS.

The table below includes all components needed for control via the PROFIBUS interface. The number of extension modules, such as digital I/O cards, can be increased according to the application.

Type Number Meaning

CMXR-C1 1 Central control unit with Ethernet, CAN and memory card

CECX-D-8E8A-NP-2 1 Digital mixed module with eight inputs and eight outputs

CECX-F-PB-S-V0 1 PROFIBUS DPV0 slave module




Manual override operation mode


Permission button

Permission button


2-channel design

Drives

Drive enable

Ethernet

External control

Profibus

Further EMERGENCY-STOP signals



Type Number Meaning







FBS-SUB-9-WS-PB-K 1 9-pin SUB-D plug for PROFIBUS without terminating resistor

FBS-SUB-9-WS-CO-K 1 9-pin SUB-D plug for CAN bus without terminating resistor

Table 9.4 CMXR components, operation with PROFIBUS interface

Note

External operation via PROFIBUS DP also requires the PROFIBUS slave module CECX-F-PB-S-V0 at the CMXR multi-axis control system.

Note

If the system signals “EMERGENCY-STOP” and “Permission button” or the operation modes are going to be transferred via digital input signals, then the I/O module CECX-D-8E8A-NP-2 will also be required.

9.3.1 System signals

If the system signals “EMERGENCY-STOP” and “Permission button” or the operation modes are going to be transferred via digital signals, then the I/O module CECX-D-8E8A-NP-2, which

then has a fixed assignment, will be required.

Signal Meaning

Output 0 Error active

Output 1 Reserved

Output 2 Automatic operation mode active

Output 3 Manual override operation mode active

Output 4 Unassigned

Output 5 Unassigned

Output 6 Unassigned

Output 7 Unassigned

Input 0 EMERGENCY-OFF

Input 1 Permission button



Signal Meaning

Input 2 Automatic operation mode

Input 3 Manual override operation mode

Input 4 Unassigned

Input 5 Unassigned

Input 6 Unassigned

Input 7 Unassigned

Table 9.5 Assignment of I/O for system signals for PROFIBUS

The four unassigned inputs and four outputs on the I/O card can be used as application signals. The assignment is carried out via the Festo Configuration Tool (FCT).

9.3.2 Functions of the PROFIBUS interface

The PROFIBUS interface provides two services of differing levels in their functions:

Multi-axis control system profile 1 (MCP 1) with 12-byte control and user data. Multi-axis control system profile 2 (MCP 2) with additional 40-byte control and status data

(total of 52 bytes).

The MCP 1 profile supports all the required functions for activating and influencing the kinematics. MCP 2 also includes the functions for transferring variables.

The profile is selected by using the Festo Configuration Tool (FCT).

Please refer to the relevant manual for the functions of the interface.

9.3.3 Interface for the FTL program

The CMXR multi-axis control system has system-global variables that are used for the

communication between an FTL program and the external control system. These variables can

be read and described by the external control system and the CMXR multi-axis control system.

These variables can be used both to supply an FTL program with information and to influence it from the outside, e.g. a shift in position or counters.

The CMXR multi-axis control system comprises the following variables:

256 variables of the 32-bit integer type 256 Cartesian positions 256 axis positions 16 reference systems

16 Boolean input values that are transferred cyclically 16 Boolean output values that are transferred cyclically



With the exception of the 16 Boolean inputs/outputs, all variables for reading and writing operations must be processed via the external control system. The 16 Boolean inputs/outputs are written into the I/O map for PROFIBUS cyclically. To do this, no actions are needed on the external control system.

The following graph describes the communication using the variables for the FTL program:

When using variables in the FTL program, make sure that all the required values for program processing are set in the CMXR multi-axis control system. Since the path of the movement is precalculated by virtue of the FTL program's precalculation, all the data required for this are assumed as given.

Note

Owing to the FTL program's precalculation, all the required vari-ables must already be set. The program could otherwise respond erroneously.

Note

If data have to be changed during the running operation, then you must make sure that the program processing is not impaired. Any solutions to prevent this (e.g. locking) have to be programmed individually in the application.

:

Lin(Pos1)

Pos2.x := Pos2.x + plc_Dint[3]

Lin(plc_CartPos[4])

IF(plc_Dint[2] = 1 ) THEN

index := index + 10

END_IF

WAIT plc_InBool[7]

Lin(pos7)

plc_OutBool[9] := marker

:

plc_Dint[0…255]

plc_AxisPos[0…255]

plc_CartPos[0…255]

plc_InBool[0…15]

plc_OutBool[0…15]

plc_RefSys[0…15]

FTL program Variables

Profibus

External control



9.4 Higher-order control

The CMXR multi-axis control system can be controlled via an external control system or via the teach pendant. To avoid any problems, only one of the devices has the right to actively control the CMXR multi-axis control system, e.g. to start programs. The active participant has the “higher-order control”. A passive observer role for each of the devices is always an option.

The following illustration shows the possible devices for controlling the CMXR multi-axis control system.

The digital I/O interface can be used as an alternative to the PROFIBUS interface.

Note

Only one device can actively control the CMXR multi-axis control system.

9.4.1 Method of operation

Higher-order control is managed in the CMXR multi-axis control system. After running up the system, none of the controlling devices has the higher-order control. This must firstly be requested. The request is carried out via a dialogue on the teach pendant or via a signal exchange with the higher-order control system. There is no prioritisation of the participants; every participant has the same rights. The device that requests first receives the higher-order control. If a device no longer needs the higher-order control, it can return it to administration. Removal of the higher-order control is not possible.

The status of the higher-order control (available or active) is displayed on the teach pendant

with a symbol in the header line. These states are also transmitted on the interface for the external control system.

The following illustration shows how this is represented graphically on the teach pendant.

CMXR

CDSA teach pendant

PROFIBUS

External control



Note

Every controlling device must request the higher-order control itself and return it as required. Removal of the higher-order control is not possible. Should the communication with a device be interrupted, then the higher-order control is returned to administration after an internal timeout.

Note

If there is no connection to an external control system and opera-tion is carried out via the CDSA teach pendant, then the higher-order control has to be requested once on the teach pendant after the control system has been started up

9.4.2 User level

Parameters:

The higher-order control is independent of the operation mode and the user level for the operator unit. Even with user level 16 (Administrator), control can only take place using an active higher-order control; a transfer of the higher-order control without the controlling

participant previously returning the control sovereignty is not possible.

9.4.3 Influence of the higher-order control

The higher-order control effects the possible extent of action of a participant. Each participant can always carry out passive actions, i.e. it can observe but not execute any influence on programs or the kinematics. Furthermore, the options are dependent upon the active interface. The following table provides an overview of the active and passive functions of the individual connections and participants.

Symbol for the visualisation of the status of the higher-order control.



Function CDSA teach pendant

External control connection

I/O interface PROFIBUS interface

Active functions

Jogging of axes X X

Teaching positions X X

Starting and stopping programs X X X

Delete error X X X

Passive functions

Mode selection X X

Permission button signals,

EMERGENCY-STOP X X X

Exchange of cyclic I/O data X

Observing variables X X

Writing variables X X

Table 9.6 Overview of active and passive functions

9.4.4 Integration example

When controlling via an external control system it is recommend that a selector switch be installed on the external control system for requesting the higher-order control or for enabling other participants (teach pendant). The status of the higher-order control could be visualised via a light signal.

Depending on the status of the selector switch, the external control system obtains the higher-order control or gives it back to administration. It is also possible to integrate this higher-order control into a selection of operation modes. E.g.:

CMXR

CDSA teach pendant

Profibus

External control

Selector switch for enabling

teach pendant.



Manual override without higher-order control Manual override with higher-order control Automatic mode

To execute automatic mode, the external control system requires the higher-order control, otherwise programs cannot be started, for example.

10. Coordinate systems



10.1 Axis coordinate systems

The axis coordinate system is a coordinate system that takes into account all physical axes in a kinematics system. Each axis has a coordinate in the axis coordinate system. The origin of a coordinate is in the zero point of the assigned axis.

In this position, the axis coordinate system is bound to the form and location of the mechanical axes. This is determined by the mechanical design of the kinematics.

Examples:

The kinematic model of the Festo tripod is illustrated in the left picture. The position of the axes and thus the axis coordinate system is determined by the kinematic model.

The arrangement in the picture to the right shows a Cartesian kinematics system. This mechanical system also has an axis coordinate system, although the axes standing per-pendicular to one another form a Cartesian system. In the axis coordinate system, the CMXR multi-axis control system does not take the kinematic model into account, but rather only the

individual axes, which can be linear or rotary.

10.2 Cartesian coordinate systems

A Cartesian coordinate system comprises three axes standing perpendicular to one another. The CMXR multi-axis control system uses a coordinate transformation to calculate, using the internal kinematic model as a basis, the Cartesian world from the individual axis coordinates.

10.2.1 Translatory axes X, Y, Z

In the Cartesian coordinate system, the three axes X, Y and Z standing perpendicular to one another form the translatory axes. These are defined in accordance with the right-hand rule.

A1

A3

A2 A1

A3

A2



The thumb points to the positive X-axis, the index finger to the positive Y-axis and the middle finger to the positive Z-axis.

With these three translatory axes, a tool, for example, can be moved or described in three directions in the available space. They are known as the three degrees of freedom.

10.2.2 Orientation axes A, B, C

Using the translatory axes X, Y and Z, the position of a tool, for example, can be described. Should this tool also have an orientation, however, i.e. the tool has turned away from its

original position, then this cannot be pressed out via axes X, Y and Z. To describe these orientations, one needs rotating axes (= orientation axes) in the Cartesian system. These execute a rotation around the translatory axes X, Y and Z.

The first axis of rotation in the Cartesian system is called “A”, the second axis of rotation “B” and the third “C”. How the sequence of rotations is executed in the Cartesian system is defined in accordance with Euler ZYZ with the CMXR multi-axis control system. This is described in the following chapter.

The direction of rotation around the axis is defined by the right fist rule. This involves making a fist with the right hand and raising the thumb upwards. In doing so, the thumb indicates in the positive axis direction, the fingers in the fist indicate in the positive direction of the rotation around the axis.



10.2.3 Euler orientation ZYZ The Euler orientation describes a sequence of how an orientation is derived from a Cartesian system. The CMXR multi-axis control system works in accordance with this ZYZ Euler convention. This results in the following rotation sequence:

The first axis of rotation A rotates around the Z-axis, the second axis of rotation B rotates around the Y-axis of the turned coordinate system, the third axis of rotation C rotates around the Z-axis of the once more turned coordinate

system.

A further rotation always takes place in the already turned coordinate system.

The illustration shows the three rotation sequences in accordance with the ZYZ Euler

convention.

Owing to the two rotations around the Z-axis, the ZYZ Euler convention is proven to be more easily understood than other rotation sequences. Because the tool axis is always in the direction of the Z-axis, the orientation specifications can be understood in a practical sense.

Note

The orientation according to Euler describes three orientation degrees of freedom in the available space. However, these can only be achieved if the mechanical system of the kinematics can fulfil these degrees of freedom.

All orientation specifications in the CMXR system are always specified in accordance with the ZYZ Euler convention.

10.3 Coordinate systems for the kinematics

10.3.1 Base coordinate system

The so-called base coordinate system for the kinematics is defined by virtue of the arrangement of the axes in the available space and their parameterisation. It is a Cartesian

coordinate system. This is defined by

the direction of rotation of the drives and

Z X

Y

Start position

X‘

Y‘

1. Rotation around

the Z-axis

Z‘‘

2. Rotation around

the turned Y-axis

3. Rotation around

the turned Z-axis

Z

X‘‘

Y‘

Z‘‘

X‘‘‘ Y‘‘



the axis zero point,

for example. The required settings are made in the configuration of the CMXR multi-axis control system as well as in the configuration of the respective drive regulators. To ensure that these settings can run, the directions of the Cartesian axes must always correspond with the right-hand rule. If this is not adhered to, then the kinematics system cannot run in combination with the CMXR control system.

Note

The settings of the parameters for the axes and drives, which affect the coordinate directions, must comply with the right-hand rule, otherwise they will not be able to run.

The position and orientation of the base coordinate system is determined by the kinematics. Please refer to the description of the respective kinematics system for the definition. All settings in the configuration must be made such that the definition for the individual kinematics systems is fulfilled. The description for the individual kinematics systems is shown in chapter 11 Supported kinematics.

Note

All parameter settings, e.g. for the axes or drives, must be set such that the specifications are fulfilled for the respective kinematics.

The following graphic shows a Festo three-dimensional gantry with its base coordinate system whose origin is formed from the zero points of the individual axes.



Note

The base coordinate system is, just like the world coordinate system, Cartesian in its classification and is the Cartesian origin in the kinematics.

10.3.2 World coordinate system

The world coordinate system is defined with three degrees of freedom in the “World”. The base and world coordinate system are congruent.

By shifting the base coordinate system, the world coordinate system could lie outside the working space of a kinematics system. It is therefore possible that several kinematics systems

refer to the same zero point.

Note

Should a shift in the position or the orientation of the original base coordinate system for the kinematics be necessary, then this can be defined by a configurable offset via the Festo Configuration Tool (FCT).

Example:

Two three-dimensional gantries are mounted on a shared conveyor system. There is a common zero point on this conveyor system which applies to both kinematics systems. The

kinematics systems are distanced 2000 mm or 3500 mm in the direction of the X-axis away from the world coordinate system.

X+

Y+

Z+

Base coordinate system



The offset of the base coordinate system for a kinematics system is defined from the viewpoint of the origin of the world coordinate system. Simply put, you place the base coordinate system into the world coordinate system, thus the two coordinate systems are now congruent. The base coordinate system is now moved and/or oriented accordingly away from the origin of the world coordinate system and into the required position.

This means for the example with the two three-dimensional gantries:

Three-dimensional gantry 1 has a basic offset of X = 2,000 mm Three-dimensional gantry 2 has a basic offset of X = 3,500 mm

Note

The offset of the world coordinate system is a global setting for the kinematics. Further zero point offsets that are only active during program runtime can be defined in the movement program.

Note

If the base coordinate system is not offset, then the world coordinate system is equal to the base coordinate system. In this case, it is also called a world coordinate system.

World coordinate system

Two three-dimensional gantries with base coordinate system

Conveyor system

X+

Y+

Z+

Y+

X+

Y+

X+

Z+ Z+

2,000 mm 1,500 mm



10.3.3 Tool coordinate system

The tool coordinate system is a Cartesian system and has three translations and three orientation specifications, in total six degrees of freedom. The origin of the tool coordinate system is normally on the tool flange of the kinematics. This origin is dependent on the kinematics model. Please refer to the description of the kinematics for additional information.

The orientation of the tool coordinate system is initially the same as the orientation of the base coordinate system. The definition of a tool or the use of an orientation axis can be used to define the tool coordinate system in the available space.

The following illustration shows a three-dimensional gantry with base and tool coordinate

system:

The origin of the tool coordinate system forms the tool operating point and is known as the Tool Center Point (TCP). Using a tool definition, the TCP can be defined with six degrees of freedom. This definition can be used to set the TCP to any tool in the available space. This defined TCP is guided on the path during Cartesian movements.

10.3.4 Working with the tool coordinate system

The tool coordinate system can be used to work entirely in manual override. It can be selected, for example, via the CDSA teach pendant. The tool coordinate system is only significant for teaching positions and manual operation. If positions are complete, they are stored as Cartesian or axis positions depending on the variables used.

X+

Y+

Z+

Ty+

Tx+

Tz+ Base coordinate system

Tool coordinate system

Tool operating point (TCP)



Note

If positions are complete with a selected tool coordinate system, then these positions are stored as Cartesian or axis positions.

If the tool coordinate system is selected (e.g. on the CDSA teach pendant), then the kinematics can be moved with its TCP inside the defined tool coordinate system. In addition to this, the name of the Jog keys changes on the teach pendant.

If a limited kinematics system is being used, i.e. not all six degrees of freedom are covered, the axis designation, e.g. A4, is displayed for orientation axes instead of the orientation

designation A, B, C.

The following illustration shows a key assignment on the teach pendant after selecting the tool coordinate system for a limited kinematics system.

Axes X, Y and Z of the tool

Orientation axis

11. Supported kinematics


11. Supported kinematics The CMXR multi-axis control system has internal kinematics models. These models describe the type of kinematics systems as well as their axes in the arrangement, position and form. All the kinematics models that are supported by the CMXR system are described below. The maximum number of axes in a kinematics system is limited to six.

11.1 Configuration of kinematics

Kinematics essentially comprise basic axes and orientation axes (manual axes). Their

significance and function are described below. Auxiliary axes that interpolate together to the kinematics' target position are still an option for these kinematics axes.

11.1.1 Basic axes

The axes A1, A2 and A3 normally form the three axes that cover the up to three translation axes X, Y and Z in the Cartesian system. These axes can approach positions in a Cartesian space. If a tool is attached to the basic axes, then its orientation is coupled to the position of the basic axes and cannot be affected.

The illustrations show the Festo tripod and three-dimensional gantry kinematics systems. The axes A1, A2 and A3 form the basic axes of the kinematics systems.

Note

All basic axes are electric axes that are controlled via the CMXR multi-axis control system. The use of pneumatic axes as basic axes is not possible.

A1

A2

A3 A1

A3

A2



11.1.2 Orientation axes (manual axes)

The orientation axes, also called manual axes, are attached to one end of the basic axes. These axes are of a rotary design. A maximum of one orientation axis is possible, and this forms another degree of freedom along with the basic axes' three degrees of freedom. Together with the basic axes, this results in a maximum four degrees of freedom in a kinematics system.

At the end of the orientation axes there is a tool flange upon which the tool is mounted. Thus the tool can be oriented in the available space by using the orientation axes, in a similar

fashion to a human hand. This is where the notion manual axis is derived.

Note

Should an orientation change be required on the path, then the orientation axis must be of electric design so that it can interpolate on the path.

Pneumatic rotary and semi-rotational axes can also be used as orientation axes, but with static orientation that has to be set via the tool data.

11.1.3 Adjustment of orientation axes

When the orientation axis is rotated, the orientation of the tool follows simultaneously. This means the orientation of the tool coordinate system, whose origin is on the TCP, changes

analogously with the orientation of the orientation axis.

-

Z-axis

+

Example: Electrical module with one degree of freedom



The orientation axis is rotated by +45 in the following example. The tool coordinate system (Tx and Ty) is carried along with it analogously. The world coordinate system is not affected by this.

If a reference system is activated by programming in FTL (Festo Teach Language), this has an additive impact on the world coordinate system. If a rotation that can be covered by the kinematics' degree of freedom (e.g. rotation around the Z-axis) is generated in the reference system, then the orientation axis is automatically adjusted. In the following example, the right contour is offset and rotated using a reference system. Since the rotation can be executed with the orientation axis, then the axis will be adjusted. Thus the tool is guided to the contour (in the same way it would be without a rotation) almost at once.

Note

If a contour is oriented in the available space by a reference system, then the tool is automatically guided on the contour with the aid of an orientation axis. The prerequisite is that the required degrees of freedom are covered by the orientation axis.

Ty+

Tx+

Y+

X+

Contour without offset Contour with offset and rotation

by the reference system

Y+

X+

Y+

X+

Ty+

Tx+

Ty+

Tx+ Y+

X+

World coordinate system Orientation axis =

0 degrees

Ty+

Tx+

Orientation axis = 45 degrees



11.1.4 Interpolation of orientation axes

All basic and manual axes are axes for the kinematics. The movements of these kinematics axes are calculated by the internal kinematics model, the coordinate transformation. With Cartesian movements, the Cartesian position and the specified orientation are also taken into account. In the process, it is quite possible that several axes can move in just one position command. This is dependent on the position command as well as the type of kinematics used.

In the example below, an elbowed tool is attached to an orientation axis. This tool is guided on the path, whereby the orientation is turned by 180 degrees.

The illustration below shows the top view of the movement. This tool point is guided on the path, whereby the orientation (rotation by 180 degrees) follows simultaneously . The Cartesian axes X, Y and Z carry out a so-called compensating movement in overlapping fashion to the path movement. This is necessary so that position, orientation and tool adapt to the path.

Path of the tool flange

Path of the tool

X+

Y+

+ Orientation axis

+

X+

A+

Y+

Z+



Note

Axes movements that follow the orientation change are also known as a compensating movements.

Note

Because the orientation axes, e.g. produced by reference systems, automatically rotate as a result of the adjustment, you have to check that all application lines (cables, hoses) are not damaged.

During the interpolation of the orientation axis, you must make sure that it responds differently when a Cartesian or axis position is specified within a movement. If using a Cartesian position, the target position is approached by the shortest route so that movements are kept to a minimum. If a position is specified in axis coordinates, then the orientation axis will always cover the programmed route.


When integrating the orientation axes into the movement, a commissioning procedure must be implemented to ensure that a rotation of the orientation axis moves in the required direction. We recommend you teach and test the orientation movements via the teach pendant.



In the example below, the orientation axis is at the 40 degree position. If a movement is now programmed with a Cartesian position (position of the type CARTPOS), in which the orientation axis has to rotate to 320 degrees, then it will carry out the shortest route, i.e. it effectively moves 80 degrees in this example.

If now an axis position (position of the type AXISPOS) is specified during the movement instead of a Cartesian position, then the orientation axis rotates from the 40 degree position

to the 320 degree position, while having the sign taken into account. In this example, the orientation axis effectively travels 280 degrees.

Path of the tool X+

Y+

0°

90°

180°

270°

Path of the orientation axis when an axis position is specified

40° 320°

Path of the tool X+

Y+

0°

90°

180°

270°

Path of the orientation axis when a Cartesian position is specified

40° 320°



11.1.5 Electric and pneumatic manual axes

A pneumatic semi-rotational axis is not regarded as a manual axis, because it cannot be moved in an interpolating fashion. It must therefore be taken into account within the tool definition.

Caution

When using pneumatic axes, always take into consideration the correct tool definitions. Incorrect tool definitions or tool definitions not taken into consideration can cause collisions and material damage.

The illustration below shows an application for a pneumatic semi-rotational axis behind an electric manual axis. Shown here is an extract of the tripod kinematics with an electric orientation axis that has a pneumatic DRQD semi-rotational axis (with a vacuum gripper) mounted to it.

11.1.6 Auxiliary axes

In contrast to basic and manual axes, auxiliary axes do not belong to the kinematics model and are not taken into account by the kinematics model of the coordinate transformation. Auxiliary axes are jointly interpolated by the CMXR multi-axis control system for the Cartesian

movement of the basic and manual axes in the form of a point-to-point movement.

Pneumatic DRQD rotary drive

Electric orientation axis



Note

Auxiliary axes are always interpolated together for the Cartesian movement. A separate, asynchronous movement of auxiliary axes for Cartesian movement of the kinematics is not possible.

The following example shows the use of an electric auxiliary axis in a tripod kinematics system. The auxiliary axis is also used as a rotational axis on the tool flange, since this configuration is not included in the tripod kinematics model.

The graphic shows a positional change of the rotational auxiliary axis. Because this axis cannot carry out a Cartesian movement, the other axes do not carry out a compensating movement. When auxiliary axes are used, the movements must always be checked to make sure that a collision does not occur.

Caution

If auxiliary axes are used, there is a danger of collision during movements, because the tool (TCP) under certain circumstances is not guided on the path of the kinematics axes. It is absolutely essential that the movement is commissioned.

11.1.7 Programming the manual and auxiliary axes

Manual and auxiliary axes are moved via a PTP movement on the basis of the internal interpolation. This interpolation type needs a dynamic specification, as is the case for PTP

Workpiece



movements. This means a path's programmed Cartesian dynamics has no effect on the dynamics of the manual and auxiliary axes.

To influence the dynamics of the manual and auxiliary axes, the percentage dynamic specifications, as in a PTP, are also needed for the Cartesian dynamics.

Note

Within a Cartesian movement, dynamic specifications for PTP movements are also required for auxiliary and manual axes. These must be specified as a percentage with the associated macros.

Please refer to the programming manual for more information.

11.1.8 Designation of axis sequence for kinematics

Basic and manual axes for kinematics describe a sequence of axes. To simplify this sequence in its representation, letters are also used to describe the axis chain. Using this type of identification as a basis, the kind of axis used is also specified, whether it be a linear or rotational axis.

L means linear axis

R means rotational axis

The identifier is configured as followed:

<String for basic axes> - <String for manual axes>

Examples:

LL-R Kinematics with two linear basic axes and one rotational manual axis

LLL-RR Kinematics with three linear basic axes and two rotational manual axes

11.2 Cartesian linear gantry

A linear gantry is understood as a Cartesian kinematics system with two basic axes that stand perpendicular to one another and thus form a Cartesian system. These axes are arranged in a Cartesian fashion in a X-Z- or Y-Z sequence. The vertical axis always forms the Cartesian Z-axis. As an option, an orientation axis can be attached to the tool flange.



Kinematics Number of

basic axes Number of manual axes

Axis sequence

Linear gantry without

axis of rotation

2 0 LL

Linear gantry with

axis of rotation

2 1 LL-R

Table 11.1 Configurations of linear gantry

The arrangement of the Cartesian axes in X-Z or Y-Z design is set via the Festo Configuration Tool (FCT).

Note

The zero point of the world coordinate system is defined by the zero point of axes 1 and 2. The zero position and the direction of rotation of axis 3 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics.

The reduced kinematics only allows limited interpolating orientation axes, because the third degree of freedom of the basic axes is missing; this is to induce the tool to make

- Axis 1 +

-

Axis 2

+

Axis 3

X+ or Y+

Z+

A+ +

Tz+

Tx+ or Ty+



compensating movements in the available space. Cartesian movements can thus only be carried out in the direction of the available basic axes, axis 1 and axis 2.

Example

The kinematics system has an orientation axis (axis 3) upon which a tool, whose TCP is defined in the available space (not vertical), is mounted. A Cartesian rotation of axis 3 around the TCP is not possible due to the missing degree of freedom in the basic axes. This type of rotation has to be moved with PTP interpolation, in which the TCP is insignificant.

Note

With a linear gantry, only limited interpolating manual axes are feasible due to the missing degree of freedom.

Note

Positioning commands to a non-available degree of freedom are not possible and will lead to an error.

The repositioning of the linear gantry is carried out via a PTP movement.

Caution

Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning.

The illustration below shows a Festo linear gantry:



11.3 Cartesian planar surface gantry

A planar surface gantry is a Cartesian kinematics system that comprises two basic axes which stand perpendicular to one another. It thus has two translatory degrees of freedom. These axes are laid out as X and Y and cover the X-Y level. An electric Z-axis that jointly interpolates is not present. The movements in the Z-direction can, for example, be implemented through a pneumatic drive. As an option, an orientation axis can be attached to the tool flange in this kinematics system.



Axis sequence

Planar surface gantry

without

axis of rotation

2 0 LL

Planar surface gantry with

axis of rotation

2 1 LL-R

Table 11.2 Configurations of planar surface gantry

Note

The zero point of the world coordinate system is defined by the zero point of axes 1 and 2. The zero position and the direction of rotation of axis 3 must be parameterised such that the tool coor-dinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics.

- Axis 1 +

Axis 3 +

Ty+

Tx+

Axis 2

-

+

X+

A+ Y+



Note

With a planar surface gantry, only limited interpolating manual axes are feasible due to the missing degree of freedom.

Note

Positioning commands to a non-available degree of freedom are not possible and will lead to an error.

The repositioning of the planar surface gantry is carried out via a PTP movement.

Caution


The illustration below shows a Festo planar surface gantry with a pneumatic Z-axis:

11.4 Cartesian three-dimensional gantry

A three-dimensional gantry is a Cartesian kinematics system that can move in the available space with its three basic axes. It has the basic axes X, Y and Z, which stand perpendicular to one another. As an option, an orientation axis can be attached to the tool flange in this kinematics system.



Note

The zero point of the world coordinate system is defined by the zero point of axes 1, 2 and 3. The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics.



Axis sequence

Three-dimensional gantry without axis of rotation 3 0 LLL

Three-dimensional gantry with axis of rotation 3 1 LLL-R

Table 11.3 Configurations of three-dimensional gantry

The repositioning of the three-dimensional gantry is carried out via a PTP movement.

Caution


The illustration below shows a Festo three-dimensional gantry:

- Axis 1 +

Axis 4 +

Ty+

Tx+

Axis 2

-

+

X+

A+ Y+

Tz+ Z+

Axis 3

+ -

-



11.5 Tripod kinematics

With tripod kinematics, we are talking about a parallel bar kinematics system. In contrast to the Cartesian kinematics system, the arrangement of the axes is not perpendicular to one another and does not form a Cartesian space. This kinematics system has three degrees of freedom. As an option, an orientation axis (axis 4) can be mounted on the tool flange.

Note

The zero point of the world coordinate system is defined by the zero point of axes 1, 2 and 3. The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics.

Kinematics Number of basic axes

Number of manual axes

Axis sequence

Tripod without axis of

rotation

3 0 LLL

Tripod with axis of

rotation

3 1 LLL-R

Table 11.4 Configuration of tripod kinematics

Axis 4 +

Ty+

Tx+

Tz+

Axis 1 -

+ + +

-

Axis 3 Axis 2

-

X+

A+

Y+

Z+



The position of the Cartesian coordinate system is determined by axis 1 for the tripod. If axis 1 is projected onto the horizontal level, then the axis vector describes the direction of the Cartesian X-axis. The positive direction of the Cartesian X-axis is determined by the negative direction of axis 1.

Note

The alignment of the world coordinate system is defined by the position of axis 1. If axis 1 is projected onto the horizontal level, then this is the direction of the Cartesian X-axis.

Note

Should an alignment of the Cartesian axes to another reference system, e.g. a conveyor unit, be required when assembling the tri-pod, then this must be carried out by aligning the tripod via axis 1. The precise alignment is carried out by offsetting the world coor-dinate system. This is defined via the Festo Configuration Tool (FCT).

Owing to the design of the kinematics, the repositioning for the tripod is carried out with Cartesian linear interpolation.

Caution

Repositioning is carried out via Cartesian linear interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. If a tool is defined, then it is moved on the path to the interruption point.

Axis 3

- +

+

+

-

-

Axis 1 Axis 2

X+

Y+



11.5.1 Origin of the tool coordinate system

The tool coordinate system is, with its axis directions for the zero position of the orienta-tion axes, congruent with the tripod's base coordinate system. The zero point of the tool coordinate system is placed centrally at the level of the flange plate.

The origin of the TCP vector is in the original zero point for the tool coordinate system on the tool flange. The TCP vector shifts the tool coordinate system according to its definition. When defining a TCP vector for a tool mounted on the flange plate, you must make sure that the vector has to be specified from the origin of the tool coordinate system on the tool flange. The

offset to the flange plate must be taken into consideration along with any other constructions.

Note

When defining the TCP vector, the offset dimension to the flange plate must be taken into consideration.

Rods

Flange plate Offset in Z+ to

flange

Origin of the tool

coordinate system

Ty+

Tx+

Tz+

TCP vector Z TCP vector

TCP vector X



The illustration below shows the Festo tripod kinematics:

11.6 Axis interpolation

Kinematics systems for which no internal kinematics model exist can be controlled using pure axis interpolation. This means that all movements can only be carried out as a point-to-point movement (PtP). Cartesian paths such as linear and circular interpolation are not possible.

Furthermore, there are no manual and auxiliary axes as well as no definable tools (TCP).

The graphic shows an example of a free kinematics system with two linear axes and two rotating axes. For this kinematics system, there is no internal model, since the arrangement of the axes is free and thus the axis sequence is undefined. For this reason, there are no world and tool coordinate systems, but just a axis coordinate system.

The sequence of the possible linear and rotating axes is random and is determined by

configuration in the Festo Configuration Tool (FCT).

Axis 2

+ Axis 3

Axis 1

+

-

-

+

Axis 4

+



Note

The zero point of the axis coordinate system is defined by the zero point of all axes.

Note

With a free kinematics system / axis interpolation, the mechanical configuration of the axes is unknown. The movements can only be carried out in a point-to-point interpolation (PtP). All functions that operate in the Cartesian way are not allowed and lead to an error.

The illustration below shows examples of Festo linear and rotating axes:

Examples of linear axes Examples of rotating axes

11.7 Overview of all supported kinematics systems

The table below shows an overview of all kinematics models supported by CMXR-C1.

Kinematics name Number of basic axes

Number of manual axes

Auxiliary axes

Cartesian linear gantry 2 Max. 1 Max. 3

Cartesian planar surface gantry 2 Max. 1 Max. 3

Cartesian three-dimensional

gantry

3 Max. 1 Max. 3

Tripod 3 Max. 1 Max. 3

Free kinematics 6 none none

Table 11.5 Overview of supported kinematics

The required kinematics model is selected during configuration via the Festo Configuration Tool (FCT).

Note

The manual axes in the table are electric axes that interpolate with the kinematics. Pneumatic rotary and semi-rotary drives cannot be used here. These have to be integrated separately via the definition of tool data.



Note

The maximum number of axes = Basic axes + manual axes + auxiliary axes = 6.

INDEX


A

Administrator ........................................ 33 Application directory ............................. 17 Automatic mode .................................... 41 Axis coordinate system .......................... 59

B

Bridge connector ................................... 30

C

CDSA ..................................................... 26 CDSA-D1-VX teach pendant ..................... 8 Central module ...................................... 13 CMXR ..................................................... 13 CMXR-C1 multi-axis control system .......... 8

D

Data memory ......................................... 15 Directory structure ................................. 16

E

Emergency stop ..................................... 42

F

File system ............................................ 16 Front panel plug .................................... 20

I

Interface unit ......................................... 28

M

Manual operation .................................. 41 Memory card ......................................... 15

O

Operating methods ................................ 46 Operation modes ................................... 41

P

Password ............................................... 33 Plug ....................................................... 21

R

Reduced speed ...................................... 41

T

Teach pendant ....................................... 26 Tripod kinematics .................................. 82

U

User name ............................................. 33 User rights ............................................. 33

description 560 310 [721 643] - festo 560 310 en 0805nh [721 643] festo gdcp-cmxr-sy-en 0805nh 3...

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