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Overview

Festo – GDCP-CMCA-INST-EN – 1211a – English

Overview

3.1

Characteristics

The control system CMCA can be equipped with the following characteristics:

Characteristic Code

Brief description

Kinematics

-K1

–

For parallel kinematic robot EXPT

-K2

–

For H-gantry or surface gantry

-K3

–

For T-gantry or linear gantry

Multi-axis

controller

-C1

–

Multi-axis controller CMXR-C1

-C2

–

Multi-axis controller CMXR-C2 with integrated PLC

Motor

controller

-A1

–

2 motor controllers CMMP-AS-C5-3A for 2 main axes

-A2

–

2 motor controllers CMMP-AS-C5-3A for 2 main axes

–

1 motor controller CMMP-AS-C2-3A for 1 supplemental axis

-A3

–

2 motor controllers CMMP-AS-C5-3A for 2 main axes

–

2 motor controllers CMMP-AS-C2-3A for 2 supplemental axes

-A4

–

3 motor controllers CMMP-AS-C5-3A for 3 main axes

-A5

–

3 motor controllers CMMP-AS-C5-3A for 3 main axes

–

1 motor controller CMMP-AS-C2-3A for 1 supplemental axis

-A6

–

2 motor controllers CMMP-AS-C5-11A for 2 main axes

-A7

–

2 motor controllers CMMP-AS-C5-11A for 2 main axes

–

1 motor controller CMMP-AS-C2-3A for 1 supplemental axis

-A8

–

2 motor controllers CMMP-AS-C5-11A for 2 main axes

–

2 motor controllers CMMP-AS-C2-3A for 2 supplemental axes

Содержание CMCA series

Страница 1: ...Description Electrical installation 8023865 1211a Control system CMCA ...

Страница 2: ...Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries or serious material damage Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out in any order 1 Activities that s...

Страница 3: ...ng plate design CMCA C 9 2 3 2 Control cabinet versions CMCA CC CMCA CS 10 2 4 Checking control system and scope of delivery 13 3 Overview 14 3 1 Characteristics 14 3 2 Function and application 15 3 3 Product overview 16 3 3 1 Control sections and connections control cabinet CMCA CC CMCA CS 16 3 3 2 Control and signal elements on the control cabinet CMCA CC CMCA CS 17 3 3 3 Components and connecti...

Страница 4: ...kinematic drives 32 4 2 11 Connect limit switches 32 4 2 12 Rod loss detection only for rod kinematic system EXPT 33 4 2 13 Connect axis of rotation reference sensor 33 4 2 14 Connect the camera system supply 33 4 2 15 Connect lighting 33 4 2 16 Freely usable outputs 34 4 2 17 Additional peripheral modules for the multi axis controller 34 5 Commissioning 35 6 Operation and diagnostics 36 6 1 Opera...

Страница 5: ...rect handling Never pull the plugs and interfaces when powered Never plug in plugs and interfaces when powered Observe the handling specifications for electrostatically sensitive devices 1 1 2 Intended use The control system CMCA serves to operate a kinematics system in the environment of a machine or automated systems and must be used as follows in excellent technical condition in original status...

Страница 6: ...l specifications 1 2 1 Technical requirements General conditions for the correct and safe use of the product which must be observed at all times Comply with the connection and environmental conditions of the product appendix A 1 and all connected components specified in the technical data Only compliance with the limit values or load limits permits operation of the product in accordance with the r...

Страница 7: ...allet 2 1 1 Dimensions and weights CMCA C CC CS Dimensions mm H 565 868 1018 L 1010 1140 1140 B 640 510 510 Weight kg Control system 41 79 89 Overall weight 1 85 125 142 1 With max accessories Tab 2 1 Note For transport observe the marking on the upper side of the transport box 1 Transport the pallet with the control system to the installation storage location 2 Set down the pallet on a firm and f...

Страница 8: ...protected against condensation Max storage time 60 months Requirements of storage location dry solid and flat base Tab 2 2 2 3 Unpacking Note Damage to the product from incorrect removal of the transport box Use the correct tool to loosen the screws Make sure that no packaging parts can fall onto the control system Observe the product weight chapter 2 1 1 Keep the packaging for later use or dispos...

Страница 9: ...the product with an appropriate tool When cut ting make sure that you do not damage or scratch the components of the control system 4 Pull the foil up and off Carefully remove the bag with desiccant and dispose of it in accord ance with the instructions chapter 7 3 Loosen mounting plate 5 Loosen and remove the screws with which the mounting plate is screwed to the pallet 6 With two people lift the...

Страница 10: ...inet out of the transport packaging must be sufficiently dimensioned for the weight of the control cabinet Observe the product weight chapter 2 1 1 Removing transport packaging 1 Loosen and remove all screws of the cover 2 Remove the cover up and off the transport box Fig 2 2 3 Loosen and remove all screws of the side wall near the control cabinet doors 4 Pull the side wall forward and off Fig 2 3...

Страница 11: ...t and storage Festo GDCP CMCA INST EN 1211a English 11 5 Mount an appropriate lifting device to the transport lugs of the control cabinet Fig 2 4 6 Lift the control cabinet out of the transport packaging Fig 2 5 ...

Страница 12: ...ial damage Remove the plastic packaging from both filter mats as described below 1 Pull the covers of the filter housing off to the front 2 Take out the packaged filter mats 3 Remove the packaging Fig 2 6 4 Place the unpackaged filter mats in the filter housing 5 Put the covers back on Fig 2 7 Remove drying agent The control cabinet includes several bags with drying agent to protect against damage...

Страница 13: ...eck that the delivery is complete Documentation Number Electrical installation CMCA control system 1 Circuit diagram CMCA control system 1 Controller CMXR C1 1 for characteristic C1 Controller CMXR C2 1 for characteristic C2 Motor controller CMMP AS CD ROM 1 I O module CECX D 8E8A NP 2 1 Power supply SVG 1 1 Subcon cable interface 1 Ethernet switch SFNB 1 Controller PNOZ S7 supplement 1 Controller...

Страница 14: ...or 2 main axes A2 2 motor controllers CMMP AS C5 3A for 2 main axes 1 motor controller CMMP AS C2 3A for 1 supplemental axis A3 2 motor controllers CMMP AS C5 3A for 2 main axes 2 motor controllers CMMP AS C2 3A for 2 supplemental axes A4 3 motor controllers CMMP AS C5 3A for 3 main axes A5 3 motor controllers CMMP AS C5 3A for 3 main axes 1 motor controller CMMP AS C2 3A for 1 supplemental axis A...

Страница 15: ...erator control elements and safety equipment specific to the control cabinet are connected Additional safety equipment must be connected or deactivated through bridges The control cabinet is mounted on a base Safety engineering S1 Integrated safety switching device S2 Integrated safety switching device with power failure detection Tab 3 1 3 2 Function and application The control system CMCA serves...

Страница 16: ... CS 5 6 2 3 4 1 7 9 8 aJ aA 1 Base only for characteristic CS 2 Control cabinet door left 3 Control cabinet fan cover 4 Power switch 5 Connection for handheld terminal CDSA 6 Operating and signal elements 7 Emergency stop switches 8 Transport lugs 9 Outlet filter cover aJ Control cabinet doors interlock aA Control cabinet door right Fig 3 1 ...

Страница 17: ... Key switch S2 automatic manual Switch between automatic and manual override The switch is only active when the local operating mode has been selected by means of link plug operating mode selection Tab 4 17 In case of external operating mode the switch is without effect 5 Indicator light P5 manual control manual operation active 6 Key switch S3 brake release releases the motor brakes only possible...

Страница 18: ...ontroller safety control circuit 5 Controller safety control circuit expansion 6 Multi axis controller 7 Control module for mains failure detection only for characteristic S2 8 Ethernet switch 9 Connection for CDSA with control cabinet design on the left door aJ Buffer module 24 V DC only for characteristic S2 aA Power supply unit 24 V DC aB Motor controller for axis 1 aC Motor controller for axis...

Страница 19: ...nglish 19 3 3 4 Overview terminal strips 5 6 2 3 4 1 1 X0 Feed upstream of power switch 2 X1 Feed downstream of power switch 3 X2 Control circuit 24 V DC 4 X3 Emergency stop 5 X4 External emergency stop 6 X6 Control and signal elements Fig 3 4 ...

Страница 20: ...roller axis 2 for characteristic A6 A7 and A8 three phase 4 F4 B 10 A power supply 230 V AC load circuit motor controller axis 3 only for characteristic A2 A3 A4 A5 A7 A8 5 F5 B 10 A power supply 230 V AC load circuit motor controller axis 4 only for characteristic A3 A5 A8 6 F6 B 10 A power supply 230 V AC plug 7 F20 B 10 A voltage supply 24 V DC 8 F10 2 A power supply 230 V AC control cabinet fa...

Страница 21: ... system can become loose and fall Observe the product weight chapter 2 1 1 in selection of the mounting surface and mounting material screws mounting bracket 4 1 1 Mounting plate design CMCA C The control system on the mounting plate must be mounted to the 6 mounting points on a vertical and sufficiently stable surface Mounting points L3 L1 L2 Fig 4 1 Dimensions mm L1 925 L2 530 L3 462 5 Tab 4 1 ...

Страница 22: ...ht on a sufficiently strong wall bracket upright on horizontal cross braces in a frame with sufficient bearing capacity with a free space below the control cabinet of at least 200 mm for the cable throughfeed Note A wall bracket is not included in the scope of delivery Mounting points control cabinet bottom for mounting on wall bracket Fig 4 2 Dimensions mm L1 940 L2 239 4 D1 9 Tab 4 2 ...

Страница 23: ...se CMCA CS The control system with its own control cabinet and base must be mounted as follows Fastened with 4 screws through the 4 holes in the base on a sufficiently stable base Note The screws etc are not included in the scope of delivery Mounting points Fig 4 3 Dimensions mm L1 850 L2 260 D1 14 Tab 4 3 ...

Страница 24: ...residual voltage can drop below 60 V Due to the high leakage current use a protective earth conductor with a minimum cross section of 10 mm copper or 16 mm aluminium Only use power sources which guarantee reliable electrical isolation of the operating voltage in accordance with EN 60204 1 For reasons of safety always connect all PE protective earth conductors prior to commissioning Observe the reg...

Страница 25: ...dling specifications for electrostatically sensitive devices Note Unplugging the connection cover or handheld terminal triggers an emergency stop Put the system at rest before you plug in or unplug the connection cover or handheld terminal Either a handheld terminal or the connection cover must be mounted Otherwise the emergency stop circuit is opened emergency stop active Warning Danger of injury...

Страница 26: ...tern ally Fig 4 4 Connection number with the labelling underneath The terminals below correspond to the terminal numbers also attached somewhat further under neath here 600 608 Both connections of a terminal are bridged intern ally Fig 4 5 4 2 3 Connecting supply voltage Note In the control cabinet design guide the supply lines of the supply voltage through the left one of the two cut outs on the ...

Страница 27: ...d from above to the terminal strip X0 and from below to the terminal strip X1 Caution Danger of damage to the motor controller Switching on one or more phases before switching on the neutral conductor can result in damage to the motor controller Use a 4 pin switching power switch with a leading contact at switch on for the neut ral conductor to prevent damage to the motor controllers when switched...

Страница 28: ...g plate design Note This emergency stop switch is already connected with the control cabinet design In the mounting plate design a corresponding switch must be connected by the in staller Terminal strip Terminal Description X3 302 Switch 1 pin 11 310 Switch 1 pin 12 303 Switch 2 pin 21 311 Switch 2 pin 22 Tab 4 6 Connect emergency stop expansion Connection option for an additional emergency stop s...

Страница 29: ...as of the complete system Two float ing relay contacts are made available for this purpose and are opened when emergency stop is triggered Note The maximum current on contact is 6 A Terminal strip Terminal Description X4 409 439 External emergency stop channel 11 410 440 External emergency stop channel 22 1 Protected through fuse F12 2 Protected through fuse F13 Tab 4 9 4 2 7 Connect protective do...

Страница 30: ... X6 600 Connection 14 S20 X6 601 24 V DC P20 X2 207 0 V DC P20 Tab 4 11 Indicator light external emergency stop P21 Terminal strip Terminal Description X6 602 24 V DC P21 X2 205 0 V DC P21 Tab 4 12 Indicator light automatic control P4 Terminal strip Terminal Description X2 210 0 V DC P4 X6 616 24 V DC P4 Tab 4 13 Key actuator automatic manual S2 Terminal strip Terminal Description X6 615 Pin 12 S2...

Страница 31: ...h the external higher order controller you can select locally between the manual operation and automatic operation modes 614 613 Tab 4 17 Fig 4 6 Operating mode selection external Fig 4 7 Operating mode selection local Operating mode selection by means of higher order controller If the operating mode selection is made through a higher order controller you must make two poten tial free relay contac...

Страница 32: ...ontroller description 4 2 11 Connect limit switches Terminal strip Terminal Description Limit switch Axis X4 411 24 V DC 1 1 441 0 V DC 416 Signal output 412 24 V DC 2 442 0 V DC 417 Signal output 413 24 V DC 1 2 443 0 V DC 418 Signal output 414 24 V DC 2 444 0 V DC 419 Signal output 411 24 V DC 1 3 Only with characteristic A2 A3 A4 A5 A7 A8 441 0 V DC 446 Signal output 412 24 V DC 2 442 0 V DC 44...

Страница 33: ...nsor An optional axis of rotation reference sensor can be connected as follows Terminal strip Terminal Description X4 455 Reference sensor signal at DIN9 motor controller of the last axis X2 206 Supply voltage 0 V DC 225 Supply voltage 24 V DC Tab 4 21 4 2 14 Connect the camera system supply The following connections are reserved for the power supply of a camera system 24 V DC Terminal strip Termi...

Страница 34: ...ECX D 8E8A NP 2 can be obtained from the accompanying documentation 4 2 17 Additional peripheral modules for the multi axis controller There is the possibility to install additional peripheral modules These can be connected to the internal power supply Terminal strip Terminal Description X2 201 0 V DC 221 24 V DC Tab 4 25 If the additional power requirement exceeds the value of 1 5 A the additiona...

Страница 35: ...alist The following knowledge is required Specialist knowledge of robotics and CoDeSys Knowledge of the handling of the Festo components CMMP and CMXR Knowledge of handling and operation of the kinematics to be operated Commissioning is described in separate documents For support in commissioning Please contact your Festo contact person or on the internet www festo com ...

Страница 36: ...Caution Fire danger from overheating Regularly check the filter mats of the control cabinet fan and the outlet filter for contamination daily in dusty environments and replace them if necessary Procurement of filter mats Rübsamen Herr company Type AM 435P 216 x 216 mm filter class G3 1 Pull the covers of the filter housing off to the front 2 Remove the dirty filter mats and dispose of them in acco...

Страница 37: ...sition 7 1 Replace module Note Replacement work may only be performed by trained personnel with the corresponding qualifications and knowledge in handling Festo components Note Replacement of control components robotics control and or motor controller results in loss of parameterisation and thus operating status After replacement of these com ponents they must be newly parameterised 7 2 Repair The...

Страница 38: ...hnical data safety reference data A 1 2 General Mechanical CMCA C CMCA CC CMCA CS Width mm 962 1000 1000 Height mm 548 600 800 Depth mm 275 3101 350 350 Weight kg 41 79 89 Note on materials RoHS compliant contains PWIS2 materials 1 Dependent on the version 2 Paint wetting impairment substances Tab A 2 Technical data mechanical Approvals CMCA C CMCA CC CMCA CS CE marking see declaration of conformi...

Страница 39: ...40 outside the housing Permissible setup altitude Up to 1000 m above sea level 1000 4000 m above sea level with performance reduction of 10 1000 m Cooling About the ambient atmo sphere If installed in a control cabin et ventilation must be planned About the ambient atmo sphere and control cabinet fan Protection class IP20 IP54 Relative air humidity 10 95 non condensing or protected against condens...

Страница 40: ...n is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach D 73726 Esslingen Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de Version 1211a ...

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