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3. Control interfaces for external activation

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Festo GDCP-CMXR-F-EN 0909a

3.

Control interfaces for external activation

The CMXR multi-axis control system can operate with three activating methods, the CDSA-
D1-VX teach pendant can be connected for all methods:

-

Operation without external control (not covered here, see the system manual).

-

Controlled by a higher-level control system via digital inputs and outputs with
MotionControl Profile MPC1-EA.

-

Controlled by a higher-level control system via PROFIBUS DP in two performance
classes :
- MotionControl Profile MPC1-PB with 12-byte data packet
- MotionControl Profile MPC2-PB with 64-byte data packet

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Содержание CMXR-C1

Страница 1: ...Beschneiden Oben 61 5 mm Unten 61 5 mm Links 43 5 mm Rechts 43 5 mm Controller Description PLC interface Type CMXR C1 Description 560 328 en 0909a 748 998...

Страница 2: ......

Страница 3: ...ngen Federal Republic of Germany 2009 Internet http www festo com E mail service_international festo com The reproduction distribution and utilization of this document as well as the communication of...

Страница 4: ...e File saved at Consec no Description Index of revisions Date of amendment 001 First edition en 0805NH 09 07 08 002 Revision en 0909a 02 09 09 Trademarks Microsoft Windows Registered trademark of Micr...

Страница 5: ...4 3 2 Control signals in the PROFIBUS data packet 17 4 3 3 Status signals in the PROFIBUS data packet 19 4 4 Function of the PLC interface MCP1 21 4 4 1 Watchdog 21 4 4 2 Error active 21 4 4 3 Messag...

Страница 6: ...38 5 3 1 Return values 38 6 Communication variables 39 6 1 Position variables 39 6 1 1 Access from the robot program 39 6 1 2 Interface format 39 6 2 Reference system variables 40 6 2 1 Access from th...

Страница 7: ...the corresponding CECX analogue input output module GDCC CECX C 2G2 Assembly installation and commissioning instructions for the corresponding encoder interface GDCC CDCX G PB S V0 Assembly installat...

Страница 8: ...1 General 8 Festo GDCP CMXR F EN 0909a 1 3 Service Please consult your local Festo repair service if you have any technical problems...

Страница 9: ...omation technology matching their field of activity 2 1 Safety instructions on handling The modules used in the system are sensitive against electrostatic discharge in a dismantled state Caution Assem...

Страница 10: ...nuals Provide the load and operating voltage as a circuit with limited energy as per IEC DIN EN 61131 2 and always make sure there is fuse protection with max 10 A The 24 V supply for the equipment mu...

Страница 11: ...n This document is intended for users and programmers of the CMXR multi axis control system Warning The CMXR C1 multi axis control system is not designed for safety relevant control tasks e g shutdown...

Страница 12: ...ndant can be connected for all methods Operation without external control not covered here see the system manual Controlled by a higher level control system via digital inputs and outputs with MotionC...

Страница 13: ...iption of the three I O modules BasicIO Signal Name Function Control sovereignty required Description DO 0 doutError CMXR error active No 4 4 2 DO 1 Reserved DO 2 doutAutoSelected Automatic operation...

Страница 14: ...o System manual DO 3 DRREF Drives referenced No System manual DO 4 ACCENA Write access not assigned No 4 4 6 DO 5 WRACC Write access received Yes 4 4 6 DO 6 ERROR Error is active No 4 4 2 DO 7 WDBIT W...

Страница 15: ...No 4 4 11 ff DO 6 RUNNING Program is running No 4 4 11 ff DO 7 LOADED Program is loaded No 4 4 11 ff DI 0 PRGNR Bit0 Selection of program no Yes DI 1 PRGNR Bit1 Selection of program no Yes DI 2 PRGNR...

Страница 16: ...ted Automatic operation mode set No 4 4 10 DO 3 doutManSelected Manual operation mode set No 4 4 10 DO 4 Unassigned For free use DO 5 Unassigned For free use DO 6 Unassigned For free use DO 7 Unassign...

Страница 17: ...VR CJOG EDATA1 EDATA2 Override JOG register 8 input bits 8 input bits Byte 9 Byte 10 Byte 11 Byte 12 JOGPOS Target position of the JOG axis Control register 1 Bit 7 6 5 4 3 2 1 0 CREG1 WDBIT QUITERR W...

Страница 18: ...mit the nominal value of the speed of the kinematics e g for the commissioning procedure Jog register Bit 7 6 5 4 3 2 1 0 CTJOG AXIS COORD JOGN JOGP JOG axis JOG coordinate system Jogging negative Jog...

Страница 19: ...yte 9 Byte 10 Byte 11 Byte 12 ACTPOS Actual position of the JOG axis Status register 1 Bit 7 6 5 4 3 2 1 0 SREG WDBIT ERROR WRACC ACCENA DRREF DRRDY HOLD CTRDY Watchdog bit Error is active Control sov...

Страница 20: ...rride value JOG register Bit 7 6 5 4 3 2 1 0 SJOG AXIS COORD ESN ESP JOG axis JOG coordinate system Limit switch negative Limit switch positive ADATA1 ADATA2 Size 2x8 bits The multi axis control syste...

Страница 21: ...l system that at least one error is active The cause of the error can be evaluated using the SREG3 register A faultless robot controller is a requirement for operation via the PLC interface 4 4 3 Mess...

Страница 22: ...Blocks component 2 4 Error in RobotControl component 2 5 Error in Basis system component 2050 xx 2 6 Error in IO system component 2220 xx 2 7 Error in IEC runtime system component 2 8 Error in commun...

Страница 23: ...ion of the disabled and enabled functions can be found in the table in the Signals of the PLC interface chapter Requesting and receiving control sovereignty If you receive write access for an interfac...

Страница 24: ...Jog axis CJOG AXIS and a Jog coordinate system CJOG COORD are selected in the JOG control register Activity Set the CJOG JOGN or CJOG JOGP bit Reaction The selected Jog axis is moved in the selected...

Страница 25: ...axis 6 is selected axis 5 is active COORD JOG coordinate system Axis coordinate system World coordinate system Active reference system Tool coordinate system JOGN JOG bit negative direction Manual mo...

Страница 26: ...he system manual for the multi axis control system The period of time for switching from one operation mode to another valid one is currently defined at 1 00 sec 4 4 11 Load the program The program wi...

Страница 27: ...ondition SREG NACK is set and shows that the loading procedure was not successful SREG LOADED stays set and shows that at least one program has been loaded SREG ERROR shows present error Signal curves...

Страница 28: ...rry 1 signal for as long as it takes until the ACK input also reports 1 signal 4 As soon as NACK 1 has been recognised by the PLC it may reset LOAD to 0 The CMXR reacts with a falling edge at NACK 5 A...

Страница 29: ...ogram is error free and can be loaded 3 The LOAD output must carry 1 signal for as long as it takes until the ACK input also reports 1 signal 4 As soon as ACK 1 has been recognised by the PLC it may r...

Страница 30: ...ler is ready for a new job The cause of the failed load procedure is registered as an error Acknowledge SREG2 B4 ACK Not Acknowledge SREG2 B5 NACK Load the program CREG2 B7 LOAD Req prg number Output...

Страница 31: ...Acknowledge SREG2 B5 NACK Acknowledge SREG2 B4 ACK Unload program CREG2 B6 UNLOAD Req prg number Output data 4 4 13 Starting the program The loaded program with the transferred program number is start...

Страница 32: ...alling edge at ACK 5 As soon as ACK 0 has been recognised by the PLC the controller is ready for a new job Acknowledge SREG2 B5 NACK Load reset Ack SREG2 B4 ACK Start the program CREG2 B5 START Req pr...

Страница 33: ...wledge SREG2 B5 NACK Load reset Ack SREG2 B4 ACK Stop the program CREG2 B4 STOP Req prg number Output data 4 4 15 Parallel programs The PLC interface can be used to start only one program It is necess...

Страница 34: ...ly valid override remains unchanged Condition Control sovereignty on PLC interface Activity Write the new overrides into the COVR register Reaction The specified override is accepted and remirrored in...

Страница 35: ...h MCP2 MCP1 PB MCP2 PB MCP1 EA Header Parameters Input data 2 bytes 10 bytes 4 bytes 48 bytes Output data 2 bytes 10 bytes 4 bytes 48 bytes 5 1 1 Control signals Byte 1 2 3 4 Header CREG CODE SUBCODE...

Страница 36: ...eader consists of 4 byte I O data respectively CREG SREG Control or status register 1 byte CODE Function code SUBCODE Subcode of the function code INDEX Index of the function code Command sequence Bef...

Страница 37: ...oes back to False Command executed SREG B5 DONE Execute the command CREG B0 EXECUTE Fig 5 1 MCP2 transmission successful Error SREG B1 ERROR 1 Requirements DONE FALSE 2 Rising edge at EXECUTE transmit...

Страница 38: ...or input data range MCP2 EDATA Teach communication variable 3 1 2 CARTPOSREG AXISPOSREG 0 255 0 255 X Access to actual values Function CODE SUBCODE INDEX Parameters Read setpoint position 8 1 2 3 Axes...

Страница 39: ...variables 6 1 1 Access from the robot program The interface includes 256 Cartesian and 256 axis positions respectively They are predefined as follows plc_CartPos 0 255 CARTPOS plc_AxisPos 0 255 AXISPO...

Страница 40: ...nterface format In the PLC interface the position and angle values are transferred in integer form The conversion is just the same as with the position values Format of the Cartesian position in the R...

Страница 41: ...6 Communication variables Festo GDCP CMXR F EN 0909a 41 6 3 2 Interface format The DINT variables are not subjected to a conversion and are transmitted 1 1 into the CMXR control system or PLC...

Страница 42: ...6 Communication variables 42 Festo GDCP CMXR F EN 0909a...

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