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Festo CMXR-C2, Сборка и инструкция по установке

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1. CMXR system overview 

16 

 

 

 

 

 

 

Festo GDCP-CMXR-C2-HW-EN 1002NH  

1.

 

 

CMXR system overview 

1.1

 

 

Product versions 

The device is available in the following versions: 

 

Product version 

Description 

Central control unit 

CMXR-C2  

 

 

 

Multi-axis control system 

1)

 

Used for controlling a gantry robot, linear robot or tripod 

robot. In this context, the device assumes the following 

functions: 

 

Control of selected Festo stepper motor and servo motor 

controllers via CAN-Bus [X6] 

 (Festo DriveBus) 

 

Control of peripheral equipment (digital, analogue, 

position encoder) 

Expanding the device with further modules is permissible. 

1) Figure shows the central control unit 

Table 1.1 Product versions of the modular control system  

 

 

The device configurations shown in this description can thus 
deviate from your device configuration. 

 

Содержание CMXR-C2

Страница 1: ...Controller Description Assembly and installation Type CMXR C2 Description 571 694 en 1002NH 751 509...

Страница 2: ......

Страница 3: ...Federal Republic of Germany 2010 Internet http www festo com E mail service_international festo com The copying distribution and utilisation of this document as well as the communication of its conten...

Страница 4: ...Multi axis control system CMXR C2 File name File saved in Consec no Description Revisions index Date of revision 001 de 1002NH 31 03 2010 Trademarks Microsoft Windows CANopen CiA and PROFIBUS are reg...

Страница 5: ...Festo GDCP CMXR C2 HW EN 1002NH 5...

Страница 6: ...ules 19 1 3 Operator units for the modular control system 19 2 Assembly 20 2 1 General instructions on assembly and dismantling 20 2 2 Guidelines on the CMXR C2 device configuration 20 2 2 1 Fitting a...

Страница 7: ...tates 49 4 2 3 Behaviour in the event of module errors 50 4 2 4 Behaviour in the event of supply voltage failure 50 4 2 5 Control key CTRL key 50 5 Diagnostics and error handling 51 5 1 Summary of dia...

Страница 8: ...hnical condition When used together with commercially available components such as sensors and actuators the specified limits for pressures temperatures electrical data torques etc must be observed Th...

Страница 9: ...se configurations are marked as follows UL Listing Mark for Canada and the United States Certification conditions requirements for UL compliant application Only class 2 power sources may be used for t...

Страница 10: ...handling can result in damage to components Identification of special information The following pictograms designate text passages that contain special information Pictograms Information Recommendatio...

Страница 11: ...nstallation commissioning and maintenance work please observe the documen tation appurtenant to your multi axis control system The documents are intended for qualified personnel These are persons who...

Страница 12: ...evention regulations relevant to each application must be observed regardless of the safety instructions specified in these manuals Provide the load and operating voltage supplies as a circuit with li...

Страница 13: ...ption This documentation describes the following Design and assembly of the CMXR C2 central control unit Assembly of optional and peripheral modules Installation of the central module and the optional...

Страница 14: ...m description Commissioning the multi axis control system CMXR Basis programming manual Multi axis control system CMXR FTL basis Basis programming of the CMXR family Tracking programming manual Multi...

Страница 15: ...nto slots max 3 on the central module and make special interfaces of the central module available Peripheral modules To expand the function range peripheral modules can be plugged into the central mod...

Страница 16: ...tripod robot In this context the device assumes the following functions Control of selected Festo stepper motor and servo motor controllers via CAN Bus X6 Festo DriveBus Control of peripheral equipmen...

Страница 17: ...the structure of the multi axis control system CMXR C2 according to your requirements because with this product version the device can be equipped with further digital analogue and fieldbus modules s...

Страница 18: ...l system CMXR C2 It provides the required resources for processing the user programs processor main memory etc The central control unit offers 3 slots for optional modules which offer further ports fo...

Страница 19: ...ble 1 3 Optional modules 1 2 3 Peripheral modules The central control unit can be adapted to the wide range of requirements by means of peripheral modules Peripheral modules establish the connection f...

Страница 20: ...l holes or connect wires 2 2 Guidelines on the CMXR C2 device configuration Guidelines on the device configuration for the multi axis control system CMXR C2 The multi axis control system CMXR C2 is su...

Страница 21: ...the following figure 1 Central control unit 2 Optional module CECX F CO 3 Optional module ETHERNET Fig 2 1 Standard device configuration for the multi axis control system CMXR 2 2 1 Fitting and remov...

Страница 22: ...ged if they are not handled correctly Switch off the supply voltages before you mount or remove the peripheral modules Do not touch any components Observe the handling specifications for electrostatic...

Страница 23: ...cessary set it using a suitable screwdriver modules with the same type designation need different module addresses 3 Reattach the side plate to protect against contamination and damage caused by elect...

Страница 24: ...d lower mechanical locking mechanisms engage 4 To assemble further peripheral modules repeat steps 2 and 3 1 Cover on the right hand side 2 Bus plug 3 Upper mechanical locking mechanism 4 Lower mechan...

Страница 25: ...the peripheral modules 4 Carefully withdraw the peripheral module from the device 5 Reattach the bus plug s right side plate to the device to protect against contamination and damage caused by electro...

Страница 26: ...ow the modules must be maintained for the air circulation The depth of the module is 100 mm In determining the required control cabinet depth the height of the plug connectors plus an additional 20 mm...

Страница 27: ...o temperature fluctuations For example do not use air conditioning units with intermittent operation Using air filters Avoid heavy contamination of the air filters Clean the air filter regularly Recom...

Страница 28: ...2 Assembly 28 Festo GDCP CMXR C2 HW EN 1002NH 1 Screw spacing 2 H rail Fig 2 6 Maximum permissible screw spacing for H rail mounting 1 2...

Страница 29: ...s how you attach the device to the H rail 1 Pull out all H rail locking levers unlock 2 Slightly tilt the device and place it onto the H rail on the H rail fixture 3 Press the lower half of the device...

Страница 30: ...2 Assembly 30 Festo GDCP CMXR C2 HW EN 1002NH 1 End supports Fig 2 8 Securing the device with end supports 1 1...

Страница 31: ...off the power supply prior to dismantling and remove all cable connections This is how you dismantle the device 1 Switch off the operating and load voltage supplies 2 Disconnect all cable connections...

Страница 32: ...to components Observe the specified ambient conditions see Technical data Do not install the device in areas subjected to excessive dust oil mist conductive dust or corrosive gas directly in areas su...

Страница 33: ...evice or certain modules are equipped with pin strips attached on the front side The appropriate plugs with a grid dimension of 5 08 mm are required for the connection Only use appropriate plugs that...

Страница 34: ...type Plug with grid dimension 5 08 mm see Appendix A 2 Table 3 3 Specification for I O cables analogue Wiring instructions for analogue cables The bus bar must be connected to the GND terminal Cables...

Страница 35: ...of interference Ethernet cable Ethernet cable Description Cable type Screened connection Plug type RJ45 Minimum bending radius Minimum bending radius during the installation 60 mm Minimum bending rad...

Страница 36: ...or an installed cable 24 mm Plug type 9 pin D SUB socket plug with completely conductive housing Table 3 5 CAN cable specification 1 Twisted 2 wire cable CAN CAN 2 Signal earth SGND 3 Screen with eart...

Страница 37: ...necessary Cable for encoder supply output and reference voltage output Encoder supply output and reference voltage output Description Cable type Twisted pair cables with screen against low frequency...

Страница 38: ...X6 status LED 4 Ethernet interface Diagnostics connection for FCT X7 5 RS 232 C interface X9 6 USB port X8 X10 7 Ethernet interface for external communication X5 8 CAN connection for peripheral equip...

Страница 39: ...the installed modules via the bus plug The operating voltage connection is designed with reverse polarity protection within the permissible operating voltage range 1 Power supply unit 2 External fuse...

Страница 40: ...on of the central control unit CMXR C2 40 Festo GDCP CMXR C2 HW EN 1002NH 1 Earth terminal threaded bush M4 Fig 3 5 Earth terminal for the device 3 4 3 RS 232 C interface This interface can be used wi...

Страница 41: ...he USB port X10 is currently ineffective 3 4 5 Rotary switches reserved for expansion Two rotary switches are located on the top right hand side of the central module housing These rotary switches are...

Страница 42: ...both ends of the fieldbus first and last station A terminating resistor for the bus terminal is built into the device If you install the device onto the end of the fieldbus you can activate the integr...

Страница 43: ...ice can be integrated into both a 10Mbit s and a 100Mbit s Ethernet RJ45 socket X5 Pin Signal Explanation 1 2 3 4 5 6 7 8 Metal covering TD TD RD n c n c RD n c n c Shield Transmitted data Transmitted...

Страница 44: ...e g tool data and formulas The memory card cannot be used as a removable medium because system programs are also stored on it Only the Festo memory card CAMC P3 C M256 can be used Precautionary measu...

Страница 45: ...ry card 1 Switch off the supply voltage 2 Using only slight pressure carefully insert the memory card in the direction of the arrow until it engages 1 Memory card Fig 3 8 Inserting the memory card Rem...

Страница 46: ...MXR C2 46 Festo GDCP CMXR C2 HW EN 1002NH Additional instructions on handling the memory card can be found in the system description for the multi axis control system CMXR C2 1 Memory card 2 Ejection...

Страница 47: ...Running up performance The running up performance is divided into the following three main sections Running up of the boot block Running up of the firmware Running up of the application The running up...

Страница 48: ...to the DRAM 5 The firmware is started 6 Running up of the boot block is completed The operating system is initialised and started 7 Various firmware components services I O system communication are st...

Страница 49: ...control system CMXR can be found in the corresponding system description The control system recognises the following operating states 7 segment display Main operating states Description Init In this o...

Страница 50: ...nformation see section 5 3 1 4 2 4 Behaviour in the event of supply voltage failure A reset is triggered in the event that the complete supply fails All modules connected in series are also put into t...

Страница 51: ...ssing briefly on the CTRL key on the central module Diagnostics via software tools Information on this can be found in the online help for your configuration software Table 5 1 Diagnostics options 5 2...

Страница 52: ...via the 7 segment display Errors can occur or be present in or during the transitions of the control system s respective operating states e g from STOP to RUN These errors are indicated in the 7 segm...

Страница 53: ...Re initialise the memory card with FCT Running up errors Errors when loading the firmware Error display Cause Action 3 E 501 Firmware package was not found Re initialise the memory card with FCT 3 E...

Страница 54: ...aced by a battery of the same type Only the following battery type is permissible Battery type CR2032 Lithium Mn 3 V 220 mAh Caution Short circuits can cause combustible materials to ignite Although b...

Страница 55: ...6 Maintenance and care Festo GDCP CMXR C2 HW EN 1002NH 55 1 Insert battery 2 Insert battery holder Fig 6 1 Position of the battery 6 2 Cleaning If required clean the device with a soft cloth 1 2...

Страница 56: ...6 Maintenance and care 56 Festo GDCP CMXR C2 HW EN 1002NH...

Страница 57: ...ithout visualisation C 40 70 Relative air humidity non condensing 10 95 Protection class as per EN 60529 plug connector inserted IP20 as per EN 60529 Protection against electric shock protection again...

Страница 58: ...cated slot Permanently allocated slot Additional spare slot 1 slot for CAN optional module 1 slot for Ethernet optional module 1 slot for memory card Compact Flash type 1 1 slot for RS 232 C optional...

Страница 59: ...gnal It is therefore not necessary to additionally filter these wires Which EMC measures must be met EMC measures concentrate on the areas Screening Potential equalisation between system components It...

Страница 60: ...Is the screen continuously present beware of wall bushings Is the communication partner being used suitable for an industrial interference environment Analogue cables Twisted pair cables used Is cabl...

Страница 61: ...Error codes 52 Ethernet connection 42 F Fieldbus interface 18 I Inserting the memory card 44 Intended use 7 M Mounting clearances 25 Mounting dimensions 25 O Operating states 48 Optional modules 18 P...

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