Planar surface gantry with controller EXCM-30/-40--PF · 2020. 8. 2. · 12 Festo – EXCM-30/-40-...-PF-EN – 1603 – English 2.5.2 Safety function Safe Torque Off - STO The safety

Description

Commissioning

8059530

1603

[8059532]

EXCM-30/-40-...-PF

Planar surface gantry withcontroller

EXCM-30/-40-...-PF

2 Festo – EXCM-30/-40-...-PF-EN – 1603 – English

Translation of the original instructions

EXCM-30/-40-...-PF-EN

CANopen® is a registered trademark of its respective trademark holder in certain countries.

Identification of hazards and instructions on how to prevent them:

Danger

Immediate dangers which can lead to death or serious injuries

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries

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 should be carried out in the order stated

– General lists

� Result of an action/References to more detailed information

EXCM-30/-40-...-PF

Festo – EXCM-30/-40-...-PF-EN – 1603 – English 3

Table of Contents – EXCM-30/-40-...-PF

1 Requirements for product use 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Target group 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Intended use 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Foreseeable misuse 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Instructions on this documentation 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Applicable documents 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Range of application and certifications 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 Obligations of the machine manufacturer 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Overview 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General characteristics 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 System overview 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Function and application 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Monitoring functions of the controller 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Switch-off functions of the controller 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 External stop ESTOP 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Safety function Safe Torque Off - STO 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Drive functions 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Jogging 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Homing 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Brake 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Operating modes of the controller 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Direct operation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Record selection 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Measurement system 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.1 Basic concepts 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.2 Selection of the coordinate system 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.3 Dimension reference points 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 General structure of the controller 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.1 Interfaces 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.2 LED display components 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.3 7-segment display 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 Emergency stop concept 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EXCM-30/-40-...-PF


3 Electrical installation 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 General instructions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Connections and interfaces 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Power supply [X1] 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Functional earth 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 I/O interface [X2] 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 CANopen interface [X3] 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 Switch-off functions interface [X4] 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6 Ethernet interface [X5] 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7 Encoder connection 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.8 Motor connection 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Commissioning with the FCT 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Safety instructions 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Network connection via Ethernet 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Connection to PC/laptop 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Network settings 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Safety in the network 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 Timeout 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 The Festo Configuration Tool (FCT) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 General information 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Installation of the FCT 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Starting the FCT 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.4 Create new project 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Configuration 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Create new drive configuration/change drive configuration 34. . . . . . . . . . . . . . . .

4.4.2 Gantry 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Controller 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Settings of the operating parameters 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Record Table 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Teaching 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 Enable device control via FCT 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.4 Controller identification 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.5 Firmware update 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Operation 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Instructions for operation 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Communication principle, general 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Overview of the control and status bytes 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Description of the control bytes CCON/CPOS 40. . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Description of the status bytes SCON/SPOS 42. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Start of positioning 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EXCM-30/-40-...-PF


5.3 Control via I/O interface 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 General 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Communication 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Examples 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Controller via CANopen interface 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 General 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Communication 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Examples 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Control via Ethernet (CVE) 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 General 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Communication 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 CVE protocol 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Examples 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Diagnostics 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Diagnostic memory 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Error messages 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Malfunctions: causes and remedy 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Error responses 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Table of error messages 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 Problems with the Ethernet connection 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.4 Other problems and remedies 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Technical appendix 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 CMXH 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 General product characteristics 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Operating and environmental conditions 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.3 Product conformity and certifications 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.4 Electrical characteristics 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 System characteristics 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B CANopen 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 CANopen object overview 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C Control via Ethernet (CVE) 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 CVE object overview 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D Glossary 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Requirements for product use



1.1 Target group

� Provide this documentation to the following persons:

– Design engineer

– Machine manufacturer

– Installer

– Commissioner

Only qualified personnel may perform mounting, installation, commissioning, maintenance and disas

sembly of the product. Qualified personnel must be familiar with:

– Mounting and operation of mechatronic systems

– Installation and operation of electrical control systems

– Installation and operation of pneumatic systems

– Regulations for accident prevention and occupational safety

– Documentation and mode of operation of the product

1.2 Intended use

This product is a handling system. The handling system executes positioning tasks within machines or

automated systems with a higher-order controller. The controller CMXH is used exclusively for control

of planar surface gantries with a circulating toothed belt of type EXCM-30/-40-…-SB/-ST.

Only use the product as follows:

– in perfect technical condition

– in its original condition, without unauthorised modifications

– within the limits of the product defined by the technical data

Note

In the event of damage caused by unauthorised manipulation or other than intended

use, the guarantee is invalidated and the manufacturer is not liable for damages.



1.3 Foreseeable misuse

Never use the product as follows:

– with unauthorised modifications or alterations to the product

– in an invalid mounting position

– with load limits exceeded

– without a risk assessment of the complete system

– without a safety concept for the complete system

1.4 Instructions on this documentation

This document solely describes commissioning of the planar surface gantry EXCM-30/40 with the re

lated controller CMXH and refers to the following versions of the software:

CMXH firmware version Required CMXH plug-in

V1.2 or later V2.0 or later

Tab. 1.1 Software versions

1.5 Applicable documents

The complete description of the system, comprising controller and gantry, includes the following docu

ments:

Designation Contents

Assembly instructions

CMXH

Notes on mechanical installation of the CMXH

Description

EXCM-30/-40

Description of the mechanical installation of the planar surface gantry

EXCM-30/-40

Description

EXCM-30/-40-...-PF-...

Commissioning of the planar surface gantry EXCM-30/-40 with the CMXH

controller

Help system

for the FCT plug-in CMXH

Help system in the FCT for support of commissioning and

parameterisation of the CMXH controller

Description

CMXH

Use of the STO safety function (Safe torque off )

Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH

All available documents for the product � www.festo.com/pk.



1.6 Range of application and certifications

Standards and test values that the product complies with and fulfills (� A Technical appendix).

Version status

EN�ISO�13849-1:2008-06/AC:2009-03

EN 50178:1997-10

EN 60068-2-6:2008-02

EN 60068-2-27:2009-05

EN 60204-1:2006-06

EN 61800-5-2:2007-10

EN�62061:2005-04

Tab. 1.3 Standards specified in the document

Certificates and the declaration of conformity for this product (� www.festo.com).

1.7 Obligations of the machine manufacturer

The product is an incomplete machine. Commissioning of the product is prohibited until it has been

established that the machinery in which the product will be installed is in compliance with the provi

sions of EU Machinery Directive.

Take the following into consideration for the destination:

– regulations and standards

– regulations of the testing organisations and insurers

– national specifications

2 Overview


2 Overview

2.1 General characteristics

– FCT-compatible: configuration, parameterisation and backup via Festo Configuration Tool (FCT)

– Energy-optimised operation and low heat development

– Separation between load and logic voltage

– LED-display components for representation of device and communication status

– 7-segment display for representation of equipment statuses, errors and warnings

2.2 System overview

1

2

3

4

ÌÌÌÌÌÏÏÏÏÏÏ

ÏÏÏ

ÏÏÏ

ÏÏÏ

ÏÏÏÏÏÏ

ÏÏÏ

ÏÏÏ

ÏÏÏÏÏÏ

ÏÏÏ

ÏÏÏ

ÏÏÏÏÏÏ

ÏÏÏ

ÏÏÏ

ÏÏÏ

1 Higher-order control level: PLC/IPC2 Parameterisation and commissioning level:

Festo Configuration Tool (FCT)

3 Controller level4 Drive level: planar surface gantry

Fig. 2.1 System overview

2 Overview


2.3 Function and application

The controller controls two servo motors, which drive an H-shaped rotating toothed belt. The toothed

belt moves a slide, whose position is calculated by the controller from the encoder signals of the mo

tors.

The motors are not directly assigned to an axis (X- or Y-axis) of the planar surface gantry. Instead, the

movement of the slide towards an axis is achieved through the interaction of the two motors, which is

controlled by the controller (� Fig. 2.2 Operational principle).

Operational principle

Motor 1

Mo

tor

2

Motor 1 Motor 2

X-a

xis

Y-axis

Fig. 2.2 Operational principle

2.4 Monitoring functions of the controller

The controller has numerous monitoring functions, such as:

– monitoring of logic and load voltage

– current monitoring/I²t monitoring

– software end-position detection

– standstill and following error monitoring

– short circuit detection

2 Overview


2.5 Switch-off functions of the controller

The drive can be switched off through the switch-off functions Safe Torque Off (STO) and External Stop

(ESTOP).

Logic voltage Driver supply

Activation/shut-down of the driver supply

Driver supplymonitoring

Dri

ver

sup

ply

ack

no

wle

dg

me

nt

con

tact

PWM driverstep

IGB

T o

utp

ut

sta

ge

μP

+24 V

GND

STO1

DIAG1

DIAG2

ESTOP

STO2

Fig. 2.3 Switch-off functions - block diagram

2.5.1 External stop ESTOP

If the External Stop - ESTOP switch-off function is requested, the motors are decelerated with the quick

stop braking ramp (Quick Stop) until they are at rest. After standstill is reached, the brake control is

activated and the output stage switched off.

2 Overview


2.5.2 Safety function Safe Torque Off - STO

The safety function STO (“Safe Torque Off”) is described in detail in the document

“CMXH description STO” and may only be used in the manner described there.

(� Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH)

The safety function enables two-channel shut-down of the voltage supply to the motors connected to

the CMXH and therefore a safely switched-off torque (Safe Torque Off, STO) via the connection [X4].

Two channels are achieved through the inputs STO1 and STO2. The power supply to the motor is se

curely interrupted through shut-down of the output stage. At the same time, the brake control is activ

ated.

2.6 Drive functions

2.6.1 Jogging

During jogging, the slide of the planar surface gantry moves as long as a corresponding signal is

present. Jogging can always take place only in one direction, either in the direction of the X-axis or in

the direction of the Y-axis, whereby differentiation is made between creeping run and normal run. The

CANopen or Ethernet interface can be used as a control interface, but the I/O interface cannot.

This function is normally used to run the slide manually into a defined basic position.

As long as a valid reference point has not been reached, the software end positions are

deactivated and the slide can also be positioned behind the software end positions

through jogging.

2.6.2 Homing

In homing, the reference point of the dimension system is determined. The reference point is the abso

lute reference point for the axis zero point. Orders can only be started if homing has been completed

successfully (exception: jogging).

Note

The reference point is saved temporarily in the controller. When there is an open circuit

in the logic power supply, the homing point is lost.

Homing can be started through selection of record 0 or through the control byte CPOS

(� 5.2.2 Description of the control bytes CCON/CPOS) and always takes places to the stop at the

origin of the selected coordinate system (� 2.8.2 Selection of the coordinate system). The stop is

detected by a motor standstill in combination with a sharp rise in the motor current. After the fixed

stop is reached, a movement to zero is automatically performed in order to reach a permanently

defined and unchangeable minimum distance from the mechanical stop.

2 Overview


2.6.3 Brake

If the motors are equipped with a brake, they are controlled as follows:

Automatic activation of the brake

The motor controller automatically controls the brake through release of the drive:

– The brake is opened when the drive is enabled.

– The brake is closed when the drive is blocked (either through a pilot signal or an error with error

response “Output stage off”).

Through the mechanical inertia of the brake, opening and closing take a certain length of time. The

behaviour of the controller when the drive is enabled is adjusted to the mechanical inertia of the brake

through the switch-on and switch-off delay.

Switch-on delay

When enable is being set (ENABLE), the switch-on delay time (150� ms) starts to run and the position

controller of the controller takes over control of the connected planar surface gantry. The brake opens

simultaneously. The controller accepts positioning jobs only after the switch-on delay has expired.

Switch-off delay

When the enable signal is removed, the time set for the switch-off delay starts to run (150 ms). The

brake closes during this time. The position controller holds the drive in position. The position control

ler and the output stage are only switched off after expiration of the switch-off delay.

Note

When the output stage is switched off, such as through blocking of the drive, or when

the power supply is interrupted during movement, there is no deceleration of the drive

via a braking ramp. The holding brake is closed immediately. This results in increased

wear and can lead to damage to the motors if it occurs repeatedly.

– Avoid immediate blocking of the drive during movement

– Before blocking the drive, make sure that the drive is stopped, such as by resetting

STOP (control byte CCON bit 1) or by triggering an external stop (input ESTOP at [X4])

2 Overview


Manual releasing of the brake

Warning

Unexpected movement of the product. Risk of impact and crushing injuries.

� Before manual release of the brake, make sure that the axes are in a stable end

position or secure axes against unexpected movements.

The brake can be manually released when the drive is blocked (either through a pilot signal or an error

with error response “Output stage off”).

This is possible in the following ways:

– through a hardware input (� 3.2.5 Switch-off functions interface [X4])

– through a control bit in the CCON control word

(� 5.2.2 Description of the control bytes CCON/CPOS)

– through the FCT

In the case of a blocked drive, if the command to release is issued over at least one of these signals,

the brake is released.

Note

The signal to release the brake always has priority. If a voltage of +24 V is applied to

the RB input (release brake), the brake is released permanently. In case of error (for

errors with error response “Output stage off”), the brake remains released, as the

signal for releasing the brake is present:

– Leave the signal at “brake active” (0 V at the input RB).

– Release the brake only in a concrete case of need

2 Overview


2.7 Operating modes of the controller

2.7.1 Direct operation

The CANopen or Ethernet interface can be used as a control interface. The X-Y position and travel

speed are transmitted by the higher-order controller/PC. The target position is linearly approached by

the current actual position.

Other possible functions are:

– Jogging

– Homing

2.7.2 Record selection

The I/O, CANopen or Ethernet interface can be used as a control interface. Records consist of record

type, target position X and Y, speed, acceleration and jerk. They are saved in the controller in a record

table with record number (� 4.5.1 Record Table). A maximum of 31 records can be configured by the

user. Record 0 is reserved for homing. In operation, the higher-order controller/PC then selects indi

vidual records by transferring a record number (record selection). The target position is linearly ap

proached by the current actual position.

Other possible functions are:

– Jogging

– Homing run

– If positioning is begun, it is always continued to the end in all operating modes.

– A new positioning job is ignored before the end of a started positioning.

– Records can only be parameterised via the Festo Configuration Tool (FCT)

(� 4.5.1 Record Table).

– Coordinate transformation is performed in the CMXH controller.

2 Overview


2.8 Measurement system

2.8.1 Basic concepts

Homing

During homing, the position of the axis zero point AZ is determined.

Stop point BZ (block zero point)

A fixed point in the origin of the selected coordinate system, which is travelled to in homing.

Movement to zero

After the stop point BZ is reached, the drive is travelled at a defined distance in order to reach the axis

zero point AZ.

Axis zero point AZ

It is shifted by a defined distance from the stop point BZ in the origin of the selected coordinate sys

tem. This distance is determined dependent on the size of the planar surface gantry in the direction of

the X- and Y-axis (� Tab. 2.1 Explanation of dimension reference points).

Project zero point (PZ)

A point to which the actual position and the absolute target positions refer. The project zero point is

shifted by a defined distance from the axis zero point AZ.

Software end positions SLN (Software Limit Negative)/SLP (Software Limit Positive)

Limit the effective stroke in the direction of the X- or Y-axis. If the target position of a positioning job is

outside the software end positions, the positioning job is not executed and a malfunction is reported.

The software end positions are shifted by a defined distance from the axis zero point AZ.

Working stroke

The distance of the software end positions in the direction of the X- or Y-axis. Maximum stroke by

which the planar surface gantry can travel in the corresponding direction.

Increments

The controller works in the range of the drive controller with encoder increments (EINC). In contrast,

so-called interface increments (SINC) are used at all user interfaces and in the field of internal data

management.

1 mm = 1000 SINC

1 EINC L 19 μm

2 Overview


2.8.2 Selection of the coordinate system

The following 4 selection options are available for establishing the axis zero point:

Selection 1 Selection 2

Fig. 2.4 Axis zero point at corner point 1 (default) Fig. 2.5 Axis zero point at corner point 2

Selection 3 Selection 4

Fig. 2.6 Axis zero point at corner point 3 Fig. 2.7 Axis zero point at corner point 4

Establishment of the axis zero point is performed exclusively through the Festo Configur

ation Tool (FCT) (� 4.4 Configuration).

2 Overview


2.8.3 Dimension reference points

Dimension reference points (example for axis zero point at corner point 1)

Fig. 2.8 Dimension reference points

Explanation Calculation

BZ (Block Zero) stop point

AZ (Axis Zero Point) axis zero point = BZ + a

PZ (Project Zero Point) project zero point = AZ + b

SLN (Software Limit Negative) software end position negative = AZ + d

SLP (Software Limit Positive) software end position positive = AZ + f

TP/AP (Target Pos./Actual Pos.) target position/actual position = PZ + c = AZ + b + c

a Offset BZ to AZ (fixed) EXCM-30: 1.4 mm

EXCM-40: 2.0 mm

b Offset AZ to PZ

c Offset PZ to TP/AP

d Offset AZ to SLN

e Working stroke

f Offset AZ to SLP

Tab. 2.1 Explanation of dimension reference points

2 Overview


2.9 General structure of the controller

1

2

3

4

5

6

7

8

9

aJ

aA

1 Mounting slots2 Connection side to the planar surface gantry3 Mounting slots4 Functional earth connection5 Voltage supply [X1] connection6 I/O interface [X2]

7 Switch-off functions interface [X4]8 Ethernet interface [X5]9 7-segment displayaJ LED indicatorsaA CANopen interface [X3]

Fig. 2.9 General structure

2.9.1 Interfaces

The controller has three interfaces in order to communicate with a higher-order controller:

– I/O interface

– CANopen interface

– Ethernet interface

The active control interface is established via the Festo Configuration Tool (FCT) (� 4.4 Configuration).

2 Overview


2.9.2 LED display components

Equipment and function statuses of the controller are displayed over the three LED display compon

ents.

The behaviour and the colour of the LEDs differ dependent on the type of status display.

1

2 3 4

1 7-segment display2 COM (green/yellow/red)1)

3 Device (green/red)1)

4 Power (green)2)

1) Static and dynamic behaviour

2) Only static behaviour (on/off )

Fig. 2.10 Display components

Power

The LED indicator “Power” is illuminated only when the load voltage is present and simultaneously

(STO1 = 1) and (STO2 = 1).

Device

The operational readiness of the controller and existing malfunctions (errors/warnings) are signaled

through the “Device” LED display (� Tab. 2.2 LED indicator - device).

LED (green/red) Status Meaning

Illuminated green Ready for operation

(controlled status)

Flashes green (– – – …) Not ready for operation

(uncontrolled status)ONOFF

Illuminated red Error is present

Flashes red (–– –– –– …) Warning is present or controller identi

fication is active

(� 4.5.4 Controller identification)

ON

OFF

Tab. 2.2 LED indicator - device

2 Overview


COM

The LED display “COM” displays an active communication through a green-flashing display compon

ent. The interface assignment is shown through the flashing behaviour of the LED indicator.

A CANopen-specific message is signaled through a yellow or red LED display component.

COM - I/O operation

LED

(green/yellow/red)

Status Meaning

Flashes green (– – – …) Communication active.

ON

OFF

Tab. 2.3 LED indicator COM - I/O operation

COM - CANopen operation

LED

(green/yellow/red)

Status Meaning

Illuminated green Normal operating status.

Communication through SDOs and

PDOs possible (operational).

Flashes green (· · · · …) Normal status after switch-on.

Communication only possible through

SDOs (pre-operational).

ON

OFF

Lights up yellow No bus cable connected, or no bus

parameters configured.

Illuminated red No bus connection (bus OFF).

Flashes red (· · · …) Telegrams cannot be received or sent

(Warning Limit).ONOFF

Flashes red (·· ·· ·· …) Time exceeded for communication

monitoring (node guarding).ONOFF

Tab. 2.4 LED indicator COM - CANopen operation

COM - CVE operation

LED

(green/yellow/red)

Status Meaning

Flashes green (– · – · …) Communication active.

ON

OFF

Tab. 2.5 LED indicator COM - CVE operation

2 Overview


2.9.3 7-segment display

Operating mode, record number and malfunctions are displayed over the single-digit 7-segment dis

play. Four characters are displayed in succession; after that a time delay follows.

Fig. 2.11 7-segment display, example I/O operation, record number 3

Display Operating mode/event Priority

BLE Bootloader error 1

E0xx (xx = error number1)) System error 2

E1xx (xx = error number1)) Error motor 1

E2xx (xx = error number1)) Error motor 2

A0xx (xx = error number1)) Warning2) 3

P000 Homing 4

P070 Jog positive (X-axis)

P071 Jog negative (X-axis)

P072 Jog positive (Y-axis)

P073 Jog negative (Y-axis)

P1xx (xx = record number) I/O operation

P2xx (xx = record number)

P200 (00 = direct mode)

CANopen operation

P3xx (xx = record number)

P300 (00 = direct mode)

CVE operation or

control via FCT

Change alternates

between vertical and

horizontal segments.

Download firmware active --

Flashing point Controller identification active

(� 4.5.4 Controller identification)

1) hexadecimal

2) Is displayed 2x, one after the other

Tab. 2.6 Messages of the 7-segment display

Messages with a higher priority interrupt messages with a lower priority. As malfunctions

can occur faster than they can be displayed on the 7-segment display, it may be the case

that not all malfunctions are displayed.

� Read the diagnostic memory (� 6.1 Diagnostic memory) in order to have all the re

corded messages displayed.

2 Overview


2.10 Emergency stop concept

Note

� As part of your emergency stop concept, check which measures are required for

your machine/system in case of an emergency stop.

� Observe the contents of this documentation on the switch-off functions

(� 2.5 Switch-off functions of the controller).

3 Commissioning


3 Electrical installation

3.1 General instructions

Note

A prerequisite for installation is completed mounting of the planar surface gantry EX

CM-30/-40 and of the controller CMXH. Mounting is described in separate documents

(� Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH).

Caution

Unexpected movement of the product.

Risk of impact and crushing injuries.

� Before working on the product, switch off the power supply and secure it against

being switched on again.

Note

Damage to the product from incorrect handling.

� Never unplug or plug in a product when powered!

� Observe the handling specifications for electrostatically sensitive devices.

Note

To ensure compliance with the IP protection class (if required):

� Note that the specified IP degree of protection is only achieved if all pins are as

signed.

Observe the tightening torques in the documentation of the cables and plugs used.

3 Commissioning


3.2 Connections and interfaces

12

3

4

5

6

1 Functional earth2 Power supply [X1]3 I/O interface [X2]

4 Switch-off functions interface [X4]5 Ethernet interface [X5]6 CANopen interface [X3]

Fig. 3.1 Connections on the front

4

5

1

23

6

7

1 Encoder motor 12 Screening motor 13 Voltage supply motor 14 Reserved [X6]

5 Voltage supply motor 26 Screening motor 27 Encoder motor 2

Fig. 3.2 Connections on the back cover

3 Commissioning


3.2.1 Power supply [X1]

Connection Pin Function

1 4

1 GND 0 V Reference potential for

load voltage

2 Load voltage +24 V ±10 %

or

+48 V ±10 %

Power supply of the

power output stages of

the motors

3 GND 0 V Reference potential for

logic voltage

4 Logic voltage +24 V ±15 % Power supply for the

control electronics and

brakes

Tab. 3.1 Voltage supply [X1] connection

Requirements to be met by the power supply

Note

� Observe technical data of the power supply (� A.1.4 Electrical characteristics).

� The maximum length of the individual cables should not exceed 30 m.

Warning

� Use for the electrical power supply only PELV circuits in accordance with EN 60204-1

(Protective Extra-Low Voltage, PELV). Also take into account the general require

ments for PELV circuits in accordance with EN�60204-1.

� Use only power sources which guarantee reliable electrical isolation of the operating

voltage in accordance with EN 60204-1.

3.2.2 Functional earth

The threaded bolts next to the power supply [X1] of the controller serves to connect the functional

earth (galvanically separated from the reference potentials) to comply with EMC security.

Connection Function

Functional earth

Tab. 3.2 Functional earth connection

Note

� Connect the functional earth connection with low impedance to the earth potential

to avoid electromagnetic interferences.

3 Commissioning


3.2.3 I/O interface [X2]

Communication with a higher-order controller (PLC/IPC) takes place through the I/O interface.

Note

The switching logic of the I/O interface is executed as PNP, based on IEC61131-2 for

PLC.


1

610

5

1115

1 RDYEN Output Ready for enable

2 DIN1 Input Record selection

Records 1-…31

(Record 0 = homing)

3 DIN2

4 DIN3

5 DIN4

6 DIN5

7 24 V logic Output Logic voltage +24 V

8 Start Input Start record or homing

9 ENABLE Input Enable drive and

operation

10 RESET Input Acknowledge error

11 ENABLED Output Drive and operation are

enabled

12 FAULT Output Error present

13 ACK Output Acknowledgment for

start signal

14 MC Output Motion complete

15 GND24 Logic voltage reference

potential

Tab. 3.3 Connection, I/O interface [X2]

3.2.4 CANopen interface [X3]

Connection X3 Pin Function

5

96

1

1 – Not used

2 CAN-L Low signal

3 0 V (GND) Reference potential

4 – Not used

5 Screening Screened connection

6 – Not used

7 CAN-H High signal

8 – Not used

9 – Not used

Tab. 3.4 Connection, CANopen interface [X3] to the controller

3 Commissioning


3.2.5 Switch-off functions interface [X4]

The safety function STO (“Safe Torque Off ”) is described in detail in the document “CMXH

description STO” and may only be used in the manner described there.

(� Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH)

To establish ready status, the circuitry of the control inputs STO1/STO2 and ESTOP with +24 V at [X4]

are required. If the safety function STO is not needed, a suitable circuitry of the control inputs

STO1/STO2 is required for operation of the controller.

Connection X4 Pin Function

Top row 16 24 V logic Output Logic voltage +24 V

16 9

15 ESTOP1) Input External stop

With 0 V: trigger braking ramp

14 RB2) Input With +24 V: release brake

With 0 V: Brake control via the control

word CCON3)

13 – Reserved

12 –

11 –

10 –

9 –

Bottom row 1 24 V logic Output Logic voltage +24 V

81

2 STO1 Input Safe Torque Off function:

With 0 V: Safely switch off supply

voltage to the motors3 STO2 Input

4 – Reserved

5 FAULT4) Output With +24 V: Fault is present

6 DIAG1 Potential-free diagnostic contacts

(Low impedance if the STO function

has been activated)7 DIAG2

8 0 V GND GND (reference potential)

1) At rest, the output stage is switched off and any motor brakes present are closed.

2) Detailed information about the brake function (� 2.6.3 Brake)

3) If no controller has master control, the brake remains in its last status when 0 V is applied.

4) The output is high impedance. To signal errors, a low impedance consumer should be used

Tab. 3.5 Switch-off functions interface [X4]

Note

The signal to release the brake always has priority. If a voltage of +24 V is applied to the

RB input (release brake), the brake is released permanently. In case of error (for errors

with error response “Output stage off ”), the brake remains released, as the signal for

releasing the brake is present:

– Leave the signal at “brake active” (0 V at the input RB).

– Manually release the brake only in a concrete case of need

3 Commissioning


3.2.6 Ethernet interface [X5]

The Ethernet interface can thereby be used both for control via the FCT and also for operation via the

function “Control via Ethernet” (CVE).

Note

� Use a network cable of category 5 or better.

3.2.7 Encoder connection

An incremental encoder with signals in accordance with RS422 can be connected to the encoder port.


5

96

1

1 A Encoder signal A+

2 B Encoder signal B+,

3 N Encoder signal zero pulse N+

4 GND Reference potential

5 Vcc +5 V ±10 % supply of the encoder.

Max. 100 mA, not secure against short

circuit.

6 A/ Encoder signal A–

7 B/ Encoder signal B–

8 N/ Encoder signal zero pulse N–

9 – Reserved

Tab. 3.6 Encoder connection

3.2.8 Motor connection

Port1) Pin Function

1 6

Interface at the controller

1 A Connection of the motor strings

2 A/

3 B

4 B/

5 BR+ Connection of the holding brake.

Short-circuit- and overload-protected.

BR– = GND,

BR+ is switched (+24 V)

6 BR–

1) Next to the motor connections is an M4 threaded pin to connect the screening of the motor cable through a cable lug

Tab. 3.7 Motor connection

4 Commissioning with the FCT



Note

A prerequisite for commissioning is completed installation of the planar surface gantry

EXCM-30/-40 and of the controller CMXH (� 3 Electrical installation).

4.1 Safety instructions

Caution

Unexpected movement of the product.

Risk of impact and crushing injuries.

� Make sure that an ENABLE signal is not present at the control interfaces when the

controller is switched on.

� Parameterise the entire system completely before you activate the output stage.

� Make sure that nobody can grasp into the sphere of influence of the planar surface

gantry as well as other connected actuators – e.g. through protective guards – and

no items are located in the travel range as long as the system is connected to energy

sources.

Note

The controller does not execute direct tasks or records if a valid reference point is not

present (exception, jogging).

� Always carry out homing after every switch-on or failure of the logic voltage, in order

to anchor the dimension system to the reference point.

Note

Damage to components when the permissible impact pulse is exceeded.

� Operate the planar surface gantry only with the maximum permissible load

(� Tab. 1.2 Documentation for the system EXCM-30/-40 with CMXH).

Note

Interruption of ongoing tasks due to inadequate load voltage.

� Make sure that the tolerance of the load voltage at the input of the controller is

complied with under full load (� A.1.4 Electrical characteristics).



4.2 Network connection via Ethernet

4.2.1 Connection to PC/laptop

For communication between the controller and the FCT to take place, you must connect the controller

to your PC/laptop via the Ethernet interface. Use a commercially available network cable for this pur

pose (plug connector RJ-45). The cable type (straight or crossed connection) is recognised automatic

ally.

Note

At delivery, the controller has an active DHCP server.

The controller cannot be connected to a network immediately at initial start-up, since it

can lead to network malfunctions if two active DHCP servers are present in one network.

The DHCP server of the controller is intended for creating a direct connection between the controller

and an individual PC/laptop. It is not intended to supply larger networks with IP addresses.

It assigns IP addresses in a range of 192.168.178.110 … 192.168.178.209 and the subnet mask

255.255.255.0. A gateway is not assigned.

If the DHCP client on your PC/laptop is active (usually standard setting), then the DHCP

server of the controller assigns your PC/laptop an IP address at initial start-up, and you

can access the controller.

If you cannot build up a connection to the controller

� 6.3.3 Problems with the Ethernet connection.

Fig. 4.1 Connection to PC/laptop

4.2.2 Network settings

Network settings upon delivery

Parameter Value

IP 192.168.178.1

DHCP server Active

Port (FCT) 7508

Port (CVE) 49700

Subnet mask 255.255.255.0

Gateway 0.0.0.0 (none)

Tab. 4.1 Network settings upon delivery



Display or change the network settings of the controller

The network settings can be made via the FCT as needed.

In the FCT plug-in via the “Controller” page [Set network settings].

– or –

Through a network scan via the FCT.

1. Menu [Component] [FCT interface] [“Search…” button].

2. Select one of the found devices from the context menu [Network].

3. To change the network settings, select one of the following options:

– [DHCP server active] The controller has valid network settings at delivery

(�Tab. 4.1 Network settings upon delivery)

– [Obtain IP address automatically]

The controller obtains its IP address from a DHCP server in your network.

– [Use the following IP address]

You can assign the controller a fixed IP address manually.

After a change to the network settings in the controller, it has to be restarted in order for

the changes to become active.

4.2.3 Safety in the network

Note

When the controller is connected to existing networks (e.g. to the Internet):

Unauthorised or inadvertent access to the controller could cause it to behave in an

unforeseen way.

� Use the controller only in subnetworks that are protected against unauthorised

access from outside, e.g. through use of safety network components (special gate

ways/firewalls).

� Use a password to make unauthorised or inadvertent access to the controller more

difficult (in the FCT: Menu [Component] [Online] [Password]).

4.2.4 Timeout

The controller recognises if the connection to the FCT software has been interrupted and then behaves

as parameterised in the FCT on the “Error management” page (malfunction number 0x32).

The typical timeout is 1 s, but can be longer in slow networks, since the timeout is adjusted dynamically

to the transmission rate.



4.3 The Festo Configuration Tool (FCT)

4.3.1 General information

The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different

components and devices from Festo. Each device type is managed through its own plug-in. Detailed

information on working with projects and adding a component to a project can be found in the Help on

the FCT.

� Select it in the Menu [Help] [General contents of FCT].

FCT plug-in

An FCT plug-in supports the device-specific performance of all necessary steps for commissioning of a

device. The plug-ins are managed and started from the FCT. The necessary parameters can be determ

ined offline, i.e. without connecting the device to the PC or laptop. This makes it possible to prepare

commissioning in the office, for example.

Further information on the FCT plug-in CMXH can be found in the plug-in Help:

� Select in the Menu [Help] [Contents of installed plug-ins] [Festo] [CMXH].

In order to use the entire Help or parts of it independently of a PC, you can also print

these out.

1. Click in the Help window on the “Print” button.

2. Select the desired topics in the “Print topics” dialogue.

4.3.2 Installation of the FCT

For commissioning, both the FCT framework and the FCT plug-in of the controller must be installed. Down

load the current CMXH plug-in from the Support portal (� www.festo.com/sp). Search term “CMXH”.

Set-up of the FCT is always included in set-up of the plug-in. If needed, the FCT is automatically in

stalled with it.

Note

Check whether an updated FCT plug-in is present (� www.festo.com).

4.3.3 Starting the FCT

After installation of the FCT software on your PC, you can start it in two ways.

� Double-click on the FCT icon on the desktop.

� Select the entry [Festo Software] [Festo Configuration Tool] in the start menu from the list of programs.

4.3.4 Create new project

After you have installed and started the FCT, you can create a new project as follows.

1. Select in the [Project] menu the entry [New].

2. In the dialogue “New Project - Project Characteristics”, assign a name and title to your project. You

can optionally also write a project description.

3. Confirm your inputs with the “OK” button.

4. In the [Component Selection] dialogue, select the component “CMXH” via the project tree.

5. Assign a component name



6. In the dropdown menu, choose the desired version of the plug-in next to the “OK” button.

7. Confirm your inputs with the “OK” button.

4.4 Configuration

For commissioning the controller with the planar surface gantry, specifications and settings are re

quired for the components involved. The corresponding register and parameter pages are selected in

the work space of the FCT.

The following points merely describe the minimum required settings to operate a planar

surface gantry with the controller.

� For information on further settings, use the plug-in Help via the menu [Help] [Contents

of installed plug-ins] [Festo] [CMXH].

4.4.1 Create new drive configuration/change drive configuration

The button “Create new drive configuration” only appears when no drive has been configured yet. Oth

erwise, the existing drive configuration can be changed in this menu.

1. Select on the parameter page [Configuration] [Create new drive configuration] or [Configuration]

[Change].

Configure/change controller

2. Select the load voltage (DC link voltage) of the controller

3. Select the control interface. If the control interface has been changed, a restart of the CMXH is re

quired.

4. Selecting [Continue] brings you to configuration of the planar surface gantry.

Configure/change planar surface gantry

5. Select the size of the planar surface gantry used.

6. Specify the stroke of the working space in the direction of the X- and Y-axis.

7. Make specifications for the motor brake and motor position.

8. Selecting [Continue] brings you to the configuration result

Check the specifications and confirm the result with [End]

Then navigate with the buttons [Continue] and [Back] through the individual parameter

pages and execute the settings for the individual topics. In the View [Workplace], you can

directly select a page in the displayed tree.



4.4.2 Gantry

1. Enter all required values.

Dimension system

2. Choose a coordinate system by determining the position of the axis zero point

(� 2.8 Measurement system).

3. Specify the project zero point and the SW end positions (positive/negative) of both axes

(� 2.8 Measurement system).

Homing

4. Enter all required speed and acceleration values.

4.4.3 Controller

1. Select in the [Project] [Component] menu the entry [Controller].

Here, the firmware version and network settings of the connected CMXH are visible in the online

mode. The network settings can be adjusted as needed (� 4.2.2 Network settings).

Fieldbus

This page is only visible if CANopen or SCE have been selected as the control interface.

Control interface CANopen:

� Select the bit rate

� Specify the node number (range of values 1 … 127, default: 1)

Control via Ethernet (CVE) control interface:

� Determine the port, if necessary (range of values 1 … 65535, default: 49700)

4.5 Settings of the operating parameters

4.5.1 Record Table

The parameters of positioning jobs are created via the FCT and saved in a record table in the form of

records. A record table consists of a maximum of 31 records.

The records are selected individually in the “Record selection” operating mode using the record num

ber.

Each record consists of the following parameters:

– Record type: Positioning absolute (PA), relative to the setpoint position (PRN) or relative to the

actual position (PRA)

– Target position X and target position Y

– Speed, acceleration and jerk

– Comments (optional)

Records are parameterised exclusively via the Festo Configuration Tool (FCT).



4.5.2 Teaching

In the referenced status, the current position can be taken over through the FCT:

1. Display “Dimension system” or “Record table” parameter page

2. The slide is brought to the desired position (e.g. by jogging or by hand).

3. Through actuation of the “Accept as…” button in the online tab “Manually travel”, the current posi

tion is taken over into the record table as a software end position or project zero point.

4.5.3 Enable device control via FCT

To control the controller through the FCT, you must activate the device control via FCT.

� Activate the “FCT” check box in the project output in the “Device Control” frame.

Caution

Setting the “FCT” check box interrupts control through the control interfaces, which can

result in malfunctions in the process or damage to the system. The interfaces have only

read access to the controller.

� Also set the “Enable” check box to enable the drive.

To deactivate the device control through the FCT, the check in the check box must be removed. Then the

interface set in the FCT Project takes over control again. For CVE, the device control must be actively

requested by the control/PC.

4.5.4 Controller identification

For identification of a specific controller from a group of several controllers:

1. Select in the menu [Component] [FCT Interface].

2. In the dialogue “FCT Interface”, actuate the “Search...” button.

3. In the dialogue that appears, select a controller with the right mouse button.

4. Select the entry [Identification] [On].

– The red LED display component “Device” (� 2.9.2 LED display components) and the point of the

7-segment display (� Fig. 4.2 Controller identification) of the identified controller flash.

5. Then switch the controller identification back off [Identification] [Off ].

1

1 Point for controller identification

Fig. 4.2 Controller identification



4.5.5 Firmware update

Note

Before using a newer firmware version:

� Check whether a newer corresponding version of the FCT plug-in or user documenta

tion is available � www.festo.com/sp.

Proceed as follows for a firmware update:

1. Install the latest plug-in recommended for the firmware

(� 1.4 Instructions on this documentation).

2. Create new component with this plug-in version.

3. Create connection to the controller with the old firmware.

4. Read and back up the project.

5. Perform a firmware download

6. Create a connection and perform a project download.

5 Operation


5 Operation

5.1 Instructions for operation

Safety

Caution

The safety instructions for commissioning also apply during ongoing operation.

� Observe the safety instructions in the chapter Commissioning with the FCT

(� 4.1 Safety instructions).

Caution

Unexpected movements of the planar surface gantry after the controller is enabled.

� Make sure that no persons or items are in the travel range of the planar surface

gantry when the controller is enabled.

Password protection

Note

Protection against unauthorised or unintended overwriting of parameters.

� Set up a password through the FCT (� Plug-in Help).

At delivery, protection through a password is not active.

Maintenance and care

Note

The controller is maintenance-free.

� But observe the maintenance information of the planar surface gantry as well as

possible additional components

Disposal and environment

Note

Environmentally friendly disposal

� Observe the local regulations for environmentally-friendly disposal of electronic

components.

5 Operation


5.2 Communication principle, general

Communication between a higher-order controller and the controller takes place in all operating modes

through the FHPP protocol (Festo Handling and Positioning Profile) with cyclical data exchange of

8 bytes of output and 8 bytes of input data each.

5.2.1 Overview of the control and status bytes

The function assignment of the control and status bytes (byte 3 … 8) is dependent on the

operating mode.

Record selection mode

Control word Output word 1 Output word 2 Output word 3

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Output data

(control bytes)

CCON CPOS Record no. Reserved =0

Tab. 5.1 Record selection mode, control byte overview

Status word Input word 1 Input word 2 Input word 3


Input data

(status bytes)

SCON SPOS Record no. Error num

ber

Actual

X-position

Actual

Y position

Tab. 5.2 Record selection mode, status byte overview

Direct mode

Control word Output word 1 Output word 2 Output word 3


Output data

(control bytes)

CCON CPOS Speed Setpoint

X position

Setpoint

Y position

Tab. 5.3 Direct mode, control byte overview

Status word Input word 1 Input word 2 Input word 3


Input data

(status bytes)

SCON SPOS Reserved

= 0

Error num

ber

Actual

X-position

Actual

Y position

Tab. 5.4 Direct mode, status byte overview

5 Operation


5.2.2 Description of the control bytes CCON/CPOS

All necessary statuses were controlled with the control byte CCON.

Control byte 1 (CCON)

Bit Function Description

0 Enable drive ENABLE = 0

= 1

Drive blocked

Enable drive

1 Stop Stop = 0

= 1

Stop active (stop with the permissible ramp and

cancel positioning task).

Enable operation

2 Release brake BRAKE = 0

= 1

Brake active

Release brake,

only effective when drive is blocked (ENABLED = 0)

and brake active (RB = 0 at interface X4)

3 Acknowledge

malfunction

RESET With a rising edge, an error message present is deleted and, if

successful, the malfunction status is exited.

4 Reserved = 0 Reserved

5 Axis selection AXSEL

= 0

= 1

Only effective during jogging

X-axis selected for jogging

Y-axis selected for jogging

6 Operating mode

selection

OPM = 0

= 1

Record selection mode

Direct mode


Tab. 5.5 Control byte CCON

5 Operation


The CPOS control byte controls the positioning sequences after the drive is enabled.

Control byte 2 (CPOS)


0 Positioning

Relative

REL = 0

= 1

Positioning absolute

Positioning relative to the last setpoint value

Only effective in direct mode

1 Start positioning

task

START With a rising edge, the current setpoint values are accepted

and positioning started.

2 Start homing HOME A rising edge starts homing with the preset parameters.

3 Jog positive JOGP As long as the bit is set, the drive travels with configured

speed in the direction of larger actual values of the axis

selected in AXSEL.

4 Jog negative JOGN As long as the bit is set, the drive travels with configured

speed in the direction of smaller actual values of the axis

selected in AXSEL.




Tab. 5.6 Control byte CPOS

5 Operation


5.2.3 Description of the status bytes SCON/SPOS

The status byte SCON provides feedback about the drive statuses.

Status byte 1 (SCON)


0 Drive

enabled

ENABLED = 0

= 1

Drive blocked, output stage switched off

Drive enabled

1 Operation

enabled

OPEN = 0

= 1

Stop active

Operation enabled, positioning possible

2 Warning WARN = 0

= 1

No warning

Warning is present

3 Error FAULT = 0

= 1

No error

Error is present, error response active

4 Ready for enable RDYEN = 0

= 1

Not ready for enable

Ready for enable

5 Drive control by

FCT

FCT = 0

= 1

FCT not active, device control through control

interface possible

FCT active, device control through control interface

not possible

6 Feedback

Operating mode

OPM = 0

= 1

Record selection mode (standard)

Direct mode


Tab. 5.7 Status byte SCON

5 Operation


The status byte SPOS provides feedback about the positioning sequences.

Status byte 2 (SPOS)



1 Acknowledge

start

ACK = 0

= 1

Ready for start

(positioning task or referencing)

Start executed

(positioning task or referencing)

2 Motion complete MC = 0

= 1

Positioning task active

Positioning task completed (possibly with error)


4 Drive is moving MOV = 0

= 1

Speed of the axis limit value

Speed of the axis limit value



7 Drive referenced REF = 0

= 1

Homing must be executed

Homing not necessary,

reference information present

Tab. 5.8 Status byte SPOS

5 Operation


5.2.4 Start of positioning

ACK

START

MC

Setpoint

values

2

3

4

5

6

7

1

2

4

1 Setpoint values preselected– With control over I/O interface through creation of signals DIN1 … DIN5 (record number)

– With control over CANopen interface and control via Ethernet through creation of the setpoint

values byte 3 … byte 8 (dependent on the operating mode, record number or speed, as well as

positioning absolute or relative to the setpoint position)

2 Requirements for START:MC=1

ACK=0

3 Start signal through control: START=14 Response of the CMXH to rising edge of START 3:

ACK=1

MC=0

5 Response of the control to 4: START=06 Response of the CMXH to 5: ACK=07 Positioning task completed: MC=1

Fig. 5.1 Timing diagram

5 Operation


5.3 Control via I/O interface

5.3.1 General

If the controller is activated via the I/O interface [X2], only the record selection operating mode is avail

able. The operating modes of direct mode and jogging are not possible.

Record 0 is reserved for homing. The records 1 … 31 configured with the FCT are selected as desired by

the higher-order controller via the binary coded inputs DIN1 … DIN5.

The other inputs and outputs serve to start the selected record or to output status messages, for ex

ample.

5.3.2 Communication

Communication takes place via the I/O interface [X2].

Note

Make sure to use PNP I/Os

Pin Function Description

1 Output:

Ready for enable

RDYEN = 0

= 1

Not ready for enable

Ready for enable

2 Input 1 (value 1) DIN1 Record selection, records 0 … 31

(Record 0 = homing)

The inputs are evaluated together.

3 Input 2 (value 2) DIN2




7 Output +24 V 24 V logic Logic voltage +24 V

8 Input: start record START Start record or homing run though rising edge

9 Input:

enable drive

ENABLE = 0

= 1

Block drive and operation

Enable drive and operation

10 Input: acknowledge error RESET Acknowledge error through rising edge

11 Output:

drive enabled

ENABLED = 0

= 1

Drive and operation blocked

Drive and operation enabled

12 Output: error FAULT = 0

= 1

No error

Error is present

13 Output: acknowledge start ACK = 0

= 1

Ready for start

Start carried out

14 Output: motion complete MC = 0

= 1

Positioning task active

Positioning task completed

(possibly with error)

15 0 V GND24 Logic voltage reference potential

Tab. 5.9 Description of the input and output interface [X2]

5 Operation


5.3.3 Examples

Note

If a malfunction occurs during the process (� 6 Diagnostics).

Enable operation

Requirements:

– The I/O interface is selected as control interface

(� 4.4.1 Create new drive configuration/change drive configuration).

– No error is present.

– The signals STO1=1, STO2=1 and ESTOP=1 must be present at the inputs of the interface for

switch-off functions [X4] (� 3.2.5 Switch-off functions interface [X4]).

1. As soon as the controller is ready, RDYEN=1 and MC=1 are present.

2. Enable the drive and operation by applying the signal ENABLE=1.

– After the drive is enabled, the signal ENABLED=1 is applied.

The operation is enabled.

Carrying out homing

Homing is executed by selecting and starting record number 0.

Requirements:

– The position of the axis zero point AZ was correctly parameterised via the FCT.

– The drive is enabled with ENABLED=1, and no error is present, FAULT=0.

– START=0 must be applied.

– ACK=0 and MC=1 must be applied.

1. Select homing (record number 0) by applying the signal DIN1 … DIN5=0 to all five binary-coded

inputs (pin 2 … pin 6).

2. Apply the signal START=1 to start homing.

– The selected record number (record number 0 = homing) is taken over and started through a

rising edge at START.

– The signal ACK = 1 is applied as soon as homing has been started.

– As soon as the reference position is reached, the signal MC=1 is applied.

5 Operation


Start of a record (record selection mode)

Requirements:

– The drive is enabled with ENABLED=1, and no error is present, FAULT=0.

– Homing has been executed successfully.

– START=0 must be applied.

– ACK=0 and MC=1 must be applied.

1. Select a record by applying signals to the binary coded inputs (pin 2 … 6) corresponding to the de

sired record number.

– Example for the selection of record number 6:

� DIN1=0, DIN2=1, DIN3=1, DIN4=0, DIN5=0

2. Apply the signal START=1 to start the selected record.

– The selected record number is taken over through a rising edge at START and the record is started.

– The signal ACK=1 is applied as soon as the record has been started.

– As soon as the target position is reached, the signal MC=1 is applied.

5 Operation


5.4 Controller via CANopen interface

5.4.1 General

The controller can be actuated via the CANopen interface from a higher-order controller in the two op

erating modes record selection and direct mode. It is possible to start and jog both homing and posi

tioning jobs.

5.4.2 Communication

In a CANopen network, the CMXH controller behaves as a slave with cyclical data exchange. In each

case, 8 bytes of control data and 8 byte of status data are thereby exchanged between the higher-order

controller (PLC/IPC) and the controller. The data exchange takes place in the form of telegrams,

whereby process data objects (PDO) and service data objects (SDO) are differentiated. Control data are

transferred via transmit PDOs and status data via receive PDOs. The SDOs can be used to access ob

jects defined in the appendix.

In the direct mode operating mode, the desired acceleration and jerk value is paramet

erised directly in the object directory through a service data object. You can find an over

view of all CANopen objects in the appendix (� B.1 CANopen object overview).

Transmit PDOs

Index Su

bindex

Designation Type Control

byte

Explanation

3000h 0 Control word uint16 1 … 2 � 5.2.2

3001h 0 Record selection mode: record number

Direct mode: speed

uint16 3

3 … 4

Record 0 … 311)

Unit [mm/s]

3002h 0 Target position X (only in direct mode) int16 5 … 6 Unit [0.1 mm]

3003h 0 Target position Y (only in direct mode) int16 7 … 8 Unit [0.1 mm]

1) Record 0 = homing

Tab. 5.10 Transmit PDOs

Receive PDOs

Index Su

bindex

Designation Type Status

byte

Explanation

3020h 0 Status word uint16 1 … 2 � 5.2.3

3021h 0 Record selection: record and malfunction

number

Direct mode: error number

uint16

3 … 4

4

255: no malfunction

3022h 0 Actual position X int16 5 … 6 Unit [0.1 mm]

3023h 0 Actual position Y int16 7 … 8 Unit [0.1 mm]

Tab. 5.11 Receive PDOs

Note

� Use the EDS file for configuration in a CANopen network.

You can find a current EDS file on the Festo Internet page (� www.festo.com).

5 Operation


5.4.3 Examples

Note

If a malfunction occurs during the process (� 6 Diagnostics).

Enable operation

Requirements:

– The CANopen interface is selected as control interface

(� 4.4.1 Create new drive configuration/change drive configuration).

– No error is present.

– The signals STO1=1, STO2=1 and ESTOP=1 must be present at the inputs of the interface for

switch-off functions [X4] (� 3.2.5 Switch-off functions interface [X4]).

1. As soon as the controller is ready, SCON.RDYEN=1 and SPOS.MC=1 are set.

– CPOS.START=0 and CPOS.HOM=0 must be set.

2. Enable the drive by setting CCON.ENABLE=1.

– As soon as this status has been reached, SCON.ENABLED=1 is set.

3. Enable operation by setting CCON.STOP=1.

– As soon as this status has been reached, SCON.OPEN=1 is set.

The operation is enabled (controlled status).

Execute homing

Requirements:

– The position of the axis zero point AZ was correctly parameterised via the FCT.

– Operation is enabled, SCON.OPEN=1.

– CPOS.START=0, CPOS.HOM=0, CPOS.JOGP=0 and CPOS.JOGN=0 must be set.

– SPOS.ACK=0 and SPOS.MC=1 must be set.

1. Set CPOS.HOM=1.

– With detection of the rising edge at CPOS.HOM, homing is started

2. Set CPOS.HOM=0 as soon as SPOS.ACK=1 has the value 1.

– As soon as the reference position is reached, SPOS.MC=1 and SPOS.REF=1 are set.

Homing is completed.

5 Operation


Start of a record (record selection mode)

Requirements:


– Homing has been executed successfully, SPOS.REF=1.



1. Set CCON.OPM=0.

– The record selection operating mode is selected.

2. Write the desired record number in the control byte 3 of the output data.

3. Set CPOS.START=1.

– With detection of the rising edge at CPOS.START, the pending record number is taken over and

the selected record is started.

– While the record is being executed, SPOS.MC=0.

– As soon as the record has been concluded, SPOS.MC=1.

4. Set CPOS.START=0 as soon as SPOS.ACK = 1.

Start of a direct application (direct mode)

Requirements:


– Homing has been executed successfully, SPOS.REF=1.



1. Set CCON.OPM=1.

– The “direct mode” operating mode is selected.

2. Define the parameters of the direct application.

� Write the desired speed to the control bytes 3 and 4 of the output data.

� Write the target position in the X-direction to the control bytes 5 and 6 of the output data.

� Write the target position in the Y-direction to the control bytes 7 and 8 of the output data.

3. Set whether positioning should take place absolutely or relative to the setpoint position.

Positioning absolute:

� Set CPOS.REL=0.

Positioning relative:

� Set CPOS.REL=1.

4. Set CPOS.START=1.

– With detection of the rising edge at CPOS.START, the direct application is taken over and started.

– While the direct application is being executed, SPOS.MC=0.

– As soon as the direct application has been concluded, SPOS.MC=1.

5. Set CPOS.START=0 as soon as SPOS.ACK=1.

5 Operation


5.5 Control via Ethernet (CVE)

Note

The CVE interface is not real-time capable. Control of the controller through Ethernet

requires a risk estimation by the user:

� Only use the CVE function in applications in which the lack of real-time capability

cannot pose risks.

5.5.1 General

With the function “Control via Ethernet” (CVE), the controller can be controlled via the Ethernet inter

face. The controller is pre-parameterised for this purpose with the Festo Configuration Tool (FCT). It is

possible to start and jog both homing and positioning jobs through CVE.

The controller can be actuated through the CVE interface in the record selection and direct mode oper

ating modes.

5.5.2 Communication

The basis for CVE communication is TCP/IP data transfer. The controller acts as the server in this setup,

while the PC application acts as the client, i.e. the PC application always sends a request to the control

ler, which sends back a response (client-server principle).

The TCP connection is typically built up once and then remains in place as long as communication with

the controller is required.

The TCP port used can be set via the FCT. The port number 49700 is set at the factory.

Communication with the controller takes place via the CVE protocol. This must be imple

mented in the PC application. Knowledge of programming TCP/IP applications is required

for this purpose.

CVE communication takes place via the CVE protocol (� 5.5.3 CVE protocol), whereby control data are

written to CVE objects and status data are read out of CVE objects.

In the record selection mode, a record parameterised via the FCT is selected through CVE objects and

started.

In the direct mode, the target position in the direction of the X- and Y-axis as well as the speed, acceler

ation and jerk values are written directly to CVE objects. The information on whether positioning should

take place absolutely or relative to the last setpoint position as well as the start of the direct applica

tion is also realised by writing to CVE objects.

5 Operation


5.5.3 CVE protocol

Access to the data of the controller is through CVE objects. A CVE object always has a unique index that

enables identification of the object.

Note

A series of CVE objects is listed in the appendix (� C.1 CVE object overview).

In the following, the notation xxx.y (object index.object subindex) is used for CVE ob

jects.

Caution

Personal injury and material damage

Inadvertent writing to non-documented objects can result in unforeseeable behaviour of

the planar surface gantry.

� Use only objects listed in the appendix (� C.1 CVE object overview).

Each CVE object has one of the following listed data types (� Tab. 5.12 Data types).

The byte sequence is Little Endian, that is, the lowest-value byte first.

Data types

Value Type Bytes Description Range of values

0x00 – – Unknown data type –

0x01 – – – –

0x02 UINT32 4 32 bit unsigned integer 0 … 4294967295



0x05 – – – –

0x06 SINT32 4 32 bit signed integer – 2147483647 … 2147483647

0x07 SINT16 2 16 bit signed integer – 32767 … +32767

0x08 SINT08 1 8 bit signed integer – 127 … +127

Tab. 5.12 Data types

Read object

To read a CVE object, a request corresponding to Tab. 5.13 must be sent to the controller. This sends

back a response corresponding to Tab. 5.14.

Write object

To write a CVE object, a request corresponding to Tab. 5.15 must be sent to the controller. This sends

back a response Tab. 5.16.

5 Operation


Request “Read CVE object”

Byte Function Data type Description

0x00 Service ID UINT08 0x10 = Read CVE object from controller

0x01

0x02

0x03

0x04

Message ID UINT32 Message ID freely assignable by the application.

It is always sent back unchanged in the response. This

enables a clear assignment of the request and

response. The message ID can be used but is not

mandatory.

0x05

0x06

0x07

0x08

Data length UINT32 Always 4 for this request.

0x09 Acknowledge UINT08 In the request, this field always remains empty

(initialise with 0).

0x0A

0x0B

0x0C

0x0D

Reserved UINT32 Position holder (initialise with 0).

0x0E

0x0F

Object index UINT16 Index of the CVE object to be read.

0x10 Object subindex UINT08 Subindex of the CVE object to be read.

0x11 Reserved UINT08 Position holder (initialise with 0).

Tab. 5.13 Request “Read CVE object”

5 Operation


Response “Read CVE object”

Byte Function Data type Description

0x00 Service ID UINT08 0x10 = Read CVE object from controller

0x01

0x02

0x03

0x04

Message ID UINT32 Message ID included in the request.

0x05

0x06

0x07

0x08

Data length UINT32 The data length is dependent on the data type of the

read CVE object. The following applies:

Data length = 4 bytes + data type length

Example for UINT32:

Data length = 4 bytes + 4 bytes = 8 bytes

0x09 Acknowledge UINT08 0 if everything is ok. All other values mean that the

object could not be read. A listing of possible causes of

error � Tab. 5.17 Confirmation (acknowledge).

0x0A

0x0B

0x0C

0x0D

Reserved

Documents

Planar surface gantry with controller EXCM-30/-40--PF · 2020. 8. 2. · 12 Festo – EXCM-30/-40-...-PF-EN – 1603 – English 2.5.2 Safety function Safe Torque Off - STO The safety