Multi-axis controller CMXR-C2€¦ · Handbook title: GDCP-CMXR-C2-HW-EN Filename: File storage...

Multi-axis controller

CMXR-C2

Description Mounting and installation

571694 1501b [8039851]

Version ______________________________________________________________ 1501b Designation ____________________________________________ GDCP-CMXR-C2-HW-EN Order no. ___________________________________________________________ 571694

Festo AG & Co., 73726 Esslingen, Germany, 2015 Internet: http://www.festo.com E-mail: [email protected]

Reproduction, distribution and utilisation of this document, as well as the communication of its contents to others without explicit authorisation, is prohibited. Offenders will be held liable for damages. All rights reserved, in particular the right to file patent, utility model and registered design applications.

Festo GDCP-CMXR-C2-HW-EN 1501b 3

http://www.festo.com/

Revisions index

Author:

Handbook title: GDCP-CMXR-C2-HW-EN

Filename:

File storage location:

Consec. no. Description Revisions index Date of revision

001 Creation 1002NH 31.03.2010

002 CPU and power consumption revised 1010a 10.11.2010

003 Revision 1501b 15.01.2015

Table 1.1 Directory of revisions

Specified directives/standards

Version status

EN 60529:2000-09 IEC 60068-2-27:2010-02

EN 60715:2001-09 IEC 60204-1:2007-06

EN ISO 13849-1:2008-12 IEC 61131-2:2008-04

IEC 60068-2-6:2008-10 ISO 11898:2003-12

Table 1.2 Directives/standards specified in the document

Trademarks CANopen® and PROFIBUS® are registered trademarks of the respective trademark owners in certain countries.

4 Festo GDCP-CMXR-C2-HW-EN 1501b

Notes on this documentation This description includes specific information about the system of the multi-axis controller CMXR-C2 with the software version from Version 1.0. In addition to the actual multi-axis control system, this system also includes the operator unit CDSA-D1-VX and its emulation via software as a PC application.

Identification of dangers and instructions on how to avoid them:

Warning Dangers which can lead to death or serious injuries.

Caution Dangers which can lead to slight injuries or to serious material damage.

Other symbols:

Note Material damage or failure of function.

Recommendation, tip, reference to other documentation.

Necessary or useful accessories.

Information on environmentally friendly use.

Text designation:

• Activities that can be carried out in any order. 1. Activities which should be carried out in the specified sequence. − General lists.


Terms and abbreviations used

Term/abbreviation Significance

A Digital output

Address switch For setting the internal module address

Analogue I/Os Analogue inputs and outputs

Application Sum of user programs

CANopen CAN-based fieldbus protocol (standardised as a European Standard)

Ethernet Physical protocol and network for connecting various devices

I Digital input

I/O module Collective term for those modules that provide digital or analogue inputs and/or outputs.

Optional modules These are plugged into slots (maximum 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 module on the right-hand side. Signal generators and final control elements are connected via I/O modules, for example.

Retain data Data which are written into the memory of the control system by the application (normally numbers of items, time information or the like). Retain data keep their value after the device has been switched off and on. If the program is restarted, you can continue to work with the saved data. The data are not saved on the Compact Flash memory card.

Status report Files which the device can save for error analysis. These include important information about the status of the device at the time the error occurred. They can be read out for service purposes.

Terminating resistor Resistor at the line end of bus segments for minimising signal reflections.

Table 1.3 Terms and abbreviations used

Additional documentation The total functionality of the multi-axis control system CMXR-C2 is described in the following documents:

Name Contents

GDCP-CMXR-SY-… System description

GDCP-CMXR-HW-… Mounting and installation (this document)

GDCP-CMXR-F-… PLC interface

GDCP-CMXR-SW-… Programming instructions for CMXR FTL base

Table 1.4 Further documentation – CMXR-C2 multi-axis control system

The listed documents are available for download in the Festo Support Portal ( www.festo.com/sp).


Table of contents

Table of contents

1. Safety and requirements for product use .............................................................. 9

1.1 Safety .................................................................................................................... 9 1.1.1 General safety information ................................................................... 9 1.1.2 Intended use ...................................................................................... 10 1.1.3 Range of applications and certifications ............................................. 11

1.2 Requirements for product use .............................................................................. 11 1.2.1 Qualification of specialized personnel ................................................ 12

2. System overview CMXR-C2 ................................................................................. 13

2.1 Tasks and functions ............................................................................................. 13

2.2 Structure of the device ......................................................................................... 14 2.2.1 Central control unit ............................................................................. 15 2.2.2 Optional modules ............................................................................... 15 2.2.3 Peripheral modules ............................................................................ 16

2.3 Operator unit CDSA-D1-VX ................................................................................... 16

3. Mounting............................................................................................................. 17

3.1 General instructions on mounting and dismounting ............................................. 17

3.2 Guidelines for device configuration ...................................................................... 17 3.2.1 Installing and removing optional modules .......................................... 18 3.2.2 Mounting peripheral modules ............................................................ 19 3.2.3 Dismounting peripheral modules ....................................................... 21

3.3 Guidelines for the installation .............................................................................. 22

3.4 H-rail mounting .................................................................................................... 23

3.5 Dismounting ........................................................................................................ 25

4. Installation of the central control unit CMXR-C2 ................................................. 26

4.1 General instructions on installation...................................................................... 26

4.2 Selecting the power supply unit ........................................................................... 26

4.3 Notes on wiring .................................................................................................... 27

4.4 Display, connection and operator control elements .............................................. 32 4.4.1 Connecting the operating voltage ....................................................... 33 4.4.2 Earthing the multi-axis control system ................................................ 34 4.4.3 RS232C interface [X3]/[X9] ................................................................. 35 4.4.4 USB interfaces [X8]/[X10] ................................................................... 35 4.4.5 Rotary switch (reserved for expansion) ............................................... 35 4.4.6 CAN interface [X6] ............................................................................... 35 4.4.7 CAN interface [X4] (optional module CECX-F-CO) ................................. 36 4.4.8 Ethernet interface [X5] ........................................................................ 37


Table of contents

4.4.9 Ethernet interface [X7] ........................................................................ 37 4.4.10 Using Compact Flash memory cards ................................................... 38

5. Commissioning instructions ................................................................................ 40

5.1 General information on commissioning ................................................................ 40

5.2 Performance of the central control unit ................................................................ 40 5.2.1 Running-up performance .................................................................... 40 5.2.2 Operating statuses ............................................................................. 42 5.2.3 Behaviour in the event of module error............................................... 42 5.2.4 Behaviour in the event of power failure .............................................. 42 5.2.5 Control key (CTRL key) ........................................................................ 43

6. Diagnostics and error handling ........................................................................... 44

6.1 Summary of diagnostics options .......................................................................... 44

6.2 On the spot diagnostics via LEDs ......................................................................... 44 6.2.1 Power LED .......................................................................................... 44 6.2.2 CAN status LEDs ................................................................................. 44 6.2.3 Ethernet status LEDs .......................................................................... 44 6.2.4 Status LED for the memory card ......................................................... 45

6.3 On-the-spot diagnosis via the 7-segments display ............................................... 45 6.3.1 Error codes ......................................................................................... 46

7. Maintenance and care ......................................................................................... 47

7.1 Changing the battery ........................................................................................... 47

7.2 Cleaning .............................................................................................................. 48

A. Appendix ............................................................................................................. 49

A.1 Technical data ..................................................................................................... 49 A.1.1 General .............................................................................................. 49 A.1.2 Central control unit CMXR-C2 ............................................................. 50

A.2 Accessories .......................................................................................................... 50

A.3 Notes on EMC-compliant wiring ........................................................................... 51

B. Index ................................................................................................................... 53


1 Safety and requirements for product use

1. Safety and requirements for product use

1.1 Safety

1.1.1 General safety information

Caution Malfunction of the machine or system due to improper manipulation.

• Provide the load and operating voltage as a circuit with limited energy in accordance with IEC 61131−2 and always make sure there is fuse protection with max. 10 A.

• The power supply for the equipment must be assured by reliable isolation of the low-voltage from contact-hazardous voltages.

• Make sure that an interrupted program can be properly restarted after voltage drops and voltage failure. The occurrence of dangerous operating statuses, even if momentary, must be avoided.

• Emergency stop equipment must remain effective in all operating modes. Unlocking the emergency stop equipment must not initiate an uncontrolled restart.

• Additional external measures, which guarantee a safe operating status of the entire system even in the event of a fault, must be put in place anywhere, where faults occurring in the control system could result in personal injuries or extensive material damage.

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 Destruction of modules and damage to the CMXR-C2 central control unit!

• Switch off supply voltages before you mount or remove modules.

• Install the device in a suitable control cabinet ( 3.3 Guidelines for the installation).



1.1.2 Intended use The CMXR multi-axis control system is intended to operate a kinematics system in the environment of a machine or automated system.

• Use the multi-axis control system only as follows: − in perfect technical condition − in original status without unauthorised modifications, except for the adaptations

described in this documentation − within the limits of the product defined through the technical data − in an industrial environment.

Warning The Festo CMXR multi-axis control system is not designed for safety-relevant control tasks (e.g. emergency stop or monitoring of reduced speeds). The CMXR multi-axis control system conforms to category B of EN ISO 13849-1 and is thus not sufficient for the implementation of safety functions for the protection of persons.

• Additional external protective measures that ensure the safe operating status of the entire system even in the event of a malfunction must be adopted for safety-relevant control tasks or for the safety of persons.

Note The products or system components described may only be used for the applications set out in the description and only in combination with the recommended or permitted external devices.

The multi-axis control system is intended for installation in a control cabinet. The device is intended for use as a multi-axis control system with robotics functions. The device takes over the following functions: − Control of selected Festo motor controllers via CAN bus (Festo DriveBus) − Control of peripheral equipment (digital, analogue, position encoder)

• Use only the modules in the CECX series for setting up the modular multi-axis control system. Use of modules from this series in combination with modules from other series is impermissible.

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.



1.1.3 Range of applications and certifications The product fulfils the requirements of EU directives and is marked with the CE marking.

Standards and test values which the product must comply with and fulfil can be found in the section “Technical data”. The product-relevant EU directives can be found in the declaration of conformity. Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These configurations bear the following mark:

UL Listing Mark for Canada and the United States

Certification conditions/requirements for UL-compliant use Only class 2 power sources may be used for the electrical supply (“Only for use in Class 2 circuits”). The modules for the multi-axis control system described here are “open type equipment” and must, therefore, be installed in a control cabinet. All modules with front panel power supply must be protected with a back-up fuse. A 10 A fuse is recommended.

1.2 Requirements for product use • Provide this documentation to the following persons:

− design engineer − installer − commissioner of the machine or system

• Comply with the specifications of the documentation. Follow all accompanying documentation and the documentation of any associated accessories.

• Take the following into consideration for the destination: − applicable legal regulations − regulations and standards − regulations of the testing organisations and insurers − national specifications

For correct and safe use:

• Observe all warnings and notes.

• Comply with all load limits of the product and the connected components.



1.2.1 Qualification of specialized personnel • The product should only be installed by specialized personnel with corresponding

qualifications. The following knowledge is required: − installation and operation of electrical control systems − applicable regulations for operating safety-engineering systems − Applicable regulations for accident prevention and operational reliability − documentation and mode of operation of the product.


2 System overview CMXR-C2

2. System overview CMXR-C2

2.1 Tasks and functions

Product version Description

Central control unit CMXR-C2

The multi-axis control system1) controls a gantry robot or the parallel kinematic system EXPT from Festo. The device takes over the following functions: − Control of selected Festo stepping motor and servo

motor controllers via CAN bus (Festo DriveBus) − Control of peripheral equipment (digital, analogue,

position encoder) Expanding the device with further modules is permissible.

1) Shown here is the standard configuration

Table 2.1 Standard design of the modular control system

The device can be extended through use of additional modules. The device configurations shown in this manual can thus deviate from your device configuration.

The device has two CAN interfaces in this version. Drives - optionally Festo stepper motors or servo motors - can be connected via the CAN interface [X6]. Communication with the drives occurs on the basis of CANopen profile DS402 via Festo DriveBus. Peripheral equipment can be controlled using the CANopen protocol via the second CAN interface [X4], e.g. Festo CPV valve terminals. Furthermore, you can adapt the structure of the multi-axis control system to your requirements, because the device can be equipped in this product version with further digital, analogue and fieldbus modules ( 2.2.3 Peripheral modules).



Example of a multi-axis system with multi-axis control system CMXR-C2

1 Retainer CAFM-D1-W

2 Operator unit CDSA-D1-VX

3 Interface housing CAMI-C

4 Motor controller connected via Festo DriveBus [X6]

5 Motor

6 Peripheral equipment (here a CPV valve terminal) connected via CAN interface [X4] 7 Multi-axis control system CMXR

Fig. 2.1 Structure of a multi-axis system with multi-axis control system CMXR-C2 (example)

The operator unit CDSA-D1-VX is used for operating, observing and programming the multi-axis control system.

2.2 Structure of the device The device is designed modularly and consists mainly of: − a central control unit − optional modules (these are inserted into a slot on the central module) − peripheral modules (added to the right side of the central module) − display and operating devices.

1

2

4

6

3

7

5



2.2.1 Central control unit The central control unit is the centrepiece of the multi-axis control system. It provides the required resources for processing the user programs (processor, main memory, etc.). The central control unit offers 3 slots for optional modules, to make available additional interfaces. To increase functional capacity, peripheral modules can be connected on the right side of the central control unit.

Central control unit Description

− Intel Celeron 600 MHz − 256 MB SDRAM/512 kB SRAM − Slots for optional modules (CAN, Ethernet and RS-232-C

interface) − CAN interface [X6] for the motor controller of the servo axes − Bus connection for peripheral modules − Slot for Compact Flash memory card − USB interfaces

Table 2.2 Central control unit

2.2.2 Optional modules Optional modules can be used to increase the communication ability of the central control unit. The optional modules are components of the central control unit.

Optional module Description

CECX-C-ET Electrical interface Ethernet connection [X5] for the Ethernet controller integrated into the central control unit. Rate of transmission: 10/100 Mbit/s

CECX-F-CO Fieldbus interface CAN connection [X4] for the CAN controller integrated into the central control unit. Rate of transmission: up to 1 Mbit/s

Table 2.3 Optional modules



2.2.3 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 to the process. Sensors and actuators are, for example, connected via digital modules and analogue modules. Fieldbus modules establish the connection to control systems.

Most peripheral modules of the CECX device family are supported ( www.festo.com/catalogue).

2.3 Operator unit CDSA-D1-VX The CDSA-D1-VX operator unit is available for the multi-axis control system for programming and monitoring

Operator unit CDSA-D1-VX Description

Used for operating, monitoring and programming the multi-axis controller.

Table 2.4 Operator unit


3 Mounting

3. Mounting

3.1 General instructions on mounting and dismounting

Caution Sub-assemblies, modules and control systems may be damaged if they are not handled correctly.

• Before carrying out mounting, installation and maintenance work, switch off the operating and load voltage supply.

Note Damage to components!

• Handle all modules and components with great care. Pay particular attention to the following: − Contact surfaces must be clean (avoid contact errors). − The bus plug contacts must not be bent. − Make sure that no bits of wire, filling material or shavings fall into the

device when you drill holes or connect wires.

3.2 Guidelines for device configuration The multi-axis control system is supplied pre-assembled. The device can be adapted to the requirements by adding or removing peripheral modules. Rules for set-up − A maximum of 12 peripheral modules may be connected on the right side of the central

control unit. − The layout of the peripheral modules is freely selectable. − The power requirements of the attached peripheral modules must not exceed 45 W. − Peripheral modules of the same type must be set to different module addresses

( 3.2.2 Mounting peripheral modules). − Peripheral modules with varying type designation (e.g. CECX-D-16E and CECX-D-14A-2)

can have the same module addresses.

Recommendation: For peripheral modules of the same type, assign the module addresses in ascending order.

The central control unit and peripheral modules are connected via an internal bus. Peripheral modules of the same type are differentiated by the module addresses. The module address can be set with an address selector switch on the peripheral module ( 3.2.2 Mounting peripheral modules).


3 Mounting

The following figure shows the standard device configuration:

1 Central control unit

2 Optional module CECX-F-CO

3 Optional module CECX-C-ET

Fig. 3.1 Standard device configuration for the multi-axis control system CMXR-C2

3.2.1 Installing and removing optional modules

Note Assemblies and modules may be damaged if they are not handled correctly.

• Switch off the operating voltage supply for the central control unit before inserting or disconnecting optional modules.

• Do not touch any components.


The slots in the central control unit are intended for the following optional modules; the modules only fit in exactly these slots:

Slot Identification on the central control unit

Permissible optional module

Description

Left X3 serial interface CECX-C-S1 RS-232-C connection (optional)

Middle X4 CAN CECX-F-CO CAN connection

Right X5 Ethernet CECX-C-ET Ethernet connection

Table 3.1 Assignment of slots

Detailed information on optional modules can be found in the respective, associated manual.

1

2

3


3 Mounting

3.2.2 Mounting peripheral modules

Note Assemblies and modules may be damaged if they are not handled correctly.

• Switch off the supply voltage before mounting or dismounting peripheral modules.

• Do not touch any components.


Peripheral modules are shipped with the address setting 0.

• Before mounting, check the address setting and change it, if necessary.

• Observe guidelines for device configuration ( 3.2 Guidelines for device configuration).

Setting the module address The address switch for setting the module address is located on the right side under the bottom cover. The module address must be set prior to mounting of the module. The bus plug is located under the upper cover.

1 Bus plug (behind cover)

2 Recess for H-rail

3 Address switch (module address)

4 H-rail locking lever

Figure 3.2 Address switch and bus plug on a peripheral module (example)

Additional information can be found in the manual for the respective periphery module.

Note Damage to components when setting the module address.

• Use an appropriate tool (screwdriver).

• Do not damage adjacent components.

4

1

2

3


3 Mounting

Procedure 1. Remove cover of the address selector switch. 2. Check address setting and change it, if necessary. 3. Attach cover again.

Mounting peripheral modules The central control unit always takes up the outer left position within the multi-axis control system. Peripheral modules are arranged to the right of this and connected with one another via the bus plug. The total assembly can then be snapped onto an H-rail ( 3.4 H-rail mounting).

Note If handled incorrectly, the pins on the bus plug can bend!

• Proceed cautiously when mounting the peripheral modules.

Procedure 1. Switch off the operating voltage and the load voltage supplies. 2. Remove the bus plug’s right cover on the device (see figure). 3. Carefully insert the peripheral module until the upper and lower mechanical locking

mechanisms engage.

Note To protect against contamination and damage, both covers (for bus plug and address switch) must be attached to the last module.

1 Cover (on right side)

2 Bus plug

3 Upper mechanical interlock

4 Lower mechanical interlock

Fig. 3.3 Mounting a peripheral module

3

2

4

1


3 Mounting

3.2.3 Dismounting peripheral modules

Note If handled incorrectly, the pins on the bus plug can bend!

• Proceed cautiously when mounting the peripheral modules.

Procedure 1. Switch off the operating and load voltage supplies. 2. Remove the device from the H-rail, if necessary ( 3.5 Dismounting). 3. Unlock upper and lower mechanical interlocks by pressing lightly. 4. Carefully withdraw the peripheral module from the device. 5. Reattach the bus plug’s right cover.

1 Upper mechanical interlock

2 Lower mechanical interlock

Fig. 3.4 Dismounting a peripheral module

1

2


3 Mounting

3.3 Guidelines for the installation The device is intended to be installed into a control cabinet and in a horizontal position. The following guidelines must be observed when installing the multi-axis control system:

• Before mounting, also take the wiring for the device into consideration.

• Keep the device away from cables with high levels of interference.

• Leave sufficient space for wiring and cooling.

Recommendation: Install the device in a dust-free, closed control cabinet. If the control cabinet has vents, these must be equipped with air filters.

• Avoid heavy contamination of the air filter.

• Clean the air filter regularly and replace it, if necessary.

Mounting dimensions and mounting clearances A clearance of at least 50 mm, above and below the modules must be maintained for air circulation. The depth of the assembly is 100 mm. In determining the required control cabinet depth, the height of the plug connectors plus approximately an additional 20 mm must be taken into account.

H1: 121 mm L1: 270 mm H2: 72 mm L2: 22.5 mm H3: 50 mm L3: 10 mm L4: 4 mm

Fig. 3.5 Dimensions and mounting clearances


3 Mounting

Air-conditioning and ventilation The upper and lower sides of the module are equipped with ventilation slots for heat dissipation. When the permissible ambient temperature is maintained, there is no need for an external ventilator. The ventilation slots must unconditionally be kept clear.

Note Damage or malfunctions can occur if the permissible operating temperature is exceeded!

• Do not mount the device directly above a source of heat, e.g. a heating device, current transformer or high-watt resistor.

• Maintain a clearance of at least 50 mm above and below the modules.

• Make sure that the operating temperature inside the control cabinet does not exceed the permissible ambient temperature of the assemblies. In case of insufficient cooling through natural heat dissipation, plan for air conditioning of the control cabinet.

• Make certain that the area around the ventilation slots is not subjected to temperature fluctuation; for example, do not use air conditioning devices with intermittent operation.

3.4 H-rail mounting The device is intended for mounting on an H-rail in accordance with EN 60715.

Note Incorrect mounting causes malfunctions!

• Prior to mounting the device, check whether the peripheral modules are correctly mounted and all locking mechanisms have snapped into place.

• To safeguard the assemblies from slipping or shaking loose, attach an end support to the H-rail on both left and right sides.

• When mounting the H-rail, adhere to the maximum permissible screw interval of 120 mm.

1 Permissible screw interval

2 H-rail

Fig. 3.6 Maximum permissible screw spacing for H-rail mounting

1

2


3 Mounting

Procedure 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 retainer. 3. Press the lower half of the device onto the H-rail. 4. Lock all H-rail locking levers one after the other. 5. Secure the device with end supports (device end terminals) ( Following section).

1 H-rail fixture

2 H-rail latching lever

3 H-rail

Fig. 3.7 H-rail mounting

3

1

2


3 Mounting

Securing with end supports (device end terminals) • To safeguard the assemblies from slipping or shaking loose due to vibrations, attach

an end support to the H-rail on both the left and right sides.

1 End bracket

Fig. 3.8 Securing the device with end supports

3.5 Dismounting

Note Damage to components.

• Switch off the power supply and remove all cable connections prior to dismounting.

Procedure 1. Switch off the operating and load voltage supplies. 2. Disconnect all cable connections from the device. 3. Pull out all H-rail locking levers (unlock). 4. Remove the device from the H-rail.

1

1


4 Installation of the central control unit CMXR-C2

4. Installation of the central control unit CMXR-C2

4.1 General instructions on installation

Caution Uncontrolled movements of the connected actuators can cause personal injury or material damage.

• Before undertaking installation or maintenance work, switch off the operating voltage supply.

Note Damage to components!

− Observe the specified ambient conditions. Do not install the device: − in areas subjected to excessive dust, oil mist, conductive dust or

corrosive gas − directly in areas subjected to shock or vibrations − in areas subjected to high temperatures, direct sunlight, moisture or rain − in the proximity of high-voltage equipment or high-voltage lines.

Check as part of your emergency stop concept which measures are required for your machine/system to put the system into a safe status in an emergency (e.g. switching off energy sources, load voltage supply, compressed air, shutdown of moving parts, etc.).

4.2 Selecting the power supply unit

Warning Electric shock Injury to people, damage to the machine and system

• For the electrical power supply, use only PELV circuits in accordance with IEC 60204-1 (Protective Extra-Low Voltage, PELV).

• Observe the general requirements of IEC 60204-1 for PELV circuits.

• Use only voltage sources which guarantee reliable electrical isolation of the operating and load voltage in accordance with IEC 60204-1.

• Design the load voltage supply as a circuit with limited power in accordance with IEC 60204-1 or protect it correspondingly.

Through the use of PELV circuits, protection against electric shock (protection against direct and indirect contact) is ensured in accordance with IEC 60204-1.



The power requirement of the device depends on the amount and type of integrated modules ( Technical data for the used module).

Recommendation:

• Use regulated power supplies and, when selecting the power supply units, check that they have sufficient output.

4.3 Notes on wiring

With the multi-axis control system, no special installation of the cables is required. Notes on EMC-compliant wiring can be found in the appendix ( A.3 Notes on EMC-compliant wiring).

The device and/or specific modules are equipped with pin rows mounted on the front. Plug connectors with a grid dimension of 5.08 mm are required for connection.

• Only use the appropriate plugs that guarantee a secure plug-in connection. Plug connectors from the Festo catalogue are appropriate ( www.festo.com/catalogue).

Cable specifications for Festo plug connectors: − Conductor cross section min: 0.2 mm² (AWG 24) − Conductor cross section max: 2.5 mm² (AWG 13) − Strip length: 10 mm

Permitted copper conductors − Single wire, multi-wire, fine wire, also with tin-plated single wires − Fine wire strands compressed − Fine wire with wire end sleeve *) − Fine wire with pin cable socket *) *) If necessary, use next smaller conductor cross section.

Power supply cables

Supply cable Description

Cable type Unscreened cable The cable cross section must be adapted to the module’s power consumption.

Plug type Plug with grid dimension 5.08 mm

Table 4.1 Specification for power supply cable



I/O cables, digital

I/O cables, digital Description

Cable type Unscreened cable


Table 4.2 Specification for I/O cables (digital)

Recommendation:

• Distribute the connector blocks in such a way that associated signals are present on one plug.

I/O cables, analogue (current or voltage input/output)

I/O cables, analogue Description

Cable type Twisted pair cables with screen against low-frequency 50 Hz fields


Table 4.3 Specification for I/O cables (analogue)

Note Avoidance of malfunctions with analogue signals

• Connect the screen bus with the earth potential.

• Use screened cables and connect screening at both ends to the earth potential.

• Do not lay analogue cables parallel to cables with strong interference (e.g. cables from converters to motors).

1 Twisted cable pairs

2 Bus bar

3 0 V connector against 50 Hz field, max. length 1 m

Fig. 4.1 Example: Connection of the analogue inputs/analogue outputs

1

3

2



Recommendation:

• Distribute the connector blocks in such a way that associated signals are present on one plug.

Short-circuiting unused, pre-wired inputs For already pre-wired but unused inputs, the wires must be short-circuited at the cable end to prevent transmission of interference.

Ethernet cable

Ethernet cable Description

Cable type Cable twisted in pairs and screened Surge impedance: 100 Ω +/– 15 %

Plug type RJ45

Minimum bending radius During installation: 60 mm For an installed cable: 50 mm

Table 4.4 Ethernet cable specification

An additional screening and earthing connection is not necessary.

CAN cable The central control unit can be connected to other bus stations via a CAN cable .

CAN cable Description

Cable type Twisted, screened two-wire cable with signal earth − Surge impedance: min. 108 Ω, typ. 120 Ω, max. 132 Ω. − Line resistance: typ. 70 mΩ/m − Signal running time: typ. 5 ns/m

Cable length Depends on the bit rate of the CAN bus transmission

Minimum bending radius During installation: 48 mm For an installed cable: 24 mm

Plug type 9-pin Sub-D (socket) with completely conductive housing

Table 4.5 CAN cable specification

The CAN connection must be made using an appropriate cable. Festo recommends a cable in accordance with ISO 11898 (CAN standard). A multicore, twisted cable can also be used. Note that the CAN signals (CAN+ and CAN-) are carried over a common, twisted pair of conductors.



1 Twisted two-wire cable (CAN+, CAN–) 2 Signal earth (SGND) 3 Screen with earth shield

Fig. 4.2 CAN cable

The cable must be connected flush with the plug’s screen housing. An additional screening and earthing connection is not necessary.

Externally produced signal and data cables and not connected to the device must not be part of a cable with self-produced signal and data cables. All screened signal, data and low-voltage supply lines with screening connected to both sides must be laid parallel to one another and also parallel to the power supply lines.

CAN module connection with modules (without optocoupler)

Bit rate [kbit/s] Maximum cable length, typical [m]

125 500

250 250

500 100

1000 40

Table 4.6 CAN cable length

The CAN interface X6 is set permanently to 1000 kbit/s. The length specifications shown in the table are maximum values in ideal conditions. The maximum length of cable is reduced through: − poor screening contact − strong malfunctions − branch lines − poor cable quality. Furthermore, the maximum cable length is dependent on the properties of the remaining CAN bus participants and on the optocouplers (if equipped) used. Recommendation: The length of the CAN cable should only be as long as absolutely necessary.

1

2

3



Cable for encoder supply output and reference voltage output

Encoder supply and reference voltage output

Description

Cable type Twisted pair cables with screen against low-frequency 50 Hz fields


Table 4.7 Cable for encoder supply output and reference voltage output

Incremental encoder input

Incremental encoder input Description

Cable type Screened standard cable

Plug type 9-pin Sub-D (plug connector) with completely conductive housing

Table 4.8 Specification Cable for incremental encoder input

The cable must be connected flush with the plug’s screen housing. An additional screening and earthing connection is not necessary.



4.4 Display, connection and operator control elements The following display, connecting and operating elements can be found on the central control unit:

1 7-segments display

2 Power LED (top) and CTRL key (bottom)

3 Motor controller CAN connection [X6] with status LED

4 Ethernet interface [X7]: diagnostics connection for FCT

5 RS232C interface [X9]

6 USB port [X8/X10]

7 Ethernet interface [X5] for external communication

8 CAN connection [X4] for peripheral equipment

9 Slot [X3] for optional module CECX-C-S1 (RS232C connection)

aJ Operating voltage connection [X2]

Fig. 4.3 Display, connecting and operating elements of the central control unit

The following sections describe the individual elements of the central control unit.

Information on the peripheral modules can be found in the manual for the relevant peripheral module.

3

1

2

4

5

6

8

7

6

9

aJ



4.4.1 Connecting the operating voltage

Caution Damage to components!

• Design the load voltage and operating voltage supply as a circuit with limited energy in accordance with IEC 61131-2, or provide fuse protection of maximum 10 A.

The operating voltage for supplying the internal electronics of the installed modules (peripheral and optional modules) is supplied via the central control unit. The central control unit converts the supplied operating voltage into the required internal operating voltages. These are forwarded to 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

3 Operating voltage connection [X2]

Fig. 4.4 Connection diagram for supplying +24 V supply (Example)

Detailed information on voltage and power supply for the peripheral modules can be found in the description for the relevant module.

1

3

2

2



4.4.2 Earthing the multi-axis control system The correct earthing for the device is important for faultless operation and electrical safety. For earthing, a low-impedance connection between the device’s earth terminal and the earth potential must be created. A low-impedance connection can be achieved by using a low-impedance cable that is as short as possible and contacting over a large surface area. The earth terminal is located underneath the housing.

1 Earth terminal (M4 thread)

Fig. 4.5 Earth terminal for the device

1



4.4.3 RS232C interface [X3]/[X9] The library “SysLibCom.lib” from 3S is available for communication over this interface.

1 Rotary switch

2 RS232C interface [X9]

3 USB interface [X8]/[X10]

Fig. 4.6 Interfaces at the central control unit

4.4.4 USB interfaces [X8]/[X10] The modular control system CMXR-C2 includes one USB master. The USB port [X8] can be used to transfer data and programs from/to the multi-axis controller. The USB port [X10] is currently not usable.

4.4.5 Rotary switch (reserved for expansion) Two rotary switches are located on the top right side of the central control unit. These are planned for later expansions (factory setting = 0).

4.4.6 CAN interface [X6] For the motor controller connection, a 9-pin CAN connection is located on the central control unit (Sub-D plug). This connection is used as a supply line and a continuation of the fieldbus line.

• Use only appropriate sockets that guarantee a secure plug connection. Sockets from the Festo catalogue are appropriate ( www.festo.com/catalogue).

1

2

3

3



CAN connection [X6] Pin Signal Significance

51

96

1 2 3 4 5 6 7 8 9 Housing

n.c. CAN–L SGND TERM1 TERM1 GND CAN−H TERM2 TERM2 (Screen)

Not connected CAN bus low Signal ground TERM1*) TERM1*) Optional GND CAN bus high TERM2*) TERM2*)

*) Connection for activating the internal terminating resistor (refer to CAN bus terminal)

Table 4.9 Pin allocation for CAN connection [X6]

CAN bus terminal

Note A terminating resistor must be installed at both ends of the fieldbus (first and last participant).

A terminating resistor for the CAN-bus terminal is integrated into the device.

• Short-circuit pin 4 and 5 (TERM1) as well as pin 8 and 9 (TERM2) to connect the terminating resistor to the CAN data transmission line ( Following figure).

1 CAN connection

2 Jumper 1 (CAN+)

3 Jumper 2 (CAN–)

4 Integrated terminating resistor

Fig. 4.7 CAN interface with activated bus terminal

The CAN connection must be made using an appropriate cable. Festo recommends a cable in accordance with ISO 11898 (CAN standard).

4.4.7 CAN interface [X4] (optional module CECX-F-CO) Like CAN interface [X6] ( 4.4.6 CAN interface [X6]).

1

2

4

3



4.4.8 Ethernet interface [X5] The central control unit is equipped at the factory with the CECX-C-ET optional module as standard. This module provides an Ethernet connection for the Ethernet controller built into the central control unit. An RJ45 connection is available on the front panel for programming. This means the device can be integrated into both a 10 Mbit/s and a 100 Mbit/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 data Received data+ Not connected Not connected Received data Not connected Not connected Screening

Table 4.10 Pin allocation for Ethernet interface [X5]

Notes on wiring can be found in section 4.3.

4.4.9 Ethernet interface [X7] This interface provides an Ethernet connection for the Ethernet controller built into the central control unit. An RJ45 connection is available on the front panel for connecting to an Ethernet network. This means the device can be integrated into both a 10 Mbit/s and a 100 Mbit/s Ethernet.

RJ45 socket [X7] 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 data Received data+ Not connected Not connected Received data Not connected Not connected Screening

Table 4.11 Pin allocation for Ethernet interface [X7]

Notes on wiring can be found in section 4.3.



4.4.10 Using Compact Flash memory cards To operate the multi-axis control system, a Compact Flash memory card, with the corresponding firmware and, if necessary, application, must be inserted into the slot. The memory card is used for storing machine data (e.g. tool data and formulas), dependent on the application used.

The memory card can not be used as a removable medium, because system programs are also stored on it. Only the memory card CAMC-P3-C-M256 from the Festo catalogue can be used ( www.festo.com/catalogue).

Note Only approved memory cards may be used.

The memory card is designed in such a way that it can only be inserted into the device in one direction. The card should simply slip with ease into the slot. The status LED next to the ejection button lights up if the device has read or write access to the card.

Note Damage to the memory card from incorrect handling!

• Do not remove or insert the memory card during operation.

• Do not switch off the device while it is writing to the memory card.

• Do not force the memory card into the slot.

• Do not drop or bend the memory card.

• Protect the memory card from moisture, heat and direct sunlight and keep it away from electrostatic sources or magnetic fields.

Additional information on handling the memory card can be found in the system description ( GDCP-CMXR-C2-SY-…).



Inserting the memory card 1. Switch off the supply voltage. 2. Using slight pressure, carefully insert the memory card into the slot in the direction of

the arrow until it engages.

1 Memory card

Fig. 4.8 Insert the memory card

Removing the memory card 1. Switch off the supply voltage. 2. Press the ejection button. The card will then be pushed out some millimetres. 3. Carefully pull the memory card out of the slot.

1 Memory card

2 Eject key

Fig. 4.9 Removing the memory card

2

1

1


5 Commissioning instructions

5. Commissioning instructions

5.1 General information on commissioning The multi-axis control system CMXR-C2 is configured and commissioned using the associated software.

Information on this can be found in the online help for the software as well as in the associated system manual ( GDCP-CMXR-C2-SY-…).

The firmware and the respective applications are stored on a memory card, which must be inserted in the slot of the central control unit.

5.2 Performance of the central control unit

5.2.1 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 progress is shown in the 7-segments display. − Numbers > 0 signal the progress during running-up of the boot system and of the

control system firmware. − Special characters and letters (e.g. L, II, ...) describe the running up of the application

or various operating states of the device. − An error display will be activated if errors are detected during running up. Errors are

displayed parallel to the statuses. Here, the status is initially displayed and then alternately the two- or three-digit error number (e.g. “-,0,-,E,1,0”). Each character is displayed for 1 second.



Display during running up of the boot system and of the firmware

7-segments display

Step

1 The power supply is present (Power on); the module hardware is initialised.

2 The consistency of the boot block is tested.

3 Power on self-test, consistency of the boot block is tested.

4 The firmware is loaded from the memory card into 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 started.

8 Automatic start inquiry: factory setting = automatic start is switched on If the automatic start function was deactivated, at this point a press of the key (CTRL-key) is expected.

9 Running-up of the firmware is completed. The CP module is now ready to operate. If an application is already present on the memory card, this will now be loaded.

Table 5.1 Display during running up of the firmware

Display during running up of the application After the firmware is booted, the system goes into the “Init” status.

7-segments display

Step

9 The application is unloaded and the memory is enabled.

10 The application is loaded into the memory.

11 STOP: The application is loaded, but will not yet be processed

12 The application is started.

13 The application is running

Table 5.2 Display during running up of the application



5.2.2 Operating statuses

Detailed information on the performance of the multi-axis control system can be found in the system description ( GDCP-CMXR-C2-SY-…).

The control system recognizes the following operating statuses:

7-segments display

Operating status

Description

Init In this operating status: − The user application is unloaded and the memory released (CAUTION:

some configuration changes are only applied after Power-on or Reset). − Transmission of process data is stopped − The visualisation is unloaded.

Stop In this operating status: − All global objects, system variables, motion modules etc. are created. − The interpolator is stopped (no path data available) − The exchange of process data is started; the output data are set to zero

(digital and analogue outputs: 0 V, drives in the status “Switch-on blocked”). The inputs from other I/O modules are not taken over.

Run In this operating status: − The application programs are processed, and the process data is

exchanged corresponding to the configuration. − The process output data are updated (Unfreeze IO). − The visualisation application is loaded.

Table 5.3 Operating statuses

5.2.3 Behaviour in the event of module error If a module error occurs, it is shown on the 7-segments display.

Detailed information can be found in section 6.3.1.

5.2.4 Behaviour in the event of power failure A reset is triggered in the event that the complete supply fails. All modules connected in series are also put into the Reset status and all outputs are reset. The data in the battery-buffered SRAM are retained.



5.2.5 Control key (CTRL key) The CTRL key is located on the central control unit beside the 7-segments display. This key can be used by the service technician, for example, to delete data from the memory card, create report files or delete retain data.

System error and data loss through incorrect use of the CTRL key.

• The CTRL key may only be pressed if instructed by Festo service staff.


6 Diagnostics and error handling

6. Diagnostics and error handling

6.1 Summary of diagnostics options The multi-axis control system offers comprehensive options for diagnostics and error handling. The following options are available:

Diagnostics option Brief description

On-site via LED LEDs on the modules indicate signal states, hardware errors, bus errors, etc. ( Description for the respective module).

On-site via the 7-segments display

The 7-segments display shows the corresponding error codes in the event of an error ( 6.3.1). These errors can be acknowledged by pressing briefly on the CTRL key of the central control unit.

Via software tool Information on this can be found in the online help of the configuration software.

Table 6.1 Diagnostics options

6.2 On the spot diagnostics via LEDs

6.2.1 Power LED The green Power LED is located above the CTRL key on the central control unit.

LED Description

Power (green) Illuminates when power supply is present.

Dark when no power supply is present.

Table 6.2 Power LED

6.2.2 CAN status LEDs The central control unit has the following two CAN status LEDs on the front panel.

LED Description

RX (green) Lights up briefly when a CAN message is received.

TX (yellow) Lights up briefly when a CAN message is sent.

Table 6.3 CAN status LEDs

6.2.3 Ethernet status LEDs The link-status LED (green) and the activity LED (yellow) are located on the EtherCat socket (RJ45). They light up when sending or receiving telegrams.

LED Description

Link status (green) Lights up as soon as an EtherCat connection is present.

Activity (yellow) Lights up when data are sent and received.

Table 6.4 Ethernet status LEDs



6.2.4 Status LED for the memory card The status LED of the memory card is located next to the ejection key for the memory card. It lights up when the system accesses the memory card.

LED Description

Status LED (red) Lights up during write/read access to the memory card.

Dark if there is no write/read access to the memory card.

Table 6.5 Status LED for the memory card

6.3 On-the-spot diagnosis via the 7-segments display Errors can occur or be present during the transitions between the respective operating statuses (e.g. from STOP to RUN). These errors are displayed in the 7-segments display as a character sequence together with the current status. Every single character in the sequence is shown one after the other at 1 second intervals.

The error display can be acknowledged by briefly pressing the CTRL key. After this, the normal status is displayed.

Example: display during running up of the firmware The following sequence of characters signals error 51 in the “Load Firmware” status (no firmware found): Status Error

, , , , ,

Example: display during running up of the application The following sequence of characters signals error 203 in the “Init” status (installation of the application failed): Status Error

, , , , , ,



6.3.1 Error codes Possible error codes are dependent on the current operating status of the device and summarised accordingly in the following tables. This means that a first diagnosis is possible without reading out the status report files.

Error displays not listed are intended for the support team at Festo.

Running-up error: error during Power-on self-test

Error display Cause Action

2 – E 401 Extended boot system was not found. Re-initialise memory card with FCT 2 – E 402 CRC error in extended boot system.

2 – E 403 Boot system not suited for HW revision.

Table 6.6 Error during Power-on self-test

Running-up error: error loading the firmware


3 – E 501 Firmware package was not found. Re-initialise the memory card with FCT 3 – E 502 CRC error in firmware package

3 – E 503 Firmware package not suited to HW.

3 – E 504 Not enough memory for the firmware package

Table 6.7 Error loading the firmware

Running-up error: error when initialising and starting the operating system


5 – E 101 Operating system error Re-initialise memory card with FCT

5 – E 205 Too many peripheral modules connected Reduce the number of modules connected

Table 6.8 Error when initialising and starting the operating system

Error handling

Detailed information on error handling can be found in the system description ( GDCP-CMXR-C2-SY-…).


7 Maintenance and care

7. Maintenance and care

The device may only be opened by qualified specialists, and maintenance work may only be carried out if expressly permitted by Festo. Other manipulations to the device invalidate the guarantee.

7.1 Changing the battery The central control unit is equipped with a real-time clock (RTC). When the power supply is switched off, the real-time clock is buffered with a battery. The battery is located in a battery holder on the top of the central control unit ( Fig. 7.1 Position of the battery).

The service life of the battery is at least 3 years. Recommendation:

• Change the battery every 3 years.

Note Only batteries of type CR2032 (Li-Mn, 3 V/220 mAh) are permitted.

Changing the battery

Note Short circuit of the battery due to bent contact springs.

• Proceed carefully when changing the battery and do not use force.

Note To avoid data loss, the power supply must not be disconnected while the battery is being changed.

Procedure 1. Remove the battery holder. 2. Remove the old battery. 3. Insert new battery, taking polarity into account. 4. Re-insert the battery holder until it noticeably clicks into place.


7 Maintenance and care

1 Battery holder

2 Battery

Fig. 7.1 Position of the battery

Note Short-circuits can cause flammable materials to ignite! Although batteries have a low voltage, they can give off enough current in a short circuit to cause combustible materials to ignite.

• Observe the regulations for hazardous waste when disposing of the batteries.

7.2 Cleaning

Clean the device, if required, with a soft cloth.

1

2


A Appendix

A. Appendix

A.1 Technical data

A.1.1 General

General

Nominal operating voltage [V DC] 24

Operating voltage range [V DC] 19.2 … 30

Total power consumption [W] 99

Ambient temperature [°C] 5 … 55

Storage temperature [°C] –40 … +70

Relative air humidity [%] 10 … 95 (non-condensing)

Degree of protection in accordance with EN 60529 (plug connector inserted)

IP20

Protection against electric shock (protection against direct and indirect contact in accordance with IEC 60204-1)

By means of PELV circuit (Protected Extra Low Voltage)

Protection class III

Insensitivity to vibration in accordance with IEC 60068-2-6

3.5 mm path at 5 … 9 Hz, 1 g acceleration at 9 … 150 Hz

Resistance to shock in accordance IEC 60068-2-27 Max. 15 g, 11 ms (half sine)

Table A.1 General technical data


A Appendix

A.1.2 Central control unit CMXR-C2

Central control unit CMXR-C2

Dimensions (W x H x D) [mm] 270 x 120 x 100

Product weight [g] 1270

Control elements CTRL key

Status displays − 7-segments display, Power LED (green)

CPU data Processor 600 MHz, 256 MB DRAM

Serial interface

Type RS232C

Connection technology Sub-D, 9-pin (pin)

Transmission rate [bit/s] 1200 … 115000

Galvanic isolation No

Fieldbus interface

Type CAN bus

Connection technology Sub-D, 9-pin (pin)

Transmission rate [kbit/s] 1000

Galvanic isolation No

Ethernet interface

Connection technology RJ45

Transmission rate [Mbit/s] 10/100

Supported protocols TCP/IP

USB interfaces USB 2.0

Programming, operating language Festo Configuration Tool (FCT)

Slots for optional modules

CAN interface 1x permanently assigned

Ethernet interface 1x permanently assigned

RS232C serial interface (optional) 1x unassigned

Slot for memory card (Compact Flash type 1) 1x permanently assigned

Table A.2 Technical data of the central control unit CMXR-C2

A.2 Accessories

• Select the corresponding accessories from the Festo catalogue ( www.festo.com/catalogue).


A Appendix

A.3 Notes on EMC-compliant wiring The resistance to interference of an electrical system depends considerably on EMC-compliant wiring and screening. Service practice shows that inadequate wiring and screening of system components is frequently the cause of malfunctions and system failures.

• From the very outset, make sure the wiring and screening is carried out with care and in accordance with the guidelines described.

Basic structure of EMC measures The EMC concept for the device is aimed at making sure that every module can individually resist the effects prevalent in an environment where electromagnetic interference is present. A closed screen housing is thereby assumed. This screen housing is suitably expanded by means of screened interfaces or, with unscreened interfaces, the opened up screen housing is “closed” again by means of filters. For screened interfaces with connection via a plug connector with housing, it is not necessary to connect the cable screening to the system via additional screening clamps. Unscreened interfaces are filtered at their connecting points in accordance with their required signal. It is, therefore, not necessary to additionally filter these wires.

Which EMC measures must be taken? EMC measures concentrate on the areas: − screening − potential equalisation between system components Important here, in practice, is faultless execution of the measures described in the following sections. The most frequent causes of failure are poor contacts in earthing and screening connections. This is why the following general points in particular need pointing out. Contacting of earthing and screening connections − Low-impedance connection for the parts. This means highly conductive even for high

frequencies and is achieved by: − large-surface connections − earth cables of shortest possible length − use of wide earthing straps.

− Plane-form contact of bare metal is required. − Contact surfaces must be protected against corrosion. − Use toothed discs when connecting painted parts or parts with an unclean surface,

where possible, on all connecting points.


A Appendix

Just earthing an electrical system is an insufficient EMC measure and is mainly used for protection against electric shock if conductive parts are touched.

Check list for EMC measures Screened communication wires (CAN, Ethernet, USB, ... ): − Is the screen connected flush with the metallic plug at both cable ends? − Is the screen continuously present (attention with wall bushing)? − Is the used communication partner suitable for an industrial interference environment? Analogue cables − Twisted pair cables used? − Is cable screening connected to the 0 V terminal in the analogue module via cable in

order to screen 50 Hz fields? Fundamentally, for all of the device’s interfaces, you do not have to observe any special installation of the lines.


B Index

B. Index

A

Air-conditioning and ventilation ........... 23 B

Battery ................................................ 47 C

CAN bus terminal ................................. 36 CAN cable ............................................ 29 CAN status LED .................................... 44 Central control unit .............................. 15 Changing the battery ........................... 47 Compact Flash memory card ................ 38 CTRL key .............................................. 43 D

Diagnostics.......................................... 44 E

Earth terminal ...................................... 34 Earthing ............................................... 34 Error codes .......................................... 46 Ethernet connection ............................ 37 I

Insert the memory card ........................ 39

M

Mounting ............................................ 23 Mounting clearances ........................... 22 Mounting dimensions ......................... 22 Multi-axis controller ............................ 13 O

Operating statuses .............................. 42 Optional modules ............................... 15 P

Peripheral modules ............................. 16 Power LED ........................................... 44 R

Removing the memory card ................. 39 Retain data ........................................... 6 Running-up performance..................... 40 S

Segment display ................................. 45 Setting the module address ................ 19 Slot ............................................... 38, 40 Status report ......................................... 6


Copyright: Festo AG & Co. KG Postfach D-73726 Esslingen, Germany Phone: +49 711 347 0 Fax: +49 711 347 2144 E-mail: [email protected]

The reproduction, distribution or sale of this document or communication of its contents to others without express authorisation is prohibited. Offenders will be held liable for damages. All rights reserved in the event that a patent, utility model or design patent is registered.

Internet: www.festo.com Original: de Version: 1501b

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http://www.festo.com/

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