Festo CPX-CMAX User Manual

CPX terminal

Description

Electronics

CMAX axis controller

Type

CPX−CMAX−C1−1

System description CMAX axis controller

Mounting, installation and diagnostics

Positioning system

Description

559 751 en 0908NH [727 403]

Contents and general safety instructions

Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

de

Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0908NH

Designation . . . . . . . . . . . . . . . . . . P.BE−CPX−CMAX−SYS−EN

Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 751

© (Festo AG & Co. KG, D 73726 Esslingen, 2009)

Internet: http://www.festo.com

E−mail: [e-mail]

The copying, distribution and utilisation of this document as well as the communication of its contents to others with out expressed authorization is prohibited. Violations will give rise to compensation. All rights are reserved, in par ticular the right to carry out patent, registered design or ornamental design registration.

Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

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Contents and general safety instructions

Interbus®, DeviceNet®, PROFIBUS®, CC−Link®, EtherNet/IP®, PROFINET®, Adobe Reader® und TORX® are registered trademarks of their respective trademark holders in certain countries.

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Contents and general safety instructions

Contents

Intended use . . .		. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	VII
Safety note . . . . .		. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	VIII
Target group . . .		. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	X
Service .	. . . . . . .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	X
Required software versions for the CPX nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			XI
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			XII
Notes on this description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			XIV
Glossary	. . . . . . .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	XVII
1.	CMAX system overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−1
1.1	CMAX axis controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−3
	1.1.1	Connection and display components of the CMAX . . . . . . . . . . . . .	1−3
	1.1.2	CMAX function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−4
	1.1.3	CMAX in the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−5
1.2	Structure of a positioning system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−6
1.3	Parameterisation and commissioning options . . . . . . . . . . . . . . . . . . . . . . . .		1−7
	1.3.1	Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−7
	1.3.2	FHPP communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−8

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Contents and general safety instructions

2.	Fitting and pneumatic installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−1
2.1	General notes on mounting and installation . . . . . . . . . . . . . . . . . . . . . . . . . .		2−3
2.2	Mounting/dismounting the CMAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−4
2.3	Installation of the drive and position measuring system . . . . . . . . . . . . . . . .		2−6
	2.3.1	General mechanical requirements . . . . . . . . . . . . . . . . . . . . . . . . . .	2−7
	2.3.2	Drive, shock absorbers and fixed stops . . . . . . . . . . . . . . . . . . . . . .	2−8
	2.3.3	Position measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−10
	2.3.4	Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−12
2.4	VPWP proportional directional control valve . . . . . . . . . . . . . . . . . . . . . . . . .		2−17
	2.4.1	Approved drive/valve combinations . . . . . . . . . . . . . . . . . . . . . . . .	2−17
	2.4.2	Mounting the VPWP proportional directional control valve . . . . . .	2−19
2.5	Mounting the CASM sensor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−22
2.6	Pneumatic installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−23
	2.6.1	Compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−23
	2.6.2	Filter regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−24
	2.6.3	Air reservoir (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−25
	2.6.4	VPWP proportional directional control valve . . . . . . . . . . . . . . . . . .	2−25
	2.6.5	Tubing and fittings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	2−29
3.	Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		3−1
3.1	Earthing	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	3−3
3.2	Axis interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		3−5
	3.2.1	VPWP proportional directional control valve . . . . . . . . . . . . . . . . . .	3−7
	3.2.2	CASM sensor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	3−9
3.3	Ensuring protection class IP65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		3−11
3.4	Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		3−12
	3.4.1	Determining the current consumption . . . . . . . . . . . . . . . . . . . . . . .	3−13
	3.4.2	Power supply concept, formation of power zones . . . . . . . . . . . . .	3−14

3.4.3Disconnecting the load voltage in connection with a brake or

clamping unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−18

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Contents and general safety instructions

4.	Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−1
4.1	Overview/procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−3
	4.1.1	Instructions for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−4
	4.1.2	Installing the Festo Configuration Tool and FCT CMAX plug−in . . . .	4−5
4.2	Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−8
	4.2.1	Checking the axis string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−8
	4.2.2	Switching on the power supply, switch−on behaviour . . . . . . . . . . .	4−8
	4.2.3	Establishing a connection to the PC . . . . . . . . . . . . . . . . . . . . . . . . .	4−11
4.3	Commissioning with the FCT (overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−12
	4.3.1	Overview of commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . .	4−12
4.4	Operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−14
	4.4.1	CMAX control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−14
	4.4.2	General operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−14
4.5	Structure of the cyclical I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−16
	4.5.1	Defining the operating mode with CCON . . . . . . . . . . . . . . . . . . . . .	4−17
	4.5.2	Controlling the CMAX in record select operating mode . . . . . . . . .	4−19
	4.5.3	Controlling the CMAX in direct operating mode . . . . . . . . . . . . . . .	4−20
	4.5.4	Execute record (record select mode) . . . . . . . . . . . . . . . . . . . . . . . .	4−22
	4.5.5	Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−29
	4.5.6	Acknowledge error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−37
4.6	Flow charts for programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		4−38
	4.6.1	Establish ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−38
	4.6.2	Start record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−41
	4.6.3	Acknowledge malfunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−42
	4.6.4	Switch operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	4−43

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Contents and general safety instructions

5.	Diagnostics and error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5−1
5.1	Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5−3
5.2	Malfunctions and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5−4
	5.2.1	Error numbers on the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . .	5−6
	5.2.2	Malfunction groups: Classification according to the cause . . . . . .	5−6

5.2.3Error level and reset type: Classification according to effect and

		acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−7
	5.2.4	Error numbers and warning numbers . . . . . . . . . . . . . . . . . . . . . . .	5−8
5.3	Diagnostics via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5−29
	5.3.1	CMAX−specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−30
	5.3.2	Axis−specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−31
	5.3.3	LEDs on the VPWP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−32
	5.3.4	LEDs on the sensor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−33
	5.3.5	LEDs on the displacement encoder (DGCI only) . . . . . . . . . . . . . . .	5−34
5.4	Diagnostics via the display/7−segment display . . . . . . . . . . . . . . . . . . . . . . .		5−35
	5.4.1	Error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−35
	5.4.2	Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5−36
5.5	Diagnostic functions with the CPX−MMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5−39
	5.5.1	Error display ([Diagnostics] menu) . . . . . . . . . . . . . . . . . . . . . . . . . .	5−39
	5.5.2	Information on the CMAX ([Module data] menu) . . . . . . . . . . . . . . .	5−40
A.	Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		A−1
A.1	CMAX technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		A−3
A.2	Replacing components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		A−6
A.3	Additional pneumatic circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		A−7
A.4	Index . .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	A−8

VI	Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

Contents and general safety instructions

Intended use

The CPX−CMAX−C1−1 axis controller documented in this description is intended exclusively for use in Festo CPX terminals for installation in a machine or an automation system.

In connection with a CPX terminal with suitable CPX bus nodes or CPX−FEC, as well as with enabled drives with a displacement encoder as well as a VPWP proportional direc tional control valve, CMAX serves as a position controller with position and force control for pneumatic drives.

The CPX terminal may only be used with the CMAX as follows:

As intended for the industrial environment

In its original condition without unauthorised modifica tions. Only the conversions or modifications described in the documentation supplied with the product are per mitted.

In perfect technical condition.

Only in combination with approved components (valves, drive/displacement encoder combinations, see section 1.2).

The limit values specified for pressures, temperatures, electri cal data, torques etc. should be observed.

Please comply with regulations of the trade associations, the German Technical Control Board (TÜV), the VDE or the relevant national regulations.

Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

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Contents and general safety instructions

Safety note

Protection against dangerous movements

Warning

High acceleration forces at the connected actuators! Unexpected motions can cause collisions and severe injuries.

Dangerous movements can occur due to the faulty control ling of connected actuators, e.g. due to:

Dirty or faulty wiring/cabling

Component operating errors

Measured value and signal generator errors

Faulty or non−EMC−compliant components

Errors in the higher−order control system.

Simply switching off the compressed air supply or load voltage are not suitable locking procedures. In the event of a fault, this could lead to unintentional movement of the drive.

·Before mounting, installation and maintenance work, put the system into a safe state (e.g. by putting the drive in a safe position and deactivating the controller).

Always make sure that the compressed air and power supplies are switched off and locked before working in the machine area.

·Make sure that no persons are in the operating range of the drive or any other connected actuators.

·Do not switch on the compressed air until the system is correctly installed and parameterised.

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Contents and general safety instructions

·The holding brakes controlled by the drive controller are not appropriate for personal protection by themselves. Lock vertical axes additionally to keep them from falling down or sinking when the compressed air and load volt age are switched off, e.g. by means of:

mechanical locking of the vertical axis

external braking/safety catch/clamping device

sufficient counterbalance of the axis.

·If used in safety applications, additional measures are necessary, e.g. in Europe the standards listed under the EU machine guidelines must be observed. Without addi tional measures in accordance with statutory minimum requirements, the product is not suitable for use in safety−related sections of control systems.

Protection from pressurised tubing

Caution

Danger of injury through inappropriate handling of pres surised tubing!

Uncontrolled movements of the connected actuators and uncontrolled movements of loose tubing can cause injury to human beings or damage to property.

·Do not connect, disconnect or open pressurised lines.

·The lines must always be exhausted before removal (release compressed air).

·Use suitable protective equipment (e.g. safety goggles, safety shoes, etc.).

Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

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Contents and general safety instructions

Target group

This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing posi tioning systems.

Service

Please consult your local Festo Service agent if you have any technical problems.

X	Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

Contents and general safety instructions

Required software versions for the CPX nodes

Particular software versions for the CPX node are required for operating the CMAX (versions as of August 2009):

CPX node	Required version 1)	Use	Special features 2)
CPX−FEC	From Revision 18 (R18)	On request	Max. 8 CMAX modules
CPX−FB6 (Interbus)	From Revision 22 (R22)	On request	Max. 1 CMAX module
CPX−FB11 (DeviceNet)	From Revision 20 (R20)	Suitable	Max. 8 CMAX modules
CPX−FB13 (PROFIBUS−DP)	From Revision 23 (R23)	Suitable	Max. 8 CMAX modules
			Acyclic services, DPV1
			(then max.
			7 CMAX modules)
CPX−FB14 (CANopen)	From Revision 20 (R20)	On request	Max. 3 CMAX modules
CPX−FB23 (CC link)	From Revision 19 (R19)	On request	Max. 8 CMAX modules
CPX−FB32 (Ethernet/IP)	From Revision 14 (R14)	On request	Max. 8 CMAX modules
CPX−FB33 (PROFINET, M12)	From Revision 7 (R7)	On request	Max. 8 CMAX modules
CPX−FB34 (PROFINET, RJ45)	From Revision 7 (R7)	On request	Max. 8 CMAX modules
CPX−FB38 (EtherCAT)	All	On request	Max. 8 CMAX modules
CPX−CEC	In preparation	On request	Max. 8 CMAX modules

1) Revisions version (Rev...) see name plate. Older revisions are not suitable for use with CMAX and cannot lead to the intended behaviour.

2) Depending on the CPX node functions used, the address range and therefore the maximum number of modules can be further restricted, if necessary.

Tab. 0/1: Overview CPX nodes

Please also observe the notes on the software version in the documentation for the CPX node.

To commission the CMAX, you will require the Festo configur ation tool with a CMAX plug−in. You can find this on the Festo website at:

èwww.festo.com ˛ Downloads ˛ Download Area: Software, drivers and firmware ˛ Enter search term: CMAX

Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

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Contents and general safety instructions

Important user instructions

Danger categories

This manual contains instructions on the possible dangers which can occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings:

Warning

... means that failure to observe this instruction may result in serious personal injury or material damage.

Caution

... means that failure to observe this instruction may result in personal injury or material damage.

Note

... means that failure to observe this instruction may result in material damage.

The following pictogram marks passages in the text which describe activities with electrostatically sensitive devices:

Electrostatically sensitive devices: Inappropriate handling can result in damage to components.

XII	Festo P.BE−CPX−CMA X−SYS−EN en 0908NH

Contents and general safety instructions

Identification of specific information

The following pictograms designate texts that contain special information.

Pictograms

Information:

Recommendations, tips and references to other sources of information

Accessories:

Information about necessary or useful accessories for the

Festo product.

Environment:

Information on the environmentally friendly use of Festo products.

Text designations

·Bullet points indicate activities that may be carried out in any order.

1.Numerals denote activities which must be carried out in the specified sequence.

Arrowheads indicate general lists.

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Notes on this description

This description refers to the following versions:

CPX−CMAX−C1−1 axis controller starting from software version V 1.0

This description contains special information on the mode of operation, mounting, installation and commissioning of the CMAX axis controller with the modules and components on the axis string (see Tab. 0/2).

Information about the activation, programming and diagnosis of a CMAX with the used CPX node can be found in the •CMAX communication profile" description.

Special information about the configuration for certain CPX nodes can be found in the corresponding supplementary description. See Tab. 0/3.

General basic information on the mode of operation, mount ing, installing and commissioning CPX terminals can be found in the CPX system description, type P.BE−CPX−SYS−... .

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	This description contains information on the following
	modules and components of the positioning system:
Module/component type	Description
CMAX−C1−1	CMAX axis controller with 7−segment display as well as an axis
	interface to the VPWP.
	The CMAX is a CPX module (technology module) in a CPX terminal.

	VPWP−...	VPWP proportional directional control valve with connections to the
		CMAX and to the displacement encoder or sensor interface.
		The position measuring system or sensor interface is connected to
		the VPWP.
		Additional digital output with a load voltage supply for activating a
		brake or clamping unit.
		Sensor interfaces with a connection to the VPWP, for connecting
		special position measuring systems to the axis string:
	CASM−S−D2−R3	analogue, absolute displacement encoders (potentiometers)
	CASM−S−D3−R7	digital, incremental displacement encoders
		Enabled drives with position measuring systems: 1)
	DGCI−...	Linear drive with permanently integrated position measuring
		system.
		(digital, absolute)
	DGP(L)−... with	Linear drive with external position measuring system
	MLO−POT−...−TLF	(potentiometer, absolute)
	DNCI−...	Standard cylinder with integrated position measuring system
		(encoder, incremental)
	DNC−... with	Standard cylinder with external position measuring system
	MLO−POT−...−LWG	(potentiometer, absolute)
	DNCM−...	Standard cylinder with external position measuring system
		(potentiometer, absolute)
	DSMI−...	Semi−rotary drive with integrated position measuring system
		(potentiometer, absolute)

1) Support for other drives in preparation

Tab. 0/2: Overview of positioning system modules and components

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Manual for CMAX axis controller

Type	Title	Contents
Electronics de	•CMAX axis controller	Mounting, installation, commissioning and diagnosis
scription	system description"	of the CMAX axis controller
	P.BE−CPX−CMAX−SYS−...
Communica	•CMAX communication	Activation, programming and diagnosis of a CMAX
tion profile de	profile"	with the used CPX node
scription	P.BE−CPX−CMAX−CONTROL−...
Online help	Help for the Festo configur	Configuration and commissioning of the CMAX axis
	ation tool with CMAX plug−in	controller with the FCT
		èwww.festo.com ˛ Downloads ˛ Download
		Area: Software, drivers and firmware ˛ Enter
		search term: CMAX
Operating in	Operating instructions for the used components
structions

Tab. 0/3: Documentation for the positioning system with CMAX

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Contents and general safety instructions

Glossary

			The following product−specific terms and abbreviations are
			used in this description:
	Term/abbreviation		Meaning
	0xA0 (A0h)		Hexadecimal numbers are marked by a prefixed •0x" or by a subscript
			•h.".
	Absolute position		A position measuring system with fixed (absolute) assignment of
	measuring system		the measured value (position, angle, etc.) and measured variable,
			for •digital" or •potentiometer" CMAX.
	Adaptation		CMAX function to improve non−optimal switch−on behaviour automati
			cally during operation
	Axis string		Totality of all modules and cables which are connected via the axis inter
			face to the CMAX
	Bus node		Establish the connection to specific fieldbuses. Transmit control signals
			to the connected modules and monitor their operation (as CPX module:
			CPX bus node).
	Control interface		Connection for all modules and cables in the axis string.
	CPX modules		Collective term for the various modules which can be integrated in a CPX
			terminal.
	CPX node		Collective term for all CPX bus nodes or the CPX−FEC
	CPX terminal		Complete system consisting of CPX modules with or without pneumatics.
	Drive		In this description, the term •drive" represents linear drives (DGCI, DGP),
			standard cylinders, positioning drives (DNC, DNCI, DNCM) or swivel
			modules (DSMI).
	Festo Configuration Tool		Software with standardised project and data management for supported
	(FCT)		device types. The special requirements of a device type are supported
			with the necessary descriptions and dialogues by means of plug−ins.
	Festo Handling and Posi		Fieldbus data profile for Festo position controllers
	tioning Profile (FHPP)
	Festo Parameter		FHPP−specific parameter access
	Channel (FPC)

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Contents and general safety instructions

Term/abbreviation	Meaning
Functions	Special functions in the different operating modes. e.g.:
	Jog mode
	Homing
Homing	By means of homing, the reference position and thereby the origin of the
	dimension reference system of the axis are defined.
I	Digital input.
	From the point of view of the master controller, the CMAX status outputs
	are module input data. See section 4.5.
I/Os	Digital inputs and outputs.
Identification	System function where specific characteristics of the connected axis are
	determined by means of an identification run, e.g. break−away forces,
	frictional behaviour, dynamics (maximum accelerations and speeds), etc.
Incremental position	A position measuring system in which the measured variable refers to a
measuring system	reference point and is determined by counting equally large measure
	ment steps (increments) with the CMAX •encoder".
Jog mode	Manual travel in positive or negative direction.
	Function for setting positions by approaching the target position,
	e. g. by teaching records.
Logic 0	Input or output provides 0 V (also LOW, FALSE or logical 0).
Logic 1	Input or output provides 24 V (also HIGH, TRUE or logical 1).
O	Digital output
	From the point of view of the master controller, the CMAX control inputs
	are module output data. See section 4.5.
OB	Output byte
Operating mode	Type of CMAX control, function or setpoint specification
Parameter	Various settings which must be defined for system operation and be
	saved in CMAX.
PLC/IPC	Programmable logic controller; for short: Controller
	(also IPC: industrial PC).
PNU	Parameter number each parameter has a number and subindex.
Position control	Control mode where a defined position is approached and held with
	control.

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Contents and general safety instructions

Term/abbreviation	Meaning
Pressure/force control	Control mode where a defined force is applied via pressure control. In the
	following, the term •force control" will be used.
Project zero point (PZ)	Dimension reference point for all positions in positioning tasks (project
	zero point). The project zero point forms the basis for all absolute posi
	tion specifications (e.g. in the position set table or in direct mode). The
	point of reference for the project zero point is the axis zero point.
Record	Positioning command defined in the position set table, consisting of
	target position, positioning mode, speed, acceleration, ...
Reference point (REF)	Point of reference for the incremental displacement encoder.
	The reference point defines a known position within the drive’s travel.
Software end position	Programmable stroke limit (point of reference = axis zero point)
	Upper software end position
	Max. limit position in the positive direction (increasing actual values).
	Lower software end position
	Min. limit position in negative direction (decreasing actual values).

Tab. 0/4: Terms and abbreviations

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Contents and general safety instructions

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CMAX system overview

Chapter 1

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1. CMAX system overview

Contents

1.	CMAX system overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−1
1.1	CMAX axis controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−3
	1.1.1	Connection and display components of the CMAX . . . . . . . . . . . . .	1−3
	1.1.2	CMAX function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−4
	1.1.3	CMAX in the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−5
1.2	Structure of a positioning system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−6
1.3	Parameterisation and commissioning options . . . . . . . . . . . . . . . . . . . . . . . .		1−7
	1.3.1	Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−7
	1.3.2	FHPP communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	1−8

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1. CMAX system overview

1.1CMAX axis controller

1.1.1Connection and display components of the CMAX

The following connection and display components can be found on the CMAX:

1	Status LED
		5
	See section 5.3
2	X: Axis interface
		4
	(connection for

VPWP)

3Inscription labels (accessories)

43−character display See section 5.4

5 Name plate	3
(on side surface)

1

Dx X

Dy Y

2

Fig. 1/1: Connection and display components of the CMAX

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1. CMAX system overview

1.1.2CMAX function

	The CMAX axis controller, together with a VPWP proportional
	directional control valve and a drive with a position measur
	ing system, forms a positioning system for pneumatic axes
	(see section 1.2).
	The positioning system permits:
	Travel at selectable speed in any positions (position con
	trol)
	The approach of a position and applying a defined force
	(force control).
	Mode of operation
CMAX functions	The CMAX takes over the following functions:
	Parameter storage (hardware configuration, records, con
	troller settings, etc.)
	It ascertains system characteristic values of the con
	nected components (identification).
	Specifies setpoint values (position or force)
	Tracks setpoint and actual values (position or force con
	trol) by appropriately activating the proportional direc
	tional control valve.
Mode of operation	The CMAX, valve, drive and displacement encoder are
	connected to form a closed−loop control circuit.

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1. CMAX system overview

1.1.3CMAX in the CPX terminal

The CMAX is integrated in a CPX terminal as a CPX module and is controlled by the CPX node via the internal bus using 8 bytes of module output and 8 bytes module input data. See section 4.5.

Information about the control and parameterisation of the CMAX via the CPX node can be found in the •CMAX communi cation profile" description, P.BE−CPX−CMAX−CONTROL−... .

The descriptions are also available as PDF files: èwww.festo.com ˛ Downloads ˛ Manual

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1. CMAX system overview

1.2Structure of a positioning system

1CPX terminal with CMAX

2VPWP proportional directional control valve

3A sensor interface with displacement encoder cable (optional, depending on the displacement encoder used)

4Drive with position measuring system (in this example a DNCI)

5 Pneumatic tubing

6 Axis string

A positioning system typically consists of the following com ponents (see Fig. 1/2):

1								2											3						4

6

5

Fig. 1/2: Structure of positioning system

Specific information on the structure is provided in chapters 2 and 3.

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1. CMAX system overview

1.3Parameterisation and commissioning options

Tab. 1/1 provides an overview of the commissioning, parameterising and teaching options.

Operated via	Properties		For details, see
FCT CMAX plug−in	Easy commissioning thanks to special dialogues		Chapter 4,
		and functions.	help for FCT CMAX
	Direct •on−site" operation with drive monitoring		plug−in
		is possible
	PC must be connected on site with the diagnostic
		interface of the CPX terminal.
Master controller,		Parameterisation of several positioning	•CMAX communication
CPX node		systems is possible.	profile" description,
(CPX bus node or	Commissioning and teaching require additional		P.BE−CPX−CMAX−CON
CPX−FEC)		measures for the necessary drive monitoring.	TROL−...
		Additional programming required.

Tab. 1/1: Commissioning, parameterising and teaching options

1.3.1Festo Configuration Tool (FCT)

The Festo Configuration Tool (abbreviated as FCT) is the soft ware platform for configuring and commissioning various Festo components and devices.

The CMAX plug−in for the FCT helps to carry out all the steps necessary for commissioning a CMAX.

An overview for commissioning with the FCT can be found in chapter 4.

The help for the FCT contains the complete information on operating the Festo Configuration Tool. The device−specific plug−ins each have their own help files.

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1. CMAX system overview

1.3.2FHPP communication profile

Festo has developed an optimised data profile, the •Festo Handling and Positioning Profile (FHPP)", tailored to handling and positioning functions.

The FHPP allows the various Festo fieldbus systems and con trollers to be uniformly controlled and programmed.

It also uniformly defines the following for the user:

Operating modes

I/O data structure

Parameters

Sequence control.

Basic information can be found in section 4.5.

More detailed information about FHPP can be found in the •CMAX communication profile" description.

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