Controller. Description. System description Type CMXR-C2. Description en 1205b [761546]

Transcription

1 Controller Description System description Type CMXR-C2 Description en 1205b [761546]

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3 Edition en 1205b Designation Festo GDCP-CMXR-C2-SY-EN Order no Festo AG & Co KG., D Esslingen, Federal Republic of Germany, 2012 Internet: The copying, distribution and utilisation of this document as well as the communication of its contents to others without express authorisation is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to file patent, utility model or registered design applications. Festo GDCP-CMXR-C2-SY-EN 1205b 3

4 Index of revisions Author: Name of manual: GDCP-CMXR-C2-SY-EN File name: File saved in: Consec. no. Description Revisions index Date of revision 001 Produced: 1002NH Revision 1011a Revision 1205b Trademarks CANopen, CiA and PROFIBUS are registered trademark owners in certain countries. 4 Festo GDCP-CMXR-C2-SY-EN 1205b

5 Table of contents Table of contents 1. Introduction Terminology used Additional documents Safety instructions Using the documentation Recommended operating conditions Qualified personnel Safety instructions for this manual Safety instructions for the products Safety instructions for the product Modular multi-axis control system CMXR-C Central control unit CMXR-C Memory card File system Application directory CAN interfaces X4/ X Ethernet interfaces X5/ X IP address on delivery USB interfaces X8/ X Serial interfaces X3/ X Peripheral modules Extension modules Addressing of the extension modules Card modules Front panel plug Configuration using FCT Festo Teach Language (FTL) Program processing Downloading FTL programs CDSA-D1-VX handheld terminal Installation CAMI-C interface unit Disconnecting the handheld terminal Festo GDCP-CMXR-C2-SY-EN 1205b 5

6 Table of contents 6.4 Hardware overview Software User rights User levels Set users on delivery Communication with the CMXR multi-axis control system Synchronisation of dialogue software IP addresses on delivery Screen control CDSA emulation Drive systems Configuration of the motor controllers CAN bus address for motor controllers Operating modes Manual override Automatic mode Stopping the kinematics, EMERGENCY-STOP Repositioning Activation method CMXR-C2 in stand-alone mode System signals Higher-order controller and write permission Mode of operation User level Influence of the higher-order control Integration example Coordinate systems Axis coordinate systems Cartesian coordinate systems Translatory axes X, Y, Z Orientation axes A, B, C Euler orientation ZYZ Coordinate systems for the kinematics Base coordinate system Global coordinate system Tool coordinate system Working with the tool coordinate system Festo GDCP-CMXR-C2-SY-EN 1205b

7 Table of contents 11. Supported kinematic systems Configuration of kinematics Basic axes Orientation axes (wrist axes) Adjustment of orientation axes Interpolation of orientation axes Electric and pneumatic wrist axes Auxiliary axes Programming the manual and auxiliary axes Designation of axis sequence for kinematics Cartesian linear gantry Cartesian planar surface gantry Cartesian three-dimensional gantry EXPT kinematics system Origin of the tool coordinate system T-gantry H-gantry Axis interpolation Overview of all supported kinematics systems A. INDEX Festo GDCP-CMXR-C2-SY-EN 1205b 7

8 1. Introduction 1. Introduction This document describes the Festo CMXR-C2- multi-axis control system with robotic technology functions system with software version 1.0 and later. In addition to the actual multi-axis control system, this system also includes the handheld terminal CDSA-D1-VX and its emulation via software as a PC application. CMXR-C2 multi-axis control system CDSA-D1-VX handheld terminal 1.1 Terminology used Designation Central control unit Multi-axis control system Memory card FTL TCP DriveBus Meaning Basic unit of the CMXR multi-axis control system Central control unit with connected peripheral modules Compact Flash Card CF Type I Festo Teach Language, movement-oriented programming language for the CMXR multi-axis control system Tool Center Point Channel of communication between the CMXR multi-axis control system and Festo motor controllers on a CANopen DS402 basis Festo Configuration Tool (FCT) Parameterisation and commissioning software for Festo drives FCT PlugIn Handheld terminal CDSA emulation CoDeSys Software module for a particular device in the Festo Configuration Tool (FCT) CDSA-D1-VX as commissioning and operator unit Emulation of the functions of the handheld terminal on a PC Integrated PLC (process control) 8 Festo GDCP-CMXR-C2-SY-EN 1205b

9 1. Introduction 1.2 Additional documents The total functionality of the multi-axis control system CMXR-C2 is described in the following documents: Part No. Name Contents GDCP CMXR C2 SY-EN This system manual GDCP CMXR C2 HW EN Hardware description of the CMXR-C GDCP CMXR SW-EN Basis programming of the CMXR family GDCP CMXR C2-ST EN Special programming instructions for tracking GDCP CMXR C2 CS EN Programming under CoDeSys The operator unit CDSA-D1-VX also has two documents available: Part No. Name Contents GDCP-CDSA-SY-EN System manual for operator unit CDSA GDCP-CDSA-SW-EN CDSA software manual These documents are available in six languages: DE, EN, ES, FR, IT and SV. See brief operating instructions GDSP CMXR C2 SY ML. Festo GDCP-CMXR-C2-SY-EN 1205b 9

10 2. Safety instructions 2. Safety instructions 2.1 Using the documentation This document is intended for users and programmers of multi-axis structures and robots that work together with the Festo CMXR multi-axis control system. There is a training induction programme for the operation and programming. Appropriate personnel training is a requirement. 2.2 Recommended operating conditions 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 Festo CMXR multi-axis control system conforms to category B of EN and is thus not adequate for the implementation of safety functions for the protection of persons. Additional external protective measures that ensure the safe operating condition of the entire system even in the event of a malfunction must be adopted for safety-related control tasks or for the safety of personnel. Festo accepts no liability for any damage resulting from non-compliance with the warning instructions in these operating instructions. The safety instructions on the products (chapter 2.5) and the safety instructions on this manual (chapter 2.6) must be read prior to commissioning. If the documentation is not clearly understood in this language, please inform the supplier. Fault-free and reliable operation of the control system depends on proper and professional transportation, storage, assembly and installation as well as on careful operation and maintenance. 10 Festo GDCP-CMXR-C2-SY-EN 1205b

11 2. Safety instructions 2.3 Qualified personnel Only trained and qualified personnel should be allowed to handle the electrical systems. 2.4 Safety instructions for this manual Warning DANGER! Considerable material damage and personal injury can occur if these instructions are not observed. Caution Failure to comply can result in severe material damage. 2.5 Safety instructions for the products Warning DANGER! The applicable regulations on special waste must be observed when disposing of the batteries. Although batteries have a low voltage, they can give off enough current in a short circuit to cause combustible materials to ignite. They must not, therefore, be disposed of together with conductive materials (such as metal chips, wire wool contaminated with oil, etc.). Electrostatically sensitive devices: Incorrect handling can result in damage to components. Information Instructions for EMC-approved installations can be found in the product manual. Festo GDCP-CMXR-C2-SY-EN 1205b 11

12 2. Safety instructions Warning DANGER! Dangerous movements! Danger of death, serious bodily injury or material damage due to unintentional movement of the axes! 2.6 Safety instructions for the product Warning DANGER! Danger of death due to insufficient EMERGENCY STOP devices! Emergency stop devices must remain operational and accessible in all operating modes of the system. Unlocking the EMERGENCY STOP device must not cause an uncontrolled restart of the system! First check the EMERGENCY STOP chain, then switch on! Warning DANGER! Danger to personnel and equipment! Test every new program before commissioning the system! Warning DANGER! Retrofittings and modifications may impair the safety of the system! The consequences of this could be personal injury, material damage or damage to the environment. Possible retrofittings or modifications to the system with component parts from external manufacturers must therefore be approved by Festo. 12 Festo GDCP-CMXR-C2-SY-EN 1205b

13 2. Safety instructions Warning DANGER! Dangerous voltage! Unless otherwise specified, maintenance work must always be carried out with the system switched off! At the same time, the system must be protected against being restarted again by unauthorised persons or unintentionally. Any measuring or test work required on the system must be carried out by expert electrical technicians. Caution Only spare parts approved by Festo may be used. Festo GDCP-CMXR-C2-SY-EN 1205b 13

14 3. Modular multi-axis control system CMXR-C2 3. Modular multi-axis control system CMXR-C2 The multi-axis control system CMXR-C2 is a modular control system composed of a central control unit CMXR-C2 with various communication interfaces, input/output modules and a handheld terminal. The multi-axis control system is used for activating kinematics from the Festo Modular System for Handling and Assembly Technology, additional axes and peripheral equipment. Programming is done in the language FTL (Festo Teach Language). The multi-axis control system CMXR-C2 is especially suitable for tracking problems; for parts detection, vision sensors (camera...) can be connected. Mechanics + vision Handheld terminal Valve terminals, remote I/O Grippers, drives Electrical drive technology All the examples and applications used in this manual are nonbinding and do not lay claim to be correct and complete. All the necessary regulations must be observed when using the CMXR multi-axis control system. 14 Festo GDCP-CMXR-C2-SY-EN 1205b

15 3. Modular multi-axis control system CMXR-C2 3.1 Central control unit CMXR-C2 Scope of delivery: No. Designation Significance - Central control unit CPU and housing for H-rail mounting in the control cabinet - CF memory card CompactFlash memory card CF Type I, size 256 MB - 7-segment display Information on diagnostics 1 X1 DVI interface Currently not used 2 X2 power supply Power supply 24 V DC 3 X3 slot Free slot for optional serial interface 4 X4 CAN, peripherals Connection of peripheral devices under CoDeSys, e.g. valve terminal 5 X5 Ethernet Local interface (without gateway), preferably for commissioning 6 X6 CAN, DriveBus Interface to the motor controllers of the kinematics 7 X7 Ethernet General interface with gateway; for network and commissioning 8 X8 USB interface USB port for saving and restoring programmes as well as for removing diagnostic information for servicing purposes. Further information can be found in the CDSA software manual. 9 X9 serial interface Serial interface for use under CoDeSys aj X10 USB interface Reserved for later extensions. Table 3.1 Scope of delivery CMXR-C aj 2 4 Fig. 3.1 Components on the front of the CMXR-C2 Festo GDCP-CMXR-C2-SY-EN 1205b 15

16 3. Modular multi-axis control system CMXR-C2 3.2 Memory card The data for the CMXR-C2 are saved on a memory card. This includes all data required for the operation, such as the operating system, configuration data and movement programs. The memory card is inserted into the associated slot. Pulling and inserting the card is not permitted during the operation. To eject or insert the memory card, always make sure the central control unit is disconnected from the power supply. Ejecting or inserting is not allowed if the control unit is still live. The type of the memory card can be found in the hardware description of the central control unit. To produce backup copies, the memory card can be very easily copied. This can be done via a PC using a punch card reader or via Festo Configuration Tool (FCT). Should the CMXR hardware or the memory card become defective, the defective part can be easily exchanged. Additional software or a PC is not required. 16 Festo GDCP-CMXR-C2-SY-EN 1205b

17 3. Modular multi-axis control system CMXR-C2 Caution The memory card is a storage location for all the multi-axis control system's data. Using this data carrier for other purposes is impermissible. Otherwise, the operability of the storage medium may be impaired File system The memory card has a directory structure in which required data, such as configuration, program and system data, can be stored. These directories are created during the installation of the multi-axis control system and must not be changed or added to. Otherwise, the operability of the system is no longer guaranteed. Caution The required directory structure is created during the installation of the multi-axis control system. It must not neither be changed nor added to. Any type of manipulation here results in the operability not being guaranteed. Illustration of the directory structure on the memory card: Directory name application protocol encoder systemsettings Meaning File for all user data such as configuration, programs and program data File for report files System directory System directory Terminal System directory Table 3.2 File directories on the memory card All the required data for the application are stored in the application directory. This applies to the configuration of the CMXR multi-axis control system as well as all FTL projects and programs in the application. With the aid of the Festo Configuration Tool (FCT) all system data, the configuration and the FTL programs required for the operation are generated and stored on the memory card. Festo GDCP-CMXR-C2-SY-EN 1205b 17

18 3. Modular multi-axis control system CMXR-C Application directory All configuration data, FTL project data and program data are stored in the application\control directory. Illustration of the directory structure for the application directory: The application directory includes a control directory. This is divided into the following directories: Directory name Meaning config Target directory of the application configuration ieccontrol Data for CoDeSys teachcontrol Contains all FTL projects text Contains any message texts in the application Table 3.3 Application directory The teachcontrol directory contains all FTL projects which are each represented by a directory. All FTL programs assigned to the project are located in this project directory. In the above directory tree, the projects _global and cube are created. 3.3 CAN interfaces X4/ X6 The CAN X6 interface of the CMXR-C2 is reserved for the communication with the motor controllers of the kinematics via DriveBus. A different use is not possible. Other typical process peripheral equipment, such as Festo valve terminals or I/O modules, can be connected via interface CAN X4. The devices must support CANopen DS 301. Configuration and programming are done via CoDeSys. 18 Festo GDCP-CMXR-C2-SY-EN 1205b

19 3. Modular multi-axis control system CMXR-C2 3.4 Ethernet interfaces X5/ X7 The multi-axis control system CMXR-C2 has two Ethernet interfaces with RJ45. - X5 without gateway for local networks - X7 with gateway for higher-level networks The use of an Ethernet switch is recommended for minimising the load for the Ethernet network. The CMXR-C2 multi-axis control system is not DHCP-capable. Caution X5 and X7 may not be located in the same network IP address on delivery The CMXR multi-axis control system has, on delivery, a minimal installation on the memory card so that the network connection can be established after connection to the power supply. The network settings are pre-assigned as follows: - X5 deactivated - X7 activated Network parameter X7 Value IP address Subnet mask Gateway address Table 3.4: Preset network parameters X7 To establish a connection to the CMXR multi-axis control system, the corresponding network settings have to be undertaken on the PC. 3.5 USB interfaces X8/ X10 The CMXR-C2 has 2 USB interfaces: The USB port X8 for saving and restoring programmes as well as for removing diagnostic information if servicing is required. Further information can be found in the CDSA software manual. The USB port X10. It is reserved and cannot be used. Festo GDCP-CMXR-C2-SY-EN 1205b 19

20 3. Modular multi-axis control system CMXR-C2 3.6 Serial interfaces X3/ X9 The CMXR-C2 permits operation of two serial interfaces. Configuration and use of the interfaces takes place under CoDeSys. The option slot X3 is not equipped on delivery and serves to extend the CMXR-C2 control system with an additional serial interface. 3.7 Peripheral modules The modular multi-axis control system can be expanded with peripheral modules from the CECX series Extension modules The extension modules are attached on the right side of the central control unit. The modules are connected through the system bus by means of a pin contact. The location of an extension module is freely selectable. Since each module has its own address, it can be uniquely identified. A maximum of 12 peripheral modules can be connected to the multiaxis control system CMXR-C2. Part No. Designation Meaning FTL CoDeSys CECX-D-16E Digital input module with 16 inputs x x CECX-D-14A-2 Digital output module with 14 outputs x x CECX-D-8E8A-NP-2 Digital mixed module with eight inputs and eight outputs x x CECX-A-4E4A-V Analogue module with four inputs, four outputs for voltage x x CECX-A-4E4A-A Analogue module with four inputs, four outputs for current x x CECX-C-2G2 Encoder module with two inputs x x CECX-D-6E8A-PN-2 Digital I/O module in NPN technology x x CECX-E-4E-T-P1 Temperature measurement module, x x CECX-E-6E-T-P2 Temperature measurement module, x CECX-S-S4 Optional module RS485/422 x CECX-F-PB-V1 PROFIBUS Master V1 x CECX-F-PB-S-V1 PROFIBUS slave V1 Table 3.5 Peripheral modules system CMXR-C2 20 Festo GDCP-CMXR-C2-SY-EN 1205b

21 3. Modular multi-axis control system CMXR-C2 The maximum possible 12 modules can be a mixture of the named peripheral modules. The PROFIBUS modules are an exception: they can be used only once in the system. Examples for extension modules: CDCX-D-8E8A-NP-2 Digital mixed module with eight inputs and eight outputs CECX-F-PB-S-V1 PROFIBUS slave module DPV1 The planning of the modules is managed by Festo Configuration Tool (FCT). Please refer to the CMXR programming manual for the application of the modules in FTL programs Addressing of the extension modules Each peripheral module has an address switch that is located underneath a cover. It is designed as a rotary switch. You can use an appropriate tool to set the module address on the address switch. The following applies: - Each address may only be used once inside a module type. - The same addresses are allowed in different modules. The PROFIBUS modules do not have an address switch, since they may be installed in the system only once. Festo GDCP-CMXR-C2-SY-EN 1205b 21

22 3. Modular multi-axis control system CMXR-C2 1 Bus plug (behind cover) 2 Recess for H-rail 3 Address switch (module address) 4 H-rail locking lever Card modules The CMXR-C2 central control unit has 3 slots for card modules. Of these, X4 and X5 are equipped on delivery and by definition belong permanently to the actual central control unit. The slot X3 is reserved for expansion with a serial interface. Designation Significance FTL CoDeSys CECX-F-CO Option module CAN at X4 x CECX-S-S4 Option module RS485/422 an X3 x Front panel plug Standard plugs with a grid dimension of 5.08 mm are needed for the power supply and for connecting the digital and analogue signal cables. Encoder signals are connected via a SUB-D plug, the fieldbuses CAN and PROFIBUS via suitably approved fieldbus plugs. The following tables include the required plug combinations and a recommended selection of plugs. The number of pins can be selected differently, as desired. 22 Festo GDCP-CMXR-C2-SY-EN 1205b

23 3. Modular multi-axis control system CMXR-C2 Peripheral module Plug type No. of CMXR-C2 CECX-D-16E CECX-D-8E8A-NP-2 CECX-D-6E8A-PN-2 CECX-A-4E4A-V CECX-A-4E4A-A CECX-E-4E-T-P1 CECX-D-14A-2 2-pin for power supply 9-pin SUB-D (bush) for each CAN bus RJ45 plug connector for Ethernet 2-pin for power supply 8-pin for signals 2-pin for power supply 8-pin for signals 6-pin for signals CECX-E-6E-T-P2 6-pin for signals 2 CECX-C-2G2 CECX-F-PB-V1 CECX-F-PB-S-V1 2-pin for power supply 2-pin for latch signals SUB-D 9-pin (bush) for encoder PROFIBUS plug connector SUB-D (plug connector) PROFIBUS plug connector SUB-D (plug connector) Table 3.6 Plugs for peripheral modules on the CMXR-C It is recommended you use 2-pin plugs for connecting up the power supply with the peripheral modules. Should signal cables have to be disconnected for commissioning, then the power supply for the modules is maintained. An overview of available plug connectors can be found at Illustration of 8-pin plug NECC-L1G8-C1 with spring-loaded terminal Festo GDCP-CMXR-C2-SY-EN 1205b 23

24 4. Configuration using FCT 4. Configuration using FCT The configuration of the multi-axis control system CMXR-C2 is carried out via the Festo Configuration Tool (FCT). This software has graphically supported dialogue pages for the guided input of the required data. Example of a graphical configuration page: The Festo Configuration Tool (FCT) is used to deal with the configuration of the - Central control unit CMXR-C2, - Peripheral signals, - Control interface, - Selection of the kinematics, - Data for axis dynamics for example. Please refer to the CMXR PlugIn documentation in Festo Configuration Tool (FCT) for more information. 24 Festo GDCP-CMXR-C2-SY-EN 1205b

25 5. Festo Teach Language (FTL) 5. Festo Teach Language (FTL) The movement programs for the multi-axis control system CMXR are written using the textbased programming language FTL (Festo Teach Language). FTL provides a high-performance store of commands, e.g. for movements, dynamics, branchings, loops and the integration of peripheral signals. In the CMXR multi-axis control system the FTL program is processed by an interpreter. The FTL programs can be programmed offline and online. The FTL Editor is available in the Festo Configuration Tool (FCT) for offline programming. Online programming is carried out via the CDSA-D1-VX mobile handheld terminal. Please refer to the CMXR programming manual for more information. Example of an FLT program shown in the FCT plug-in Example of an FLT program shown on the operator unit CDSA-D1-VX: Festo GDCP-CMXR-C2-SY-EN 1205b 25

26 5. Festo Teach Language (FTL) 5.1 Program processing An FTL program is processed in the CMXR multi-axis control system by an interpreter. This allows making very quick changes to the program, which take immediate effect. The FTL programmes are not processed by the memory card, but rather from the CMXR's internal memory. The maximum number of positions in a project is limited by the storage capacity of the central control unit. Exceeding the storage capacity is reported as an error. Limit of CMXR-C1: approx. 1,500 positions Limit of CMXR-C2: approx. 10,000 positions Downloading FTL programs FTL programs are normally written via the CMXR plug-in in the Festo Configuration Tool (FCT) and then transferred to the CMXR memory card per download. The memory card can also be connected to the PC via Ethernet and by using the IP address of the CMXR central control unit. Programme This connection can also be used to store FTL programmes on the memory card. If a project that is already loaded on the memory of the CMXR control system is copied onto the memory card, then this project will not be updated. To load the new project from the memory card onto the CMXR control system's memory, the active project must be closed (it will be unloaded) and then loaded again. This procedure can be carried out via the project mask in the handheld terminal or via CoDeSys. An active, loaded project is not updated in the CMXR control system's RAM by downloading it to the memory card. The project must be unloaded and then loaded again to update the data. 26 Festo GDCP-CMXR-C2-SY-EN 1205b

27 6. CDSA-D1-VX handheld terminal 6. CDSA-D1-VX handheld terminal All operations required for operation - even the correction of FTL programs - can be run using the mobile handheld terminal CDSA. A largely functionally equivalent CDSA emulation on a PC is also available. The following illustration shows the CDSA handheld terminal from the front side: 1 EMERGENCY- STOP 2 Touch pin 3 Start and stop buttons 4 Buttons for jog mode 5 Buttons for selecting functions 6 Coloured touch screen 7 Buttons for selecting functions 8 Display LEDs 9 Cover for USB interface Fig. 6.1 Handheld terminal CDSA Function EMERGENCY STOP button Start and stop buttons Buttons for jog mode Buttons for selecting the functions Display LEDs Touch screen Touch pin USB interface X8 Description 2-channel EMERGENCY STOP button acc. to category 3, for integration in the customer-specific EMERGENCY STOP circuit For starting and stopping the movement program Buttons for moving the axes in different coordinate systems Buttons for selecting the various functions, such as coordinate systems, position display, programming Display of states, e.g. errors 6.5 TFT colour display with touch screen, which can be operated by finger or touch pin Pin for operating the touch screen On the import and export of FTL programs and saving status reports Table 6.1 Functions of the CDSA handheld terminal, front Festo GDCP-CMXR-C2-SY-EN 1205b 27

28 6. CDSA-D1-VX handheld terminal The following illustration shows the CDSA handheld terminal from the rear side: 1 Handle for rightand left-handed people 2 Permission button 3 Cable outlet Fig. 6.2 CDSA handheld terminal - rear side Function Handle Permission button Cable outlet Designation The handheld terminal has an ergonomic handle that can also be used as a hand rest and is suitable for right- and left-handed people. The handle has a 3-stage, 2-channel permission button built in on both the right- and lefthand side (for right- or left-handed people) and prepared for the customer-specific safety circuit. The cable outlet can be defined as being on the right or left depending on the installation of the cable. Table 6.2 Functions of the handheld terminal, rear side The ergonomic design of the handheld terminal also allows operation while lying down, e.g. on a table. The arrangement of the housing and handle also makes sure the terminal is in a secure standing position. 28 Festo GDCP-CMXR-C2-SY-EN 1205b

29 6. CDSA-D1-VX handheld terminal 6.1 Installation The handheld terminal communicates with the CMXR multi-axis control system via an Ethernet connection. The interface for both communication partners is formed by an interface unit that has connections for the handheld terminal and the CMXR multi-axis control system. Overview diagram of handheld terminal's installation: 1 Control cabinet 2 Multi-axis control system CMXR-C1/-C2 3 Ethernet cable (crossover) / Ethernet cable with switch 4 CAMI-C interface unit with 2-channel EMERGENCY- STOP 2-channel permission button 24V supply 5 CAMF-B bridge connector 6 NESC-C-D1-x-C1 cable 7 CDSA handheld terminal Fig. 6.3 Installation of CDSA handheld terminal The interface unit is normally installed in the control cabinet. A cut-out is used to secure the terminal socket for the interface unit against turning and allows the unit to be guided through to the outside. A lock nut is used to fix down the interface unit. We recommend an intelligent switch is used for the Ethernet connection. This is the only way a PC (with FCT software) and an operator unit can be connected up simultaneously. Please refer to the relevant manuals for more information on the installation. Due to the application involved, the required safety regulations must also be observed. Festo GDCP-CMXR-C2-SY-EN 1205b 29

30 6. CDSA-D1-VX handheld terminal 6.2 CAMI-C interface unit The handheld terminal is connected up to the CMXR multi-axis control system via an interface unit. The interface unit has the following connections: - Ethernet connection, communication between CMXR and handheld terminal - 11-pin connector for - 24V DC power supply for the handheld terminal - 2-channel connection for EMERGENCY-STOP switch - 2-channel connection for permission buttons 1 Connector for supply, EMERGENCY-STOP and permission button signals 2 9-pin SUB-D plug, not in use 3 Connecting thread for handheld terminal cable 4 Retaining nut 5 Control cabinet panel 6 Ethernet connection Fig. 6.4 CAMI-C interface unit The illustration shows the CAMI-C interface unit installed on an outside panel of the control cabinet. Please observe that the cut-out must be made using a suitable tool. 6.3 Disconnecting the handheld terminal It is possible to control the CMXR multi-axis control system via an external control system, i.e. to specify instructions such as start or stop externally. The handheld terminal is not absolutely necessary for such operations. The handheld terminal can be disconnected if the commissioning work is concluded. If a handheld terminal is disconnected at the interface unit during operation, then the EMERGENCY STOP circuit is opened. There is now an EMERGENCY-STOP situation that cannot be acknowledged due to the open EMERGENCY STOP circuit. To be able to continue working despite a disconnected handheld terminal (control could come from an external control system), the bridge connector (named CAMF-B-M25-G4) is screwed into the interface unit instead of the handheld terminal. 30 Festo GDCP-CMXR-C2-SY-EN 1205b

31 6. CDSA-D1-VX handheld terminal The bridge connector has two internal bridges for the 2-channel EMERGENCY-STOP signal. These two bridges close the EMERGENCY-STOP circuit and the EMERGENCY-STOP situation can be acknowledged. A solution which allows the handheld terminal to be disconnected without interrupting the EMERGENCY-STOP circuit is not planned. This would require taking the whole installation into consideration and with it the applicable safety regulations. If this is required, then the customer has to find a special solution parallel to the required safety regulations. Caution The EMERGENCY-STOP button for a disconnected handheld terminal is not active. The operator is under obligation to clear up the disconnected handheld terminals such that inadvertent actuation of the inactive EMERGENCY-STOP button is not possible. 1 Bridge connector screwed onto interface unit 2 Wire cable with eyelet for fixing 3 Bridge connector Fig. 6.5 CAMF-B-M25-G4 bridge connector Festo GDCP-CMXR-C2-SY-EN 1205b 31

32 6. CDSA-D1-VX handheld terminal 6.4 Hardware overview Three prefabricated cables are available at various lengths for connecting the handheld terminal to the interface unit. Also available is the bridge connector for bridging the EMERGENCY-STOP signals in the disconnected status, as well as a wall bracket with a cable holder for setting down the handheld terminal. Type CDSA-D1-VX NESC-C-D1-5-C1 NESC-C-D1-10-C1 NESC-C-D1-15-C1 CAMI-C NECC-L1G11-C1 CAMF-B-M25-G4 CAFM-D1-W Meaning Handheld terminal Prefabricated connecting cable, length 5 m Prefabricated connecting cable, length 10 m Prefabricated connecting cable, length 15 m Interface unit 11-pin plug for interface unit Bridge connector for interface unit Wall bracket with holder for cable Table 6.3 Handheld terminal's hardware overview Prefabricated connecting cable NESC-C-D1-xx-C1 Wall bracket CAFM-D1-W CAMI-C interface unit 6.5 Software The handheld terminal has a graphical user interface that has an easy-to-understand and intuitive design. Specialist programming or computer knowledge is not required to learn how the handheld terminal is handled. All information is available in German and English. The language is selected within the software for the handheld terminal, without having to restart the system. 32 Festo GDCP-CMXR-C2-SY-EN 1205b

33 6. CDSA-D1-VX handheld terminal Example of the graphical interface, display of positions: Example of the graphical interface, programming editor: Please refer to the documentation on the handheld terminal software for additional information. 6.6 User rights The user has to log in with a user name and password to work with the handheld terminal. This prevents unauthorised persons from gaining access to functions in the system. The user account can be selected via the graphical mask. After the correct password has been entered, all the released rights for the user are activated. Design of graphical mask for selecting user: Festo GDCP-CMXR-C2-SY-EN 1205b 33

34 6. CDSA-D1-VX handheld terminal New user accounts can be created via user administration. Every user is allocated a password and a rights level in the process. The user rights are divided into levels 1, 7, 15 and 16. Level 16 has all rights and should be reserved for the administrator. Design of graphical mask for user administration: User levels In the CMXR multi-axis control system, a user level consisting of several levels between 1 and 15 can be allocated to every user. The highest level 16 has no restrictions, it should be reserved for the administrator. 34 Festo GDCP-CMXR-C2-SY-EN 1205b

35 6. CDSA-D1-VX handheld terminal List of functions with the required user level Menu button Function Level Write Setup Settings mask 1 - User User mask 1 - Display Setting display properties 1 - System Pop-up menu for system settings 15 - Disable Disables the touch function for 10 seconds 1 - Report Service area 1 Yes I/O monitor Displays the input and output signals 7 - Table 6.4 Service area Menu button Function Level Write Variables Monitor mask for variables 1 - Variable Pop-up menu for manipulating 7 Yes Clean up Deletes unused variables 7 Yes Check use Check use of variables 7 Yes Teach Teach position variables to the current position 7 Yes Table 6.5 Variable function Menu button Function Level Write Project Project mask 1 - Load Load project / program 1 Yes Open Open project / program (translate only) 1 Yes Close/End Close project / End program 1 Yes Info Display program information 1 - Update Update project view 1 - File File manipulation functions 7 Yes Configuration Execution mask 1 - View Display selected program 1 - Step/Cont Switching Step / Continue 7 Yes End End program 1 Yes Table 6.6 Project functions Festo GDCP-CMXR-C2-SY-EN 1205b 35

36 6. CDSA-D1-VX handheld terminal Menu button Function Level Write Program Program mask 1 - Modify Modify selected program line 7 Yes Macro Repeast last insertion command 7 Yes New Insert new FTL command 7 Yes PC Set sentence pointer 7 Yes Step/Cont Switching Step / Continue 7 Yes Process Program processing functions 7 Yes Selection Select lines for cutting out or copying 7 Yes Delete Delete selected lines 7 Yes Undo Undo the last operation 7 Yes Text editor Text editor mask 7 Yes Table 6.7 Program functions Menu button Function Level Write Positions Robot position mask 1 - Drives Display drive positions 1 - Axes Display robotic axis positions 1 - World Display positions in the World coordinates 1 - Object Display positions in the Object coordinates 1 - V-Jog Set jogging speed 1 Yes Jog Set Jog coordinate system 1 Yes Table 6.8 Robot status and functions Menu button Function Level Write Messages Message mask 1 - Acknowledge Acknowledge selected message 1 Yes All Acknowledge all messages 1 Yes Display ID display of ID numbers instead of texts 1 Help Display help for selected message 1 - Message Mask for message log 1 - Display ID display of ID numbers instead of texts 1 Help Display help for selected message 1 - Table 6.9 Message functions 36 Festo GDCP-CMXR-C2-SY-EN 1205b

37 6. CDSA-D1-VX handheld terminal Set users on delivery Four user accounts are automatically set up during the installation of the CMXR multi-axis control system. These users serve as a basis for further settings. User accounts can be created, modified or deleted via the privileged Administrator user. Please refer to the documentation on the handheld terminal software for additional information. User name Password User level Administrator admin 16 Service service 15 Teacher teacher 7 Operator operator 1 Table 6.10 Set users on installation When the CMXR system is restarted or after the user has logged out, a so-called default user is activated that possesses Level 1. This user is set up internally and active only when no user from the supplied list is active. After the system starts up, the default user is active with the configured language. The Service user is required by the system and must not be deleted. It cannot be used for working on the system. The same users accounts are valid for accessing the CMXR multiaxis control system via a network connection (connect network drive). Nevertheless, the user rights are insignificant for these services. A network connection can be established with the relevant password by every user. 6.7 Communication with the CMXR multi-axis control system Communication between the handheld terminal and the CMXR multi-axis control system takes place via the Ethernet interface using permanently set IP addresses. Should communication with another CMXR multi-axis control system be established, then the handheld terminal must be reconnected to the interface unit for the required system. It is true to say that communication can be established via the setting of another Ethernet address, but this is not feasible due to the hardware signals for the permission buttons, since these are wired via a hardware solution. Festo GDCP-CMXR-C2-SY-EN 1205b 37

38 6. CDSA-D1-VX handheld terminal It is only possible to communicate with the CMXR multi-axis control system that accommodates the interface unit, since the hardware signals of the permission buttons have to be assigned according to a kinematics system. An interface unit is needed for every CMXR multi-axis control system so that communication can take place with the handheld terminal Synchronisation of dialogue software The power supply is established when a handheld terminal is connected to the interface unit, and communication to the CMXR multi-axis control system is set up. The dialogue software for the handheld terminal can be found on the memory card of the central control unit. To operate the handheld terminal, the software is loaded onto it and stored there. Every time the handheld terminal is run up, the software versions on the handheld terminal and the CMXR central control unit's memory card are compared with each other. Should these differ, then the software is loaded onto the handheld terminal. This requires a little bit of time. The dialogue software for the handheld terminal is stored on the memory card for the central control unit and in the handheld terminal. Should the versions differ, then the software from the memory card is loaded onto the handheld terminal. 6.8 IP addresses on delivery Communication between the CDSA handheld terminal and the CMXR is taken care of via Ethernet. The CDSA handheld terminal has the following settings on delivery: Network parameter Value IP address (CDSA) Subnet mask Gateway address Host IP (CMXR) The addressing for the delivery status is married to the delivery status of the CMXR. If these devices are operated together, without network integration, then no settings are necessary in the IP addresses. 38 Festo GDCP-CMXR-C2-SY-EN 1205b

39 6. CDSA-D1-VX handheld terminal If the handheld terminal is integrated in a network, then make sure that the addressing is correct. In this case, the delivery status settings must be changed. The CMXR multi-axis control system is not DHCP-capable. It must be configured via FCT. 6.9 Screen control If no task is undertaken at the touchscreen, then the background illumination is reduced after approx. two minutes to protect the display. The screen saver is activated after approx. 10 minutes. The touchscreen is reactivated when it is touched. Touching the display deactivates the reduced background illumination or screen saver. Full illumination is activated CDSA emulation With the FCT plug-in CMXR, a CDSA emulation is installed on the PC. This emulation has functionally the same performance as the operator unit CDSA-D1-VX and can be operated in the same way. Caution The CDSA emulation is strictly a PC application. It does not have the safety equipment of the operator unit CDSA-D1-VX. The emergency off and permission button function must be ensured in some other way. Festo GDCP-CMXR-C2-SY-EN 1205b 39

40 7. Drive systems 7. Drive systems Only Festo electric motor controllers are used for operating the kinetics. Both the Festo servo motor technology and the Festo stepper motor technology can be used in the process. The following Festo motor controllers are currently supported: Type CMMP-AS CMMS-AS CMMD-AS CMMS-ST Meaning Festo Premium motor controller for servo motors Festo Standard motor controller for servo motors Festo double motor controller for servo motors Festo motor controllers for stepper motors Table 7.1 Supported Festo motor controllers The node address of the kinematic axes is continuous and permanently specified by the system. Therefore, when using the CMMD-AS, make sure that the motor controller is used exclusively for successive axes of one kinematics system. Communication to the motor controllers takes place via the Festo DriveBus, which is based on the CANopen DS402 Interpolated Position Mode operating mode. 7.1 Configuration of the motor controllers Every motor controller is parameterised with its assigned FCT plug-in (module in the Festo Configuration Tool FCT software). A basic functional commissioning of every participating axis is required prior to shared operation with the CMXR multi-axis control system. Special features for the parameterisation of motor controllers: Control interface: DriveBus Error management: The Hardware limit switch group must not be set to Warn or Ignore. 7.2 CAN bus address for motor controllers When communication takes place via the Festo DriveBus at interface CAN X6, the CMXR multi-axis control system is the master; all motor controllers are operated as slaves. The bus address for the motor controllers is determined and defined as follows: From CAN-ID 2 and ascending: motor controllers for all basic axes Following without gaps: motor controllers for all wrist axes Following without gaps: motor controllers for all auxiliary axes If there are a maximum of six permissible axes, the CAN addresses 2 7 are assigned. 40 Festo GDCP-CMXR-C2-SY-EN 1205b

41 8. Operating modes 8. Operating modes The CMXR multi-axis control system has two operation modes: Manual override with reduced speed Automatic mode Caution The reduced speed in manual override is not a safe function. Additional external protective measures that ensure the safe operating condition of the entire system even in the event of a malfunction must be adopted for safety-related control tasks or for the safety of personnel. The operating mode is selected via the respective digital input (e.g. a key actuator). The active operating mode is displayed with a digital output signal. Depending on regulations, the signals for the operation modes are generated via a safetyrelated logic, since under certain circumstances this safety-related logic must have the appropriate status for activating an operation mode. 8.1 Manual override This operation mode is used for setting up the kinematics and commissioning the programs. It is generally carried out with the handheld terminal. The speed is limited (e.g. the path speed for the TCP to a maximum 250 mm/s). This speed restriction is not safe. Additional external protective measures must be adopted for safety-relevant control tasks or for the safety of persons. Functions in manual mode: - Moving the kinematics system at reduced speed. Pressing down the enabling button is a requirement for this. Without CDSA, manual override is possibly only if a corresponding hardware control is provided by the user. - For Cartesian movements, a maximum 250 mm/sec on TCP. - For the movement of individual linear axes, a maximum 250 mm/sec. - For the movement of individual rotating axes, it must taken into account for the projecting component that 250 mm/sec are not exceeded at the longest end. The rotational speed of the axis must be calculated in proportion to this length and must be entered in the configuration. - Teaching of positions - Generating and modifying programs - Testing programs in the step mode or continuous mode at reduced speed. Pressing down the permission button is a requirement for this Festo GDCP-CMXR-C2-SY-EN 1205b 41

42 8. Operating modes The values for the reduced speed must be configured via Festo Configuration Tool (FCT). It is here that limits for the maximum speeds are specified according to the parameter. The integrated 2-channel, 3-stage enabling buttons are used for manual travel using the handheld terminal. These are connected to the CMXR multi-axis control system via a digital input. 8.2 Automatic mode In automatic mode, all movements of the kinematics are processed at full speed. All dynamic values set in the program are processed and run. Caution Considerable speeds can be generated in automatic mode. To execute this operation mode, the valid regulations and safety devices for operating the kinematics must be observed. It is not possible to move the axes manually in automatic mode. The handheld terminal's permission buttons are not taken into account. 8.3 Stopping the kinematics, EMERGENCY-STOP The kinematics are stopped on the path. This means that all the axes participating in the interpolation brake together up to standstill. To do this, the CMXR multi-axis control system requires the emergency stop signal and the permission buttons' signal. If the CMXR multi-axis control system does not brake the participating axes on the path in a coordinated way, then this could result in collisions - for example, with the tool. A coordinated stop on the path can only take place if all the necessary axes for this are ready for operation, i.e. do not have any errors. If there is an error in the axis, then the axis cannot be stopped true to the path. The axis normally stops the drive itself as a consequence of the error. In such a case, a deviation from the path will occur which cannot be influenced by the CMXR multi-axis control system. Caution An uncoordinated stop of the axes can trigger collisions, e.g. with the tool, since the path is deviated from. 42 Festo GDCP-CMXR-C2-SY-EN 1205b

43 8. Operating modes The CMXR multi-axis control system needs time to stop the axes true to path. This period of time commences as from the emergency stop signal until the power of the drives are shut down after a defined and permissible duration via a safety-related module. The CMXR multi-axis control system must stop the drives true to path within this period of time. If it does not succeed in doing this, the safety-related module will most certainly intervene and shut down the power in the drives. The CMXR multi-axis control system brakes with the maximum possible path values feasible, as determined by the axis dynamics. This must be taken into account when calculating a braking time. The following graph shows the signals for shutting down the drives and for the true-topath stop of the kinematics axes: t t Drive enable regulator Emergency stop signal Motion Time suffices for trueto-path stop Time does not suffice for true-to-path stop, axes are stopped via the drive regulator A true-to-path stop is possible in the left part of the graph. In the right part, the drive power is shut down via the safety-related hardware, e.g. a 2-channel time relay. The applicable regulations must be observed when setting the delay time for shutting down the drive power via the hardware. Festo GDCP-CMXR-C2-SY-EN 1205b 43

44 8. Operating modes 8.4 Repositioning The CMXR multi-axis control system has the Repositioning function. This is understood as the automatic approach to a point where a program was interrupted and is now to be continued. The interrupt point is automatically approached. A kinematics system can leave the path, for example, as a result of - the kinematics axes bending, e.g. when the brakes engage - or a manual movement of the kinematics. After a program has been restarted, the kinematics are moved directly from the actual position to the interrupt position. If the kinematics were moved manually, this could lead to a collision when repositioning. For this reason, you must take care to avoid a collision when repositioning. Caution: Danger of collision Repositioning is carried out directly. This means that the axes move from the current position to the interruption position by the direct route. To minimise the danger of collision, it is recommended that you move the kinematics manually into the proximity of the interruption position prior to repositioning. At the same time, any orientation axes should also be moved into the approximate orientation position they were in when the interruption took place. Repositioning is carried out at a defined speed. This is configured via the Festo Configuration Tool (FCT). It is recommended that moderate dynamic values that can be controlled are set here. When configuring the dynamic values, make sure the values are reasonable and can be controlled. 44 Festo GDCP-CMXR-C2-SY-EN 1205b

45 8. Operating modes Travelling from the path, e.g. by moving manually Intermediate position Direct repositioning movement Interrupt position on the path Depending on the type of kinematics, a PTP or a Cartesian linear interpolation is used for repositioning. Caution: Danger of collision If repositioning is carried out using a Cartesian linear interpolation, then defined tools are taken into account on the path. This can lead to unexpected compensating movements in the kinematics. Festo GDCP-CMXR-C2-SY-EN 1205b 45

46 9. Activation method 9. Activation method The multi-axis control system CMXR-C2 - besides the handheld terminal - always be actuated via the integrated CoDeSys controller. If an additional controller is to be assigned a higher order, this can be realised via the access routes digital I/O, PROFIBUS DP, Ethernet TCP/IP or CAN by means of CoDeSys modules. The template CMXR Stand-alone is saved as the minimum configuration. You can find additional information about this topic in the CMXR with CoDeSys manual. 9.1 CMXR-C2 in stand-alone mode In stand-alone mode, the motion control is controlled by the handheld terminal, but some important signals have to be additionally transmitted via the internal PLC and its RC interface to the motion control. The signals are mapped in the CoDeSys project template directly onto the configured first I/O card. Then the project can be loaded and started without any extension directly on the controller. The system signals can also be processed directly in CoDeSys, in which case an I/O card is not absolutely necessary. The following illustration shows an example for installation in stand-alone mode: Feedback signal that error is active Feedback signal for Automatic operation mode CMXR-C2 Feedback signal for Manual override operation mode Example of safety technology Automatic operation mode Manual operation mode Emergency stop signal Permission button Drive units Ethernet 2-channel design Permission button Emergency stop signal Drive enable Handheld terminal CDSA CAMI-C interface unit Additional emergency stop signals 46 Festo GDCP-CMXR-C2-SY-EN 1205b

47 9. Activation method In this example, the drive enable is triggered via an emergency stop signal by means of the safety technology. This logic element has the capacity to set a time delay for achieving a delayed shutdown for the drive enable. With the feedback signal for the active operation mode or if an error is active, a signalling element, e.g. a lamp, can be activated. The following table contains all the components that are recommended for the activation method Stand-alone with CoDeSys. The number of peripheral modules can be adapted to the respective application. Type No. of Meaning CMXR-C2 1 Central control unit CECX-D-8E8A-NP-2 1 Digital mixed module with eight inputs and eight outputs NECC-L1G2-C1 2 2-pin plug NECC-L1G8-C1 2 8-pin plug CDSA-D1-VX 1 Handheld terminal NESC-C-D1-5-C1 1 Cable for handheld terminal, e.g. 5m CAMI-C 1 Interface unit for handheld terminal NECC-L1G11-C pin plug for interface unit Table 9.1 CMXR components, stand-alone mode with CoDeSys In stand-alone mode, at least one additional central input/output module CECX-D-8E8A-NP-2 at the multi-axis control system CMXR-C2 is recommended System signals The table below includes the system signals and the signal assignment of the recommended I/O card CECX-D-8E8A-NP-2. Signal Signal name Meaning Output 0 douterror Error active Output 1 Freely usable Output 2 doutautoselected Automatic operation mode active Output 3 doutmanselected Manual operation mode active Output 4 Output 5 Output 6 Output 7 Freely usable Freely usable Freely usable Freely usable Festo GDCP-CMXR-C2-SY-EN 1205b 47

48 9. Activation method Signal Signal name Meaning Input 0 dinemstop Emergency stop Input 1 dinenabling Permission button Input 2 dinautoselected Automatic operation mode Input 3 dinmanselected Manual operation mode Input 4 Input 5 Input 6 Input 7 Table 2: Allocation of the system signals Freely usable Freely usable Freely usable Freely usable The I/O points allocated on the I/O card with Signal name are allocated as the default proposal. The free inputs and outputs can be used as application signals. The symbols are allocated to the I/O points via the Fest Configuration Tool (FCT). 9.2 Higher-order controller and write permission The CMXR multi-axis control system can be controlled via an internal PLC or via the handheld terminal. To avoid any problems, only one of the devices has the right to actively control the CMXR multi-axis control system, e.g. to start programs. This active participant has the status of higher-order controller and thus has write permission. A passive observer role for each of the devices is always an option. Only one device can actively control the CMXR multi-axis control system Mode of operation Higher-order control is managed in the motion control of the CMXR. After running up the system, none of the possible controlling devices has the higher-order control and thus the write permission. This must firstly be requested. The request is carried out via a dialogue on the handheld terminal or via a signal exchange with the internal PLC control system. All stations have the same rights here. The device that requests first receives the higher-order control. If a device no longer needs the higher-order control, it must return it to administration. Removal of the higher-order control is not possible. The status of the higher-order controller of the teach pendant is shown with the background colour in the field of the active user level: Background colour = grey: no write permission/no higher-order controller present Background colour = blue: Write permission/higher-order controller present These states are also transmitted on the interface for the external control system. The following illustration shows how this is represented graphically on the handheld terminal. 48 Festo GDCP-CMXR-C2-SY-EN 1205b

49 9. Activation method Field of active user levels Every controlling device must request the higher-order control itself and return it as required. Removal of the higher-order control is not possible. Should the communication with a device be interrupted, then the higher-order control is returned to administration after an internal timeout. If there is no connection to a control system and operation is carried out via the CDSA handheld terminal, then the higher-order control has to be requested once on the handheld terminal after the control system has been started up User level The higher-order control is independent of the operation mode and the user level for the operator unit. Even with user level 16 (Administrator), control can only take place using an active higher-order control; a transfer of the higher-order control without the controlling participant previously returning the control sovereignty is not possible Influence of the higher-order control The higher-order control effects the possible extent of action of a participant. Each participant can always carry out passive actions, i.e. it can observe but not execute any influence on programs or the kinematics. Furthermore, the options are dependent upon the active interface. The following table provides an overview of the active and passive functions of the individual connections and participants. Function Handheld terminal CDSA CoDeSys Active functions with write permission Jogging of axes X X Teaching of positions X X Starting and stopping programs X X Delete errors X X Passive functions without write permission Mode selection X Festo GDCP-CMXR-C2-SY-EN 1205b 49

50 9. Activation method Function Handheld terminal CDSA CoDeSys Permission button signals, emergency stop Exchange of cyclic I/O data X X X Observing variables X X Writing variables X X Table 9.3 Overview of active and passive functions Integration example When controlling via an external control system it is recommend that a selector switch be installed on the external control system for requesting the higher-order control or for enabling other participants (handheld terminal). The status of the higher-order control could be visualised via a light signal. External control Control signals CMXR-C2 Handheld terminal CDSA Selector switch for enabling handheld terminal. Depending on the status of the selector switch, the external control system obtains the higher-order control or gives it back to administration. It is also possible to integrate this higher-order control into a selection of operation modes, e.g.: - Manual override without higher-order control - Manual override with higher-order control - Automatic mode. To execute automatic mode, the external control system always requires the higher-order control, otherwise programs cannot be started, for example. 50 Festo GDCP-CMXR-C2-SY-EN 1205b

51 10. Coordinate systems 10. Coordinate systems 10.1 Axis coordinate systems The axis coordinate system is a coordinate system that takes into account all physical axes in a kinematics system. Each axis has a coordinate in the axis coordinate system. The origin of a coordinate is in the zero point of the assigned axis. In this position, the axis coordinate system is bound to the form and location of the mechanical axes. This is determined by the mechanical design of the kinematics. Examples: A3 A1 A2 A1 A3 A2 The kinematic model of the Festo EXPT is illustrated in the picture on the left. The position of the axes and thus the axis coordinate system is determined by the kinematic model. The arrangement in the picture to the right shows a Cartesian kinematics system. This mechanical system also has an axis coordinate system, although the axes standing perpendicular to one another form a Cartesian system. In the axis coordinate system, the CMXR multi-axis control system does not take the kinematic model into account, but rather only the individual axes, which can be linear or rotary Cartesian coordinate systems A Cartesian coordinate system comprises three axes standing perpendicular to one another. The CMXR multi-axis control system uses a coordinate transformation to calculate, using the internal kinematic model as a basis, the Cartesian world from the individual axis coordinates Translatory axes X, Y, Z In the Cartesian coordinate system, the three axes X, Y and Z standing perpendicular to one another form the translatory axes. These are defined in accordance with the right-hand rule. Festo GDCP-CMXR-C2-SY-EN 1205b 51

52 10. Coordinate systems The thumb points to the positive X-axis, the index finger to the positive Y-axis and the middle finger to the positive Z-axis. With these three translatory axes, a tool, for example, can be moved or described in three directions in the available space. They are known as the three degrees of freedom Orientation axes A, B, C Using the translatory axes X, Y and Z, the position of a tool, for example, can be described. Should this tool also have an orientation, however, i.e. the tool has turned away from its original position, then this cannot be pressed out via axes X, Y and Z. To describe these orientations, one needs rotating axes (= orientation axes) in the Cartesian system. These execute a rotation around the translatory axes X, Y and Z. The first axis of rotation in the Cartesian system is called A, the second axis of rotation B and the third C. How the sequence of rotations is executed in the Cartesian system is defined in accordance with Euler ZYZ with the CMXR multi-axis control system. This is described in the following chapter. The direction of rotation around the axis is defined by the right fist rule. This involves making a fist with the right hand and raising the thumb upwards. In doing so, the thumb indicates in the positive axis direction, the fingers in the fist indicate in the positive direction of the rotation around the axis. 52 Festo GDCP-CMXR-C2-SY-EN 1205b

53 10. Coordinate systems Euler orientation ZYZ The Euler orientation describes a sequence of how an orientation is derived from a Cartesian system. The CMXR multi-axis control system works in accordance with this ZYZ Euler convention. This results in the following rotation sequence: The first axis of rotation A rotates around the Z-axis, the second axis of rotation B rotates around the Y-axis of the turned coordinate system, the third axis of rotation C rotates around the Z-axis of the once more turned coordinate system. Start position Y Rotation around the Z- Y X Rotation around the turned Y-axis Y X Rotation around the turned Z-axis Y X Z X Z Z Z The illustration shows the three rotation sequences in accordance with the ZYZ Euler convention. Owing to the two rotations around the Z-axis, the ZYZ Euler convention is proven to be more easily understood than other rotation sequences. Because the tool axis is always in the direction of the Z-axis, the orientation specifications can be understood in a practical sense. The orientation according to Euler describes three orientation degrees of freedom in the available space. However, these can only be achieved if the mechanical system of the kinematics can fulfil these degrees of freedom. All orientation specifications in the CMXR system are always specified in accordance with the ZYZ Euler convention Coordinate systems for the kinematics Base coordinate system The so-called base coordinate system for the kinematics is defined by virtue of the arrangement of the axes in the available space and their parameterisation. It is a Cartesian coordinate system. This is defined by - the direction of rotation of the drives and - the axis zero point, Festo GDCP-CMXR-C2-SY-EN 1205b 53

54 10. Coordinate systems for example. The required settings are made in the configuration of the CMXR multi-axis control system as well as in the configuration of the respective drive regulators. To ensure that these settings can run, the directions of the Cartesian axes must always correspond with the right-hand rule. If this is not adhered to, then the kinematics system cannot run in combination with the CMXR control system. The settings of the parameters for the axes and drives, which affect the coordinate directions, must comply with the right-hand rule, otherwise they will not be able to run. The position and orientation of the base coordinate system is determined by the kinematics. Please refer to the description of the respective kinematics system for the definition. All settings in the configuration must be made such that the definition for the individual kinematics systems is fulfilled. The description for the individual kinematics systems is shown in chapter 11 Supported kinematic systems. All parameter settings, e.g. for the axes or drives, must be set such that the specifications are fulfilled for the respective kinematics. The following graphic shows a Festo three-dimensional gantry with its base coordinate system whose origin is formed from the zero points of the individual axes. 54 Festo GDCP-CMXR-C2-SY-EN 1205b

55 10. Coordinate systems X+ Y+ Z+ Base coordinate system The base coordinate system is, just like the global coordinate system, Cartesian in its classification and is the Cartesian origin in the kinematics Global coordinate system The global coordinate system is defined with three degrees of freedom in the World. The base and global coordinate system are congruent. By shifting the base coordinate system, the global coordinate system could lie outside the working space of a kinematics system. It is therefore possible that several kinematics systems refer to the same zero point. Example: Should a shift in the position or the orientation of the original base coordinate system for the kinematics be necessary, then this can be defined by a configurable offset via the Festo Configuration Tool (FCT). Two three-dimensional gantries are mounted on a shared conveyor system. There is a common zero point on this conveyor system which applies to both kinematics systems. The kinematics systems are distanced 2000 mm or 3500 mm in the direction of the X-axis away from the global coordinate system. Festo GDCP-CMXR-C2-SY-EN 1205b 55

56 10. Coordinate systems Two three-dimensional gantries with base coordinate system Global coordinate system X+ Y+ Z+ Conveyor system X+ Y+ Z+ Z+ Y+ X mm 1500 mm The offset of the base coordinate system for a kinematics system is defined from the viewpoint of the origin of the global coordinate system. Simply put, you place the base coordinate system into the global coordinate system, thus the two coordinate systems are now congruent. The base coordinate system is now moved and/or oriented accordingly away from the origin of the global coordinate system and into the required position. This means for the example with the two three-dimensional gantries: - Three-dimensional gantry 1 has a basic offset of X = 2000 mm - Three-dimensional gantry 2 has a basic offset of X = 3500 mm The offset of the global coordinate system is a global setting for the kinematics. Further zero point offsets that are only active during program runtime can be defined in the movement program. If the base coordinate system is not offset, then the global coordinate system is equal to the base coordinate system. In this case, it is also called a global coordinate system. 56 Festo GDCP-CMXR-C2-SY-EN 1205b

57 10. Coordinate systems Tool coordinate system The tool coordinate system is a Cartesian system and has three translations and three orientation specifications, in total six degrees of freedom. The origin of the tool coordinate system is normally on the tool flange of the kinematics. This origin is dependent on the kinematics model. Please refer to the description of the kinematics for additional information. The orientation of the tool coordinate system is initially the same as the orientation of the base coordinate system. The definition of a tool or the use of an orientation axis can be used to define the tool coordinate system in the available space. The following illustration shows a three-dimensional gantry with base and tool coordinate system: Y+ X+ Z+ Base coordinate system Ty+ Tx+ Tool operating point (TCP) Tz+ Tool coordinate system The origin of the tool coordinate system forms the tool operating point and is known as the Tool Center Point (TCP). Using a tool definition, the TCP can be defined with six degrees of freedom. This definition can be used to set the TCP to any tool in the available space. This defined TCP is guided on the path during Cartesian movements Working with the tool coordinate system The tool coordinate system can be used to work entirely in manual override. This operating mode can be selected, for example, via the CDSA handheld terminal. The tool coordinate system is only significant for teaching positions and manual operation. If positions are complete, they are stored as Cartesian or axis positions depending on the variables used. Festo GDCP-CMXR-C2-SY-EN 1205b 57

58 10. Coordinate systems If positions are complete with a selected tool coordinate system, then these positions are stored as Cartesian or axis positions. If the tool coordinate system is selected (e.g. on the CDSA handheld terminal), then the kinematics can be moved with its TCP inside the defined tool coordinate system. In addition to this, the name of the Jog keys changes on the handheld terminal. If a limited kinematics system is being used, i.e. not all six degrees of freedom are covered, the axis designation, e.g. A4, is displayed for orientation axes instead of the orientation designation A, B, C. The following illustration shows a key assignment on the handheld terminal after selecting the tool coordinate system for a limited kinematics system. Axes X, Y and Z of the tool Orientation axis 58 Festo GDCP-CMXR-C2-SY-EN 1205b

59 11. Supported kinematic systems 11. Supported kinematic systems The CMXR multi-axis control system has internal kinematics models. These models describe the type of kinematics systems as well as their axes in the arrangement, position and form. All the kinematics models that are supported by the CMXR system are described below. The maximum number of axes in a kinematics system is limited to six Configuration of kinematics Kinematics essentially comprise basic axes and orientation axes (wrist axes). Their significance and function are described below. Auxiliary axes that interpolate together to the kinematics' target position are still an option for these kinematics axes Basic axes The axes A1, A2 and A3 normally form the three axes that cover the up to three translation axes X, Y and Z in the Cartesian system. These axes can approach positions in a Cartesian space. If a tool is attached to the basic axes, then its orientation is coupled to the position of the basic axes and cannot be affected. A3 A1 A2 A1 A2 A3 The illustrations show the Festo kinematics systems EXTP and three-dimensional gantry. The axes A1, A2 and A3 form the basic axes of the kinematics systems. All basic axes are electric axes that are controlled via the CMXR multi-axis control system. The use of pneumatic axes as basic axes is not possible. Festo GDCP-CMXR-C2-SY-EN 1205b 59

60 11. Supported kinematic systems Orientation axes (wrist axes) The orientation axes, also called wrist axes, are attached to one end of the basic axes. These axes are of a rotary design. A maximum of one orientation axis is possible, and this forms another degree of freedom along with the basic axes' three degrees of freedom. Together with the basic axes, this results in a maximum four degrees of freedom in a kinematics system. At the end of the orientation axes there is a tool flange upon which the tool is mounted. Thus the tool can be oriented in the available space by using the orientation axes, in a similar fashion to a human hand. This is where the notion wrist axis is derived. - Z-axis + Example: Electrical module with one degree of freedom Should an orientation change be required on the path, then the orientation axis must be of electric design so that it can interpolate on the path. Pneumatic rotary and semi-rotational axes can also be used as orientation axes, but with static orientation that has to be set via the tool data Adjustment of orientation axes When the orientation axis is rotated, the orientation of the tool follows simultaneously. This means the orientation of the tool coordinate system, whose origin is on the TCP, changes analogously with the orientation of the orientation axis. The orientation axis is rotated by +45 in the following example. The tool coordinate system (Tx and Ty) is carried along with it analogously. The global coordinate system is not affected by this. 60 Festo GDCP-CMXR-C2-SY-EN 1205b

61 11. Supported kinematic systems Global coordinate system Orientation axis = 0 degrees Orientation axis = 45 degrees X+ Tx+ Tx+ Y+ Ty+ Ty+ If a reference system is activated by programming in FTL (Festo Teach Language), this has an additive impact on the global coordinate system. If a rotation that can be covered by the kinematics' degree of freedom (e.g. rotation around the Z-axis) is generated in the reference system, then the orientation axis is automatically adjusted. In the following example, the right contour is offset and rotated using a reference system. Since the rotation can be executed with the orientation axis, then the axis will be adjusted. Thus the tool is guided to the contour (in the same way it would be without a rotation) almost at once. Contour without offset Contour with offset and rotation by the reference system X+ X+ Y+ Tx+ Ty+ Y+ Tx+ X+ Ty+ Y+ If a contour is oriented in the available space by a reference system, then the tool is automatically guided on the contour with the aid of an orientation axis. The prerequisite is that the required degrees of freedom are covered by the orientation axis. Festo GDCP-CMXR-C2-SY-EN 1205b 61

62 11. Supported kinematic systems Interpolation of orientation axes All basic and wrist axes are axes for the kinematics. The movements of these kinematics axes are calculated by the internal kinematics model, the coordinate transformation. With Cartesian movements, the Cartesian position and the specified orientation are also taken into account. In the process, it is quite possible that several axes can move in just one position command. This is dependent on the position command as well as the type of kinematics used. In the example below, an elbowed tool is attached to an orientation axis. This tool is guided on the path, whereby the orientation is turned by 180 degrees. + Orientation axis + Y+ X+ Z+ A+ The illustration below shows the top view of the movement. This tool point is guided on the path, whereby the orientation (rotation by 180 degrees) follows simultaneously. The Cartesian axes X, Y and Z carry out a so-called compensating movement in overlapping fashion to the path movement. This is necessary so that position, orientation and tool adapt to the path. Path of the tool flange Y+ Path of the tool X+ Axes movements that follow the orientation change are also known as a compensating movements. 62 Festo GDCP-CMXR-C2-SY-EN 1205b

63 11. Supported kinematic systems Because the orientation axes, e.g. produced by reference systems, automatically rotate as a result of the adjustment, you have to check that all application lines (cables, hoses) are not damaged. During the interpolation of the orientation axis, you must make sure that it responds differently when a Cartesian or axis position is specified within a movement. If using a Cartesian position, the target position is approached by the shortest route so that movements are kept to a minimum. If a position is specified in axis coordinates, then the orientation axis will always cover the programmed route. Caution: Danger of collision When integrating the orientation axes into the movement, a commissioning procedure must be implemented to ensure that a rotation of the orientation axis moves in the required direction. We recommend you teach and test the orientation movements via the handheld terminal. Festo GDCP-CMXR-C2-SY-EN 1205b 63

64 11. Supported kinematic systems In the example below, the orientation axis is at the 40 degree position. If a movement is now programmed with a Cartesian position (position of the type CARTPOS), in which the orientation axis has to rotate to 320 degrees, then it will carry out the shortest route, i.e. it effectively moves 80 degrees in this example. Path of the orientation axis when a Cartesian position is specified Y+ 0 Path of the tool X If now an axis position (position of the type AXISPOS) is specified during the movement instead of a Cartesian position, then the orientation axis rotates from the 40 degree position to the 320 degree position, while having the sign taken into account. In this example, the orientation axis effectively travels 280 degrees Path of the tool X+ Y Path of the orientation axis when an axis position is specified 64 Festo GDCP-CMXR-C2-SY-EN 1205b

65 11. Supported kinematic systems Electric and pneumatic wrist axes A pneumatic semi-rotational axis is not regarded as a wrist axis, because it cannot be moved in an interpolating fashion. It must therefore be taken into account within the tool definition. Caution When using pneumatic axes, always take into consideration the correct tool definitions. Incorrect tool definitions or tool definitions not taken into consideration can cause collisions and material damage. The illustration below shows an application for a pneumatic semi-rotational axis behind an electric wrist axis. Shown here is an extract of the tripod kinematics with an electric orientation axis that has a pneumatic DRQD semi-rotational axis (with a vacuum gripper) mounted to it. Electric orientation axis Pneumatic DRQD rotary drive Auxiliary axes In contrast to basic and wrist axes, auxiliary axes do not belong to the kinematics model and are not taken into account by the kinematics model of the coordinate transformation. Auxiliary axes are jointly interpolated by the CMXR multi-axis control system for the Cartesian movement of the basic and wrist axes in the form of a point-to-point movement. Festo GDCP-CMXR-C2-SY-EN 1205b 65

66 11. Supported kinematic systems Auxiliary axes are always interpolated together for the Cartesian movement. A separate, asynchronous movement of auxiliary axes for Cartesian movement of the kinematics is not possible. The following example shows the use of an electric auxiliary axis in a tripod kinematics system. The auxiliary axis is also used as a rotational axis on the tool flange, since this configuration is not included in the tripod kinematics model. Workpiece The graphic shows a positional change of the rotational auxiliary axis. Because this axis cannot carry out a Cartesian movement, the other axes do not carry out a compensating movement. When auxiliary axes are used, the movements must always be checked to make sure that a collision does not occur. Caution If auxiliary axes are used, there is a danger of collision during movements, because the tool (TCP) under certain circumstances is not guided on the path of the kinematics axes. It is absolutely essential that the movement is commissioned Programming the manual and auxiliary axes Manual and auxiliary axes are moved via a PTP movement on the basis of the internal interpolation. This interpolation type needs a dynamic specification, as is the case for PTP movements. This means a path's programmed Cartesian dynamics has no effect on the dynamics of the manual and auxiliary axes. To influence the dynamics of the manual and auxiliary axes, the percentage dynamic specifications, as in a PTP, are also needed for the Cartesian dynamics. 66 Festo GDCP-CMXR-C2-SY-EN 1205b

67 11. Supported kinematic systems Within a Cartesian movement, dynamic specifications for PTP movements are also required for auxiliary and wrist axes. These must be specified as a percentage with the associated FTL commands. Please refer to the programming manual for more information Designation of axis sequence for kinematics Basic and wrist axes for kinematics describe a sequence of axes. To simplify this sequence in its representation, letters are also used to describe the axis chain. Using this type of identification as a basis, the kind of axis used is also specified, whether it be a linear or rotational axis. L means linear axis The identifier is configured as followed: Examples: LL-R R means rotational axis <String for basic axes> - <String for wrist axes> Kinematics with two linear basic axes and one rotational wrist axis LLL-RR Kinematics with three linear basic axes and two rotational wrist axes 11.2 Cartesian linear gantry A linear gantry is understood as a Cartesian kinematics system with two basic axes that stand perpendicular to one another and thus form a Cartesian system. These axes are arranged in a Cartesian fashion in a X-Z- or Y-Z sequence. The vertical axis always forms the Cartesian Z-axis. As an option, an orientation axis can be attached to the tool flange. Festo GDCP-CMXR-C2-SY-EN 1205b 67

68 11. Supported kinematic systems - Axis Axis 2 X+ or Y+ + A+ Z+ + Axis 3 Tx+ or Ty+ Tz+ Kinematics Number of basic axes Number of wrist axes Axis sequence Linear gantry without axis of rotation Linear gantry with axis of rotation 2 0 LL 2 1 LL-R Table 11.1 Configurations of linear gantry The arrangement of the Cartesian axes in X-Z or Y-Z design is set via the Festo Configuration Tool (FCT). The zero point of the global coordinate system is defined by the zero point of axes 1 and 2. The zero position and the direction of rotation of axis 3 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. The reduced kinematics only allows limited interpolating orientation axes, because the third degree of freedom of the basic axes is missing; this is to induce the tool to make compensating movements in the available space. Cartesian movements can thus only be carried out in the direction of the available basic axes, axis 1 and axis Festo GDCP-CMXR-C2-SY-EN 1205b

69 11. Supported kinematic systems Example The kinematics system has an orientation axis (axis 3) upon which a tool, whose TCP is defined in the available space (not vertical), is mounted. A Cartesian rotation of axis 3 around the TCP is not possible due to the missing degree of freedom in the basic axes. This type of rotation has to be moved with PTP interpolation, in which the TCP is insignificant. With a linear gantry, only limited interpolating wrist axes are feasible due to the missing degree of freedom. Positioning commands to a non-available degree of freedom are not possible and will lead to an error. The repositioning of the linear gantry is carried out via a PTP movement. Caution Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo linear gantry: 11.3 Cartesian planar surface gantry A planar surface gantry is a Cartesian kinematics system that comprises two basic axes which stand perpendicular to one another. It thus has two translatory degrees of freedom. These axes are laid out as X and Y and cover the X-Y level. An electric Z-axis that jointly interpolates is not present. The movements in the Z-direction can, for example, be Festo GDCP-CMXR-C2-SY-EN 1205b 69

70 11. Supported kinematic systems implemented through a pneumatic drive. As an option, an orientation axis can be attached to the tool flange in this kinematics system. + Axis Axis 3 + Axis 1 Y+ Ty+ X+ A+ Tx+ Kinematics Number of basic axes Number of wrist axes Axis sequence Planar surface gantry without axis of rotation Planar surface gantry with axis of rotation 2 0 LL 2 1 LL-R Table 11.2 Configurations of planar surface gantry The zero point of the global coordinate system is defined by the zero point of axes 1 and 2. The zero position and the direction of rotation of axis 3 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. With a planar surface gantry, only limited interpolating wrist axes are feasible due to the missing degree of freedom. Positioning commands to a non-available degree of freedom are not possible and will lead to an error. The repositioning of the planar surface gantry is carried out via a PTP movement. 70 Festo GDCP-CMXR-C2-SY-EN 1205b

71 11. Supported kinematic systems Caution Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo planar surface gantry with a pneumatic Z-axis: 11.4 Cartesian three-dimensional gantry A three-dimensional gantry is a Cartesian kinematics system that can move in the available space with its three basic axes. It has the basic axes X, Y and Z, which stand perpendicular to one another. As an option, an orientation axis can be attached to the tool flange in this kinematics system. + Axis Y+ + - Axis 3 + Axis Axis 1 X+ A+ Ty+ Z+ Tx+ Tz+ Festo GDCP-CMXR-C2-SY-EN 1205b 71

72 11. Supported kinematic systems The zero point of the global coordinate system is defined by the zero point of axes 1, 2 and 3. The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. Kinematics Number of basic axes Number of wrist axes Axis sequence Three-dimensional gantry without axis of rotation Three-dimensional gantry with axis of rotation 3 0 LLL 3 1 LLL-R Table 11.3 Configurations of three-dimensional gantry The repositioning of the three-dimensional gantry is carried out via a PTP movement. Caution Repositioning is carried out via a PTP interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. The illustration below shows a Festo three-dimensional gantry: 72 Festo GDCP-CMXR-C2-SY-EN 1205b

73 11. Supported kinematic systems 11.5 EXPT kinematics system The EXPT kinematics system is a parallel rod kinematics system. In contrast to the Cartesian kinematics system, the arrangement of the axes is not perpendicular to one another and does not form a Cartesian space. This kinematics system has 3 degrees of freedom. Optionally, an orientation axis (axis 4) can be mounted on the tool flange. Axis 1 - Axis Axis Y+ X+ + Axis 4 Z+ A+ Ty+ Tx+ Tz+ The zero point of the global coordinate system is defined by the zero point of axes 1, 2 and 3. The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is congruent with the base coordinate system for the kinematics. Kinematics Number of basic axes Number of wrist axes Axis sequence Tripod without axis of rotation Tripod with axis of rotation 3 0 LLL 3 1 LLL-R Table 11.4 Configuration of tripod kinematics The position of the Cartesian coordinate system is determined by axis 1 for the tripod. If axis 1 is projected onto the horizontal level, then the axis vector describes the direction of the Cartesian X-axis. The positive direction of the Cartesian X-axis is determined by the negative direction of axis 1. Festo GDCP-CMXR-C2-SY-EN 1205b 73

74 11. Supported kinematic systems - Axis 3 Y+ + X+ - + Axis 1 + Axis 2 - The alignment of the global coordinate system is defined by the position of axis 1. If axis 1 is projected onto the horizontal level, then this is the direction of the Cartesian X-axis. Should an alignment of the Cartesian axes to another reference system, e.g. a conveyor unit, be required when assembling the tripod, then this must be carried out by aligning the tripod via axis 1. The precise alignment is carried out by offsetting the global coordinate system. This is defined via the Festo Configuration Tool (FCT). Owing to the design of the kinematics, the repositioning for the tripod is carried out with Cartesian linear interpolation. Caution Repositioning is carried out via Cartesian linear interpolation. In doing so, make sure that no obstacles stand in the way of the movement during the repositioning. If a tool is defined, then it is moved on the path to the interruption point Origin of the tool coordinate system The tool coordinate system is, with its axis directions for the zero position of the orientation axes, congruent with the tripod's base coordinate system. The zero point of the tool coordinate system is placed centrally at the level of the flange plate. 74 Festo GDCP-CMXR-C2-SY-EN 1205b

75 11. Supported kinematic systems Rods Origin of the tool coordinate system Flange plate Offset in Z+ to flange TCP vector Ty+ TCP vector Z Tx+ Tz+ TCP vector X The origin of the TCP vector is in the original zero point for the tool coordinate system on the tool flange. The TCP vector shifts the tool coordinate system according to its definition. When defining a TCP vector for a tool mounted on the flange plate, you must make sure that the vector has to be specified from the origin of the tool coordinate system on the tool flange. The offset to the flange plate must be taken into consideration along with any other constructions. When defining the TCP vector, the offset dimension to the flange plate must be taken into consideration. Festo GDCP-CMXR-C2-SY-EN 1205b 75

76 11. Supported kinematic systems 11.6 T-gantry A T-gantry is a kinematics system with a rotating toothed belt and stationary motors. It has 2 basic axes, which are perpendicular to each other. Optionally, an orientation axis can be attached to the tool flange in this kinematics system. - Front view Axis Axis Axis 3 Ty+ Y+ Tz+ A+ Z+ The zero point of the world coordinate system is defined by the zero point of axes 1 and 2. To set up the zero point, please observe the kinematics manual. The zero position and the direction of rotation of axis 3 must be parameterised in such a way that the tool coordinate system (Ty, Tz) is the same as the base coordinate system of the kinematics system. Kinematics system Number of basic axes Number of manual axes Axis sequence T-gantry without axis of rotation T-gantry with axis of rotation 2 0 LL 2 1 LL-R Table 11.5 T-gantry configurations 76 Festo GDCP-CMXR-C2-SY-EN 1205b

77 11. Supported kinematic systems The T-gantry cannot be selected directly as a kinematics type in the FCT plug-in. A Cartesian linear gantry (Y-Z) must be selected and the base in B and C in each case twisted by 90 degrees. The following illustration shows a Festo T-gantry: Festo GDCP-CMXR-C2-SY-EN 1205b 77

78 11. Supported kinematic systems 11.1 H-gantry An H-gantry is a kinematics system with a rotating toothed belt and stationary motors. It has optionally 2 or 3 basic axes, which are perpendicular to each other. Optionally, an orientation axis can be attached to the tool flange in this kinematics system. Illustration of H-gantry with 3 basic axes: Axis 1 + M+ - - Axis Motor 1 Axis 3 M+ X+ + Motor 2 A+ Z+ Y+ + Axis 4 Tx+ Ty+ Tz+ The zero point of the world coordinate system is defined by the zero point of axes 1, 2 and 3. To set up the zero point, please observe the kinematics manual. The zero position and the direction of rotation of axis 4 must be parameterised such that the tool coordinate system (Tx or Ty, Tz) is the same as the base coordinate system for the kinematics system. 78 Festo GDCP-CMXR-C2-SY-EN 1205b

79 11. Supported kinematic systems Kinematics system Number of basic axes Number of manual axes Axis sequence H-gantry 2D without axis of rotation 2 0 LL H-gantry 2D with axis of rotation 2 1 LL-R H-gantry 3D without axis of rotation 3 0 LLL H-gantry 3D with axis of rotation 3 1 LLL-R Table 11.6 H-gantry configurations The following illustration shows a Festo H-gantry: Festo GDCP-CMXR-C2-SY-EN 1205b 79

80 11. Supported kinematic systems 11.2 Axis interpolation Kinematics systems for which no internal kinematics model exist can be controlled using pure axis interpolation. This means that all movements can only be carried out as a pointto-point movement (PtP). Cartesian paths such as linear and circular interpolation are not possible. Furthermore, there are no manual and auxiliary axes as well as no definable tools (TCP). + Axis 3 + Axis 4 - Axis Axis 1 The graphic shows an example of a free kinematics system with two linear axes and two rotating axes. For this kinematics system, there is no internal model, since the arrangement of the axes is free and thus the axis sequence is undefined. For this reason, there are no world and tool coordinate systems, but just a axis coordinate system. The sequence of the possible linear and rotating axes is random and is determined by configuration in the Festo Configuration Tool (FCT). The zero point of the axis coordinate system is defined by the zero point of all axes. With a free kinematics system/axis interpolation, the mechanical configuration of the axes is unknown. The movements can only be carried out in a point-to-point interpolation (PtP). All functions that operate in the Cartesian way are not allowed and lead to an error. The illustration below shows examples of Festo linear and rotating axes: Examples of linear axes Examples of rotating axes 80 Festo GDCP-CMXR-C2-SY-EN 1205b