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CPX-CMAX-C1-1
Festo CPX-CMAX-C1-1 User Manual
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Contents
and
general
safety
instructions
II
Festo
P
.BE−CPX−CMA
X−CONTROL−E
N
en
0908N
H
Interbus
®
,
DeviceNet
®
,
PROFI
B
US
®
,
CC−Link
®
,
EtherNet/I
P
®
,
PROFI
N
ET
®
,
Adobe
Reader
®
and
TO
R
X
®
are
registered
trademarks
of
the
respective
trademark
owners
in
cer
tain
countries.
3
5
Table of Contents
Table of Contents
5
CPX Terminal Configuration and FHPP Overview
21
Planning Aspects When Parametrising the CMAX
23
CMAX Parameters and CPX Node Parameters
24
Data Format
25
CPX Parametrisation
27
Commissioning Instructions Via the CPX Node (Fieldbus)
28
I/O Data and Sequence Control
29
Operating Modes
31
Direct Operating Mode
32
Parametrisation
33
Overview of the Available Functions in the Operating Modes
34
Structure of the Cyclical I/O Data in the Operating Modes
35
CCON/SCON Structure
36
Defining the Operating Mode with CCON
39
I/O Data in the Record Select Operating Mode
40
I/O Data in Direct Operating Mode
45
I/O Data in Commissioning Mode
51
I/O Data in Parametrising Mode
55
FHPP Finite State Machine
57
Establish Ready Status
59
Positioning
60
Special Features Depending on Operating Mode
61
Drive Functions
63
General Functional Description
65
Force Control
67
Standstill Control
72
Quality Classes
73
Handling the Clamping Unit or Brake
74
Motion Complete (MC)
79
MOV, DEV and STILL
82
Limitation of Setpoint Values
89
Commissioning Operations
94
Homing
98
Homing Sequence and Parametrisation
99
Homing Run Methods
101
Identification and Adaptation
102
Jog Mode
108
Teaching
112
Record Select Operating Mode (Record Select Mode)
117
Start of a Record
119
Record Structure
122
Conditional Record Switching / Record Chaining (PNU 402)
123
Direct Operating Mode (Direct Mode)
130
Start of a Positioning Task
132
Continuous Setpoint Specification (Tracking Mode)
135
Faults and Diagnostics
137
Overview of Diagnostics Options
139
Faults and Warnings
140
Error Numbers on the CPX Terminal
142
Fault Level: Classification According to the Response to the Fault
143
Reset Types: Behaviour in the Event of Fault Acknowledgement
144
Error Number and Warning Numbers
145
Diagnostic Parameters
167
Diagnostic Memory
168
Fault Status (PNU 227) and Additional Information (PNU 203)
172
Diagnostic Code and Additional Information with Reset Switching on and Configuration
177
Configuration of Diagnostic Messages and Faults
180
Diagnostics Via Standard Functions of the CPX Terminal
183
I/O Diagnostic Interface and Diagnostic Memory
184
Split Up: Parametrising Via the I/O Diagnostic Interface
187
Parameter
189
General Parameter Structure of the CMAX
191
Access Protection
193
Access Via PLC and FCT
196
Status−Dependent and Operating Mode Dependent Lock
197
Enable and Stop with Parametrisation
198
Default Values
199
Description of the Parameters
205
Device Data
213
Diagnostic Memory
220
Process Data
227
Record List
231
Project Data
240
Setpoint Values for Jog Mode
247
Direct Operating Mode: Positioning
250
Direct Operating Mode: Force Control
253
Parameters of the Default Values
255
Drive Configuration
259
Application Settings
265
Controller Data of Position Controller
270
Force Controller Data
273
Identification
276
System Data
281
Parametrisation
291
Festo Parameter Channel (FPC)
293
Request Identifiers, Response Identifiers and Error Numbers
294
Special Features of the System of Measurement
296
Cyclic Parametrising in Parametrising Mode
297
Example of Parametrising
298
Sequence Chart
302
CPX Module Parameter and Acyclic Parametrising
303
Startup Parameter
304
Acyclic Parameter Request
305
Festo Parameter Channel FPC (Function 1)
308
A. Notes on Commissioning and Service
310
A.1 Preparations and Overview for Commissioning
311
A.2 Commissioning Via the CPX Node (Fieldbus)
318
A.2.2 Step−For−Step Instructions for Basic Parametrising
320
A.2.3 Parametrising Without Hardware
323
A.2.4 C03: Movement Test
325
A.3 Operation and Service
326
A.3.2 Exchanging Components
329
A.3.3 Reconfigure Axis
332
A.3.4 Data Reset
333
A.3.5 Firmware Update
334
A.3.6 Switch−On Behaviour and Power−Down
335
A.4 Programming Flow Charts
336
A.4.2 Start Record
339
A.4.3 Reset Fault
340
A.4.4 Switch over Operating Mode
341
B. Basic Controlling Principles
344
B.1 CMAX System of Measurement Units
345
B.2 Dimension Reference System for Pneumatic Drives
351
B.2.2 Dimension Reference System with Incremental Measuring System
353
B.2.3 Calculating Specifications for the Measuring Reference System
354
B.2.4 Software End Positions / Hardware End Positions
355
B.3 Drives and Measuring Systems
358
B.4 Taking into Account the Load
360
B.5 Basic Information on Position Control
361
B.6 Optimisation of the Mechanical Structure and the Pneumatic Installation
365
B.6.1 Proceed as Follows if the Compressed Air Supply Is Unstable:
366
B.7 Optimisation of the Controller
367
B.7.2 Optimize Positioning Behaviour
369
B.7.3 Description of the Controller Factors for Force Control
374
B.8 Basic Principles of Force Control/Standstill Control
376
B.8.1 Influence of the Mass on Force Control
378
B.8.2 Influence of the Mass on Standstill Control
380
B.8.3 Behaviour of the Force Control
381
B.8.4 Behaviour of Standstill Control
385
B.8.5 Individual Value Mode
386
B.8.6 Position Control During a Force Task
389
B.8.7 Force Ramp
390
B.8.8 Controller Amplifications
391
B.8.9 Influence of the Static Identification on Force Control
392
B.8.10 Monitoring Function
393
B.9 Notes on Application, Special Operating Statuses
396
C. Configuration with CPX Node
400
C.1 Cpx−Fb13
401
C.1.2 Configuration with STEP 7
402
C.1.3 Start Parametrisation
404
C.1.4 Addressing
408
C.1.5 Acyclical Parametrisation with DPV1, Parameter READ/WRITE
411
C.2 CPX−FB11 (Devicenet)
414
C.2.2 Parametrisation (Rsnetworx Example)
416
C.2.3 Addressing
419
C.2.4 Examples of Error Display with Rsnetworx
424
C.3 Cpx−Fec
425
C.3.2 CMAX Parametrisation
427
C.3.3 Save Actual Configuration as the Nominal Configuration
429
C.3.4 Address Assignment
430
C.3.5 Diagnostics
435
D. Index
440
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Brief Description
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Festo CPX-CMAX-C1-1 Specifications
General
Brand
Festo
Model
CPX-CMAX-C1-1
Category
Controller
Language
English
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