Electric automation. Your FESTO partner for Electric Automation is: Tel: Web:

Transcription

1 Electric automation Your FESTO partner for Electric Automation is: Unit A, Denby Way Hellaby Industrial Estate Rotherham S66 8HR Tel: Web:

2 You have ambitious targets. You want to achieve more. We expand your horizons. Page 4 Page 6 Page 16 At a glance 4 An overview of electric automation technology Linear mechanical systems 6 Toothed belt and spindle axis EGC/EGC-HD and ELGA 10 Toothed belt axis ELGR/ELGG 11 Spindle axis EGSK/EGSP 12 Electric cylinders EPCO and ESBF 14 Electromechanical slide EGSL 15 Cantilever axis with a toothed belt drive DGEA Turning and gripping 16 Rotary drive ERMO 17 Rotary drive module ERMB and rotary/lifting module EHMB 18 Parallel gripper HGPLE 2

3 Electric automation without compromise Put your trust in a partner who has being setting technological standards for decades. Whether in pneumatic or electric automation. And don t expect anything less than a complete package, from mechanical systems to integrated motion control solutions and subsystems. Uncompromising linear movement means highly dynamic and efficient, extremely precise and with a high load capacity, sturdy and powerful, as required by the application. We continue to pursue our ambitious goals with motors, motor controllers and drive systems: everything from a single source the right portfolio for the entire electric drive solution. Free software tools make the process more efficient and reliable for you as they are easy and intuitive to operate, and help prevent oversizing. Electric front unit solutions with rotary drives and grippers, as well as complete safety solutions and handling systems round off the range. Thinking one step ahead for you. Perfect solutions in technology, mechanical systems and drives Page 19 Motors, drive systems, controllers 19 Integrated drive EMCA and intelligent servo motor MTR-DCI 20 Servo motor controller CMMP-AS and servo motor EMMS/E-AS 21 Stepper motor controller CMMS-ST and stepper motor EMMS-ST 22 Motor controller CMMO-ST 23 An overview of Festo controllers Page 24 Safety, software, handling systems 24 Functional safety 25 PositioningDrives software tool for designing axis systems 26 Handling systems 3

4 An overview of electric automation technology Management level Management system Control level Control system CECC Integrated controller Operator unit CDPX Integrated controller CPX Field level Servo motor controller CMMP-AS Stepper motor controller CMMO-ST CMMS-ST Servo motors EMMS/E-AS Stepper motors EMMS-ST Sensor/ actuator level Gantry axes EGC-TB EGC-TB-HD ELGA-TB-G/- KF/-RF Slide EGSL EGC-BS EGC-BS-HD ELGA-BS-KF Cantilever axes DGEA Pneumatic Servopneumatics Electrical ELGR EGSK/EGSP ELGG 4

5 Modular controller CECX Robotic controller CMXR Ethernet FHPP Festo Handling and Positioning Profile CoDeSys provided by Festo Integrated drives EMCA Servo motors MTR-DCI Motor controller SFC-DC Fieldbus FST 4 Festo Software Tool Electric cylinders EPCO Rotary drives ERMO Rotary modules ERMB Gripper HGPLE AS-Interface FCT Festo Configuration Tool Modbus TCP ESBF Rotary/lifting modulesehmb PositioningDrives Engineering and calculation software for electric drives 5

6 Toothed belt and spindle axis EGC/EGC-HD Comprehensive range with numerous variants, e.g. for high dynamic response and speed, heavy loads and high torque. All in all, this new range of axes from the mechatronic multi-axis modular system is suitable for stand-alone as well as complete system solutions. The generously sized profiles of the EGC with their optimised cross-sections provide the drives with maximum rigidity and load capacity. Their speed, acceleration and torque resistance set a new standard even with the new EGC-HD with heavy-duty guide for extremely high loads and torque resistance at high speeds and acceleration. An additional advantage is the high performance of the axes, which often makes it possible to choose a smaller design, especially in the case of spindle axes! The individual versions Toothed belt axis EGC-(HD)-TB Dynamic drive for high speeds together with heavy loads and long strokes. Spindle axis EGC-(HD)-BS Precision drive for accurate and smooth running together with high loads and long strokes. Guide axis EGC-FA Driveless linear guide unit for supporting forces and torques in multi-axis applications Flexible motor mounting for EGC-(HD)-TB Motor can be attached on 4 sides, freely selectable Can be changed later at any time The benefits to you: Define an attachment variant with one part number as standard and modify the positions as and when needed. 6

7 Different slide variants Second slide For greater axial and lateral torques Freely movable Extended slide Longer guide For greater axial torque Protected slide Scrapers on both sides of the slide remove dirt particles and liquids from the external guide Focus on safety Optional sensing for greater reliability Inductive proximity sensor SIES-8 M Flush mounting of up to two sensors per profile slot Additional inductive displacement encoder EGC-..-M Increased absolute accuracy, minimum resolution 2.5 µm Suitable for safety-oriented applications (second channel) Inherent system inaccuracies can be easily adjusted Clamping unit EGC-..-HPN for clamping the slide For safety-oriented applications Solutions of categories 1, 2 and 3 to EN can be implemented with 1 and 2 channel versions Type EGC-TB/BS-KF EGC-HD-TB/BS Size 50/70/80/120/ /160/220 Drive Toothed belt drive/ spindle drive Toothed belt drive/ spindle drive Max. stroke [mm] 5000/8500 (10 000) 5000/2400 Max. speed [m/s] 2/5 5/1.5 Repetition accuracy [mm] ± ± Max. force F x [N] 2500/ /1300 Max. torque load M x [Nm] Max. torque load M y /M z [Nm] Options Connecting module for central lubrication Connecting module for central lubrication 7

8 Toothed belt axis and spindle axis ELGA The complete ELGA family with a protected guide in different variants is available with toothed belt or spindle drives, both as an individual axis or a complete solution in standard handling systems. The toothed belt axes ELGA-TB are highly dynamic and are designed for high speeds. The spindle axes ELGA-BS promise precise and smooth running. Both can cope with heavy loads and long strokes. The internal guide, the stainless steel cover band, its virtually gap-free design and guide pulley in the slide provide perfect protection on the outside and inside, even in cleanrooms. An overview of guide variants Recirculating ball bearing guide ELGA-TB-KF Roller bearing guide ELGA-TB-RF Plain-bearing guide ELGA-TB-G Toothed belt axis ELGA-TB-.. Recirculating ball bearing guide -KF for absorbing high loads from slides and guides with lateral forces and torques, even during motion. Roller guide -RF for highly dynamic handling, even of medium and large-sized workpieces. Plain-bearing guide -G for simple positioning and handling tasks or as a drive axis for applications with external guides. Recirculating ball bearing guide ELGA-BS-KF Spindle axis ELGA-BS-.. Recirculating ball bearing guide -KF for absorbing high lateral forces and torques, even during motion (new for 2016) Motor positions Freely selectable motor positions Toothed belt axis ELGA-TB-KF/RF/G Motor can be attached on 4 sides, freely selectable Can be changed later at any time Plug connection rotated 4 x 90, can be modified at any time Freely selectable plug connection direction Spindle axis ELGA-BS-KF Freely selectable at both ends of the axis Rotated 4 x 90, can be modified retrospectively Set motor position on right or left by rotating the axis 180 8

9 Further variants in the ELGA family Second slide on the axis ELGA-TB-KF Second slide For toothed belt axes with recirculating ball bearing guide -KF 1 driven and 1 freely movable slide For higher loads and torques Extended service life thanks to reduced, split guide loads Additional mounting options Driveless linear guide unit ELFA-.. Guide axis ELFA Without its own drive Freely movable, passive slide Guide variants: Roller bearing guide -RF Recirculating ball bearing guide -KF (new for 2016) Suitable for use in the food zone: ELGA-..-F1 Axis for use in the food industry Clean Look: smooth surfaces, no sensor slots FDA-compliant materials Guide variants: Roller bearing guide -RF Recirculating ball bearing guide -KF (new for 2016) Focus on safety Optional sensing for greater reliability Inductive proximity sensor Flush mounting in profile slot, without protruding edges and additional mounting material Securing mounting in a Clean Design sensor bracket (plastic), easy to clean Incremental displacement measuring system for position detection Displacement encoder for monitoring the linear axis Suitable for safety-oriented applications (second channel) Linear measuring system for direct monitoring of the axis slide position Minimum resolution: 2.5 µm at a maximum 4 m/s Freely positionable IP67 sensor Type ELGA-TB-KF ELGA-TB-RF ELGA-TB-G ELGA-BS-KF Size (= profile width in mm) Drive system Toothed belt Ball screw Guide type (slide) Recirculating ball bearing guide Roller bearing guide Plain-bearing guide Recirculating ball bearing guide Max. stroke [mm] Max. speed [m/s] Repetition accuracy [µm] ±80 ±80 ±80 ±20 Max. feed force Fz [N] Max. torque load Mx [Nm] My [Nm] Mz [Nm]

10 Toothed belt axis ELGR/ELGG Ideal for applications with comparatively low requirements in terms of mechanical load, dynamic response and precision in a cost-optimised design. The flexibility of the ELGR and ELGG and their diverse range of possible uses make them perfect for simpler applications needing cost-effective solutions with a long service life of 5000 km. Toothed belt axis ELGR One driven slide Optionally 1 or 2 freely moving, additional slides for an extended guide and additional mounting options Toothed belt axis ELGG Two driven slides For long centring strokes in the packaging industry As a gripper with strokes up to 300 mm per side and 10 kg payload As a drive for door motions Movement options with one additional slide ELGR: Movement in the same direction One slide is connected to the toothed belt, whereas the second slide moves freely and provides an extended guide. ELGG: Movement in opposite directions The two slides are joined to the toothed belt and move synchronously in opposite directions. Optimised Motion Series Making moving and positioning easier than ever before. The toothed belt axis ELGR with permanently mounted motor and motor controller CMMO-ST all with a single type code. Quick commissioning via web browser concept is another bonus. Guide variants for ELGR/ELGG Recirculating ball bearing guide: for medium loads with very good running behaviour under torque load Plain-bearing guide (on request): for low loads or for use in humid environments and for non-abrasive dust 10

11 End position safety for IP67 with the SIES-8M Safety thanks to optional end-position sensing The proximity switch, together with the sensor bracket and switch lug, can be retrofitted onto the axis at any time. Switching output PNP or NPN Switching distance 1.5 mm Repetition accuracy ±50 μm (radial) Output status display: 2 yellow LEDs for improved visibility regardless of the direction from which it is approached End position safety for IP67 with the SIES-8M Flexible motor connection for ELGR and ELGG Motor can be attached on 4 sides, freely selectable Can be modified later at any time The benefits to you: Define an attachment variant with one part number as standard and modify the positions as and when needed. Spindle axes EGSK/EGSP Always perfect when precision, repetition accuracy, compactness and rigidity are required: electric spindles axes EGSK/EGSP. For standard tasks in the upper segment: EGSK. For high-end applications where greater precision and performance are required: EGSP series with caged ball bearings. Benefits Repetition accuracy 3 μm Housing made of solid steel which simultaneously functions as a guide Optional spindle cover in all sizes 11

12 Electric cylinder EPCO The electric cylinder with ball screw and non-rotating, plain bearing guide is available in three sizes with two pitches each. It has a permanently installed, optimally coordinated motor. With its smooth surfaces and clean look, the cylinder is easy to clean, making it less susceptible to contamination. The double-sided end-position cushioning reduces the impact force, load and noise. Powerful and compact, with a service life of 10,000 km. Cylinder options Female piston rod thread Piston rod extension Guide unit Loadable recirculating ball bearing guide Absorption of lateral forces To protect cylinders against torsion at high torque loads Motor options Flexible motor mounting Freely selectable connection direction for motor cables: 4 x 90 Standard connection direction: up Encoder With encoder for closed-loop operation Without encoder for cost-optimised openloop operation Holding brake Freely positionable IP67 proximity sensor Optional position sensing Alternative sensor bracket (to be bonded) Sensor rail made of aluminium Plastic sensor bracket in Clean Design Proximity sensor SME/SMT-8 for homing or position sensing Optimised Motion Series Making moving and positioning easier than ever before. The electric cylinder EPCO with a permanently mounted motor and motor controller CMMO-ST all with a single type code. Quick commissioning via web browser concept is another bonus. Cylinder mounting Can be screwed on from the front or using two mounting slots underneath Extensive mounting accessories for multiple installation situations, e.g. flange, swivel or foot mounting with numerous adapters Size Max. stroke [mm] Max. feed force [N] Max. speed [mm/s] Max. lateral force Fy/z [N] (with an external guide unit) Repetition accuracy [mm] ±

13 Electric cylinder ESBF The electric cylinder ESBF in six sizes with three pitches each has a ball screw as standard, or is also offered with a lead screw up to size 50. It is based on standard ISO and its piston rod is non-rotating with a plain bearing guide. With its smooth surfaces and clean look, the ESBF is easy to clean, making it less susceptible to contamination. Last but not least, it is powerful, boasts a maximum feed force up to 17 kn and has a service life of 10,000 km. Cylinder options Guide unit Recirculating ball bearing guide with high load bearing capacity Absorption of lateral forces Increased protection against torsion at high torque loads Piston rod with female thread Piston rod extension Food-safe lubricant NSF-H1 for conditional use in the food zone Sealed motor mounting kits together with a connection for the venting hole for degree of protection IP65 Optional position sensing Alternative sensor bracket (to be bonded) Sensor rail made of aluminium Plastic sensor bracket in Clean Design Proximity sensor SME/SMT-8 for homing or position sensing Flexible motor connection Axial mounting: freely selectable connection direction for motor cables: 4 x 90 Parallel mounting: freely selectable outlet direction for motor cables: 3 x 90 Optional connection of the venting hole for use in tough or contaminated environments (IP65) Protected piston rod, seal and bearing with a leak-proof bellows for use in highly contaminated environments Size Drive system/spindle type Ball screw (BS), lead screw (LS) Ball screw (BS) Max. stroke [mm] Max. feed force [N] Max. speed [mm/s] Repetition accuracy [mm] ±

14 Electromechanical slide EGSL The EGSL is ideally designed for outstanding performance when it comes to precision, high load capacity and dynamic response, even in compact spaces. This makes it a favourite for economical positioning, for strokes up to 300 mm. Its strengths are shown to good advantage, especially in vertical applications and short-stroke slide functions with variable positioning, such as with highly accurate pushing, picking and insertion with linearity and parallelism in the 1/100 mm range even with high mechanical loads! Benefits Precise and free positioning with a repetition accuracy of max. ±0.02 mm Perfect for vertical applications such as press-fitting or joining Protected against contamination and small parts in the guide area because the spindle is fully closed; additional guide area cover is optional Simple, low-cost sensing with integrated sensor slots on the right and left Matching software tools for engineering (PositioningDrives), configuration, commissioning and more with the Festo Configuration Tool (FCT) software package Motor mounting variants Greater flexibility thanks to different motor mounting options: lateral or axial. With axial mounting, the motor can be rotated 4 x 90, and with lateral mounting, the motor can be rotated 3 x 90, and adapted optimally to the installation conditions. Size Working stroke [mm] , , 200, , 200, 300 Max. speed [m/s] Feed force Fx [N] Torque M x [Nm] M y [Nm] M z [Nm] Repetition accuracy [mm] ±0.015 Max. horiz./vert. payload [kg]

15 Cantilever axis with toothed belt drive DGEA The cantilever axis DGEA with roller bearing guide and toothed belt drive offers long strokes, high acceleration and speed with simultaneously good repetition accuracy:. Perfect for handling systems and wherever large loads need to be moved over long strokes. The DGEA owes its excellent dynamic response to the reduced moving mass: the motor, gear unit and drive head are securely mounted, so only the main profile is moved with the load. Benefits Good repetition accuracy of ±50 µm Payloads up to 20 kg vertically with maximum stroke of 1000 mm Protection against contamination: roller bearing guide integrated in the profile Two connection directions for the motor: perpendicular to the profile or parallel using a right-angle gear unit A lean machine the DGEA with optional right-angle gear unit and flange-mounted servo motor Improved oscillation characteristics: Ω-drive design characteristic The cantilever axis is driven by a pinion fixed in the slide. It works its way along a stationary, finite toothed belt in an omega-like fashion. The particularly flat design of the drive head considerably improves the oscillation characteristics. Size Guide Recirculating ball bearing guide Max. nominal stroke [mm] Max. payload, horizontal [kg] Max. payload, vertical [kg] Max. feed force [N] Max. speed [m/s] 3 Repetition accuracy [mm] ±0.05 Permissible forces and torques F y max. [N] F y max. [N] M x max. [Nm] M y max. [Nm] M z max. [Nm]

16 Rotary drive ERMO The rotary drive ERMO has a sturdy and backlash-free bearing to absorb high forces and torques. Both the stepper motor and the gear unit are integrated. It is an ideal complete solution for rotating and aligning parts and workpieces or for swivelling tasks subjected to heavy loads. The solution package is also suitable for simple rotary indexing table applications such as at manual workstations. Includes a hollow shaft for the through-feed of cables and tubing, and has a long service life of over 5 million cycles. Optional reference sensor Inductive proximity sensor with M8 connection For homing or position sensing Ideal for multi-turn applications Optional swivel angle limitation Adjustable swivel angle up to max. 270 Simple adjustment, can be modified at any time External mounting kit, can be retrofitted IP67 proximity sensor SIEN integrated in the housing Cylinder/rotary drive combination from the modular system Mounting interfaces Interfaces on flange and housing, identical to the pneumatic semi-rotary drive DSM/DSM-B Interfaces suitable for connection to other drives, e.g. Electric cylinder EPCO Electric slide EGSL Motor and connecting cables The motor can be mounted and rotated 3 x 90 Can be modified later at any time Energy-chain compatible cables in IP54 for power supply (load) and encoder, up to 10 m in length Optimised Motion Series Making moving and positioning easier than ever before. The rotary drive ERMO with a permanently mounted motor and motor controller CMMO-ST all with a single type code. Quick commissioning via web browser concept is another bonus. Size Flange size [mm] 58 x x x x 105 Torque [Nm] Max. mass moment of inertia [kg cm²] Speed [ /s] Repetition accuracy [ ] ±0.05 ±0.05 ±0.05 ±0.1 Max. axial torque [N] Max. radial torque [N]

17 Rotary module ERMB Rotary drive module with motor and sensing module EAPS (optionally with additional housing) Weights of up to 15 kg can be rotated dynamically and flexibly with the freely positionable, electric rotary module ERMB. It can be used as an axis of rotation with any rotation angle >360 or as a small, stand-alone NC rotary table. Mounting interfaces on all sides and the large hollow shaft diameter on the high-strength rotary flange make installing the module exceptionally easy. Harmonised range of motors Using servo or stepper motors simplifies the standardised controller concept and the universal software platform simplifies commissioning and activation. The ERMB s performance adapts to the requirements depending on the motor technology used. Adaptable safety Sensing module EAPS can be used to define impermissible fields. The freely adjustable index pins in the retaining ring is sensed using two inductive sensors. Simply stable reduced vibration Rotary module ERMB minimises vibrations in multi-axis systems, thereby increasing their performance thanks to uniform movements and user-defined acceleration ramps. The movements into the end positions are smooth and wear-free. Technical data 3 sizes: 20, 25, 32 with a max. output speed of 300 rpm Repetition accuracy: ±0.03/0.05/0.08 Min. positioning time at 180 swivel angle: <0.18 s Rotary drive module with gripper on a Z axis Rotary drive module as small NC rotary table Highly dynamic rotary/lifting module EHMB This extremely compact handling unit combines rotary and linear movements, which can be positioned independently of each other. For example, loads of 1 kg can be swivelled by 180 in only 0.25 s. The max. payload is 8 kg. 17

18 Parallel gripper HGPLE The gripper HGPLE, with its sturdy and rigid T-slot design, is the electric variant of the pneumatic long-stroke gripper HGPL it has the same dimensions and identical interfaces. Free movement of the gripper jaws in terms of position and speed or the regulated gripping force make it highly flexible. Ideal for soft or highly sensitive workpieces or for differently sized workpieces, as well as for large and heavy workpieces, even under high torque loads. High performance over a long service life of 10 million gripping cycles. Economical Total cycle time is minimised thanks to reduced access times: using its pre-holding position, the HGPLE parks its gripper fingers just in front of the workpiece. The gripper fingers are extremely dynamic, with very short opening and closing times, e.g. 0.6 s for a total stroke of 80 mm for the HGPLE HGPLE with 60 mm total stroke HGPLE with 120 mm total stroke HGPLE with 80 mm total stroke HGPLE with 160 mm total stroke Motor controller (drive system) SFC-DC for controlling the electric gripper HGPLE The SFC-DC acts as a position controller and can be connected to the HGPLE with just one cable. Parameterisation is either carried out via the control panel on the controller, e.g. for simple gripping movements, or by using the FCT (Festo Configuration Tool) software on a PC, ideal for complex gripping movements. The position, speed and force can be set freely and then stored directly in the SFC-DC. Key features The SFC can be mounted directly in the application thanks to degree of protection IP54 Easy activation via PROFIBUS, CANopen, DeviceNet Parameters and position sets Basic parameterisation of the mechanical system, position controller and position sets Homing, teaching, positioning Diagnostic function 18

19 Integrated drive EMCA The complete solution EMCA for positioning electromechanical drives and for format changes consists of a maintenance- and wear-free EC motor and a motor controller (drive system). Power electronics are also integrated. That avoids long motor cables, improves the electromagnetic compatibility and reduces the installation workload and space requirements. Integrated monitoring functions ensure reliability and availability. Absolute position sensing is implemented as standard via single-turn or optionally via a multi-turn encoder. External gear units are available for optimal adaptation to different positioning tasks or format changes. Key features 64 freely programmable position sets Multi-turn encoder with buffering (resolution up to 32 bit or > 4 billion revolutions) One size with identical flange dimensions in 2 lengths with performance classes 100 W and 150 W Degree of protection IP54 is standard and IP65 is optional, for direct installation in the system Optional holding brake and external gear unit Activation via CANopen (new for 2016: Ethernet/IP and I/O- Interface, EtherCAT and PROFINET) Technical specifications Nominal power 110/150 W Peak power 200 W Nominal torque 0.34/0.46 Nm Maximum torque 0.78 Nm Parameterisation and commissioning are carried out with the Festo Configuration Tool FCT. Integrated drive for format changes as a replacement for a handwheel Intelligent servo motor MTR-DCI Can be mounted in the application thanks to degree of protection IP54 The servo motor with its wide torque range is ideally suited for positioning tasks. All in one, it includes all necessary components: motor, gear unit, motor controller (drive system) and power electronics. Thanks to an optional LCD screen and clearly structured menus, the entire commissioning process is completed on-site, or from a PC using a simple teach-in function with the help of FCT software. Positioning functionality 16 position sets (including homing) Constant acceleration and braking Homing mode up to switching signal or mechanical stop Position control 19

20 Servo motor controller CMMP-AS CMMP-AS-M3 This range of servomotor controllers (drive systems) CMMP-AS provides a highly functional solution for dynamic movements. It is ideally suited for the electronic control of cam discs. CMMS-AS-MO as the basic variant with standard functions and CMMP-AS-M3 with expansion options, e.g. for EtherCAT connection or a safety module. The software tools provided by Festo offer an integral concept from commissioning to programming to parameterisation. Uniform and easy operation SD card for parameters and firmware Integrated safety function Integrated safe stop with restart blocking for safetyoriented applications Safe torque off (STO) up to category 4, PLe integrated Further safety functions can be realised using external components Solution examples available See page 24 for further information CMMP-AS-MO Technical data and functions Motor current Single-phase: 2.5 and 5 A Three-phase: 5 and 10 A 256 integrated position sets Automatic motor brake Rotational speed and position control Current and torque control Jerk-free positioning Infinitely variable positioning in closed-loop operation Flying measurement Electronic cam disc Flexible software limit switches External braking resistor (optional) Servo motor EMMS/E-AS As a permanently energised, brushless servo motor with eight torque ranges, this motor is designed for dynamic positioning tasks. Single-turn encoder (standard) Multi-turn encoder (optional) Matching range of straighttoothed planetary gear units in degree of protection IP54 Degree of protection IP65 for motor housing and power/ sensor connection Motor shaft bearings: Standard IP54 Optionally with additional rotary shaft seal IP65 20

21 Stepper motor controller CMMS-ST Stepper motor technology in a real Festo plug & work solution package: the single-axis position controller (drive system) CMMS-ST combined with stepper motor EMMS-ST for single and multi-axis handling applications with moving loads of up to 20 kg. The extensive range of functions and the optimum price/performance ratio provide further advantages. The CMMS-ST is a fully fledged closed-loop servo system for the highest degree of operational safety and fast dynamic response by using the best possible motor characteristic curve. Alternatively, the CMMS-ST can also be used as a low-cost openloop system with stepper motors without encoders. Integrated safety function Safe torque off (STO) up to category 3, PLd integrated Further safety functions can be realised using external components Solution examples available See page 24 for further information Note for all CMMx motor controllers (drive systems) from Festo The integral software platform Festo Configuration Tool (FCT) and the standardised data profile FHPP ensure problem-free commissioning, pro gramming and parameterisation. Technical data and functions Primary voltage: V DC Motor current: 8 A/peak 12 A Step resolution: full steps up to 4000 steps/revolution 63 integrated position sets, e.g. acceleration ramps SD card for parameters and firmware Automatic motor brake External braking resistor (optional) Jerk-free positioning Infinitely variable positioning The digital inputs and outputs are protected against short circuit, overload and reversed polarity Stepper motor EMMS-ST The stepper motor series in two-phase hybrid technology guarantee a long service life and problem-free operation. Optional encoder for closed loop function Optional motor brake Matching range of planetary gear units Degree of protection IP65 for motor housing and plug connection Motor shaft bearings IP54 21

22 Motor controller CMMO-ST The motor controller (drive system) CMMO-ST with integrated web browser for configuration and diagnostics offers a broad connectivity such as IO-Link, Modbus TCP or I/O interface. CMMO-ST is a closed-loop servo controller for stepper motors, equipped with all the functions you might need. It also includes low heat development, monitored safe positions and a smooth running motor. As a fully fledged closed-loop servo system, it uses the best possible motor characteristic curve for the highest degree of operational safety and fast dynamic esponse. Functions Acceleration with jerk limitation Monitoring of freely defined positions and torque ranges Monitoring of different process variables such as torque, speed, position and time Positioning drive with optional torque limiter Force mode with optional stroke limit Speed mode with stroke and force limitation Key technical data Logic voltage: 24 V DC (isolated from load) Load voltage 24 V DC Maximum motor current: 5 A Switching logic: PNP or NPN Safety: STO/cat. 3, PLd Degree of protection: IP40 IO-Link and Modbus TCP The data profile FHPP is transferred via both interfaces with identical function range. I/O interface Seven freely definable positions via directly allocated I/Os Interfaces of the CMMO-ST Power supply (separate for logic and load) I/O interface IO-Link interface Display (7-segment display) Cables for power supply (load) and encoder Ethernet interface Modbus TCP/Server Web server/http FCT commissioning software Reference switch Safety function "safe torque off" (STO) Pre-assembled, up to 10 m long Suitable for use with energy chains IP54 connection technology at the motor Optimised Motion Series Optimised performance packages: making moving and positioning easier than ever before. And clearly more cost-effective than with conventional electric solutions. It includes a mechanical system with a permanently mounted motor and motor controller (drive system) CMMO-ST as the heart of the system, as well as matching connecting cables. A major plus: you can configure, order and commission using just 1 type code. 22

23 Overview of controllers from Festo Module Compact controller Integrated controller CPX terminal Modular control platform for control cabinet construction Controller CECC-D CECC-LK CODESYS V3 controller CDPX CODESYS V3 controller CPX-CEC-C1-V3 Motion controller CPX-CEC-M1-V3 Modular controller CECX-X-C1 Robotic controller CMXR-C1 Robotic controller CMXR-C2 Functionality Single axis (PtP asynchronous) Single axis (PtP asynchronous) C1: single axis (3D) M1: interpolation (2D) Single axis (PtP asynchronous) Interpolation (2.5D) Robotics (3D) Robotics (3D) Maximum number of permissible axes 4 axes: One axis is treated as a CANopen participant. 128 participants (as defined by CANopen specifications). 8 axes: One axis is treated as one CANopen participant. 128 participants (as defined by CANopen specifications). 6 axes interpolated, of which maximum 3 basic axes, 1 orientation axis, maximum 3 dependent auxiliary axes Other axes (not mutually interpolating) can be actuated via the integrated CODESYS V3 PLC (PtP asynchronous). Recommended: 16 axes Motion PtP asynchronous PtP asynchronous 3D interpolation with -M1 variants for up to 31 axes Each axis moves with its own predefined parameter The axes do not reach their end positions at the same time and the path is not defined 3D path interpolation with an orientation axis for kinematics with up to 4 degrees of freedom. For example, three-dimensional gantry with an axis of rotation on the front unit. Special features Stand-alone controller Integration of two fast inputs (200 khz) 4 IO-Link masters for CECC-LK CODESYS V3 Integrated controller in a display CODESYS V3 Function integration on the CPX terminal CODESYS V3 32 bit/800 MHz processor CODESYS V3 PLC Encoder interface Interrupt function Fast clock pulse inputs Profibus master Two CAN bus masters RS 232/RS 485-A/422-A Low-cost engineering with the Festo Configuration Tool (FCT) Simple programming with Festo Teach Language (FTL) An optional handheld control unit Reduced speed in manual operation Automatic repositioning after interrupted movements Genuine orientation axes on the front unit Integrated kinematic models (for Cartesian systems, parallel kinematic system, planar surface gantry and linear gantry) Dynamic limiter for optimal cycle time SoftMotion: PLCopen CNC editor DXF import Cam disc editor SoftMotion: PLCopen CNC editor DXF import Cam disc editor Enhanced flexibility thanks to the CODESYS V3 PLC, e.g. integration of vision system Tracking function Application examples Handling systems Pick and place, palletising Handling systems Pick and place, palletising Path control Gluing Cutting Handling Flying saw Cam disc Handling systems Pick and place, palletising Path control Gluing Cutting Handling Flying saw Cam disc Handling Palletising Gluing Dispensing Painting Cutting Tracking applications such as processing moving parts on a conveyor belt or synchronised kinematic movement with up to 6D. 23

24 Functional safety The Machinery Directive 2006/42/EC permits numerous safety functions as protective measures for appropriate risk reduction to DIN EN and EN Implementing these safety functions in a practical manner requires different components that can be easily integrated into an overall concept. PROFIsafe I/O modules on CPX The scalable PROFIsafe input and output modules of the automation platform CPX cover the entire local safety chain thanks to IP65/67. Multiple PROFIsafe modules per CPX are possible. The compact and sturdy 8-channel input module enables clear and simple connection of safety-oriented switching devices, such as emergency stop switches or light barriers. The output module switches the internal supply voltage of the valve terminal off, and offers 2 independent, secure outputs for other voltage zones of the valve terminal or for individual valves. Motor controller CMM... The safety function STO is integrated as standard into all motor controllers (drive systems) in the CMM... ranges. This ensures easy implementation of emergency stop requirements with safe stop SS1 up to category 3, PLd. For stricter requirements, the series CMMP-AS-M3 provides optional safety modules for safety functions up to category 4, PLe. See page 20 for details Intelligent solutions for monitoring linear axes The slide position cannot be monitored directly by the encoder in the motor for safety critical applications since if there is a fault in the motor encoder, a secondary system is required to determine if the axis slide is moving. However, with an external linear displacement encoder mounted directly on the drive the axis slide position can be monitored and the information fed back to a safety system for safety functions up to category 4, PLe. See pages 7 and 9 for examples v 0 v s 0 SLS t SDI t SS1 STO v s 0 t v 0 STO t Solution examples How do I implement safety functions with electric drive components? Festo provides a number of solutions. Descriptions, bills of materials, circuit diagrams, application programs and Sistema projects allow fast integration into your safety concept with the appropriate documentation. 24

25 PositioningDrives Software tool for designing axis systems PositioningDrives prevents design errors and improves energy efficiency by helping you choose the right components. Designing drive mechanisms, gear units and motors separately can increase the safety factors and result in oversized electric drive systems. Toothed belt drives or spindle drives, servo motors, stepper motors or DC motors, ball bearing guides or plain-bearing guides the plethora of options to choose from presents the user with a major challenge: calculating the correct drive package. Once a few application details have been entered, the PositioningDrives software calculates various combinations from the extensive, harmonised range of electric linear axes, motors, gear units and drive systems (controllers). The ideal drive package for the respective requirements can then be selected from the list of results. Application parameters such as mounting position, load, stroke and precision need to be entered. There is also an option to limit the travel time. Pre selected drive and motor technology as well as guide variants limit the number of variations and quickly generates a list of results. The required solution package Different sorting options are provided for ease of selection. The combination of axis, motor/ gear unit and drive system (controller) is displayed graphically, and the degree of utilisation is shown as a bar graph. One click on the component illustration opens the appropriate documentation in the selected language. Detailed results The program then provides detailed information such as the motion profile, dynamic load data, product characteristics and a bill of materials. Complete project documentation and data back-up round off the scope of functions of PositioningDrives. 25

26 Handling systems Ready-to-install standard handling systems from Festo provide you with fast and reliable solutions for all common applications: fully assembled and tested, including energy chain, connection technology and matching drive package. The individual components are perfectly harmonised and guarantee reliable operation. Single-axis system YXCS: for movement in one dimension The single-axis system with its high mechanical rigidity and sturdy design is ideal for long, one-dimensional strokes and large loads. A matching motor and motor controller package from Festo, as well as many other options, round off the ready-toinstall complete system. Fully assembled and tested Energy chain for reliable operation Standardised interface for easy connection of individual front units Linear gantry YXCL: for vertical movements in 2D High mechanical rigidity makes this linear gantry precise, even with very long strokes of up to 3000 mm in the Y direction. The tubing and cables are routed through energy chains, ensuring outstanding operational and process reliability. Fully assembled and tested User-friendly mounting and assembly, even during servicing Planar surface gantry YXCF: for horizontal movements in 2D With its high mechanical rigidity and sturdy design, this planar surface gantry can be used anywhere, whether with heavy workpieces or high payloads. At the same time, the YXCF is extremely precise even with long strokes. Different sizes and variants available Standardised interface for easy connection of individual front units Three-dimensional gantry YXCR: for three-dimensional movements in a space This three-dimensional gantry is ideal for very long strokes of up to 3000 mm in the X direction, even with high loads. The combination of multiple axis modules can be used anywhere for light to heavy workpieces or large payloads. Its high mechanical rigidity and sturdy design make this threedimensional gantry reliable and precise. Pneumatic and electric components are freely selectable With matching Festo motor and motor controller package, and energy chain Versatile, economical, perfectly fitting. And always very productive. Festo offers you a variety of handling systems for a wide range of applications and industries: from standard solutions for all common applications to custom solutions for highly specific requirements. From single-axis systems to 2D and 3D gantries and the extremely dynamic parallel kinematic system. The focus is always on electric drive technology. 26

27 For advanced requirements such as applications for small installation spaces and high dynamic response, we offer you ready-to-install handling systems which make the most of the working space and provide rapid and precise operation. Linear gantry EXCT: pick & place handling system with high dynamic response This Cartesian high-speed handling system with robotic functionality has excellent dynamic response with over 90 picks/min and makes optimal use of the installation space. The YZ linear gantry is ideal for flexible handling with free movement in the vertical plane even when installation space is limited. Slim design with very compact Z-axis Parallel kinematic principle Integrated energy chain Optional: control package CMCA Planar surface gantry EXCH: maximum dynamic response throughout the installation area This Cartesian handling system with robotic functionality has excellent dynamic response of up to 100 picks/min and covers the working space of two SCARA robots. The large rectangular working space of the XY planar surface gantry makes handling extremely flexible with free planar movement. Ideal for assembly or testing cells. Extremely compact and flat design Excellent dynamic response thanks to extremely small moving mass Virtually free of vibration Easy to integrate into the machine Optional: control package CMCA Parallel kinematic system EXPT: for minimum moving mass with maximum dynamic response This high-speed parallel kinematic system with robot functionality for free movement in three dimensions provides precision in movement and positioning as well as a high dynamic response of up to 150 picks/min. The highly rigid kinematics has a pyramid structure. Closed mechanical chain with high rigidity Drives and motors do not move with the unit Integrated energy chain Optional: control package CMCA Planar surface gantry EXCM: high functionality in a very small space This compact planar surface gantry is available in two sizes and can execute strokes of up to 700 mm. Flat and compact for optimum use of space High payload Application-specific solutions and control packages If you require more than just standard systems or have specific requirements, Festo offers custom-developed handling systems based on your special, industry-specific needs They can be supplemented with standardised or tailor-made control packages, mounted in control cabinets or on mounting plates. And this is rounded off by our commissioning service for axis systems. 27

28 Productivity Maximum productivity is a question of ambition Do you share this attitude? We will be glad to help you achieve this goal through our four outstanding qualities: Security Efficiency Simplicity Competency We are the engineers of productivity. Discover new dimensions for your company: Your FESTO partner for Electric Automation is: Unit A, Denby Way Hellaby Industrial Estate Rotherham S66 8HR Tel: linear@acorn-ind.co.uk Web: en 2015/11 Errors and omissions excepted