Multi axis controllers FED-CEC
Embedded Control FED-CEC
CPX-Terminal
CoDeSys Controller CPX-CEC
FHPP-Gateway CPX-CM-HPP
Controller Modular
Multi-axis Interface CPX-CMXX
Controller Modular CECX-X-C1
FED-CEC
Motion Controller CECX-X-M1
Robotic Controller CMXR Teachpanel
FEB
CAN-Bus
CAN-Bus
CAN-Bus
CAN-Bus
CAN-Bus
SFC-DC MTR-DCI CMMx
SFC-DC MTR-DCI CMMx
SFC-DC MTR-DCI CMMx
SFC-DC MTR-DCI CMMx
Single axis (PtP asynchron)
Single axis (PtP asynchron)
Single axis (PtP asynchron)
CMMx
CMMx
Interpolation (2,5D)
Robotic (3D)
Max. 16 axes Note: one axis is treated like one standard CANopen participant. 128 participants are possible (spec. according to CANopen.)
Max. 16 axes
Maximum axes count
Max. 8 axes (2 groups with 4 axes/ group)
Motion
Single axis (PtP asynchron)
• Point To Point asynchronous • Every axis moves with its own predefined parameter • The axes do not reach the end position at the same time and the path is undefined
• Motion control mode • Point To Point synchronous motion (The axes will reach the end position at the same time) • Round path
• Point To Point asynchronous • Every axis moves with its own predefined parameter • The axes do not reach the end position at the same time and the path is undefined
Interpolation 2.5D
• Interpolation, 3D • Point to Point synchronous • 2D and 3D continuous path control • Wrist axes (orientation axes) at the front end • Definition of tools • Teach in function • Easy programming with Festo Teach Language (FTL)
Typical applications
Max. 4 axes
SFC-DC MTR-DCI CMMx
Simple multi-axis control (PtP asynchron)
Max. 8 axes Note: one axis is treated like one standard CANopen participant. 128 participants are possible (spec. according to CANopen.)
• Handling systems • Pick+place palletizing
• Handling systems • Pick+place palletizing
• Handling systems • Pick+place palletizing
• Path contouring, gluing, cutting • CNC-editor • DXF-importer • Gaming
• Handling e.g. pick+place, palletizing from simple to complex • Gluing, despairing, painting • Cutting • Assembly
Free programmable CoDeSys
Predefined Functions
Max. 8 axes Note: one axis is treated like one standard CANopen participant. 128 participants are possible (spec. according to CANopen.)
CAN-Bus
CAN-Bus
X
X
A unique package of components, modules and software tools for all kinds of motion tasks. Modular automation on a world-wide platform. www.festo.com
X
X
X
X (+ soft motion)
X
Soft Facts Fast projecting & selecting
Mechatronic Motion Solutions
• Max. 6 axes interpolated, thereof max. 4 kinematic axes and max. 3 auxiliary axes • Supports different kinematic from simple 2 axes kinematic up to the tripod
Festo Pte. Ltd.
Easy commissioning
xDKI Documentation CADfiles
6 Kian Teck Way Singappore 628754 Tel 65 6264 0152 Fax 65 6261 1026 info@sg.festo.com www.festo.com.sg
Product Selection Overview • Electric actuators • Motor & controllers • Multi-axis controllers
Electric gantry axes EGC-BS
DMES
Motor & Controllers EGC-TB
ELGR
EGSK/EGSP
DGE-ZR
DGE-SP
DGE-ZR-RF
Product features: Controllers/Drives Products
Modes of operations
Set-point specification
Networks supported
Synchronous functions
Motor feedback interface
MTR-DCI
Position
• I/O (Rec. select) • Over network FHPP
CANopen Profibus DeviceNet
None
Integrated Incremental Encoder
Rotary: ERMB
ELGL
MTR-DCI CMMS-ST
Electric gantry axes DGEA
CMMS-AS EGSA
DNCE
SLTE
DNCE-LAS
DFME-LAS
CMMP-AS
Drive technologies
Guide mechanism design
Toothed belt
Lead screw
Ball screw
Attributes
Products
• • • • •
High speed Low strokes High duty cycles Low cost Low precision
EGC-TB DGE-ZR DGE-RF DGEA
• Medium precision • Self-locking (not back-drivable) • Lower cost • Low duty cycles
DMES SLTE DNCE
• • • •
DGE-SP EGSA EGC-BS EGSK/EGSP DNCE
• • • •
Direct linear
High precision Smooth motion High thrust force High duty cycles
High dynamics Long strokes High precision Smooth motion
• Low cost • Low speed • Low duty cycles
Plain bearing
Roller bearing
Recirculating ball bearing
Air bearing
DNCE-LAS DFME-LAS ELGL
Ball bushingv
DMES ELGR-GF
• Low cost • High speed • High duty cycles
DGE-RF
• High speed • High loads • High duty cycles
DGE-ZR DGEA DGE-SP DMES SLTE EGSA EGC
• Clean • Low friction • Integrated clamp
ELGL
• High speed • High duty cycles • Medium loads
DFME ELGR-KF
Driver Mechanism
• Analogue (+/- 10v) • I/O (Rec. select) • Over network FHPP
CANopen Profibus DeviceNet
Master-slave E-Gearing
Position Speed Torque Synchronous
• Analogue (+/- 10v) • I/O (Rec. select/ log seq.) • Over network FHPP
CANopen Profibus DeviceNet
Position Speed Torque Synchronous
• Analogue (+/- 10v) • I/O (Rec. select/ log seq.) • Over network FHPP
CO, PB, DN Sercos II (Ethernet next release)
Incremental Encoder EMMS-ST CMMS-ST
Master-slave E-Gearing
Absolute Encoder (EnDat) EMMS-AS
Master-slave E-Gearing (E-Cam next release)
Absolute Encoder (EnDat) and Resolver CMMP-AS
Performance comparison based on motor technologies Type
Servo (DC)
Stepper
Servo (AC)
Speed
Very slow ( < 500 rpm)
Low/medium (2000 rpm)
High (6600 rpm)
Duty cycle
low
Medium/high
High
Festo Product
MTR-DCI
EMMS-ST / CMMS-ST
EMMS-AS / CMMP / CMMS-AS
Premium servo (CMMP-AS)
Nm 20
Standard servo (CMMS-AS)
15
Stepper (CMMS-ST)
10 5
Product features Product
Position Speed Torque Synchronous
Guide Mechanism
Repeatability (+/-mm)
Max stroke (mm)
Max speed (m/s)
Max feed force** (N)
Max acceleration
rpm
(m/s2)
Rodless DGE-RF
Toothed belt
Roller
0.100
5,000
10.00
1500
50
DGE-ZR
Toothed belt
Ball bearing
0.100
4,500
3.00
1500
50
DGEA
Toothed belt
Ball bearing
0.05
1,000
3.00
1000
50
DGE-SP
Ball screw
Ball bearing
0.020
2,000
1.20
1600
6
EGSK
Ball screw
Ball bearing
0.01/0.005/0.003
800
1.05
320
20
EGSP
Ball screw
Ball bearing
0.01/0.005/0.003
800
2.00
360
20
EGC-TB
Toothed belt
Ball bearing
0.08/0.1
10,000
5.00
2500
50
EGC-SP
Ball screw
Ball bearing
0.02
3,000
2.00
3000
15
ELGR
Toothed belt
Plain or ball bearing
0.1
1,500
1 or 3
350
50
ELGL
Direct linear
Air bearing
0.010
5,750
4.00
450
50
DMES
Lead screw
Plain or ball bearing
0.05/0.07
1,200
0.05
3000
2.5
SLTE
Lead screw
Ball bearing
0.1
150
0.20
30
2.5
Rodded DNCE
Ball screw
Not applicable*
0.02
800
1.00
2500
6
DNCE
Lead screw
Not applicable*
0.07
800
0.07
1000
1
EGSA
Ball screw
Recirculating
0.01
300
1.50
200
15
DFME-LAS
Direct linear
Ball bushing
0.020
400
5.00
202
83
DNCE-LAS
Direct linear
Plain bearing
0.020
400
3.00
202
125
1000
2000
3000
4000
5000
Motor feedback technologies Advantages
Note: * The DNCE does not have any internal bearing to support lateral forces therefore it should be loaded only in the direction of movement. However DNCE can be used together with the FENG guide unit to support lateral forces. ** The load: calculate with F-m*a the feed force and compare with the maximum
Incremental encoder MTR-DCI EMMS-ST ELGL-LAS DNCE-LAS DFME-LAS
• Low cost • Typically homing require on power up • MTR-DCI retains last position on power down (memory device)
Single turn absolute encoder EMMS-AS
• Absolute within a single rotation of shaft • Inductive type, more robust than optical encoders
Recirculating ball bearing
• Absolute within a single rotation of shaft • Homing not required if shaft rotated < 4096 rotations • Inductive type, more robust than optical encoders
MTR-DCI
EMMS-ST