Electric automation

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You have ambitious targets.You want to achieve more.We expand your horizons.

At a glance4 An overview of electric

automation technology

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Linear mechanical systems 6 Toothed belt and spindle axis

EGC/EGC-HD and ELGA10 Toothed belt axis ELGR/ELGG11 Spindle axis EGSK/EGSP12 Electric cylinders EPCO and ESBF14 Electromechanical slide EGSL 15 Cantilever axis with a toothed belt

drive DGEA

Turning and gripping16 Rotary drive ERMO17 Rotary drive module ERMB and

rotary/lifting module EHMB18 Parallel gripper HGPLE

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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.

Electric automation without compromise

Motors, drive systems, controllers19 Integrated drive EMCA and intelligent

servo motor MTR-DCI 20 Servo motor controller CMMP-AS and

servo motor EMMS/E-AS21 Stepper motor controller CMMS-ST and

stepper motor EMMS-ST22 Motor controller CMMO-ST23 An overview of Festo controllers

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Safety, software, handling systems24 Functional safety 25 PositioningDrives – software tool

for designing axis systems 26 Handling systems

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in technology, mechanical systems

and drives

Perfect solutions

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An overview of electric automation technology

Management level

Control level

Field level

Sensor/actuator level

Management system

SlideEGSL

Cantilever axesDGEA

Stepper motorsEMMS-ST

Servo motorsEMMS/E-AS

Integrated controller Operator unit CDPX

Integrated controller CPX

Serv

opne

umat

ics

Pneu

mat

ic

CMMS-STStepper motor controller CMMO-ST

Servo motor controller CMMP-AS

Gantry axesEGC-TB

EGC-BS

ELGR

EGSK/EGSP

EGC-TB-HD

EGC-BS-HD

ELGG

ELGA-TB-G/-KF/-RF

ELGA-BS-KF

Elec

tric

alControl system CECC

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Servo motorsMTR-DCI

Integrated drivesEMCA

GripperHGPLE

Rotary drives ERMO

Rotary modulesERMB

Rotary/lifting modulesEHMB

FHPPFesto Handling and Positioning Profile

CoDeSys provided by Festo

FST 4Festo Software Tool

Modular controller CECX Robotic controller CMXR

FCTFesto Configuration Tool

PositioningDrivesEngineering and calculation software for electric drives

Motor controller SFC-DC

Electric cylindersEPCO

ESBF

Ethe

rnet

Fiel

dbus

AS-

Inte

rfac

e

Modbus TCP

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Toothed belt and spindle axis EGC/EGC-HD

The individual versions

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, accelera-tion 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!

Toothed belt axis EGC-(HD)-TBDynamic drive for high speeds together with heavy loads and long strokes.

Spindle axis EGC-(HD)-BSPrecision drive for accurate and smooth running together with high loads and long strokes.

Guide axis EGC-FADriveless linear guide unit for supporting forces and torques in multi-axis applications

Flexible motor mountingfor 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.

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Type EGC-TB/BS-KF EGC-HD-TB/BS

Size 50/70/80/120/185 125/160/220

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] ±0.08 ... 0.02 ±0.08 ... 0.02

Max. force Fx [N] 2500/3000 1500/1300

Max. torque load Mx [Nm] 529 900

Max. torque load My/Mz [Nm] 1820 1450

Options Connecting module for central lubrication

Connecting module for central lubrication

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-..-HPNfor clamping the slide• For safety-oriented

applications• Solutions of categories 1,

2 and 3 to EN 13849-1 can be implemented with 1 and 2 channel versions

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

Different slide variants

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Toothed belt axis and spindle axis ELGA

An overview of guide variants

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.

Recirculating ball bearing guide ELGA-TB-KF

Roller bearing guide ELGA-TB-RF Plain-bearing guide ELGA-TB-G

• Plain-bearing guide -G for simple positioning and handling tasks or as a drive axis for applications with external guides.

Spindle axis ELGA-BS-..• Recirculating ball bearing

guide -KF for absorbing high lateral forces and torques, even during motion (new for 2016)

Recirculating ball bearing guide ELGA-BS-KF

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

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°

Motor positions

Freely selectable motor positions Freely selectable plug connection direction

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.

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Further variants in the ELGA family

Focus on safety

Second slideFor 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

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)

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)

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

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

Second slide on the axis ELGA-TB-KF

Freely positionable IP67 sensor

Driveless linear guide unit ELFA-..

Suitable for use in the food zone: ELGA-..-F1

Incremental displacement measuring system for position detection

Type ELGA-TB-KF ELGA-TB-RF ELGA-TB-G ELGA-BS-KF

Size (= profile width in mm) 70 80 120 150 70 80 120 70 80 120 70 80 120 150

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] 8500 7400 8500 2900

Max. speed [m/s] 5 10 5 0.5 1 1.5 2

Repetition accuracy [µm] ±80 ±80 ±80 ±20

Max. feed force Fz [N] 350 800 1300 2000 350 800 1300 350 800 1300 300 600 1300 3000

Max. torque load Mx [Nm] 16 36 104 167 11 30 100 5 10 20 16 36 104 167

My [Nm] 132 228 680 1150 40 180 640 30 60 120 132 228 680 1150

Mz [Nm] 132 228 680 1150 40 180 640 10 20 40 132 228 680 1150

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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

ELGR:Movement in the same directionOne slide is connected to the toothed belt, whereas the second slide moves freely and provides an extended guide.

ELGG:Movement in opposite directionsThe two slides are joined to the toothed belt and move synchronously in opposite directions.

Movement options with one additional slide

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

Optimised Motion SeriesMaking 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.

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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

End position safety for IP67 with the SIES-8M

End position safety for IP67 with the SIES-8M

Safety thanks to optionalend-position sensingThe 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

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.

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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 open- loop operation

• Holding brake

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

Size 16 25 40

Max. stroke [mm] 200 300 400

Max. feed force [N] 125 350 650

Max. speed [mm/s] 300 500 460

Max. lateral force Fy/z(with an external guide unit)

[N] 187 335 398

Repetition accuracy [mm] ±0.02

Freely positionable IP67 proximity sensor

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

Optimised Motion SeriesMaking 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.

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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 15552 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 conta-mination. 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 32 40 50 63 80 100

Drive system/spindle type Ball screw (BS), lead screw (LS)

Ball screw (BS)

Max. stroke [mm] 800 800 1000 1200 1500 1500

Max. feed force [N] 1000 3000 5000 7000 12000 17000

Max. speed [mm/s] 1.1 1.2 1.2 1.35 1.34 1.34

Repetition accuracy [mm] ±0.01

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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 variantsGreater 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 35 45 55 75

Working stroke [mm] 50 100, 200 100, 200, 250 100, 200, 300

Max. speed [m/s] 0.5 1.0 1.0 1.3

Feed force Fx [N] 75 150 300 450

Torque Mx [Nm] 6.2 18.6 33.1 67.4

My [Nm] 6.0 16.3 33.3 47.1

Mz [Nm] 6.0 16.3 33.3 47.1

Repetition accuracy [mm] ±0.015

Max. horiz./vert. payload [kg] 2 6 10 14

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Cantilever axis with toothed belt drive DGEA

A lean machine – the DGEA with optional right-angle gear unit and flange-mounted servo motor

Improved oscillation characteristics: Ω-drive design characteristicThe 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.

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 conta-mination: 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

Size 18 25 40

Guide Recirculating ball bearing guide

Max. nominal stroke [mm] 1 ... 800 1 ... 900 1 ... 1000

Max. payload, horizontal [kg] 5 10 20

Max. payload, vertical [kg] 7 18 27

Max. feed force [N] 230 400 1000

Max. speed [m/s] 3

Repetition accuracy [mm] ±0.05

Permissible forces and torques

Fy max. [N] 2000 3080 7300

Fy max. [N] 2000 3080 7300

Mx max. [Nm] 19 28 133

My max. [Nm] 94 230 665

Mz max. [Nm] 65 160 460

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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

Rotary drive ERMO

IP67 proximity sensor SIEN integrated in the housing

Size 12 16 25 32

Flange size [mm] 58 x 58 68 x 68 83 x 83 105 x 105

Torque [Nm] 0.15 0.8 2.5 5

Max. mass moment of inertia [kg·cm²] 3 13 65 164

Speed [°/s] 600 600 400 300

Repetition accuracy [°] ±0.05 ±0.05 ±0.05 ±0.1

Max. axial torque [N] 500 600 700 800

Max. radial torque [N] 500 750 1200 2000

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.

Cylinder/rotary drive combina-tion from the modular system

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Rotary drive module with gripper on a Z axis

Rotary drive module with motor and sensing module EAPS (optionally with additional housing)

Rotary drive module as small NC rotary table

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 motorsUsing 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 safetySensing 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 vibrationRotary module ERMB minimises vibrations in multi-axis systems, thereby increasing their per-formance thanks to uniform movements and user-defined acceleration ramps. The move-ments 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

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.

Rotary module ERMB

Highly dynamic rotary/lifting module EHMB

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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 25-40

Motor controller (drive system) SFC-DC for controlling the electric gripper HGPLEThe 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

Parallel gripper HGPLE

HGPLE-14-30 with 60 mm total stroke

HGPLE-14-60 with 120 mm total stroke

HGPLE-25-40 with 80 mm total stroke

HGPLE-25-80 with 160 mm total stroke

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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

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.

Parameterisation and commis-sioning are carried out with the Festo Configuration Tool FCT.

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

Integrated drive EMCA

Intelligent servo motor MTR-DCI

Can be mounted in the application thanks to degree of protection IP54

Integrated drive for format changes as a replacement for a handwheel

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Servo motor controller CMMP-AS

Servo motor EMMS/E-AS

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 para-meterisation.

• Uniform and easy operation• SD card for parameters and

firmware

Integrated safety function• Integrated safe stop with

restart blocking for safety-oriented 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-M3

CMMP-AS-MO

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 straight-

toothed 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

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)

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Stepper motor controller CMMS-ST

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

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/per-formance 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 open-loop 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

Technical data and functions• Primary voltage: 24 ... 48 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

Note for all CMMx motor controllers (drive systems) from FestoThe integral software platform Festo Configuration Tool (FCT) and the standardised data profile FHPP ensure problem-free commissioning, pro gramming and parameter-isation.

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Motor controller CMMO-ST

Power supply (separate for logic and load)

Cables for power supply (load) and encoder

• Pre-assembled, up to 10 m long

• Suitable for use with energy chains

• IP54 connection technology at the motor

I/O interface

IO-Link interface

Display (7-segment display)

Ethernet interface• Modbus TCP/Server• Web server/HTTP• FCT commissioning software

Safety function "safe torque off" (STO)Reference switch

Interfaces of the CMMO-ST

Optimised Motion SeriesOptimised 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.

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 TCPThe data profile FHPP is transferred via both interfaces with identical function range. I/O interfaceSeven freely definable positions via directly allocated I/Os

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Overview of controllers from Festo

Module Compact controller

Integrated controller

CPX terminal Modular control platform for control cabinet construction

ControllerCECC-DCECC-LK

CODESYS V3 controllerCDPX

CODESYS V3 controllerCPX-CEC-C1-V3

Motion controllerCPX-CEC-M1-V3

Modular controllerCECX-X-C1

Robotic controllerCMXR-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 move-ment with up to 6D.

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Functional safety

The Machinery Directive 2006/42/EC permits numerous safety functions as protective measures for appropriate risk

reduction to DIN EN 61800-5-2 and EN 60204-1. Implementing these safety functions in a practical manner requires

different components that can be easily integrated into an overall concept.

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

PROFIsafe I/O modules on CPXThe 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.

Intelligent solutions for monitoring linear axesThe 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

Solution examplesHow 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.

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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 compo-nent illustration opens the appropriate documentation in the selected language.

Detailed resultsThe 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.

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Versatile, economical, perfectly fitting. And always very productive.

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.

Handling systems

Single-axis system YXCS: for movement in one dimensionThe 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-to-install 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 2DHigh 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 2DWith 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 spaceThis 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 mechani-cal 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

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.

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Application-specific solutions and control packages

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 responseThis 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 areaThis 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 responseThis 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

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 supple-mented 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.

Productivity

Maximum productivity is a question of ambitionDo 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: www.festo.com/whyfesto

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