Actuadores lineales eléctricos

Electric linear drives
You need complete systems.
You want reduced complexity.
We are your dependable solutions partner.
Rely on a partner who has decades of experience in linear motion, whether with pneumatics or
with electric linear drives. Expect nothing less than a complete drive package together with the
mechanical components which meet all the requirements of linear motion. Highly dynamic.
Extremely accurate. Sturdy and powerful for high loads. And last but not least: simple and costeffective. For all linear motion – without compromise!
2
Motion without
compromise.
Competency in
­optimum solutions
for systems and
­technology.
06
10
Gantry axes
Powerful, fast and precise motion within the working space.
Cylinders
Fast and durable motion in and out of the working space.
12
Slides and cantilever axes
Precise and variable positioning in the working space with high
load bearing capacity.
Easy and dynamic motion with a 17 kN load!
The electric cylinder ESBF is the powerhouse in our product range,
with actual performance of 17 kN – static and dynamic. Or with the
electric axis EGC. The heavy-duty variant EGC-HD easily withstands
a torque load of 900 Nm at right angles to the axis.
14
Highly dynamic and precise motion.
16
Pure dynamics for higher productivity
The electric toothed belt axis ELGA-RF speeds up your production
with a dynamic maximum speed of 10 m/s – even at high torques
and driving forces.
Motion – simpler than ever before
Electric motion is made absolutely simple and safe with the
­Optimised Motion Series. The positioning package consists of the
electric cylinder EPCO, including motor and motor controller
CMMO-ST as well as cables suitable for use with energy chains.
Errors are no longer possible because now there’s only one order
code for this complete, low-cost package! Parameterisation from the
cloud is extremely simple, too.
Linear motor axes
Motors and controllers
Suitable for linear drives and scalable to any application.
19
Functional safety
For technical safety measures according to the EC Machinery
Directive
20
Software tools
Software support to help create the ideal drive package in no time,
including simple, reliable configuration and commissioning.
22
Handling systems and solutions
System expertise in 2D and 3D for your task.
3
Mechatronic Motion Solutions: an overview of the electric drive spectrum
Management level
Managemen
Control level
Modular controller CECX
Control system CECC
Integrated controller
CDPX
Control system
Motor controller
CMFL
SFC-LACI
Servo motor controller
CMMP-AS
CMMS-AS
Controllers
Field level
Actuation
Linear motor axes
ELGL-LAS
Drives
Gantry axes
EGC
EGC-HD
DGE
ELGR/ELGG
ELGA
EGSK/EGSP
DFME-LAS
Electrical
Servopneumatic
Pneumatic
DNCE-LAS
ADNE-LAS
Grippers
Front units
4
Vacuum
Servo motors
EMMS/E-AS
Cantilever axes
DGEA
Stepper motor controller CMMO-ST
CMMS-ST
Stepper motors
EMMS-ST
Electric cylinders
EPCO
Axis interface
CPX-CMXX
Motor controller SFC-DC
FHPP
Festo Handling
and Positioning
Profile
Fieldbus
CMMD-AS
Integrated controller
CPX-CEC
CoDeSys
Provided by Festo
FST 4
Festo Software
Tool
Servo motors
MTR-DCI
Slides
EGSL
AS-Interface
Robotic controller
CMXR
EtherNet
nt system
FCT
Festo Configuration
Tool
ESBF
SLTE with DC motor
Modbus TCP
DNCE
Rotary drives
Vision systems
PositioningDrives
Sizing and calculation
software for electric
drives
5
Gantry axes
Thanks to their design with a
slide unit, gantry axes permit
movement between the two
ends of the axis, i.e. directly
inside the working space.
Various drive concepts
Depending on the requirements,
it is best to use a toothed belt
drive for good acceleration, high
speeds and long strokes,
whereas a spindle drive should
be used for high feed forces and
precise positioning. The recircu-
lating ball bearing guide allows
high loads on slide units and
guides with transverse forces,
even when in motion.
Toothed belt and spindle axis
EGC/EGC-HD
In profile
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 are
setting new standards. Even new
EGC-HD with heavy-duty guide
offers extremely high loads and
torque resistance as well as 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!
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.
Comprehensive range with
numerous variants, e.g. for high
dynamic response and speed,
heavy loads and high torque. All
in all, it is the new range of axes
from the mechatronic multi-axis
modular system which is
­suitable for stand-alone as well
as complete system solutions.
The individual designs
Toothed belt axis EGC-(HD)-TB
Dynamic drive for high speeds
together with heavy loads and
long strokes.
6
Reliable thanks to optional
­sensing
• 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,
minimal resolution of 2.5 µm
• Suitable for safety-oriented
applications (second channel)
• Inaccuracies inherent to the
system can be ideally corrected
Clamping unit EGC-..-HPN for
clamping the slide
• For safety-oriented applications
• Category 1, 2 and 3 solutions
in accordance with EN 13849-1
can be implemented with
1 and 2 channel versions
Variants:
Flexible motor mounting with
EGC-(HD)-TB
• Motor can be attached on
4 sides, freely selectable
• Subsequent conversion
­possible 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.
Second slide
• For greater axial and lateral
torques
• Freely movable
Type
Size
Drive
Max. stroke
Max. speed
Repetition accuracy
Max. force Fx
Max. torque load Mx
Max. torque load My/Mz
Options
Extended slide
• Longer guide
• For greater axial torque
EGC-TB/BS-KF
50/70/80/120/185
Toothed-belt drive/Spindle
drive
[mm] 5000/8500 (10 000)
[m/s] 2/5
[mm] ±0.08 ... 0.02
[N]
2500/3000
[Nm] 529
[Nm] 1820
Connecting module for central
lubrication
Protected slide
• Scrapers on both sides of the
slide
• Removes dirt particles and
­liquids from the external guide
EGC-HD-TB/BS
125/160/220
Toothed-belt drive/Spindle
drive
5000/2400
5/1.5
±0.08 ... 0.02
1500/1300
900
1450
Connecting module for central
lubrication
7
Electric toothed belt axis
ELGA-TB-G/ELGA-TB-RF
The perfect addition to EGC axes.
ELGA-TB-G with plain-bearing
guide for simple positioning and
handling tasks or as a drive axis
for applications with external
guides. With its roller guide and
high feed forces, the ELGA-TB-RF
is optimised for extremely
dynamic handling, even of
medium and large workpieces. A
cover strip made of stainless
steel protects the sturdy roller
bearing guide and permits very
high travel speeds.
• Speeds of up to 10 m/s
• Optionally suitable for contact
with food
ELGA-TB-G/-RF Size (= width of the axis profile)
Guide type
Max. stroke
[mm]
Max. feed force Fmax
[N]
Max. speed
[m/s]
Mx
[Nm]
My
[Nm]
Mz
[Nm]
Accuracy
[mm]
8
Common features
• Ready-to-install solution as a
drive package for use with
external guide
• High dynamic response and
flexibility, in part due to the
possibility of connecting the
motor to any one of
4 positions
• Wide range of accessories for
easy installation
• Software integration, e.g. in
PositioningDrives, makes
design and commissioning
easier
• Cover strip as protection
against harsh environmental
conditions and for reduced
discharge of particles caused
by toothed belt wear
70
80
120
Plain-bearing guide/roller guide
8500/7000, 8500/7000, 8500/7400
350/350
800/800
1300/1300
5/10
5/11
10/30
20/100
30/40
60/180
120/640
10/40
20/180
40/640
±0.08/ ±0.08
Electric 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 the
ELGG, as well as their diverse
range of possible uses, makes
them ideal for simpler applications requiring cost-effective
solutions.
Benefits
• Flexible motor mounting in
4 positions; can also be
­modified at a later date
• Slide variants: extended slide,
1 or 2 additional slides
• Simple end-position sensing,
easy to operate
Simple engineering
• Simple and reliable configuration with PositioningDrives
software
• Convenient and easy commissioning with FCT software
• Open motor interface for
­in-house standards
Motion options with additional slide
End-position sensing
Motion in the same direction
ELGR:
One slide is connected to the
toothed belt, whereas the
­second slide moves freely and
provides an extended guide.
Motion in opposite directions
ELGG:
The two slides are joined to the
toothed belt and move synchronously in opposite directions.
Reliability thanks to optional
end-position sensing:
The inductive proximity sensor
SIES-8M, together with a sensor
switch and switch lug, can be
attached to the axis at any time.
Electric spindle axes
EGSK/EGSP
EGSP. For standard tasks in the
upper segment: EGSK. For highend applications where greater
precision and performance are
required: EGSP series with
caged ball bearing.
Benefits
• Repetition accuracy: 3 µm
• Housing made of solid steel
which simultaneously
­functions as a guide
• Optional spindle cover in all
sizes
Always perfect when precision,
repetition accuracy, compactness and rigidity are required:
electric spindle axes EGSK/
9
Cylinders
Electric cylinder EPCO
The EPCO system
Low-cost with optimised performance: EPCO. It is as simple as a
pneumatic cylinder, but with the
advantages of an electric drive –
at a lower cost and simpler than
electric positioning systems.
Together with the motor controller CMMO-ST, it forms the core of
the Optimised Motion Series
(OMS). Everything fits, is easy to
select with one order code and
the “WebConfig” and “WebDiag”
software can be used for configuration and diagnostics.
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
The cylinder
The electric cylinder with ball
screw and non-rotating piston
rod with plain bearing guide is
available fully-assembled in
3 sizes, with a permanently
attached, ideally matched motor.
The end-position cushioning
reduces noise when approaching
the end positions, as well as
impact energy during homing. Its
features include easy cleaning
with thanks to its clean look and
a long service life of 10,000 km.
Connecting cables
• Pre-assembled cable sets for
motors and encoders, suitable
for use with energy chains
• In five standard lengths of up
to 10 m, special lengths on
request
Motor options
• Holding brake on the motor
• Encoder on the motor:
−− Closed-loop operation with
encoder
−− Open-loop operation
­without encoder for costoptimised applications
Cylinder options
• Female piston rod thread
• Piston rod extension
The software
• Simple configuration thanks
to the type code for cylinder,
motor, cable and motor
­controller = quick and easy
selection of the right size and
type
• Quick and easy commissioning
via web server/browser
­concept
Wide range of mounting options
Size
Max. stroke
Max. feed force
Max. speed
Payload, horizontal/vertical
Repetition accuracy
10
[mm]
[N]
[mm/s]
[kg]
[µm]
16
200
125
300
24/12
20
25
300
350
500
60/30
40
400
650
460
120/60
Electric cylinder with piston rod
DNCE
The electric piston rod cylinder
with two different drive screws:
self-retarding lead screw spindle
for slow and powerful motion,
e.g. for format changes.
­Recirculating ball screw for
high feed speeds and running
performance, e.g. for dynamic
push and pull applications.
Benefits
• Axial or parallel motor mounting – can be changed at any
time
• Absolutely no stick-slip for
ideal motion sequence
• Travel, speed, acceleration
and force control can all be
freely programmed and
parameterised.
• Freely programmable
­positions and travel profiles,
including gentle acceleration
External guide rod unit
FENG (optional)
Electric cylinder with ball screw
drive ESBF
A quick, precise and powerful
unit with a long service life – the
ESBF easily takes the 10,000 km
hurdle. It is suitable for all drive
profiles and specified speeds.
The many variants such as
mounting accessories and
adapter kits make it flexible,
and the piston rod has a plain
bearing guide and is protected
Typ
Size
Standard stroke
Spindle pitch
Max. feed force[N]
Repetition accuracy
Max. speed
[mm]
[mm]
[N]
[mm]
[mm/s]
DNCE lead-screw drive
25/40/63
100 ... 800
1.5 ... 4
1000
±0.07
70
against rotation. Its clean look
makes it suitable for use in the
food and beverage industry.
• Universal, axial or parallel
motor mounting
• Functional accessories, e.g.
flange, swivel or foot mounting. Optional features for use
in the food and beverage
industry
• Protection class IP40 with
defined venting hole
DNCE ball-screw drive
25/40/63
100 ... 800
4 ... 20
2500
±0.02
1000
• Protection class IP65 with
G/18 connection
• Increased corrosion protection
• FDA approved lubricating
grease for the piston rod
• Clean look with smooth
­surfaces
• Bellows for ESBF available in
sizes 63 and 80
ESBF
63/80/100
100 ... 400 (max. 1500 on request)
5 ... 50
17000
±0.015
1350
11
Slides and cantilever axes
Lateral motor mounting
Axial motor mounting
The design of the slide units and
cantilever axes permits motion
in and out of the working space.
A range of drive concepts
Different drives are used for
­different applications:
spindle drive for precision and
payload, toothed belt drive for
dynamic response and long
strokes.
Electromechanical slide EGSL
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 is thus
ideally adaptable to the installation conditions. A further
­advantage: the open motor
interface for in-house standards.
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 where strokes of
up to 300 mm are sufficient. Its
strengths are shown to good
advantage, especially in vertical
applications and short-stroke
slide functions with variable
positioning such as highly
­accurate pushing, picking and
insertion with linearity and
­parallelism in the 1/100 mm
ranger – even with high
­mechanical loads!
Size
Working stroke
Max. speed
Feed force Fx
Torque
Mx
My
Mz
Repetition accuracy
Max. payload, hor./vert.
12
Benefits
• Precise and unrestricted
­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
s­ pindle is fully closed;
­additional guide cover is
optional
• Simple, low-cost sensing with
integrated sensor slots on the
right and left
• Matching software tools for
design (PositioningDrives),
configuration, commissioning
and more with the Festo
­Configuration Tool (FCT)
­software package
[mm]
35
50
45
100, 200
55
100, 200, 250
75
100, 200, 300
[m/s]
[N]
[Nm]
[Nm]
[Nm]
[mm]
[kg]
0.5
75
6.2
6.0
6.0
± 0.015
2
1.0
150
18.6
16.3
16.3
± 0.015
6
1.0
300
33.1
33.3
33.3
± 0.015
10
1.3
450
67.4
47.1
47.1
± 0.015
14
Cantilever axis with toothed
belt drive DGEA
For long strokes, high
­acceleration and speed with
simultaneously good repetition
accuracy: the DGEA cantilever
axis with roller bearing guide
and toothed belt drive. Perfect
for handling systems and
­wherever large loads need to be
moved over long strokes. The
DGEA’s excellent dynamic
response results from reduced
moving mass: the motor, gear
unit and drive head are securely
mounted, so only the main
­profile is moved with the load.
Improved oscillation characteristics: Ω-drive design feature
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
­oscillation characteristics.
Electromechanical mini slide
SLTE
Benefits
• Good repetition accuracy of
±50 µm
• Payloads of up to 20 kg with a
maximum vertical stroke of
1000 mm
• Protection against dirt: 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
Size
Guidance
Max. nominal stroke
[mm]
Max. payload, horizontal [kg]
Max. payload, vertical
[kg]
Max. feed force
[N]
Max. speed
[m/s]
Repetition accuracy
[mm]
Permissible forces and torques
[N]
Fymax.
[N]
Fymax.
Mxmax.
[Nm]
Mymax.
[Nm]
Mzmax.
[Nm]
18
25
40
Recirculating ball bearing guide
1 ... 800 1 ... 900 1 ... 1000
5
10
20
7
18
27
230
400
1000
3
±0.05
Complete package: the flat,
­electric mini slide SLTE with
­precise, rigid guide for gentle
acceleration and braking using a
2000
2000
19
94
65
3080
3080
28
230
160
7300
7300
133
665
460
lead screw spindle for payloads
of up to 4 kg. Unrestricted
­positioning via motor controller
SFC-DC with IP54 protection.
13
Linear motor axes and cylinders
Linear motor axis with air
­bearing ELGL-LAS
Maximum dynamic response and
precision, maximum service life
and minimum maintenance:
these are the characteristics of
Festo’s linear motor axes and
­linear motor cylinders. They are
the right choice for applications
where maximum acceleration
and speed, as well as highly
­precise positioning are
­important.
The handling axis ELGL-LAS with
innovative air bearing and
­magnetic pretensioning makes it
possible: with this closed, readyto-install system including linear
motor, air bearing and displacement encoder, the slide hovers
over the axis in a contactless,
friction-free fashion and ensures
non-wearing operation with
­minimal maintenance and a long
service life.
Motor controller
CMMP-AS
You will find
more
information
about ­compatible
motor controllers
on page 16.
Size
Slide size
Max. stroke (slide)
Max. feed force
Repetition accuracy
[mm]
[mm]
[N]
[µm]
30
210 (S)
740
44
±10
64
210 (S)
1750
119
310 (M)
1650
164
Electric short-stroke cylinder
with linear motor ADNE-LAS
and motor controller CMFL
Note
The magnetic fields of the
linear motor axes and
­cylinders are generally
designed and shielded in
such a way that iron parts
or iron chips are not
attracted.
14
Highly dynamic with up to 14 Hz
between two end positions: the
ADNE-LAS. The speed of the
pneumatics combined with the
precision of the electrical
­components is ideal for pusher
applications and sorting tasks.
Installation directly in the
­application thanks to protection
class IP65.
Additional features
• Dirt-repellent: the air bearing
prevents non-adhesive
­materials from getting into
the axis
• Locking brake already
­integrated: the magnetic
­pretensioning also functions
with vertical applications with
maximum payload
• Minimal strokes of 0.1 mm
are possible without damaging
the bearing
• Several slides, each with its
own motor controller, can be
moved independently of one
another along one axis
120
210 (S)
1750
240
310 (M)
1650
310
410 (L)
1550
450
Benefits
• Minimal positioning times
of just 30 ms
• Convincing: excellent
­repetition accuracy of ±0.5 mm
and constant force along the
entire stroke range of max.
45 mm
• Teach-in function for strokes
from 7.5 mm
• Long service life thanks to
electronic end-position
­cushioning
Linear motor cylinder with
­piston rod DNCE-LAS
Optimised for small loads and
high dynamic response: the
electric linear motor cylinder
DNCE-LAS.
It’s specialised in pusher
­applications or when small loads
need to be positioned in the
shortest possible time, e.g.
40 ms for a 15 mm stroke. All of
Guided linear motor cylinder
DFME-LAS
The electric linear motor cylinder
DFME-LAS optimally handles
high dynamic response with
small loads, not least because
the piston rod guide is
­integrated into the cylinder. This
allows it to position small loads
in the shortest possible time, for
example in packaging systems,
What both have in common:
technology that makes work
easy.
Motor controller SFC-LACI
You will find more
­information about
­compatible motor
­controllers on page 18.
• Long service life and virtually
maintenance-free operation:
internal plain bearing guide
with integrated grease reserve
keeps maintenance costs and
downtime to a minimum.
Type
Size
Max. stroke
Max. speed
Min. speed
Continuous feed force
Repetition accuracy
[mm]
[mm]
[m/s]
[m/s]
[N]
[µm]
the necessary components such
as linear motor, displacement
encoder, guide and reference
switch are combined to create a
ready-to-use axis; however, if a
guide is needed for piston rod
motion, an external solution is
required.
Benefits
• Minimal travel speeds of
2 mm/s – without stick-slip
effect!
• Simplifies ordering, storage
and assembly: any existing
accessories can still be used
because all of the mechanical
interfaces, except for the long
side, are compatible with the
DNC pneumatic cylinder
series.
small parts assembly or
­separating tasks. All required
components such as the linear
motor, displacement encoder,
guide and reference switch are
combined to create a ready-touse guide axis.
Benefits
• Minimal travel speeds of
3 mm/s – without stick-slip
effect!
• All the mechanical interfaces
are compatible with the
­pneumatic cylinder series
DFM. Perfect for use with
existing accessories.
• Optional: pneumatic clamping
cartridge as holding brake
• Can be configured and
­commissioned using the Festo
Configuration Tool FCT. Just
enter the parameters and
­positioning records and you’re
ready to go!
• A complete solution from a
single source: mechanical
components, linear motor,
­displacement encoder and
motor controller, including
software tools for configuration and commissioning.
DNCE-LAS
32
40
100/200/320 100/200/320/400
3
0.002
36
55
±20
DFME-LAS
32
40
100/200/320 100/200/320/400
0.003
36
±15
0.005
55
15
Motors and controllers
The controller and motor
­portfolio from Festo covers a
broad spectrum of servo and
stepper motor functions and is
optimally suited to all electric
drives.
Servo motor controllers CMMPAS/CMMS-AS/CMMD-AS and
servo motor EMMS/E-AS
­internal components
­significantly improves economic
efficiency.
The highly functional controller
CMMP-AS is best suited for cam
control and highly dynamic
motion.
They all feature safe and
­convenient commissioning, SD
card slot, programming and
parameterisation using software
tools.
The CMMS-AS shows its
strengths in standard
­applications and positioning
tasks with I/O connection.
The double controller CMMD-AS
takes on the task of running two
servo motors independently of
each other. Combining the
Motor Controller CMMO-ST
Everything matches perfectly
– thanks also to”WebConfig”
and “WebDiag”, the
­integrated HTML web server
for configuration and
­diagnostics.
Ideal in combination with
the electric cylinder EPCO.
Simple and fast selection
with 1 order code.
16
Servo motor EMMS/E-AS
Servo motors for 3 types of
­controllers. As a permanently
energised, brushless servomotor
with eight torque ranges, this
motor is designed for dynamic
positioning tasks.
Stepper motor controller
CMMS-ST and stepper motor
EMMS-ST
sets the stepper motor controller
CMMS-ST apart from
­conventional controllers.
Stepper motor technology in a
genuine Festo plug & work
­solution package: the single axis
position controller CMMS-ST
combined with the stepper
motor for single and multi-axis
handling applications with
­moving loads of up to 20 kg.
Stepper motor EMMS-ST
The stepper motor offers a long
service life and full positioning
functionality at an attractive
price. It is designed with a high
degree of protection and with a
plug system suitable for
­industrial use, optionally with
brake and integrated encoder.
The combination of CMMS-ST
and EMMS-ST with encoder
­provides you with a fully fledged
closed-loop servo system with
maximum operating reliability
and fast dynamic response. This
• Jerk-free positioning
• Infinitely variable positioning,
closed-loop operation
• Speed adjustment
• Position control
• Current control
• Torque control
Integrated safety function
• Safe torque off (STO) with
­category 3, PLd integrated
• Additional safety functions
• M can be implemented using
external components
• Solution examples available
• Safe stop with restart blocking
The performance ranges of the
motors in combination with Festo
controllers
Functions of the CMMS-ST
• SD card for parameters and
firmware
• Automatic motor brake
• External braking resistor
(optional)
• Jerk-free positioning
• Infinitely variable positioning
• Step resolution: micro step up
to 4000 steps per r­ evolution
• The digital inputs and outputs
are protected against short
­circuit, overload and reversed
polarity
60
CMMP-AS
NM
Functions of the CMMx-AS
• SD card for parameters and
firmware
• Automatic motor brake
• External braking resistor
(optional)
EMMS/E-AS + CMMP-AS
EMMS-AS + CMMS-AS/CMMD-AS
EMMS-ST + CMMS-ST/CMMO-ST
10
CMMS/D-AS
CMMS/O-ST
0
1000
2000
3000
4000
5000
1 rpm
CMMP-AS
Motor controller for motor type Servo motor
Positioning records
255
Displacement encoder
Incremental/absolute
Can be configured flexiExtended I/O interface
bly
Separate for all posiRemaining distance message
tions
Separate for all posiTorque reduction
tions
Record linking
With branching
Safe torque off
(STO)
Cat. 3, PLd (EN 13849),
Primary voltage
100 ... 230 V AC
Single-phase: 2.5 and
5 A, three-phase: 5 and
Motor current
10 A
Integrated positioning records 256
CMMS-AS/CMMD-AS
Servo motor
63
Incremental/absolute
CMMS-ST
Stepper motor
63
Incremental
CMMO-ST
Stepper motor
7/31
Incremental
4 working modes
4 working modes
Valve or binary profile
1 for n
1 for n
Separate for all positions
No
Linear
No
Linear
Separate for all positions
Linear
Cat. 3, PLd (EN 13849),
100 ... 230 V AC
CMMS-AS: 4 A (singlephase) CMMD-AS: 2 x 4 A
(freely adjustable to 2 A/6 A)
64
Cat. 3, PLd (EN 13849), Cat. 3, PLe (EN 13849)
24 ... 48 V DC
24 V DC
8 A/peak 12 A
64
5.7 A/peak 8 A
32
17
Intelligent servo motor
Servo motor MTR-DCI
This servo motor with its broad
torque range is ideally suited for
positioning tasks. It combines all
necessary components in one:
motor, gear unit, motor
­controller and power electronics.
An impressive feature of the
MTR-DCI is its minimal wiring
thanks to the integration of the
controller – only one voltage
source and one fieldbus
­connection or multi-pin plug are
required. 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
(Festo Configuration Tool).
Functions
• Compact design with
­integrated display
• The smooth profile prevents
the ingress of dirt
• Closed-loop operation
• Protection class IP54
• Control via I/O or fieldbus
• Constant acceleration and
braking
• Position control
Features:
• Positioning run and teach
mode
• Diagnostic function
• Thanks to IP54 protection, the
SFC can be mounted close to
the drive
• Only one cable required
• The motor controller SFC is
available with or without
­control panel
• Control via I/O or fieldbus
• Both single-field controllers
are very easy to configure and
commission using FCT
­software for parameterisation
and commissioning.
Single-field controllers
Position controller SFC-LACI
and linear motor cylinders DNCELAS and DFME-LAS form a readyto-install solution.
Motor controller SFC-DC
The motor controller SFC-DC and
mini slide SLTE are combined to
create a ready-to-install solution.
18
Functional safety
The EC Machinery Directive
2006/42/EC permits numerous
safety functions as protective
measures for sufficient risk
reduction in accordance with the
standards 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.
Safety system CMGA
measuring systems and
­processes their input signals
in order to guarantee the safe
status of a handling unit by
using suitable safety-oriented
responses. There are numerous
pre-programmed application
programs for simple configuration. In-house programming is
possible if required.
range. This ensures easy
­implementation of emergency
stop requirements with safe stop
SS1 up to category 3, PLd.
For stricter requirements, the
series CMMP-AS- _ -M...
­provides optional safety
­modules for safety functions
up to category 4, PLe.
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.
Festo provides solution
­examples. Descriptions, bills of
materials, circuit diagrams,
application programs and Sis-
tema projects allow fast
­integration into your safety
­concept – with the appropriate
documentation.
Reliably monitors command
input devices, safety sensors,
safety switches, encoders and
Motor controller CMM…
The safety function STO is
­integrated as standard into all
motor controllers in the CMM...
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
SLS
v
0
SS1 STO
v
s
0
t
SDI
STO
v
s
0
t
v
t
0
Solution examples
How do I implement safety
­functions with electric drive
technology components?
t
19
Software tool for configuring axis systems
PositioningDrives
PositioningDrives prevents
design errors and improves
energy efficiency by helping you
to choose the right components.
Designing drive mechanisms,
gear units and motors separately
can increase safety factors and
result in oversized electric drive
systems.
Toothed belt, spindle or direct
drives, servo motors, stepper
motors or DC motors, ball
­bearing 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, controllers
and software. The ideal drive
package for the respective
requirements can then be
selected from the list of results.
20
Application parameters
such as mounting position, load,
stroke and precision need to be
entered. There is also an option
to limit the travel time. A
­preselection of drive and motor
technology, as well as guide
­variants, limits the number of
variations and quickly leads to
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 controller is
­displayed graphically, and the
degree of utilisation is shown as
a bar graph. One click on the
component illustration opens
the respective 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 out the scope of
functions of PositioningDrives.
Software tools – faster project planning, commissioning and operation
More intelligent automation
Festo consistently focuses on
continuous analysis and
­identification of potential.
This has resulted in a
­combination of the new software
platform FHPP with the tried and
FCT software – Festo Configuration Tool for commissioning
• All drives in a system can be
managed and saved in a
­common project
• Project and data management
for all supported device types
FHPP – Festo Handling and
Positioning Profile
Festo has developed an
­optimised data profile, the
“Festo Handling and Positioning
Profile” (FHPP), which is
­specifically tailored to handling
tested FCT Festo configuration
tool. It ensures uniform
­operation and ideal interface
management of all motor
­controllers, from the fieldbus up
to the drive system.
• Simple to use thanks to
­graphically supported
­parameters entry
• Universal mode of operation
for all drives
• Work offline at your desk or
online at the machine
and positioning applications.
The FHPP data profile permits
the activation of Festo motor
controllers with fieldbus
­interface via standardised
­control and status bytes.
Fieldbus communication
Record selection
Direct operation
Mode
Position
Speed
Parameter channel
Free access to all
parameters – read
and write
21
Handling systems from Festo’s multi-axis modular system
22
Pick & place
Cantilever axis combined with a
slide or additional cantilever axis
for Z motion. For applications
where the gripper unit has to
be retracted from the area of
activity.
• Can be combined with a slide
or additional cantilever axis
along the Z-axis
• High mechanical rigidity,
sturdy design
Linear gantries
Gantry axis combined with slides
or cantilever axes for Z motion.
Sturdy, for long strokes
combined with heavy loads.
• Can be combined with a slide
or cantilever axis along the
Z-axis
• High mechanical rigidity and
sturdy design
Cantilever axes
Two parallel gantry axes plus
pick & place with short Z-stroke,
preferably a slide.
Ideal for applications where
three-dimensional gantries are
too big or interfere within the
area of activity. Short Z-stroke,
preferably with mini slide
• Sturdy design
Three-dimensional gantries
Two gantry axes plus an
additional gantry axis offset at
an angle, as well as any drive for
Z motion. For any motion in 3D
space – extremely precise and
very sturdy for high loads and
long strokes.
• High mechanical rigidity
• Universal in use, even for very
heavy workpieces and high
payloads
• Dynamic, precise, powerful –
depending on axis selection.
Tripod EXPT
Free, precise and extremely
dynamic motion in 3D space –
parallel kinematic system with
electric gantry axes in pyramid
form for high rigidity
• High mechanical rigidity
• Universal in use, even for very
heavy workpieces and high
payloads
• Dynamic, precise, powerful –
depending on axis selection.
All inclusive benefits – ready-to-install solutions
Build it yourself, or have it built – it’s up to you. But bear in mind that
complete systems can save you as much as 50%. With ready-toinstall handling systems you can practically eliminate the complex
processes associated with development and construction. Tell us
what your requirements are and we will design, order, compile, test
and deliver. We can also assemble and commission your system on
request.
You can concentrate on your core tasks. We take care of the rest. This
not only saves time and money, but ensures maximum reliability with
regard to function and optimal settings.
We offer design engineering, documentation, CAD models, assembly,
checking and testing, commissioning and servicing.
Individual components or
a complete system – your
decision
Engineering
Competent engineers support
you right from the outset.
• Technical advice
• Expert knowledge based on
the latest technological
­standards
• Management of the entire
engineering process
• Designs from the mechatronic
multi-axis modular system
Documentation
Documentation for your
­handling systems.
• Detailed documentation of
your handling system on CD
or paper
• Engineering drawings as
instructions for assembly,
including bill of materials
• Circuit diagrams in EPLAN
or Promis
Examples of CAD models from the standard multi-axis modular system
Linear gantry with cantilever axis (Z)
Heavy duty linear gantry with Duo-toothed
belt axis (Y) and spindle axis (Z)
Three-dimensional gantry with toothed belt
axis (XY) and spindle axis (Z)
23
Subject to change, errors
and misprints excepted.
Companies seeking to be globally successful need to systematically increase their competitiveness.
We can support you in achieving this by focusing on our shared goal of improving your productivity.
Benefit from the expertise in electric and pneumatic handling systems that we have built up over
decades. From front-end grippers, vacuum solutions, linear, rotary and semi-rotary drives up to
highly complex parallel kinematic systems and motion control. Always the best solution – everything
from a single source.
135007 en 2013/12
We drive automation for your success.
We are your partner to inspire you.
We shape the future together.