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Multi-axis control systems
CMXR-C2 for controlling
all 3 handling systems
Teach pendant CDSA for
robotic controller CMXR
Robotic controller CMXR-C1/-C2
The robotic controller is the core
of a complete kinematic system
solution and enables free path
control in 3D. It enables very
short travel times and path
applications such as for adhe-
sion or sealing applications.
Common features:
• Optional wrist axes
• Motion path smoothing
• Definition of tools and their
end points (TCP)
• Different acceleration ramps
• Constant path speed
• Reduced speed in manual
operation
Teach pendant CDSA
Complex applications can be
programmed very easily with the
integrated teach-in function.
The robotic controllers CMXR
and CDSA communicate with
one another using Festo Teach-
Language (FTL).
Simple, dialogue-based
teach-in programming
When creating the movement
program the position to be
approached by the gripper or
the tray position is often
unknown. These can be
approached precisely during
commissioning and taught by
using the teach-in function.
Extended functionality: -C2
• Integrated CoDeSys PLC
• Intelligent dynamic limiter for
monitoring the physical axis
limits
• Speed-independent path
switching points
• Individual programming of
speed, acceleration and jerk
• Tracking of moving objects
(path tracking)
Features:
• Emergency stop switch
• Two enabling switches
• Buttons for jog mode
• Integrated user management
• Integrated alarm system and
signal monitor for diagnostic
purposes and monitoring
peripheral signals.
Convenient configuration -
quick, safe and simple
The robotic controller CMXR is
configured via the Festo
Configuration Tool (FCT). Three
parameters are defined here,
namely electrical parameters,
mechanical parameters and
kinematics. The clear structure
and user navigation function
make configuring multi-axis
systems quick and easy.
The movement profiles are pro-
grammed using the text-based
macro programming tool of the
Festo Teach Language (FTL). This
powerful programming tool con-
tains macros for
• Movement
• Dynamic settings
• Processing of peripheral
equipment such as grippers
Programming can be done
online via the teach pendant
CDSA or offline via the program-
ming editor which is already
integrated in the FCT.