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This Application Note describes how to use the host Function Block of the FPosCR from Festo & how to integrate in CODESYS programming environment using Modbus/TCP communication.

With the Festo Positioning CNC Robotics Host Connector Library (FPosCR Host Lib), Festo kinematics equipped with FPosCR Lib (CNC, Robotics, Pick & Place functionalities) can be easily connected to a higher-level control system.

The communication technologies used are standard Ethernet-based fieldbus systems (network standards).
For example:

• Modbus TCP for Festo controllers
• Modbus TCP for Beckhoff controllers
• Profinet for Mitsubishi controllers
• Profinet for Siemens controllers
• Ethernet/IP for Omron controllers
• Ethernet/IP for Rockwell/Allen Bradley

You can find out for which combinations (network standard / superimposed controller (manufacturer / type)) client communication modules are currently available on www.festo.com or please refer to the documentation for the product.

The data exchange between the controller (equipped with FPosCR Lib) at the handling or robot and a superimposed controller is carried out using the so-called client-server principle. The FPosCR host communication server for this runs on the controller equipped with the FPosCR Lib on the handling or robot. The superimposed control system (e.g. plant, line or machine control) accesses this server via prepared client communication software modules / elements.

The client communication modules offered by Festo can be found on www.festo.com (in the sections 'Expert knowledge' (about the product) or 'Support').

FPosCR Host Lib offers the following functionalities and properties:

• The communication server provides access to FPosCR functionalities via Modbus, Profinet and EtherNet/IP protocols
• The client modules for Modbus TCP in conjunction with Festo controllers are already included in the FPosCR Lib
• Client modules for other combinations (network standard / superimposed control (manufacturer / type)) can be obtained from www.festo.com (easy download)
• All client devices support simple axis group control and movement commands, starting / controlling CNC sequences
• Modbus TCP for Festo controllers is available as well as a 'Basic' client module and an 'Extended' client module
• The 'Extended' client module offers coordinated sequence calls and individual method calls in addition to the basic range of functions
• The user can implement his own robotics sequence on the server controller and simply start or control it via the client
• Application Notes, with assistance for the effective implementation of the client building blocks in the customer's own code, are available via www.festo.com

Supported controllers / PLC (FPosCR Host Server-side):

• controller CECC-X-M1 (4407603)
• controller CECC-X-M1-MV (4407605)
• controller CECC-X-M1-MV-S1 (4407606)
• controller CPX-E-CEC-M1-EP (4252744)
• controller CPX-E-CEC-M1-PN (4252743)
• controller CEPE-H8GB-128GB-M1 (8165401)

Part no of User License:

• Festo Positioning CNC Robotics Host Connector Library (FPosCR Host Lib): 8232420

The library can be used to control Festo handling/robot systems (Cartesian) with CNC and robotics commands.

It, FPosCR Lib, is coordinated with the Electric Automation hardware portfolio from the Festo product catalogue. Which products (PLCs), drive controllers, kinematics, etc.) are supported by the library, see the technical description or the technical data sheet for the library.

Note: The optionally available FPosCR Host Lib software library (option, own part numbers 8232419, SW lic. 8232420) can be used to connect kinematics equipped with FPosCR Lib to a higher-level controller - via Ethernet-based Fieldbus systems. Details can be found on www.festo.com or in the documentation for the product.

FPosCR Lib provides following functionalities:

• System configuration
• Homing sequences for referencing all Axes of the system
• CNC Motion (CncFile, CncRef, CncOutQue; CNC-Online Editor)
• Robotics Motion (Linear motion, Point-to-Point motion, circular motion, Continuous-Path movements (contours), Switch-Point functionality... )
• Pick and Place
• Coordinate transformation
• Message and Error handling
• Web Visualization
• Option: Host interface

Supported controllers / PLC:

• controller CECC-X-M1 (4407603)
• controller CECC-X-M1-MV (4407605)
• controller CECC-X-M1-MV-S1 (4407606)
• controller CPX-E-CEC-M1-EP (4252744)
• controller CPX-E-CEC-M1-PN (4252743)
• controller CEPE-H8GB-128GB-M1 (8165401)

Supported drive controllers:

• integrated drive EMCX-ST-42-L-7-C1-S-C0 (8061046)
• integrated drive EMCX-ST-42-L-S-7-C1-S-C0 (8061045)
• integrated drive EMCX-ST-42-L-S-7-C1-S-CO (4734580)
• servo drive CMMT-AS-C2-11A-P3-EC-S1 (5340821)
• servo drive CMMT-AS-C2-11A-P3-MP-S1 (8143165)
• servo drive CMMT-AS-C2-3A-EC-S1 (5340819)
• servo drive CMMT-AS-C2-3A-MP-S1 (8143163)
• servo drive CMMT-AS-C3-11A-P3-MP-S1 (8143166)
• servo drive CMMT-AS-C4-3A-MP-S1 (8143164)
• servo drive CMMT-AS-C5-11A-P3-MP-S1 (8143167)
• servo drive CMMT-AS-C5-11A-P3-MP-S3 (8151395)
• servo drive CMMT-AS-C7-11A-P3-MP-S1 (8143168)
• servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
• servo drive CMMT-ST-C8-1C-MP-S0 (8163946)
• servo drive CMMT-AS-C12-11A-P3-MP-S1 (8143169)
• servo drive CMMT-AS-C18-11A-P3-MP-S1 (8157801)
• servo drive CMMT-AS-C25-11A-P3-MP-S1 (8157802)

Part no of User License:

• Festo Positioning CNC Robotics Library (FPosCR Lib): 8232417

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