Under control and in motion - Festo USA · and operation Festo Configuration Tool FCT ......

Under control and in motion

Controlmotion_Brosch_56333_en_V01.qxp 27.09.2012 11:25 Uhr Seite 1

Table of contents

2

Complete subsystems from a single source . . . . . . . . . . . . . . . . . . . . . . . . 3

Controls for drive technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

The application is key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Centralised or decentralised control: the choice is yours . . . . . . . . . . . 8

Application examples from actual practice . . . . . . . . . . . . . . . . . . . . . . . . 10

Motion control for assembling and packing . . . . . . . . . . . . . . . . . . . . . . . 12

Motion control for gluing and cutting operations . . . . . . . . . . . . . . . . . 13

An overview of control platforms and their functionality . . . . . . . . . . 14

Multi-axis control systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Compact controller CECC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Controller CPX-CEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Motion control for multi-axis motions in CPX . . . . . . . . . . . . . . . . . . . . . . 19

Control unit CECX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Robotic controller CMXR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Display and operator units FED and CDPX . . . . . . . . . . . . . . . . . . . . . . . . . 22

Software tools – faster project planning, commissioning

and operation

Festo Configuration Tool FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Festo Handling and Positioning Profile, FHPP . . . . . . . . . . . . . . . . . . . . . 24

PositioningDrives planning tool for electric drives . . . . . . . . . . . . . . . . 24

CoDeSys software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Festo Teach Language FTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Customised handling systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Compact vision systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27


Complete subsystems from a single source

3

Complete subsystems for

automation of your process –

that is what Festo offers as your

partner. The full process and

control sequence for factory and

process automation is covered.

You’ll also find the matching

control architecture at Festo,

tailored to your application,

whether it’s pneumatic, servo -

pneumatic, electric, or a

mechatronic mix.

That is our promise: to deliver

more than mere components.

Total mechatronic solutions

Mechatronic Motion Solutions

from Festo is a unique system

of components, modules, and

software. It integrates all types

of pneumatic, servopneumatic

and (electro)mechanical auto -

mation motion and combines

them according to your task.

Irrespective of the control

system environment you use,

Mechatronic Motion Solutions

always provides the appropriate

interfaces.

Programming to standard

A standardised programming

environment makes your tasks

easier, gets them done faster

and with more reliable results.

That is why Festo offers you

programming with CoDeSys to

IEC 61131-3 standard. You can

program your applications

exactly how you want to,

without learning an additional

programming language.

Selecting the right, compatible

solution at the right time is

straightforward as we simplify

the planning, configuration,

layout and commissioning of

your subsystem with a host of

software tools.

Integration into the control

system

Easy integration into your

overall system: Festo’s control

architecture offers a multitude

of communication protocols

commonly used in industry.


4

Management level

Activation

Drives

Field level

Control

Controller

Operation visualisation

D

Control level

Management sy

Pneumatic Servopneumatic

Integrated

controller CDPX

Co

CE

Modular controller

CECX

PLC

(ABB, Allen-Bradley,

Rockwell, Siemens

etc.)

CPX web server Visualisation Displays

Electrical installation concepts

• Centralised

• Decentralised

• On-site

• Hybrid

CPI installation

systems

Stand-alone units

on site

Valves Decentralised valve

terminals

On-site valve

terminals

Axis

controller

SPC200

Axis interface

SPC-AIF

Proportional valve

MPYE

End-position

controller

SPC11

Position

controller

CMAX

End-position

controller

CMPX CM

Proportional valve

VPWP

Linear drives with

displacement encoder

DNCI DSMI-B

DGCI

Swivel modules with

displacement encoder

Standard cylinder

DSBC

Round cylinder

DSNU

DSBF

Sensor interface

CASM

ADN

ADVC

Rodless drive units

DGC

Guided drive

DFM

Quarter turn actuator

Linear drive

DFPB

DFPI

DGC-HD

Compact/short-stroke cylinders

Economical

I/O modules

compact

Robust

Controls for drive technology


5

Diagnostics

nt system

Eth

ern

et

Fie

ldb

us

AS

-in

terf

ace

Electric

Integrated controller

CPX-CEC

Robotic controller

CMXR

Compact controller

CECC

Ethernet

(Profinet

Ethernet/IP

EtherCat

TCP)FHPP

Festo Handling and

Positioning Profile

CoDeSys

provided by Festo

FST 4

Festo software tool

PositioningDrives

Exhibition and

calculation software

for electric drives

FCT

Festo Configuration

Tool

Fieldbus

(Profibus,

Interbus,

DeviceNet,

CANopen,

CC-Link)

CPX web server Visualisation Diagnostics and

preprocessing

On-site diagnostics

on

CMIX

th

der

SFC-DC SFC-LACI

Motor

controller

CMFL

Servo motors

MTR-DCI

Stepper motors

EMMS-ST

Servo motors

EMMS-AS

Servo motor

controllers

CMMP-AS

Stepper motor

controllers

CMMS-STCMMS-AS CMMD-AS

EGSL

ESBF

EGC-TB/BS

DNCE-BS/LS

ELGA-TB-G

Cantilever axes

Slide

Linear motor axes

ELGL-LAS

ELGRDGE

ELGGDGE-ZR-RF

Gantry axes Electric cylinder

EGC-HD

EGSK/EGSPDNCE-LAS

DFME-LAS

ADNE-LAS

DGEA SLTE with DC motor

EPCO

Free access to all

parameters – Read

and writeSpeedMode Position

Fieldbus communication

Record selection Parameter channelDirect operation


6

The application is key

Festo – your partner for every

stage of the process automation

sequence

Your application determines the

solution – that holds true for

control technology, too. Festo’s

control architecture is designed

to meet your needs in three

ways:

• Tailored to your application

• Ideal for integration into your

overall coordinating/control

systems

• Optimally designed for drive

activation systems, whether

electric, servopneumatic or

pneumatic

Just tell us what your require -

ments are – and we will provide

you with a control concept

optimised to your application.

Early cooperation for more

success

The earlier you involve Festo in

the planning phase, the better!

The greatest potential for opti -

misation is to be had when our

system experts can support you

right from the beginning and are

thus able to tailor the solution

perfectly to your needs.

Make the most of our core

business expertise right from

the start and reduce your total

cost of ownership (TCO). By

taking advantage of a total

solution, which is adapted and

optimised to your machine or

application, you can achieve

savings in day-to-day operat -

ions, for example through higher

output or maximised process

reliability.

Engineering Procurement Assembly Operation

Reduction in costs

Reduction in time

Process reliability

Consulting Quotation Order Engineering Assembly Commissioning Maintenance


7

If, in addition to the control

system, you also require

visualisation for the automation

of the manual workstation, the

graphic display and operator

unit CDPX is the perfect choice:

• Perfect graphic displays on

high-resolution widescreen

touch displays

• Perfect graphic displays,

simple, intuitive project

planning and programming

with Designer Studio – the

complete package for man-

machine applications

• Integrated: client-server

structure for greater flexibility.

CDPX visualises data and

allows access to external client

equipment via the worldwide

data network

• Can be expanded into a

compact control concept

with CoDeSys V3

Application example:

automation of manual

workstations

When automating workstations

as in manual welding worksta -

tions, the control technology

presents special challenges:

• Extremely compact production

units require space-saving

design

• Components in the immediate

working environment must be

sturdy and resistant to

disturbances

• Quick and easy commissioning

• Interfacing with valves and

I/Os

• Integrated peripheral equip -

ment for easy and quick

channel diagnostics and error

elimination without fieldbus

• Simple communication with

higher-order controllers

The valve terminal CPX with

integrated CPX-CEC controller

meets these challenges with

ease and many others too.

The CPX-CEC is right for your

application if you are looking

for a compact solution for:

• Direct connection of valves

• Digital I/Os

• Quick and direct error

detection


8

Centralised or decentralised control: the choice is yours

Centralised solutions

Are you looking for a centralised

control solution? For integration

into a control cabinet, for

example? Then you’ll appreciate

the following advantages:

• A simple structure that is

easier to program and com -

mission due to the elimination

of additional nodes

• A larger and more attractively

priced range of components

• Tamper protection

If you would like to combine

these advantages with a

modular control system that

gives you further benefits, we

recommend the CECX control

range:

• Simple, powerful programming

environment to IEC 61131-3

standard

• Configuration tools, drivers,

and libraries of modules are

included

• Plus numerous interfaces such

as Profibus, CANopen and

Ethernet

Depending on the application,

CECX is used as a traditional PLC

or with motion control for the

activation of electric drives.

When everything is supplied

from a single source, as in the

case of the control cabinet

solution described above, you

could reduce your TCO further

by letting us construct your

control cabinet. That lowers

costs in areas where the

invisible costs are usually

highest, i.e. in engineering,

procurement, assembly and

operation. The cost of the

components alone usually

makes up only a small part of

the total cost. You can cut that

cost by opting for a complete

solution for the control cabinet:

assembled, adjusted, pro -

grammed – and tested and

documented as well.


9

Decentralised solutions

With a decentralised design, you

benefit from the following:

• Savings on tubing and cable

lengths of up to 65%

• Increased energy efficiency

• Up to 35% higher cycle rate at

• a simultaneous reduction in

flow rate by 50%

The valve terminal platform with

integrated CPX controller

provides an optimised solution.

With CoDeSys integrated in the

CPX-CEC control system, you

benefit from the advantages of a

stand-alone, on-site control unit

and from a customisable system

with a wide variety of modules

for diverse tasks.

• Stand-alone control of a

subsystem – costs for control

cabinet are eliminated

• Integrated diagnostic function

• Architecture is easy to

upgrade due to the connection

options for any fieldbuses and

networks

• Flexibility for IO expansion

with CANopen master

Your application determines

the solution.

Ask your local Festo sales

engineer for advice.


10

Gluing solar cells

A company with headquarters

in India specialises in manufac -

turing solar cells. The 3D gantry

solution for the motion is

supplied completely by Festo

and is a mix of electric axes in

the X and Y planes and

pneumatic mini-slide DGSL. The

gluing heads are mounted on

the Z axis, and must travel to up

to 4320 gluing points depending

on the size of the cells.

The entire gluing process is

controlled by a control unit

CECX-X-M1 with 48 digital

inputs and 24 digital outputs.

Winding interference

suppression chokes

A German machine manufacturer

for suppliers to the automotive

industry developed a new fully-

automatic winding machine for

interference suppression chokes.

Festo provided assistance in

automation of the machine. The

complete solution by Festo

includes the controller, motion

and final parts control are

implemented via a vision system

SBOC-Q. The control system

consists of a combination of the

valve terminal CPX-MPA and the

CPX-CEC-M1 Softmotion. Festo

specialists were also respon -

sible for all programming of the

CoDeSys-based controller. The

drive package for the electric

EGC axes is a controller CMMP,

and the pneumatic drives are

controlled directly by CPX-MPA.

Application examples from actual practice


11

Packaging biscuits

A renowned baking company

from Germany uses the robotic

controller CMXR-C2 combined

with a tripod for packaging

biscuits. From the machine

frame to the controler, Festo

provided all components: our

specialists were also respon -

sible for the CoDeSys program -

ming. The control panel CDSA

and touch display CDPX make

operation easy and intuitive.

The drive package is the motor

controller CMMP. Of particular

interest is that the vision system

SBOC-Q with Motion Control

records the path (tracking),

checks the quality and performs

stand-alone control tasks like

web edge control. The vision

system also coordinates vacuum

gripping technology.

Purifying exhaust gases in lead

production

A lead processing plant in the

Czech Republic had to retrofit

12 boilers for smelting lead and

alloy processing to modern

environmental standards. The

fumes must be treated to

separate hazardous and poison -

ous substances, which are

released from additives in the

very hot smelt. This secondary

process is controlled and

visualised by a CPX-CEC

controller, from opening the

valves for the path to exhaust

fume treatment, up to the

fresh air supply and mechanical

beating of the filters. A GFDM

Energy Moni toring by Festo

monitors and supports the

energy processes.


12

Motion Control for assembling and packing

Asynchronous processes

If a pick and place process is

asynchronous and not very

complex – such as packing bars

of chocolate into cartons, for

example – a multi-axis control

system with the CPX-CM-HPP

gateway will generally be

suitable. The bars are fed to the

packaging station at irregular

intervals. The X and Y move into

the pick-up position and wait

until the next bar comes;

the Z-axis then grips it and

places it in the carton.

Synchronous, fast, simple

If you want to use a synchro -

nous and simpler motion of

the electric axes without

interpolation with the advan -

tages of the CPX platform, then

it’s highly likely that the multi-

axis interface CPX-CMXX is the

right solution for you.

Quick, precise, coordinated

When manufacturing electronic

products, the electric drives

must work with the greatest

precision and speed. To

maximise speed, the positioning

axes are coordinated and travel

is smoothed. The control

platform CECX handles this

challenge superbly.

Perfectly matched – through

development in partnership

Talk to us. Together we can

work out the right control archi -

tecture for your application.

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Schoko


13

Motion control for gluing and cutting operations

Gluing and cutting in 2D space

When cutting tiles, cardboard,

textiles or other flat materials,

the finished product is cut from

a continuous strip. This process

requires a controlled gluing or

cutting operation.

The continuous material flow

cannot be interrupted while the

material is being processed.

That makes a special motion

sequence necessary: the proces -

sing axis must be synchronised

with the speed of the material

flow.

CECX provides a solution for

these demanding multi-axis

motions. Thanks to the CoDeSys

SoftMotion module libraries

(PLCopen), even quite complex

multi-axis applications can be

realised very simply in a PLC

environment. If the axis for

material flow is not controlled

by the CECX, the speed of the

conveyor belt can be loaded into

the control system via an

encoder input.

Gluing process in three

dimensional space

Motion control for gluing pro -

cesses requires great precision

and control as the same amount

of glue has to be applied to a

surface each time. The robotic

controller CMXR, with its

synchronised path motions, can

master applications which were

hitherto reserved for robots.

Even working on an inclined

surface or tilted workpieces is

easily and quickly dealt with:

the tool coordinate system

ensures easy set-up of

applications even with inclined

tools. The CDSA handheld

terminal makes it easy to define

the positions and quickly enter

them.

Talk to us.

Together we can work out the

right control architecture for

your application. And you’ll only

pay for the functions that your

application really needs. Your

task is what determines the

solution.


14

An overview of control platforms and their functionality

A quick overview of the entire

portfolio of motion control and

multi-axis control systems and

their possible applications.

More detailed information can

be found on the following

pages.

New display generation: CDPX

with integrated controller

Powerful processors are

combined with widescreen

technology for greater

functionality, higher resolution

and versatile access options.

Compact controller CECC

Compact and with more

functions. For controlling electric

and pneumatic drives for small

tasks. Stand-alone or in

mechatronic solutions via

CoDeSys V3 provided by Festo.

CoDeSys integrated: controller

CPX-CEC for CPX-Terminal

As an intelligent remote I/O

terminal to IP65/IP67 directly

on the machine, the CPX-CEC

reduces installation costs. Ideal

for CPX and motion applications

with up to 31 electric drives.

Modular: control platforms

CECX and CMXR

A high performance option for

electric and pneumatic drives,

CECX expands the control range

to include fieldbus master

functionalities and electric

actuation options. CMXR with

robotics functions ensures

minimal positioning times and

enables path applications.

Features

• Perfect graphic displays

• Very simple intuitive project

engineering and programming

• Visualisation and remote

access to data from anywhere

in the world

Features

• Innovative: IO-Link master

• Hybrid: control electric and

pneumatic drives directly and

connect valve terminals

• Can be integrated with TCP/IP

in higher-order systems

Features

• On-site installation

• Control platform to IP65

• Integrated in a valve terminal

• For easy control of valve

terminal configurations with

MPA or VTSA

Features

• Modular controller for control

cabinet installation

• Soft motion functions

• Robotic functions (CMXR)


15

Multi-axis control systems

Integratedcontroller

Module

Functionality

CPX terminal Modular controller Robot control systems

Robotic controllerCMXR-C2

Robotic controllerCMXR-C1

Motion controller CECX-X-M1

Modular controller CECX-X-C1

Motion controllerCPX-CEC-M1

CoDeSys controllerCPX-CEC-C1

CoDeSys controllerCDPX

Robotics (3D)

Robotics (3D)

Interpolation (2.5D)

Single axis (PTPasynchronous)

M1: Interpolation(2D)

C1: single axis Single axis (PTPasynchronous)

Other axes (notmutually inter -polating) can beactuated via the integrated CoDeSys PLC (PTPasynchronous).Recommended: 16 axes

6 axes interpolated, maximum 3 ofthese basic axes, 1 orientation axis,maximum 3 dependent auxiliary axes

3D path interpolation with an orientationaxis for kinematic systems with up to 4degrees of freedom. For example, three-dimensional gantry with an axis of rotationon the front unit.

Softmotion:• PLC open• CNC editor• DXF import• Cam disc editor

Softmotion:• PLC open• CNC editor• DXF import• Cam disc editor

• CoDeSys 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 FestoConfiguration Tool (FCT)

• Simple programming with Festo TeachLanguage (FTL)

• 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, tripod, H and T-gantry)

• Dynamic limiter for optimal cycle time

• Enhancedflexibility due toCoDeSys PLC e.g.integration ofvision system

• Tracking function

• Function integration on the CPX terminal

• CoDeSys

• Integratedcontrol inone display

• CoDeSys

• Stand-alonecontrollers

• Integration oftwo fastinputs (200 khz)

• 4 IO-Linkmasters forCECC-LK

• CoDeSys

• PTP asynchronous• 3D interpolation with -M1 variants• 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

• PTPasynchronous

8 axes: One axis is treated as a CANopen-participant. 128 participants (spec. according to CANopen).

4 axes: One axis istreated as aCANopen-participant. 128 participants(spec. accordingto CANopen).

Maximumnumber ofpermissibleaxes

Motion

Specialfeatures

Compactcontroller

Controller CECC-DCECC-LK

Single axis (PTPasynchronous)

Tracking appli-cations such asprocessing movingparts on a conveyorbelt or synchronisedkinematic move-ment with up to 6D

• Path control• Gluing• Cutting• Handling• Flying saw• Cam disc

• Path control• Gluing• Cutting• Handling• Flying saw• Cam disc

• Handling• Palletising• Gluing• Metering• Painting• Cutting

• Handling systems• Pick and place, palletising

• Handlingsystems

• Pick and place,palletising

• Handlingsystems

• Pick andPlace, Palletising

Applicationexample


16

The mini control system that

does more: compact controller

CECC

CECC is a next-generation mini

control system: the powerful

processor in the mini control

system range has significant

reserves for tasks which reach

far into mechatronics fields.

Combined with the actuators

and sensors of the machine

part, Festo‘s overall solutions

are unique.

The CECC enables simple acti -

vation of electric or pneumatic

drives, especially for small

tasks. It can be used as a stand-

alone unit or conveniently

integrated into mechatronic

solutions via the platform

CoDeSys V3 provided by Festo.

Simple programming and

navigation to IEC 61131-3.

For programming of the control

applications, all editors defined

in the standard can be used to

program the controller applic -

ation, i.e. structured text (ST),

sequential function chart (SFC),

continuous function chart (CFC),

function chart (FCH), ladder

diagram (LD) and instruction

list (IL).

Special features

• Object-oriented programming

• Modern editors for simplified

input

• Simplified configuration for

fieldbus

• Multiple controllers in one

project

• Improved troubleshooting

functions

• Simplified project navigation

Compact controller CECC


17

Benefits

• Hybrid: use CANopen Master

and integrated IO-Link to

directly activate electric and

pneumatic drives and connect

valve terminals

• Communicative: server and

client Modbus TCP are easy

to integrate into higher-level

systems

• Convenient: simple data

handling with USB interface

• 4 interfaces compatible with

IO-Link Master

CECC features

• 12 digital I, 8 digital O

• 2 fast digital I, 200 kHz fast

counters

• 32-bit ARM9 400 MHz

processor

• Overall dimensions

130 mm x 100 mm x 40 mm

• Programming in

CoDeSys V3

• Ethernet 10/100 MB

• CANopen Master

• Cage clamp plug

• USB interface

• LEDs for I/O, run/error and

Ethernet

• Real-time clock with 21 days of

buffer time

Variants

CECC-LK with additional:

• 4 IO-Link master interfaces

• 1 IO-Link device interface

CPVVTUG

CTSLVTOC

VTUB


18

Intelligent and simple

simultaneously: controller

CPX-CEC for CPX terminal

As an intelligent remote system

to IP65/IP67 installed directly

on the machine, CPX-CEC

reduces installation costs. It’s

ideally adapted for CPX and

motion applications with up to

31 electric drives. Easy control

of valve terminal configurations

with MPA or VTSA is another

bonus.

Integrated in the controller:

CANopen master for intelligent

controller of pneumatic and

electric axes via fieldbus.

Depending on the application,

either with RS232 interface or

softmotion function for 2.5

dimension interpolation.

Flexible electronic camming

functions included. The

specialised CoDeSys function

library provides diagnostics and

condition monitoring options.

Benefits

• Total flexibility with modular

I/O system; up to 512 I/O

• Economic: e.g. for manual

workstations with stand-alone

control and regulation

• Connection to all fieldbuses

as remote controller and for

pre-processing

• Diagnostics with flexible

monitoring options for

pressure, flow rate, cylinder

run time, air consumption,

early warnings and

visualisation options

• Control of decentralised

installation systems based on

CPI, and of proportional and

servopneumatics

• AS-interface control via

gateway

Properties

• CPX-CEC variants:

- RS232: CPX-CEC

- CANopen master: CPX-CEC-C1

- Softmotion: CPX-CEC-M1

• Powerful 32-bit

microprocessor, 20 MB flash,

8 MB RAM

• Data memory 32 MB flash/

32 MB RAM

• Communication network

Ethernet 10/100 Base-T

• CANopen optional, only for

CPX-CEC-C1

• Handheld for CPX terminal

• RS 232 interface optional,

only for CPX-CEC

• OPC server for connection to

any SCADA packages

• Run/stop switch

• LED indicators

Controller CPX-CEC


19

Motion Control for multi-axis motions in CPX

Powerplay on all fieldbuses:

CPX-CM-HPP gateway

Uniform control of up to four

Festo electric drive units for

handling, via fieldbus gateway

and positioning profile FHPP.

The gateway is ideally suited

for integrating single-axis

applica tions (point-to-point,

asynchronous) on fieldbus/

Ethernet.

Benefits

• Compatible with all electric

drive units from Festo

• No programming required

• Improved diagnostics with

plain text error messages

• Simplified engineering

through uniform actuation of

all Festo electric drive units

• Great economy: up to

8 single axes can be

controlled in the system

Properties

• No interpolation

• Configuration via CPX-MMI

Designed for multi-dimensional

control: multi-axis interface

CPX-CMXX

The only multi-axis interface in

IP65 for decentralised periph -

eral systems controls up to 8

Festo electric drive units in 2

groups. As a module in the

CPX terminal, it offers a PLC-

compatible interface for multi-

dimensional axis control. Its

CAN-Bus interface facilitates

both simple single axis

movements and coordinated

movements.

Benefits

• No programming required

• Complete commissioning and

parameterisation possible in

advance

• Teach-in or input of positions

into a pre-defined record

structure

• Reduction of cycle times by

“smoothing” the motions

• Integrated malfunction

management

• Configuration of two axis

groups with up to four axes

each is possible

• Synchronous axis travel is

possible

Properties

• Ethernet 10/100 BaseT (RJ45)

• DIP switch for operating

modes and RUN/STOP

• Service interface (M12) for

connecting the CPX-MMI

handheld

• 1024 positioning records

• CAN bus interface

• Connection to additional

fieldbuses


20

Powerful: control unit CECX

The modular control unit CECX

expands the control range to

include fieldbus master

functionalities and electric

actuation options.

Simple commissioning,

programming and service: The

CoDeSys software provides a

powerful programming

environment via the SoftMotion

module for controlling all

electric drives with CANopen

fieldbus connections. Also

available are module libraries,

configuration tools and drivers.

The IEC 61131-3 standard

means that CECX is flexible and

open, and compatible with all

types of control tasks. Whether

for individual control of electric

drives or interpolation with 2.5

degrees of freedom, CECX is the

ideal combination of control and

motion.

Benefits

• Control of electric drives with

CANopen fieldbus connection

• Certified for CE, UL/CSA

• With top expertise for

innovative integrated front-

end solutions

• Standard CoDeSys software

• For PLC functions and multi-

axis motions with interpolation

• Full compatibility through

Profibus, CANopen and

Ethernet

• Compact assembly, easy to

handle

• Mounting on H-rail

Properties

• Automatic module detection

• DHCP-compatible

Module selection

CPU unit

• Power PC 400 MHz

• Ethernet

• CAN-Bus

• RS 485

• USB

• Compact Flash card as

removable storage

• Slots for optional modules

Two product versions

CECX-X-C1 Modular mastercontroller withCoDeSys

CECX-X-M1 Motion controller

with CoDeSys and

SoftMotion

Optional modules

• Ethernet interface

• CAN-Bus interface

• RS 232 serial interface

• RS485/422 serial interface

Input/output modules

• Digital modules

• Analogue modules for

current and voltage

• Temperature input modules

(PT 100, NiCrNi, FeCuNi)

• Counter modules

(encoder, SSI)

Communication

• Profibus master DP-V1

• Profibus slave DP V1

Control unit CECX


21

For minimal positioning times:

robotic controller CMXR

The multi-axis controller CMXR

with robotic functions ensures

minimal positioning times and

allows path applications with

up to six degrees of freedom,

for tasks such as adhesive

application, labelling or laser

welding. The intelligent dynamic

limiter monitors the limit values

of the connected motors and

mechanical drive components,

resulting in 100% path accuracy

and optimum cycle times.

An additional bonus: quick

application creation thanks to

efficient engineering with the

Festo Configuration Tool (FCT)

and intuitive programming with

the Festo Teach Language (FTL).

Benefits

• For controlling simple and

complex kinematic systems:

free path control in 3D

• Fast commissioning due to

harmonised interfaces to

higher-order systems

• Reduced cycle times through

skipping of positions, ramping

of accelerations and constant

path speed

Properties

• Modular controller with a

number of extension modules

from the CECX range, e.g.

digital, analogue I/O

• Powerful motion control core:

- Synchronous point-to-point

(PTP) Movement

- Cartesian linear and

circular interpolation

• Optional wrist axes for aligning

tools

• Individual programming of

speed, acceleration and jerk

• Definition of tool centre points

(TCP) and tool coordinate

system for easy teaching

Optional: teach pendant CDSA

for easy teach-in of positions

• With 2-channel permission

button and emergency off

• With teach-in and positioning

function with plain text display

• Flexible: online optimisation

of motion programs with

graphical dialogue system

Robotic controller CMXR


22

Simple but multifunctional:

display and operator units FED

and CDPX

FED human-machine interfaces

simplify the control of autom -

ation tasks at field level and set

new standards in functionality

and integration. The text-based,

semi-graphical FED-40 … -90

and touchscreen displays

FED-301 … -5000 make design

extremely easy thanks to the

supplied programming tool

FED Designer.

Benefits of FED

• Straightforward designing of

human-machine dialogues

• Convenient FED Designer

WYSIWYG design tool

• Software for uploading

projects

FED-40 … -90

• Semi-graphical display of

process values makes them

easier to read

• Simple graphics are possible,

and therefore scalable font

size and simple illustration of

pictograms and bar graphs

can be displayed

• No parametrisation required

Properties

• Display: monochrome, backlit

LCD, 4x20 characters

• Recipe memory: 16 kByte

• Serial interface

• Optional Ethernet interface

• Multi-language function

• Realtime clock from FED-50

• Battery backup of the alarm

and event data

FED-301 … -5000

• Simple logging of events and

alarms

• Graphics-capable for

maximum flexibility when

displaying processes and

data

Properties

• Freely-definable user

interface

• Display: LCD monochrome,

TFT colour

• Display size: 3.8 ... 15"

• Display resolution:

320 x 240 ... 1280 x 800 pixel

• Ethernet interface

(FED 301/501 optional)

Display and operator units FED and CDPX


23

The next-generation display

that is also a server: CDPX

Powerful processors combined

with widescreen technology.

Thanks to modern touch

technology, the planned

dialogue with machines and

systems is extremely easy.

Perfect graphic displays, simple,

intuitive project planning and

programming with Designer

Studio – the complete package

for man-machine applications.

CDPX visualises data and acts as

a server for external clients

worldwide. Ideally matched to

Festo controllers (CoDeSys V2.3

and V3) and Modbus TCP

networks, they display data and

parameters in graphic format

simply and flexibly. In combina -

tion with the local I/O module

and/or CAN interface, the

optional CoDeSys V3 con troller

turns an MMI into a full-fledged

control system – the display and

PLC form a single unit.

Benefits

• Perfect graphic displays on

high-resolution widescreen

touch displays

• Simple, intuitive project

planning and programming

with Designer Studio – the

complete package for human-

machine applications

• Communicative: Simple

networking and setup via the

integrated Ethernet interface

• Added functionality: Modbus

TCP allows data and param -

eters from Modbus devices

by other manufacturers to be

displayed

Properties

Interfaces

• 2 Ethernet connections

10/100 MBd (switch

functionality)

• 2 USB connections

(CDPX- ... -4 with 1 x USB)

• 1 serial interface

• 1 SD card slot

• RTC

Options

CDPX-SL-C3

• CoDeSys V3 provided by Festo

CDPX-EA-V1

• 20 digital inputs

• 12 digital outputs

• 4 analogue inputs

• 2 analogue outputs

CDPX-F-CO

• CANopen module

Variants

CDPX-X-A-W-4

• 4.3" TFT display

• Resolution 480 x 272,

WQVGA

CDPX-X-A-W-7

• 7" TFT display

• Resolution 800 x 480,

WVGA

CDPX-X-A-S-10


• Resolution 800 x 600, SVGA

CDPX-X-A-W-13


• Resolution 1280 x 800, WXGA


24

Software tools – faster project design, commissioning and operation

Intelligent automation

Festo continuously analyses

and identifies potential

improvements so that tasks can

be made faster, simpler, better

and more targeted through the

use of software tools, Festo is

active, with continuous analysis

and identification of potential

improvement.

Convenient configuration:

Festo Configuration Tool FCT

• All the drives in a system can

be managed and stored in a

common project

• Project and data management

for all supported device types

• Simple to use thanks to

graphically supported

parameter entry

• Universal mode of operation

for all drives

Convenient communication:

Festo Handling and Positioning

Profile FHPP

• Optimised data profile

• For handling and positioning

tasks

• FHPP permits the actuation

of Festo motor controllers

via standardised control and

status bytes

Convenient design:

PositioningDrives planning tool

for electric drives

• Simple and fast project

planning of axis-motor

combinations

• Calculates the ideal combi -

nation of electric linear axes,

motors, gear units and

controllers

• Displays characteristic load

values

Free access to all

parameters – Read

and writeSpeedMode Position

Fieldbus communication

Record selektion Parameter channelDirekt operation


25

Multifunctional in use

• Flexible and open for all types

of control tasks, module

libraries, configuration tools

and drivers for control of

electric drives with fieldbus

• Ethernet communication

Convenient and flexible

programming: CoDeSys

software

CoDeSys allows standardised

programming to IEC 61131-3

and is perfect for configurating,

programming, commissioning

and maintaining pneumatic and

electric automation solutions.

Multiple languages and

functions

• Ladder diagram

• Structured text

• Instruction list

• Function chart

• Sequential function chart

• Expansion for object-oriented

programming

• Function block library for all

Festo drives

• All programming languages

usable in combination

• Correct positions quickly

• Text files for easy editing

and transfer to existing

programming systems

• The data can easily be

imported and exported using

the FCT or a USB stick

• Forward-looking processing

avoids risks such as

overloading: the CMXR

controller and the FTL

programs calculate events

in upcoming movement

commands

Convenient teaching and

intuitive programming: Festo

Teach Language FTL for CMXR

Movement programs for

kinematics: you don’t need

extensive programming training

to use the FTL programming

language. It focuses entirely on

the application.

• Intuitive FTL language with

macros

• Straightforward storage of

project data thanks to clear

project structures

Example of FTL program

Macros

Movement, dynamics

and robot macros

Variables

BOOL, integer, real,

string

Logic commands

IF .. THEN .. ELSE

WHILE .. DO

LOOP

with the CoDeSys software.

Companies increase flexibility

significantly by using various

programmable logic controllers

(PLC) and programming which

conforms to standards. After this

seminar, participants are up-to-

speed in programming to

standards and have the

technical and methodical

expertise required to prepare

their trainees for examinations,

for example.

More information:

www.festo-didactic.com

PLC programming conforming

to IEC 61131-3 standards …

… can be learned. Festo

Didactic, the global market

leader in industrial automation

training and education offers

special training courses for

controllers CECC and CPX-CEC


26

Customised handling systems

Festo’s problem-solving

expertise means more than just

products

Whether you’re “just” using our

components or you want a

complete system solution, our

specialists use suitable software

tools to make sure that the

solution is always right for your

machine. We accompany you

every step of the way, from

offering advice to designing

complete handling solutions

through to the commissioning of

turnkey subsystems – not to

mention our comprehensive

after-sales service.

Components for handling

Everything for the entire

handling chain.

• Linear movements: with

numerous linear axes such

as the powerful and stable

electric linear axis EGC

• Rotating, gripping, vacuum

solutions, for example with

the highly modular vacuum

generator OVEM, the sturdy

T-slot gripper HGPT-B, or the

extremely precise and compact

swivel module DSM-B

• For quality assurance,

diagnostics, commissioning

and function monitoring of

rapid motions: the low-cost

compact vision systems

SBOx-M or SBOx-Q

Turnkey handling systems from

the multi-axis modular system

Our wide portfolio of handling

systems is based on many years

of experience. Whether pneu -

matic, servopneumatic, electric

or a combination – all systems

are tested and ready for

installation:

• Pick and Place

• Linear gantries

• Cantilever

• Three-dimensional gantries

• Tripod kinematics

Profit from our know-how

Our experts will design the

complete system solution

according to your requirements

and will take care of testing and

commissioning. Not only that,

they’ll use suitable control

architecture to integrate the

complete solution into your

communications networks and

coordinating systems.


27

Compact vision systems

Our innovative and intelligent

compact vision systems are

versatile in application thanks to

their compact industrial design,

and simple to integrate thanks

to standardised interfaces and

open fieldbus communication.

Compact vision system SBO..-Q

CoDeSys 2.3 embedded:

Intelligent vision systems for a

wide range of applications: From

100% quality inspection and

measuring of parts, position

sensing and rotary orientation

sensing, or reading 1D and 2D

codes and normal text.

The parameters for test and

inspection programs can be set

easily using the CheckKon &

CheckOpti software packages –

no programming knowledge

required.

Complex inspection sequences

are simple to create using the

integrated PLC with the

standardised languages of

IEC 61131-3. Stand-alone

production areas can also

be controlled via the vision

system: with CANopen master

functionality, servo controllers

and decentralised I/O can be

connected directly even without

using a centralised PLC.

A further advantage is the

optimal connection of the

camera to a host of Festo and

third-party control systems

through standardised software

interfaces via Ethernet (TCP-IP,

Easy IP, Telnet, ModbusTCP)

and CAN, as well as integrated

24V I/O.


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8

Festo worldwide

ArgentinaFesto S.A.Edison 2392(1640) MartínezProv. Buenos AiresTel. +54 (011) 4717 82 00,Fax +54 (011) 47 17 82 82E-mail: [email protected]

AustraliaFesto Pty. Ltd.Head Office (Melbourne)179-187 Browns RoadP.O. Box 261Noble Park Vic. 3174Tel. +61(0)3 97 95 95 55,Fax +61(0)3 97 95 97 87E-mail: [email protected]

AustriaFesto Gesellschaft m.b.H.Linzer Straße 2271140 WienTel. +43 (0)1 910 75-0, Fax +43 (0)1 910 75-250E-mail: [email protected]

BelarusIP FestoMasherov avenue, 78220035 MinskTel. +375 (0)17 204 85 58,Fax +375 (0)17 204 85 59E-mail: [email protected]

BelgiumFesto Belgium saRue Colonel Bourg 1011030 BruxellesTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]

BelgiumFesto Belgium nvKolonel Bourgstraat 1011030 BrusselTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]

BrazilFesto Brasil LtdaRua Guiseppe Crespi, 76Jd. Santa Emília04183-080 São Paulo / SP -BrasilTel. +55 (11) 5013-1600,Fax +55 (11) 5013-1801E-mail: [email protected]

BulgariaFesto EOOD1592 SofiaBul. Christophor Kolumb 9Tel. +359 (0)2 960 07 12,Fax +359 (0)2 960 07 13E-mail: [email protected]

CanadaFesto Inc.5300 Explorer DriveMississauga, Ontario L4W 5G4Tel. +1 (0)905 624 90 00,Fax +1 (0)905 624 90 01E-mail: [email protected]

ChileFesto S.A.Avenida Américo Vespucio, 760PudahuelSantiagoTel. +56 2 690 28 00, Fax +56 2 690 28 60E-mail: [email protected]

ChinaFesto (China) Ltd.1156 Yunqiao Road,Jinqiao Export Processing Zone,Pudong,201206 ShanghaiTel. +86 21 60 81 51 00, Fax +86 21 58 54 03 00E-mail: [email protected]

ColombiaFesto Ltda.Autopista Bogotá - Medellín Km 6 (costado sur)Tenjo, CundinamarcaTel. +57 (1) 865 77 88,Fax +57 (1) 865 77 88 Ext.287E-mail: [email protected]

CroatiaFesto d.o.o.Nova Cesta 18110000 ZagrebTel. +385 (0)1 619 19 69,Fax +385 (0)1 619 18 18E-mail: [email protected]

Czech RepublicFesto, s.r.o.Modřanská 543/76147 00 Praha 4Tel. +420 261 09 96 11, Fax +420 241 77 33 84E-mail: [email protected]

DenmarkFesto A/SIslevdalvej 1802610 RødovreTel. +45 70 21 10 90, Fax +45 44 88 81 10E-mail: [email protected]

EstoniaFesto OY AB Eesti FiliaalA.H. Tammsaare tee 118B12918 TallinnTel. +372 666 1560, Fax +372 666 15 6E-mail: [email protected]

FinlandFesto OyMäkituvantie 9PL 8601511 VantaaTel. +358 (09) 87 06 51,Fax +358 (09) 87 06 52 00E-mail: [email protected]

FranceFesto EurlZA des Maisons Rouges8 rue du clos sainte Catherine94360 Bry-sur-MarneTel. +33 (0) 820 20 46 40 (numéro indigo),Fax +33 (0) 820 20 46 41E-mail: [email protected]

GermanyFesto AG & Co. KGPostfach73726 EsslingenRuiter Straße 8273734 EsslingenTel. +49 (0) 711 347 0, Fax +49 (0) 711 347 2628E-mail: [email protected]

GreeceFesto Ltd.40 Hamosternas Ave.P.C. 11853 AthensTel. +30 210 341 29 00, Fax +30 210 341 29 05E-mail: [email protected]

Hong KongFesto Ltd.6/F New Timely Factory Building,497 Castle Peak Road,Kowloon, Hong KongTel. + 852 27 43 83 79, Fax + 852 27 86 21 73E-mail: [email protected]

HungaryFesto Kft.Csillaghegyi út 32-34.1037 BudapestHotline +36 1 436 51 00Tel. +36 1 436 51 11, Fax +36 1 436 51 01E-mail: [email protected]

IndiaFesto Controls Private Ltd.237B,Bommasandra Industrial Area,Bangalore Hosur Highway,Bangalore 560 099Tel. +91 (0)80 22 89 41 00,Fax +91 (0)80 27 83 20 58 / 27 83 33 62E-mail: [email protected]

IndonesiaPT. FestoJl. Tekno V Blok A/1 Sektor XIKawasan Industri BSDSerpong -Tangerang 15314Banten - IndonesiaTel. +62 (0) 21 27 50 79 00,Fax +62 (0) 21 27 50 79 98E-mail: [email protected]

IranFesto Pneumatic S.K.# 2, 6th street, 16th avenue,Km 8, Special Karaj RoadP.O.Box 15815-1485Teheran 1389793761Tel. +98 (0)21 44 52 24 09,Fax +98 (0)21 44 52 24 08E-mail: [email protected]

IrelandFesto LimitedUnit 5 Sandyford ParkSandyford Industrial EstateDublin 18Tel. +353 (0)1 295 49 55,Fax +353 (0)1 295 56 80E-mail: [email protected]

IsraelFesto Pneumatic Israel Ltd.P.O. Box 1076Ha'atzma'ut Road 48Yehud 56100Tel. +972 (0)3 632 22 66,Fax +972 (0)3 632 22 77E-mail: [email protected]

ItalyFesto SpAVia Enrico Fermi 36/3820090 Assago (MI)Tel. +39 02 45 78 81, Fax +39 02 488 06 20E-mail: [email protected]

JapanFesto K.K.1-26-10 HayabuchiTsuzuki-kuYokohama 224-0025Tel. +81 (0)45 593 56 10 / -5611,Fax +81 (0)45 593 56 78E-mail: [email protected]

Korea SouthFesto Korea Co., Ltd.470-1 Gasan-dongGeumcheon-guSeoul #153-803Tel. +82 1666 0202, Fax +82 (0)2 864 70 40E-mail: [email protected]

LatviaFesto SIAA. Deglava iela 601035 RigaTel. +371 67 57 78 64, Fax +371 67 57 79 46E-mail: [email protected]

LithuaniaFesto, UABPartizanų 63M50306 KaunasLietuvaTel. +370 (8)7 32 13 14, Fax +370 (8)7 32 13 15E-mail: [email protected]

MalaysiaFesto Sdn. Berhad10 Persiaran IndustriBandar Sri DamansaraWilayah Persekutuan52200 Kuala LumpurTel. +60 (0)3 62 86 80 00,Fax +60 (0)3 62 75 64 11E-mail: [email protected]

MexicoFesto Pneumatic, S.A.Av. Ceylán 3,Col. Tequesquináhuac54020 TlalnepantlaEstado de MéxicoTel. +52 (01)55 53 21 66 00,Fax +52 (01)55 53 21 66 55E-mail: [email protected]

NetherlandsFesto B.V.Schieweg 622627 AN DelftTel. +31 (0)15 251 88 99,Fax +31 (0)15 251 88 67E-mail: [email protected]

New ZealandFesto Ltd.20 Fisher CrescentMount WellingtonAucklandTel. +64 (0)9 574 10 94, Fax +64 (0)9 574 10 99E-mail: [email protected]

NigeriaFesto Automation Ltd.Motorways Centre, First Floor, Block CAlausa, Ikeja,LagosTel. +234 (0)1 794 78 20,Fax +234 (0)1 555 78 94E-mail: [email protected]

NorwayFesto ASOle Deviks vei 20666 OsloTel. +47 22 72 89 50, Fax +47 22 72 89 51E-mail: [email protected]

PeruFesto S.R.L.Amador Merino Reyna 480San IsidroLimaTel. +51 (1) 219 69 60, Fax +51 (1) 219 69 71E-mail: [email protected]

PhilippinesFesto Inc.Festo BuildingKM 18, West Service RoadSouth Super Highway1700 Paranaque CityMetro ManilaTel. +63 (2) 77 66 888, Fax +63 (2) 82 34 220/21E-mail: [email protected]

PolandFesto Sp. z o.o.Janki k/Warszawyul. Mszczonowska 705090 RaszynTel. +48 (0)22 711 41 00,Fax +48 (0)22 711 41 02E-mail: [email protected]

PortugalFesto – Automação, Unipessoal, Lda.Rua Manuel Pinto De Azevedo, 567Apartado 80134109-016 PortoContact Center: 707 20 20 43Tel. +351 22 615 61 50, Fax +351 22 615 61 89E-mail: [email protected]

RomaniaFesto S.R.L.St. Constantin 17010217 BucurestiTel. +40(0)21 403 95 00,Fax +40 (0)21 310 24 09E-mail: [email protected]

RussiaOOO Festo-RFMichurinskiy prosp., 49119607 MoscowTel. +7 495 737 34 00, Fax +7 495 737 34 01E-mail: [email protected]

SingaporeFesto Pte. Ltd.6 Kian Teck WaySingapore 628754Tel. +65 62 64 01 52, Fax +65 62 61 10 26E-mail: [email protected]

SlovakiaFesto spol. s r.o.Gavlovicová ul. 183103 Bratislava 3Tel. +421 (0)2 49 10 49 10,Fax +421 (0)2 49 10 49 11E-mail: [email protected]

SloveniaFesto d.o.o. LjubljanaIC Trzin, Blatnica 81236 TrzinTel. +386 (0)1 530 21 00,Fax +386 (0)1 530 21 25E-mail: [email protected]

South AfricaFesto (Pty) Ltd.22-26 Electron AvenueP.O. Box 255Isando 1600Tel. +27 (0)11 971 55 00,Fax +27 (0)11 974 21 57E-mail: [email protected]

SpainFesto Pneumatic, S.A.U.Avenida Granvia, 159Distrito Económico Granvia L'H08908 Hospitalet de LlobregatBarcelonaTel.: 901243660, Fax: 902243660Tel. +34 93 261 64 00, Fax +34 93 261 64 20E-mail: [email protected]

SwedenFesto ABStillmansgatan 1Box 21038200 21 MalmöTel. +46 (0)20 38 38 40, Fax +46 (0)40 38 38 10E-mail: [email protected]

SwitzerlandFesto AGMoosmattstrasse 248953 Dietikon ZHTel. +41 (0)44 744 55 44,Fax +41 (0)44 744 55 00E-mail: [email protected]

TaiwanFesto Co., Ltd.Head Office9, Kung 8th RoadLinkou 2nd Industrial ZoneLinkou Dist., New Taipei City24450 Taiwan, R.O.C.Tel. +886 (0)2 26 01-92 81,Fax +886 (0)2 26 01 92 86-7E-mail: [email protected]

ThailandFesto Ltd.Viranuvat Building, 6th - 7th Floor.1250 Bangna - Trad Road (Soi 34)Bangna, Bangkok 10260Tel. +66 2746-8700, Fax +66 2746-8370E-mail: [email protected]

TurkeyFesto San. ve Tic. A.S.Tuzla Mermerciler OrganizeSanayi Bölgesi 6/1834956 Tuzla - Istanbul/TRTel. +90 (0)216 585 00 85,Fax +90 (0)216 585 00 50E-mail: [email protected]

UkraineDP Festoul. Borisoglebskaya,1104070, KievTel. +380 (0)44 239 24 30,Fax +380 (0)44 463 70 96E-mail: [email protected]

United KingdomFesto LimitedApplied Automation CentreCaswell RoadBrackmills Trading EstateNorthampton NN4 7PYTel. ++44 (0)1604 / 66 70 00,Fax ++44 (0)1604 / 66 70 01E-mail: [email protected]

United StatesFesto Corporation (New York)395 Moreland RoadP.O. Box 18023Hauppauge, NY 11788Call Toll-free 800/993 3786Fax Toll-free 800/963 3786Tel. +1(631) 435 08 00, Fax +1(631) 435 80 26E-mail: [email protected]

VenezuelaFesto C.A.Av. 23 esquina con calle 71N° 22-62, Edif. Festo.Sector ParaísoMaracaibo - VenezuelaTel. +58 (261) 759 11 20/759 41 20/759 44 38,Fax +58 (261) 759 04 55E-mail: [email protected]

VietnamFesto Co Ltd(Cong Ty TNHH FESTO)No. 1515 – 1516 Van Dai Dong StreetWard An Phu, District 2Ho Chi Minh CityTel. +84 (8) 62 81 44 53 – 4454,Fax +84 (8) 62 81 44 42E-mail: [email protected]


Under control and in motion - Festo USA · and operation Festo Configuration Tool FCT ......

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Transcript of Under control and in motion - Festo USA · and operation Festo Configuration Tool FCT ......