Terminal CPX
Bus node CPX-FB37
Description
Network protocol
EtherCAT
8029675
1406NH
[8029664]
CPX-FB37
Translation of the original instructions
P.BE-CPX-FB37-EN
EtherCAT®, TwinCAT®, CANopen®, SPEEDCON®, Torx®, Windows® are registered trademarks of the
respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.
2
Festo – P.BE-CPX-FB37-EN – 1406NH –
CPX-FB37
Table of Contents – CPX-FB37
1
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
1.1
1.2
1.3
General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Technical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2
Qualification of specialists (personnel requirements) . . . . . . . . . . . . . . . . . . . .
1.3.3
Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
7
9
9
9
9
2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
2.1
2.2
Function range (brief overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections and display components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
11
3
Mounting and installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
3.1
3.4
3.5
Dismantling and mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1
Dismantling the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2
Mounting the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the DIL switches on the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Removing and fitting the cover over the DIL switches . . . . . . . . . . . . . . . . . . . . .
3.2.2
Arrangement of the DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3
Setting the DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4
Setting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.5
Configuring the EtherCAT addressing type . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.6
Setting the diagnostics mode (Remote I/O operating mode) . . . . . . . . . . . . . . .
3.2.7
Setting the I/O mode (remote controller operating mode) . . . . . . . . . . . . . . . . .
3.2.8
Starting the bootloader mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.9
Setting the EtherCAT address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting to the EtherCAT network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1
General notes on EtherCAT networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Network interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3
Network connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4
Cable specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Complying with degree of protection IP65/IP67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
13
14
15
15
16
16
17
17
18
19
19
20
22
22
23
23
23
24
24
4
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
4.1
General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1
Switching on the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2
Addressing, configuration and parameterisation . . . . . . . . . . . . . . . . . . . . . . . .
Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
26
26
26
3.2
3.3
4.2
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
CPX-FB37
4.3
Addressing the inputs and outputs, data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1
Basic rules for addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2
Differences in addressing between the modular device profile and fixed I/O size
4.3.3
Data access (data objects) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Addressing the devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Assigning an independent EtherCAT device address via DIL switch . . . . . . . . . .
4.4.2
Assigning an independent EtherCAT device address using the configuration tool
4.5 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1
Registering station properties in the configuration program . . . . . . . . . . . . . . .
4.5.2
Configuration in the Modular Device Profile (MDP) . . . . . . . . . . . . . . . . . . . . . . .
4.5.3
Configuration with fixed I/O size (CPX-FB38 mode) . . . . . . . . . . . . . . . . . . . . . .
4.5.4
Configuration in the remote controller operating mode . . . . . . . . . . . . . . . . . . .
4.6 Parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1
Introduction to parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2
Methods of parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.3
Parameterisation with the operator unit CPX-MMI . . . . . . . . . . . . . . . . . . . . . . .
4.6.4
Parameterisation with the Festo Maintenance Tool (CPX-FMT) . . . . . . . . . . . . . .
4.6.5
Parameterisation via EtherCAT in the Modular Device Profile (MDP) . . . . . . . . .
4.7 Remarks on parameters of the CPX system settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1
Sequence of start parameterisation during switch-on (system start) . . . . . . . .
4.7.2
Parameterisation of the fail-safe mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Web server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Firmware update/restoring the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1
Updating the firmware via FoE (File Access over EtherCAT) . . . . . . . . . . . . . . . .
4.9.2
Restoring the firmware with the Festo Field Device Tool (FFT) . . . . . . . . . . . . . .
4.10 Checklist for commissioning a CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.11 Replacing the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
27
27
28
28
28
28
30
30
32
35
35
37
37
38
38
38
39
41
41
42
44
44
50
50
52
53
54
5
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
5.1
5.2
Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1
LEDs at the bus node CPX-FB37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2
Normal operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3
CPX-specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4
EtherCAT-specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics via status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics via the I/O diagnostic interface (STI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
56
56
57
58
61
64
65
5.3
5.4
4
Festo – P.BE-CPX-FB37-EN – 1406NH – English
CPX-FB37
5.5
Diagnostics via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1
Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.2
Diagnostics via SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.3
Diagnostics via diagnostics history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.4
Die Emergency Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.5
Error characteristics (fail-safe mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.6
Error types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
66
66
66
73
75
76
A
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
A.1
A.2
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1
Object directory CPX-FB37 mode (Modular Device Profile) . . . . . . . . . . . . . . . . .
A.2.2
Object directory CPX-FB38 mode (fixed I/O size) . . . . . . . . . . . . . . . . . . . . . . . .
77
78
78
81
B
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
CPX-FB37
Notes on this documentation
This description contains information regarding the installation and configuration of the CPX bus node,
as well as EtherCAT-specific information regarding parameterisation, commissioning and diagnostics of
a CPX terminal in an EtherCAT network.
CPX-FB37
Tab. 1
Description
Connection technology
Ethernet-based CPX bus
node for EtherCAT
2 x M12 socket, D-coded, 4-pin,
corresponding to
IEC 61076-2-101,
SPEEDCON®-compatible
Overview
Additional information regarding EtherCAT can be found online ( www.ethercat.org).
Product-specific information about the control system (IPC, PLC or I/O controller) can be
found in the manufacturer’s documentation accompanying the product.
General basic information about the mode of operation, mounting, installation and
commissioning of CPX terminals can be found in the CPX system description
(P.BE-CPX-SYS-...).
Information about additional CPX modules can be found in the description for the respective module.
An overview of the structure of the CPX terminal user documentation is contained in the
CPX system description.
All documents are also available on the Festo website
( www.festo.com/sp).
Service
Please consult your regional Festo contact if you have any technical problems.
6
Festo – P.BE-CPX-FB37-EN – 1406NH – English
1
Safety and requirements for product use
1
Safety
1.1
General safety information
• Observe the general safety information in the corresponding chapters.
Specific safety regulations can be found immediately before the task instructions.
Note
Damage to the product from incorrect handling.
• Switch off the supply voltage before mounting and installation work. Switch on supply voltage only when mounting and installation work are completely finished.
• Never unplug or plug in a product when powered!
• Observe the handling specifications for electrostatically sensitive devices.
1.2
Intended use
The bus node CPX-FB37 is intended exclusively for use in CPX terminals, as a participant in the EtherCAT
fieldbus system, and it may only be used as follows:
– in excellent technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data ( Appendix A.1)
– in an industrial environment
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
Warning
Danger of electric shock from voltage sources without protective measures.
• Use only PELV circuits in accordance with IEC/EN 60204-1 (Protective Extra-Low
Voltage, PELV) for the electric logic supply.
• Observe also the general requirements for PELV circuits in accordance with
IEC/EN 60204-1.
• Use only voltage sources that ensure a reliable electric separation of operating
voltage in accordance with IEC/EN 60204-1.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
7
1
Safety and requirements for product use
Through the use of PELV circuits, protection against electric shock (protection against direct and indirect contact) is ensured in accordance with IEC/EN 60204-1.
In the CPX system description (P.BE-CPX-SYS-…), read the information on power supply as
well as on the earthing measures to be carried out.
8
Festo – P.BE-CPX-FB37-EN – 1406NH – English
1
1.3
Safety and requirements for product use
Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Consider also the
documentation for other components and modules (e.g. CPX system descriptionP.BE-CPX-SYS-…).
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards
– regulations of the testing organizations and insurers
– national specifications
1.3.1
Technical requirements
General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
product ( Appendix A.1) and of all connected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the notes and warnings in this documentation.
1.3.2
Qualification of specialists (personnel requirements)
The product may only be commissioned by trained control and automation technology professionals,
who have experience with:
– the installation, commissioning, programming and diagnostics of participants in the EtherCAT fieldbus system
– the applicable regulations for operating safety-engineered systems
– the applicable regulations for accident protection and operational reliability
– the documentation for the product
1.3.3
Range of application and certifications
Standards and test values, which the product complies with and fulfils, can be found in the “Technical
data” section ( Appendix A.1). The product-relevant EU directives can be found in the declaration of
conformity.
Certificates and the declaration of conformity for this product can be found on the Festo
website ( www.festo.com/sp ).
The bus node CPX-FB37 successfully passed the test with the “EtherCAT Conformance Test Tool” (CTT).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
9
2
Overview
2
Overview
2.1
Function range (brief overview)
–
–
–
–
–
–
–
–
–
–
–
–
10
Real-time Ethernet communication (EtherCAT)
Deterministic data transmission
Master-slave system architecture
Modular valve terminal configuration (MDP)
Diagnostic data via CoE
Parameterisation in plain text via CoE
Hot Connect function for connecting and disconnecting devices during operation
Module address can be altered via DIL switch
Activation of the compatibility mode for the bus node CPX-FB38 via DIL switch
Activation of the bootloader mode via DIL switch
Adjustable fail-safe behaviour
Adjustable CPX diagnostics mode
Festo – P.BE-CPX-FB37-EN – 1406NH – English
2
Overview
2.2
Connections and display components
The bus node has the following connections and display components:
1
6
5
2
4
3
1
2
3
EtherCAT-specific network status LEDs and
CPX-specific LEDs
Network connection 1 (input “X1 In”)
Network connection 2 (output “X2 Out”)
Fig. 2.1
4
5
6
Cover for DIL switches
Service interface for operator unit CPX-MMI
and USB adapter (for CPX-FMT)
Rating plate
Connections and display components of the bus node
Note
• Use cover caps to seal unused connections. You will then comply with the degree of
protection IP65/IP67 ( Section 3.4).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
11
3
Mounting and installation
3
Mounting and installation
3.1
Dismantling and mounting
Warning
Danger of injury to people, damage to the machine and system resulting from uncontrolled movements of the actuators and undefined switching states
• Switch off the operating and load voltage supply.
• Switch off the compressed air supply.
• Exhaust the pneumatics valve terminal.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Do not touch any components.
• Observe the handling specifications for electrostatically sensitive devices.
Note
Malfunction or damage to the bus node
Mounting /dismantling of the bus node must always take place in a de-energised state.
• To do this, disconnect the corresponding CPX terminal completely from the related
voltage supply or switch off the voltage supply.
Information about mounting of the CPX terminal can be found in the CPX system description (P.BE-CPX-SYS-...).
12
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
When built-in, the bus node is located in an interlinking block of the CPX terminal.
4
1
3
2
1
2
Bus node
Interlinking block
Fig. 3.1
3
4
Contact rails
Torx T10 screws
Mounting/dismantling the bus node
Note
Loss of settings
If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal
is saved locally in the bus node. In this case, parameterisation is lost if the bus node is
replaced.
• Save the required settings before replacing the bus node and restore the settings
after replacement.
3.1.1
Dismantling the bus node
1. Loosen the 4 screws of the bus node with a Torx screwdriver size T10.
2. Pull the bus node carefully and without tilting away from the contact rails of the interlinking block.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
13
3
Mounting and installation
3.1.2
Mounting the bus node
Note
Damage to the interlinking block
• Always use the correct screws for the interlocking block, which depend on whether
the block is made of metal or plastic:
– For plastic interlinking blocks: Self-tapping screws
– For metal interlinking blocks: Screws with metric thread
Both types of screws are enclosed when the bus node is ordered as a single part.
1.
2.
3.
4.
14
Check the seal and the sealing surfaces. Replace the damaged parts.
Insert the bus node into the interlinking block as far as possible without tilting it.
Turn the screws into the existing thread.
Tighten the screws in diagonally opposite sequence. Tightening torque: 0.9 … 1.1 Nm.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
3.2
Mounting and installation
Setting the DIL switches on the bus node
In order to set the CPX bus node, you must first remove the cover for the DIL switches.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Do not touch any components.
• Observe the handling specifications for electrostatically sensitive devices.
3.2.1
Removing and fitting the cover over the DIL switches
You need a TORX screwdriver size T10 to remove or attach the DIL switch cover.
Note
Observe the following notes when removing or fitting the cover:
• Disconnect the power supply before removing the cover.
• Make sure the seal is seated correctly when attaching the cover.
• Tighten the two mounting screws with a max. torque of 0.4 Nm.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
15
3
Mounting and installation
3.2.2
Arrangement of the DIL switches
There are 3 DIL switches available for configuring the bus node. They are located underneath the DIL
switch cover.
1
2
3
1
2
DIL switch 1: Bus node operating mode
DIL switch 2: Diagnostics mode, number of
I/O bytes, bootloader
Fig. 3.2
3
DIL switch 3: EtherCAT address of the bus
node
DIL switches on the bus node
3.2.3
Setting the DIL switches
1. Switch off the power supply.
2. Remove the cover ( Section 3.2.1).
3. Perform the required settings ( Tab. 3.1 … Tab. 3.6).
4. Replace the cover ( Section 3.2.1).
Changes to the DIL switches only take effect when the bus node is restarted.
16
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
3.2.4
Setting the operating mode
You can set the operating mode of the bus node with switch element 1.1 of DIL switch 1.
Operating mode
Setting DIL switch 1
Remote I/O
All functions of the CPX terminal are controlled directly by
the EtherCAT controller or a higher-level PLC.
The bus node thereby takes over the connection to the
EtherCAT network.
DIL 1.1: OFF
(factory setting)
Remote controller
A CPX-FEC or CPX-CEC integrated into the terminal
controls all functions.
The bus node thereby takes over the connection to the
EtherCAT network.
DIL 1.1:
Tab. 3.1
ON
Setting the operating mode
3.2.5
Configuring the EtherCAT addressing type
Use switch element DIL 1.2 of DIL switch 1 to switch between Modular Device Profile and fixed I/O size
( Section 4.5.1).
EtherCAT addressing type
Setting DIL switch 1
Modular Device Profile (MDP) active
DIL 1.2: OFF
(factory setting)
Fixed I/O size active (64 byte I/O)
(compatible with the bus node CPX-FB38)
DIL 1.2:
Tab. 3.2
ON
Configuring the EtherCAT addressing type
Festo – P.BE-CPX-FB37-EN – 1406NH – English
17
3
Mounting and installation
3.2.6
Setting the diagnostics mode (Remote I/O operating mode)
The diagnostic mode is available only in the remote I/O operating mode.
Note
1. The diagnostics mode reduces the available address space.
Use of the diagnostics mode (status bits or I/O diagnostics interface) occupies 16 I or
16 I/O bits and thus reduces the number of I/O bits which are available for module
communication. In this way, the number of addressable modules is reduced in favour of
additional status or diagnostic information.
2. When using the fixed I/O size (CPX-FB38 mode), subsequent activation of the diagnostics mode requires a reconfiguration.
A detailed description of the addressing process and various addressing examples for the
CPX-FB38 mode can be found in the description of the bus node CPX-FB38
( P.BE-CPX-FB38).
Set the diagnostics mode of the bus node with DIL switch 2.
Diagnostics mode (remote I/O operating mode)
Setting DIL switch 2
I/O diagnostics interface and status bits are switched off
(+ 0 I/O bits)
DIL 2.1: OFF
DIL 2.2: OFF
(factory setting)
Status bits are switched on
(+ 8 (16) I bits)1)
DIL 2.1:
DIL 2.2:
OFF
ON
I/O diagnostics interface is switched on
(+ 16 I/O bits)1)
DIL 2.1:
DIL 2.2:
ON
OFF
1)
The diagnostics mode (status bits or I/O diagnostics interface) occupies 2 bytes or 4 bytes of address space (16 I-bits or 16
I/O-bits; 8 I-bits remain unused in the status bits mode)
Tab. 3.3
18
Setting the diagnostics mode (Remote I/O operating mode)
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
3.2.7
Setting the I/O mode (remote controller operating mode)
The I/O mode is available only in the remote controller operating mode.
Set the I/O mode of the bus node with DIL switch 2.
Number of I/O bytes (remote controller operating mode)
Setting DIL switch 2
8 bytes I/8 bytes O
for communication of the bus node with the CPX-FEC or
CPX-CEC
DIL 2.1: OFF
DIL 2.2: OFF
(factory setting)
16 bytes I/16 bytes O
for communication of the bus node with the CPX-FEC or
CPX-CEC
DIL 2.1:
DIL 2.2:
OFF
ON
Reserved for future extensions
DIL 2.1:
DIL 2.2:
ON
OFF
Tab. 3.4
3.2.8
Setting the number of I/O bytes (remote controller operating mode)
Starting the bootloader mode
The bootloader mode is available in any operating mode.
Start the bootloader mode with DIL switch 2.
The bootloader mode can be used to restore the operational capability of the bus node (e.g. after a
failed firmware download via FoE) ( Section 4.9.2).
Starting the bootloader
for firmware restore
Tab. 3.5
Setting DIL switch 2
DIL 2.1:
DIL 2.2:
ON
ON
Starting the bootloader.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
19
3
Mounting and installation
3.2.9
Setting the EtherCAT address
You can assign a free EtherCAT address (Explicit Device ID) to the bus node by using DIL switch 3.
Setting an EtherCAT address is optional (e.g. for the Hot-Connect function).
You can set the EtherCAT address in binary coded format by using switch elements 1 to 8.
If the EtherCAT address 0 is set, the programmed address in the EEPROM is used (factory
setting).
1 to 255 are thereby available as possible EtherCAT addresses.
Example: Set EtherCAT address 77
DIL switch 3
1
DIL switch element
Switch position
Binary
Potency (significance)
Numerical value (decimal)
EtherCAT address
Tab. 3.6
1
ON
1
20
1
2
Off
0
21
0
3
ON
1
22
4
2
3
4
4
ON
1
23
8
5
5
Off
0
24
0
6
7
8
6
Off
0
25
0
7
ON
1
26
64
8
Off
0
27
0
1 + 0 + 4 + 8 + 0 + 0 + 64 + 0 = 77
Setting the EtherCAT address with DIL switch 3
The set EtherCAT address (Explicit Device ID) must be activated.
To do this in the TwinCAT 3.x configuration tool, select the following:
EtherCAT Advanced settings General Identification Explicit Device Identification (ADO 0x0134) ( Fig. 3.3).
Fig. 3.3
20
Selecting “Explicit Device Identification (ADO 0x0134)” (TwinCAT 3.x)
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
The set Explicit Device ID of the bus node appears in TwinCAT 3.x under the tab “CoE Online”.
Fig. 3.4
Explicit Device ID of the bus node (TwinCAT 3.x)
Another way of permanently assigning an EtherCAT address to the bus node is to write the
device address to the EEPROM using a configuration tool ( Section 4.4.2).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
21
3
Mounting and installation
3.3
Connecting to the EtherCAT network
3.3.1
General notes on EtherCAT networks
Note
Components with EtherCAT interfaces may be operated only in networks where all connected network components are supplied with PELV power supplies or integrated power
supplies with similar protection.
Installation instructions
You can obtain specifications, installation notes and instructions through the EtherCAT
user organisation ( www.ethercat.org).
Note
Unauthorised access to the device can cause damage or malfunctions.
When connecting the device to a network:
• Protect your network from unauthorised access.
Measures for protecting the network include:
– Firewall
– Intrusion Prevention System (IPS)
– Network segmentation
– Virtual LAN (VLAN)
– Virtual Private Network (VPN)
– Security at a physical access level (Port Security).
For further notes, please refer to the guidelines and standards for security in information technology, e.g. IEC 62443, ISO/IEC 27001.
Note
Faulty installation and high transmission rates may cause data transmission errors as a
result of signal reflections and attenuations.
22
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
3.3.2
Network interface
To connect to the network, there are two 4-pin M12 sockets with D-coding on the bus node (for industrial Ethernet use, corresponding to IEC 61076-2-101). The sockets are compatible with SPEEDCON®
plugs.
M12 socket,
D-coded
Tab. 3.7
3.3.3
Pin
Signal
Explanation
1
2
3
4
Housing
TD+
RD+
TDRDFE
Transmission data (transmit data, TD) +
Receive data (receive data, RD) +
Transmitted data –
Received data –
Screening/functional earth (FE)
Pin allocation of the network interfaces
Network connectors
Note
To comply with degree of protection IP65/IP67:
• Use Festo plugs.
• Seal unused interfaces ( Section 3.4).
Accessories for the bus node can be found on the Festo website
( www.festo.com/catalogue).
3.3.4
Cable specification
Use shielded Industrial Ethernet cables of category Cat 5 or higher. You can find details regarding cable
specification in Tab. 3.8.
The CPX bus node FB37 supports crossover detection:
To connect your bus node to the network, the control system or a PC, you can either use
patch cables or crossover cables (Auto-MDIX).
Note
If the CPX terminal is fitted onto the moving part of a machine, the network cable on the
moving part must be provided with strain relief. Also observe the corresponding regulations in IEC/EN 60204 Part 1.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
23
3
Mounting and installation
Cable specification
Cable type
Transmission class
Cable diameter
Core cross section
Connection length
1)
Ethernet twisted pair cable, shielded (Shielded Twisted Pair, STP)
Category Cat 5 or higher
6 … 8 mm
0.14 … 0.75 mm2; 22 AWG1)
Maximum 100 m
Required for maximum connection length between network participants
Tab. 3.8
3.4
Cable specification overview
Complying with degree of protection IP65/IP67
In order to comply with degree of protection IP65/IP67, seal the ports with the following plugs or cover
caps:
Port
Plug
Cover cap1)
X1 In, X2 Out (M12)
Service interface (M12)
NECU-M-S-D12G4-C2-ET
– Plug of the operator unit
(CPX-MMI)
– Plug of the USB adapter for
CPX-FMT
ISK-M12
ISK- M122)
1)
if connection is unused
2)
included in the scope of delivery
Tab. 3.9
3.5
Ports, plugs and cover caps for degree of protection IP65/IP67
Voltage supply
Warning
Danger of electric shock from voltage sources without protective measures.
• Only use PELV circuits in accordance with IEC/EN 60204-1 (protective extra-low
voltage, PELV) for the electrical power supply.
• Also observe the general requirements for PELV circuits in accordance with
IEC/EN 60204-1.
• Only use voltage sources which ensure reliable electrical isolation of the operating
voltage in accordance with IEC/EN 60204-1.
Through the use of PELV circuits, protection against electric shock (protection against direct and indirect contact) is ensured in accordance with IEC/EN 60204-1.
The current consumption of a CPX terminal depends on the number and type of integrated modules and
components.
24
Festo – P.BE-CPX-FB37-EN – 1406NH – English
3
Mounting and installation
In the CPX system description (P.BE-CPX-SYS…), read the information on power supply as
well as on the earthing measures to be carried out.
The CPX terminal is supplied with operating and load power via the manifold base with system, additional and valve supply.
The pin allocation of the CPX interlinking blocks can be found in the CPX system description and the package insert for the CPX interlinking block.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
25
4
Commissioning
4
Commissioning
4.1
General instructions
4.1.1
Switching on the power supply
Note
• Please observe the switch-on instructions in the manual of your control system
(PLC/IPC).
If the control system and fieldbus station have separate voltage supplies, the devices must be switched
on in the following sequence:
1. Switch on the operating voltage supply of all bus stations (I/O devices).
2. The power supply for the controller.
4.1.2
Addressing, configuration and parameterisation
Addressing, configuration and parameterisation differ depending on whether the modular
device profile (MDP) or the fixed I/O size (CPX-FB38 mode) is used.
4.2
Address assignment
Note
– In MDP the bus node automatically determines the number of inputs and outputs of
the modules installed in the CPX terminal.
– The bus node provides the CPX terminal with an address space of up to 64 bytes for
inputs (I) and 64 bytes for outputs (O).
– Each module of the CPX terminal occupies a certain number of I/O bits, I/O bytes or
words in the context of module communication.
– Certain functions, such as the I/O diagnostics interface (STI), also reduce the number of available I/O bytes (in favour of status or diagnostic functions).
The address assignment within the individual CPX modules are found in the description
for the relevant CPX module.
On the basis of the CPX module type, you can ascertain the number of inputs and outputs
occupied by the CPX module.
In the CPX FMT or CPX MMI, the individual modules are displayed with the respective
module identifiers. In the I/O modules, the module indicator is depicted in the upper
region of the module besides the LEDs (for example, 8DI for a module with 8 digital inputs).
26
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Detailed information on the electric and pneumatic CPX modules can be found on the
Festo website ( www.festo.com/sp).
4.3
Addressing the inputs and outputs, data access
4.3.1
Basic rules for addressing
– The bus node counts as a module with 0 inputs and 0 outputs when the status bits and the I/O diagnostic interface are deactivated.
– Observe the notes regarding address assignment in section 4.2.
– Modules with less than 8 bits occupy 8 bits or 1 byte of address space, but do not use all this space.
– The addressing sequence differs between MDP and a fixed I/O size (CPX-FB38 mode).
If necessary, status bits or the I/O diagnostics interface can be activated via DIL switch
( Tab. 3.3):
– If the 8 status bits are activated, they will occupy 16 inputs in the address range
(8 used).
– If the I/O diagnostics interface is activated, it will occupy 16 inputs and outputs in the
address range.
4.3.2
Differences in addressing between the modular device profile and fixed I/O size
Sequence of addressing — Modular Device Profile (CPX-FB37 mode)
The I/O addresses are assigned in ascending order according to the module position.
Sequence of addressing — fixed I/O size (CPX-FB38 mode)
If the bus node is set to a fixed I/O size using DIL switch 2 ( Section 3.2.5), the following rules shall
apply ( Tab. 4.1):
Sequence of addressing
Description
1.
Status bits or I/O diagnostics
interface
2.
3.
Analogue modules
Technology modules
4.
Digital modules
Delivers status and diagnostic information; activate through
DIL switches; occupies the first 16 inputs or inputs and
outputs
Modules with analogue inputs/outputs
e. g. CP interface, front end controller (CPX-FEC), CoDeSys
controller (CPX-CEC)
Modules with digital inputs/outputs
Tab. 4.1
Sequence of addressing in CPX-FB38 mode
A detailed description of the addressing process and various addressing examples for the
CPX-FB38 mode can be found in the description of the bus node CPX-FB38
( P.BE-CPX-FB38).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
27
4
Commissioning
4.3.3
Data access (data objects)
Asynchronous information can be exchanged with the EtherCAT devices via a mailbox mechanism.
Known data object models are used in part here, e. g. CoE (CAN over EtherCAT).
EtherCAT devices (I/O devices) have an object directory with all accessible objects.
An EtherCAT system can be configured by accessing the object directory of the individual participants.
The access mechanism is provided by Service Data Objects (SDOs).
There are two different communication mechanisms in an EtherCAT system.
The Process Data Objects (PDO) provide fast transfer of process data and are transmitted by simple
EtherCAT messages with no protocol overhead. Process Data Objects may be transmitted based on
event control, synchronised to a system clock, or on request.
The Service Data Objects (SDO) form a point-to-point connection and permit access to every entry in
the object directory of a node.
Access these data objects with the help of user programs created according to your specific requirements.
4.4
Addressing the devices
The higher-order controller is responsible for addressing the individual modules: The EtherCAT master
determines the position of the EtherCAT devices within the network.
The controller uses the following for local addressing:
– The physical position of the device in the EtherCAT network (“Auto Increment Address”)
– An independent EtherCAT device address (“EtherCAT Address”).
4.4.1
Assigning an independent EtherCAT device address via DIL switch
The bus node can be assigned an EtherCAT address using DIL switch 3 ( Section 3.2.9).
4.4.2
Assigning an independent EtherCAT device address using the configuration tool
The EtherCAT device address can be changed in the EEPROM using the configuration tool
(e.g. TwinCAT 3.x).
1. Remove the bus node from the EtherCAT network.
2. Write the new address into the EEPROM ( Fig. 4.1).
EtherCAT Advanced Settings ESC Access Configured Station Alias
28
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Fig. 4.1
Writing a new EtherCAT device address
3. Switch the power supply off and back on again (cold start).
The new device address is saved in the EEPROM.
Fig. 4.2
New EtherCAT device address
Festo – P.BE-CPX-FB37-EN – 1406NH – English
29
4
4.5
Commissioning
Configuration
4.5.1
Registering station properties in the configuration program
When you place a new EtherCAT participant, i.e. an EtherCAT device, into operation for the first time,
you must inform the configuration and programming software about certain properties of the participant.
The properties of the various participants are managed in a configuration file - the EtherCAT slave information file (ESI file).
EtherCAT Slave Information File (ESI file)
The file/its contents are available in Extensible Markup Language (XML).
The ESI file serves to identify the bus node in the EtherCAT network. The ESI file sends basic properties
of the EtherCAT device, and manufacturer information, to the configuration program.
The ESI file contains all the information needed for the configuration and settings of the higher-order
controller using configuration and programming software, e.g. Beckhoff TwinCAT.
The current EtherCAT configuration file (ESI file) for the CPX terminal and bus node can be
found on the Festo website ( www.festo.com/sp).
• To expand the ESI library of your configuration program, copy the bus node-specific XML file into the
program directory of your configuration program – e.g. for Beckhoff TwinCAT 3.x under: C:\TwinCAT\3.x\Config\Io\EtherCAT.
30
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Participant properties
When the ESI file is imported, e.g. the following information is sent to the configuration program via the
bus node/EtherCAT participant.
Information
Description
Vendor name
Vendor ID
Product code
Product name
Festo AG & Co. KG
0000001Dh
0029BF58h
CPX-FB37
Tab. 4.2
EtherCAT participant properties
Once the ESI file has been imported, i.e. after the participant properties have been added to the configuration program, the bus node is included as a possible EtherCAT participant. You can now integrate
the bus node into your EtherCAT network and configure the CPX terminal.
The bus node can access 2 different ESI files:
– an ESI file for the Modular Device Profile (MDP)
– or an ESI file for the CPX-FB38 mode (fixed I/O size)
The bus node accesses the respective ESI file depending on the position of DIL switch 1
( Section 3.2.5).
A requirement is that both ESI files are present in the device directory.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
31
4
Commissioning
4.5.2
Configuration in the Modular Device Profile (MDP)
Reading the configuration
The existing configuration can be read automatically.
Fig. 4.3
Automatic reading of the configuration (via the “Scan” command here in TwinCAT 3.x)
Doing this detects the bus node and all CPX modules together with their I/Os.
Fig. 4.4
32
Detected CPX modules
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Manual configuration
Manual configuration is also possible as an alternative. Here the connected CPX modules are selected
from a module list in the configuration interface.
Fig. 4.5
Manual configuration of the CPX terminal
Adding the bus node
Select the bus node in the configuration and programming software and specify the following:
– the mode in which you want to operate the bus node
– whether, and in what format, the diagnostic messages of the CPX terminal are to be used.
The following options are available:
Module designation 1)
Operating mode
CPX diagnostics
FB37-RIO-EtherCAT Remote I/O
FB37-RIO-EtherCAT Remote I/O [ST]
Remote I/O
Remote I/O
FB37-RIO [STI] -EtherCAT remote I/O
Remote I/O
FB37-RC [8 bytes IO]
Remote controller
8 byte I/8 byte O for
communication of the bus
node with the CPX-FEC or
CPX-CEC
No CPX diagnostics
Display of common
diagnostic messages
All diagnostic information is
available
–
1)
Module designation in the configuration and programming software
Festo – P.BE-CPX-FB37-EN – 1406NH – English
33
4
Commissioning
Module designation 1)
Operating mode
CPX diagnostics
FB37-RC [16 bytes IO]
Remote controller
16 byte I/16 byte O for
communication of the bus
node with the CPX-FEC or
CPX-CEC
–
1)
Module designation in the configuration and programming software
Tab. 4.3
Diagnostics settings
Note
The setting of DIL switch 2 must correspond to the diagnostics mode selected here
( Section 3.2.6).
Additional information on CPX diagnostics can be found in the CPX system description
(P.BE-CPX-SYS-...).
In the illustration below ( Fig. 4.6) the bus node is added to slot 1 in the Remote I/O mode without
CPX diagnostics (view in TwinCAT 3.x).
Fig. 4.6
34
Bus node in Remote I/O mode, without CPX diagnostics
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Adding the connected modules
The connected modules of the CPX terminal have been added to the following slots ( Fig. 4.7).
Fig. 4.7
CPX modules
48 slots are available. The CPX modules can be assigned to the individual slots.
4.5.3
Configuration with fixed I/O size (CPX-FB38 mode)
I/O assignment must be performed manually by the user.
4.5.4
Configuration in the remote controller operating mode
If there is a CPX Front End Controller (CPX-FEC) or a CoDeSys controller (CPX-CEC) in your CPX terminal,
you can operate the bus node in the Remote Controller operating mode. In this mode the bus node
provides the control program in the CPX-FEC or CPX-CEC and the EtherCAT master (IPC/PLC) with 8 or 16
byte inputs and 8 or 16 byte outputs.
1. Make sure that DIL switch DIL 1 of the bus node is in the Remote Controller position (DIL 1.1 = ON,
DIL 1.2 = OFF; Section 3.2.4, Tab. 3.1).
The bus node is thus configured as a remote controller.
To configure the CPX-FEC and the CPX terminal, the use of Festo Software Tools Version 4 (FST 4) is
required. To configure the CPX-CEC and the CPX terminal, CODESYS provided by Festo is required
( Step 2.).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
35
4
Commissioning
2. Configure the CPX terminal with the Festo Software Tools FST 4 via the CPX-FEC or with CODESYS
provided by Festo via the CPX-CEC.
3. Start your configuration and programming software, e.g. Beckhoff TwinCAT.
4. Open the hardware configuration (“I/O Configuration”).
5. Configure the EtherCAT network.
36
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
4.6
Commissioning
Parameterisation
4.6.1
Introduction to parameterisation
The system reaction of a CPX terminal can be largely adapted to the relevant application. You can individually set the reaction of the entire terminal as well as of individual modules and channels through
parameterisation. A distinction is made between the following parameterisation functions:
– System parameterisation, e.g. switching off fault messages, setting reaction times
– Module parameterisation (module- and channel-specific), e.g. monitoring functions, settings for
error handling, settings for forcing
– Parameterisation of the diagnostic memory.
General information on commissioning the CPX terminal as well as a detailed description
of individual parameters can be found in the CPX system description
(P.BE-CPX-SYS-…).
Information on commissioning the pneumatic interfaces and the digital I/O modules can
be found in the description P.BE-CPX-EA-....
Information on commissioning the analogue I/O modules can be found in the description
P.BE-CPX-AX-....
Instructions on commissioning the pneumatic components can be found in the corresponding description of pneumatics.
Caution
Changes in parameterisation or application-specific parameter settings result in
changes to the module or system behaviour.
• Check especially when replacing CPX terminals to see which settings are necessary
and make sure that these are restored, if necessary (e.g. in the commissioning
phase by appropriate system-start parameterisation).
Warning
Danger of injury to people, damage to the machine and system resulting from uncontrolled movements of the actuators and undefined switching states
• During the parameterisation process make sure that nobody is within the sphere of
influence of moving parts of your system.
• It is imperative that you observe the instructions on “Force”, “Idle mode” and “Fail
safe” in the CPX system description (P.BE-CPX-SYS-…), as well as in the description
of the CPX-MMI and in the online help of the CPX-FMT.
The CPX terminal is supplied from the factory with preset parameters. These parameters
are saved in the bus node.
A CPX terminal can only be parameterised if the function “System start with default parameterisation and current CPX expansion” is activated (set the “System start” system
parameter accordingly).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
37
4
Commissioning
If the parameterisation is not changed, the factory settings are used.
4.6.2
Methods of parameterisation
A CPX terminal with the bus node can be parameterised using various methods. A brief explanation of
the available methods can be found in Tab. 4.4 and the following sections.
Method
Description
Benefits
Disadvantages
Parameterisation with
the operator unit
CPX-MMI
Section 4.6.3
Parameterisation is
carried out via
menu-driven entries.
Start with saved
parameters necessary.
Comfortable
parameterisation via
the menu navigation
(plain text).
Parameterisation of
the CPX terminal is
saved locally in the bus
node and is lost when
replaced.1)
Parameterisation with
the Festo Maintenance
Tool (CPX-FMT)
Section 4.6.4
Parameterisation is
carried out via
menu-driven entries.
Start with saved
parameters necessary.
Fast, simple
parameterisation
during commissioning
for testing the
parameters.
Parameterisation of
the CPX terminal is
saved locally in the bus
node and is lost when
replaced.1)
Parameterisation via
EtherCAT
Section 4.6.5
Parameterisation is
carried out with
configuration software
(e.g. TwinCat).
Parameterisation in
plain text via CoE.
—
1)
Copying and saving of parameter settings is possible, for example, for transferring parameter data as part of a module exchange.
Tab. 4.4
Methods of parameterisation
4.6.3
Parameterisation with the operator unit CPX-MMI
The Festo operator unit (CPX-MMI) offers menu-driven access for parameterisation without configuration software.
Information about using the operator unit can be found in the corresponding description
(P.BE-CPX-MMI-1-…).
4.6.4
Parameterisation with the Festo Maintenance Tool (CPX-FMT)
With the PC software Festo Maintenance Tool (CPX-FMT), you can easily parameterise the CPX terminal
over a USB connection.
The current version of the PC software CPX Festo Maintenance Tool (CPX-FMT) can be
found on the Festo website ( www.festo.com/sp).
To operate the PC software (CPX-FMT) on the bus node, you will need the USB adapter
(connecting cable) NEFC-M12G5-0.3-U1G5.
38
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
4.6.5
Commissioning
Parameterisation via EtherCAT in the Modular Device Profile (MDP)
Parameterisation of the connected modules
The parameters of the individual modules are available as objects. In contrast to the CPX-FB38 mode,
the parameters in the MDP can be accessed individually and are represented accordingly.
The parameters (objects) can be set, for example, with TwinCAT 3.x under the tab “CoE-Online”
( Fig. 4.8).
In the CPX system description and the descriptions for the I/O modules you will find:
– an explanation of the individual parameters
– the range of values of the individual parameters.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
39
4
Commissioning
Example: Parameterisation of an I/O module
Parameters (objects) of the multi I/O module CPX-8DE-8DA
– Monitoring short circuit/overload of sensor supply: On (TRUE)
– Monitoring short circuit/overload of outputs: On (TRUE)
– Monitoring undervoltage of outputs on: (TRUE)
– USEN after short circuit/overload of sensor supply: (Switch on again)
– UOUT after short circuit/overload of outputs: (Leave switched off )
– Debounce time: 3 ms
– Signal extension time: 15 ms
– Inputs CH0-Ch3: With signal extension (TRUE)
– Inputs Ch4-Ch7: Without signal extension (FALSE)
Fig. 4.8
40
Example: Objects of the I/O module CPX-8DE-8DA
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
4.7
Remarks on parameters of the CPX system settings
4.7.1
Sequence of start parameterisation during switch-on (system start)
The parameterisation during system start of the CPX terminal is dependent on the setting of the system
start parameter stored in the bus node.
System start with default parameters
– System start with default parameterisation (factory setting) and current CPX expansion
– External parameterisation possible
System start with saved parameters
– System start with saved parameterisation and saved CPX expansion
– Parameters and CPX expansion are saved remanently
– External parameterisation is blocked
– LED “M” on the CPX bus node illuminates
Fig. 4.9
Setting system start parameters (TwinCAT 3.x)
Festo – P.BE-CPX-FB37-EN – 1406NH – English
41
4
Commissioning
In the Festo Maintenance Tool, you will find the corresponding setting under:
CPX “System Settings” Tab “System Parameters” “System start”.
Fig. 4.10 Setting system start parameters (FMT)
Note
Loss of settings
If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal
is saved locally in the bus node. In this case, parameterisation is lost if the bus node is
replaced.
• Save the required settings before replacing the bus node and restore the settings
after replacement.
4.7.2
Parameterisation of the fail-safe mode
This operating mode defines the status which digital output signals (outputs and valves) are to assume
in the event of field bus communication faults.
You can determine the status to be assumed for each output channel (output or solenoid coil or valve)
separately. The standard setting is “Reset of the output channel”.
Without parameterisation of the output channels, the following communication condition applies:
– Input signals are transferred
– Output signals are reset (factory setting); note that the analogue value 0 is set for analogue outputs.
If necessary, parameterise the required status of individual or all output channels (outputs or solenoid
coils).
42
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Example: Parameterisation of the fail-safe mode with TwinCat 3.x
Fig. 4.11 Parameterisation of the fail-safe mode for all outputs (output signals are reset)
Additional information can be found in the CPX system description (P.BE-CPX-SYS…).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
43
4
4.8
Commissioning
Web server
A web server is integrated in the bus node. The web server makes available the most important parameters and diagnostic functions.
4.8.1
Configuration
In order to access the web server of the bus node, the network settings must be configured.
Example
– A PC is connected (via a server) to the EtherCAT control system via Ethernet.
– The EtherCAT control system has a second Ethernet port that is activated for EtherCAT communication. The CPX terminal is connected to this Ethernet port via the bus node.
Procedure
1. Specify a fixed IP address on the PC:
Fig. 4.12 Specifying a fixed IP address on the PC
44
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
2. Specify a fixed IP address on the EtherCAT control system using network adapter 1 (connection to
the PC).
Fig. 4.13 Specifying a fixed IP address on network adapter 1 of the control system
Festo – P.BE-CPX-FB37-EN – 1406NH – English
45
4
Commissioning
3. Specify a fixed IP address and subnet mask on the EtherCAT control system using network adapter 2
(connection to the bus node).
Fig. 4.14 Specifying a fixed IP address and subnet mask on network adapter 2 of the control system
46
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
4. Enable EoE communication and the IP routing function on the EtherCAT control system.
Fig. 4.15 Settings under “EtherCAT” “Advanced Settings” “EoE-Support” (TwinCAT 3.x)
5. Assign the bus node IP address and subnet mask. The subnetwork of the bus node must match the
subnetwork of network adapter 2 used by the control system (same subnet ID).
Fig. 4.16 Settings under “EtherCAT” “Advanced Settings” “Mailbox” “EoE” (TwinCAT 3.x)
Festo – P.BE-CPX-FB37-EN – 1406NH – English
47
4
Commissioning
To enable the bus node to be reached via the PC, the routing settings need to be added.
6. Start the Windows program “cmd.exe” on the PC.
7. Enter the following information: “route add 172.16.0.0 mask 255.255.0.0 192.168.2.10”.
Fig. 4.17 Adding routing settings
8. Open an Internet browser of your choice on the PC.
9. In the address bar of the Internet browser enter the assigned IP address of the bus node as follows:
http://172.16.1.100.
48
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Fig. 4.18 Web server of the bus node
Festo – P.BE-CPX-FB37-EN – 1406NH – English
49
4
4.9
Commissioning
Firmware update/restoring the firmware
4.9.1
Updating the firmware via FoE (File Access over EtherCAT)
The bus node supports FoE. It is possible to load the firmware onto the module via the EtherCAT master
(provided that it supports this function).
The current firmware version can be found on the Festo website
( www.festo.com/sp).
Note
Loss of function of the device
If the supply voltage fails while the firmware is being written, it will result in a loss of
function of the bus node.
• Do not interrupt the firmware download and writing process under any circumstances.
When using the TwinCAT 3.x configuration software proceed as follows:
1. Copy the new firmware into a directory.
2. Switch the bus node to the status BOOTSTRAP.
The “RUN” LED on the bus node flickers; the “Current State” in the TwinCAT 3.x configuration
program changes to “BOOT”.
Fig. 4.19 Activating BOOTSTRAP
50
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
3. Load the new firmware from the directory (click the “Download...” button).
Fig. 4.20 Downloading the firmware
The firmware version is displayed:
Fig. 4.21 Display of the firmware version
4. Confirm by pressing “OK”.
After downloading the firmware the bus node restarts automatically and switches to the status
OPERATIONAL (OP). The “RUN” LED illuminates permanently.
Note
In the event of a firmware update in the Remote Controller (RC) mode, the CPX terminal
switches to an unsafe status.
After the automatic restart of the bus node it is no longer recognised by the CPX-FEC or
CPX-CEC.
• Switch off the power supply to the CPX terminal briefly and then switch it on again
(cold start).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
51
4
Commissioning
4.9.2
Restoring the firmware with the Festo Field Device Tool (FFT)
The Festo Field Device Tool enables you to restore the operational capability of the bus node (e.g. after
a failed firmware update via FoE).
The FFT software can be found on the Festo website ( www.festo.com/sp).
Install the FFT software on a PC or notebook.
1. Disconnect the power supply of the CPX terminal and, if relevant, the compressed air supply.
2. Remove the bus node from the EtherCAT network.
3. Connect your PC directly to the bus node via the network connection.
4. Set both switching elements on DIL switch 2 of the bus node to ON ( Section 3.2).
5. Start the “Recovery” function in the FFT under the “Actions” tab and select the corresponding command in the “General” group of instructions.
Fig. 4.22 Selection of the bus node
6. Click the bus node CPX-FB37 in the selection list.
The following message appears:
52
Festo – P.BE-CPX-FB37-EN – 1406NH – English
4
Commissioning
Fig. 4.23 FFT message
7. Confirm the message by pressing “OK”.
8. Switch on the power supply for the bus node.
The bus node switches to the status “Bootloader mode”.
9. Follow the instructions of the software.
Further information can be found in the online help of the Festo Field Device Tool (FFT).
4.10
Checklist for commissioning a CPX terminal
• Please observe the general commissioning instructions in the CPX system description.
• Check the DIL switch settings and the network configuration before using and replacing CPX terminals.
• Check the configured address range. If necessary, test the I/Os.
• Check the address assignment of the I/Os on the CPX terminal. For this purpose you can, if necessary, force the I/Os ( CPX system description).
• Make sure that the desired parameterisation of the CPX terminal in the commissioning phase or
after network interruptions is restored by the higher-order controller. This ensures that if the CPX
terminal is replaced, the new terminal will also be operated with the desired parameter settings.
• Use spot checks if necessary to check the parameterisation, either with a configuration program
(e.g. TwinCAT), the Festo Maintenance Tool (FMT) or an operator unit (CPX-MMI).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
53
4
4.11
Commissioning
Replacing the bus node
When replacing a bus node with the setting “System start with saved parameterisation
and saved CPX expansion”, the parameterisation of the CPX terminal is not restored automatically by the higher-order controller.
1. Before replacing the bus node save the parameterisation of the CPX terminal in a CPX-FMT file.
2. After replacing the bus node transfer the parameterisation to the new bus node. Use the command
“Load settings…” in the CPX menu.
3. Enable all settings in the “Load” window and start the transfer to the bus node by pressing “OK”.
54
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
5
Diagnostics
5.1
Summary of diagnostics options
The CPX terminal provides comprehensive and user-friendly options for diagnostics and error handling.
The following options are available, depending on the configuration:
Diagnostics op- Brief description
tion
Benefits
Detailed description
LED display
Fast “on-site” error
detection
Section 5.2
Fast access to error
messages, irrespective of
the module and master.
Section 5.3
Detailed error recognition;
the diagnostic data can be
processed further, e.g.
with a PLC user program.
Section 5.4
Detailed error detection
Section 5.5
Fast “on-site” error
detection
Operator unit
description
(P.BE-CPX-MMI-1-…)
Fast “on-the-spot” error
detection
Online help for the
CPX-FMT
Status bits
I/O diagnostics
interface
Diagnostics via
EtherCAT
Diagnostics via
the operator
unit CPX-MMI
Diagnostics via
the Festo
Maintenance
Tool (CPX-FMT)
Tab. 5.1
The LEDs directly display
hardware faults, configuration
errors, bus errors, etc.
Internal inputs, which supply
coded common diagnostic
messages; the 8 status bits
are cyclically transmitted to
the controller as “inputs” with
the normal inputs.
Bus-independent diagnostic
interface at I/O level which
enables access to the internal
data of the CPX terminal; for
this function, 16 inputs and 16
outputs (2 byte) are available.
Diagnostics via
– SDO access
– Diagnostics history
– Emergency message
Diagnostic information can be
displayed with the operator
unit CPX-MMI in a convenient
and menu-driven manner.
The CPX-FMT offers the option
to display diagnostic
information at a PC.
Diagnostics options
Note that the diagnostic information is dependent on the DIL switch settings on the bus
node, ( Section 3.2) as well as on the parameterisation of the CPX terminal.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
55
5
Diagnostics
5.2
Diagnostics via LEDs
LEDs for the diagnostics of the CPX terminal are available on the bus node as well as on the individual
modules.
The meaning of the LEDs on the electric modules can be found in the description for the
relevant module.
5.2.1
LEDs at the bus node CPX-FB37
1 CPX-specific LEDs
PS:
Power system
PL:
Power Load
SF:
System Failure
M:
Modify
Fig. 5.1
56
Run
PS
Error
PL
LA X1
SF
LA X2
M
Run
PS
Error
PL
LA X1
SF
LA X2
M
1
2
2 EtherCAT-specific LEDs
Run:
EtherCAT operating status
Error: EtherCAT error
LA X1: Connection status (link activity)
LA X2: Connection status (link activity)
X1 In
X2 Out
LEDs
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
In this chapter the LEDs are depicted in their various states as follows:
illuminated,
5.2.2
flashes or flickers,
off
Normal operating status
LED display in normal operating status
Run
PS
Error
PL
LA X1
SF
LA X2
M
The following green LEDs illuminate:
– Run
– PS
– PL
The following green LEDs illuminate or flicker if a network cable is
connected:
– LA X11)
– LA X21)
The following red LEDs do not illuminate:
– Error
– SF
The yellow LED is illuminated, flashes or is dark:
– M2)
1)
Continuous light: Connection is active; flickering: Data transmission is running
2)
Dependent on the configuration
Tab. 5.2
LED display in normal operating status
Festo – P.BE-CPX-FB37-EN – 1406NH – English
57
5
Diagnostics
5.2.3
CPX-specific LEDs
PS (power system) – power sensor/logic supply
LED (geen)
Sequence
Status
ON
OFF
LED illuminated
ON
OFF
LED flashes
ON
OFF
ON
OFF
LED not illuminated
Tab. 5.3
Significance / error handling
No error, operating
voltage/sensor supply
applied
—
Operating voltage/sensor
supply outside the
tolerance range
Internal fuse for the
operating voltage/sensor
supply has responded
• Eliminate undervoltage
The operating
voltage/sensor supply is
not applied
• Check the operating voltage connection of the electronics
1. Eliminate short circuit/overload
2. Depending on the
parameterisation:
– The sensor supply voltage will
be switched on again
automatically after the short
circuit has been eliminated
(factory setting)
– Power OFF/ON required
LED display “PS”
PL (power load) – power load supply (outputs/valves)
LED (geen)
Sequence
Status
Significance / error handling
ON
OFF
No error, load voltage
applied
—
ON
OFF
Load voltage outside
tolerance range
• Eliminate undervoltage
LED illuminated
LED flashes
Tab. 5.4
58
LED display “PL”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
SF (system failure) – system fault
LED (red)
Sequence1)
Status
Significance / error handling
ON
OFF
No error
—
ON
Minor error or information
(error class 1)
Description of error numbers in the
CPX system description
(P.BE-CPX-SYS…)
LED
not illuminated
OFF
LED flashes 1 ×
Error
(error class 2)
ON
OFF
LED flashes 2 ×
Serious error
(error class 3)
ON
OFF
LED flashes 3 ×
1)
The “SF” LED flashes depending on the error class.
Error class 1 (minor error):
1 x flash, pause time
Error class 2 (error):
2 x flashes, pause time
Error class 3 (serious error): 3 x flashes, pause time
Tab. 5.5
LED display “SF”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
59
5
Diagnostics
M (modify) – parameterisation, forcing
LED (yellow)
Sequence
Status
ON
OFF
LED
not illuminated
ON
OFF
LED illuminated
ON
OFF
Significance / error handling
“System start with default
parametrisation and
current CPX expansion” is
set (factory setting);
external parameterisation
is possible
“System start with saved
parameterisation and
saved CPX expansion” is
set; parameters and CPX
expansion are saved
remanently; external
parameterisation is
blocked1)
—
Force is active1)
The Force function is enabled ( CPX
system descriptionP.BE-CPX-SYS…).
Caution when replacing bus nodes
with saved parametrisation:
When using these bus nodes,
parameterisation of the CPX terminal
is not automatically restored by the
higher-order controller during
replacement.
• Save the required settings before
replacing the bus node and restore
the settings after replacement.
LED flashes
1)
The display of the Force function (LED flashes) has priority over the display of the setting for the system start (LED lights up).
Tab. 5.6
60
LED display “M”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
5.2.4
EtherCAT-specific LEDs
Run – EtherCAT operating status (communication status)
LED (green)
Sequence
Status
Significance / error handling
ON
OFF
Init
Bus node is in the Init status (normal
state after switch-on or after a restart
or reboot).
ON
Bootstrap
Bus node is in the correct status to
receive a firmware update.
LED
not illuminated
OFF
LED flickers
ON
OFF
Pre-operational
ON
Safe-operational
LED flashes
OFF
LED
flashes 1 ×1)
ON
Operational
OFF
A firmware update is received.
Bus node is in the Pre-operational
status (configuration of the EtherCAT
network).
Bus node is in the safe-operational
status (e.g. due to a network fault).
Only the input signals (e.g. sensor
data) are updated. Outputs and valves
remain in the current state (signal is
“frozen”).
Bus node is in the Operational status
(normal operating status).
LED illuminated
1)
A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.
Tab. 5.7
LED display “Run”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
61
5
Diagnostics
Error – EtherCAT error (communication error)
LED (red)
Sequence
Status
LED
not illuminated
Significance / error handling
ON
OFF
No error
EtherCAT communication of the bus
node is in a normal operating status.
ON
OFF
Application controller
failure
ON
OFF
Configuration error (invalid
configuration)
Serious communication fault
Possible causes:
– Application controller does not
respond
– Watchdog timeout through ESC
• Contact Festo.
• Check:
– the network connection
(interrupted, short-circuited or
disturbed network connection)
– the configuration, in particular
the physical and logical
position and addressing of the
bus node.
LED illuminated
LED flashes
No connection to EtherCAT
network
Possible causes:
– Cable/connection
disconnected
(interrupted)
– Device has no
connection to the
EtherCAT master (for
control)
– Master is not active
EtherCAT status change
due to an error
(Unsolicited state change)
The bus node changes its EtherCAT
status due to a synchronisation error
(Status change from Operational to
Safe-operational).
OFF
Application watchdog
timeout
Watchdog timeout through the sync
manager
ON
Reserved
–
Booting error
Error (checksum) in the application
controller flash memory
ON
OFF
LED
flashes 1 ×1)
ON
LED
flashes 2 ×2)
OFF
LED
flashes 3 ×3)
ON
OFF
LED flickers
1)
A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.
2)
Two brief flashes (2 x flashes, pause, 2 x flashes, etc.) is designated a double flash.
3)
Three brief flashes (3 x flashes, pause, 3 x flashes, etc.) is designated a triple flash.
Tab. 5.8
62
LED display “Error”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
LA X1, LA X2 – Connection status (link activity) X1 In/X2 Out
LED (green)
Sequence
Status
Significance / error handling
ON
OFF
No physical network
connection
• Check network connection /
network cable
ON
Network connection OK
—
Flickering: Data transmission
is running (traffic)
—
LED
not illuminated
OFF
LED illuminated
ON
OFF
LED flickers1)
1)
Rapid flickering gives an impression the LED is illuminated; the intensity of the light depends on the data traffic
Tab. 5.9
LED display “LA X1” and “LA X2”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
63
5
5.3
Diagnostics
Diagnostics via status bits
The CPX terminal provides 8 status bits if this function is activated using DIL switches
( Section 3.2.6).
The status bits are used for displaying common diagnostic messages (“global” error messages). Status
bits are configured like inputs. If the status bits function is activated, 16 inputs are occupied in the
address range (8 inputs or 8 bits remain unused); ( Tab. 3.3).
Note the instructions on addressing and configuration in the sections 4.3 and 4.5.
The following table provides an overview of the available diagnostic information.
Bit
Diagnostic information with logic 1
Description
0
1
2
3
4
5
6
7
Error on valve or pneumatic module
Error on output module
Error on input module
Error on analogue module or technology module
Undervoltage
Short circuit/overload
Wire break
Other errors
Module type in which an error has occurred
Error type
Tab. 5.10 Overview of diagnostic information: Status bits of the CPX bus node (optional)
If all status bits supply a 0-signal, no fault will be registered . If, in contrast, a status bit supplies a 1 -signal,
there is a fault.
If various faults occur simultaneously on various types of modules, these faults cannot be assigned via
the status bits. In contrast, faults can be uniquely determined via the I/O diagnostics interface.
Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can
be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the
EtherCAT network.
Further notes on the function and content of the status bits can be found in the CPX system description (P.BE-CPX-SYS…) in the section “Diagnostics and error handling”.
64
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
5.4
Diagnostics
Diagnostics via the I/O diagnostic interface (STI)
The CPX terminal provides a bi-directional 16 bit I/O diagnostic interface (System Table Interface, STI) if
this function is activated using DIL switches ( Section 3.2.6).
Detailed diagnostic information can be accessed via the I/O diagnostic interface. You can ascertain this
exactly, e.g. by noting on which module and channel a fault has occurred. System diagnostics are retrieved by means of 16 input bits and 16 output bits, through which all diagnostics data can be read.
If the I/O diagnostic interface is active, it will occupy 16 inputs and outputs in the address range
( Tab. 3.3).
Note the instructions on addressing and configuration in the sections 4.3 and 4.5.
The following table provides an overview of the available diagnostic information.
Diagnostic data
Contents/description
Global diagnostic data
Module diagnostics data
Status of diagnostic memory
–
–
–
–
–
–
Diagnostic memory data
General overview of errors
Detail diagnostics per module
Number of entries in the diagnostic memory
Operating mode
Long-term memory
Detail diagnostics + relative time stamp per error event
Tab. 5.11 Overview of diagnostics data I/O diagnostic interface (optional)
Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can
be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the EtherCAT network.
Additional information about the I/O diagnostics interface (diagnostic information, function numbers) can be found in the CPX system description (P.BE-CPX-SYS…) in the section
“Diagnostics and error handling”.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
65
5
Diagnostics
5.5
Diagnostics via EtherCAT
5.5.1
Basic information
Availability of diagnostic information via the EtherCAT network
– Note that the diagnostic information shown depends on the settings ( Section 3.2.6)
and the parameterisation ( Section 4.6) of the CPX terminal ( Section 5.1).
– Activate the I/O diagnostics interface to ensure that error messages of the CPX
terminal are automatically displayed in the EtherCAT configuration software,
e.g. Beckhoff TwinCAT.
5.5.2
Diagnostics via SDO access
The higher-order controller can request diagnostic information from the bus node via SDO access. The
corresponding objects can be found in the object directory in section A.2.
5.5.3
Diagnostics via diagnostics history
The 20 most recent diagnostics messages can be called up with the help of the diagnostics object
0x10F3. For every event stored in the device (warning, error, information), an error message referenced
with a code is displayed. Diagnostics messages are decoded via the ESI file and can be read e.g. by the
TwinCAT system manager. The following table shows the structure of the diagnostics object 0x10F3.
The following abbreviations are used:
RO
RW
RO P
=
=
=
read only
read/write
read only (PDO mappable)
Index
(hex.)
Subindex
Description
Type
0x10F3
0
1
2
3
Diagnostics history
Maximum messages
Newest message
Newest acknowledged
message
New message available
Flags
Sub-index 006 … 026
U8
U8
U8
U8
4
5
6 … 26
BOOL
U16
BYTE [23]
Values
20
0x0000
Access
RO
RO
RO
RW
RO P
RW
RO
Tab. 5.12 Structure of the diagnostics object
66
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
Diagnostics message
The diagnostics message of the bus node is stored in the diagnostics history.
1
1
Values of the diagnostics message
Fig. 5.2
Diagnostics message
The following table provides a brief description of the individual values of the diagnostics message 1
from Fig. 5.2.
Value (hex)
Designation
according to
ETG.1020
Explanation
02 00 00 E1
Diag Code
02 02
Flags
02 37
Text-ID
1F C5 9D61 31 00 00 00
Time Stamp
05 00
02
Flags Parameter 1
Parameter 1
05 00
80
Flags Parameter 2
Parameter 2
CPX error number 2 (short circuit)
E1=CPX error number ( CPX system description)
E8=Error code according to DS401
Number of parameters in the diagnostics message (2)
and diagnostics type 2 (error message)
Reference to the ESI file with the plain text of the
diagnostics message (<TextId>#x3702)
Local time stamp (time since the start of the bus
node)
Type of parameter 1 (UNSIGNED8)
CPX module number 2 (in TwinCAT 3.x corresponds to
module 3)
Type of parameter 2 (UNSIGNED8)
Channel 80h (channel 128 decimal)
Tab. 5.13 Values of the diagnostics message
Festo – P.BE-CPX-FB37-EN – 1406NH – English
67
5
Diagnostics
Text ID 3700h to 37FFh corresponds to the CPX error numbers (0 to 255).
Additional information can be found in the CPX system description in the chapter
“Diagnostics and error handling”.
In addition to the CPX-specific text IDs, there are also EtherCAT-specific text IDs in the ESI file.
Text ID
(hex)
Plain text (German)
Plain text (English)
3800
3801
Modulidentifikation fehlgeschlagen
Modulidentifikation-Überprüfung nicht
durchgeführt - Steuerung hat Objekt
0xF030 nicht geschrieben
Berechnung Buszykluszeit fehlgeschlagen
(lokaler Timer zu langsam)
Sync Manager ungültige Adresse
Sync Manager ungültige E/A Größe
Sync Manager ungültige Konfiguration
Ident check failed for configured module
Ident check skiped - PLC has not written to
Object 0xF030
000F
0011
0012
0013
Calculate bus cycle time failed (Local timer
too slow)
Sync Manager invalid address
Sync Manager invalid size
Sync Manager invalid settings
Tab. 5.14 EtherCAT-specific text IDs in the ESI file
The diagnostics messages with their text ID and plain text can be found in the TwinCAT 3.x configuration
software under the tab “Diag History”.
Fig. 5.3
Diag History in TwinCAT 3.x
Diagnostics messages are written to a data buffer (20 bytes). Two operating modes are available for
handling diagnostics messages:
Overwrite mode
When the number of diagnostics messages reaches 20, the oldest diagnostics messages are overwritten.
Acknowledge mode
An existing diagnostics message must first be acknowledged before it can be overwritten with a new
diagnostics message. If the number of unconfirmed diagnostics messages reaches 20, subsequent
diagnostics messages will not be saved and will be lost.
68
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
Specifying the operating mode of the diagnostics message
The operating mode of the diagnostics message can be read and written in Index 0x10F3, Subindex 5,
Bit 4.
Value of bit 4
Operating mode
0
1
Overwrite mode
Acknowledge mode
Tab. 5.15 Specifying the operating mode
Fig. 5.4
Example: Specifying the operating mode in TwinCAT 3.x
Festo – P.BE-CPX-FB37-EN – 1406NH – English
69
5
Diagnostics
Mapping the message “New Message Available”
To simplify the diagnostic evaluation, the bus node offers the option of signaling the existence of a new
diagnostic message via process data. The object “New Message Available” can be optionally mapped
to the process data here. The object can be activated in the PDO Assignment of the inputs.
Fig. 5.5
70
Mapping “New Message Available”
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
After activation, the object will be available in the “Diag History”.
Fig. 5.6
New message available
Disabling the emergency message
The emergency message ( Section 5.5.4) can be disabled via the diagnostic object
10F3:05 ( Tab. 5.12).
• Set bit 0 to the value 0.
In TwinCAT 3.x you can disable the emergency message under the tab “Diag History” ( Fig. 5.7).
Festo – P.BE-CPX-FB37-EN – 1406NH – English
71
5
Diagnostics
Fig. 5.7
72
Disabling the emergency message in TwinCAT 3.x
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
5.5.4
Die Emergency Message
If there is an error, the CPX terminal will transmit an Emergency Message, which consists of the following:
–
–
–
Byte 0, 1:
Byte 2:
Byte 3 … 7:
Byte 0
Byte 1
Error code
Error Code in accordance with DS301/DS401
Error Register (Index 1001)
Manufacturer Specific Error Field (contains device-typical error messages).
Bytes 3 … 6 form the manufacturer status register (index 1002).
Byte 2
Byte 3
Error
register
Index 1001
Status bits
Byte 4
Byte 5
Byte 6
CPX
CPX error
reserved
module no. no.
Index 1002 (manufacturer status register)
Byte 7
additional
error inf.
Tab. 5.16 Composition of the emergency message (additional information in Tab. 5.17 … Tab. 5.22)
Composition of the emergency message – error code (byte 1, byte 0)
Byte 1
Byte 0
Explanation
00
10
23
23
31
33
50
00
00
20
30
20
20
00
No error
General error
Short circuit at outputs
Load dump (wire break)
Input voltage too low
Output voltage too low
Hardware error (all errors > 128)
Tab. 5.17 Error code
Festo – P.BE-CPX-FB37-EN – 1406NH – English
73
5
Diagnostics
Composition of the emergency message – error register (byte 2)
Bit1)
Meaning
Explanation
0
1
Generic error
Current
2
Voltage
3
4
5…6
7
—
Communication error
—
Manufacturer specific
Bit is set for each error
– Short circuit/overload in sensor supply
– Short circuit/overload at the outputs
– UOUT (undervoltage of outputs)
– UVAL (undervoltage of valves)
– Failure of load voltage at CPX output module or
input module
—
Node guard, heartbeat, fieldbus-specific only
—
– Wire break
– other error
1)
Bold = Bit is used by CPX terminal
Tab. 5.18 Error register (index 1001 with bit assignment according to DS301/401)
Further diagnostic information is provided by the CPX terminal in bytes 3 … 6 of the emergency object
(manufacturer status register, index 1002).
Composition of the emergency message – status bits (byte 3)
Bit
Meaning
Explanation
0
1
2
3
Error at valve
Error at output
Error at input
Error on analogue
module/function module
Undervoltage
Short circuit/overload
Wire break
other error
Module type in which an error has occurred
4
5
6
7
Error type
Tab. 5.19 Manufacturer status register – status bits
Composition of the emergency message – CPX module number (byte 4)
Bit
Meaning
Explanation
0…7
CPX module number
Number of the module with diagnostic message
Tab. 5.20 Manufacturer status register – CPX module number
74
Festo – P.BE-CPX-FB37-EN – 1406NH – English
5
Diagnostics
Composition of the emergency message – CPX error number (byte 5)
Bit
Meaning
Explanation
0…7
CPX error number
CPX error number ( CPX system description in
chapter “Diagnostics and error handling”.)
Tab. 5.21 Manufacturer status register – CPX error number
Composition of the emergency message – additional error information (byte 7)
Bit
Meaning
Explanation
0…7
Additional information on the
fault
e.g.
– Node ID with Heart Beat error (which slave has
caused the Time out?)
– Channel number of the first channel with fault
Tab. 5.22 Manufacturer status register – CPX error number (byte 7)
5.5.5
Error characteristics (fail-safe mode)
The reaction of the CPX terminal to the following malfunctions is dependent on the parameterised failsafe setting and the (configured) reaction of the controller, i.e. of the PLC, the IPC or the user program:
– Stop of the controller (of the master)
– Network interruption
– Telegram failure
Depending on the parameterisation, the outputs (valves and electrical outputs) will be:
– switched off (output signal reset, in the case of analogue outputs to 0; factory setting)
– switched on (output signal set, in the case of analogue outputs to the parameterised value)
– kept in the same state (“freezing” of output signal)
Additional information about the fail-safe setting can be found in section 4.7.2 and the
CPX system description (P.BE-CPX-SYS-...).
You can define two types of error reaction for the controller (or the application program):
– Hard error reaction:
The controller switches to the “STOP” or pre-operational mode if an error occurs.
– Soft error reaction:
The controller remains in the “RUN” or safe-operational (or, if relevant, the operational) mode if an
error occurs.
Festo – P.BE-CPX-FB37-EN – 1406NH – English
75
5
Diagnostics
Warning
Accidental activation of actuators!
An incorrect status of the valves and outputs can lead to dangerous situations!
• Make sure that valves and outputs are put into a safe state when malfunctions occur.
• Check within the framework of your EMERGENCY OFF concept and the fail-safe setting to ascertain the measures necessary for putting your machine or system into a
safe state.
Note
Take into account valve behaviour as part of the EMERGENCY OFF concept or of the
fail-safe setting!
If the outputs are reset when the controller stops or in case of network interruption,
telegram failure or a terminal malfunction, the valves will behave as follows:
– Monostable valves will move to their normal position
– Bistable valves remain in the current position
– Mid-position valves will move to their neutral position (pressurised, exhausted or
closed, depending on valve type)
5.5.6
Error types
A list of all error types as well as additional diagnostics information can be found in the CPX system
description (P.BE-CPX-SYS...).
76
Festo – P.BE-CPX-FB37-EN – 1406NH – English
A
Technical appendix
A
Technical appendix
A.1
Technical data
General
General technical data
Degree of protection through housing1)
in accordance with IEC/EN 60529, completely
mounted, plug connector inserted or provided with
cover cap
Protection against electric shock
Protection against direct and indirect contact as
per IEC/DIN 60204-1
Module code (CPX-specific)
– Remote I/O
– Remote controller
Module code (in operator unit MMI)
– Remote I/O
– Remote controller
1)
CPX system description P.BE-CPX-SYS-...
IP65/IP67
through the use of PELV circuits
(Protected Extra Low Voltage)
224/2
171/2
FB37-RIO EtherCAT remote I/O
FB37-RC EtherCAT remote controller
Note that connected devices might only satisfy a lower degree of protection, a smaller temperature range, etc.
Tab. A.1
Technical data, general
Power supply
Bus node intrinsic current consumption
from operating voltage supply for electronics/
sensors (UEL/SEN)
Separation
EtherCAT interfaces for UEL/SEN
Tab. A.2
typically 100 mA at 24 V (internal electronics)
galvanically separated
Technical data: Voltage supply
Festo – P.BE-CPX-FB37-EN – 1406NH – English
77
A
Technical appendix
Communication
Fieldbus protocol
EtherCAT, based on the Ethernet protocol
(IEEE 802.3), optimised for process data,
real-time capable
Standards and norms containing reference to
EtherCAT:
– IEC 61158
– IEC 61784
– IEC 61918
– ISO/IEC 8802-3
Specification
Transmission rate
Additional information:
http://www.ethercat.org
100 MBit/s
Cross-over detection
Auto-MDIX
Tab. A.3
Technical data: Voltage supply
A.2
Object directories
The following tables list the objects of the communication profile (CoE communication protocol). These
objects are described in the EtherCAT configuration file (ESI file). The following abbreviations are used:
RO
RO P
RW
RW P
A.2.1
=
=
=
=
read only
read only (PDO mappable)
read/write
read/write (PDO mappable)
Object directory CPX-FB37 mode (Modular Device Profile)
Index
(hex)
Subindex
Name
Data
type
Default value
Access
0x1000
0
Device type
U32
0x04561389
RO
0x1001
0
Error register
U8
0x1008
0
Device name
String
0x1009
0
Hardware version
String
0x100A
0
Software version
String
0x1018
0
Identify
U8
4
RO
1
Vendor ID
U32
0x0000001D
RO
2
Product code
U32
RO
3
Revision
U32
RO
4
Serial number
U32
RO
78
RO
CPX-FB37
RO
RO
RO
Festo – P.BE-CPX-FB37-EN – 1406NH – English
A
Technical appendix
Index
(hex)
Subindex
Name
Data
type
Default value
Access
0x10F1
0
Error settings
U8
2
RO
1
Local error reaction
U32
RO
2
Sync error counter limit
U32
RO
0
Diagnostics history
U8
1
Maximum messages
U8
2
Newest message
U8
RO
3
Newest acknowledged message
U8
RW
4
New message available
BOOL
5
Flags
U16
6 … 26
Subindex 006 —026
BYTE[23]
0
Module xx —RxPDO
U8
yy
RO
yy
Output mapping yy
U32
0x70xx:yy,s
RW
0
Module xx —TxPDO
U8
yy
RO
yy
Input mapping yy
U32
0x60xx:yy,s
RW
0
Diag History —TxPDO
U8
1
RO
1
Input mapping 01
U32
0x10F3:00,1
RW
0
Module parameter —module xx
U8
xy
RO
yy
Parameter yy
?
0
Fail-safe values —module xx
U8
yy
Channel yy
?
0
Global CPX settings
U8
8
RO
1
Filter alarm Vout/Vsen
U8
0x00
RW
2
Monitor SCS
BOOL
TRUE
RW
3
Monitor SCO
BOOL
TRUE
RW
4
Monitor Vout
BOOL
TRUE
RW
5
Monitor Vven
BOOL
TRUE
RW
6
Monitor SCV
BOOL
TRUE
RW
7
Fail safe
U8
0x00
RW
8
System start
U8
0x00
RW
0
Generic terminal information
U8
3
RO
1
Modules count
U8
xx
RO
2
Input length
U8
xx
RO
3
Output length
U8
xx
RO
0x5001
0
Build hash
STRING
RO
0x5002
0
Unique ID
STRING
RO
0x10F3
0x16xx
0x1Axx
0x1A40
0x20xx
0x21xx
0x2400
0x5000
Festo – P.BE-CPX-FB37-EN – 1406NH – English
RO
20
RO
RO P
0x0000
RW
RO
depends
on parameter
xy
RO
RW
79
A
Technical appendix
Index
(hex)
Subindex
Name
Data
type
Default value
Access
0x60xx
0
Module inputs
U8
xx
RO
yy
Input yy
?
0
Module outputs
U8
yy
Output yy
?
0
Modular Device Profile
U8
2
RO
1
Index distance
U8
1
RO
2
Maximum number of modules
U16
48
RO
0
Detected module list
U16
0 … 48
RO
1
Subindex 001
U32
RO
…
Subindex ….
U32
RO
48
Subindex 048
U32
RO
0x70xx
0xF000
0xF050
RO P
xx
RO
RW P
Tab. A.4 Object directory FB37 mode
80
Festo – P.BE-CPX-FB37-EN – 1406NH – English
A
Technical appendix
A.2.2
Object directory CPX-FB38 mode (fixed I/O size)
Index
(hex)
Subindex
Name
Data type
Default value
Access
0x1000
0
Device type
U32
0x04561389
RO
0x1001
0
Error register
U8
0x1008
0
Device name
String
0x1009
0
Hardware version
String
0x100A
0
Software version
String
R9
RO
0x1018
0
Identify
U8
4
RO
1
Vendor ID
U32
0x0000001D
RO
2
Product code
U32
0x00000026 (38)
RO
3
Revision
U32
0x00000009
RO
4
Serial number
U32
0
Error settings
U8
1
Local error reaction
U32
RO
2
Sync error counter limit
U32
RO
0
Diagnostics history
U8
1
Maximum messages
U8
2
Newest message
U8
RO
3
Newest acknowledged message
U8
RW
4
New message available
BOOL
5
Flags
U16
6 … 26
Subindex 006 … 026
BYTE[23]
0
Outputs - RxPDO
U8
64
RO
1
Output mapping 1
U32
0x3001:00,08
RO
…
Output mapping …
U32
0x3001:…,08
RO
64
Output mapping 64
U32
0x3001:3F,08
RO
0
Inputs - TxPDO
U8
64
RO
1
Input mapping 1
U32
0x3101:00,08
RO
…
Input mapping …
U32
0x3101:…,08
RO
64
Input mapping 64
U32
0x3101:3F,08
RO
0
DO outputs
U8
64
RO
1
QB 0
U8
RO P
…
QB …
U8
RO P
64
QB 63
U8
0
DI inputs
U8
1
IB 0
U8
RO P
…
IB …
U8
RO P
64
IB 63
U8
RO P
0x10F1
0x10F3
0x1600
0x1A00
0x3001
0x3101
Festo – P.BE-CPX-FB37-EN – 1406NH – English
RO
CPX-FB38
RO
RO
RO
2
RO
RO
20
RO
RO P
0x0000
RW
RO
RO P
64
RO
81
A
Technical appendix
Index
(hex)
Subindex
Name
Data type
Default value
Access
0x5000
0
Generic terminal information
U8
3
RO
1
Modules count
U8
xx
RO
2
Input length
U8
xx
RO
3
Output length
U8
xx
RO
0x5001
0
Build hash
STRING
0x5002
0
Unique ID
STRING
0x8000
0
Settings module 0
U8
1
Settings byte 0
U8
RW
…
Settings byte …
U8
RW
64
Settings byte 63
U8
RW
0
Settings module 19
U8
1
Settings byte 0
U8
RW
…
Settings byte …
U8
RW
64
Settings byte 63
U8
0
Global CPX settings
U8
8
RO
1
Filter alarm Vout/Vsen
U8
0x00
RW
2
Monitor SCS
BOOL
TRUE
RW
3
Monitor SCO
BOOL
TRUE
RW
4
Monitor Vout
BOOL
TRUE
RW
5
Monitor Vven
BOOL
TRUE
RW
6
Monitor SCV
BOOL
TRUE
RW
7
Fail safe
U8
0x00
RW
8
System start
U8
0x00
RW
0
Fail safe - output mask
U8
64
RO
1
Fail safe - output mask - byte 0
U8
RW
…
Fail safe - output mask - byte …
U8
RW
64
Fail safe - output mask - byte 63
U8
0
Fail safe - output
U8
1
Fail safe - output - byte 0
U8
RW
…
Fail safe - output - byte …
U8
RW
64
Fail safe - output - byte 63
U8
0
Global diagnosis
U8
1
Module number
U8
RO
2
CPX error number
U8
RO
RO
RO
64
RO
…
0x8013
0x8100
0x8200
0x8201
0xA000
Tab. A.5
82
64
RO
RW
RW
64
RO
RW
2
RO
Object directory FB38 mode
Festo – P.BE-CPX-FB37-EN – 1406NH – English
B
Glossary
B
Glossary
Term/abbreviation
Meaning
A0h
Bus node
Hexadecimal numbers are identified by a subscript “h”
Connects the CPX terminal to the fieldbus or network; it transmits control
signals to the connected CPX and pneumatic modules and monitors their
functional capability
CoDeSys controller, e.g. CPX−CEC/CPX−CEC..., applicable for configuration,
commissioning and programming of CPX terminals
Controller Development System
CANopen over EtherCAT (mailbox protocol)
Collective term for the electrical modules which can be integrated into a CPX
terminal ( Pneumatics module)
Modular terminal, available in different variants:
– CPX…:
Standard design with plastic linking
– CPX-M:
Standard design with metal linking
– CPX-L:
Standard design for control cabinet installation
– CPX-P:
Optimised for use in process automation
CEC
CODESYS
CoE
CPX module
CPX terminal
DIL switch
EoE
ESI
EtherCAT
FEC
FFT
Fieldbus
FMT
Miniature switches; dual-in-line switches usually consist of several switch
elements which can be used to implement settings
Ethernet over EtherCAT (mailbox protocol)
EtherCAT slave information
An industrial Ethernet based fieldbus system for data exchange between the
system controller (PLC/IPC), equipment controller (e.g. CPX-FEC) and field
devices (I/O devices) or drives; transmission of process data in data objects
(based on the CANopen fieldbus protocol); embedding of process data in
Ethernet frames (Frames) or datagrams (via UDP/IP); additional information:
www.ethercat.org
Front End Controller, e.g. CPX-FEC, can be used as:
– stand-alone system controller (PLC, stand alone operating mode)
– system controller (PLC, remote controller operating mode)
– fieldbus slave (remote I/O operating mode)
Festo Field Device Tool (software for service and commissioning)
The Festo Field Device Tool contains various services for all Ethernet-based
field devices from Festo. It supports, among other things, the loading of
firmware files to selected Festo devices.
Data bus, via which the control device (PLC or IPC) communicates with the
CPX terminal or other field devices
Festo Maintenance Tool (CPX-FMT); configuration and programming software
for CPX modules for commissioning and service purposes
Tab. B.1 Terms and abbreviations (part 1)
Festo – P.BE-CPX-FB37-EN – 1406NH – English
83
B
Glossary
Term/abbreviation
Significance
FoE
Function module
File Access over EtherCAT (mailbox protocol)
Collective term for modules with additional functions, e.g. CP-interface, Front
End Controller (CPX-FEC) and CoDeSys controller (CPX-CEC); function
modules are also known as technology modules
Input
Input and output
Collective term for CPX modules that provide analogue or digital inputs and
outputs
Industrial PC
Modular Device Profile, according to EtherCAT specification ETG.5001
Output
Handheld terminal (handheld, CPX-MMI) for CPX modules for commissioning
and service purposes (man-machine interface, MMI)
Programmable logic controller, also designated fieldbus master, system
controller or higher-order controller ( Also PLC)
Programmable Logic Controller (German: Speicherprogrammierbare
Steuerung (SPS))
Interface between CPX modules and pneumatics modules
I/O diagnostic interface (System Table Interface)
Function module
Beckhoff configuration and programming software
(TwinCAT: The Windows Control and Automation Technology)
I
I/O
I/O module
IPC
MDP
O
Operator unit (MMI)
PLC
PLC
Pneumatics interface
STI
Technology module
TwinCAT
Tab. B.2 Terms and abbreviations (part 2)
84
Festo – P.BE-CPX-FB37-EN – 1406NH – English
CPX-FB37
Index
A
Acknowledge mode . . . . . . . . . . . . . . . . . . . . . 68
Address assignment . . . . . . . . . . . . . . . . . . . . . 26
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . 27, 28
– Address assignment . . . . . . . . . . . . . . . . . . . 26
Auto increment address . . . . . . . . . . . . . . . . . . 28
B
Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus configuration . . . . . . . . . . . . . . . . . . . . . . .
Bus node, replacing . . . . . . . . . . . . . . . . . . . . .
19
19
30
54
C
CEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Commissioning
– Address assignment . . . . . . . . . . . . . . . . . . . 26
– Addressing . . . . . . . . . . . . . . . . . . . . . . . 27, 28
– Configuration . . . . . . . . . . . . . . . . . . . . . . . . 30
– Parameterisation . . . . . . . . . . . . . . . . . . . . . 37
– Preparation (general instructions) . . . . . . . . 26
– Remote controller . . . . . . . . . . . . . . . . . . . . . 35
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Configuring, EtherCAT addressing type . . . . . . 17
Connecting
– EtherCAT network . . . . . . . . . . . . . . . . . . . . . 22
– Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CPX system settings, parameterisation . . . . . . 41
CPX-CEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CPX-FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
D
Data field size . . . . . . . . . . . . . . . . . . . . . . . . . .
Data objects . . . . . . . . . . . . . . . . . . . . . . . . . . .
Degree of protection IP65/IP67 . . . . . . . . . . .
Device address . . . . . . . . . . . . . . . . . . . . . . . . .
Device position . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics
– Diagnostic data (I/O diagnostics interface) .
– Diagnostic information (status bits) . . . . . .
Festo – P.BE-CPX-FB37-EN – 1406NH – English
19
28
24
28
28
65
64
– Error reaction . . . . . . . . . . . . . . . . . . . . . . . .
– Error types . . . . . . . . . . . . . . . . . . . . . . . . . .
– Fail-safe setting . . . . . . . . . . . . . . . . . . . . . .
– I/O diagnostics interface . . . . . . . . . . . . . . .
– LA X1, LA X2 . . . . . . . . . . . . . . . . . . . . . . . . .
– LED Error . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LED M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LED PL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LED PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LED Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LED SF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Status bits . . . . . . . . . . . . . . . . . . . . . . . . . .
– via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . .
– via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics history . . . . . . . . . . . . . . . . . . . . .
Diagnostics message, Operating mode . . . . . .
E
Emergency Message . . . . . . . . . . . . . . . . . . . .
Error
– -Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error code . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EtherCAT
– Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . .
– Fail-safe setting . . . . . . . . . . . . . . . . . . . . . .
EtherCAT addressing type . . . . . . . . . . . . . . . .
– Configuring . . . . . . . . . . . . . . . . . . . . . . . . . .
F
Fail-safe mode . . . . . . . . . . . . . . . . . . . . . . . . .
– Parameterisation . . . . . . . . . . . . . . . . . . . . .
– Settings (parameterisation) . . . . . . . . . . . . .
FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware update . . . . . . . . . . . . . . . . . . . . . . .
75
76
75
65
63
62
60
58
58
61
59
55
64
66
56
66
69
73
76
75
73
66
75
17
17
75
42
75
35
50
H
Heart beat . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
85
CPX-FB37
I
I/O bytes, Setting the number . . . . . . . . . . . . . 19
I/O diagnostics interface . . . . . . . . . . . . . . . . . 65
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
IP65/IP67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
L
LED display, in normal operating status . . . . . .
LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– LA X1, LA X2 . . . . . . . . . . . . . . . . . . . . . . . . .
– M ..................................
– Normal operating status . . . . . . . . . . . . . . . .
– PL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– SF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
56
62
63
60
57
58
58
61
59
N
Node guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Notes on the documentation . . . . . . . . . . . . . . . 6
O
Operating mode . . . . . . . . . . . . . . . . . . . . . 17, 35
Operating voltage, switch on . . . . . . . . . . . . . . 26
Overwrite mode . . . . . . . . . . . . . . . . . . . . . . . . 68
P
Parameterisation . . . . . . . . . . . . . . . . . . . . . . .
– Introduction . . . . . . . . . . . . . . . . . . . . . . . . .
– Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . .
– with the Festo Maintenance Tool (FMT) . . . .
– with the operator unit (CPX-MMI) . . . . . . . .
86
37
37
38
39
38
38
PELV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pin allocation, Fieldbus interface . . . . . . . . . . .
Plug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power supply, switch on . . . . . . . . . . . . . . . . . .
24
23
23
26
R
Remote controller . . . . . . . . . . . . . . . . . . . 17, 35
Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Restore
– Bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
– with FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
S
Safety instructions, General . . . . . . . . . . . . . . . 7
SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Setting
– Device Identification Value . . . . . . . . . . . . . . 20
– Diagnostics mode . . . . . . . . . . . . . . . . . . . . . 18
– EtherCAT address . . . . . . . . . . . . . . . . . . . . . 20
– Operating mode . . . . . . . . . . . . . . . . . . . . . . 17
Station features . . . . . . . . . . . . . . . . . . . . . . . . 31
Status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Strain relief . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Switch cover, Remove and mount . . . . . . . . . . 15
T
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . 77
W
Web server, parameterisation . . . . . . . . . . . . . 44
Festo – P.BE-CPX-FB37-EN – 1406NH – English
Copyright:
Festo AG & Co. KG
Postfach
73726 Esslingen
Germany
Phone:
+49 711 347-0
Fax:
+49 711 347-2144
e-mail:
[email protected]
Reproduction, distribution or sale of this document or communication of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent is
registered.
Internet:
www.festo.com
Original: de