Festo Compact Performance Series Owner's manual

Compact Performance
CPV valve terminal with direct link
Programming and diagnosis
Fieldbus protocol:
CANopen

Author: H.-J. Drung
Editors : H.-J. Drung, M. Holder
Translation: D. Smith
Layout: Festo, Dept. KI-TD
Type setting: DUCOM
Edition: 9905a
(Festo AG & Co., 73726 Esslingen, 1999,
Federal Republic of Germany)
The copying, distribution and utilization of this docu-
ment as well as the communication of its contents to
others without expressed authorization is prohibited. Of-
fenders will be held liable for the payment of damages.
All rights reserved, in particular the right to carry out
patent, utility model or ornamental design registrations.
Printed on 100% recycled paper
Contents and general safety instructions
CP-CO 9905a I

Order no.: 175 580
Title: Manual
Designation: P.BE-CP-CO-GB
Contents and general safety instructions
II CP-CO 9905a

Contents
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V
Information on this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VI
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
1. Installation
1.1 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2 Configuring the CP valve terminal. . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.1 Opening and closing the switch cover. . . . . . . . . . . . . . . . . . . . . 1-5
1.2.2 Setting the CP valve terminal. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3 Connecting the CP valve terminal . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.3.1 Connecting cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.3.2 Preparing the connecting cables . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.3.3 Selecting the power unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.3.4 Connecting the load voltage for the CP valves . . . . . . . . . . . . . 1-15
1.4 Connecting to the field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.4.1 Installing the terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . 1-24
2. Commissioning
2.1 Commissioning a CANopen master. . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.1 Number of outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 General information on CANopen . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2 Summaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.2.1 Brief summary of the scope of functions . . . . . . . . . . . . . . . . . . . 2-5
2.2.2 Summary of the object directory . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2.3 COB identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.4 Start-up reaction of the CP valve terminal. . . . . . . . . . . . . . . . . . 2-8
2.2.5 Default identifier distribution. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.3 Summary of the object directory . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.3.1 PDO communication parameter record . . . . . . . . . . . . . . . . . . 2-12
2.3.2 PDO communication mapping parameter . . . . . . . . . . . . . . . . . 2-12
2.3.3 Digital outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.3.4 Reaction of the digital outputs to a fault . . . . . . . . . . . . . . . . . . 2-13
2.4 Structure of emergency object. . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.5 Basic rules for addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Contents and general safety instructions
CP-CO 9905a III

2.5.1 Addressing the CP valve terminal . . . . . . . . . . . . . . . . . . . . . . 2-17
2.6 Examples: communication run . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
3. Diagnosis
3.1 Summary of diagnostic possibilities . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2 Diagnosis via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.1 Normal operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.2 Error diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2.3 Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3 Testing the valves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.3.1 Starting the test routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.2 Stopping the test routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.4 Diagnosis via the field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.5 Error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.5.1 Reaction to faults in the control system. . . . . . . . . . . . . . . . . . 3-10
A. Appendix A
A.1 Technical specifications of the CP valve terminal with
CANopen direct link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.2 Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.3 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
Contents and general safety instructions
IV CP-CO 9905a

Designated use
The CP valve terminal with direct link to the CANopen
documented in this manual is designated exclusively for
use as a slave on the CANopen. The Festo CP valve
terminal may only be used as follows:
–as designated
– in original condition
– without unauthorized modifications
– in faultless technical condition.
The specified limit values for pressures, temperatures,
electrical data, moments, etc. must be observed when
additional commercially-available components such as
sensors and actuators are connected.
Please comply also with national and local safety laws
and regulations.
Target group
This manual is directed exclusively at technicians who
are trained in control and automation technology and
who have experience in installing, commissioning, pro-
gramming and diagnosing network modules on the
CANopen.
Contents and general safety instructions
CP-CO 9905a V

Information on this manual
PLEASE NOTE
This manual describes the functions of the CP
valve terminal with CANopen direct link with
- software version 1.2
- hardware status as from 0198.
This manual contains specific information on the instal-
lation, commissioning, programming and diagnosis of
the CP valve terminal with direct link to the CANopen.
Information on the pneumatic modules can be found in
the "Pneumatics manual, P.BE-CPV-...".
Contents and general safety instructions
VI CP-CO 9905a

Important user instructions
This manual contains instructions on the dangers which
may occur if the CP system is not used correctly. These
instructions are always printed in italics, are framed and
also signalled by a pictogram.
Danger
categories
A distinction is made between the following:
WARNING
This means that personal injury tor damage to
property may occur if these instructions are not
observed.
CAUTION
This means that damage to property may occur if
these instructions are not observed.
PLEASE NOTE
This means that this instruction must also be ob-
served.
Contents and general safety instructions
CP-CO 9905a VII

Pictograms and symbols complement the danger warn-
ings and draw attention to the nature and conse-
quences of dangers.
Pictograms
The following pictograms are used:
Uncontrolled movements of loose tubing.
Unintentional movements of the connected actuators.
Electrostatically vulnerable components.
These will be damaged if you touch the contact sur-
faces.
•• This mark indicates activities which can be carried
out in any order.
Text
markings
1. Figures indicate activities which must be carried out
in the numerical order of the figures.
–Hyphens indicate general activites.
Contents and general safety instructions
VIII CP-CO 9905a

Chapter 1
Installation
1. Installation
CP-CO 9905a 1-1