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

Contents
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
1. Installation
1-2 CP-CO 9905a

1.1 General instructions on installation
WARNING
Switch off the following before undertaking installa-
tion and/or maintenance work:
• the compressed air supply
• the operating voltage supply for the logic
• the operating voltage supply for the valves.
You can thereby avoid:
–uncontrolled movements of loose tubing
–undesired movements of the connected actuators
–undefined switching states of the electronic compo-
nents.
CAUTION
The CP valve terminal contains electrostatically vul-
nerable components.
• Do not therefore touch any components.
• Observe the regulations for handling electrostati-
cally vulnerable components.
You can thereby prevent damage to the electronic com-
ponents.
1. Installation
CP-CO 9905a 1-3

1.2 Configuring the CP valve terminal
The following connecting and display elements can be
found on the CP valve terminal with CANopen direct
connection:
1
2
3
4
5
Operating voltage connection for CP valves
Diagnostic LED
Field bus connection
Switch cover
Switching status displays of CP valve coils
Fig. 1/1: Connecting and display elements
1243
5
1. Installation
1-4 CP-CO 9905a

1.2.1 Opening and closing the switch cover
•Opening
Unscrew and remove the 4 screws in the switch
cover. Pull the cover upwards.
•Closing
Replace the cover. Insert and tighten the 4 screws in
diagonally opposite sequence.
1. Installation
CP-CO 9905a 1-5

1.2.2 Setting the CP valve terminal
The following setting possibilities can be fouund in the
CP valve terminal together with an LED for displaying
any faults as well as the status:
–the field bus baud rate
– the station number (COB-ID)
1
2
3
Error/status LED
Address selector switches (station number)
DIL switch for baud rate
Fig. 1/2: Setting elements
21 3
1. Installation
1-6 CP-CO 9905a

Setting the station number
You can set the station number of the CP valve terminal
with the address selector switches. The switches are
numbered from 0 to 9. The arrow on the address selec-
tor switches indicates the units or tens figure of the set
station number.
Address selector switch for UNITS figure
Address selector switch for TENS figure
Fig. 1/3: Address selector switches
PLEASE NOTE
Station numbers may only be assigned once per
CANopen interface.
Recommendation
Assign the station numbers in ascending order. If
necessary, take into account the machine structure of
your system when assigning the numbers.
1. Installation
CP-CO 9905a 1-7

The following station numbers are permitted: 1; ...; 98
PLEASE NOTE
You must observe any possible limitations imposed
by the CANopen master in respect of the station
numbers.
Proceed as follows:
1. Switch of the operating voltage.
2. Assign an unassigned station number to the
CP valve terminal.
3. Use a screwdriver to set the arrows of the address
selector switches to the units or tens figure of the
desired station number.
UNITS
TENS Setting for field bus address: 05
UNITS
TENS Setting for field bus address: 38
Fig. 1/4: Examples of address settings
1. Installation
1-8 CP-CO 9905a

Setting the field bus baud rate
PLEASE NOTE
Set the field bus baud rate of the CP valve terminal
so that it is the same as the baud rate on the master
interface.
Field bus baud rate
20 kBaud 125 kBaud 500 kBaud 1000 kBaud
Fig. 1/5: Setting the field bus baud rate
1. Installation
CP-CO 9905a 1-9

1.3 Connecting the CP valve terminal
1.3.1 Connecting cable
Use a twisted screened 4-core cable for the field bus.
The bus interface and the internal logic of the CP valve
terminal are supplied with power via the field bus cable.
Field bus
cable
PLEASE NOTE
• You must refer to the PLC manual or the user
manual for your bus interface for instructions
regarding the choice of cable. Also take into
account the distance and the baud rate selected.
• Select also the appropriate cable cross sections.
Note also the drop in voltage:
–in the supply line for the bus interface and
–of the internal logic of the CP valve terminal.
1. Installation
1-10 CP-CO 9905a

The table below shows the guide values for the maxi-
mum bus cable length depending on the baud rate se-
lected. Exact details can be found in the manuals for
your control system or bus interface.
Bus length
Baud rate Maximum
bus length Maximum branch line length
1000 kBaud 10 - 40 m 0.3 m
500 kBaud 50 -100 m 0.75 m
125 kBaud 500 m 3 m
20 kBaud 1000 m 7.5 m
•Use an operating voltage cable with sufficient cross
section.
Operating
voltage cable
•Avoid long distances between the power unit and the
CP terminal.
Long operating voltage cables reduce the voltage
supplied by the power unit.
•If necessary, calculate the suitable cable cross
section and the maximum permitted cable length.
1. Installation
CP-CO 9905a 1-11