Festo CPX-FB14 Operating and installation instructions

Description
CANopen network
protocol
526410
en 1411d
[8041138]
Terminal CPX
Bus node CPX-FB14

Contents and general instructions
I
Festo P.BE-FB14-EN en 1411d English
Original de.......................................
Edition en 1411d..................................
Designation P.BE-FB14-EN...........................
Order no. 526410..................................
© (Festo AG & Co. KG, Postfach, 73726 Esslingen, Germany, 2013)
Internet: http://www.festo.com
E-Mail: [e-mail]
Reproduction, distribution or sale of this document or com
munication of its contents to others without express author
ization is prohibited. Offenders will be liable for damages.
All rights reserved in the event that a patent, utility model
or design patent is registered.

Contents and general instructions
II Festo P.BE-FB14-EN en 1411d English
CANopen®, TORX®, CiA®are registered trademarks of the respective trademark owners
in certain countries.

Contents and general instructions
III
Festo P.BE-FB14-EN en 1411d English
Table of contents
Intended use VI..........................................................
Target group VII..........................................................
Service VII...............................................................
Instructions regarding this description VIII.....................................
Important user information IX..............................................
1. Installation 1-1...................................................
1.1 General instructions on installation 1-3................................
1.2 Settings of the DIL switches on the bus node 1-8.........................
1.2.1 Removing and mounting the cover for the DIL switches 1-8.........
1.2.2 Settingthe DIL switches 1-9...................................
1.3 Connecting the fieldbus 1-23..........................................
1.3.1 Fieldbus cable 1-23..........................................
1.3.2 Fieldbus baud rate and fieldbus length 1-24......................
1.3.3 Information on connecting the fieldbus 1-25......................
1.3.4 Fieldbus interface 1-27.......................................
1.3.5 Connecting with the fieldbus plug from Festo 1-28.................
1.3.6 Further connection possibilities for the fieldbus with adapters 1-30...
1.4 Bus terminal with terminating resistors 1-33.............................
1.4.1 Install a terminating resistor using the adapters 1-33...............
1.5 Power supply 1-34..................................................
2. Commissioning 2-1................................................
2.1 Commissioning on a CANopen master 2-4..............................
2.1.1 General information on CANopen 2-5...........................
2.2 Configuration 2-6..................................................
2.2.1 Layer setting service (LSS) 2-6................................
2.2.2 LSS commands 2-6.........................................
2.2.3 Configuration of the LSS slave 2-24.............................
2.2.4 Addressing the CPX terminal 2-26..............................
2.2.5 Configuration examples 2-29..................................

Contents and general instructions
IV Festo P.BE-FB14-EN en 1411d English
2.3 Overviews 2-35.....................................................
2.3.1 Brief overview of the scope of functions 2-35.....................
2.3.2 Overview Object directory 2-36................................
2.3.3 Behaviour of the CPX terminal when it is switched on 2-37..........
2.3.4 Default identifier distribution 2-39..............................
2.4 Object directories 2-41...............................................
2.4.1 Communication profile 2-41...................................
2.4.2 Overview of the PDO structure 2-46.............................
2.4.3 Digital inputs (Transmit PDO 1) 2-47............................
2.4.4 Digital outputs (Receive PDO 1) 2-50............................
2.4.5 Analogue inputs channel 0 … 3 (Transmit PDO 2) 2-55..............
2.4.6 Analogue outputs channel 0 … 3 (Receive PDO 2) 2-60.............
2.4.7 Analogue inputs channel 4 … 15 (Transmit PDO 3) 2-62.............
2.4.8 Analogue outputs channel 4 … 15 (Receive PDO 3) 2-65............
2.4.9 Technology modules, status bits, I/O diagnostic interface (PDO 4) 2-68
2.4.10 Manufacturer specific profile 2-72..............................
2.4.11 Overview of mappingobjects 2-79..............................
2.4.12 Forcing 2-81................................................
2.4.13 Function assignment and virtual modules 2-85....................
2.5 Parameterisation 2-91...............................................
2.5.1 Parameterisation during switch-on 2-91.........................
2.5.2 Parameterisation with the handheld 2-92........................
2.5.3 Application example for parameterisation 2-92....................
2.6 Commissioning the CPX terminal in the system 2-93.......................
2.6.1 Correct commissioning, normal operating status 2-94..............
3. Diagnostics 3-1...................................................
3.1 Summary of diagnostics options 3-3...................................
3.2 Diagnostics via LEDs 3-4............................................
3.2.1 Normal operating status 3-5..................................
3.2.2 Displays of the CPX-specific LEDs PS, PL, SF, M 3-6................
3.2.3 Displays of the CANopen-specific LEDs MS, NS, IO 3-9.............
3.3 Diagnostics via status bits 3-12........................................
3.4 Diagnostics via the I/O diagnostic interface 3-13..........................

Contents and general instructions
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Festo P.BE-FB14-EN en 1411d English
3.5 Diagnostics via CANopen 3-14.........................................
3.5.1 The emergency message 3-15..................................
3.5.2 CPX error numbers 3-20......................................
A. Technical appendix A-1.............................................
A.1 Technical data, bus node CPX-FB14 A-3................................
A.2 Examples: Communication sequence A-5...............................
A.2.1 Example 1: Start CANopen network A-5.........................
A.2.2 Example 2: Set output A-5....................................
A.2.3 Example 3, Start “node guard” monitoring A-6...................
A.2.4 Example 4: load objects A-7..................................
A.2.5 Example 5: write objects A-8..................................
B. Index B-1.........................................................

Contents and general instructions
VI Festo P.BE-FB14-EN en 1411d English
Intended use
The bus node CPX-FB14 described in this description has
been designed exclusively for use as a participant on the
CANopen fieldbus.
The CPX terminal must only be used as follows:
– As intended in industrial environments;
outside of industrial environments, e.g. in commercial and
mixed-residential areas, actions to suppress interference
may have to be taken
– in original status without unauthorised modifications;
only the conversions or modifications described in the
documentation supplied with the product are permitted.
– in excellent technical condition.
The limit values specified for pressures, temperatures, elec
trical data, torques etc. must be observed.
Comply with the legal rules and regulations and standards,
rules of the testing organisations and insurance companies
and national specifications applicable for the location.
Warning
Use only PELV circuits for the electrical power supply in
accordance with IEC/EN 60204-1 (Protective Extra-Low
Voltage, PELV).
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.
Always connect both circuits for operating and load
voltage supply.

Contents and general instructions
VII
Festo P.BE-FB14-EN en 1411d English
Through the use of PELV circuits, protection against electric
shock (protection against direct and indirect contact) is en
sured in accordance with IEC/EN 60204-1.
Target group
This description is intended exclusively for technicians
trained in control and automation technology who have
experience in installing, commissioning, programming and
diagnosing participants on the CANopen fieldbus.
Service
Please consult your local Festo repair service if you have any
technical problems.

Contents and general instructions
VIII Festo P.BE-FB14-EN en 1411d English
Instructions regarding this description
This description contains specific information on installing,
configuring, parameterising, commissioning, programming
and diagnosing with the CPX bus node for CANopen.
This description refers to the following versions:
Versions 1) Supports
Rev 26 (5 Jun. 13) – Layer setting service (èsection 2.2.1)
Rev 24 (19 Nov. 08)
Rev 20 (10 Oct. 07)
– Virtual modules via the function
assignment object (èsection 2.4.13)
Rev 14 (12 Jul. 05) – CPX-FEC
– CPX-CP interface
EDS file from 23 Apr. 13
1) Software status (SW) or revision no. (Rev) ètype plate
Tab. 0/1: Revisions of the CPX-FB14 until June 2013
An overview of the structure of the CPX terminal user docu
mentation is contained in the CPX system description.
General basic information about the mode of operation,
mounting, installation and commissioning of CPX terminals
can be found in the CPX system description.
Information about additional CPX modules can be found in
the description for the respective module.