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

Festo P.BE-FB14-EN en 1411d English

Original de.......................................

Edition en 1411d..................................

Designation P.BE-FB14-EN...........................

Order no. 526410..................................

Internet: http://www.festo.com

E-Mail: service_international@festo.com

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.

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

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.

Contents and general instructions

Festo P.BE-FB14-EN en 1411d English

Important user information

Danger categories

This description includes instructions on the possible dangers

which can occur if the product is used incorrectly. These

instructions are marked with a signal word (Warning, Caution,

etc.), printed on a shaded background and marked

additionally with a pictogram.

A distinction is made between the following danger warnings:

Warning

... means that failure to observe this instruction may result

in serious personal injury or material damage.

Caution

... means that failure to observe this instruction may result

in personal injury or material damage.

Note

... means that failure to observe this instruction may result

in material damage.

In addition, the following pictogram marks passages in the

text which describe activities with electrostatically sensitive

devices:

Electrostatically sensitive devices: Incorrect handling may

cause damage to devices.

Contents and general instructions

XFesto P.BE-FB14-EN en 1411d English

Marking of special information

The following pictograms mark passages in the text which

contain special information.

Pictograms

Information:

Recommendations, tips and references to other information

sources.

Accessories:

Specifications on necessary or useful accessories for the

Festo product.

Environment:

Information on the environmentally friendly use of Festo

products.

Text designations

Bullets denote activities that may be carried out in any

desired order.

1. Numerals denote activities that must be carried out in the

sequence specified.

– Arrowheads indicate general lists.

Contents and general instructions

Festo P.BE-FB14-EN en 1411d English

The following product-specific terms and abbreviations are

used in this description:

Term/abbreviation Significance

AO, AI Analogue output, analogue input

Bus nodes 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

CEC CODESYS controller, e.g. CPX−CEC/CPX−CEC..., applicable for

configuration, commissioning and programming of CPX terminals

COB-ID Communication object identifier; for every communication object, there is

a unique COB-ID in the network

CODESYS Controller Development System

CPX terminal 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: Variant P, optimised for use in process automation

DIL switches Miniature switches; dual-in-line switches usually consist of several switch

elements which can be used to implement settings

F0hHexadecimal numbers are marked by a low-set “h”

FEC 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)

Function module 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

Handheld control unit

(MMI)

Handheld terminal (handheld, CPX-MMI) for CPX modules for commissioning

and service purposes (man-machine interface, MMI)

I/O diagnostic interface The I/O diagnostic interface is a bus-independent diagnostic interface at

I/O level that permits access to internal data of the CPX terminal

I/O modules Collective term for the CPX modules which provide digital inputs and

outputs

Contents and general instructions

XII Festo P.BE-FB14-EN en 1411d English

Term/abbreviation Significance

I/Os Digital inputs and outputs

IPC Industrial PC

IW / OW Input/output word

O, I Digital output, digital input

PLC Programmable logic controller, also designated fieldbus master, system

controller or higher-order controller (èalso PLC)

PLC Programmable Logic Controller (German: Speicherprogrammierbare

Steuerung (SPS))

Pneumatics interface Interface between CPX modules and pneumatics modules

SCO

SCS, SCO, SCV

Short circuit/overload

Short circuit/overload sensor supply, outputs, valves

Status bits Internal inputs which supply coded common diagnostic messages

Technology module èFunction module

Tab. 0/2: Product-specific terms and abbreviations

Installation

1-1Festo P.BE-FB14-EN en 1411d English

Chapter 1

Installation

1. Installation

1-2 Festo P.BE-FB14-EN en 1411d English