Festo Cteu-co Parts list manual

Manual

Functions and

maintenance

Bus node

Type CTEU-CO

Fieldbus Protocol

CANopen

Universal bus node

CTEU-CO

Manual

573 768

en 1101NH

[756 466]

Installation

Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

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

Edition en 1101NH.................................

Designation P.BE-CTEU-CO-OP+MAINT-EN..............

Order no. 573 768.................................

Internet: http://www.festo.com

E-Mail: service_international@festo.com

The reproduction of this document and disclosure to third

parties and the utilisation or communication of its contents

without explicit authorization is prohibited. Offenders will

be held liable for compensation of damages. All rights

reserved, in particular the right to carry out patent, utility

model or ornamental design registrations.

Installation

II Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

CANopen®,CiA

®,TORX

®,TÜV

®and VDE®are registered trademarks of the respective

trademark owners in certain countries.

Installation

III

Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Contents

Intended use V..........................................................

Range of application and certifications VI.....................................

Target group VI..........................................................

Service VI...............................................................

Notesonthismanual VII...................................................

Important user instructions VIII..............................................

1. Commissioning 1-1................................................

1.1 General information about the CANopen fieldbus protocol 1-3.............

1.1.1 Components 1-3............................................

1.1.2 Data exchange with the CANopen fieldbus protocol 1-4............

1.1.3 CANopen specifications 1-4..................................

1.1.4 Brief overview of the scope of functions 1-5.....................

1.2 Commissioning of a master controller 1-6..............................

1.2.1 Installing the EDS file 1-6....................................

1.3 Configuration by using process data 1-7...............................

1.3.1 Predefined process data for establising connections 1-7...........

1.3.2 Rules for internal I/O mapping 1-8.............................

1.3.3 I/O linking by COB-IDs 1-8...................................

1.4 Device parameters 1-10..............................................

1.5 Communication 1-11................................................

1.5.1 Structure of communication 1-11...............................

1.5.2 CANopen status transitions 1-12...............................

1.5.3 Examples of the communication sequence 1-14...................

1.6 Switching on 1-18...................................................

1.6.1 Information concerning the switch-on behaviour of the bus node 1-18.

1.6.2 Switching on the operating voltage 1-19.........................

1.6.3 Normal operating status 1-20..................................

1.7 Fail state behaviour 1-21.............................................

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IV Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

2. Diagnosis 2-1.....................................................

2.1 Summary of diagnostics options 2-3...................................

2.2 Diagnostics via LED display 2-4.......................................

2.2.1 Normal operating status display 2-5...........................

2.2.2 PS-LED status display 2-5....................................

2.2.3 Status display X1-/X2-LEDs 2-6...............................

2.2.4 Status display MNS-LED 2-7..................................

2.2.5 I/O-LED status display 2-8....................................

2.3 Diagnostics via fieldbus 2-9..........................................

2.3.1 Diagnostics via SDO 2-9.....................................

2.3.2 The Emergency Message 2-9..................................

2.3.3 Reaction to network communication faults 2-13...................

2.3.4 Node guarding 2-13..........................................

3. Error treatment 3-1................................................

3.1 Fault finding and error elimination 3-3.................................

3.1.1 Check the installation 3-3....................................

3.1.2 Check the power supply 3-4..................................

3.1.3 Restart communication between the bus node and the device 3-5...

3.1.4 Check fieldbus communication 3-5.............................

3.1.5 Check the CANopen configuration 3-6..........................

3.1.6 Read out diagnostic messages via CANopen 3-7.................

A. Technical appendix A-1.............................................

A.1 Technical data A-3..................................................

A.2 Object directories A-6...............................................

B. Index B-1.........................................................

Installation

Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Intended use

The bus node type CTEU-CO described in this manual has

been designed exclusively for use as a slave on the CANopen

field bus.

Thebusnodemayonlybeusedasfollows:

–asintended

– in original condition, without any modifications by the

user.

Only the conversions or modifications described in the

documentation supplied with the product are permitted.

– in perfect technical condition.

The limit values specified for pressures, temperatures,

electrical data, torques etc. should be observed.

Observe the regulations of the trade associations, German

Technical Control Board (TÜV), VDE stipulations or corres-

ponding national laws and regulations.

Warning

•Use only PELV circuits as per IEC/EN 60204-1 for the

electric power supply (protective extra-low voltage,

PELV).

Also observe the general requirements for PELV circuits

in accordance with IEC/EN 60204-1.

•Use only power sourcesthat guarantee reliable electrical

isolation of the operating voltage as per IEC/EN 60204-1.

Protection against electric shock (protection against direct

and indirect contact) is guaranteed in accordance with

IEC/EN 60204-1 by using PELV circuits (electrical equipment

of machines, general requirements).

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VI Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Range of application and certifications

The product fulfils the requirements of the EU directives and

is marked with the CE certification.

Standards and test values which the product must comply

with and fulfil can be found in the section “Technical ap-

pendix”. The product-relevant EU directives can be found in

the declaration of conformity.

Certificates and declarations of conformity for this product

can be found at www.festo.com.

Target group

This manual is intended exclusively for technicians trained in

control and automation technology who have experience in

installing, commissioning, programming and diagnosing

programmable logic controllers (PLCs) and slaves on the

CANopen fieldbus.

Service

Please consult your local Festo Service if you have any tech-

nical problems.

Installation

VII

Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Notesonthismanual

This manual is Part II of the complete product documentation

and contains specific information about the configuration,

parameterisation, commissioning, programming and

diagnostics of the bus node with the CANopen fieldbus

protocol.

Information relating to installing the bus node can be found in

Part I of the product documentation entitled “Installation and

Interface manual”, which is supplied with the bus node.

Information for mounting the bus node on the CAPC… electric

sub-base can be found in the assembly instructions supplied

with the electric sub-base.

Information about other bus nodes and components of the

CTEU… product family can be found in the user documenta-

tion for the respective product.

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VIII Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Important user instructions

Danger categories

This manual contains instructions on the possible dangers

which may occur if the product is not used correctly. These

instructions are marked (Warning, Caution, etc.), printed on a

shaded background and marked additionally with a pictogram.

A distinction is made between the following danger warnings:

Warning

This means that failure to observe this instruction may

result in serious personal injury or damage to property.

Caution

This means that failure to observe this instruction may

result in personal injury or damage to property.

Note

This means that failure to observe this instruction may

result in damage to property.

The following pictogram marks passages in the text which

describe activities with electrostatically sensitive compon-

ents.

Electrostatically sensitive components may be damaged if

they are not handled correctly.

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Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Marking special information

The following pictograms mark passages in the text

containing special information.

Pictograms

Information:

Recommendations, tips and references to other sources of

information.

Accessories:

Information on necessary or sensible accessories for the

Festo product.

Environment:

Information on environment-friendly use of Festo products.

Text markings

•The bullet indicates activities which may be carried out in

any order.

1. Figures denote activities which must be carried out in the

numerical order specified.

– Hyphens indicate general activities.

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XFesto P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

The following product and fieldbus-specific terms and abbre-

viations are used in this manual:

Term/abbreviation Meaning

Bus nodes create the connection to certain field busses/networks, pass on control

signals to the connected devices/modules and monitor their functioning.

COB-ID Communication Object Identifiers consist of the function code and

address of the activated field bus slave (Node ID).

DCF Device Configuration File = these files contain additional project data

which extends beyond EDS content/scope.

DIL switches Dual-In-Line switches usually consist of several switching elements which

can be used to implement hardware settings.

EDS Electronic Data Sheets include product-specific data about the bus node.

Fail state This is a function which automatically activates the “Hold last state”

function in the event of an abortion of the network connection, and it is

also designated “fail safe” in some cases.

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

Heartbeat The bus node sends a telegram cyclically to the network which can be

monitored by any station, compare with node guarding.

Hold last state defines the status which outputs/valves are to assume after field bus

and/or communication errors

I/Os Digital inputs and outputs

Load voltage includes the power supply for connected devices and (digital) outputs,

e. g. solenoid coils of valves

Node guarding Cyclic monitoring of the fieldbus station by the master controller by

requesting a response within a specified time period.

Node ID Address of the fieldbus station

OB Output byte

Object Directory makes all important slave parameters accessible in a standardised

manner

O, I Digital output, digital input

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Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Term/abbreviation Meaning

Operating voltage also referred to as signal voltage: includes the power supply for

electronics and sensors

PDO Process Data Objects serve for the fast transfer of processing data via

Multicast connection and are transmitted by simple CAN messages

without protocol overhead. Process Data Objects can be transmitted

event-controlled, synchronous to a system pulse sequence or on demand.

PDOs are divided into TPDOs and RPDOs.

PLC/IPC Programmable logic controller/industrial PC

RPDO Receive PDO

SC/O

SCS, SCO, SCV

Short circuit/overload

Short circuit/overload sensor supply, outputs, valves

SDO Service Data Objects predominantly form point-to-point connections

between the server and client for the exchange of parameters for device

configuration. They enable write and read access to any entry in the object

directory of a bus node.

Status bits Internal inputs which supply coded common diagnostic messages.

TPDO Transmit-PDO

Voltage supply Umbrella term for operating and load voltage supplies

Tab. 0/1: Terms and abbreviations

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XII Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Commissioning

1-1Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Chapter 1

Commissioning

1. Commissioning

1-2 Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH