Festo CPX-CEC-C1-V3 User manual

8042601
en
1411c
[8042603]
Ter
minal CPX
Control block
CPX-CEC-C1-V3/-M1-V3/-S1-V3
Description
Codesys
-Controller

CANopen®, CODESYS®, MODBUS®and Torx®are registered trademarks of the respective trademark
owners in certain countries.
This product uses open-source software which is subject to the "GNU General Public License, Version 2".
The terms of the General Public License can be found within the programming system as well as at the
following address:
– http://www.gnu.org/copyleft/gpl.html
– Internal CPX-CEC-…-V3 web server: http://<IP address of the device>/cgi-bin/system-about
(Festo AG & CO. KG, D-73726 Esslingen, 2014)
Internet: http://www.festo.com
E-Mail: [e-mail]
The reproduction, distribution and utilisation of this document as well as the communication of its contents to others
without explicit authorisation is prohibited. Offenders will be held liable for the payment of damages. All rights reserved
in the event of the grant of a patent, utility module or design.

Table of Contents
1Important information ........................................................................................................................1
1.1 Designated use............................................................................................................................1
1.1.1 Safety instructions..........................................................................................................2
1.1.2 Target group...................................................................................................................3
1.1.3 Service...........................................................................................................................3
1.2 Important user information...........................................................................................................3
1.2.1 Danger categories..........................................................................................................3
1.3 Marking special information .........................................................................................................3
1.3.1 Pictograms.....................................................................................................................3
1.3.2 Text markings.................................................................................................................3
1.3.3 Further conventions.......................................................................................................4
1.4 Version information......................................................................................................................4
2System overview ................................................................................................................................5
2.1 Modular valve terminal with integrated controller CPX-CEC-...-V3..............................................5
2.2 Programming software.................................................................................................................5
2.2.1 Packages.......................................................................................................................5
2.3 Overview of memory size.............................................................................................................6
2.3.1 Remanent variables.......................................................................................................6
2.4 Libraries.......................................................................................................................................7
2.5 Operating modes of the CPX terminal with Codesys controller....................................................8
2.5.1 Standalone operating mode...........................................................................................8
2.5.2 Remote Controller Ethernet operating mode..................................................................8
2.5.3 Remote Controller Fieldbus operating mode..................................................................9
3Installation.........................................................................................................................................10
3.1 General information ...................................................................................................................10
3.2 Mounting and removal................................................................................................................ 11
3.2.1 Removal....................................................................................................................... 11
3.2.2 Mounting...................................................................................................................... 11
3.3 Connection and display components.........................................................................................12
3.4 Setting the switches on the Codesys controller..........................................................................13
3.4.1 RUN/STOP rotary switch .............................................................................................13
3.4.2 DIL switches.................................................................................................................13
3.5 Interfaces...................................................................................................................................14
3.5.1 Ethernet interface.........................................................................................................14
3.5.2 Communication interfaces............................................................................................15
3.5.3 RS232 interface (CPX-CEC-S1-V3).............................................................................17
3.5.4 Power supply ...............................................................................................................17
3.6 Connecting an operator unit CDPX............................................................................................18
3.7 Connecting a handheld CPX-MMI..............................................................................................19
3.8 Ensuring protection to IP65/IP67 ...............................................................................................19
4Commissioning ................................................................................................................................20
4.1 General information ...................................................................................................................20
4.2 Requirements.............................................................................................................................20
4.2.1 Hardware .....................................................................................................................20
4.2.2 Software.......................................................................................................................20
4.2.3 Important documentation for the controller hardware and software .............................20
4.3 Preparations...............................................................................................................................20
4.4 Getting started ...........................................................................................................................21
4.4.1 Creating a project.........................................................................................................21
4.4.2 Selecting a device........................................................................................................21
4.4.3 Finding devices............................................................................................................23
4.4.4 Manually adding a device.............................................................................................24
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Table of Contents
4.4.5 Setting the communication channel.............................................................................25
4.5 Scan Festo Devices...................................................................................................................25
4.5.1 Changing network settings:..........................................................................................26
4.6 Configuring the CPX system......................................................................................................27
4.6.1Configuration by entering the order code.....................................................................27
4.6.2 Automatically reading in the configuration....................................................................28
4.6.3 Manual configuration....................................................................................................28
4.6.4 Parameterisation of the CPX terminal..........................................................................31
4.7 CPX system settings..................................................................................................................32
4.8 Parameterising a CPX module...................................................................................................34
4.9 Parameterising via the handheld CPX-MMI ...............................................................................37
4.10 Rotary switch settings................................................................................................................37
4.11 Configuring a CANopen slave....................................................................................................38
4.11.1 Adding a CANopen slave.............................................................................................38
4.11.2 Integrating CPV terminals............................................................................................40
4.12 Configuring SoftMotion (CPX-CEC-M1-V3 only)........................................................................41
4.12.1 Motor controllers supported .........................................................................................41
4.12.2 Number of axes............................................................................................................41
4.12.3 Cycle time/interpolation time........................................................................................41
4.12.4 FCT settings for SoftMotion .........................................................................................41
4.12.5 Carrying out configuration............................................................................................42
4.13 Configuring Modbus TCP...........................................................................................................45
4.13.1 CPX-CEC-…-V3 as Modbus TCP client/master...........................................................45
4.13.2 CPX-CEC-…-V3 as Modbus TCP slave device ...........................................................50
4.14 Online mode...............................................................................................................................51
4.14.1 Login............................................................................................................................51
4.14.2 Starting and monitoring the application........................................................................53
4.14.3 Logout..........................................................................................................................53
4.15 Forcing.......................................................................................................................................54
4.15.1 Forcing inputs using the handheld CPX-MMI...............................................................54
4.15.2 Forcing outputs with the handheld CPX-MMI...............................................................54
4.16 PLC shell....................................................................................................................................55
5Diagnosis..........................................................................................................................................56
5.1 General error behaviour.............................................................................................................56
5.2 Status LEDs...............................................................................................................................57
5.3 Online diagnosis in the controller configuration..........................................................................60
5.3.1 Diagnostic messages in PLC diagnosis.......................................................................60
5.3.2 Diagnostic messages on the [Log] tab.........................................................................61
5.3.3 Diagnosis in the "Scan Festo Devices" dialog..............................................................62
5.4 Errors and diagnostic information in SoftMotion (CPX-CEC-M1-V3)..........................................63
5.5 Errors and diagnostic information via web server ......................................................................63
5.6 Diagnosis in the user program...................................................................................................64
5.7 Diagnosing CANopen.................................................................................................................64
6Application and programming instructions...................................................................................65
6.1 I/O update..................................................................................................................................65
6.2 Using CANopen_Manager.........................................................................................................66
6.3 Node guarding ...........................................................................................................................67
6.4 CPX-MMI use and program downloads .....................................................................................67
6.5 Data incompatibility between the runtime project and controller................................................67
7Technical appendix ..........................................................................................................................68
7.1 Technical data............................................................................................................................68
8Glossary............................................................................................................................................70
v

1 Important information
1.1 Designated use
The Codesys controller CPX-CEC-...-V3 described in this manual is intended exclusively for use in CPX
terminals from Festo for installation in a machine or automated system.
In combination with a CPX terminal, the CPX-CEC-...-V3 is used for:
– Controlling pneumatic and electric drives (valves, output modules and motor controllers via CANopen)
– Interrogating electric sensor signals through the input modules
– Communication via Ethernet.
The CPX terminal with the CPX-CEC-...-V3 must only be used as follows:
– As intended in industrial applications; interference suppression measures may be required outside of
industrial environments, e.g. in residential and mixed-use areas
– In original condition without unauthorised modifications; only the conversions or modifications
described in the documentation supplied with the product are permitted
– In faultless technical condition
– Only in combination with released components (e.g. valves, drive/displacement encoder
combinations).
•The maximum values specified for pressures, temperatures, electrical data, torques, etc. must be
observed.
•Please comply with national and local safety laws and regulations.
All notes on designated use, the safety instructions and all further provisions for the CPX-CEC-...-
V3 also apply to the associated software libraries.
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Festo control block CPX-CEC
1.1.1 Safety instructions
Protection against dangerous movements
Warning
The connected actuators are subject to high acceleration forces.
Uncontrolled movements can cause collisions which can lead to serious injury.
Dangerous movements of connected drives can be caused, for example, by:
– untidy or faulty wiring,
– errors during component operation,
– faults in the transducers and signal generators,
– defective or non-EMC-compliant components,
– faults in the higher-order control system,
– programming errors in user programs and projects.
Switching off the compressed air or load voltage is not a suitable locking mechanism.
Unintentional movement of the drive may occur in the event of a malfunction.
•Before carrying out assembly, installation and maintenance work, place the system in a safe
state (e.g. by placing the drive in a safe position and deactivating the controller).
•Only carry out work in the machine area when the compressed air and power supply are
switched off and locked.
•Make sure that nobody enters the positioning range of the drives or other connected actuators.
•Use only power supplies that guarantee reliable electrical isolation of the operating voltage to
IEC/DIN EN 60204-1. Observe also the general requirements for PELV power circuits as per
IEC/DIN EN 60204-1.
•Connect an earth conductor of sufficient cross-sectional area to the connection on the CPX
terminal marked with the earth symbol.
•Only switch on the compressed air and load voltage if the system has been installed and
parameterised by technically qualified staff.
•Holding brakes actuated by the drive controller do not offer adequate protection for individuals.
•Additionally secure vertical axes against falling or lowering after the compressed air and load
voltage are switched off as follows:
– Mechanical locking of the vertical axis
– External brake/fall-arresting/clamping device
– Adequate counterbalancing of the axis weight.
Protection against pressurised lines
Caution
Danger of injury due to incorrect handling of pressurised lines.
Sudden unexpected movement of the connected actuators and uncontrolled movements of loose
tubing can cause injury to people or damage to property.
•Do not disconnect, open or cap pressurised lines.
•Lines must be vented (removal of compressed air) before being dismantled.
•Use suitable protective equipment (e.g. safety goggles, safety shoes, etc.).
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Festo control block CPX-CEC
1.1.2 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 and
positioning systems.
1.1.3 Service
Contact your local Festo Service partner if you have any technical problems (www.festo.com).
Including the following information and data will make it easier to process support queries:
– CPX-CEC-...-V3 project (menu command in Codesys: [File] [Project Archive] [Save/Send Archive],
etc.)
– Programming environment version (menu command in Codesys [Help] [About] [Display Detailed
Version Information])
– Controller data (export the FFT device properties)
1.2 Important user information
1.2.1 Danger categories
This document contains information on possible dangers that can occur if the product is not used as
designated. These danger warnings are marked with a signal word (warning, caution, etc.), placed on a
grey background and additionally marked with a pictogram. A distinction is made between the following
danger warnings:
Warning
... means that serious injury to people and damage to property can occur if this warning is not
heeded.
Caution
... means that injury to people and damage to property can occur if this warning is not heeded.
Note
... means that damage to property can occur if this warning is not heeded.
In addition, the following pictogram marks passages in the text that describe activities involving
electrostatic sensitive components.
Note
Electrostatic sensitive components: inappropriate handling can result in damage to components.
1.3 Marking special information
1.3.1 Pictograms
The following pictograms mark passages in the text that contain special information:
Information: Recommendations, tips and references to other sources of information.
Accessory: Information on necessary or useful accessories for the Festo product.
Environment: Information on the environmentally friendly use of Festo products.
1.3.2 Text markings
1. Figures denote activities that must be carried out in the order specified.
•Bullets denote activities that may be carried out in any desired order.
– Hyphens denote general listings.
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Festo control block CPX-CEC
1.3.3 Further conventions
[File] [New Project...] Menu items are framed in square brackets, for example you can create a new
project using the [New Project...] command in the [File] menu.
"OK"
Names of windows, dialogs and buttons such as "Message Window", "Dearchivate
Project", "OK" as well as designations are shown in inverted commas.
<Your connection> Placeholders for names/designations, e.g. "Status of <Your connection>", are
shown in angle brackets.
CTRL Names of keys on the PC keyboard are represented in the text with uppercase
letters (e.g. ENTER KEY, CTRL, C, F1, etc.).
CTRL+C For some functions you need to press two keys simultaneously. For example,
press and hold down the CTRL key and also press the C key. This is written in the
text as CTRL+C.
If "click" or "double-click" is mentioned, this always applies to the left-hand mouse
button. If the right-hand mouse button is to be used, this will be explicitly
mentioned.
1.4 Version information
The manual refers to the following versions:
– Codesys controller CPX-CEC-...-V3 Revision 01 and later
– CODESYS V3 pbF programming environment with CPX-CEC package
The manual contains information on the function of the Codesys controller as well as its assembly,
installation and commissioning.
Further information on the device can be found in the following documents:
Title Type Description
Controller CPX-CEC-...-V3 Brief
description Connection and display components, assembly, installation and technical data.
Festo_CameraControl_3.library Online Help Configuration, use and error diagnosis in function
blocks.
Festo_CPX-CMAX_3.Library
Festo_CPX_3.library
Festo_CVE_3.library
Festo_EasyIP_3.library
Festo_FHPPMAX_3.library
Festo_General_3.library
Festo_Motion_3.library
Festo_SerialComEx_3.library
Festo Field Device Tool Online Help Servicing and commissioning of Ethernet-based
Festo devices.
General basic information on the method of operation, on fitting, installing and commissioning
CPX terminals can be found in the CPX system manual P.BE-CPX-SYS-...
Refer also to the user documentation for the components used in the CPX terminal.
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Festo control block CPX-CEC
2 System overview
2.1 Modular valve terminal with integrated controller CPX-CEC-...-V3
Variant Features Codesys target
system ID1)
CPX-CEC-
C1-V3 Codesys controller with CANopen interface for connecting up to 31 CANopen slaves 16#103D9C4B
CPX-CEC-
M1-V3
Codesys controller with CANopen interface and the Codesys software
package SoftMotion for PLCOpen motion modules and coordinated
multi-axis movements
16#103D9C49
CPX-CEC-
S1-V3 Codesys controller with RS232 interface (Sub-D, 9-pin) for using third- party devices via the serial interface 16#103D9C4A
1) Device type code for use in the communication settings (section Finding devices).
Table: Variants of the CPX-CEC-...-V3
All variants offer...
– Programming with Codesys to IEC 61131-3.
– Programming, communication and visualisation via Ethernet.
– The Codesys controller controls a CPX terminal in standalone or remote controller mode.
– Communication via fieldbus in combination with using the respective fieldbus node in the CPX
terminal.
– Controller configuration using Codesys for commissioning, programming and diagnosing the system.
– Connection of a handheld CPX-MMI for displaying status and diagnostic information and for quick
commissioning of the CPX modules in the CPX terminal.
– Process visualisation within Codesys using a display and operator unit CDPX and the Software
Designer Studio (available separately), use of the OPC server for connecting to an OPC client or use
of the web visualisation under Codesys.
2.2 Programming software
Use the CODESYS V3 pbF programming software to commission and program the controller CPX-CEC-
...-V3. CODESYS V3 pbF offers a user-friendly interface with the following functions:
– Configuration and parameterisation of the CPX-CEC-...-V3 using the controller configuration
– Programming in accordance with IEC 61131-3
– Integrated module libraries
– Library Manager for integrating further libraries
– Simulation mode for testing projects on a PC without a PLC
– Integration of a visualisation; configuration using Designer Studio (available separately)
– Documentation using the integrated project documentation function
– Debugging function for testing program sequences, monitoring and changing variables,
troubleshooting
2.2.1 Packages
The associated CPX-CEC package is required to use the controller CPX-CEC-...-V3 (target system) under
CODESYS V3 pbF. This package enables the system functions of the target system to be accessed with
the help of libraries and contains corresponding information in the form of online Helps. This enables
Codesys functions to be used for the target system or, if necessary, restrict it.
•Use the CODESYS V3 pbF software and the CPX-CEC package to configure the device
(www.festo.com/sp).
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Festo control block CPX-CEC
2.3 Overview of memory size
Memory CPX-CEC-...-V3
Global memory and constants (RAM) 192 MB
Available flash memory (boot project, project archive, web visualisation, application
data) 16 MB
Flag memory 28 kB
Input 28 kB
Output 28 kB
2.3.1 Remanent variables
The CPX-CEC-...-V3 provides max. 28 kB for storing remanent variables. They are automatically shared
based on the variable declaration within the application.
The following sample combinations for distributing the remanent memory are possible:
RETAIN variable PERSISTENT RETAIN variable
28 kB 0 bytes (only if there is no PERSISTENT variable list)
0 bytes 28 kB
1,024 bytes 28 - 1 kB = 27 kB
x bytes 28,672 - x bytes
Note
•Make sure during programming that the total size of all the remanent data does not exceed the
maximum available range of 28 kB.
This will avoid errors when transferring an application to the CPX-CEC-...-V3.
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Festo control block CPX-CEC
2.4 Libraries
To simplify programming, Codesys enables usable objects such as
– function blocks
– declarations
– visualisations
to be organised into project-independent libraries.
Library Comment
Festo_General_3.library For controlling and parameterising Festo controllers.
Festo_CPX_3.library For diagnosing CPX devices.
Festo_EasyIP_3.library For easy networking of controllers via EasyIP.
Festo_Motion_3.library For configuring motor controllers from Festo (e.g. CMMP-AS).
Festo_FHPPMAX_3.library Festo profile FHPPMAX
Festo_CPX-CMAX_3.library For controlling and parameterising the Festo axis controller CPX-
CMAX.
Festo_CVE_3.library For actuating motor controllers that support the CVE protocol from
Festo (e.g. CMMO-ST).
Festo_CameraControl_3.library For accessing the Compact Vision System SBO...-Q.
Table: Libraries for programming the CPX-CEC-...-V3
A Library Manager that can be used to integrate and view libraries is available for this.
Detailed descriptions of the libraries and how to program them can be found in the respective
online Helps.
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Festo control block CPX-CEC
2.5 Operating modes of the CPX terminal with Codesys controller
The Codesys controller can be operated in different modes, depending on the
requirement:
– Standalone
– Remote Controller Ethernet
– Remote Controller Fieldbus (fieldbus node required)
The individual operating modes are described briefly below:
2.5.1 Standalone operating mode
1
CPX-CEC-...-V3
2
CPX terminal controlled by CPX-CEC-...-V3
Standalone operating mode
2.5.2 Remote Controller Ethernet operating mode
1
CPX-CEC-...-V3 for communication connected to an Ethernet network
2
CPX terminal controlled by CPX-CEC-...-V3
Remote Controller Ethernet operating mode
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Festo control block CPX-CEC
2.5.3 Remote Controller Fieldbus operating mode
1
CPX-CEC-...-V3 for communication via the fieldbus node connected to the fieldbus
2
CPX fieldbus node, in this case CPX-FB13
3
CPX terminal controlled by CPX-CEC-...-V3
Remote Controller Fieldbus operating mode (fieldbus node required)
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Festo control block CPX-CEC
3 Installation
3.1 General information
Caution
Risk of injury due to electric shock.
•Always switch off the power supply before mounting or removing CPX modules.
Note
The controller CPX-CEC-...-V3 contains electrostatically sensitive components.
•Therefore do not touch any contacts.
•Observe the handling specifications for electrostatically sensitive devices.
Note
The controller CPX-CEC-...-V3 only supports single-channel switch-off. All inputs and outputs are
de-energised when the power supply is switched off.
Note
Check your EMERGENCY STOP circuit in order to ascertain the measures necessary for
switching your machine/system into a safe state in the event of an EMERGENCY STOP
(e.g. shutting off energy sources; load voltage supply, compressed air, etc.).
Information on mounting the CPX terminal can be found in the CPX system manual P.BE-CPX-SYS-.... .
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Festo control block CPX-CEC
3.2 Mounting and removal
The device is mounted in a manifold sub-base of the CPX terminal:
1
CPX-CEC-...-V3
2
Manifold sub-base
3
Contact rails
4
Screws (4)
Figure: Mounting/removing the device (in this case CPX-CEC-C1-V3/-M1-V3)
3.2.1 Removal
Note
•Never remove the CPX-CEC-...-V3 while still wired.
•Make sure that all cable connections are disconnected before removing the CPX-CEC-...-V3.
1. Loosen the screws 4in the device 1with a TORX screwdriver size T10.
2. Pull the device carefully and without tilting away from the contact rails 3of the manifold sub-base 2.
3.2.2 Mounting
Note
•Mount the device at the left-hand end position of the CPX terminal (position 0).
1. Check the seal and the sealing surfaces.
2. Place the device 1in the manifold sub-base 2. Make sure that the grooves with the power contact
terminals on the bottom of the device lie above the contact rails 3.
3. Then push the device 1carefully and without tilting as far as possible into the manifold sub-base 2.
4. Place the screws so that the self-cutting threads can be used. Tighten the screws by hand.
5. Tighten the screws 4with a TORX screwdriver size T10 to 0.9 ... 1.1 Nm.
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Festo control block CPX-CEC
3.3 Connection and display components
1
Status LEDs
5
DIL switch 1 (section DIL switches)
2
RUN/STOP rotary switch
6
DIL switch 2 (section DIL switches)
3
Ethernet interface (10/100BaseT, RJ45)
7
Connection for handheld CPX-MMI
4
CPX-CEC-C1-V3/-M1-V3:
– CANopen interface (plug, 9-pin, Sub-D)
CPX-CEC-S1-V3:
– RS-232 interface (socket, 9-pin, Sub-D)
Figure: Connection and display components
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Festo control block CPX-CEC
3.4 Setting the switches on the Codesys controller
3.4.1 RUN/STOP rotary switch
Note
The RUN/STOP rotary switch is set in the factory to position "1".
•Set the RUN/STOP rotary switch to position "0" (STOP) during installation to prevent the
program being started either automatically after the voltage is switched on or inadvertently by a
commissioning technician.
The RUN/STOP rotary switch must be accessible to be able to make settings:
•If necessary, remove the cover (section Ensuring protection to IP65/IP67).
The position of the RUN/STOP rotary switch is forwarded to the controller by means of four internal digital
inputs and can be evaluated there.
Switch position Setting Meaning
0 STOP
Codesys controller stopped. The STOP LED lights up yellow.
1 ... F RUN
Codesys controller started. The RUN LED lights up green.
Factory setting: 1
Table: Switch positions of the RUN/STOP rotary switch
3.4.2 DIL switches
The DIL switches must be accessible in order to make settings:
•If necessary, remove the cover or the IP65/IP67 plug from the Sub-D interface (section Ensuring
protection to IP65/IP67).
DIL switch 1 Function
DIL 1.1: OFF
DIL 1.2: OFF Reserved
•Leave the two switch elements of DIL switch 1 at OFF.
Table: Setting DIL switch 1
DIL switch 2 Function
DIL 1.1: OFF
DIL 1.2: OFF CAN bus termination (120 Ω) switched off (factory setting).
DIL 2.1: ON
DIL 2.2: OFF CAN bus termination (120 Ω) switched on (only with CPX-CEC-C1-
V3 and CPX-CEC-M1-V3).
All other switch positions are reserved.
Table: Setting DIL switch 2
DIL switch 2 is without function on the CPX-CEC-S1-V3.
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Festo control block CPX-CEC
3.5 Interfaces
3.5.1 Ethernet interface
The Ethernet interface enables a programming device, PC or operator unit to be connected to the Codesys
controller.
The Ethernet interface is designed as an RJ45 socket.
Socket Pin Signal Comment
1 TD+ Transmitted data+
2 TD– Transmitted data–
3 RD+ Received data+
4 n.c. Not connected
5 n.c. Not connected
6 RD– Received data–
7 n.c. Not connected
8 n.c. Not connected
Housing Screen Screen
Table: Pin allocation of the Ethernet interface
If the Ethernet interface is not used, seal it with a cover AK-RJ45. This provides protection to IP65/IP67
(section Ensuring protection to IP65/IP67).
Ethernet cable
Use connecting cables with the following specification:
– Screened flexible Ethernet round cable from category 5
– Max. outside diameter: 5.4 mm
– Core diameter: 0.89 ... 1.0 mm AWG24-26
– Assembly: Via crimp tool to RJ45
Note
If the CPX terminal is fitted onto a moving part of a machine, the Ethernet cable on the moving part
must be provided with strain relief.
Network connection
You will need a patch or crossover cable to connect your Codesys controller to a network or PC. The
interface automatically detects which cable is connected and automatically switches the signals.
Note
•Use the RJ45 plug from Festo to ensure protection to IP65/IP67 (section Ensuring protection
to IP65/IP67):
– FBS-RJ45-8-GS
•Refer to the fitting instructions for the plug.
Figure: RJ45 plug FBS-RJ45-8-GS
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