Festo Cteu-ec Operating and installation instructions

Description,

functions and

maintenance

Bus node

Type CTEU-EC

Network protocol

EtherCAT

Universal bus node

CTEU-EC

Description

575401

en 1208NH

[758875]

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

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

Version en 1208NH.................................

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

Order no. 575401..................................

Internet: http://www.festo.com

E-mail: service_internationa[email protected]

Reproduction, distribution or sale of this document or

communication of its contents to others without express

authorization is prohibited. Offenders will be liable for

utility model or design patent is registered.

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

EtherCAT

,TwinCAT

,CANopen

and TORX

are registered trademarks of the respective

trademark owners in certain countries.

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Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Contents

Designated use V........................................................

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

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

Service VII...............................................................

Notesonthismanual VIII...................................................

Important user instructions X..............................................

1. Installation 1-1...................................................

1.1 General information on the CTEU product family 1-3......................

1.1.1 Hardware components 1-3...................................

1.1.2 Scope of functions (brief overview) 1-4.........................

1.2 General information on the EtherCAT fieldbus protocol 1-5.................

1.2.1 Key elements of the fieldbus protocol 1-5.......................

1.2.2 EtherCAT specifications 1-6...................................

1.2.3 Conformance with the EtherCAT specifications 1-6................

1.3 General information on installation 1-7.................................

1.4 Interfaces 1-9.....................................................

1.4.1 Connection and display components 1-9........................

1.4.2 Power supply 1-10...........................................

1.4.3 Functional test – without network connection 1-12.................

1.4.4 Fieldbus connection 1-12.....................................

1.4.5 Basic settings for fieldbus communication 1-14...................

2. Commissioning 2-1................................................

2.1 Configuration 2-3..................................................

2.1.1 Hot Connect functionality 2-3.................................

2.1.2 Registering participant properties (“ESI file”) in the configuration

program 2-3...............................................

2.1.3 Configuration of the operating modes 2-7.......................

2.1.4 Configuration of operating behaviour (target configuration) 2-13.....

2.1.5 Addressing and data access (data objects) 2-19...................

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

2.2 Replacing the device 2-21............................................

2.2.1 Replacing the bus node 2-21..................................

2.2.2 Replacing the I-port device – same device type (substitute) 2-22.....

2.2.3 Replacing the I-port device – different device type (replacement) 2-23.

2.2.4 Replacing the electrical connection box CAPC-… 2-24...............

3. Diagnostics 3-1...................................................

3.1 Summary of diagnostics options 3-3...................................

3.2 Diagnostics via LED display 3-3.......................................

3.2.1 Normal operating status display 3-4...........................

3.2.2 PS LED status display 3-5....................................

3.2.3 Status display X1/X2 LEDs 3-6................................

3.2.4 EtherCAT operating status display (LED run),

EtherCAT error (LED error), connection status (LEDs L/A2, L/A1) 3-8.

3.3 Diagnostics via EtherCAT 3-10.........................................

3.3.1 Diagnostics via SDO access 3-10...............................

3.3.2 Diagnostics via diagnosis history 3-10...........................

3.3.3 Diagnostics via emergency message 3-12........................

3.3.4 Error codes 3-13.............................................

3.3.5 Error register 3-14...........................................

3.3.6 I-port event code 3-15........................................

3.3.7 Error reaction (fail-state settings) 3-19...........................

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

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

A.2 EtherCAT CANopen object model A-7..................................

A.3 Updating the bus node EEPROM A-8...................................

A.4 Object directories A-9...............................................

A.4.1 Objects common to both communication profiles A-9..............

A.4.2 Communication profile – extensions, fixed variant A-14.............

A.4.3 Communication profile – extensions, modular variant A-17..........

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

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Designated use

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

been designed exclusively for use as a participant (slave

device)inanEtherCATnetwork.

The bus node may only be used as follows:

– In industrial environments according to its intended use;

outside of industrial environments, e.g. in commercial and

mixed-residential areas, measures to suppress interfer-

ence may be required

– in original condition without modification (only the con-

versions or modifications described in the documentation

supplied with the product are permitted)

– in faultless 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.

•

Useonlyvoltagesourcesthatensureareliableelectrical

isolation of operating voltage in accordance with

IEC/EN 60204-1.

•

Always connect the circuits for both operating and load

voltage supply.

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

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.

Range of application and certifications

The product fulfils the requirements of EU directives and is

marked with the CE marking.

Standards and test values which the product complies with

and fulfils can be found in the section “Technical appendix”.

The product-relevant EU directives can be found in the declar-

ation of conformity.

You can find certificates and declarations of conformity for

this product online at:

www.festo.com

You can find information on EtherCAT online at:

www.ethercat.org

Target group

This manual is intended exclusively for technicians trained in

control and automation technology, who have experience in

installation, commissioning, programming and diagnostics of

programmable logic controllers (PLC) and fieldbus systems.

Contents and general safety instructions

VII

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Service

Please consult your local Festo Service agent if you have any

technical problems.

Contents and general safety instructions

VIII

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Notesonthismanual

This manual is Part II of the product documentation for the

bus node, and contains specific information about the

configuration, parameterisation, commissioning, program-

ming and diagnostics of the bus node with the EtherCAT

fieldbus protocol.

Information relating to installation of the bus node can be

found in Part I of the product documentation entitled

“Universal bus node CTEU-EC – Installation and Interface

manual”, which is supplied with the bus node.

All information relating to installation and to the interfaces

can also be found in chapter 1 of this manual.

Information on mounting the bus node on the electrical

connection box CAPC-... can be found in the assembly

instructions that accompany the electrical connection box.

Information about other bus nodes and components of the

CTEU… product family can be found in the user

documentation for the respective product.

You can also find all documents online at:

www.festo.com Support portal: enter search term,

e.g. “CTEU” user documentation

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

This manual contains information about the following

module:

EtherCAT bus

node

Type

designation

Description Connection technology

CTEU-EC Ethernet-based bus node for

EtherCAT

The EtherCAT field bus

technology uses the Ethernet

standards for real-time

communication in an industrial

environment.

Data transmission:

– EtherCAT, based on the Eth-

ernet protocol (IEEE 802.3),

optimised for process data,

real-time capable

– Transmission of process

data in the Ethernet

framework

– Industrial Ethernet,

Switched Fast Ethernet,

100 Mbit/s

Standards and norms

containing reference to

EtherCAT:

– IEC 61158

– IEC 61784

– IEC 61918

– ISO/IEC 8802-3

Additional information:

http://www.ethercat.org

2xM12socket,

D-coded, female, 4-pin, cor-

responding to

IEC 61076-2-101

Tab. 0/1: Overview of CTEU bus node for EtherCAT

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Important user instructions

Danger categories

This manual contains instructions on the possible dangers

which can 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 picto-

gram. 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 denotes passages in the

text which describe activities involving electrostatically sens-

itive devices:

Electrostatically sensitive devices: Incorrect handling may

cause damage to devices.

Contents and general safety instructions

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Marking of special information

The following pictograms denote passages in the text which

contain special information.

Pictograms

Information:

Recommendations, tips and references to other information

sources.

Accessories:

Information on necessary or useful accessories for the Festo

product.

Environment:

Information on the environmentally friendly use of Festo

products.

Text designations

•

Bullet points denote activities that may be carried out in

any sequence.

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

sequence specified.

– Arrowheads indicate general lists.

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Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

The following product-specific terms and abbreviations are

used in this manual:

Term/abbreviation Meaning

Box Field device, e.g. bus node

Bus nodes Create the connection to certain networks or fieldbuses, transmit con-

trol signals to the connected modules and monitor their functioning

CoE CANopen over EtherCAT

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

switch elements which can be used to implement settings

ESI EtherCAT slave information

EtherCAT An industrial-Ethernet based fieldbus system for data exchange

between system controller (PLC/IPC), equipment controller and field

devices (slave/I/O devices) or drives; transmission of process data

in data objects (based on the fieldbus protocol CANopen); embedding

of process data in Ethernet frames (Frames) or datagrams (via UDP/IP);

additional information: www.ethercat.org

FoE File access over EtherCAT

Hold last state defines the status which outputs or valves are to assume following

fieldbus and/or communication errors

IDigital input

I/Os Digital inputs and outputs

IB Input byte

IPC Industrial PC

I-port Festo-specific port for the transfer of communication data (process

data, sensor signals, pilot signals) and supply voltages

Tab. 0/2: Specific terms and abbreviations – part 1

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Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Term/abbreviation Meaning

Load voltage includes the power supply for connected devices and outputs, e.g.

solenoid coils of valves (load voltage supply as distinct from operating

voltage supply for electronics and sensors)

LSB Byte with the lowest importance (Least Significant Byte)

MDP Information model in which hardware and software components are

represented as individual modules (Modular Device Profile)

MSB Byte with the highest importance (Most Significant Byte)

ODigital output

OB Output byte

Object directory makes all important participant parameters accessible in a standard-

ised manner

PDO Process Data Objects provide fast transfer of process data and are

transmitted by simple EtherCAT messages with no protocol overhead.

Process Data Objects may be transmitted based on event control, syn-

chronised to a system clock, or on request.

PLC Programmable Logic Controller, same as SPS

Power supply Umbrella term for operating and load voltage supplies

SDO Service Data Objects form point-to-point connections between the

server and client, primarily for the exchange of parameters for device

configuration. These permit write and read access to any entry in the

object directory of a bus node.

TwinCAT Beckhoff configuration and programming software

(TwinCAT: The Windows Control and Automation Technology)

Tab. 0/3: Specific terms and abbreviations – part 2

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Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Installation

1-1

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

Chapter 1

Installation

1. Installation

1-2