Festo CPX-AP-I-EC-M12 User manual

8099739
CPX-AP-I-EC-M12
EtherCAT interface
8099739
2019-11
[8099741]
Instructions| Operat-
ing

Translation of the original instructions
EtherCAT® is a registered trademark of its respective trademark holder in certain countries.
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1 About this document................................................................................................... 4
1.1 Applicable documents.................................................................................................. 4
1.2 Product version............................................................................................................ 4
1.3 Product labelling.......................................................................................................... 4
1.4 Specified standards...................................................................................................... 5
2 Safety........................................................................................................................... 5
2.1 Safety instructions........................................................................................................ 5
2.2 Intended Use................................................................................................................ 5
2.3 Training of qualified personnel..................................................................................... 5
3 Additional information................................................................................................ 5
4 Service..........................................................................................................................5
5 Product overview......................................................................................................... 6
5.1 Function....................................................................................................................... 6
5.2 Configuration................................................................................................................ 7
5.2.1 Product design........................................................................................................7
5.2.2 LED displays........................................................................................................... 8
5.2.3 Control elements.....................................................................................................8
5.2.4 Connecting elements.............................................................................................. 9
6 Assembly..................................................................................................................... 10
7 Installation.................................................................................................................. 10
8 Commissioning............................................................................................................ 10
9 Parameterisation......................................................................................................... 11
9.1 Object directory............................................................................................................ 13
9.1.1 EtherCAT General Objects....................................................................................... 13
9.1.2 EtherCAT Modular Device Profile............................................................................ 17
10 Diagnostics and Fault Clearance................................................................................. 20
10.1 Diagnostics options...................................................................................................... 20
10.2 Diagnostic Messages.................................................................................................... 20
10.3 LED displays................................................................................................................. 26
10.4 Diagnostics via EtherCAT.............................................................................................. 31
10.4.1 Diagnostics via SDO access.................................................................................... 31
10.4.2 Diagnostics via diagnostics history.........................................................................31
10.4.3 Emergency message............................................................................................... 34
11 Disposal........................................................................................................................35
12 Technical Data............................................................................................................. 35
Table of contents

1 About this document
1.1 Applicable documents
All available documents for the product èwww.festo.com/pk.
Document Contents
Instruction manual for automation system
CPX-AP
Instruction manual and important information on
assembly, electrical installation and maintenance
tasks as well as description of the automation
system CPX-AP
Tab. 1 Applicable documents
1.2 Product version
This document refers to the following product versions:
Product Version
CPX-AP-I-EC-M12 EtherCAT interface CPX-AP-I-EC-M12 revision 1 or later
Tab. 2 Product version
The product version can be determined using the product label.
There may be an updated version of this document for these or later product versions
èwww.festo.com/sp.
1.3 Product labelling
The product labelling is located on the right-hand side of the module. The Data Matrix code is on the
connection side. Scanning the printed Data Matrix Code with an appropriate device opens the Festo
Support Portal with the information appropriate for the product. Alternatively, the Product Key
(11-digit alphanumeric code on the product labelling) can be entered in the search field of the Support
Portal èwww.festo.com/sp.
About this document
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1.4 Specified standards
Version
IEC60204-1:2016-10 ISO/IEC8802-3:2000-10
IEC61158:2014-07 EN60204-1:2018-09
IEC61784:2014-08 EN60529:1991-10
IEC61918:2013-08 –
Tab. 3 Standards specified in the document
2 Safety
2.1 Safety instructions
– Take into consideration the legal regulations for the respective destination.
– Use the product only within the defined values è 12 Technical Data.
– Observe labelling on the product.
– Observe further applicable documents.
– Store the product in a dry, UV- and corrosion-protected environment.
– Before working on the product:
Switch off the power supply and secure it against being switched on again.
2.2 Intended Use
The product described in this document is intended only for use as an interface between an automa-
tion system CPX-AP and a higher-order controller through integration in a EtherCAT network.
Use the product only as follows:
– Use only in an industrial environment. Outside industrial environments, e.g.in commercial and
residential/mixed-use areas, it may be necessary to take measures to suppress radio interference.
– Use only in combination with modules and components that are permissible for the respective
product variant èwww.festo.com/catalogue.
– Only use the product if it is in perfect technical condition.
2.3 Training of qualified personnel
Installation, commissioning, maintenance and disassembly should only be conducted by qualified per-
sonnel. The qualified personnel must be familiar with installation of electrical control systems.
3 Additional information
– Accessories èwww.festo.com/catalogue.
4 Service
Contact your regional Festo contact person if you have technical questions èwww.festo.com.
Safety
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5 Product overview
5.1 Function
The product, as a station in an EtherCAT network, establishes the connection between a higher-order
controller and the modules of an automation system CPX-AP.
Device Description File
A device description file (ESI file) is used for project engineering in the EtherCAT interface of the
higher-order controller software.
It contains all the information required to configuration of the automation system CPX-AP via control
software.
The current device description file is available on the Festo Support Portal èwww.festo.com/sp.
Crossover detection (auto MDI/MDI-X)
The product supports crossover detection (auto MDI/MDI-X), which means that there is the option of
using patch cables or crossover cables.
Distributed Clocks
The product supports the "Distributed Clocks" function for precise synchronisation of stations in an
EtherCAT® network. Applications that require simultaneously coordinated actions can therefore be
implemented.
Product overview
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5.2 Configuration
5.2.1 Product design
1Mounting interface connection side top
2Rotary switch cover
3Network connection EtherCAT [OUT X2]
4Connection for system communication [XF21]
5Connection for voltage forwarding [XD2]
6Mounting interface connection side bottom and
connection functional earth FE
7Mounting interface, lateral bottom and connection for
functional earth FE
8Connection for power supply [XD1]
9Connection for system communication [XF20]
10 Network connection EtherCAT [IN X1]
11 Screw Cover Rotary switch
12 Inscription label (optional)
13 Mounting interface, lateral top
Fig. 1 Product design
Product overview
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5.2.2 LED displays
1System diagnostics [SD] (green/red)
2Maintenance [MT] (yellow)
3EtherCAT error [ERR] (red)
4Network connection [LA X2] (green)
5Network connection [LA X1] (green)
6EtherCAT operating status [RUN] (green)
7Performance level [PL] (green/red)
8Module diagnostics [MD] (green/red)
Fig. 2 LED displays
5.2.3 Control elements
NOTICE!
Damage to internal electronics.
Damage to at-risk components due to electrostatic discharge.
• Ensure your body is electrostatically discharged before activating the rotary switch.
Rotary switch Function
The 3 rotary switches are used to set the EtherCAT "Explicit Device
ID" of the interface in hexadecimal code.
Possible settings:
– 0 = stored EtherCAT address, no "Explicit Device ID" assigned
– 1…4095 (1h…fffh) = permissible address range
If set to 0, the address of the interface is automatically assigned by
the EtherCAT master (autoincrement).
Factory setting: 0
Tab. 4 Rotary switch
Changes to the rotary switches only take effect following a restart of the interface.
Product overview
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5.2.4 Connecting elements
Connection for power supply [XD1]
Plug M8, 4-pin, A-coded Signal
1 +24VDC logic supply PS
2 0VDC load supply PL
3 0VDC logic supply PS
4 +24VDC load supply PL
Tab. 5 Connection for power supply
Connection for voltage forwarding [XD2]
Socket M8, 4-pin, A-coded Signal
1 +24VDC logic supply PS
2 0VDC load supply PL
3 0VDC logic supply PS
4 +24VDC load supply PL
Tab. 6 Connection for voltage forwarding
Connection for system communication [XF20], [XF21]
Socket M8, 4-pin, D-coded Signal
1 RX–Received data –
2 TX+ Transmitted data +
3 RX+ Received data +
4 TX–Transmitted data –
Tab. 7 Connection for system communication
Connection for EtherCAT network [IN X1]
Socket M12, 4-pin, D-coded Signal
1 TD+ Transmitted data +
2 RD+ Received data +
3 TD–Transmitted data –
4 RD–Received data –
Thread Shield Functional earth
Tab. 8 Connection for EtherCAT network [IN X1]
Product overview
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Connection for EtherCAT network [OUT X2]
Socket M12, 4-pin, D-coded Signal
1 RD+ Received data +
2 TD+ Transmitted data +
3 RD–Received data –
4 TD–Transmitted data –
Thread Shield Functional earth
Tab. 9 Connection for EtherCAT network [OUT X2]
6 Assembly
• Assemble the module as outlined in the “Instruction manual for automation system
CPX-AP"è 1.1 Applicable documents.
7 Installation
• Carry out the installation according to the "Instruction manual for automation system
CPX-AP"è 1.1 Applicable documents.
• EtherCAT Use network cables as described in the cable specification è 12 Technical Data.
8 Commissioning
NOTICE!
Unauthorised access to the device can cause damage or malfunctions.
When connecting the device to a network, protect the network from unauthorised access.
Measures to protect the network include:
• Firewall
• Intrusion prevention system (IPS)
• Network segmentation
• Virtual LAN (VLAN)
• Virtual private network (VPN)
• Security at physical access level (port security)
Further informationèDirectives and standards for security in information technology,
e.g.IEC62443, ISO/IEC27001.
NOTICE!
Malfunction due to switching on the higher-order controller and automation system CPX-AP in the
incorrect order.
• Switch on the higher-order controller and automation system CPX-AP according to the preset
order of the network used.
1. Using the appropriate software, set up an automation project for the higher-order controller.
Assembly
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2. Import the device description file into the software èwww.festo.com/sp.
3. Configure the automation system CPX-AP in the software:
– System structure
– Network addressing
– Address assignment of modules èInstruction manual for automation system CPX-AP
4. Transfer the automation project to the higher-order controller.
Behaviour of the display components of the module after error-free commissioning
[MD] [SD] [PL] [MT]
Illuminated green Illuminated green Illuminated green Off
Tab. 10 Behaviour of the display components after error-free commissioning
[LA X1], [LA X2] [RUN] [ERR]
Illuminated green Illuminated green Off
Tab. 11 Behaviour of the display components after error-free commissioning
Information on troubleshooting in the event of incorrect behaviour:
èInstruction manual for automation system CPX-AP
è 10 Diagnostics and Fault Clearance
9 Parameterisation
Various parameters are available for reading out information about the modules in an automation sys-
tem CPX-AP and adapting the modules to the application situation.
Every configured or connected module also provides some of its parameters as network parameters.
These are then displayed in the objects 0x2000 … 0x2FFF.
ID Parameter Instance-
s
Data
type
Access1) Arraysize
246 Fieldbus serial number 1 UINT32 ro –
791 Product key 1 CHAR ro 12
960 Firmware version 1 CHAR ro 40
20000 Module code 1 UINT32 ro –
Parameterisation
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ID Parameter Instance-
s
Data
type
Access1) Arraysize
20022 Configuration of voltage monitoring load
supply PL
– 0: load voltage monitoring inactive
– 1: load voltage monitoring active, with
suppression of diagnostics at switch-
off (factory setting)
– 2: load voltage monitoring active
1 UINT8 rw –
20059 AP Sync operating mode 1 ENUM_ID ro –
20085 Measured value temperature AP-ASIC [°C] 1 INT16 ro –
20087 Current measured value of logic supply PS
[mV]
1 UINT16 ro –
20088 Current measured value of load supply PL
[mV]
1 UINT16 ro –
20092 Operating time [s] 1 UINT32 ro –
20093 Hardware version 1 UINT8 ro –
20196 Diagnostic status
– Index 0: diagnostic status of the entire
automation system CPX-AP
– Index 1: diagnostic status of module 1
(address 1)
– Index 2: diagnostic status of module 2
(address 2)
– ...
Each entry is of the data type UINT8 with
the following meaning:
– Bit 0: degree of severity information (1)
– Bit 1: degree of severity maintenance
(1)
– Bit 2: degree of severity warning (1)
– Bit 3: degree of severity error (1)
– Bit 4, 5: reserved
– Bit 6: module present (1), module lost
(0)
– Bit 7: reserved
Bit 6 is not valid for index 0.
1 UINT8 ro Number
of mod-
ules + 1
1130125 Bootloader version 1 CHAR ro 40
1) ro = read only; rw = read write
Tab. 12 Parameter
Parameterisation
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9.1 Object directory
9.1.1 EtherCAT General Objects
Index Sub-
index
Description Data type Access1) Value
0x1000 0 Device type U32 ro Bit 0 …15: device profile used
Bit 16 …31: further information on the
device profile used
0x1001 0 Error register U32 ro Bit 0: generic error
Bit 1: current error
Bit 2: voltage error
Bit 3: temperature error
Bit 4: communication error
Bit 5: device-profile-specific error
Bit 6: reserved
Bit 7: manufacturer-specific error
0x1008 0 Device name VISIBLE_
STRING
ro CPX-AP-I-EC-M12
0x1009 0 Hardware version VISIBLE_
STRING
ro
0x100A 0 Software version VISIBLE_
STRING
ro
Identity object 0x1018
0 Number of entries U8 ro 4
1 Vendor ID U32 ro 0x0000001D
2 Product code U32 ro 0x007B6451
3 Revision number U32 ro
0x1018
4 Serial number U32 ro
Error settings object 0x10F1
0 Number of entries U8 ro 2
1 Local error reaction U32 rw 0 = PDO status
1 = deactivate SyncManager
2 = device-specific status
0x10F1
2 Sync error counter
limit
U16 rw
Diagnosis history object 0x10F3
0x10F3 0 Number of entries U8 ro 5…255
Parameterisation
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Index Sub-
index
Description Data type Access1) Value
1 Maximum mes-
sages
U8 rw 250
2 Newest message U8 ro Subindex of latest message (6 …255)
Factory setting = 0
3 Newest acknow-
ledged message
U8 rw Factory setting = 0
4 New messages
available
BOOL ro p Overwrite Mode:
0 = latest message read
1 = latest message not read
Acknowledge Mode:
0 = no acknowledgeable messages
available
1 = acknowledgeable messages avail-
able
Bit 0: send from Emergency messages
0 = do not send messages as Emer-
gency message (factory setting)
1 = send messages as Emergency mes-
sage
Bit 1: information messages
0 = store information messages in dia-
gnostic memory (factory setting)
1 = do not store information messages
in the diagnostic memory
Bit 2: warning messages
0 = store warning messages in diagnost-
ic memory (factory setting)
1 = do not store warning messages in
the diagnostic memory
Bit 3: error messages
0 = store error messages in diagnostic
memory (factory setting)
1 = do not store error messages in the
diagnostic memory
0x10F3
5 Flags U16 rw
Bit 4: operating mode
0 = Overwrite Mode
1 = Acknowledge Mode
Parameterisation
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Index Sub-
index
Description Data type Access1) Value
Bit 5: Overwrite/Discard Information
Overwrite mode:
1 = overwrite unacknowledged mes-
sages
Acknowledge Mode:
1 = discard new messages if diagnostic
memory full with unacknowledged mes-
sages
5 Flags U16 rw
Bit 6…15: reserved
0x10F3
6
…
255
Diagnosis message OCTET_
STRING
ro Diagnostic message 1
…
Diagnostic message 250
è Tab. 27 Structure of diagnostic
messages
Timestamp object (0x10F8)
0x10F8 0 Timestamp object U64 ro p Specified in [ns]
Receive PDO Mapping (0x1600...0x17FF)
0 Number of objects
in this PDO
U8 rw 0…254
1 First output object
to be mapped
U32 rw
… … … …
0x1600
…
0x17FF
n Last output object
to be mapped
U32 rw
Bit 0…7: length of the object
Bit 8…15: subindex of the object
Bit 16…31: index of the object
Transmit PDO Mapping (0x1A00...0x1BFF)
0 Number of objects
in this PDO
U8 rw 0…254
1 First input object to
be mapped
U32 rw
… … … …
0x1A00
…
0x1BFF
n Last input object to
be mapped
U32 rw
Bit 0…7: length of the object
Bit 8…15: subindex of the object
Bit 16…31: index of the object
Sync Manager Communication Type (0x1C00)
0x1C00 0 Number of used
Sync Manager
channels
U8 ro 4
Parameterisation
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Index Sub-
index
Description Data type Access1) Value
1 Communication
type
Sync Manager 0
U8 ro
2 Communication
type
Sync Manager 1
U8 ro
3 Communication
type
Sync Manager 2
U8 ro
0x1C00
4 Communication
type
Sync Manager 3
U8 ro
0 = not used
1 = receive mailbox
2 = send mailbox
3 = process data output
4 = process data input
Sync Manager PDO Assignment (0x1C12...0x1C13)
0 Number of
assigned
[RT]xPDOs
U8 rw 0…2540x1C12
…
0x1C13
1…n PDO mapping
object index of
assigned PDO
U16 rw 0x1600: RxPDO 1
0x1601: RxPDO 2
…
0x17FF: RxPDO 512
or:
0x1A00: TxPDO 1
0x1A01: TxPDO 2
…
0x1BFF: TxPDO 512
Sync Manager Synchronization (0x1C32...0x1C33)
0x1C32
…
0x1C33
0 Number of syn-
chronization para-
meters
U8 ro 0…3
0x1C32
…
0x1C33
1 Synchronization
type
U16 rw 0: not synchronised
1: synchronised
2: DC Sync0
3: DC Sync1
32: SyncSm0
33: SyncSm1
…
Parameterisation
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Index Sub-
index
Description Data type Access1) Value
63: SyncSm31
2 Cycle time U32 rw Specified in [ns]
0x1C32
…
0x1C33
3 Shift time U32 rw Specified in [ns]
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 13 EtherCAT General Objects
9.1.2 EtherCAT Modular Device Profile
Index Description Value
0x2000
…
0x2FFF
Manufacturer specific area Network parameters of the respective mod-
ules based on the APDD
0x6000
…
0x6FFF
Input data object area Input objects (TxPDOs)
0x7000
…
0x7FFF
Output data object area Output objects (RxPDOs)
0x9000
…
0x9FFF
Information data object area Module information
è Tab. 15 Information data object area
0xF000 Modular device profile object è Tab. 16 Modular device profile object
0xF030
…
0xF03F
Configured module ident list è Tab. 17 Configured module ident list
0xF050
…
0xF05F
Detected module ident list è Tab. 18 Detected module ident list
Tab. 14 EtherCAT Modular Device Profile
Information data object area (0x9000 … 0x9FFF)
Index Sub-
index
Description Data type Access1) Value
1 Address of the
module
U16 ro Module address0x9000
…
0x9FFF 2 Type string VISIBLE_
STRING
ro Module description
Parameterisation
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Index Sub-
index
Description Data type Access1) Value
3 Name string VISIBLE_
STRING
ro Module name
4 Device type U32 ro Type of equipment
5 Vendor ID U32 ro Manufacturer ID
6 Product code U32 ro Product code
7 Revision number U32 ro Revision number
8 Serial number U32 ro Serial number
9 Module PDO group U16 ro
10 Module ident U32 ro Module ID
11 Slot U16 ro Slot number
12 Slot group U16 ro Slot group
13
…
29
reserved
30 Network segment
address
OCTET_
STRING[6]
ro Network address
31 Network port U32 ro Network connection
32 Festo product key STRING
(12)
ro Festo Product Key
33 Festo part number U32 ro Festo part number
34 Firmware version STRING
(34)
ro Firmware version
0x9000
…
0x9FFF
35
…
255
Vendor/profile
specific
ro Manufacturer/profile-specific informa-
tion
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 15 Information data object area
Parameterisation
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Modular device profile object (0xF000)
Index Sub-
index
Description Data type Access1) Value
0 Number of entries U8 ro
1 Index distance U16 ro Factory setting: 0x10
2 Maximum number
of modules
U16 ro Maximum number of modules
3 General configura-
tion
U32 ro Factory setting: 0
0xF000
4 General informa-
tion
U32 ro General information
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 16 Modular device profile object
Configured module ident list (0xF030…0xF03F)
Index Sub-
index
Description Data type Access1) Value
1 Module ident of
the module con-
figured at position
1
U32 ro Module ID of the module configured at
position 1
2 Module ident of
the module con-
figured at position
2
U32 ro Module ID of the module configured at
position 2
… … … … …
0xF030
…
0xF03F
255 Module ident of
the module con-
figured at position
255
U32 ro Module ID of the module configured at
position 255
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 17 Configured module ident list
Parameterisation
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Detected module ident list (0xF050…0xF05F)
Index Sub-
index
Description Data type Access1) Value
1 Module ident of
the module detec-
ted on position 1
U32 ro Module ID of the module detected at
position 1
2 Module ident of
the module detec-
ted on position 2
U32 ro Module ID of the module detected at
position 2
… … … … …
0xF050
…
0xF05F
255 Module ident of
the module detec-
ted on position 255
U32 ro Module ID of the module detected at
position 255
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 18 Detected module ident list
10 Diagnostics and Fault Clearance
10.1 Diagnostics options
Diagnostics via LED displays
The system and network status and errors are displayed directly on the module via LED indicators
è 10.3 LED displays.
Diagnostics via EtherCAT
Diagnostics as part of EtherCAT functions via control software over the network
è 10.4 Diagnostics via EtherCAT.
10.2 Diagnostic Messages
Only the diagnostic messages of the interface are listed in the following table.
Module-specific diagnostic messages è Instructions for the respective module
ID hex (dec) Message Description
Overvoltage of the logic supply PS 24VDC was detected.
Remedy – Check logic supply PS.
02|01|0017
(33619991)
Overvoltage in logic
supply PS 24VDC
Diagnost-
ic status
Error
Diagnostics and Fault Clearance
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