Festo EtherCAT CPX-AP-A-EC-M12 User manual

CPX-AP-A-EC-M12
EtherCAT interface
Operating instruc-
tions
8160774
2022-07
[8160776]

Translation of the original instructions
EtherCAT® is a registered trademark of its respective trademark holder in certain countries.

Festo — CPX-AP-A-EC-M12 — 2022-07
3
Table of contents
1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Applicable documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Product version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Product labelling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Specified standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Training of qualified personnel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Additional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.1 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.2 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4.2.1 Product design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4.2.2 LED displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4.2.3 Control elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4.2.4 Connecting elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
7 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
8 Parameterisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
8.1 Object directory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
8.1.1 EtherCAT General Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
8.1.2 EtherCAT Modular Device Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
9Diagnostics and fault clearance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.1 Diagnostics options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.2 Diagnostics messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.3 LED displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9.4 Diagnostics via EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
9.4.1 Diagnostics via SDO access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
9.4.2 Diagnostics via PDO access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
9.4.3 Diagnostics via diagnostics history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
9.4.4 Emergency message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
10 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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Festo — CPX-AP-A-EC-M12 — 2022-07
About this document
1 About this document
1.1 Applicable documents
All available documents for the product è www.festo.com/sp.
Document Table of contents
Operating instructions for automation system
CPX-AP-A
Instruction manual and important information on
assembly, electrical installation and maintenance
tasks as well as description of the automation
system CPX-AP-A
Tab. 1: Applicable documents
1.2 Product version
This document refers to the following product versions:
Product Version
CPX-AP-A-EC EtherCAT interface CPX-AP-I-EC from revision 1
Tab. 2: Product version
The product version can be determined from the product labelling.
There may be an updated version of this document for this or later product versions
è www.festo.com/sp.
1.3 Product labelling
The product labelling and the Data Matrix Code are printed on the housings of the modules. Scanning
the Data Matrix Code with an appropriate device opens the Festo Internet page with documents
appropriate for the product. Alternatively, the Product Key (11-digit alphanumeric code on the product
labelling) can be entered in the search field è www.festo.com/sp.
1.4 Specified standards
Version
IEC 60204-1:2016-10 IEC 61784:2014-08
IEC 60364-4-41:2005-12 IEC 61918:2018-09
IEC 61158:2014-07 ISO/IEC 8802-3:2021-02
Tab. 3: Standards specified in the document

Festo — CPX-AP-A-EC-M12 — 2022-07
Product overview
5
2 Safety
2.1 Safety instructions
–Only use the product if it is in perfect technical condition.
–Observe the identifications on the product.
–Store the product in a dry environment protected from UV and corrosion. Keep storage times short.
–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 exclusively for operation as an interface between
an automation system CPX-AP-A and a higher-order controller by 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 approved for the applicable
product variant è www.festo.com/catalogue.
2.3 Training of qualified personnel
Work on the product may only be carried out by qualified personnel who can evaluate the work
and detect dangers. The qualified personnel have skills and experience in dealing with electrical
(open-loop) control technology.
3Additional information
–Contact the regional Festo contact if you have technical problems è www.festo.com.
–Accessories and spare parts è www.festo.com/catalogue.
4 Product overview
4.1 Function
The product, installed 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 for parameterisation of the automation system CPX-AP-A via
control software.
The device description file is available at 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.

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Product overview
Web servers
The integrated web server provides read and write access to the key parameters and diagnostics
functions of the automation system CPX-E .
Functions of the web server:
–Parameterisation of the modules in the automation system CPX-AP
–Display of diagnostics messages
–Display of system properties
–Downloading a device description file (ESI file)
–Exporting the changed startup parameters for TwinCAT
–Management of the stored parameters
–Update of the Firmware
The web server can be accessed by entering the IP address in the address bar of a web browser.
Registration data:
• User: admin
• Password: Product Key è product label on the interface housing
The login data can be changed after the first login.
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.

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Product overview
7
4.2 Structure
4.2.1 Product design
1
2
3 4
5
6
7
Fig. 1: Product design
1
EtherCAT network connection [In XF2]
2
Rotary switch screw cover
3
Connection for system communication
[XF20]
4
LED display
5
Rotary switch cover
6
EtherCAT network connection [Out XF2]
7
Inscription label
4.2.2 LED displays
LED Meaning
MD Module diagnostics [MD] (green, red)
PL Load supply [PL] (green, red)
Run EtherCAT operating status [RUN] (green)
LA X1 Network connection [LA X1] (green)
SD System diagnostics [SD] (green/red)
MT Maintenance [MT] (yellow)
Err EtherCAT error [ERR] (red)
LA X2 Network connection [LA X2] (green)
Tab. 4: LED displays

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Product overview
4.2.3 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 switches 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 … 4094 (1h … fffh) = permissible address range
–4095 (0xFFF) = reset to factory setting
If set to 0, the address of the interface is automatically assigned
by the EtherCAT master (autoincrement).
Factory setting: 0
Tab. 5: Rotary switches
Changes to the rotary switches only take effect following a restart of the interface.
4.2.4 Connecting elements
Connection for system communication [XF20]
Socket M8, 4-pin, D-coded Signal
1 RX– Received data –
2 TX+ Transmitted data +
3 RX+ Received data +
4 TX– Transmitted data –
Tab. 6: Connection for system communication
Connection for EtherCAT network [IN XF1]
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 FE
Tab. 7: Connection for EtherCAT network [IN XF1]

Festo — CPX-AP-A-EC-M12 — 2022-07
Commissioning
9
Connection for EtherCAT network [OUT XF2]
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 FE
Tab. 8: Connection for EtherCAT network [OUT XF2]
5Mounting
•Carry out assembly according to the "Automation system CPX-AP-A operating instructions" è 1.1
Applicable documents.
6Installation
•Carry out installation according to the "Automation system CPX-AP-A operating instructions"
è 1.1 Applicable documents.
•EtherCAT Use network cables as described in the cable specification è 10 Technical data.
7Commissioning
NOTICE
Unauthorised Access to the Device Can Cause Damage or Malfunction.
• When connecting the device to a network, protect the network from unauthorised access.
Standards for security in information technology can be used for network protection measures, e.g.
IEC 62443, ISO/IEC 27001.
1. Set up an automation project for the higher-order controller using suitable software.
2. Load 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. Upload the automation project to the higher-order controller.
Response of the display components of the module after error-free commissioning
[MD] [SD] [PL] [MT]
green light green light green light off
Tab. 9: Response of the display components after error-free commissioning

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Parameterisation
[LA X1], [LA X2] [RUN] [ERR]
green light green light off
Tab. 10: Response of the display components after error-free commissioning
Information on troubleshooting in the event of incorrect response:
è 9 Diagnostics and fault clearance
è 1.1 Applicable documents
8Parameterisation
Various parameters are available for reading out information about the modules in an automation
system CPX-AP and adapting the modules to the application situation.

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Parameterisation
11
Parameter
ID Parameter Instances Data type Access1
)
Array
size
246 Fieldbus serial number 1 UINT32 ro –
791 Product Key 1 CHAR ro 12
960 Firmware version 1 CHAR ro 30
20000 Module code 1 UINT32 ro –
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 –
20085 Measured value of 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 –

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Parameterisation
ID Parameter Instances Data type Access1
)
Array
size
20196 Diagnostics status
–Index 0: diagnostics status of the entire
automation system CPX-AP
–Index 1: diagnostics status of module 1
(address 1)
–Index 2: diagnostics status of module 2
(address 2)
–...
Every 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
113012
5
Bootloader version 1 CHAR ro 30
1) ro = read only; rw = read write
Tab. 11: Parameter
8.1 Object directory
8.1.1 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

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Parameterisation
13
Index Sub-
index
Description Data type Access1
)
Value
0x1008 0 Device name VISIBLE_
STRING
ro CPX-AP-A-EC-M12
0x1009 0 Hardware version VISIBLE_
STRING
ro
0x100A 0 Software version VISIBLE_
STRING
ro
Identity object 0x1018
0x1018 0 Number of entries U8 ro 4
1 Vendor ID U32 ro 0x0000001D
2 Product code U32 ro 0x7C0ADB
3 Revision number U32 ro
4 Serial number U32 ro
Error settings object 0x10F1
0x10F1 0 Number of entries U8 ro 2
1 Local error reac-
tion
U32 rw 0 = PDO status
1 = deactivate SyncManager
2 = device-specific status
2 Sync error counter
limit
U16 rw
Diagnosis history object 0x10F3
0x10F3 0 Number of entries U8 ro 5 … 255
1 Maximum mes-
sages
U8 rw 250
2 Newest message U8 ro Subindex of latest message (6 …255)
Factory setting = 0
3 Newest acknowl-
edged 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
available

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Parameterisation
Index Sub-
index
Description Data type Access1
)
Value
0x10F3 5 Flags U16 rw Bit 0: send from Emergency mes-
sages
0 = do not send messages as Emer-
gency message (factory setting)
1 = send messages as Emergency
message
Bit 1: information messages
0 = store information messages in
diagnostics memory (factory setting)
1 = do not store information mes-
sages in the diagnostics memory
Bit 2: warning messages
0 = store warning messages in diag-
nostics memory (factory setting)
1 = do not store warning messages
in the diagnostics memory
Bit 3: error messages
0 = store error messages in diagnos-
tics memory (factory setting)
1 = do not store error messages in
the diagnostics memory
Bit 4: operating mode
0 = overwrite mode
1 = Acknowledge Mode
Bit 5: Overwrite/Discard Information
Overwrite mode:
1 = overwrite unacknowledged mes-
sages
Acknowledge Mode:
1 = discard new messages if diag-
nostics memory full with unacknowl-
edged messages
Bit 6 … 15: reserved
6
…
255
Diagnosis mes-
sage
OCTET_
STRING
ro Diagnostics message 1
…
Diagnostics message 250
è 9.4 Diagnostics via EtherCAT

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Parameterisation
15
Index Sub-
index
Description Data type Access1
)
Value
Timestamp object (0x10F8)
0x10F8 0 Timestamp object U64 ro p Specified in [ns]
Receive PDO Mapping (0x1600 ... 0x17FF)
0x1600
…
0x17FF
0 Number of objects
in this PDO
U8 rw 0 … 254
1 First 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
… … … …
n Last output object
to be mapped
U32 rw
Transmit PDO Mapping (0x1A00 ... 0x1BFF)
0x1A00
…
0x1BFF
0 Number of objects
in this PDO
U8 rw 0 … 254
1 First 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
… … … …
n Last input object
to be mapped
U32 rw
Sync Manager Communication Type (0x1C00)
0x1C00 0 Number of used
Sync Manager
channels
U8 ro 4
1 Communication
type
Sync Manager 0
U8 ro 0 = not used
1 = receive mailbox
2 = send mailbox
3 = process data output
4 = process data input
2 Communication
type
Sync Manager 1
U8 ro
3 Communication
type
Sync Manager 2
U8 ro
4 Communication
type
Sync Manager 3
U8 ro

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Parameterisation
Index Sub-
index
Description Data type Access1
)
Value
Sync Manager PDO Assignment (0x1C12 ... 0x1C13)
0x1C12
…
0x1C13
0 Number of
assigned
[RT] x PDOs
U8 rw 0 … 254
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
parameters
U8 ro 0 … 3
1 Synchronization
type
U16 rw 0: not synchronised
1: synchronised
2: DC Sync0
3: DC Sync1
32: SyncSm0
33: SyncSm1
…
63: SyncSm31
2 Cycle time U32 ro Specified in [ns]
3 Shift time U32 rw Specified in [ns]
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 12: EtherCAT General Objects
8.1.2 EtherCAT Modular Device Profile
Index Description Value
0x2000
…
0x21FF
Range of parameters for the relevant AP
modules.
Network parameters of the respective mod-
ules based on the APDD
0x2200
…
0x227F
IO-Link ISDU access mailbox Parameter query of IO-Link modules

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Parameterisation
17
Index Description Value
0x27F0 AP parameter access Parameter query from AP modules
0x27F1 Stored parameters NV Supports saving of the system (expansion
and parameters) in the bus node
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. 17 Information
data object area
0xA000
…
0xA1FF
Module diagnostics area Reading out the current diagnostics status
and last error from the modules.
0xF000 Modular device profile object è Tab. 19 Modular device profile object
0xF030
…
0xF03F
Configured module ident list è Tab. 20 Configured module ident list
0xF050
…
0xF05F
Detected module ident list è Tab. 21 Detected module ident list
Tab. 13: EtherCAT Modular Device Profile
ISDU Access (0x22xx)
Sub-
index
Data type Description
0 UNSIGNED8 Number of subindexes = 7
1 UNSIGNED8 Access:
–0 = read
–1 = write
Writing to this subindex defines the data transfer
2 UNSIGNED8 Channel (starting with 0)
3 UNSIGNED16 ISDU index from the IO-Link device
4 UNSIGNED8 ISDU subindex from the IO-Link device
5 UNSIGNED16 ISDU Error

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Parameterisation
Sub-
index
Data type Description
6 UNSIGNED8 Length of the data
7 ARRAY OF BYTE Data
Tab. 14: ISDU Access (0x22xx)
AP Parameter Access (0x27F0)
Sub-
index
Data type Access1
)
Description
0 UNSIGNED8 ro Number of subindexes = 7
1 UNSIGNED8 rw Access:
–0 = read
–1 = write
Writing to this subindex defines the data transfer
2 UNSIGNED16 rw Module number (starting with 1)
3 UNSIGNED32 rw AP parameter ID
4 UNSIGNED16 rw AP parameter instance
5 UNSIGNED16 ro Status/error:
–0 = Ok
–0xFFFF = busy
–All others = error
6 UNSIGNED16 rw Length of the data
7 ARRAY OF BYTE
[512]
rw Data
1) ro = read only; rw = read write
Tab. 15: AP Parameter Access (0x27F0)
Stored Parameter NV (0x27F1)
Sub-
index
Data type Access1
)
Description
0 UNSIGNED8 ro Number of subindexes = 3
1 UNSIGNED8 rw Mode:
–0 = delete without changing parameters
–1 = save/update saved parameters
–2 = delete with reset of parameters to default values

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Parameterisation
19
Sub-
index
Data type Access1
)
Description
2 BOOL ro Loaded (successfully loaded start parameters)
3 UNSIGNED8 ro Storage used (in percent); 0 if not used
1) ro = read only; rw = read write
Tab. 16: Stored Parameter NV (0x27F1)
Information data object area (0x9000 … 0x9FFF)
Index Sub-
index
Description Data type Access1
)
Value
0x9000
…
0x9FFF
1 Address of the
module
U16 ro Module address
2 Type string VISIBLE_
STRING
ro Module description
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

20
Festo — CPX-AP-A-EC-M12 — 2022-07
Parameterisation
Index Sub-
index
Description Data type Access1
)
Value
0x9000
…
0x9FFF
34 Firmware version STRING(34) ro Firmware version
35
…
255
Vendor/profile
specific
ro Manufacturer/profile-specific
information
1) ro = read only; rw = read write; ro p = read only (PDO mappable)
Tab. 17: Information data object area
Module Diagnosis area (0xA000-0xA1FF)
Sub-
index
Name Data type Access1
)
Description
1 Module Diagnosis
State
UNSIGNED32 ro Module diagnostics status, bit:
–0 = device available (communica-
tion OK)
–1 = current
–2 = voltage
–3 = temperature
–4 = reserved
–5 = motion
–6 = configuration/parameters
–7 = monitoring
–8 = communications
–9 = safety
–10 = internal hardware
–11 = software
–12 = maintenance
–13 = various
–14, 15 = reserved
–16 = external device
–17 = security
–18 = encoder
–19 … 31 = reserved
If the bit is set, at least one diagnostics
of this category is available.
2 Active Diagnosis
Count
UINT16 ro Diagnostics currently active on this
module
3 Submodule UINT16 ro Submodule entry of the last diagnos-
tics