Festo CPX-CEC User manual

Electronics Manual
CoDeSys Controller
Type
CPX−CEC
CPX−CEC−C1/−M1
CPX Terminal
Manual
569 122
en 1004a
[753 482]

Contents and general instructions
I
Festo P.BE−CPX−CEC−E N en 1004a
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 1004a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−CEC−EN. . . . . . . . . . . . . . . . . . . . . . . .
Orderno. 569 122
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2010)
Internet:http://www.festo.com
E−mail: [e-mail]
The reproduction, distribution and utilisation of this docu
ment 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 re
served in the event of the grant of a patent, utility module
or design.

Contents and general instructions
II Festo P.BE−CPX−CEC−E N en 1004a
CANopen®, CoDeSys®, MODBUS®and TORX®are registered trade names of the respective
trademark holders in certain countries.
This product uses open−source softwarewhich issubjecttothe"GNU General Public License,
Version2".ThelicensingconditionsoftheGPLare located either in the product’s engineering
tool or at the following addresses:
http://<IP address of the device>/product−information.html
http://www.gnu.org/copyleft/gpl.html

Contents and general instructions
III
Festo P.BE−CPX−CEC−E N en 1004a
Contents
Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3. . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 1−6. . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming environment 1−9. . . . . . . . . . . . .
1.4.1 Programming languages 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Libraries 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Meaning of the LED displays 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 CPX−specific LEDs 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Installation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and fitting 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Fitting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Connection and display elements 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Setting the switches of the CoDeSys controller 2−7. . . . . . . . . . . . . . . . . . . . . . .
2.4.1 RUN/STOP rotary switch 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 DIL switches 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Ethernet interface 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Ethernet cable 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Communication interfaces 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 CANopen interface (CPX−CEC−C1/−M1) 2−12. . . . . . . . . . . . . . . . . . . . . . .
2.6.2 RS232 interface (CPX−CEC) 2−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−CPX−CEC−E N en 1004a
2.7 Connection of an operator unit type FED 2−18. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Connection of a handheld type CPX−MMI 2−19. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9 Complying with protection class IP65/IP67 2−20. . . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning 3−1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Prerequisites for commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 First steps 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Configuration of the CPX modules 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Configuration of the CANopen slaves 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Parameterisation of the CPX terminal 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Parameterisation via control configuration in CoDeSys 3−10. . . . . . . . .
3.5.2 Parameterisation via the handheld type CPX−MMI 3−13. . . . . . . . . . . . .
3.6 Forcing 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Diagnosis 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General error response of the CoDeSys controller 4−3. . . . . . . . . . . . . . . . . . . . .
4.2 Diagnosis via controller LEDs 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Further diagnostic options 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−CPX−CEC−E N en 1004a
Designated use
The type CPX−CEC/CPX−CEC−... CoDeSys controller docum
ented in this manual is intended exclusively for use in Festo
CPX terminals for installation in a machine or an automation
control system.
In combination with a CPX terminal, the CPX−CEC/CPX−CEC−...
is used for
 controlling pneumatic and electric actuators (valves, out
put modules and motor controllers via CANopen)
 interrogating electric sensor signals through the input
modules
 communication via Ethernet.
The CPX terminal with the CPX−CEC/CPX−CEC−... may only be
used as follows:
asdesignated in industrial applications
 without any modifications by the user. Only the conver
sions or modifications described in the documentation
supplied with the product are permitted
infaultless technical condition
 only in combination with approved components
(e.g.valves, drive/displacement encoder combinations).
The limit values specified for pressures, temperatures, electri
cal data, torques etc. should be observed.
Please comply with the regulations of the workers’ com
pensation insurance association, the German Technical Con
trol Board (TÜV) and the electrical requirements of the VDE or
the corresponding national and local safety regulations.

Contents and general instructions
VI Festo P.BE−CPX−CEC−E N en 1004a
Safety instructions
Protection against dangerous movements
Warning
High acceleration forces at the connected actuators! Unde
sired movements can cause collisions and severe injuries.
Dangerous movements can occur through faulty control
ling of connected actuators, e.g. via:
 unsafe or faulty circuitry or cabling,
 faulty operation of the components,
 errors in the measured value and signal generators,
 defects or non−EMC−compliant components,
 errors in the higher−order control system,
 programming errors in user programs and projects.
Simply switching off the compressed air supply or load
voltage is not suitable for locking procedures. In the event
of a fault, this could lead to unintentional movement of the
drive.
·Before doing mounting, installation and service work,
bring the system into a safe condition (e.g. by bringing
the drive into a safe position and deactivating the
controller).
Always make sure that the compressed air supply and
power supply are switched off and locked when working
in the machine area.
·Make sure that no persons are in the operating range of
the drives or any other connected actuators.
·Do not switch on the compressed air supply until the
system is correctly installed and parameterised.

Contents and general instructions
VII
Festo P.BE−CPX−CEC−E N en 1004a
·Brakes controlled by the drive controller are alone not
suitable to ensure personal protection!
Secure vertical axes from falling or sliding down when
the compressed air and load voltages are switched off,
as follows:
 mechanical locking of the vertical axis,
 external braking/safety catch/clamping device or
 sufficient counterbalance of the axis.
·Additional measures are required for use in safety−re
lated applications; in Europe, for example, the standards
listed under the EC Machinery Directive must be ob
served. Without additional measures in accordance with
statutory minimum requirements, the product is not
suitable for use in safety−related sections of control
systems.
Protection from pressurised tubing
Caution
Danger of injury through inappropriate handling of pres
surised tubing!
Undesired movements of the connected actuators and
uncontrolled movements of loose tubing can cause injury
to human beings or damage to property.
·Do not connect, disconnect or open pressurised tubing.
·The tubing must always be vented before removal
(release compressed air).
·Use suitable protective equipment (e.g. safety goggles,
safety shoes, etc.).

Contents and general instructions
VIII Festo P.BE−CPX−CEC−E N en 1004a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.
Service
Please consult your local Festo Service if you have any techni
cal problems.

Contents and general instructions
IX
Festo P.BE−CPX−CEC−E N en 1004a
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
pictogram.
A distinction is made between the following danger warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or property damage.
Caution
... means that failure to observe this instruction may result
in personal injury or property damage.
Note
... means that failure to observe this instruction may result
in damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive
components:
Electrostatically sensitive devices: Improper handling can
result in damage to components.

Contents and general instructions
XFesto P.BE−CPX−CEC−E N en 1004a
Identifying special information
The following pictograms mark passages in the text which
contain special information.
Pictograms
Information:
Recommendations, tips and cross−references to other in
formation sources.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally friendly use of Festo
products.
Text markings
·The bullet indicates activities which may be carried out in
any order.
1. Numerals denote activities which must be carried out in
the numerical order specified.
 Hyphens designate general lists.
Brackets designate menu entries.
Example: [Scan module configuration].
Arrow brackets mark placeholders for designations. Example:
"Status of <Your Connection>".
Quotation marks designate names of windows, dialogues and
buttons. Example: "Control configuration".

Contents and general instructions
XI
Festo P.BE−CPX−CEC−E N en 1004a
Notes on the use of this manual
This manual refers to the following firmware and software
versions:
 CoDeSys controller CPX−CEC−C1 from Rev 01
 CoDeSys controller CPX−CEC and CPX−CEC−M1 from
Rev 05
 Programming environment CoDeSys provided by Festo
from Version 2.3
This manual contains information on the function, fitting,
installation and commissioning of the CoDeSys controller.
Further information on the device can be found in the
followingdocumentation:
Type Title Description
Short
manual
"CoDeSys controller"
type P.BE−K−CPX−CEC
Connection and display elements, mounting,
installation and technical data
Online help Online.Help for the
CoDeSys controller
CPX−CEC−...
Configuration, commissioning, operation and
error diagnosis
Tab.0/1: Additional documentation on the device
General basic information on the mode of operation, on fit
ting, installing and commissioning CPX terminals can be
found in the CPX system manual, type P.BE−CPX−SYS−...
Observe also the user documentation of the components
used in the CPX terminal.

Contents and general instructions
XII Festo P.BE−CPX−CEC−E N en 1004a
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0 signal 0 V applied at input, or output supplies 0 V
1 signal 24 V applied at input, or output supplies 24 V
0x01 (A0h) Hexadecimal numbers are marked by a prefixed "0x" or by a subscript
"h"
CANopen Fieldbus protocol based on CAN, which is standardised as a European
standard
CoDeSys provided by Festo
(= CoDeSys pbF)
CoDeSys = Controller Development System
CoDeSys provided by Festo permits configuration, commissioning and
programming of various components and devices by Festo. In this
documentation, called "CoDeSys pbF" for short
CPX terminal Complete system consisting of CPX modules with or without
pneumatics
CPX modules Common term for the various modules which can be integrated in a CPX
terminal
DHCP (Dynamic Host
Configuration Protocol)
Dynamic protocol for automatic assignment of IP addresses
DIL switch Dual−in−line switches consist of several switch elements with which
settings can be made
I/O modules Collective term for the CPX modules which provide digital inputs and
outputs
I/Os Digital inputs and outputs
EasyIP Protocol for fast exchange of operands between Festo controllers
EDS file Electronic data sheet, which describes the function and characteristics
of a CANopen device in standardised form (e.g. number of I/Os,
number of diagnosis bytes, etc.).
Ethernet Physical protocol and network for connecting various devices
Fieldbus node Provides the connection to specific fieldbuses. Transmits control
signals to the connected modules and monitors their ability to function

Contents and general instructions
XIII
Festo P.BE−CPX−CEC−E N en 1004a
Term/abbreviation Meaning
FHPP (Festo Handling and
Positioning Profile)
Uniform fieldbus data profile for positioning controllers from Festo
FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP
Handheld type CPX−MMI Handheld terminal for commissioning and service purposes
HTTP (Hyper Text Transfer
Protocol)
Protocol for data transfer via TCP/IP
IP (Internet Protocol) Protocol for addressing and delivering data
Login/Logout Programming system is logged out/logged out
MAC address (Media
Access Control address)
Fixed assigned address for Ethernet device
Modbus/TCP Communication standard via TCP/IP in automation technology
Node ID Provides unique identification of a bus slave on the CANopen fieldbus
OLE Object Linking and Embedding
OPC OLE for Process Control; standardised software interface that permits
access to process data
PLC/IPC Programmable logic controller/industrial PC
Pneumatic interface Interface between the modular electric peripherals and the pneumatics
SoftMotion Motion functionality integrated in the CoDeSys pbF programming and
run−time system. The following motion control models are offered as
modules:
 Single/multi−axis positioning movements with PLCopen Motion
modules
 2.5D CNC control
TCP/IP Combination of the protocols TCP and IP, the most−widely used protocol
in communication via Ethernet
TFTP (Trivial File Transfer
Protocol)
Protocol for file transfer via TCP/IP
TSP
(Target Support Package)
A target support package combines all configuration and expansion
files that are needed to make a specific controller (target) usable for
the programming environment (CoDeSys provided by Festo)

Contents and general instructions
XIV Festo P.BE−CPX−CEC−E N en 1004a
Term/abbreviation Meaning
UDP (User Datagram
Protocol)
A minimal, connectionless network protocol that has a lower protocol
overhead compared to TCP. This has the advantage of a faster
exchange of data. Due to the lack of a reply, the correct transmission
must be ensured, e.g.by means of a user program
User data Telegram data without protocol frame data. The length of the user data
is defined in the configuration of the fieldbus slave
www World Wide Web
Tab.0/2: Product−specific terms and abbreviations

System summary
1−1
Festo P.BE−CPX−CEC−E N en 1004a
Chapter 1

1. System summary
1−2 Festo P.BE−CPX−CEC−E N en 1004a
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3. . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 1−6. . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming environment 1−9. . . . . . . . . . . . .
1.4.1 Programming languages 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Libraries 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Meaning of the LED displays 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 CPX−specific LEDs 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary
1−3
Festo P.BE−CPX−CEC−EN en 1004a
1.1 The CoDeSys controller CPX−CEC/CPX−CEC−...
The controller is available in the following variants:
Variant Characteristics
CPX−CEC−C1 CoDeSys controller with CANopen interface
CPX−CEC−M1 CoDeSys controller with CANopen interface
and function library for SoftMotion
CPX−CEC CoDeSys controller with RS232 interface
Tab.1/1: Variants of the CoDeSys controller
All variants offer...
 Programming with CoDeSys provided by Festo as per
IEC 61131−3
 Programming and communication via Ethernet
 Process visualisation within CoDeSys provided by Festo,
with a type FED operator unit or with the software VipWin
via Ethernet
 Additional process visualisation systems can be con
nected via the supplied OPC server if they have an OPC
client.
 The CoDeSys controller controls a CPX terminal in the
Stand Alone or Remote Controller operating mode.
 Communication over fieldbus in connection with the use
of the respective fieldbus node in the CPX terminal
 Control configuration of CoDeSys provided by Festo for
commissioning, programming and diagnosis of the
system
 Connection of a handheld of type CPX−MMI. The handheld
is used to display status and diagnostic information and
for fast commissioning of the CPX modules in the CPX
terminal.

1. System summary
1−4 Festo P.BE−CPX−CEC−EN en 1004a
CPX−CEC−C1 offers...
ACANopen interface to which up to 31 CANopen slaves
can be connected
CPX−CEC−M1 offers...
 The CoDeSys software package SoftMotion for
coordinated multi−axis movements.
 CPX−CEC−M1 can alternatively also be operated as a
CANopen master. The SoftMotion functions are then not
available.
CPX−CEC offers...
AnRS232 interface (Sub−D, 9−pin) for connecting a type
FED operator unit or for operating external devices.
With external devices, data communication must be
programmed by the user.