Festo CPX-CM-HPP User manual

Manual
Electronics
FHPP interface
Type
CPX−CM−HPP
CPX Terminal
Manual
568 684
en 0910NH
[745 482]

Contents and general instructions
I
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0910NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−CM−HPP−EN. . . . . . . . . . . . . . . . . . . .
Order no. 568 684. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2009)
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilization of this
document as well as the comunication of its contents to
others without express authorization 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.

Contents and general instructions
II Festo P.BE−CPX−CM−HPP−E N en 0910NH
PROFIBUS, PROFIBUS−DP,
PROFINET IO®
are registered trademarks of PROFIBUS International (P.I.)
DeviceNet®is a registered trademark of
Open DeviceNet Vendor Association. Inc. (ODVA)
RSLinx, RSLogix, RSNet
worx for DeviceNet®
are registered trademarks of
Rockwell Software Inc. or Rockwell Automation
EtherNet/IP®is a registered trademark of ControlNet International Ltd.
and the Open DeviceNet Vendor Association. Inc. (ODVA)
CC−Link®is a registered trade mark of Mitsubishi Electric Corp.
Interbus®is a registered trademark of
Phoenix Contact GmbH & Co. KG, Blomberg, Germany

Contents and general instructions
III
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Contents
Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Instructions on this description XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CPX−CM−HPP 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functions and characteristics 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Functions 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control possibilities 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 System configuration 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Autonomous automation solution 1−7. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Control of the CPX terminal through a higher−order controller 1−8. . . .
1.4.3 Autonomous automation solution with communication
with a higher−level controller 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Connection and display components 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting and installation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and mounting 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Mounting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Axis connection (CAN bus interface) 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Connecting the CAN bus 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 CAN bus line 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Terminating resistor 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−CPX−CM−HPP−E N en 0910NH
3. Commissioning 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General instructions on commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Communication profile FHPP 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Overview of FHPP data structures 3−5. . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Communication between CPX−CM−HPP and the motor controllers 3−9. . . . . . . .
3.4 Commissioning 3−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Parameterisation of the connected motor controllers with FCT 3−12. . . . . . . . . . .
3.5.1 Requirement for commissioning of the motor controllers
with FCT 3−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Commissioning of the motor controllers 3−13. . . . . . . . . . . . . . . . . . . . .
3.5.3 Specific settings for motor controllers CMMS−AS
and CMMS−ST 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.4 Specific settings for CMMP−AS motor controller 3−15. . . . . . . . . . . . . . .
3.5.5 Specific settings for the MTR−DCI motor unit 3−16. . . . . . . . . . . . . . . . . .
3.5.6 Specific settings for SFC−DC motor controller 3−17. . . . . . . . . . . . . . . . .
3.5.7 Specific settings for SFC−LAC motor controller 3−17. . . . . . . . . . . . . . . .
3.6 Configuration of the CPX−CM−HPP 3−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Configuration parameter 3−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Description of configuration parameters 3−20. . . . . . . . . . . . . . . . . . . . .
3.6.3 Additional parameters 3−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.4 Configuration with the MMI 3−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.5 Configuration with CPX−FMT 3−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 Force 3−28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Diagnosis and error treatment 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Summary of diagnostics options 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Errors and warnings 4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Behaviour in case of errors and warnings 4−4. . . . . . . . . . . . . . . . . . . .
4.2.2 Acknowledging errors 4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Error numbers 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Diagnosis via display 4−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Diagnosis via LEDs 4−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−CPX−CM−HPP−E N en 0910NH
4.5 Diagnosis at the CPX terminal 4−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Status bits in the system status of the CPX terminal 4−15. . . . . . . . . . . .
4.5.2 I/O diagnostic interface and diagnostics memory 4−16. . . . . . . . . . . . . .
4.5.3 Definition of diagnostics channels 4−19. . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical Data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Device−specific information on the CPX−MMI handheld A−5. . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−CPX−CM−HPP−E N en 0910NH

Contents and general instructions
VII
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Intended use
The CPX−CM−HPP module documented in this description is
intended exclusively for use in Festo CPX terminals for
installation in a machine or an automation technology
system.
The CPX−CM−HPP, in combination with a controller, permits
independent control of up to four drives via CAN bus.
The CPX terminal and the CPX−CM−HPP is only to be used as
follows:
Asintended in an industrial environment.
Inits original condition without unauthorised
modifications. Only the conversions or modifications
described in the documentation supplied with the product
are permitted.
Inperfect technical condition.
 Only in combination with permitted components.
Anoverview of the supported motor controllers can be
found in Tab.1/4.
The limit values specified for pressures, temperatures,
electrical data, torques etc. should be observed.
Observe the regulations of the trade associations,
GermanTechnical Control Board (TÜV),
VDEspecificationsorrelevant national regulations.

Contents and general instructions
VIII Festo P.BE−CPX−CM−HPP−E N en 0910NH
Target group
This description 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 agent if you have any
technical problems.

Contents and general instructions
IX
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may 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
This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
This means that failure to observe this instruction may
result in personal injury or damage to property.
Note
This 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 components may be damaged if
they are not handled correctly.

Contents and general instructions
XFesto P.BE−CPX−CM−HPP−E N en 0910NH
Marking special information
The following pictograms mark passages in the text
containing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Environment:
Information on environment−friendly use of Festo products.
Text markings
·The bullet indicates activities which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
 Hyphens indicate general activities.
Square brackets designate menu entries.
Example:[Configuration].
Angle brackets mark position holders for designations.
Example: Status of <Your Connection>".
Quotation marks designate names of windows, dialogues and
buttons. Example: Status of <Your Connection>".

Contents and general instructions
XI
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Safety instructions
Protection against dangerous movements
Warning
High forces of acceleration at the connected actuators!
Accidental movements can cause collisions and severe
injuries.
Dangerous movements can occur through faulty control of
connected actuators, e.g. via:
 unsafe or faulty wiring or cabling,
 faulty operation of the components,
 errors in the measured value and signal generators,
 faulty or non−EMC−compliant components,
 errors in the higher−order control system,
Simply switching off the compressed air supply or load
voltage are not suitable locking procedures. In the event of
a malfunction, 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 sphere of influence
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
XII Festo P.BE−CPX−CM−HPP−E N en 0910NH
·Holding brakes controlled by the drive controller alone
are not suitable to ensure personal protection!
Secure vertical axes from falling or sliding down when
the compressed air and load voltage 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−related applications; in Europe, for example,
thestandards listed under the EC Machinery Directive
must be observed. 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 lines
Caution
Danger of injury through improper handling of pressurised
lines!
Uncontrolled movements of the connected actuators and
uncontrollable movements of loose tubing lines can cause
injury to people or material damage.
·Do not disconnect, open or cap pressurised lines.
·The lines must always be vented before removal
(releasecompressed air).
·Use appropriate protective equipment
(forinstancesafety goggles, safety shoes, etc.).

Contents and general instructions
XIII
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Instructions on this description
Note
This description refers to the module CPX−CM−HPP from
Revision 01.
You will find the revision on the rating plate
This description contains specific information on the mode of
operation, mounting, installation and commissioning of the
CPX−CM−HPP.
Additional information on the CPX−CM−HPP can be found in
the following documentation.
Document Contents
Brief description of the
CPX−CM−HPP,
P.BE−K−CPX−CM−HPP
Information on mounting and
installation of the CPX−CM−HPP.
Tab.0/1: Overview of additional documentation on the
CPX−CM−HPP

Contents and general instructions
XIV Festo P.BE−CPX−CM−HPP−E N en 0910NH
You will find additional information on the CPX terminal in the
following documentation.
Type Title Description
Description
Electronics
System description"
P.BE−CPX−SYS−...
Overview of structure, components and mode
of operation of CPX terminals;
installation and commissioning instructions as
well as basic principles of parametrisation
CPX fieldbus node"
P.BE−CPX−FB...
Instructions for the assembly, installation,
commissioning and diagnostics of the
corresponding fieldbus node
Tab.0/2: Extract from the overview of additional documentation on the CPX terminal

Contents and general instructions
XV
Festo P.BE−CPX−CM−HPP−E N en 0910NH
Glossary
The following product−specific terms and abbreviations are
used in this description:
Term/abbreviation Significance
0−Signal Input or output delivers 0 V (also LOW, FALSE or logic 0).
1−Signal Input or output provides 24 V (also HIGH, TRUE or logic 1).
0xA0
A0h
Hexadecimal numbers are marked by a prefixed 0x" or by a lowered h".
Example: 0xA0 = A0h= 160 decimal.
Axis Motor controller, linear/rotative axis, motor and gear unit
Axis connection Interface of the CPX−CM−HPP for connection of the motor controllers via
CAN bus.
Control Control of the CPX terminal and the CPX−CM−HPP takes place through:
ahigher−order controller
a controller connected via fieldbus to the CPX terminal
 CPX−FEC or CPX−CEC−...:
a controller integrated into the CPX terminal
CPX−CEC−... The CoDeSys controller as CPX module. Controller that can be integrated
into the CPX terminal.
CPX−FEC Front−end controller as CPX module. Controller that can be integrated into
the CPX terminal.
CPX module Collective term for the various modules which can be integrated into a CPX
terminal.
CPX terminal Complete system comprising CPX modules.
FE Functional earth
FHPP Festo Handling and Positioning Profile
Fieldbus node Provides the connection to specific fieldbuses. Transmits control signals to
the connected modules and monitors their functioning
(asaCPXmodule:CPX fieldbus node).
HandheldCPX−MMI Handheld terminal for commissioning and service purposes
I Digital input
I/Os Digital inputs and outputs

Contents and general instructions
XVI Festo P.BE−CPX−CM−HPP−E N en 0910NH
Term/abbreviation Significance
O Digital output
OB Output byte
Parameter Parameters which must be set so that the system can be operated.
RSB Record status byte
Tab.0/3: Terms and abbreviations

System summary
1−1Festo P.BE−CPX−CM−HPP−E N en 0910NH
Chapter 1

1. System summary
1−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CPX−CM−HPP 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Functions and characteristics 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Functions 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control possibilities 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 System configuration 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Autonomous automation solution 1−7. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Control of the CPX terminal through a higher−order controller 1−8. . . .
1.4.3 Autonomous automation solution with communication
with a higher−level controller 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Connection and display components 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .