Festo CPX-FB14 User manual

Electronics
manual
CPX field bus node
Type CPX−FB14
Field bus protocol:
CANopen
CPX terminal
Manual
526 410
en 0308a
[674 172]

Contents and general instructions
I
Festo P.BE−CPX−FB14−EN en 0308a
Author U. Reimann, H. Hohner. . . . . . . . . . . . . . . . . . . . . . .
Editor M.Holder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Translation transline Deutschland. . . . . . . . . . . . . . . . . . . . .
Layout Festo AG & Co. KG, Dept. KG−GD. . . . . . . . . . . . . . . .
Typesetting KI−DT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0308a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−FB14−EN. . . . . . . . . . . . . . . . . . . . . . .
Orderno. 526 410. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E (Festo AG&Co. KG, D73726 Esslingen,
Federal Republic of Germany, 2003)
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilization of this
document as well as the communicaton 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−FB14−EN en 0308a

Contents and general instructions
III
Festo P.BE−CPX−FB14−EN en 0308a
Contents
Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. Installation 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 General instructions on installation 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Setting the DIL switches on the field bus node 1−8. . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Removing and fitting the cover for the DIL switches 1−8. . . . . . . . . . . .
1.2.2 Setting the DIL switches 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Connecting the field bus 1−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Field bus cable 1−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Field bus baud rate and field bus length 1−21. . . . . . . . . . . . . . . . . . . . .
1.3.3 Information on connecting the field bus 1−23. . . . . . . . . . . . . . . . . . . . .
1.3.4 Field bus interface 1−25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.5 Connecting with field bus plugs from Festo 1−26. . . . . . . . . . . . . . . . . . .
1.3.6 Further connection possibilities for the field bus with adapters 1−28. .
1.4 Bus termination with terminating resistors 1−31. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Install a terminating resistor using the adapters. 1−31. . . . . . . . . . . . . .
1.5 Pin assignment of the power supply 1−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Commissioning 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Commissioning on a CANopen master 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 General information on CANopen 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Configuration 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Addressing the CPX terminal 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Configuration examples with CPA pneumatics 2−8. . . . . . . . . . . . . . . .
2.2.3 Addressing examples 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Overview 2−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Brief overview of the scope of functions 2−15. . . . . . . . . . . . . . . . . . . . .
2.3.2 Overview Object directory 2−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−CPX−FB14−EN en 0308a
2.3.3 Reaction of the CPX terminal when it is switched on 2−17. . . . . . . . . . . .
2.3.4 Default Identifier distribution 2−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Object directories 2−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 Communication profile 2−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Overview of the PDO structure 2−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 Digital inputs (Transmit PDO 1) 2−26. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.4 Digital outputs (Receive PDO 1) 2−29. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.5 Analogue inputs channel 0 − 3 (Transmit PDO 2) 2−34. . . . . . . . . . . . . . .
2.4.6 Analogue outputs channel 0 − 3 (Receive PDO 2) 2−39. . . . . . . . . . . . . .
2.4.7 Analogue inputs channel 4 −15 (Transmit PDO 3) 2−41. . . . . . . . . . . . . .
2.4.8 Analogue outputs channel 4 −15 (Receive PDO 3) 2−45. . . . . . . . . . . . . .
2.4.9 Status bits and I/O diagnostic interface (PDO 4) 2−47. . . . . . . . . . . . . .
2.4.10 Manufacturer Specific Profile 2−52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.11 Overview of mapping objects 2−57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.12 Forcen 2−60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Parametrizing 2−64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Parametrizing when switching on 2−64. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Parametrizing with the handheld 2−65. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 Example of application for the parametrizing 2−65. . . . . . . . . . . . . . . . .
2.6 Commissioning of the CPX terminal in the system 2−66. . . . . . . . . . . . . . . . . . . . .
2.6.1 Faultless commissioning, normal operating status 2−67. . . . . . . . . . . . .
3. Diagnosis 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of diagnostic possibilities 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Diagnosis via LEDs 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Normal operating status 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Fault displays of the CPX−specific LEDs PS, PL, SF, M 3−7. . . . . . . . . . .
3.2.3 Fault displays of the CANopen−specific LEDs MS, NS, IO 3−10. . . . . . . .
3.3 Diagnosis via status bits 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Diagnosis via the I/O diagnostic interface 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Diagnosis via CANopen 3−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 The Emergency Message 3−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 CPX fault numbers 3−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−CPX−FB14−EN en 0308a
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications of field bus node type CPX−FB14 A−3. . . . . . . . . . . . . . .
A.2 Examples: Communication sequence A−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1 Example 1: Start CANopen network A−4. . . . . . . . . . . . . . . . . . . . . . . . .
A.2.2 Example 2: Set output A−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.3 Example 3: Start Node guard" monitoring A−5. . . . . . . . . . . . . . . . . . .
A.2.4 Example 4: Load objects A−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.5 Example 5: Write objects A−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Example: Parametrizing with the program CANsetter" A−8. . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−CPX−FB14−EN en 0308a
Designated use
The field bus node type CPX−FB14 described in this manual
has been designed exclusively for use as a slave on the
CANopen field bus.
The CPX terminal may only be used as follows:
inaccordance with designated use
inits original state
 without any modifications by the user
infaultless technical condition.
 The maximum values specified for pressures, tempera
tures, electrical data, torques, etc. must not be exceeded.
Observe also the standards specified in the relevant chapters,
as well as national and local laws and technical regulations.

Contents and general instructions
VII
Festo P.BE−CPX−FB14−EN en 0308a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology who have experience in
installing, commissioning, programming and diagnosing sla
ves on the CANopen field bus.
Service
Please consult your local Festo repair service if you have any
technical problems.

Contents and general instructions
VIII Festo P.BE−CPX−FB14−EN en 0308a
Notes on the use of this manual
Please note
This manual refers to the following versions:
Version New in this version
CPX field bus node type CPX−FB14
as from software status
26.05.20031)
 Support of handheld type
CPX−MMI−1
EDS file as from 29.07.2003  Support of MPA pneumatics
1) Software status (SW) see type plate
This manual contains specific information on installing, confi
guring, parametrizing, commissioning, programming and
diagnosing with the CPX field bus node for CANopen.

Contents and general instructions
IX
Festo P.BE−CPX−FB14−EN en 0308a
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 picto
gram. 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.
Please 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 compo
nents.
Electrostatically sensitive components may be damaged if
they are not handled correctly.

Contents and general instructions
XFesto P.BE−CPX−FB14−EN en 0308a
Marking special information
The following pictograms mark passages in the text contain
ing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or sensible accessories for the Fe
sto 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.

Contents and general instructions
XI
Festo P.BE−CPX−FB14−EN en 0308a
Type Title Manual
Electronics
manual
System manual" type
P.BE−CPX−SYS−...
Overview of structure, components and
method of operation of CPX terminals;
installation and commissioning instructions as
well as basic information on parametrizing
CPX field bus node"
Type P.BE−CPX−FB−...
Instructions on fitting, installing, commission
ing and diagnosing the relevant field bus node
CPX I/O modules"
Type P.BE−CPX−EA−...
Notes on connections and instructions on fit
ting, installing and commissioning input and
output modules of type CPX−..., also the MPA
pneumatic modules as well as MPA, CPA and
Midi/Maxi pneumatic interfaces.
CPX analogue I/O mod
ules"
Type P.BE−CPX−AX−...
Notes on connections as well as instructions
on fitting, installing and commissioning CPX
analogue I/O modules
Handheld"
Type P.BE−CPX−MMI−1−...
Instructions on commissioning and diagnosing
CPX terminals with the handheld type CPX−
MMI−1
Pneumatics
manual
Valve terminals with
MPA pneumatics"
Type P.BE−MPA−...
Information on fitting, installing and commis
sioning MPA pneumatics (type 32)
Valve terminals with
CPA pneumatics"
Type P.BE−CPA−...
Instructions on fitting, installing and commis
sioning CPA pneumatics (type 12)
Valve terminals with
Midi/Maxipneumatics"
type P.BE−Midi/
Maxi−03−...
Instructions on fitting, installing and commis
sioning Midi/Maxi pneumatics (type 03)
Tab.0/1: Manuals on the CPX terminal

Contents and general instructions
XII Festo P.BE−CPX−FB14−E N en 0308a
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
A, E Digital output, digital input
AA, AE Analogue output, analogue input
AB Output byte
COB Communication object identifier
CP Compact Performance
CPX terminal Complete system consisting of CPX modules with or without pneu
matics
DIL switches Dual−in−line switches usually consist of several switch elements with
which settings can be made.
I/O modules Common term for CPX modules which provide digital inputs and
outputs.
I/O diagnostic interface The I/O diagnostic interface is a bus−independent diagnostic interface
at I/O level which enables access to internal data of the CPX terminal.
I/Os Digital inputs and outputs
Field bus node Provides the connection to certain field buses. Transmits control sig
nals to the connected modules and monitors their functioning.
Handheld Hand−operated device for commissioning and for servicing purposes
Short circuit/overload Short circuit/overload
Pneumatic interface The pneumatic interface is the interface between the modular electrical
peripherals and the pneumatics.
PLC/IPC Programmable logic controller/industrial PC
Status bits Internal inputs which supply coded common diagnostic messages.
F0hHexadecimal numbers are marked by a subscript h".
Tab.0/2: Product−specific terms and abbreviations

Installation
1−1Festo P.BE−CPX−FB14−EN en 0308a
Chapter 1

1. Installation
1−2 Festo P.BE−CPX−FB14−EN en 0308a
Contents
1. Installation 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 General instructions on installation 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Setting the DIL switches on the field bus node 1−8. . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Removing and fitting the cover for the DIL switches 1−8. . . . . . . . . . . .
1.2.2 Setting the DIL switches 1−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Connecting the field bus 1−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Field bus cable 1−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Field bus baud rate and field bus length 1−21. . . . . . . . . . . . . . . . . . . . .
1.3.3 Information on connecting the field bus 1−23. . . . . . . . . . . . . . . . . . . . .
1.3.4 Field bus interface 1−25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.5 Connecting with field bus plugs from Festo 1−26. . . . . . . . . . . . . . . . . . .
1.3.6 Further connection possibilities for the field bus with adapters 1−28. .
1.4 Bus termination with terminating resistors 1−31. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Install a terminating resistor using the adapters. 1−31. . . . . . . . . . . . . .
1.5 Pin assignment of the power supply 1−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Installation
1−3
Festo P.BE−CPX−FB14−EN en 0308a
Contents of this chapter In this chapter you will find information on:
 setting the CPX field bus node with DIL switches
 the connection to the field bus
 the pin assignment of the power supply
Further information Information on fitting and installing the complete CPX ter
minal can be found in the CPX system manual (P.BE−CPX−
SYS−..).
Information on installing the I/O modules and the pneumatic
interface can be found in the manual for the CPX pneumatic
interface and CPX I/O modules (P.BE−CPX−EA−..).
Instructions on installing the pneumatic components can be
found in the relevant pneumatics manual (see Tab.0/1).

1. Installation
1−4 Festo P.BE−CPX−FB14−EN en 0308a
1.1 General instructions on installation
Warning
Before carrying out installation and/or maintenance work,
switch off the following:
 the compressed air supply
 the operating voltage supply for the electronics/sensors
 the load voltage supply for the outputs/valves
You will thereby avoid:
 uncontrolled movements of loose tubing
 uncontrolled movements of the connected actuators
 undefined switching states of the electronics.
Caution
The CPX field bus node contains electrostatically sensitive
components.
·Do not touch the electrical contacts of the components.
·Observe the regulations for handling electrostatically
sensitive components.
In this way you will avoid damage to the electronics.
Information on fitting the CPX terminal can be found in the
CPX system manual (P.BE−CPX−SYS−..).

1. Installation
1−5
Festo P.BE−CPX−FB14−EN en 0308a
Electrical connecting and display elements
The following connecting and display elements can be found
on the CPX field bus node for CANopen:
MS PS
PL
SF
M
NS
IO
1
2
3
4
1Bus status LEDs and CPX−specific LEDs
2Field bus connection (9−pin sub−D
plug)
3Transparent cover for DIL switches
4Service interface for handheld
Fig.1/1: Connecting and display elements on the CPX field bus node

1. Installation
1−6 Festo P.BE−CPX−FB14−EN en 0308a
Dismantling and fitting
The field bus node is fitted in a manifold sub−base of the
CPXterminal (see Fig.1/2).
Dismantling Dismantle the field bus node as follows:
1. Loosen the four screws of the field bus node with a Torx
screwdriver size T10.
2. Pull the field bus node carefully and without tilting away
from the contact rails of the manifold sub−base.
1Field bus node
CPX−FB14
2Manifold
sub−base
3Contact rails
4Torx T10 screws
3
4
1
2
Fig.1/2: Dismantling/fitting the field bus node