Festo CPX-FB14 User manual

Electronics Manual
CPX Fieldbus Node
Type CPX−FB14
Fieldbus Protocol
CANopen
CPX Terminal
Manual
526 410
en 0810b
[740 276]

Contents and general instructions
I
Festo P.BE−CPX−FB14−EN en 0810b
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0810b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−FB14−EN. . . . . . . . . . . . . . . . . . . . . . .
Order no. 526 410
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (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 docu−
ment 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 re−
served 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 0810b
TORX®is a registered trade mark
of Acument Intellectual Properties, LLC
(Manufacturer: Acument Global Technologies
NorthAmerica, Sterling Heights, Michigan, USA)

Contents and general instructions
III
Festo P.BE−CPX−FB14−EN en 0810b
Contents
Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on this manual VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. Installation1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 General instructions on installation 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Settings of the DIL switches on the field bus node 1−7. . . . . . . . . . . . . . . . . . . .
1.2.1 Removing and fitting the cover over the DIL switches 1−7. . . . . . . . . . .
1.2.2 Setting the DIL switches 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Connecting the field bus 1−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Field bus cable 1−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Field bus baud rate and field bus length 1−21. . . . . . . . . . . . . . . . . . . . .
1.3.3 Information on connecting the field bus 1−22. . . . . . . . . . . . . . . . . . . . .
1.3.4 Field bus interface 1−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.5 Connecting with the field bus plug from Festo 1−25. . . . . . . . . . . . . . . .
1.3.6 Further connection possibilities for the field bus
with adapters 1−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Bus terminal with terminating resistors 1−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Install a terminating resistor using the adapters 1−30. . . . . . . . . . . . . . .
1.5 Pin assignment of power supply 1−31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−CPX−FB14−EN en 0810b
2. Commissioning 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Commissioning on a CANopen master 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 General information on CANopen 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Configuration 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Addressing the CPX terminal 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Configuration examples 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Overview 2−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Brief overview of the scope of functions 2−14. . . . . . . . . . . . . . . . . . . . .
2.3.2 Overview Object directory 2−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Reaction of the CPX terminal when it is switched on 2−16. . . . . . . . . . . .
2.3.4 Default identifier distribution 2−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Object directories 2−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 Communication profile 2−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Overview of the PDO structure 2−25. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 Digital inputs (transmit PDO 1) 2−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.4 Digital outputs (receive PDO 1) 2−28. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.5 Analogue inputs channel 0 Ū3 (transmit PDO 2) 2−33. . . . . . . . . . . . . .
2.4.6 Analogue outputs channel 0 Ū3 (Receive PDO 2) 2−38. . . . . . . . . . . . .
2.4.7 Analogue inputs channel 4 Ū15 (Transmit PDO 3) 2−40. . . . . . . . . . . . .
2.4.8 Analogue outputs channel 4 Ū15 (Receive PDO 3) 2−43. . . . . . . . . . . .
2.4.9 Technology modules, status bits, I/O diagnostic interface
(PDO 4) 2−45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.10 Manufacturer specific profile 2−49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.11 Overview of mappingobjects 2−56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.12 Force 2−58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.13 Function assignment and virtual modules 2−62. . . . . . . . . . . . . . . . . . . .
2.5 Parameterizing 2−68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Parameterizing when switching on 2−68. . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Parameterization with the handheld 2−69. . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 Application example for parameterization 2−69. . . . . . . . . . . . . . . . . . . .
2.6 Commissioning the CPX terminal in the system 2−70. . . . . . . . . . . . . . . . . . . . . . .
2.6.1 Error−free commissioning, normal operating status 2−70. . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−CPX−FB14−EN en 0810b
3. Diagnosis 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of diagnostic possibilities 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Diagnostics via LEDs 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Normal operating status 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Error displays of the CPX−specific LEDs PS, PL, SF, M 3−6. . . . . . . . . . .
3.2.3 Error displays of the CANopen−specific LEDs MS, NS, IO 3−9. . . . . . . .
3.3 Diagnosis via status bits 3−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Diagnosis via the I/O diagnostic interface 3−12. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Diagnosis via CANopen 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 The emergency message 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 CPX fault numbers 3−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data of fieldbus node 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: Parameterization with the program CANsetter" A−8. . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions
VII
Festo P.BE−CPX−FB14−EN en 0810b
Intended 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 must only be used as follows:
asintended
inoriginal condition
 without unauthorised modifications
Infaultless technical condition.
 The limit values specified for pressures, temperatures,
electrical data, torques etc. should be observed.
Please comply with the regulations of the workers’
compensation insurance association, the German Technical
Control Board (TÜV) and the electrical requirements of the
VDE or the corresponding national and local safety
regulations.
Target group
This manual is intended exclusively for technicians trained in
control and automation technology who have experience in
installing, commissioning, programming and diagnosing
slaves 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 0810b
Notes onthis manual
This manual contains specific information on installing,
configuring, parameterizing, commissioning, programming
and diagnosing with the CPX field bus node for CANopen.
This manual refers to the following versions:
Versions 1) Supportof
Rev 24 (19 Nov. 08)
Rev 20 (10 Oct. 07)
 Virtual modules via the Function
Assignment Object (see section 2.4.13)
Rev 14 (12 Jul. 05)  CPX−FEC
 CPX−CP interface
EDS file from 1 Sep. 08
1) Software status (SW) or revision no. (R) see type plate
Tab.0/1: Revisions of the CPX−FB14 until December 2008
Anoverview of thestructureof theCPXterminal user
documentationis contained in theCPXsystem
description.
General basic information about the method of operation,
fitting, installing and commissioning CPX terminals can be
found in the CPX system description.
Information about further CPX modules can be found in the
manual for the respective module.

Contents and general instructions
IX
Festo P.BE−CPX−FB14−EN en 0810b
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.
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 0810b
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.
Textmarkings
·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 0810b
The following product−specific terms and abbreviations are
used in this manual:
Term/ abbreviationMeaning
AO, AI Analogue output, analogue input
COB Communication object identifier
CPX terminal Complete system consisting of CPX modules with or without pneumatics
DIL switch Dual−in−line switches consist of several switch elements with which
settings can be made
F0hHexadecimal numbers are marked by a low−set h"
Field bus node Provides the connection to specific fieldbuses. They transmit control
signals to the connected modules and monitor their functioning
Handheld Handheld programmer for commissioning and service purposes (CPX−MMI)
I/Os Digital inputs and outputs
I/O diagnostic interface The I/O diagnostic interface is a bus−independent diagnostic interface at
I/O level, permitting access to internal data of the CPX terminal
I/O modules Collective term for the CPX modules which provide digital inputs and
outputs
IW / OW Input Word / Output Word
O, I Digital output, digital input
OB Output byte
PLC/IPC Programmable logic controller/industrial PC
Pneumatic interface The pneumatic interface is the interface between the modular electrical
periphery and the pneumatics
SC/O
SCS, SCO, SCV
Short circuit/overload
Short circuit/overload sensor supply, outputs, valves
Status bits Internal inputs which supply coded common diagnostic messages.
Tab.0/2: Product−specific terms and abbreviations

Contents and general instructions
XII Festo P.BE−CPX−FB14−EN en 0810b

Installation
1−1Festo P.BE−CPX−FB14−EN en 0810b
Chapter 1

1. Installation
1−2 Festo P.BE−CPX−FB14−EN en 0810b
Contents
1. Installation1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 General instructions on installation 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Settings of the DIL switches on the field bus node 1−7
. . . . . . . . . . . . . . . . . . . .
1.2.1 Removing and fitting the cover over the DIL switches 1−7. . . . . . . . . . .
1.2.2 Setting the DIL switches 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Connecting the field bus 1−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Field bus cable 1−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Field bus baud rate and field bus length 1−21. . . . . . . . . . . . . . . . . . . . .
1.3.3 Information on connecting the field bus 1−22. . . . . . . . . . . . . . . . . . . . .
1.3.4 Field bus interface 1−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.5 Connecting with the field bus plug from Festo 1−25. . . . . . . . . . . . . . . .
1.3.6 Further connection possibilities for the field bus with adapters 1−27. .
1.4 Bus terminal with terminating resistors 1−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Install a terminating resistor using the adapters 1−30. . . . . . . . . . . . . . .
1.5 Pin assignment of power supply 1−31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Installation
1−3
FestoP.BE−CPX−FB14−EN en 0810b
1.1General instructions on installation
Warning
Before carrying out installation andmaintenance work,
switch off the following:
 compressedair supply
the operating voltage supply for the electronics/sensors
the loadvoltage supply for the outputs/valves.
In this way, you can avoid:
uncontrolledmovements of loose tubing.
unexpectedmovements of the connectedactuators
non−definedswitching states of the electronic
components.
Caution
The CPX fieldbus node contains electrostatically sensitive
components.
·Therefore, do not touch any components.
·Observe the handling specifications for electrostatically
sensitive components.
They will helpyou avoiddamage tothe electronics.
Information about fitting the CPX terminal can be foundin the
CPX systemmanual (P.BE−CPX−SYS−...).

1. Installation
1−4FestoP.BE−CPX−FB14−EN en 0810b
Electrical connection anddisplay elements
The following connecting anddisplay elements can be found
on the CPX fieldbus node for CANopen:
MSPS
PL
SF
M
NS
IO
1
2
3
4
1Bus−status−specificandCPX−specific
LEDs
2Fieldbus connection
(9−pin Sub−Dplug)
3Transparent cover for the DIL switches
4Service interface for handheld
Fig.1/1:Connecting anddisplay elements on the CPX fieldbus node
Note
Use protective caps or blanking plugs toseal unused
connections.You will then comply with protection class
IP65/IP67.

1. Installation
1−5
FestoP.BE−CPX−FB14−EN en 0810b
Dismantling andfitting
The fieldbus node is fittedin an interlinking block of the CPX
terminal (see Fig.1/2).
Dismantling Dismantle the fieldbus node as follows:
1. Loosen the 4screws in the fieldbusnode with a TORX
screwdriver size T10.
2. Pull the fieldbus node carefully andwithout tilting away
from the contact rails of the manifoldbase.
1Fieldbus node
CPX−FB14
2Interlocking block
3Contact rails
4TORX T10 screws
3
4
1
2
Fig.1/2:Dismantling/fitting the fieldbus node

1. Installation
1−6FestoP.BE−CPX−FB14−EN en 0810b
Note
Always use the correct screws for the interlocking block,
which dependon whether the block is made of metal or
plastic.
For plastic interlocking blocks: thread−cutting screws
For metalinterlocking blocks: screws with metricthread.
Both types of screws are enclosedrespectively when ordering
the bus node as a single part.
Fitting Fit the fieldbus node as follows:
1. Check seal andseal surfaces
2. Place the fieldbus node in the interlocking block.
Make sure that the grooves with the power contact
terminals on the bottom of the fieldbus node lie above
the contact rails.
3. Press the fieldbus node carefully andwithout tilting as
far as possible intothe interlocking block.
4. Tighten the screws at first only by hand. Place the screws
sothat the self−cutting threads can be used.
5. Tighten the screws with a TORX screwdriver size T10
with 0.9 Ū1.1 Nm.