Festo CPX-FB14 User manual

Electronics
manual
CPX field bus node
Typ CPX-FB14
Field bus protocol
CANopen
CPX terminal
Beschreibung
526 410
en 0206NH
[653 632]

Contents and general instructions
I
Festo P.BE-CPX-FB14-GB en 0206NH
Authors U.Reimann,H.Hohner......................
Editors H.-J. Drung, M. Holder........................
Original de.......................................
Translation transline Deutschland.....................
Layout Festo AG & Co., Dept. KG-GD...................
Type setting KI-DT..................................
Edition en 0206NH.................................
Order no. 526 410.................................
E(Festo AG & Co., D-73726 Esslingen, Federal Republic of
Germany, 2002)
Internet: http://www.festo.com
e-mail: [e-mail]
The copying, distribution and utilization of this document as
well as the communication of its contents to others without
expressed authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights are reserved, in
particular the right to carry out patent, utility model or or-
namental design registration.

Contents and general instructions
II Festo P.BE-CPX-FB14-GB en 0206NH

Contents and general instructions
III
Festo P.BE-CPX-FB14-GB en 0206NH
Contents
Designated use VII........................................................
Target group VIII..........................................................
Service VIII...............................................................
Notesontheuseofthismanual VIII...........................................
Important user instructions IX..............................................
1. Installation 1-1...................................................
1.1 General instructions on installation 1-4................................
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 1-7..................................
1.3 Connecting the field bus 1-18.........................................
1.3.1 Field bus cable 1-18..........................................
1.3.2 Field bus baud rate and field bus length 1-19.....................
1.3.3 Information on connecting the field bus 1-20.....................
1.3.4 Connecting the field bus to the sub-D plug 1-22...................
1.3.5 Further connection possibilities for the field bus with adapters 1-24..
1.4 Bus termination with terminating resistors 1-27..........................
1.4.1 Fitting a terminating resistor by using the adapters 1-28............
1.5 Pin assignment of power supply 1-29...................................
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 example 2-8...................................
2.3 Overviews 2-12.....................................................
2.3.1 Brief overview of the scope of functions 2-12.....................
2.3.2 Overview of the object directory 2-13...........................
2.3.3 Reaction of the CPX terminal when it is switched on 2-14............
2.3.4 Default identifier distribution 2-16..............................

Contents and general instructions
IV Festo P.BE-CPX-FB14-GB en 0206NH
2.4 Object directories 2-18...............................................
2.4.1 Communication profile 2-18...................................
2.4.2 Overview of the PDO structure 2-23.............................
2.4.3 Digital inputs (Transmit PDO 1) 2-23............................
2.4.4 Digital outputs (Receive PDO 1) 2-26............................
2.4.5 Analogue inputs channel 0...3 (Transmit PDO 2) 2-31...............
2.4.6 Analogue inputs channel 0...3 (Receive PDO 2) 2-36...............
2.4.7 Analogue inputs channel 4...15 (Transmit PDO 3) 2-38..............
2.4.8 Analogue outputs channel 4...15 (Receive PDO 3) 2-42.............
2.4.9 Status bits and I/O diagnostic interface (PDO 4) 2-44..............
2.4.10 Manufacturer specific profile 2-49..............................
2.4.11 Overview of mapping objects 2-55..............................
2.4.12 Force 2-57..................................................
2.5 Parametrizing 2-61..................................................
2.5.1 Parametrizing when the terminal is switched on 2-61...............
2.5.2 Parametrizing with the handheld 2-62...........................
2.5.3 Application example of parametrizing 2-62.......................
2.6 Commissioning the CPX terminal in the system 2-63.......................
2.6.1 Faultless commissioning, normal operating status 2-64.............
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-specifiec 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 with CANopen 3-15.........................................
3.5.1 The Emergency Message 3-16..................................
3.5.2 Fault numbers 3-21..........................................

Contents and general instructions
V
Festo P.BE-CPX-FB14-GB en 0206NH
A. Technical appendix A-1.............................................
A.1 Technical specifications of field bus 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: Parametrizing with the program “CANsetter” A-8................
B. Index B-1.........................................................
B.1 Index B-3.........................................................

Contents and general instructions
VI Festo P.BE-CPX-FB14-GB en 0206NH

Contents and general instructions
VII
Festo P.BE-CPX-FB14-GB en 0206NH
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:
– in accordance with designated use
– in its original state
– without any modifications by the user
– in faultless technical condition.
– The maximum values specified for pressures, tempera-
tures, electrical data, torques etc. must be observed.
Please comply with national and local safety laws and regula-
tions.

Contents and general instructions
VIII Festo P.BE-CPX-FB14-GB en 0206NH
Target gro up
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 service centre if you have any
technical problems.
Notesontheuseofthismanual
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-GB en 0206NH
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-GB en 0206NH
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
Festo product.
Environment:
Information on environment-friendly use of Festo products.
Text ma rkings
•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-GB en 0206NH
Type Title Description
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 principles of parametrization
“CPX I/O modules”
type P.BE-CPX-EA-...
Connection technology and instructions on fit-
ting, installing and commissioning both input
and output modules of type CPX-... as well as
CPA and Midi/Maxi pneumatic interfaces
“CPX field bus node”
type P.BE-CPX-FB...
Instructions on fitting, installing and diagnosing
the appropriate field bus node
Pneumatics
Manual
“Valve terminals with
CPA pneumatics”
type P.BE-CPA-...
Instructions on fitting, installing and commis-
sioning CPA pneumatics (type 12)
“Valve terminals with
Midi/Maxi pneumatics”
type P.BE-Midi/Maxi-03-...
Instructions on fitting, installing and commis-
sioning CPA Midi/Maxi pneumatics (type 03)
Tab. 0/1: Manuals on the CPX terminal

Contents and general instructions
XII Festo P.BE-CPX-FB14-GB en 0206NH
The following product-specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
AO, AI Analogue output, analogue input
COB Communication object identifier
CP Compact Performance
CPX terminal Complete system consisting of CPX modules with or without
pneumatics.
DIL switches 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 Provide the connection to specific field buses. Transmit control signals
to the connected modules and monitor their ability to function.
Handheld Handheld programmer for commissioning and service purposes
I/O diagnostic interface The I/O diagnostic interface is a bus-independent diagnostic interface
at I/O level which permits access to internal data of the CPX terminal.
I/O modules Common term for the CPX modules which provide digital inputs and
outputs.
I/Os Digital inputs and outputs
OB Output byte
O, I Digital output, digital input
PLC/IPC Programmable logic controller/industrial PC
Pneumatic interface The pneumatic interface is the interface between the modular electric
periphery and the pneumatics.
Sc/o Short circuit/overload
Status bits Internal inputs which supply coded common diagnostic messages.
Tab. 0/2: Product-specific terms and abbreviations

Installation
1-1
Festo P.BE-CPX-FB14-GB en 0206NH
Chapter 1

1. Installation
1-2 Festo P.BE-CPX-FB14-GB en 0206NH
Contents
1. Installation 1-1...................................................
1.1 General instructions on installation 1-4................................
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 1-7..................................
1.3 Connecting the field bus 1-18.........................................
1.3.1 Field bus cable 1-18..........................................
1.3.2 Field bus baud rate and field bus length 1-19.....................
1.3.3 Information on connecting the field bus 1-20.....................
1.3.4 Connecting the field bus to the sub-D plug 1-22...................
1.3.5 Further connection possibilities for the field bus with adapters 1-24..
1.4 Bus termination with terminating resistors 1-27..........................
1.4.1 Fitting a terminating resistor by using the adapters 1-28............
1.5 Pin assignment of power supply 1-29...................................

1. Installation
1-3
Festo P.BE-CPX-FB14-GB en 0206NH
Contents of this chapter In this chapter you will find information on
– how to set the CPX field bus node with DIL switches
–howtoconnectthefieldbus
– the pin assignment of the power supply.
Further information Information on fitting and installing the complete CPX
terminal can be found in the CPX system manual
(P.BE-CPX-SYS-...).
Information on installing the I/O modules and the pneumatic
interfaces can be found in the manual for the CPX pneumatic
interfaces and the 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-GB en 0206NH
1.1 General instructions on installation
Warning
Before carrying out installation and 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 and valves.
You can thereby avoid:
– uncontrolled movements of loose tubing
– unexpected movements of the connected actuators
– non-defined switching states of the electronic compo-
nents.
Caution
The CPX field bus node contains electrostatically sensitive
components.
– Do not therefore touch any contacts.
– Observe the regulations for handling electrostatically
sensitive components.
You will then prevent the electronics from being damaged.
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-GB en 0206NH
Electrical connecting and display elements
You will find the following connecting and display elements
on the CPX field bus node for CANopen:
MS PS
PL
SF
M
NS
IO
51
96
1
2
3
4
1Bus status specific and
CPX-specific LEDs
2Field bus connection
(9-pin sub-D plug)
3Cover of the DIL switches
4Service interface for handheld
Fig. 1/1: Connecting and display elements on the CPX field bus node
Fitting and removing
The field bus node is fitted in a manifold sub-base of the CPX
terminal (see Fig. 1/2).
Removing Remove the field bus node as follows:
1. Loosen the 4 screws in 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.

1. Installation
1-6 Festo P.BE-CPX-FB14-GB en 0206NH
1Field bus node
CPX-FB14
2Manifold
sub-base
3Contact rails
4Torx T10 screws
3
4
1
2
Fig. 1/2: Fitting/removing the field bus node
Fitting Fit the field bus node as follows:
1. Place the field bus node in the manifold sub-base. Make
sure that the grooves with the contact terminals on the
bottom of the field bus node lie above the contact rails.
Then push the field bus node carefully and without tilting
as far as possible into the manifold sub-base.
2. Tighten the screws only by hand. Place the screws so that
the self-cutting threads can be used.
Tighten the screws with a Torx screwdriver size T10 with
torque 0.9 ... 1.1 Nm.