Festo CPX-FB37 User manual

Bus node CPX-FB37
Description
Network protocol
EtherCAT
8029675
1406NH
[8029664]
Terminal CPX

CPX-FB37
2 Festo – P.BE-CPX-FB37-EN – 1406NH –
Translation of the original instructions
P.BE-CPX-FB37-EN
EtherCAT
®
,TwinCAT
®
,CANopen
®
,SPEEDCON
®
,Torx
®
,Windows
®
are registered trademarks of the
respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.

CPX-FB37
Festo – P.BE-CPX-FB37-EN – 1406NH – English 3
Table of Contents – CPX-FB37
1Safety 7..................................................................
1.1 General safety information 7..................................................
1.2 Intended use 7.............................................................
1.3 Requirements for product use 9...............................................
1.3.1 Technical requirements 9............................................
1.3.2 Qualification of specialists (personnel requirements) 9....................
1.3.3 Range of application and certifications 9................................
2Overview 10................................................................
2.1 Function range (brief overview) 10..............................................
2.2 Connections and display components 11.........................................
3 Mounting and installation 12..................................................
3.1 Dismantling and mounting 12..................................................
3.1.1 Dismantling the bus node 13..........................................
3.1.2 Mounting the bus node 14............................................
3.2 Setting the DIL switches on the bus node 15......................................
3.2.1 Removing and fitting the cover over the DIL switches 15.....................
3.2.2 Arrangement of the DIL switches 16.....................................
3.2.3 Setting the DIL switches 16...........................................
3.2.4 Setting the operating mode 17.........................................
3.2.5 Configuring the EtherCAT addressing type 17.............................
3.2.6 Setting the diagnostics mode (Remote I/O operating mode) 18...............
3.2.7 Setting the I/O mode (remote controller operating mode) 19.................
3.2.8 Starting the bootloader mode 19.......................................
3.2.9 Setting the EtherCAT address 20.......................................
3.3 Connecting to the EtherCAT network 22..........................................
3.3.1 General notes on EtherCAT networks 22..................................
3.3.2 Network interface 23.................................................
3.3.3 Network connectors 23...............................................
3.3.4 Cable specification 23................................................
3.4 Complying with degree of protection IP65/IP67 24.................................
3.5 Voltage supply 24...........................................................
4 Commissioning 26...........................................................
4.1 General instructions 26.......................................................
4.1.1 Switching on the power supply 26......................................
4.1.2 Addressing, configuration and parameterisation 26........................
4.2 Address assignment 26.......................................................

CPX-FB37
4 Festo – P.BE-CPX-FB37-EN – 1406NH – English
4.3 Addressing the inputs and outputs, data access 27.................................
4.3.1 Basic rules for addressing 27..........................................
4.3.2 Differences in addressing between the modular device profile and fixed I/O size 27
4.3.3 Data access (data objects) 28..........................................
4.4 Addressing the devices 28.....................................................
4.4.1 Assigning an independent EtherCAT device address via DIL switch 28..........
4.4.2 Assigning an independent EtherCAT device address using the configuration tool 28
4.5 Configuration 30............................................................
4.5.1 Registering station properties in the configuration program 30...............
4.5.2 Configuration in the Modular Device Profile (MDP) 32.......................
4.5.3 Configuration with fixed I/O size (CPX-FB38 mode) 35......................
4.5.4 Configuration in the remote controller operating mode 35...................
4.6 Parameterisation 37.........................................................
4.6.1 Introduction to parameterisation 37.....................................
4.6.2 Methods of parameterisation 38.......................................
4.6.3 Parameterisation with the operator unit CPX-MMI 38.......................
4.6.4 Parameterisation with the Festo Maintenance Tool (CPX-FMT) 38..............
4.6.5 Parameterisation via EtherCAT in the Modular Device Profile (MDP) 39.........
4.7 Remarks on parameters of the CPX system settings 41..............................
4.7.1 Sequence of start parameterisation during switch-on (system start) 41........
4.7.2 Parameterisation of the fail-safe mode 42................................
4.8 Web server 44..............................................................
4.8.1 Configuration 44....................................................
4.9 Firmware update/restoring the firmware 50.......................................
4.9.1 Updating the firmware via FoE (File Access over EtherCAT) 50................
4.9.2 Restoring the firmware with the Festo Field Device Tool (FFT) 52..............
4.10 Checklist for commissioning a CPX terminal 53.....................................
4.11 Replacing the bus node 54....................................................
5Diagnostics 55..............................................................
5.1 Summary of diagnostics options 55.............................................
5.2 Diagnostics via LEDs 56.......................................................
5.2.1 LEDs at the bus node CPX-FB37 56......................................
5.2.2 Normal operating status 57...........................................
5.2.3 CPX-specific LEDs 58.................................................
5.2.4 EtherCAT-specific LEDs 61.............................................
5.3 Diagnostics via status bits 64..................................................
5.4 Diagnostics via the I/O diagnostic interface (STI) 65................................

CPX-FB37
Festo – P.BE-CPX-FB37-EN – 1406NH – English 5
5.5 Diagnostics via EtherCAT 66...................................................
5.5.1 Basic information 66.................................................
5.5.2 Diagnostics via SDO access 66.........................................
5.5.3 Diagnostics via diagnostics history 66...................................
5.5.4 Die Emergency Message 73...........................................
5.5.5 Error characteristics (fail-safe mode) 75.................................
5.5.6 Error types 76......................................................
A Technical appendix 77........................................................
A.1 Technical data 77............................................................
A.2 Object directories 78.........................................................
A.2.1 Object directory CPX-FB37 mode (Modular Device Profile) 78.................
A.2.2 Object directory CPX-FB38 mode (fixed I/O size) 81........................
B Glossary 83................................................................

CPX-FB37
6 Festo – P.BE-CPX-FB37-EN – 1406NH – English
Notes on this documentation
This description contains information regarding the installation and configuration of the CPX bus node,
as well as EtherCAT-specific information regarding parameterisation, commissioning and diagnostics of
a CPX terminal in an EtherCAT network.
CPX-FB37 Description Connection technology
Ethernet-based CPX bus
node for EtherCAT
2 x M12 socket, D-coded, 4-pin,
corresponding to
IEC 61076-2-101,
SPEEDCON
®
-compatible
Tab. 1 Over view
Additional information regarding EtherCAT can be found online (www.ethercat.org).
Product-specific information about the control system (IPC, PLC or I/O controller) can be
found in the manufacturer’s documentation accompanying the product.
General basic information about the mode of operation, mounting, installation and
commissioning of CPX terminals can be found in the CPX system description
(P.BE-CPX-SYS-...).
Information about additional CPX modules can be found in the description for the respect-
ive module.
An overview of the structure of the CPX terminal user documentation is contained in the
CPX system description.
All documents are also available on the Festo website
(www.festo.com/sp).
Service
Please consult your regional Festo contact if you have any technical problems.

1 Safety and requirements for product use
Festo – P.BE-CPX-FB37-EN – 1406NH – English 7
1 Safety
1.1 General safety information
• Observe the general safety information in the corresponding chapters.
Specific safety regulations can be found immediately before the task instructions.
Note
Damage to the product from incorrect handling.
• Switch off the supply voltage before mounting and installation work. Switch on sup-
ply voltage only when mounting and installation work are completely finished.
• Never unplug or plug in a product when powered!
• Observe the handling specifications for electrostatically sensitive devices.
1.2 Intended use
The bus node CPX-FB37 is intended exclusively for use in CPX terminals, as a participant in the EtherCAT
fieldbus system, and it may only be used as follows:
– in excellent technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data (Appendix A.1)
– in an industrial environment
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
Warning
Danger of electric shock from voltage sources without protective measures.
• Use only PELV circuits in accordance with IEC/EN 60204-1 (Protective Extra-Low
Voltage, PELV) for the electric logic supply.
• Observe also the general requirements for PELV circuits in accordance with
IEC/EN 60204-1.
• Use only voltage sources that ensure a reliable electric separation of operating
voltage in accordance with IEC/EN 60204-1.

1 Safety and requirements for product use
8 Festo – P.BE-CPX-FB37-EN – 1406NH – English
Through the use of PELV circuits, protection against electric shock (protection against direct and indir-
ect contact) is ensured in accordance with IEC/EN 60204-1.
In the CPX system description (P.BE-CPX-SYS-…), read the information on power supply as
well as on the earthing measures to be carried out.

1 Safety and requirements for product use
Festo – P.BE-CPX-FB37-EN – 1406NH – English 9
1.3 Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Consider also the
documentation for other components and modules (e.g. CPX system descriptionP.BE-CPX-SYS-…).
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards
– regulations of the testing organizations and insurers
– national specifications
1.3.1 Technical requirements
General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
product (Appendix A.1) and of all connected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the notes and warnings in this documentation.
1.3.2 Qualification of specialists (personnel requirements)
The product may only be commissioned by trained control and automation technology professionals,
who have experience with:
– the installation, commissioning, programming and diagnostics of participants in the EtherCAT field-
bus system
– the applicable regulations for operating safety-engineered systems
– the applicable regulations for accident protection and operational reliability
– the documentation for the product
1.3.3 Range of application and certifications
Standards and test values, which the product complies with and fulfils, can be found in the “Technical
data” section (Appendix A.1). The product-relevant EU directives can be found in the declaration of
conformity.
Certificates and the declaration of conformity for this product can be found on the Festo
website (www.festo.com/sp ).
The bus node CPX-FB37 successfully passed the test with the “EtherCAT Conformance Test Tool” (CTT).

2Overview
10 Festo – P.BE-CPX-FB37-EN – 1406NH – English
2Overview
2.1 Function range (brief overview)
– Real-time Ethernet communication (EtherCAT)
– Deterministic data transmission
– Master-slave system architecture
– Modular valve terminal configuration (MDP)
– Diagnostic data via CoE
– Parameterisation in plain text via CoE
– Hot Connect function for connecting and disconnecting devices during operation
– Module address can be altered via DIL switch
– Activation of the compatibility mode for the bus node CPX-FB38 via DIL switch
– Activation of the bootloader mode via DIL switch
– Adjustable fail-safe behaviour
– Adjustable CPX diagnostics mode

2Overview
Festo – P.BE-CPX-FB37-EN – 1406NH – English 11
2.2 Connections and display components
The bus node has the following connections and display components:
1
2
3
4
5
6
1EtherCAT-specific network status LEDs and
CPX-specific LEDs
2Network connection 1 (input “X1 In”)
3Network connection 2 (output “X2 Out”)
4Cover for DIL switches
5Service interface for operator unit CPX-MMI
and USB adapter (for CPX-FMT)
6Rating plate
Fig. 2.1 Connections and display components of the bus node
Note
• Use cover caps to seal unused connections. You will then comply with the degree of
protection IP65/IP67 (Section 3.4).

3 Mounting and installation
12 Festo – P.BE-CPX-FB37-EN – 1406NH – English
3 Mounting and installation
3.1 Dismantling and mounting
Warning
Danger of injury to people, damage to the machine and system resulting from uncon-
trolled movements of the actuators and undefined switching states
• Switch off the operating and load voltage supply.
• Switch off the compressed air supply.
• Exhaust the pneumatics valve terminal.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Donottouchanycomponents.
• Observe the handling specifications for electrostatically sensitive devices.
Note
Malfunction or damage to the bus node
Mounting /dismantling of the bus node must always take place in a de-energised state.
• To do this, disconnect the corresponding CPX terminal completely from the related
voltage supply or switch off the voltage supply.
Information about mounting of the CPX terminal can be found in the CPX system descrip-
tion (P.BE-CPX-SYS-...).

3 Mounting and installation
Festo – P.BE-CPX-FB37-EN – 1406NH – English 13
When built-in, the bus node is located in an interlinking block of the CPX terminal.
1
2
3
4
1Bus node
2Interlinking block
3Contact rails
4Torx T10 screws
Fig. 3.1 Mounting/dismantling the bus node
Note
Loss of settings
If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal
is saved locally in the bus node. In this case, parameterisation is lost if the bus node is
replaced.
• Save the required settings before replacing the bus node and restore the settings
after replacement.
3.1.1 Dismantling the bus node
1. Loosen the 4 screws of the bus node with a Torx screwdriver size T10.
2. Pull the bus node carefully and without tilting away from the contact rails of the interlinking block.

3 Mounting and installation
14 Festo – P.BE-CPX-FB37-EN – 1406NH – English
3.1.2 Mounting the bus node
Note
Damage to the interlinking block
• Always use the correct screws for the interlocking block, which depend on whether
the block is made of metal or plastic:
– For plastic interlinking blocks: Self-tapping screws
– For metal interlinking blocks: Screws with metric thread
Both types of screws are enclosed when the bus node is ordered as a single part.
1. Check the seal and the sealing surfaces. Replace the damaged parts.
2. Insert the bus node into the interlinking block as far as possible without tilting it.
3. Turn the screws into the existing thread.
4. Tighten the screws in diagonally opposite sequence. Tightening torque: 0.9 … 1.1 Nm.

3 Mounting and installation
Festo – P.BE-CPX-FB37-EN – 1406NH – English 15
3.2 Setting the DIL switches on the bus node
In order to set the CPX bus node, you must first remove the cover for the DIL switches.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Donottouchanycomponents.
• Observe the handling specifications for electrostatically sensitive devices.
3.2.1 Removing and fitting the cover over the DIL switches
You need a TORX screwdriver size T10 to remove or attach the DIL switch cover.
Note
Observe the following notes when removing or fitting the cover:
• Disconnect the power supply before removing the cover.
• Make sure the seal is seated correctly when attaching the cover.
• Tighten the two mounting screws with a max. torque of 0.4 Nm.

3 Mounting and installation
16 Festo – P.BE-CPX-FB37-EN – 1406NH – English
3.2.2 Arrangement of the DIL switches
There are 3 DIL switches available for configuring the bus node. They are located underneath the DIL
switch cover.
12
3
1DIL switch 1: Bus node operating mode
2DIL switch 2: Diagnostics mode, number of
I/O bytes, bootloader
3DIL switch 3: EtherCAT address of the bus
node
Fig. 3.2 DIL switches on the bus node
3.2.3 Setting the DIL switches
1. Switch off the power supply.
2. Remove the cover (Section 3.2.1).
3. Perform the required settings (Tab. 3.1 … Tab. 3.6).
4. Replace the cover (Section 3.2.1).
Changes to the DIL switches only take effect when the bus node is restarted.

3 Mounting and installation
Festo – P.BE-CPX-FB37-EN – 1406NH – English 17
3.2.4 Setting the operating mode
You can set the operating mode of the bus node with switch element 1.1 of DIL switch 1.
Operating mode Setting DIL switch 1
Remote I/O DIL 1.1: OFF
(factory setting)
All functions of the CPX terminal are controlled directly by
the EtherCAT controller or a higher-level PLC.
The bus node thereby takes over the connection to the
EtherCAT network.
Remote controller DIL 1.1: ON
A CPX-FEC or CPX-CEC integrated into the terminal
controls all functions.
The bus node thereby takes over the connection to the
EtherCAT network.
Tab. 3.1 Setting the operating mode
3.2.5 Configuring the EtherCAT addressing type
Use switch element DIL 1.2 of DIL switch 1 to switch between Modular Device Profile and fixed I/O size
(Section 4.5.1).
EtherCAT addressing type Setting DIL switch 1
Modular Device Profile (MDP) active DIL 1.2: OFF
(factory setting)
Fixed I/O size active (64 byte I/O)
(compatible with the bus node CPX-FB38)
DIL 1.2: ON
Tab. 3.2 Configuring the EtherCAT addressing type

3 Mounting and installation
18 Festo – P.BE-CPX-FB37-EN – 1406NH – English
3.2.6 Setting the diagnostics mode (Remote I/O operating mode)
The diagnostic mode is available only in the remote I/O operating mode.
Note
1. The diagnostics mode reduces the available address space.
Use of the diagnostics mode (status bits or I/O diagnostics interface) occupies 16 I or
16 I/O bits and thus reduces the number of I/O bits which are available for module
communication. In this way, the number of addressable modules is reduced in favour of
additional status or diagnostic information.
2. When using the fixed I/O size (CPX-FB38 mode), subsequent activation of the dia-
gnostics mode requires a reconfiguration.
A detailed description of the addressing process and various addressing examples for the
CPX-FB38 mode can be found in the description of the bus node CPX-FB38
(P.BE-CPX-FB38).
Set the diagnostics mode of the bus node with DIL switch 2.
Diagnostics mode (remote I/O operating mode) Setting DIL switch 2
I/O diagnostics interface and status bits are switched off
(+ 0 I/O bits)
DIL 2.1: OFF
DIL 2.2: OFF
(factory setting)
Status bits are switched on
(+ 8 (16) I bits)
1)
DIL 2.1: OFF
DIL 2.2: ON
I/O diagnostics interface is switched on
(+ 16 I/O bits)
1)
DIL 2.1: ON
DIL 2.2: OFF
1) The diagnostics mode (status bits or I/O diagnostics interface) occupies 2 bytes or 4 bytes of address space (16 I-bits or 16
I/O-bits; 8 I-bits remain unused in the status bits mode)
Tab. 3.3 Setting the diagnostics mode (Remote I/O operating mode)

3 Mounting and installation
Festo – P.BE-CPX-FB37-EN – 1406NH – English 19
3.2.7 Setting the I/O mode (remote controller operating mode)
The I/O mode is available only in the remote controller operating mode.
Set the I/O mode of the bus node with DIL switch 2.
Number of I/O bytes (remote controller operating mode) Setting DIL switch 2
8bytesI/8bytesO
for communication of the bus node with the CPX-FEC or
CPX-CEC
DIL 2.1: OFF
DIL 2.2: OFF
(factory setting)
16 bytes I/16 bytes O
for communication of the bus node with the CPX-FEC or
CPX-CEC
DIL 2.1: OFF
DIL 2.2: ON
Reserved for future extensions DIL 2.1: ON
DIL 2.2: OFF
Tab. 3.4 Setting the number of I/O bytes (remote controller operating mode)
3.2.8 Starting the bootloader mode
The bootloader mode is available in any operating mode.
Start the bootloader mode with DIL switch 2.
The bootloader mode can be used to restore the operational capability of the bus node (e.g. after a
failed firmware download via FoE) (Section 4.9.2).
Starting the bootloader Setting DIL switch 2
for firmware restore DIL 2.1: ON
DIL 2.2: ON
Tab. 3.5 Starting the bootloader.

3 Mounting and installation
20 Festo – P.BE-CPX-FB37-EN – 1406NH – English
3.2.9 Setting the EtherCAT address
You can assign a free EtherCAT address (Explicit Device ID) to the bus node by using DIL switch 3.
Setting an EtherCAT address is optional (e.g. for the Hot-Connect function).
You can set the EtherCAT address in binary coded format by using switch elements 1 to 8.
If the EtherCAT address 0 is set, the programmed address in the EEPROM is used (factory
setting).
1 to 255 are thereby available as possible EtherCAT addresses.
Example: Set EtherCAT address 77
DIL switch 3
12 34 56 7
8
DIL switch element 1 2 3 4 5 6 7 8
Switch position ON Off ON ON Off Off ON Off
Binary 1 0 1 1 0 0 1 0
Potency (significance) 2
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
Numerical value (decim-
al)
1 0 4 8 0 0 64 0
EtherCAT address 1+0+4+8+0+0+64+0=77
Tab. 3.6 Setting the EtherCAT address with DIL switch 3
The set EtherCAT address (Explicit Device ID) must be activated.
To do this in the TwinCAT 3.x configuration tool, select the following:
EtherCAT Advanced settings General Identification Explicit Device Identi-
fication (ADO 0x0134) (Fig. 3.3).
Fig. 3.3 Selecting “Explicit Device Identification (ADO 0x0134)” (TwinCAT 3.x)