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1. Fig 1 10 Terminating resistor in the fieldbus plug Festo 1 4 1 Install a terminating resistor using the adapters Festo P BE FB14 EN en 14114 English If the CPX terminal to be connected is at the end of the field bus a terminating resistor 120 0 25 W must be installed in the fieldbus socket e Connect the terminating resistor between the cores for CAN_H and CAN_L 1 33 1 Installation 1 5 Power supply Warning e Only use circuits in accordance with IEC EN 60204 1 protective extra low voltage PELV for the electrical power supply Consider also the general requirements for PELV circuits in accordance with IEC EN 60204 1 Only use voltage sources which ensure reliable electrical isolation of the operating voltage in accordance with IEC EN 60204 1 Through the use of PELV circuits protection from electric shock protection from direct and indirect contact in accord ance with IEC DIN EN 60204 1 is ensured Electrical equip ment of machines General requirements The current consumption of a CPX terminal depends on the number and type of integrated modules and components Read in the CPX system description the information on power supply as well as on the earthing measures to be carried out System power supply The CPX terminal is supplied with operating and load power additional power supply via the interlinki
2. SESS EEE SS EEE eee 2300 0 Status U8 ro 8 Number of entries mode dia 1 gnostic rw XX Diagnostic memory mode 3480 memor 2 3 rw 00 Number of entries in the 3482 diagnostic memory Writing O will delete all entries 4 00 Current status overflow 3483 5 rw 00 Trigger conditions 3484 run stop filter 2 error end filter error number filter module channel filter 6 00 Module number MN 3485 7 00 Channel number CN 3486 8 00 Error number EN 3487 2310 0 Diagnostic 08 0 28 Number of entries memory 1 1st entry Oct 00 FF Number of days 3488 latest error string 00 17 Number of hours s 00 Number of minutes 2 2nd entry 00 3B Number of seconds 00 63 Number of 10 ms 3 3rd entry 80 and designation for 1st mes sage after power on 00 FF Module code 00 2F Module position 00 FF Channel number 00 FF Error number 00 FF Following channels 28h 40th entry oldest saved error Tab 2 58 Diagnostic memory data 2 76 Festo P BE FB14 EN en 1411d English 2 Commissioning System parameters Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 2400 0 System U8 ro 8 Number of entries parameters 1 Parameter
3. 3 14 3 5 1 The emergency 3 15 3 5 2 CPX errof numbers nir meli ei 3 20 Festo P BE FB14 EN 14114 English 3 Diagnostics 3 1 Summary of diagnostics options The CPX terminal provides comprehensive and user friendly options for diagnostics and error handling The following options are available dependent on the configuration Diagnostics Brief description Benefits Detailed de option scription LED display The LEDs show directly Fast on the spot error Section 3 2 configuration errors detection hardware errors bus errors etc Status bits Internal inputs that supply Fast access to error messages Section 3 3 and coded common diagnostic messages The 8 status bits occupy the first 8 bits of the Transmit PDO 4 Fig 2 1 in the user program independent of the interface and master CPX system de scription P BE CPX SYS 1 0 diagnostic Bus independent diagnostic Read access to internal Section 3 4 and driven manner interface interface at 1 0 level which parameters and data at 1 0 CPX system de enables access to the internal level scription data of the CPX terminal P BE CPX SYS 16 bits PDO 4 Diagnostics Emergency message Detailed error detection Section 3 5 via CANopen Objects 1001 1003 Diagnostics via SDO e g objects 22xx
4. Index Sub Designation Type Map Values Explanation hex index hex 6444 O Analogue U8 ro 0 10 Number of analogue channels output error 5 integer 32 bit 132 rw 00 00 00 00 Error value AO4 6 00 00 00 00 Error value AO5 10h 00 00 00 00 Error value A015 Tab 2 50 Analogue outputs channel 4 15 Receive PDO 3 Festo P BE FB14 EN en 1411d English 2 67 2 Commissioning 2 4 9 Technology modules status bits 1 0 diagnostic interface PDO 4 gt Note In order to use the status bits or the I O diagnostic interface they must be activated via the DIL switches on the bus node section 1 2 2 Further information on the status bits and on the 1 0 diagnostic interface can be found in section 3 3 and 3 4 Transmit PDO 4 Index Sub Designation Type Attr Map Values Explanation hex index hex 481 Transmit Telegram length 2 4 6 or AFF PDO 4 8 bytes Byte 0 1 status bits or 1 O diagnostics interface dependent on configuration Byte 2 3 reserved Byte 4 5 reserved Byte 6 7 reserved 1803 0 PDO commu U8 ro 05 Number of entries nication para meter record 1 PDO COB ID U32 rw 480 Default COB ID of the inputs node ID 2 Transmission U8 FF Default acyclic 2 type 3 Inhibit time U16 00 00 Transmit blocking time inputs 100 us 4 Not used
5. 1 2 parameterisation 2 Input with reduction of the 5 UN input debounce HE ha 9 Ea time and increase TR epl of the signal lele eere 9 extension time 1st sensor 2nd sensor BY 2 9 Application example for parameterisation of debounce time and pulse lengthening here on the right hand sensor In the above application packets are transported on a fast moving conveyor belt With the following parameterisation signal detection and processing has been improved Reduction of the input debounce time from 3 ms factory setting to 0 1 ms detection of shorter signals is possible Applies to the complete module Change in signal extension time to 50 ms The signal will be registered reliably by the controller Here activated only for the input channel of the 2nd sensor 2 92 Festo P BE FB14 EN en 1411d English 2 Commissioning 2 6 Commissioning the CPX terminal in the system Note gt Please observe also the switching on instructions in the handbook for your controller Procedure 1 Connect the fieldbus cable to the CPX bus node 2 Switch on the operating voltages ofall fieldbus stations ofthe CPX terminal 3 Switch on the operating voltage for the master module Recommendation If the
6. Bus node CPX FB14 FESTO Description CANopen network protocol 526410 14114 8041138 Contents and general instructions Original sese IS Edition EP Ve en 14114 Designation P BE FB14 EN Ord r Re eee eres 526410 Festo 4 Co KG Postfach 73726 Esslingen Germany 2013 Internet http www festo com E Mail service_international festo com Reproduction distribution or sale of this document or com munication of its contents to others without express author ization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Festo P BE FB14 EN en 14114 English Contents and general instructions CANopen TORX CiA are registered trademarks of the respective trademark owners in certain countries Festo P BE FB14 EN 14114 English Contents and general instructions Table of contents Intended Uses oi RE HES Target uec y ex Oe eye m ee iet Y ae eared OS SENICE b ve ebd ett omen m Instructions regarding this description Important user information 1 Installation ila rm 14 General inst
7. 2 41 2 4 2 Overview of the PDO 5 2 46 2 4 3 Digital inputs Transmit PDO 1 2 47 2 4 4 Digital outputs Receive PDO 1 2 50 2 4 5 Analogue inputs channel 0 3 Transmit PDO 2 2 55 2 4 6 Analogue outputs channel 0 3 Receive PDO 2 2 60 2 4 7 Analogue inputs channel 4 15 Transmit PDO 3 2 62 2 4 8 Analogue outputs channel 4 15 Receive PDO 3 2 65 2 4 9 Technology modules status bits 1 0 diagnostic interface PDO 4 2 68 2 4 10 Manufacturer specific profile 2 72 2 4 11 Overview of mappingobjects 2 79 DATs 3FOECIHS A cri dee mie uie REA RC NE 2 81 2 4 13 Function assignment and virtual modules 2 85 Festo P BE FB14 EN en 1411d English 2 Commissioning 2 5 Parameterisation ir a vex mr Y RES Le Ne URS 2 91 2 5 1 Parameterisation during switch on 2 91 2 5 2 Parameterisation with the handheld 2 92 2 5 3 Application example for parameterisation 2 92 2 6 Commissioning the CPX terminal the system 2 93 2 6 1 Correct commissioning normal operating status 2 94 Festo P BE FB14 EN en 1411d English 2 3 2 Commissioning 21 Commissioning on a CANopen
8. A 5 A 2 1 Example 1 Start CANopen network A 5 2 2 2 5 A 2 3 Example 3 Start node guard monitoring A 6 A 2 4 Example 4 load objects A 7 A 2 5 5 lt A 8 Index rc apre PORE B 1 Festo P BE FB14 EN en 1411d English V Contents and general instructions Intended use The bus node CPX FB14 described in this description has been designed exclusively for use as a participant on the CANopen fieldbus The CPX terminal must only be used as follows Asintended in industrial environments outside of industrial environments e g in commercial and mixed residential areas actions to suppress interference may have to be taken inoriginal status without unauthorised modifications only the conversions or modifications described in the documentation supplied with the product are permitted jnexcellent technical condition The limit values specified for pressures temperatures elec trical data torques etc must be observed Comply with the legal rules and regulations and standards rules of the testing organisations and insurance companies and national specifications applicable for the location Warning A e Use only circuits for the electrical power s
9. 5000 0 Force enable U8 ro 0 Bit 0 enable force 2 Corresponds to index 2400 3 bit 2 3 5006 0 Force mode U8 0 10 Number of entries 8 hit digital 1 inputs rw 0 Force mode 10 17 2 0 Force mode 18 115 10h 0 Force mode 1120 1127 5007 0 Force mode U8 ro 0 10 Number of entries 8 bit digital 1 inputs rw 0 Force value 10 17 2 0 Force value 18 115 10h 0 Force value 1120 1127 Festo P BE FB14 EN 14114 English 2 81 2 Commissioning Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 5106 0 Force mode U8 ro 0 20 Number of entries 16 bit digital 1 inputs U16 rw 0 Force mode IWO 2 0 Force mode IW1 20h 0 Force mode IW31 5107 0 Force value 08 ro 0 20 Number of entries 16 bit digital 1 inputs U16 rw 0 Force value IWO 2 0 Force value IW1 20h 0 Force value IW31 5433 0 Force mode U8 0 10 Number of entries analogue 1 inputs rw 0 Force mode channel 0 2 AIO 2 0 Force mode channel 1 AI1 10h 0 Force mode channel 15 AI15 5434 0 Force value U8 ro 0 10 Number of entries analogue 1 inputs 132 rw 0 Force value channel 0 AIO 2 0 Force value channel 1 10h 0 Force value channel 15 AI15 2 Values 0 disable 1 enable 2 82 Festo P BE FB14
10. soa cres 2 62 PDO A Sos WEE ates doves hes S 3 3 3 12 ReceiVe neve eI Se chal ae Sa 2 70 Transmit zr boc EA tes bebe 2 68 PEIN sas cot eO NA eddie s p Tes 1 34 Pictograms c Vets ELI EM FE Mese EINE X Pin allocation Fieldbus interface 1 27 Pre defined error field 3 15 R Receive PDO ale pote eis Be we a 2 50 PDO a TENIS 2 60 PDQ3 suede diese RR RU hU EET 2 65 PDO 47 oe 2 70 Reset 1 19 Festo P BE FB14 EN 14114 English Index Festo P BE FB14 EN 14114 English 5 Screw terminal adapter 1 32 eens 2 5 3 3 3 12 ee ee LR AM VII Setting Baud rate 22 ea 1 20 Diagnostics mode 1 21 Operating mode 1 11 Station number Saree eve eye 1 13 Station number Setting 1 13 Status 5 armare derer RUE NIU 2 68 Statustransitions LL 2 37 ee woe ee 1 23 Switch cover Remove and mount 1 8 System supply cee eee 0 1 34 T Target group rera LER ete wee Vet VII Technical data A 3 Text designations 2
11. Note 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 Festo P BE FB14 EN en 14114 English 1 Installation Mounting Festo P BE FB14 EN en 14114 English Both types of screws are enclosed respectively when the bus node is ordered as a single part Mount the bus node as follows 1 2 Check seal and seal surfaces Place the bus node in the interlinking block Make sure that the corresponding grooves with the contacting ter minals on the bottom of the bus node are above the con tact rails Then push the bus node carefully and without tilting into the interlinking block up to the stop Only tighten the screws by hand Place the screws so that the self cutting threads can be used Tighten the screws with a TORX screwdriver size T10 with 0 9 1 1 Nm torque 1 7 1 Installation 1 2 Settings of the DIL switches on the bus node gt 1 2 1 In order to the CPX bus node you must first remove the cover for the DIL switches Note The CPX bus node contains electrostatically sensitive devices Do not touch any electrical or electronic components e Observe the handling specifications for electrostatically sensitive devices They will help you avoid damage to the electronics Removing and
12. Error Status bits CPX CPX error Reserved Additional Error code register module no no error inf Index 1001 Index 1002 manufacturer status register Bit Significance Explanation CPX module number Tab 3 14 Byte 1 of the manufacturer status register CPX module number 0 7 Number of the module with diagnostic message Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Status bits CPX CPX error no Reserved Additional Error code register module error inf no Index 1001 Index 1002 manufacturer status register Bit Significance Explanation CPX error number Tab 3 15 Byte 2 of the manufacturer status register CPX error number 0 7 CPX error number gt section 3 5 2 Festo P BE FB14 EN en 14114 English 3 19 3 Diagnostics Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Status bits CPX CPX error Reserved Additional Error code register module no error inf no Index 1001 Index 1002 manufacturer status register Significance Explanation 0 7 Additional information on the fault E g Node ID with heart beat error which participant has caused the time out Channel number of the first channel with fault Tab 3 16 Byte 7 of the emergency object 3 5 2 CPX error numbers Th
13. Low byte High byte Low byte High byte Tab 2 19 Answer to inquire product code Festo P BE FB14 EN 14114 English 2 17 2 Commissioning Query revision number With the inquire revision number command the revision number of the LSS slave is queried COB ID Command Tab 2 20 Inquire revision number COB ID Acknowledge Low byte High byte Low byte High byte Tab 2 21 Answer to inquire revision number 2 18 Festo P BE FB14 EN en 1411d English 2 Commissioning Query serial number With the inquire serial number command the serial number of the LSS slave is queried COB ID Command Tab 2 22 Inquire serial number COB ID Acknowledge Low byte High byte Low byte High byte Tab 2 23 Answer to inquire serial number Festo P BE FB14 EN en 14114 English 2 19 2 Commissioning Query node number With the inquire node ID command the currently set node number of the LSS slave is queried COB ID Command Tab 2 24 Inquire node ID COB ID Acknowledge Tab 2 25 Answer to inquire node ID 2 20 Festo P BE FB14 EN en 1411d English 2 Commissioning Identify manufacturer s code With the identify vendor ID command the manufacturer ID of the LSS slave is identified COB ID Command Low byte High byte Low byte High byte Tab 2 26 Identify vendor ID The command is not confirmed by
14. 1 Installation Setting the error mode with DIL switch You set the error mode with switch element 1 of the dual DIL switch 2 Error mode Setting DIL switch 2 Reporting undervoltage error ON 2 1 OFF factory setting 1 2 Filtering undervoltage error ON 2 1 ON Errors during monitoring of the operating and load voltage 1 2 supplies will be ignored Reserved ON 2 2 Always OFF L 1 2 1 2 DIL switch 2 Undervoltage error message With the setting Filter undervoltage error voltage errors which occur will not be reported as errors In this way you can for example suppress unnecessary error messages during the commissioning phase The setting of the DIL switch has precedence especially over the parameterisation of defined settings No emergency mes sage is transmitted with error filtering Festo P BE FB14 EN en 1411d English 1 Installation Setting of station number with DIL switch You can set the station number of the CPX terminal binary coded with the 8 off DIL switch 3 ary 1 Setting the sta tion number switch elements 1 7 1 Fig 1 4 DIL switch 3 station number The following station numbers are permissible Protocol Address designation Permissible station numbers CANopen Station number 15 2127 Tab 1 3 Permissible station numbers Recommendation
15. 2000 2110 System and module data 2 4 10 2200 2210 System and module diagnostic data 2300 2310 Diagnostic memory data 2400 2421 System and module parameters 4000 4801 Function assignment module virtual modules 2 4 13 5000 5FFF Force tables 2 4 12 6000 6100 Input array 2 4 3 6200 6300 Output array 2 4 4 6206 6306 Fault mode array for the outputs 6207 6307 Error state array for the outputs Tab 2 38 Implemented objects of the CPX terminal 2 36 Festo P BE FB14 EN en 14118 English 2 Commissioning 2 33 Behaviour of the CPX terminal when it is switched Power on Application initialization 5 0 Communication initialization Pre operational Stopped Operational Fig 2 6 Status transitions of the CPX terminal description 9 Tab 2 39 on the next page Festo P BE FB14 EN en 14114 English 2 37 2 Commissioning Status transition Description of the status transitions Designation Command specifier cs Function 0 Automatic boot up after power on The saved parameters 2000 5FFF are only loaded after power on is loaded 1 1 Start_Remote_ 01h Starts the CPX terminal in operational mode Node_Indication SDO transmission valid PDO transmission outputs a
16. Diagnostic information with logic 1 Error at valve Description Module type in which an Error at output error has occurred Error at input Error on analogue module function module Undervoltage Error type Short circuit overload Wire break Other error Tab 3 10 Status bits of the CPX FB14 optional 3 12 Festo P BE FB14 EN 14114 English 3 Diagnostics 3 4 Diagnostics via the 1 0 diagnostic interface The CPX terminal provides a 16 bit I O diagnostic interface The 1 0 diagnostic interface occupies as standard the bits 0 15 of the PDO 4 2 section 2 4 9 Note gt In order to use the 1 0 diagnostic interface the system diagnostics must be activated via the DIL switch on the bus node gt section 1 2 2 Information on the 1 0 diagnostic interface can be found in the CPX system description P BE CPX SYS Festo P BE FB14 EN en 14114 English 3 13 3 Diagnostics 3 5 Diagnostics via CANopen Is there an Enter errors in the diagnostic error memory index 23xx Enter errors in the module diagnostic data index 2210 Load error register index 1001 Load manufacturer status register index 1002 Same error on module with higher module number System diagnostic data are updated index 2200 Shift error memory index 1003 subindex 1 A Load pre defined error field index 1003 subindex 1 Output emergency m
17. Index Sub Designation Type Attr Values Explanation hex index hex 501 Receive PDO 4 Telegram length 1 8 bytes 57F Byte 0 1 1 0 diagnostics interface if configured Byte 2 3 reserved Byte 4 5 reserved Byte 6 7 reserved 1403 0 PDO U8 ro 02 Number of entries communication parameter record 1 PDO COB ID U32 rw 500 node Default COB ID of the inputs ID 2 Transmission U8 FF Default acyclic type 1603 0 PDO U8 rw 0 8 Number of entries communication 1 mapping U32 63 00 01 10 Pointer on OWO parameter 2 63 00 02 10 on OW1 3 63 00 03 10 OW2 4 63 00 04 10 on OW3 5 00 00 00 00 on mapping object 5 6 00 00 00 00 on mapping object 6 7 00 00 00 00 on mapping object 7 8 00 00 00 00 on mapping object 8 2 70 Festo P BE FB14 EN 14114 English 2 Commissioning Index Sub Designation Type Map Values Explanation hex index hex 6300 0 Write output U8 0 8 Number of 16 output 16 bit groups 1 016 rw Yes XX If configured 1 0 diagnostic interface 2 8 Reserved 6300 0 Write output 08 rw Yes 0 20 Number of OW groups 16 bit 1 U16 XX OWO technology module 2 OW1 technology module 3 2 technology module 20h XX OW31 technology module 6306 0
18. Tab 2 5 Switch mode selective product code The switch mode selective product code command is not confirmed by the LSS slave 2 8 Festo P BE FB14 EN en 1411d English 2 Commissioning 3 Selective mode change revision number With the switch mode selective revision number com mand only the mode of the LSS slave with the specified revi sion number is changed COB ID Command Tab 2 6 Switch mode selective revision number The switch mode selective revision number command is not confirmed by the LSS slave 4 Selective mode change serial number With the switch mode selective serial number command only the mode of the LSS slave with the specified serial num ber is changed COB ID Command Tab 2 7 Switch mode selective serial number After the fourth command is sent the addressed LSS slave answers vendor ID product code revision number and serial number must agree with the internal data of the LSS slave Festo P BE FB14 EN en 14114 English 2 9 2 Commissioning COB ID Acknowledge Tab 2 8 Answer to switch mode selective serial number Mode 0x01 Configuration mode 0x00 Normal mode operation mode 2 10 Festo P BE FB14 EN en 1411d English 2 Commissioning Configure node number With the configure node ID command a new node number is assigned to the LSS slave COB ID Command Tab 2 9
19. eje eo ele CD eje Fig 2 7 Configure two variants of a CPX terminal with function assignment Festo P BE FB14 EN en 14114 English 2 89 2 Commissioning Module Module I address O address 2 Values fct A Values fct B A B Obj 4800 Obj 4800 CPX FB14 T PDO 4 R PDO 4 Obj 4800 1 With activated OWO 02000202 I O diagnostic Obj 6100 1 Obj 6300 1 interface 1 1 CPX 8DE T PDO 1 Obj 4800 2 IO 17 00 00 08 00 Obj 6000 1 2 2 CPX 8DE 8DA T PDO 1 R PDO 1 Obj 4800 3 I8 115 00 07 00 00 08 08 Obj 6000 2 Obj 6200 1 3 3 CPX 4DA R PDO 1 Obj 4800 4 08 O11 00 00 00 04 Obj 6200 2 4 4 CPX 8DE 8DA T PDO 1 R PDO 1 Obj 4800 5 116 123 012 019 0000 08 08 Obj 6000 3 Obj 6200 2 Obj 6200 3 5 CPX 8DE T PDO 1 Obj 4800 6 Obj 4800 6 124 131 00 00 08 00 80 00 08 00 Obj 6000 4 6 5 MPA1S 800 R PDO 1 Obj 4800 7 020 027 00 00 00 08 Obj 6200 3 Obj 6200 4 7 6 MPA1S 800 R PDO 1 Obj 4800 8 028 035 00 00 00 08 Obj 6200 4 Obj 6200 5 8 15 800 R PDO 1 Obj 4800 9 Obj 4800 9 036 043 00 00 00 08 80 00 00 08 Obj 6200 5 Obj 6200 6 1 With mapping via object 1A00 2 With mapping via object 1600 Tab 2 64 Virtual modules in example terminal 1 2 90 Festo P BE FB14 EN en 1411d English 2 Commissioning 2 5 Parameterisation You can set the behaviour of
20. status of the output is retained Subindex 1 10h Bit 0 7 1 output assumes the status defined in Index 6207 6207 0 output is reset Subindex 1 10 Bit 0 7 1 output is set Tab 2 46 Statuses of the valves and outputs in case of error 2 54 Festo P BE FB14 EN 14114 English 2 Commissioning 2 4 5 Analogue inputs channel 0 3 Transmit PDO 2 Festo P BE FB14 EN en 14114 English CANopen represents the 16 bit analogue values with the following objects left justified in a 32 bit value 6422 6424 6425 6426 6444 5444 5434 Values of an analogue input are loaded into the PDO only if the following requirements are fulfilled Globale Interrupt Enable must be set to Enable Index 6423 With the Interrupt Trigger Index 6421 you can define how the analogue value in the following step is to be checked minimum maximum value value modification Index 6424 6425 6426 The channel number of the interrupt triggering analogue input is entered in Object 6422 The PDO is then transmitted according to the transmission code in Object 1801 FFn FDh FCp or 0 FOp 2 55 2 Commissioning Index Sub Designation Type Attr Values Explanation hex index hex 281 Transmit Telegram length 2 4 6 or 2FF PDO 2 8 bytes Byte 0 1 channel 0 AIO Byte 2 3 channel 1 AI1 Byte 4 5 channel 3 AI2
21. Byte 6 7 channel 4 AI3 1801 0 PDO 08 05 Number of entries communication parameter record 1 PDO COB ID U32 rw 280p Default COB ID of the inputs node ID 2 Transmission U8 FF Default acyclic 2 type 3 Inhibit time U16 01 4F Transmit blocking time 50 ms inputs 100 us 4 Not used 5 Event timer 00 00 Time controlled transmission of the inputs ms U unsigned ro read only rw read write 1 gt Note on page 2 49 Map Mapping possible Attr attribute 2 56 Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designation Type Attr Values Explanation hex index hex 0 PDO U8 rw 0 8 Number of entries communication 1 mapping U32 64 01 01 10 Pointer at index AIO parameter 2 64 01 02 10 Index AI1 3 64 01 03 10 Index AI2 4 64 01 04 10 Index AI3 5 00 00 00 00 on mapping object 5 6 00 00 00 00 on mapping object 6 7 00 00 00 00 on mapping object 7 8 00 00 00 00 on mapping object 8 6401 0 Read 08 0 10 Number of analogue chan analogue nels input 1 116 Yes AIO 2 3 XX Al2 4 XX Al3 6423 0 Analogue B rw 00 Global interrupt enable input global 0 disable interrupt 1 enable enable 6422 0 Analogue U8 ro 1 Number of interrupt source input number banks
22. Configure node ID Node ID Node ID of the LSS slave possible values 1 127 COB ID Acknowledge Error ex tension Tab 2 10 Answer to configure node ID Error code 0 Successful assignment of the node ID gt 1 Impermissible node ID OxFF Not all switch elements 1 7 of the DIP switch 3 are at OFF The bus node is not in the LSS mode Error extension Reserved Festo P BE FB14 EN 14114 English 2 11 2 Commissioning Configure bit timing parameters With the configure bit timing parameters command a new baud rate is assigned to the LSS slave COB ID Command Bit timing table Tab 2 11 Configure bit timing parameters Bit timing table Is always 0 Table entry 0 1000 kBaud 2 500 kBaud 3 250 kBaud 4 125 kBaud 2 12 Festo P BE FB14 EN en 1411d English 2 Commissioning COB ID Acknowledge Error extension Tab 2 12 Answer to configure bit timing parameters Error code 0 Successful assignment of the baud rate 1 Impermissible baud rate baud rate is not supported OxFF Not all switch elements 1 7 of the DIP switch 3 are at OFF The bus node is not in the LSS mode Error extension Reserved Festo P BE FB14 EN 14114 English 2 13 2 Commissioning Activate bit timing With the activate bit timing command the new baud rate is activated after a time delay This command can only be used in the
23. DIL switch 5 8 Mount the cover section 1 2 1 1 Installation 1 DIL switch 1 1 l o operating mode 2 DIL switch 2 DI undervoltage TOR error message 3 mode 3 DIL switch 3 n station number EA 4 DIL switch 4 baud rate 5 O ___ 5 DIL switch 5 CPX diagnostics mode or number of log 1 05 with remote controller Fig 1 3 DIL switch in the bus node additional information 1 5 Jin the following 1 10 Festo P BE FB14 EN en 1411d English 1 Installation Setting the operating mode with DIL switch You can set the operating mode of the bus node with switch element 1 of DIL switch 1 Operating mode Remote I O operating mode All functions of the CPX terminal are controlled directly by the CANopen Master An FEC or CEC that may be integrated into the CPX terminal works as a passive function module without controller Setting DIL switch 1 ON DIL 1 1 OFF DIL 1 2 OFF factory setting Remote controller operating mode An FEC or CEC integrated into the CPX terminal takes over 1 0 control This operating mode is only useful if an FEC or CEC is integrated into the CPX terminal Tab 1 1 DIL switch 1 operating mode Festo P BE FB14 EN en 1411d English ON DIL 1 1 ON I DIL 1 2 OFF
24. Diagnostics Diagnostic information can be Fast on site error detection Description for the via the shown on the CPX Handheld without programming in plain handheld handheld in a convenient and menu text Tab 3 1 Diagnostics options Festo P BE FB14 EN en 1411d English 3 3 3 Diagnostics Note gt Note that the diagnostic information shown can depend on the settings gt section 1 2 2 as well as on the paramet erisation section 2 5 of the CPX terminal 3 2 Diagnostics via LEDs LEDs for the diagnostics of the CPX terminal are available on the bus node as well as on the individual modules The significance of the LEDs on the electric modules can be found in the description for the relevant module MSO PS NSC lo O 5 O MO m PLO 2 10 sro O MO 1 CPX specific LEDs 2 CANopen specific LEDs green red PS green MS module status PL green NS Network status SF red 10 1 0 status M yellow Fig 3 1 LEDs ofthe CPX node 3 4 Festo P BE FB14 EN en 1411d English 3 Diagnostics The LEDs are shown in their various statuses as follows Illuminated 9 flashes O off 3 2 1 Normal operating status In the normal operating status the LEDs on the bus node light up as follows LED display Operating status These LEDs light up Standard green MS ME ME 6 50 SN Dre 10 Vl vty ns Qc PEDE
25. Sub Designation Type Attr Values Explanation hex index hex 401 Receive PDO 3 XX Telegram length 2 4 6 or 47F 8 bytes Byte 0 1 channel 5 A04 Byte 2 3 channel 6 5 Byte 4 5 channel 7 A06 Byte 6 7 channel 8 A07 1402 0 PDO U8 ro 02 Number of entries communication parameter record 1 PDO COB ID U32 rw 400 node Default COB ID of the inputs ID 2 Transmission U8 FF Default acyclic Festo P BE FB14 EN en 14114 English 2 65 2 Commissioning Index Sub Designation Type Attr Values Explanation hex index hex 1602 0 PDO 08 rw 0 8 Number of entries communication 1 mapping U32 64 11 05 10 Pointer on index AO4 parameter 2 64 1106 10 Index AO5 3 64 11 07 10 Index AO6 4 641108 10 Index AO7 5 00 00 00 00 on mapping object 5 6 00 00 00 00 on mapping object 6 7 00 00 00 00 on mapping object 7 8 00 00 00 00 on mapping object 8 6411 0 Write 08 0 10 Number of analogue channels analogue 5 output 16 bit 116 rw Yes AO4 6 5 10n XX 15 6443 0 Analogue U8 0 10 Number of analogue output fault channels mode 5 rw 1 Default mode 4 6 1 Default mode AO5 10n 1 Default mode A015 2 66 Festo P BE FB14 EN en 1411d English 2 Commissioning
26. helene leaden Sales X Transmit PDOT fc pe iis ke a Eee Ur rad ette 2 47 PD O22 2 55 PD ORS eds dave M xd EPI does 2 62 PD Oe oe nates Ye OE 2 68 U User imstructions hc at ek eG IX B 7 B 8 Index Valve supply Virtual modules Voltage supply Festo P BE FB14 EN 14114 English
27. type FBS SUB 9 BU 2x5POL B Festo P BE FB14 EN en 14114 English 1 29 1 Installation 1 3 6 Further connection possibilities for the fieldbus with adapters Caution When connecting the fieldbus interface and the power supply for the bus interface pay attention to the polarity Connect the screening There are further connection options for the CPX terminal with adapters which can be ordered separately from Festo M12 adapter 5 pin protection class IP 65 type FBA 2 M12 5POL Screw terminal adapter 5 pin protection class IP20 type FBA 1 SL 5POL 1 30 Festo P BE FB14 EN en 1411d English 1 Installation M12 adapter IP65 With this adapter the bus is connected via a 5 pin M12 socket with PG9 fitting Use the second connection socket for continuation of the fieldbus Note gt Use protective caps to seal unused connections You will then achieve protection class IP65 ERN Order this connection from Festo FBA 2 M12 5POL M12 adapter Pin no 2 2 1 Screening ae 2 24 V DC bus max 4 A 3 bus Qe 5 CAN_L 4 4 Protective cap or plug with bus termination resistor if connection is not used Fig 1 8 Pin assignment of the fieldbus interface adapter for 5 pin M12 connection With the two M12 connections you can implement T adapter gt Fig 1 6 Festo P BE FB14 EN 14114 English 1 31 1 Installation 1 32 Scr
28. 0000 on mapping object 6 7 00 00 0000 on mapping object 7 8 00 00 0000 on mapping object 8 2 60 Festo P BE FB14 EN 14114 English 2 Commissioning Index Sub Designation Type Map Values Explanation hex index hex 6411 0 Write U8 ro Yes 0 10 Number of analogue analogue channels output 16 bit 1 116 rw XX 2 XX XX AO1 3 XX XX A02 4 XX XX A03 6443 0 Analogue U8 ro 0 10 Number of analogue output fault channels mode 1 rw 1 Default mode 2 1 Default mode AO1 3 1 Default mode AO2 4 1 Default mode A03 6444 O Analogue U8 ro 0 10 Number of analogue output error channels integer 32 bit 1 132 rw 1 Error value AOO 2 2 Error value AO1 3 3 Error value AO2 4 4 Error value U unsigned ro readonly rw read write Map Mapping possible Attr attribute Tab 2 48 Analogue outputs channel 0 3 Festo P BE FB14 EN en 1411d English 2 61 2 Commissioning 2 4 7 Analogue inputs channel 4 15 Transmit PDO 3 Index Sub Designation Type Values Explanation hex index hex 381 Transmit Telegram length 2 4 6 or 3FF PDO 3 8 bytes Byte 0 1 channel 4 AI4 Byte 2 3 channel 5 Byte 4 5 channel 6 AI6 Byte 6 7 channel 7 A
29. 4801 Check 0 Set module config not used module function 01 00 00 00 Target actual comparison assignment successful 80 ff oo mm ff Error cause see below 00 Subindex of the object 4800 in which the error occurred mm Module number in which the error occurred different different 04 Incorrect module code 02 Number of outputs of the module Significance of ff error cause in object 4801 01 Number of inputs of the module 08 Module not permitted as virtual e g analogue module 10 Sum of the inputs exceeded 128 bit 20 Sum of the outputs exceeded gt 128 bit 40 Number of the physically present modules does not agree with the configuration Tab 2 63 Festo P BE FB14 EN en 1411d English Function assignment and virtual modules 2 87 2 Commissioning 2 88 Do the following to use virtual modules in a configuration 1 2 Set the CPX FB14 in the pre operational mode Define a possible configuration of your CPX terminal with the object 4800 requirement 4800 0 0 and 4000 0 4800 1 module 0 4800 2 module 1 etc Write the number of the configured modules to the object 4800 0 As a result the configuration defined by the objects 4800 1 4800 x are tested target actual comparison Incase of a faulty target actual comparison The object 4800 0 is set to 0 an error code is entered in object 4801 and CPX error 29 is messaged with the emergenc
30. 6200 3 MPA pneumatic modules without separ Obj 6200 4 ate power supply circuits 6 MPA pneumatic module 8DO R PDO 1 O28 035 MPA1S VMPA1 FB EMS 8 Obj 6200 4 MPA pneumatic modules without separ Obj 6200 5 ate power supply circuits Tab 2 35 Configuration for example terminal 1 from Fig 2 3 found in section 2 4 13 2 30 How you can prepare a changed configuration for this ex ample with function assignment and virtual modules can be Festo P BE FB14 EN en 1411d English 2 Commissioning Configuration and addressing example 2 T PDO 2 Alo an T PDO 1 10 17 18 115 116 123 Modu EXC z O 8DI 800 2AI 9 m U 4 o R PDO 1 00 07 08 015 016 023 R PDO 2 1 Fig 2 4 Assignment of the PDOs on a CPX terminal with digital and analogue 1 0 modules VTSA pneumatics DIL switch setting 80 and not activated diagnostic functions standard assignment without mapping configuration gt Tab 2 36 Festo P BE FB14 EN 14114 English 2 31 2 Commissioning Mo Module Input address Output address dule no 0 Bus nodes CPX FB14 Without activation of diagnostic functions 1 Digital 8 off input module T PDO 1 10 17 CPX 8DE Obj 6000 1 2 Digital 8 off input
31. 717 717 PL 10 A SFC Red and yellow LEDs N do not light up O MO SF M Tab 3 2 LEDs with standard operating status Festo P BE FB14 EN en 1411d English 3 5 3 Diagnostics 3 2 2 Displays of the CPX specific LEDs PS PL SF M PS power system power sensor logic supply LED green Process Status Significance error handling ci Not an error 5 S OFF operating voltage sensor LED supply applied illuminated ML Operating voltage sensor Eliminate undervoltage ay di ON NV supply outside the LED flashes tolerance range ol LI L OFF Internal fuse for the operating voltage sensor supply has responded 1 Eliminate short circuit overload on module side 2 Dependent on the parameterisation of the module module parameter The sensor supply voltage will be switched on again automatically after the short circuit has been eliminated default Power Off On is necessary LED not not applied illuminated Tab 3 3 PS LED status display 3 6 Festo P BE FB14 EN 14114 English ON 1 OFF The operating voltage sensor supply is Check the operating voltage connection of the electronics 3 Diagnostics PL power load power load supply outputs valves LED green Process Status Significance error handling M M Not an error None AR di load voltage applied LED illuminated ML ON
32. 8 of the DIL switch 3 The power supply of the CPX terminal is switched off 1 Setthe switch element 8 of the DIL switch 3 to ON 2 Switch on the power supply for the CPX terminal Power on The bus node is reset to factory settings during boot up 3 Setthe switch element 8 of the DIL switch 3 back to OFF 1 Installation 1 20 Setting the baud rate with DIL switch You can set the baud rate with the dual DIL switch 4 Baud rate Setting DIL switch 4 125 kB ON 4 1 OFF 4 2 OFF factory setting 250 kB ON 4 1 ON a 4 2 OFF _ 1 2 500 kB ON 4 1 OFF 4 2 ON 1 2 1000 kB ON 4 1 ON 4 2 ON 1 2 Tab 1 9 DIL switch 4 baud rate The following table shows the settings of the DIL switch Festo P BE FB14 EN en 1411d English 1 Installation Setting the diagnostics mode the number of logical 1 05 data field size with DIL switch The function of DIL switch 5 is dependent on the set operat ing mode of the CPX terminal gt Tab 1 1 8 16 bits Remote 1 0 operating mode Remote controller Setting operating mode DIL switch 5 Diagnostics mode Number of 1 O bytes data field size 1 diagnostics interface and Reserved for future extensions ON 3 1 OFF status bits are switched off 3 2 OFF 01 0 bits 75 factory setting The status bits are switched on 2 ON 3 1 OFF Remote 1 0 operating mode sett
33. A 2 4 Example 4 load objects A 7 A 2 5 Example 5 write objects A 8 Festo P BE FB14 EN en 1411d English Technical appendix Technical data bus node CPX FB14 General General technical data CPX system description P BE CPX SYS Degree of protection provided by housing 1 according to IEC EN 60529 CPX FB14 completely mounted plug connector inserted or provided with cover cap IP65 1P67 Protection against electric shock Protection against direct and indirect contact as per IEC DIN 60204 1 through the use of PELV circuits Protected Extra Low Voltage Module code CPX specific Remote 1 0 Remote controller 9Ch Module identifier in the handheld Remote 1 0 FB14 RIO CANopen remote 1 0 Remote controller FB14 RC CANopen bus node range etc Tab A 1 General technical data Festo P BE FB14 EN en 1411d English 1 Note that connected devices may only satisfy a lower protection class a smaller temperature A 3 Technical appendix Power supply Operating voltage load voltage CPX system description P BE CPX SYS Current consumption bus node CPX FB14 from operating voltage supply for max 200 mA only CPX FB14 electronics sensors Usen Operating voltage for bus interface Sub D plug pin 3 pin9 M12 adapter pin 2 pin 3 Screw terminal ada
34. BE FB14 EN en 14114 English XI Contents and general instructions Term abbreviation Significance 1 05 Digital inputs and outputs IPC Industrial PC IW OW Input output word 0 1 Digital output digital input PLC Programmable logic controller also designated fieldbus master system controller or higher order controller gt also PLC PLC Programmable Logic Controller German Speicherprogrammierbare Steuerung SPS Pneumatics interface Interface between CPX modules and pneumatics modules SCO Short circuit overload SCS SCO SCV Short circuit overload sensor supply outputs valves Status bits Internal inputs which supply coded common diagnostic messages Technology module Function module 0 2 Product specific terms and abbreviations XII Festo P BE FB14 EN en 1411d English Installation Chapter 1 Festo P BE FB14 EN en 14114 English 1 1 1 Installation Table of contents 1 1 1 2 1 3 1 4 1 5 1 2 Installation x nere de E M e Ns 1 1 General instructions on installation 1 3 Settings of the DIL switches the bus node 1 8 1 2 1 Removing and mounting the cover for the DIL switches 1 8 1 2 2 Settingthe DIL switches 1 9 Connecting th fieldbus eon zie Eten ACRAS 1 23 134 Fieldbus cdble i oe es E roe RE Yes 1 23 1 3 2 Fieldbus baud rate and fie
35. ON OFF OFF OFF OFF OFF 72 ON ON 88 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 73 ON ON ON 89 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 74 ON ON ON 90 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 75 ON ON ON ON 91 ON ON ON ON ON OFF OFF OFF OFF OFF 76 ON ON ON 92 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 77 ON ON ON ON 93 ON ON ON ON ON OFF OFF OFF OFF OFF 78 ON ON ON ON 94 ON ON ON ON ON OFF OFF OFF OFF OFF 79 ON ON ON ON ON 95 ON ON ON ON ON ON OFF OFF OFF Tab 1 7 Setting of the station numbers 64 95 position of the DIL switch Festo P BE FB14 EN 14114 English 1 17 1 Installation Station 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 96 ON ON 112 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 97 ON ON ON 113 ON ON ON OFF OFF OFF OFF OFF OFF OFF 98 ON ON ON 114 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 99 ON ON ON ON 115 on ON ON ON OFF OFF OFF OFF OFF 100 ON ON ON 116 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 101 ON ON ON ON 117 ON ON ON ON OFF OFF OFF OFF OFF 102 ON ON ON ON 118 ON ON ON ON ON OFF OFF OFF OFF OFF 103 ON ON ON ON ON 119 ON ON on ON ON ON OFF OFF OFF 1
36. automatically after read access Festo P BE FB14 EN en 14114 English 2 63 2 Commissioning Index Sub Designation Type Values Explanation hex index hex 6421 0 Analogue U8 0 10 Number of analogue inputs input interrupt trigger selection number of analogue input 5 Analogue rw 00 Al4 input 6 00 AI5 10h 00 AI15 6424 0 Analogue U8 ro 0 10 Number of analogue inputs input interrupt upper limit integer 5 Analogue 132 rw 00 Maximum value Al4 input 6 00 Maximum value 15 10n 00 Maximum value 115 6425 0 Analogue U8 ro 0 10 Number of analogue inputs input interrupt upper limit integer 5 Analogue 132 rw 00 Minimum value Al4 input 6 00 Minimum 15 10h 00 Minimum value AI15 2 64 Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designation Type Values Explanation hex index hex 6426 0 Analogue U8 ro E 0 10 Number of analogue inputs input interrupt delta unsigned 5 Analogue 032 rw 00 Minimum value change Al4 input 6 00 Minimum value change AI5 00 10h 00 Minimum value change 115 Tab 2 49 Analogue inputs channel 4 15 Transmit PDO 3 2 4 8 Analogue outputs channel 4 15 Receive PDO 3 type Index
37. master This section describes the configuration and addressing of a CPX terminal on a CANopen interface or CANopen master The following specifications have been taken into account CANopen specifications FEE _ 201 V1 1 0 CAN application layer CAL CiA 207 CIA 301 V4 2 0 The specification CiA 301 relies on the CAL based communication profile 305 DSP The Draft Standard Proposal describes the layer V2 2 setting service LSS 401 V3 0 0 The specification 401 defines the device profiles for input and output modules within CANopen Tab 2 1 CANopen specifications taken into account with the CPX terminal In order to understand this chapter you should be familiar with CANopen and the specifications CiA 301 CIA DSP 305 and CiA 401 2 4 Festo P BE FB14 EN 14114 English 2 Commissioning 211 General information on CANopen Festo P BE FB14 EN en 14114 English CANopen devices have an object directory which makes all important participant parameters accessible in a standard ized manner A CANopen system is configured mainly by access to the object directory of the individual participants The access mechanism is provided by Service Data Objects 5005 There two different communication mechanisms ina CANopen system Process Data Objects PDOs provide fast transfer of process data and are transmitted by simple CAN messages wit
38. mounting the cover for the DIL switches You need a screwdriver in order to remove or attach the cover Note Observe the following instructions when removing or at taching the cover e Disconnect the power supply before removing the cover Make sure that the seal is seated correctly when attach ing the cover e Tighten the two mounting screws with a max torque of 0 4 Nm Festo P BE FB14 EN 14114 English 1 Installation 1 2 2 Settingthe DIL switches Festo P BE FB14 EN en 1411d English When the cover over the DIL switches is removed you will see 5 DIL switches in the bus node gt Fig 1 3 You can set the following parameters with the DIL switches Operating mode Error mode Station number layer setting service Baud rate CPX diagnostics mode Procedure 1 Switch off the power supply 2 Remove the cover over the DIL switches section 1 2 1 3 Setthe desired operating mode DIL switch 1 factory setting remote 1 0 4 Setthe error mode DIL switch 2 5 Assign to the CPX terminal a station number that is not yet allocated Set the desired station number or activate layer setting services 8 off DIL switch 3 switch elements 1 7 6 Set baud rate DIL switch 4 if you have not activated layer setting services 7 For remote 1 0 operating mode Set the CPX diagnostic mode DIL switch 5 For remote controller operating mode Set the required number of logical 1 05 of the CPX FB14
39. outputs 2 Voltage undervoltage at the outputs Uyar undervoltage at valves Failure of load voltage at CPX output module or CPX input module 3 4 Communication error Node guard heart beat CAN error 5 6 7 Manufacturer specific Wire break Other error bold Bit is used by CPX terminal Tab 3 12 Error register index 1001 with bit assignment as per CiA 301 401 Further diagnostic information is provided by the CPX terminal in bytes 3 6 of the emergency object manufacturer status register index 1002 Festo P BE FB14 EN en 1411d English 3 17 3 Diagnostics Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Status bits CPX CPX error Reserved Additional Error code register module no error inf Index 1001 Index 1002 manufacturer status register Bit Significance Explanation _ _1m z21__ _ mrrr_____td _ w_P____ l 0 Error at valve Module type in which an error has occurred 1 Error at output 2 Error at input 3 Error on analogue module function module 4 Undervoltage Error type 5 Short circuit overload 6 Wire break 7 Other error Tab 3 13 Byte 0 of the manufacturer status register status bits 3 18 Festo P BE FB14 EN 14114 English 3 Diagnostics Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
40. rw 0 FF Reserved 4400 byte 0 2 Parameter 0 FF Monitoring active inactive 4401 byte 1 3 Parameter O FF Bit0 1 not used 4402 byte 2 Bit 2 3 force mode Bit 4 5 not used Bit 6 7 system start 2 4 8 Reserved Reserved 1 Note The bus node supports only the mode Faultmode benutzen or Assume fault mode 3 Festo Maintenance Tool The error characteristics of the individual outputs are parameterised through the objects 6206 and 6207 Outputs whose error characteristics have not been parameterised are reset in case of error Outputs whose error characteristics have not been parameterised are reset in case of error Information on parameterisation of the outputs error characteristics gt Tab 2 46 2 At system start with saved parameterisation only the objects 2000 5FFF are loaded The ob jects 6000 are always loaded with the default settings after power on Tab 2 59 System parameters Detailed information on parameters and data can be found in the CPX system description Festo P BE FB14 EN en 1411d English 2 77 2 Commissioning Module parameters Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 2410 0 Module U8 40 Number of entries Parameter 1 Parameter 0 rw 0 FF Monitoring the CPX mod 4828 Module 0 ule Behaviour aft
41. saved terminals with saved LED CPX expansion has been set parameterisation illuminated Parameters and CPX expansion With CPX terminals with saved are saved remanently external parameterisation parameterisation is blocked parameterisation is not automatically restored by the higher order PLC IPC after replacement In these cases check which settings are required before the replacement and make these settings if necessary Tab 3 6 LED status display 3 8 Festo P BE FB14 EN en 1411d English 3 Diagnostics 3 2 3 Displays of the CANopen specific LEDs MS NS IO MS module status LED Process Status Error handling green red ON LSS is activated set station number and baud wl No station number configured rate via LSS protocol if LED not necessary illuminated Operational 49 P I LED illuminated green ON Pre operational put CPX terminal into the veli LIL operational mode if necessary LED flashing 0 5 Hz green ML Stopped put CPX terminal into the ON AS OFF operational mode if necessary LED flashes 2Hz green fast ON Hardware error Servicing required XX OFF N LED illuminated red Tab 3 7 5 LED status display Festo P BE FB14 EN en 1411d English 3 9 3 Diagnostics NS network status LED Process Status Error handling green red M ON Networ
42. the LSS slave Identify product code With the identify product code command the product code of the LSS slave is identified COB ID Command Low byte High byte Low byte High byte Tab 2 27 Identify product code The command is not confirmed by the LSS slave Festo P BE FB14 EN 14114 English 2 21 2 Commissioning Identify revision number low With the identify revision number low command the lower limit of the LSS slave s revision number is identified COB ID Command Low byte High byte Low byte High byte Tab 2 28 Identify revision number low The command is not confirmed by the LSS slave Identify revision number high With the identify revision number high command the upper limit of the LSS slave s revision number is identified COB ID Command Low byte High byte Low byte High byte Tab 2 29 Identify revision number high The command is not confirmed by the LSS slave 2 22 Festo P BE FB14 EN en 1411d English 2 Commissioning Identify serial number low With the identify serial number low command the lower limit of the LSS slave s revision number is identified COB ID Command Low byte High byte Low byte High byte Tab 2 30 Identify serial number low The command is not confirmed by the LSS slave Identify serial number high With the identify serial number high command the upper
43. 0 127 3D Outputs 480 487 3E XX Outputs 488 495 3F XX Outputs 496 503 40h Outputs 504 511 Festo P BE FB14 EN 14114 English 2 51 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 6206 0 Fault mode U8 ro 0 40 Number of 8 output groups output 8 bit 1 rw FF Fault mode outputs 0 7 2 FF Outputs 8 15 3 FF Outputs 16 23 4 FF Outputs 24 31 5 FF Outputs 32 39 6 FF Outputs 40 47 7 FF Outputs 48 55 8 FF Outputs 56 63 9 FF Outputs 64 71 Ah FF Outputs 72 79 Bn FF Outputs 80 87 Ch FF Outputs 88 95 Dn FF Outputs 96 103 En FF Outputs 104 111 Fh FF Outputs 112 119 10h FF Outputs 120 127 3D FF Outputs 480 487 3E FF Outputs 488 495 3F FF Outputs 496 503 40 FF Outputs 504 511 2 52 Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 6207 0 Errorstate U8 ro 0 40 Number of
44. 0 2 2 0 Force mode channel 1 1 10h 0 Force mode channel 15 15 1 Values 0 disable 1 enable Tab 2 62 Overview of mapping objects 2 84 Festo P BE FB14 EN en 14114 English 2 Commissioning 2 4 13 Function assignment and virtual modules Function assignment lets you operate various expanded CPX terminals with only one PLC software program You can for example configure a maximum expansion of a CPX terminal in your system and for the other terminals suppress the modules that are not physically present Object 4800 is used for this purpose With it you can define modules as virtual or physically present and so show or suppress them There are no address shifts through the use of virtual modules An additional application possibility of the function assignment is to configure the CPX terminal with extensions for another function of the CPX terminal and only show these virtual modules later with the object 4800 In addition you can use the object 4801 to check the nomin al configuration of the CPX terminal This function is available only for digital 1 0 modules The following objects can only be written if the following conditions are met The CPX FB14 is in pre operational mode No error is generated from the object 4800 0 Object 4000 0 Festo P BE FB14 EN en 14114 English 2 85 2 Commissioning 2 86 Inde
45. 000p read subindex 0 device type device profile device extension Festo P BE FB14 EN en 1411d English 7 Technical appendix A 2 5 Example 5 write objects PLC PC IPC Fig A 5 A 8 In order to write objects of a CPX terminal you must load the following via SDO Download command Index and subindex Value The CPX terminal then sends as acknowledgement Index and subindex Data bytes not relevant a sn x 5 2 ch E S o 5 9 hi of S 3 3 601 28 0C10 00 047200 00 581 60 0C10 00 0000 0000 2 N v S2 o ae 3 p x 8 3 3 a all values in hex Example 5 Index 100 write subindex 0 guard time Festo P BE FB14 EN en 1411d English Index Appendix B Festo P BE FB14 EN en 14114 English B 1 Index Table of contents B Index avi ces ae es ANNE Seas Nem E de B 1 B 2 Festo P BE FB14 EN 14114 English Index Festo P BE FB14 EN en 14114 English A Abbreviations product specific XI Adapter M12 ina eR 1 31 Screwterminals cele 1 32 Additional power supply 1 34 Addressing orti dn WEINE 2 26 Analogue INPUTS eS e alates 2 55 2 62 QUIPULS bI Eee EXP TES ns 2 60 2 65 Assemb
46. 04 ON ON ON 120 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 105 ON ON ON ON 121 ON ON ON ON OFF OFF OFF OFF OFF 106 ON ON ON ON 122 ON ON ON ON ON OFF OFF OFF OFF OFF 107 ON ON ON ON ON 123 on ON ON ON ON OFF OFF OFF 108 ON ON ON ON 124 ON ON ON ON ON OFF OFF OFF OFF OFF 109 ON ON ON ON ON 125 ON ON ON ON OFF OFF OFF 110 ON ON ON ON ON 126 ON ON ON ON ON ON OFF OFF OFF 111 ON ON ON ON ON ON 127 ON ON ON ON ON ON ON OFF Tab 1 8 Setting of the station numbers 96 127 position of the DIL switch 1 18 Festo P BE FB14 EN en 14114 English 1 Installation 1 Activate LSS switch elements 1 7 Activation of the layer setting service LSS with DIL switch The bus node CPX FB14 supports layer setting service LSS in accordance with CiA DSP 305 With the help of the layer setting service LSS the LSS mas ter can change the baud rate and node number of an LSS slave via the CANopen bus You activate LSS with the 8 off DIL switch 3 e Todo this set the switch elements 1 7 of the DIL switch 3 to OFF station number 0 1 Fig 1 5 DIL switch 3 station number Festo P BE FB14 EN en 1411d English Resetting parameters with DIL switch The bus node can be reset to factory setting with switch ele ment
47. 07 assignment object gt section 2 4 13 Rev 14 12 Jul 05 CPX FEC CPX CP interface EDS file from 23 Apr 13 1 Software status SW or revision no Rev gt type plate Tab 0 1 Revisions of the CPX FB14 until June 2013 An overview of the structure of the CPX terminal user docu mentation is contained in the CPX system description General basic information about the mode of operation mounting installation and commissioning of CPX terminals can be found in the CPX system description Information about additional CPX modules can be found in the description for the respective module VIII Festo P BE FB14 EN en 1411d English Contents and general instructions Important user information A A Festo P BE FB14 EN 14114 English Danger categories This description includes instructions on the possible dangers which can occur if the product is used incorrectly These instructions are marked with a signal word Warning Caution etc printed on a shaded background and marked additionally with a pictogram A distinction is made between the following danger warnings Warning means that failure to observe this instruction may result in serious personal injury or material damage Caution means that failure to observe this instruction may result in personal injury or material damage Note means that failure to observe this instruction may result in material damage In addition the f
48. 4 5 6 I o of elo Qo eo PS ulis 801 so 200 4D0 fen 7 5 o xS ele eje tetta ttt _ __80 ele 00 07 08 015 016 023 024 03 032 033 R PDO 1 I O diagnostics interface o oye lle _ R PDO 4 owo Assignment of the PDOs on a CPX terminal with digital 1 0 modules MPA pneumatics and activated 1 0 diagnostic interface standard assignment without mapping configuration Tab 2 35 Fig 2 3 Festo P BE FB14 EN en 14114 English 2 29 2 Commissioning Mo Module Input address Output address dule no 0 CANopen bus node T PDO 4 R PDO 4 OWO CPX FB14 Obj 6100 1 Obj 6300 1 With activated 1 0 diagnostic interface 1 Digital 8 off input module T PDO 1 10 17 CPX 8DE Obj 6000 1 2 Digital multi 1 0 module T PDO 1 18 115 R PDO 1 00 07 CPX 8DE 8DA Obj 6000 2 Obj 6200 1 3 Digital 4 off output module R PDO 1 08 011 CPX 4DA Obj 6200 2 4 Digital multi 1 0 module T PDO 1 116 123 R PDO 1 012 019 CPX 8DE 8DA Obj 6000 3 Obj 6200 2 Obj 6200 3 MPA port pattern Passive module 5 MPA pneumatic module 8DO R PDO 1 020 O27 MPA1S VMPA1 FB EMS 8 Obj
49. 411d English 2 Commissioning System data Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no _ n1Rq TT __ m P __ T 1_ amp 2000 0 System data U8 ro 3 Number of parameters 1 Operating CPX operating mode 0000 mode 1 Bit 0 3 CPX operating mode Bit 4 CPX expansion Bit 5 handheld unit Bit 6 force mode Bit 7 system start 2 Fail safe XX Index 6206 6207 6306 0001 6307 3 Monitoring XX Monitoring the CPX terminal 0002 the CPX ter Bit 0 3 short circuit minal overload under voltage Bit4 7 reserved Tab 2 54 System data Festo P BE FB14 EN en 1411d English 2 73 2 Commissioning Module data Index Sub Designa Type Val Explanation Func hex index tion ues tion no hex 2010 0 Module data U8 Number of entries 16 xx D 1 Module 0 U16 XX XX Module type 2 module code revision code 2 Module 1 XX XX Module type 2 module code revision code 3 Module 2 XX XX Module type 2 module code revision code 2110 0 U8 ro La Number of entries 784 xx D 1 Module seri 032 Module serial number 1 al number module 0 XX 2 Module seri U32 XX al number XX module 1 XX XX Tab 2 55 2 74 Module data 2 All d
50. 5 Event timer 00 00 Time controlled transmission of the inputs ms 1 gt Note on page 2 49 2 68 Festo P BE FB14 EN 14114 English 2 Commissioning Index Sub Designation Type Map Values Explanation hex index hex 0 PDO U8 rw 0 8 Number of entries communication 1 mapping U32 61 00 01 10 Pointer on IWO parameter 2 61000210 on IW1 3 6100 03 10 on IW2 4 6100 04 10 on IW3 5 00 00 00 00 on mapping object 5 6 00 00 00 00 on mapping object 6 7 00 00 00 00 on mapping object 7 8 00 00 00 00 on mapping object 8 6100 0 Read input U8 ro Yes 0 20 Number of IW groups 16 bit 1 U16 IWO depending configuration 2 Status bits or 1 0 diagnostic interface 1st Input word technology module 2 XX IW1 depending on configuration 1st or 2nd input word technology module 2 3 XX IW2 technology module 20n XX IW31 technology module 1 Depending on diagnostic setting Tab 2 51 Transmit PDO 4 Festo P BE FB14 EN en 14114 English 2 69 2 Commissioning Receive 4 A description of the functioning of the 1 0 diagnostic interface can be found in the Diagnostics chapter of the CPX system description
51. 8 output groups output 8 bit 1 rw 00 Error state outputs 0 7 2 00 Outputs 8 15 3 00 Outputs 16 23 4 00 Outputs 24 31 5 00 Outputs 32 39 6 00 Outputs 40 48 7 00 Outputs 48 55 8 00 Outputs 56 63 9 00 Outputs 64 71 An 00 Outputs 72 79 Bh 00 Outputs 80 87 Ch 00 Outputs 88 95 Dn 00 Outputs 96 103 00 Outputs 104 111 3D 00 Outputs 480 488 3E 00 Outputs 489 495 3F 00 Outputs 496 503 40h 00 Outputs 504 511 U unsigned Map Mapping possible read only attribute rw read write Tab 2 45 Digital outputs Festo P BE FB14 EN en 14114 English 2 53 2 Commissioning The statuses of the valves and outputs of the CPX valve ter minal can be defined in case of error Note gt With Index 6206 you can define the outputs which are to assume a defined status in the event of a fault With Index 6207 you can define the status which the fixed outputs are to assume in the event of a fault The settings do not become active until the CPX valve terminal is put into the operational mode After each switching on or after each reset hardware initialization the default values will automatically be accepted and any maskings will be overwritten The following applies Index hex Definition __ __________ __ __ _______________________________________ 3 6206 0
52. Assign the station numbers in ascending order Assign the station numbers in accordance with the machine structure of your system Festo P BE FB14 EN en 1411d English 1 13 1 Installation Example Station number Example Station number set 05 set 38 _ gt C W m Lm C W E W IN 20 22 N 21 22 25 1 4 N 2 4 32 i Ma 5 SL 38 1 4 Examples of set station numbers binary coded On the following pages you will find an overview of the station number settings Festo P BE FB14 EN 14114 English 1 Installation Staton 1 2 3 4 5 6 7 8 Staton 1 2 3 4 5 6 7 8 0 Activation of LSS 16 ON from software version V1 26 OFF OFF OFF OFF OFF OFF 1 ON 17 ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 2 ON 18 ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 3 ON ON 19 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 4 ON 20 ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 5 ON ON 21 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 6 ON ON 22 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 7 ON ON ON 23 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 8 ON 24 ON ON OFF OFF OFF OFF O
53. Commissioning Index Sub Designa Values Explanation hex index tion hex 1018 0 Identity ob U8 4 Number of entries ject 1 Vendor ID U32 0000001D Vendor ID from CiA 2 Product 000000CD Product code code 3 Revision XX XX XX XX Version like object 100A number 4 Serial num XX XX XX XX Serial number ber individual for each module 1027 0 Module list U8 ro Tus Number of connected CPX modules 1 Module 0 U16 gt CPX sys Module code module 0 2 tem descrip 2 Module 1 tion Module code module 1 2 3 Module 2 Module code module 2 1 2 Sequence as in CPX terminal from left to right 2 44 Festo P BE FB14 EN en 1411d English 2 Commissioning ro read only rw read write Tab 2 42 Festo P BE FB14 EN en 1411d English Attr attribute Objects of the communication part Index Sub Designa Values Explanation hex index hex 1029 0 Error U8 ro 3 Number of error classes behaviour number of error classes 1 Communic rw 00 With communication error ation error timeout heart beat 0 Pre operational 1 state change 2 Stopped Error codes 8130 8140 From V1 10 8100 8130 8140 2 Output error 01 With short circuit overload at output module 0 Pre operational 1
54. EN en 1411d English 2 Commissioning Force table outputs Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 5206 0 Force mode U8 ro 0 10 Number of entries 8 bit digital 1 outputs rw 0 Force mode 00 07 2 0 Force mode 08 015 10n 0 Force mode 0120 0127 5207 0 Force value U8 0 10 Number of entries 8 bit digital 1 outputs rw 0 Force value 00 07 2 0 Force value 08 015 10h 0 Force value 0120 0127 5306 0 Force mode U8 ro 0 20 Number of entries 16 bit digital 1 outputs U16 rw 0 Force mode OWO 2 0 Force mode OW1 20h 0 Force mode OW31 5307 0 Force value 08 0 20 Number of entries 16 bit digital 1 outputs 016 rw 0 Force value OWO 2 0 Force value OW1 20h 0 Force value OW31 Festo P BE FB14 EN en 14114 English 2 83 2 Commissioning Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 5443 0 Force mode U8 ro 0 10 Number of entries analogue 1 outputs rw 0 Force mode channel 0 2 A00 2 0 Force mode channel 1 1 10h 0 Force mode channel 15 15 5444 0 Force value U8 0 10 Number of entries analogue 1 outputs 132 rw 0 Force value channel
55. EN en 1411d English VI VII VII VIII Contents and general instructions 2 3 2 4 2 5 2 6 3 1 3 2 3 3 3 4 OvervieWS rp Pee bet BN xsv RT RUP VES E ea 2 35 231 Brief overview of the scope of functions 2 35 2 3 2 Overview Object directory 2 36 2 3 3 Behaviour of the CPX terminal when it is switched on 2 37 2 3 4 Default identifier distribution 2 39 Object directori s sooo te fap AXES EIS 2 41 2 4 1 Communication profile 2 41 2 4 2 Overview of the PDO 5 2 46 2 4 3 Digital inputs Transmit PDO 1 2 47 2 4 4 Digital outputs Receive PDO 1 2 50 2 4 5 Analogue inputs channel 0 3 Transmit PDO 2 2 55 2 4 6 Analogue outputs channel 0 3 Receive PDO 2 2 60 2 4 7 Analogue inputs channel 4 15 Transmit PDO 3 2 62 2 4 8 Analogue outputs channel 4 15 Receive PDO 3 2 65 2 4 9 Technology modules status bits 1 0 diagnostic interface PDO 4 2 68 2 4 10 Manufacturer specific profile 2 72 2 4 11 Overview of mappingobjects 2 79 24125 SFOICIHg Sz epe end ates RM 2 81 2 4 13 Function assignment and virtual modules 2 85 Parameterisatio
56. FF OFF OFF OFF OFF OFF OFF 9 ON ON 25 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 10 ON ON 26 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 11 ON ON ON 27 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 12 ON ON 28 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 13 ON ON ON 29 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 14 ON ON ON 30 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 15 ON ON ON ON 31 ON ON ON ON ON OFF OFF OFF OFF OFF Tab 1 5 Setting of the station numbers 1 31 position of the DIL switch Festo P BE FB14 EN en 1411d English 1 15 1 Installation Station 1 2 3 4 5 6 7 8 Station 1 2 3 4 5 6 7 8 EE ARAALLLL lt gt _ _ _ ___ 32 ON 48 ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 33 ON ON 49 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 34 ON ON 50 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 35 ON ON ON 51 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 36 ON ON 52 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 37 ON ON ON 53 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 38 ON ON ON 54 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 39 ON ON ON ON 55 ON ON ON ON ON OFF OFF OFF O
57. FF OFF 40 ON ON 56 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 41 ON ON ON 57 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 42 ON ON ON 58 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 43 ON ON ON ON 59 ON ON ON ON ON OFF OFF OFF OFF OFF 44 ON on ON 60 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 45 ON ON ON ON 61 ON ON ON ON ON OFF OFF OFF OFF OFF 46 ON ON ON ON 62 ON ON ON ON ON OFF OFF OFF OFF OFF 47 ON ON ON ON ON 63 ON ON ON ON ON ON OFF OFF OFF Tab 1 6 Setting of the station numbers 32 63 position of the DIL switch 1 16 Festo P BE FB14 EN 14114 English 1 Installation Station 1 2 3 4 5 6 7 8 Station 1 2 3 4 5 6 7 8 Ss ___ nr n lt lt 64 ON 80 ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 65 ON ON 81 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 66 ON ON 82 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 67 ON ON ON 83 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 68 ON ON 84 ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 69 ON ON ON 85 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 70 ON ON ON 86 ON ON ON ON OFF OFF OFF OFF OFF OFF OFF 71 ON ON ON ON 87 ON ON ON ON
58. Fault mode U8 ro 0 20 Number of OW groups output 16 bit 1 U16 rw FF FF Fault mode OWO 2 FF FF 0W1 3 FF FF OW2 20 FF FF OW31 6307 0 Error state U8 0 20 Number of OW groups output 16 bit 1 016 rw 00 00 Fault mode OWO 2 00 00 0W1 3 00 00 OW2 20 00 00 OW31 Tab 2 52 Receive PDO 4 Festo P BE FB14 EN en 14114 English 2 71 2 Commissioning gt With Index 6306 you can define the outputs which are to assume a defined status in the event of a fault With Index 6307 you can define the status which the fixed outputs are to assume in the event of a fault The settings do not become active until the CPX valve terminal is put into the operational mode After each switching on or after each reset hardware initialization the default values will automatically be accepted and any maskings will be overwritten 2 4 10 Manufacturer specific profile Additional information can be found in the following tables and in the CPX system description PR BE CPX SYS Index Designation Explanation 2000 System data global Operating mode details gt Tab 2 54 system configuration 2010 Module data Details gt Tab 2 55 2200 System diagnostics data Yes Details gt Tab 2 56 2210 Module diagnostics data Details gt Tab 2 57 Tab 2 53 Overview of the indices of the manufacturer specific profile area 2 72 Festo P BE FB14 EN en 1
59. Festo P BE FB14 EN en 1411d English 3 15 3 Diagnostics Composition of the emergency message Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Status bits CPX CPX error Reserved Additional Error code register module no error inf no Index 1001 Index 1002 manufacturer status register Byte1 Byte 0 Explanation 00 00 No error 10 00 General error 23 20 Short circuit at outputs 23 30 Load dump wire break 31 20 Input voltage too low 33 20 Output voltage too low 50 00 Hardware error 81 00 Communication error bus voltage not applied 81 10 CAN overrun 81 20 CAN in error passive mode 81 30 Error with node guard or heart beat 81 40 CAN recovered from Bus OFF 82 10 Invalid PDO received Tab 3 11 Structure of the error code as per CiA 401 3 16 Festo P BE FB14 EN 14114 English 3 Diagnostics Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error re Status bits CPX CPX error Reserved Additional Error code gister module no error inf no Index 1001 Index 1002 manufacturer status register Bit Significance Explanation J M cQ 0 Generic error Bit is set for each error 1 Current Short circuit overload in sensor supply Short circuit overload at the
60. I7 1802 0 PDO U8 ro 05 Number of entries communication parameter record 1 PDO COB ID U32 rw 380 node Default COB ID of the inputs ID 2 Transmission U8 FF Default acyclic type 3 Inhibit time U16 01 F4 Transmit blocking time 50 ms inputs 100 us 4 Not used 5 Event timer 00 00 Time controlled transmission of the inputs ms U unsigned ro read only rw read write 1 gt Note on page 2 49 Map Mapping possible Attr attribute 2 62 Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designation Type Values Explanation hex index hex 1A02 0 PDO U8 rw 0 8 Number of entries communication 1 mapping U32 64 01 05 10 Pointer at index AI4 parameter 2 64 01 06 10 Index AI5 3 64 01 07 10 Index Al6 4 64 01 08 10 Index AI7 5 00 00 00 00 on mapping object 5 6 00 00 00 00 on mapping object 6 7 00 00 00 00 on mapping object 7 8 00 00 00 00 Pointer on mapping object 8 6401 0 Read U8 ro 0 10 Number of analogue analogue channels input 5 116 Yes Al4 6 XX XX Al5 10h XX XX Al15 6422 0 Analogue U8 ro 1 Number of interrupt source input number banks gt PDO 2 of interrupt source banks 1 Interrupt U32 ro 00 Interrupt source bank 1 2 source bank 1 channel 1 16 1 Reset
61. Load voltage at the system Eliminate undervoltage DEN on Ll supply or additional power LED flashes supply outside the tolerance range Tab 3 4 PL LED status display SF system fail system error LED red Sequence Status Significance error handling ON No error alo L LED not illuminated ON Simple error information 2 description of error numbers in wlL error class 1 the CPX system description and in LED flashes section 3 5 2 1x MG ON Error error class 2 3 ox JUL TUL LED flashes 2x Serious error error class 3 LED flashes 3x 1 The system error LED flashes dependent on the applicable error class Error class 1 slight error 1 flash pause Error class 2 error 2 flash pause Error class 3 severe error 3 flash pause Tab 3 5 Festo P BE FB14 EN en 1411d English SF LED status display 3 Diagnostics M modify parameterisation updated or forcing active LED yellow Process Status Significance error handling ON System start with default None O 5 NN parameterisation factory LED not setting and current CPX illuminated expansion set external parameterisation is possible presetting Vlr gt system parameter force Wy ON Force is active The force function is enabled N LED flashes mode function no 4402 4 System start with saved Caution when replacing CPX TX dr parameterisation and
62. X XX Error n 1 3 XX XX XX XX Error n 2 Ah XX XX XX Oldest error n 9 1005 0 COB ID U32 rw 80 Default SYNC message SYNC COB ID 80h message 1008 0 Str ro FB14 Node designation turer device name 1009 0 Manufac Str ro 0810 ex Current hardware status turer hard ample ware version 100A 0 Manufac Str ro V2 0 ex Current software version turer soft ample ware ver sion 2 42 Festo P BE FB14 EN en 14114 English 2 Commissioning Festo P BE FB14 EN 14114 English Index Sub Designa Type Attr Map Values Explanation hex index tion hex 100C 0 Guard time U16 rw 00 00 Timeout monitoring ms 100D 0 Life time U8 rw 00 Timeout monitoring Guard factor time x life time factor complete node guard time 1014 0 COB ID 032 rw 80 node ID Default emergency object emergency COB ID 80 node ID object 1015 0 Inhibit time U16 rw 00 00 Transmit blocking time emergency emergency message 100 us message 1016 0 Consumer 08 6 Number of entries heart beat time 1 C H Time 1 U32 rw 00000000 Heart beat ID und heart beat time ms 2 C H Time 2 00 00 00 00 6 C H Time 6 00 00 00 00 1017 0 016 rw 00 00 Heart beat time ms heart beat COB ID node guard ID time Status pre operational operational stopped 2 43 2
63. X terminal Tab 2 40 Broadcast objects Festo P BE FB14 EN en 14114 English 2 39 2 Commissioning Peer to Peer objects Object Object designation Range of values of the COB identifier EMERGENCY For procedures with high 0814 OFFh priority e g undervoltage 1294 2554 Transmit 1 PDO1 tx 181h 1FFh 3854 5114 Receive PDO 1 PDO1 rx 201h 27Fh 5134 6394 Transmit PDO 2 PDO2 tx 281 2FFh 6414 7674 Receive PDO 2 PDO2 rx 301 37Fh 7694 8954 Transmit PDO 3 PDO3 tx 381 3FFh 8974 10234 Receive PDO 3 PDO3 rx 401n 47Fh 10254 11514 Transmit PDO 4 PDOA tx 481h 4FFh 11534 12794 Receive PDO 4 PDO4 rx 501h 57Fh 12814 14074 Transmit SDO 5001 tx 581h 5FFh 14094 15354 Receive SDO 5001 rx 601 67Fh 15374 16634 Node guarding Guarding 701 77Fh heart beat 17934 19194 2 41 Peer to Peer objects of the CPX FB14 2 40 Festo P BE FB14 EN 14114 English 2 Commissioning 2 4 Object directories 241 Communication profile Sub index Index hex Designa tion 1000 0 Device type Note The following tables show the objects of the communication part values and examples module ID 1 In the following U unsigned ro read only rw read write mapping possible attribute For mapping the rules in accordance with CiA 301 apply Mapping entries are only possible i
64. b 1 11 Pin assignment of the fieldbus interface of the CPX bus node Festo P BE FB14 EN 14114 English 1 27 1 Installation 1 3 5 Connecting with the fieldbus plug Festo Note gt Use protective caps or blanking plugs to seal unused connections You will then achieve protection class IP65 e Observe the assembly instructions for the fieldbus plug Tighten the two fastening screws at first by hand and then with max 0 4 Nm With the fieldbus plug from Festo FBS SUB 9 BU 2x5POL B you can connect the CPX terminal easily to the fieldbus You can disconnect the plug from the node without interrupting the bus line T TAP function Note The clamp strap in the Festo fieldbus plug is connected only capacitively internally with the metal housing of the sub D socket This prevents equalizing currents from flow ing via the screening of the fieldbus cable Fig 1 7 Clamp the screening of the fieldbus cable under the clamp strap in the fieldbus plug 1 28 Festo P BE FB14 EN en 14114 English 1 Installation 1 Folding cover with inspection window 2 Clamp strap for screened connection 3 Protective cap if connection is not used 4 Fieldbus continuing OUT 15 Fieldbus incoming IN 6 Only capacitively connected 6 5 Fig 1 7 Fieldbus plug from Festo
65. beat sce dee eek sate 2 38 2 43 3 16 3 17 Festo P BE FB14 EN en 14114 English Index Festo P BE FB14 EN 14114 English I O diagnostics interface 2 68 Instructions on the description VIII tended USE 22 112 IDA rer ues VI L Layer settilig Service eoe TAa e e Eure deg 2 6 ActiVate v c TL E 1 19 FEDS edi pP ip et abe nb PIS 3 4 ESS Activate ocv EY I X ER TOY 1 19 155 commands rrr estre 2 6 M Mi2 adapter rici cirio ili 1 31 Manufacturer specific profile 2 72 Manufacturer status register 3 15 Mapping corato E 2 41 Overview of mapping objects 2 79 N Node guard 2 38 2 43 3 16 3 17 Object directory Overview 2 36 Operating mode 1 11 1 21 B 5 B 6 Index P Parameterisation Sample 2 92 Start parameterisation 2 91 PRO SNC M BS 2 5 PDO 1 4 Overview 2 27 PDO 1 RECEIVE debe b dy 2 50 Transmit i otek cee te oS Shee eos diego E 2 47 PDO 2 Receive 2 tata eed Se IRE Hu 2 60 Transmit sostrato 2 55 PDO 3 RECEIVES E e bb eddie Bh wk eS 2 65
66. configuration mode COB ID Command Tab 2 13 Activate bit timing Delay Time delay in ms The command is not confirmed by the LSS slave 2 14 Festo P BE FB14 EN en 1411d English 2 Commissioning Save the configuration With the store configuration command the new node ID and the new baud rate are stored This command is only possible in the configuration mode COB ID Command Tab 2 14 Store configuration COB ID Acknowledge 1 2 Error code Error ex tension Tab 2 15 Answer to store configuration Error code 0 Successful saving of the settings 1 Saving is not supported by the LSS slave 2 No access to the storage medium is not in the LSS mode Error extension Reserved Festo P BE FB14 EN en 14114 English OxFF Not all switch elements 1 7 of the DIP switch 3 are at OFF The bus node 2 Commissioning Query manufacturer ID With the inquire vendor ID command the manufacturer ID of the LSS slave is queried COB ID Command Tab 2 16 Inquire vendor ID COB ID Acknowledge Low byte High byte Low byte High byte Tab 2 17 Answer to inquire vendor ID 2 16 Festo P BE FB14 EN 14114 English 2 Commissioning Query product code With the inquire product code command the product code of the LSS slave is queried COB ID Command Tab 2 18 Inquire product code COB ID Acknowledge
67. ctive Node guarding heart beat valid Node guard response toggle 05h 2 Enter Pre _ 80h CPX terminal in pre operational mode Operation_State_ SDO transmission valid Indication PDO transmission invalid outputs assume error status 2 Node guarding heart beat valid Node guard response toggle 7Fh 3 Stop Node 02n CPX terminal in stopped mode Indication SDO transmission invalid PDO transmission invalid outputs assume error status 2 Node guarding heart beat valid Node guard response toggle 04g 4 Reset 82h Resetting the communication functions Communication_ Outputs are reset Indication Communication parameters are reset objects 1000 1FFF 5 Reset_Node_ 81h Module reset including application Indication Outputs are reset Maskings of the outputs are reset to default Communication parameters are reset objects 1000 1FFF Stored parameters 2000 5FFF are not reloaded Tab 2 39 2 38 Status transitions 2 The objects 6000 are always loaded with the default settings after power on 2 Only after the transition from operational mode to stopped or pre operational mode SS CUJ4ukG CJD Festo P BE FB14 EN en 1411d English 2 Commissioning 2 3 4 Default identifier distribution The following table shows the identifier distribution Broadcast objects Object name Object designation Range of values of the COB identifier on the CP
68. e table on the following pages shows the CPX error num bers Detailed information can be found in the CPX system descrip tion in the chapter Diagnostics and error handling 3 20 Festo P BE FB14 EN en 1411d English 3 Diagnostics Error Error type number aaa a 0 No error 1 General diagnostics 2 Short circuit overload in sensor supply SCS or at output SCO 3 Wire fracture idling at current input output 4 Failure of load voltage supply due to short circuit overload on output side 5 Undervoltage in power supply on input side 6 8 Reserved 9 Value falling below nominal range 10 Value exceeding nominal range 11 Short circuit at valve 12 Reserved 13 Wire break at valve open load 14 Reserved 15 Module channel failed 16 Module code invalid or incorrect module 17 Incorrect I O length e g CPX CP interface 18 Number of 1 0 points exceeded 19 Reserved Tab 3 17 CPX error numbers part 1 Festo P BE FB14 EN 14114 English 3 21 3 Diagnostics Error Error type number eee 20 Parameterisation error configurable signal range 21 Parameterisation error data format 22 Parameterisation error data for linear scaling 23 Parameterisation error digital filter measurement value smoothing 24 Parameterisation error lower limit value 25 Parameterisation error upper lim
69. eldbus length and length of the branch lines depends on the baud rate used Detailed spe cifications can be found in the manuals for the your control system or bus interface Note gt Refer to the manuals for your control system bus interface in order to ascertain which T adapter and maximum branch line length are permitted for your controller Also take into account the sum of the branch line lengths when calculating the maximum permitted length of the fieldbus cable 1 24 Festo P BE FB14 EN en 1411d English 1 Installation 1 3 3 Information on connecting the fieldbus Bus power supply Avoid long distances between the bus interface supply and the CPX terminal Caution A Make sure the polarity is correct when you connect the fieldbus interface and the power supply for the bus interface internal logic Protect the voltage supply to the bus interface extern ally corresponding to the number of stations on the bus Connect the screening Note Power supply is needed over the fieldbus line pin 3 and pin 9 on the Sub D plug Bus stations have different tolerances regarding interface supply dependent on the manufacturer Observe this when designing the bus length and placing the power sup ply unit The following tolerance in the bus interface power supply pin 3 pin 9 on the sub D plug applies to the CPX terminal Umax 30 0 V Umin 11 0 V Recommendation Place the power supply unit ap
70. ependent on the setting The status bits must be treated like inputs and occupy 8 bits in the Transmit PDO 4 standard setting The 16 bits of the 1 0 diagnostic interface must be treated like inputs and outputs They each occupy 16 bits in the Transmit and Receive PDO 4 standard set ting 2 26 Festo P BE FB14 EN en 1411d English 2 Commissioning Fig 2 1 gt Transmit PDO 1 Receive PDO 1 Transmit PDO 2 Receive PDO 2 Transmit PDO 3 Receive PDO 3 Transmit PDO 4 Receive PDO 4 The following figure shows the standard distribution of 1 05 on the PDOs in the remote 1 0 operating mode If you use more than 8 1 0 bytes you must map these into the PDOs by mapping In this case the use of analogue channels will be limited The same applies in the reverse case if more than 8 analogue channels are mapped into the PDOs by mapping 10 17 18 115 16 423 24 131 132 139 140 147 48 455 56 163 00 07 08 015 016 25 024 031 032 039 040 047 048 055 056 064 Alo Al2 00 01 02 405 AIS 6 A7 AOA 05 06 407 diagnostics 1 IW1 2 IW3 1 0 diag ow1 ow2 1 Dependent the configuration With status bits 10 I7 with 1 0 diagnostic interface 10 115 2 The input words of the technology modules shift correspondingly Dependent on the configuration With activated 1 0 dia
71. er of entries munication parameter record 1 PDO COB ID 032 rw 200 node ID Default COB ID of the outputs 2 Transmis U8 FF Default acyclic sion type 1600 0 PDO com U8 rw 0 8 Number of entries munication 1 mapping U32 62 00 01 08 Pointer at index OO 07 parameter 2 62 00 02 08 Index 08 015 3 62 00 03 08 Index 016 023 4 62 00 04 08 Index 024 031 5 62 00 05 08 Index 032 039 6 62 00 06 08 Index 040 047 7 62 00 07 08 Index 048 055 8 62 00 08 08 Index 056 063 U unsigned Map Mapping possible ro read only Attr attribute rw read write D gt Note in section 2 2 4 2 50 Festo P BE FB14 EN 14114 English 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 6200 0 Write U8 ro 0 10 Number of 8 output groups output 8 bit 1 rw Yes XX Status of outputs 0 7 2 XX Outputs 8 15 3 XX Outputs 16 23 4 XX Outputs 24 31 5 XX Outputs 32 39 6 XX Outputs 40 47 7 XX Outputs 48 55 8 Outputs 56 63 9 Outputs 64 71 An Outputs 72 79 Bh XX Outputs 80 87 Ch XX Outputs 88 95 Dh XX Outputs 96 103 En Outputs 104 111 Fn Outputs 112 119 10h Outputs 12
72. er short cir 2 Parameter 1 0 FF cuit overload Module 0 Input debounce time Signal extension time Data format of analogue 40h Parameter 63 0 FF values Module 0 2411 0 Module U8 40h Number of entries Parameter 1 Parameter 0 rw 0 FF Monitoring the CPX mod x D Module 1 ule Behaviour after short cir cuit overload Input debounce time 40h Parameter 63 O FF 1 Data format of analogue values 2412 0 40h Parameters U8 CPX system description x D 0 63 appendix B Module 2 Tab 2 60 Module parameters 2 78 1 Module dependent gt CPX system description Festo P BE FB14 EN 14114 English 2 Commissioning 2 4 11 Overview of mappingobjects Index hex Sub index The following table shows the objects for which mapping is possible Designation Type Attr Values hex Explanation 1001 0 Error register U8 ro 00 Number of errors 1002 0 Manufacturer U32 ro 00000000 Module number and error number status register 2200 1 System dia U8 ro XX Status bits gnostics data 2 Number of the module with diagnostic message 3 Error number 6000 1 Read input U8 ro XX Status of the inputs 1 8 digital or status bits 10 17 10h Read input 1120 1127 121 128 6100 1 Read input U16 XX Status of the inputs 16 bit technology modules or 1 0 diagnostics in
73. essage Output error optically via the LEDs MS NS or IO Fig 3 2 Sequence of error processing in the CPX terminal Information on the behaviour of inputs and outputs in the event of an error can also be found in section 2 4 3 14 Festo P BE FB14 EN 14114 English 3 Diagnostics 3 5 1 The emergency message If there is an error the CPX terminal will transmit an emergency message which consists of the following byte 0 1 Error code as per CiA 301 CiA 401 Byte 2 Error register index 1001 Byte3 7 Manufacturer specific error field contains device typical error messages Bytes 3 6 form the manufacturer status register index 1002 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error code Error Status bits CPX module CPX error Reserved Additional register no no error inf Manufacturer specific error field Fig 3 3 Composition of the emergency object additional information in Tab 3 11 Tab 3 16 The pre defined error field as error memory If the emergency message is transmitted a compressed form of the error information will be saved parallel in the pre defined error field index 1003 status bits CPX module number error code The pre defined error field serves as error memory for the last 10 errors Previous errors will each be shifted by one position gt section 2 4 1 index 1003 subindices 1 Ap
74. etails gt Appendix of the CPX system description Festo P BE FB14 EN 14114 English 2 Commissioning System diagnostics data Index Sub Designa Type Val Explanation Func hex index ues tion hex no 2200 0 U8 ro 8 Number of entries 1 Status byte O FF Status bits 1936 2 Module 0 40 Number of the module with 1937 number diagnostic message bit 0 5 Diagnostics completed bit 6 3 Error num 0 FF Error number 1938 ber 4 8 Reserved Reserved 1939 1943 Tab 2 56 System diagnostic data PDO mapping is possible Module diagnostics data Index Sub Designa Type Val Explanation Func hex index tion ues tion hex no 2210 0 Module dia U8 ro T3 Number of entries gnostics 1 Diagnostics U32 00 FF 1 0 channel channel number 2008 module 0 00 FF Error number xx D 00 Reserved 00 Reserved 2 Diagnostics 00 FF 1 0 channel channel number module 1 00 FF Error number 00 Reserved 00 Reserved 2 All details gt Appendix of the CPX system description Tab 2 57 Module diagnostics data Festo P BE FB14 EN en 1411d English 2 75 2 Commissioning Diagnostic memory parameters and data Index Sub Designa Type Attr Val Explanation Func hex index tion ues tion hex no
75. ew terminal adapter IP20 With this adapter the bus is connected to a 2x5 pin terminal strip Use the second row of connections for the continuing fieldbus The maximum permissible current at the clamps is 4 A Use cables with a minimum cross section of 0 34 mm Order this connection from Festo FBA 1 SL 5POL together with the terminal strip type FBSD KL 2x5POL Screw terminal Pin no adapter 1 0V bus 2 CAN_L 3 Screening 4 CAN_H 5 24 V DC bus max 4 A 2x5 pin terminal strip Fig 1 9 Pin assignment of the fieldbus interface 5 pin screw terminal adapter If you connect the fieldbus via the terminal strip FBSD KL 2x5POL from Festo you can implement a T adapter function Festo P BE FB14 EN 14114 English 1 Installation 1 4 Bus terminal with terminating resistors gt 1 Protective cap 2 Resistor for bus termination 1200 0 25 W Note Always use a terminating resistor at both ends of the fieldbus This also applies if the CPX terminal is at the end of the fieldbus If you are using T adapters install the terminating resistor at the unused output of the T adapter Recommendation Mount a terminating resistor for the bus terminal in the Festo fieldbus plug 120 0 0 25 W gt Fig 1 10
76. f the number of para meters has previously been set to zero Example index 1000 subindex 3 8 Set subindex 0 to 0 After entering the mapping values set the number of para meters to the corresponding value again Type U32 Attr ro Map Values hex 00 OF 91 01 Explanation From software version V1 10 OF maximum expansion of the CPX terminal 00 0x 91 01 Prior to software version V1 10 91 01 device profile X 7 dependent on expansion of the CPX terminal Bit 16 digital inputs Bit 17 digital outputs Bit 18 analogue inputs Bit 19 analogue outputs Example 00 03 9101 CPX terminal with digital inputs and outputs Festo P BE FB14 EN en 1411d English 2 41 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 1001 0 Error re U8 ro Yes 00 No error gister XX Generic manufacturer error 3 section 3 5 1 1002 0 Manufac U32 Yes 00000000 Module number and error turer status number register 3 section 3 5 1 1003 0 Pre defined U8 rw 00 Number of the current error error field Write 00 deletes all errors 3 section 3 5 1 1 Standard U32 XX XX XX XX Most recent error n error field Byte 0 1 error code gt section 3 5 1 Byte 2 byte 0 of In dex 1002 Byte 3 byte 1 of In dex 1002 2 XX XX X
77. first 8 bytes 640 manual mapping is required for configuration of this CPX terminal As a result the remaining output bytes can be made available over other PDOs OW7 are not depicted in Fig 2 5 2 Commissioning 2 3 Overviews 2 3 1 Brief overview of the scope of functions Festo P BE FB14 EN en 14114 English Module states and boot up as per Communication Profile CIA 301 1 Service Data Object for read and write access to the object directory Send and Receive SDO 4 process data objects for access to digital and analogue inputs Transmit PDO 1 4 4 process data objects for access to digital and analogue outputs Receive PDO 1 4 Emergency telegram for fault message to the master Node guarding and heart beat Default setting of all identifiers as per CiA 301 and the station number predefined connection set Variable mapping Function assignment and virtual modules Layer setting service LSS 2 35 2 Commissioning 2 3 2 Overview Object directory Index hex Objects gt Section 1000 1200 Communication part of the object directories 2 4 1 1400 1403 Communication parameters for Receive PDO 1 4 2 4 4 1800 1803 Communication parameters for Transmit PDO 1 4 2 4 3 1600 1603 Mapping parameters for Receive PDO 1 4 2 4 4 1A00 Mapping parameters for Transmit PDO 1 4 2 4 3 Manufacturer specific 2000 SFFF
78. gnostic interface OO 015 gt section 1 2 2 The output words of the technology modules shift correspondingly Overview of PDO 1 4 and position of the status bits and 1 0 diagnostic inter face Festo P BE FB14 EN en 14114 English Note For the receive PDO 1 4 The necessary telegram length depends on the CPX expansion and is 1 8 byte If the telegram received is shorter than the necessary telegram length an error message will be output If the telegram received is longer the part corresponding to the necessary length will be processed 2 27 2 Commissioning Remote controller operating mode In the remote controller operating mode DIL switch 1 only the PDOs 1 are assigned They contain 64 logical 1 05 for data exchange with the remote controller Transmit PDO 1 10 17 18 115 16 123 124 131 132 139 140 7 148 455 56 162 Receive PDO 1 00 07 08 015 016 024024 031032 034 040 047 048 055 056 063 Transmit PDO 2 4 Unused Receive PDO 2 4 Unused Fig 2 2 64 logical 1 05 in the PDO 1 in the remote controller operating mode 2 28 Festo P BE FB14 EN en 1411d English 2 Commissioning 2 2 5 Configuration examples Configuration and addressing example 1 1 diagnostics interface T PDO 4 Iwo T PDO 1 10 17 18 115 16 423 Module 0 1 2 3
79. h no protocol overhead Process Data Objects may be transmitted based on event control synchronised to a system clock or on request The Service Data Objects SDO form a point to point connection and permit access to every entry in the object directory of a node 2 5 2 Commissioning 2 2 Configuration 2 2 Layer setting service LSS 2 2 2 LSS commands With the help of the layer setting service LSS an LSS master can change the baud rate and station number node number of an LSS slave via the CAN bus Communication between the LSS master and LSS slave takes place via the LSS protocol The LSS slave is identified through its LSS address An LSS address according to CiA DSP 305 consists of Vendor ID Product code Revision number Serial number To activate the layer setting service at the bus node CPX FB38 the switch elements 1 7 ofthe DIL switch 3 must be set to OFF 3 Fig 1 5 LSS can only be used if the LSS slave is in the status stopped or pre operational The LSS commands are sent from the LSS master with COB ID Ox7E5 communication object identifier The LSS slave answers with COB ID Ox7EA To make the bus node CPX FB14 configurable via LSS it must be placed in the LSS configuration mode There are two differ ent possibilities for this Global mode change Selective mode change Festo P BE FB14 EN en 1411d English 2 Commissioning Global mode change With t
80. he switch mode global command the LSS master switches the mode of the LSS slave COB ID Command Tab 2 2 Switch mode global Mode 0x01 Switches the LSS slave into the configuration mode 0x00 Switches the LSS slave into the normal mode operation mode The switch mode global command is not confirmed by the LSS slave Selective mode change With the selective mode change a specific LSS slave can be selected To do this a sequence of four commands is sent out by the LSS master Selective module change Description Contents hex commands 1 Vendor ID Manufacturer ID assigned by 000000 1D 2 Product code Product code 00 00 00 CD 3 Revision number Software version XX XX XX 4 Serial number Serial number XX XX XX XX Tab 2 3 Selective mode change Festo P BE FB14 EN 14114 English 2 7 2 Commissioning 1 Selective mode change vendor ID With the switch mode selective vendor ID command only the mode of the LSS slave with the specified vendor 10 is changed COB ID Command Tab 2 4 Switch mode selective vendor ID The switch mode selective vendor ID command is not confirmed by the LSS slave 2 Selective mode change product code With the switch mode selective product code command only the mode of the LSS slave with the specified product code is changed COB ID Command
81. ication parameter record 1 PDO COB ID U32 rw 180 nodeID Default COB ID of the inputs 2 Transmis U8 FF Default acyclic 1 sion type 3 Inhibit time U16 00 00 Transmit blocking time inputs 100 us 4 Not used 5 Event timer 00 00 Time controlled transmission of the inputs ms U unsigned Map Mapping possible ro read only Attr attribute rw read write Festo P BE FB14 EN en 1411d English 2 47 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 1A00 0 PDO com U8 rw 0 8 Number of entries munication 1 mapping U32 60 00 01 08 Pointer at index IO 17 2 60000208 Index 18 115 3 60 00 03 08 Index 116 123 4 60 00 04 08 Index 124 131 5 60 00 05 08 Index 132 139 6 60 00 06 08 Index 140 147 7 60 00 07 08 Index 148 155 8 60 00 08 08 Index 156 163 6000 0 Read input U8 ro 0 40 Number of 8 input groups 1 si Yes xx Status of inputs 7 2 Inputs 8 15 3 XX Inputs 16 23 4 Inputs 24 31 5 Inputs 32 39 6 XX Inputs 40 47 7 XX Inputs 48 55 8 XX Inputs 56 63 9 XX Inputs 64 71 Ah XX Inputs 72 79 Bn Inputs 80 87 Ch XX Inputs 88 95 U u
82. ing the CPX diagnostic mode The status bits occupy 8 bits and the 1 0 diagnostic inter face 16 bits in PDO 4 bitO 7 15 gt Fig 2 1 Remote controller operating mode 64 1 05 are provided for communication of the bus node with the FEC CEC in PDO 1 5 Fig 2 2 m Il 3 2 ON 2 1 0 diagnostics interface is N 3 1 ON switched on 1 Da 3 2 OFF 16 1 0 bits L 1 2 Reserved for future extensions 8 bytes 1 8 bytes O um 3 1 ON for communication of the bus 3 2 ON node with the CPX FEC or 145 CPX CEC 1 The diagnostics mode status bits or 1 0 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 1 10 DIL switch 5 diagnostics mode or number of I O bytes with remote controller Festo P BE FB14 EN en 1411d English 1 21 1 Installation 1 22 Note 1 An activated diagnostics mode reduces the available address space in the PDO 4 Use of the diagnostics mode status bits or I O diagnostic interface occupies 16 I or 16 I O bits in the PDO 4 In combination with technology modules it thus reduces the number of I O bits which are available for module commu nication In this way the number of addressable modules is reduced in favour of additional status or diagnostic in formation Take account of this fact for the planning of
83. into the configuration mode e Selective mode change vendor ID gt Tab 2 4 Festo Ox1D Selective mode change product code gt Tab 2 5 CPX FB14 OxCD e Selective mode change revision number gt Tab 2 6 e Selective mode change serial number gt Tab 2 7 2 Query node number e Inquire node ID gt Tab 2 24 3 Configure new node number e Configure node ID gt Tab 2 9 4 Configure new baud rate e Configure bit timing parameters gt Tab 2 11 5 Savethe configuration e Store configuration gt Tab 2 14 2 25 2 Commissioning 6 Transfer the LSS slave into the normal mode Switch mode global mode 0x00 gt Tab 2 2 2 2 4 Addressing the CPX terminal Before configuring ascertain the exact number of available inputs outputs Dependent on what you have ordered a CPX terminal comprises a different number of I Os The 1 05 will be assigned automatically within the CPX terminal standard setting The following applies to inputs and outputs The address assignment of the inputs is independent of the outputs The counting mode is independent of the position of the bus node The bus node counts as a module with or 8 inputs or 16 inputs and outputs depending on the setting of DIL switch 5 gt section 1 2 2 Counting is from left to right in ascending order without gaps Note gt Observe that a CPX terminal provides status bits or an 1 diagnostic interface d
84. it value 26 Error in actuator supply for analogue output module 27 28 Reserved 29 Parameterisation error 30 39 Reserved 40 Life guard 41 Heart beat 42 Reserved 43 CAN overrun 44 Invalid PDO received 45 CAN warn limit reached 46 Recovered from bus off 47 Bus power lost 48 127 system description 128 199 Error in CPX structure error number is error information for service personnel Tab 3 18 CPX error numbers part 2 3 22 Festo P BE FB14 EN 14114 English 3 Diagnostics Error Error type number m 200 Error in parameter transfer to module 201 Invalid station number node 202 Bus protocol chip not ready 203 Reserved 204 205 gt Description for the respective module Tab 3 19 CPX error numbers part 3 Festo P BE FB14 EN en 14114 English 3 23 3 Diagnostics 3 24 Festo P BE FB14 EN 14114 English Technical appendix Appendix Festo P BE FB14 EN en 14114 English A 1 Technical appendix Table of contents A 1 A 2 A 2 Technical appendix Gaia eR ux e ee ei A 1 Technical data bus node CPX FB14 A 3 Examples Communication sequence 5 A 2 1 Example 1 Start CANopen network A 5 2 2 Example 2 Set A 5 A 2 3 Example 3 Start node guard monitoring A 6
85. k OK 3 OFF LED illuminated green M ON Error counter overflow Check bus cables plug pos ax U L connectors signal LED flashing transmission green W ON Failure of the 24 V CAN receiver Check and restore power OFF supply supply LED is flashing red JM ON Bus OFF Check bus cables plug 39 OFF connectors signal LED transmission error counter illuminated overflow red Tab 3 8 NS LED status display 3 10 Festo P BE FB14 EN en 1411d English 3 Diagnostics 1 0 status LED Process Status Error handling green red 1 status OK A OFF LED illumin ated green ML ON 1 0 error Eliminate error on module AS wl LI L undervoltage short circuit LED is flash overload or wire fracture on a ing red module ON Communication error 1 Clarify reason for time out E S OFF Node guard or heart beat 2 Set CPX terminal to operational LED illumin elapsed system goes into mode ated red pre operational mode Tab 3 9 1 0 status display Festo P BE FB14 EN en 14114 English 3 11 3 Diagnostics 3 3 Diagnostics via status bits The status bits serve to display common diagnostic messages global error message Note gt In order to use the status bits they must be activated via DIL switches on the bus node gt section 1 2 2 or queried per SDO If status bits are activated they occupy as standard 8 bits in the PDO 4 2 section 2 4 9 Bit
86. ldbus length 1 24 1 3 3 Information on connecting the fieldbus 1 25 1 3 4 Fieldbusinterface 2 2 ee 1 27 1 3 5 Connecting with the fieldbus plug from Festo 1 28 1 3 6 Further connection possibilities for the fieldbus with adapters 1 30 Bus terminal with terminating 51510 5 1 33 1 4 1 Install a terminating resistor using the 5 1 33 Power Supply 2 rh Pre hehe YA EN en I RET 1 34 Festo P BE FB14 EN en 1411d English 1 Installation 11 General instructions on installation A gt Festo P BE FB14 EN 14114 English Warning Danger of injury through uncontrolled movements of con nected equipment Make sure that electrical and pneumatic equipment are in a de energised and pressureless status Before working on the pneumatics e Switch off the compressed air supply Vent the valve terminal Before working on the electrical components e g before installation or maintenance work e Switch off the power supply In this way you can avoid uncontrolled movements of loose tubing accidental and uncontrolled movements of the connec ted actuators undefined switching states of the electronics Note The CPX bus node contains electrostatically sensitive devices e Do not touch any electrical or electronic components Observe the hand
87. limit of the LSS slave s revision number is identified COB ID Command High word 0x00 Low byte High byte Low byte High byte Tab 2 31 Identify serial number high COB ID Acknowledge Tab 2 32 Answer to Identify serial number high Festo P BE FB14 EN 14114 English 2 23 2 Commissioning Identify non configured slave With the identify non configured slave command a non configured LSS slave is identified COB ID Command Tab 2 33 Identify non configured slave COB ID Acknowledge Tab 2 34 Answer to identify non configured slave 2 2 3 Configuration of the LSS slave LSS can only be used if the LSS slave is in the status stopped or pre operational Case 1 Individual LSS slave connected to the master 1 Transfer the LSS slave into the configuration mode Switch mode global mode 0x01 gt Tab 2 2 2 Query node number Inquire node ID gt Tab 2 25 3 Configure new node number e Configure node ID gt Tab 2 9 2 24 Festo P BE FB14 EN en 14114 English 2 Commissioning Festo P BE FB14 EN 14114 English 4 Configure new baud rate e Configure bit timing parameters gt Tab 2 11 5 Save the configuration Store configuration 3 Tab 2 14 6 Transfer the LSS slave into the normal mode Switch mode global mode 0x00 gt Tab 2 2 Case 2 Several LSS slaves connected to the master 1 Transfer the LSS slave
88. ling specifications for electrostatically sensitive devices They will help you avoid damage to the electronics 1 3 1 Installation Information about mounting of the CPX terminal can be found in the CPX system description P BE CPX SYS 1 4 Festo P BE FB14 EN en 14114 English 1 Installation Electrical connection and display components The following connection and display components are found on the CPX bus node for CANopen Bus status specific and CPX specific 4 Service interface for handheld LEDs l 2 Fieldbus connection 9 pin sub D plug 3 Transparent cover for the DIL switches Fig 1 1 Connection and display components on the CPX bus node Note gt Use protective caps to seal unused connections This is how you achieve protection class IP65 IP67 Festo P BE FB14 EN 14114 English 1 5 1 Installation Dismantling 1 Bus node CPX FB14 12 Interlinking block 3 Contact rails TORX T10 screws Dismantling and mounting The bus node is mounted in an interlinking block of the CPX terminal gt Fig 1 2 Dismantle the bus node as follows 1 Loosen the 4 screws of the bus node with a Torx screw driver size T10 2 Pull bus node carefully and without tilting away from the contact rails of the interlinking block Fig 1 2 Dismantling mounting the bus node
89. ly was evades ie VE nisi 1 6 B Baudifate ama e PEUT A M pacte ates 1 20 Bus nodes Reset parameter 1 19 Bus termination 1 33 Cable FieldbUs sciita 1 23 CANopen COB identifler Josue Aum seed sly EPIS 2 39 2 orione DUAE 2 5 Overview object directory 2 36 Status transitions 2 37 CEC arno uade ded e RU ERE 1 11 Configuration 2 6 Connecting Fieldbus 3 52 ren a epe 1 23 1 27 1 30 Voltage supply 1 34 B 3 B 4 Index D Diagnostics Via fieldbus 3 14 Diagnostics mode 1 21 Digital Inputs exci ail ia eta 2 47 QUIPUTS 2c ere e le ERIS 2 50 DILSwithes d APRI eni 1 9 1 10 aie IE IR ED 1 6 E Electrical connection and display components 1 5 Emergency message 3 15 EtrOr COdG tx 3 15 Error AI 3 20 Examples of the communication sequence A 5 F dic PEE 1 11 Field bus baud rate length 1 24 Fieldbus Connecting 1 23 Fieldb s cable 5 ERR IEEE E 1 23 ctos hoc eae tA LULA UD 2 81 Function assignment 2 85 H Hearti
90. mmunication object there is a unique COB ID in the network CODESYS Controller Development System CPX terminal Modular terminal available in different variants Standard design with plastic linking CPX M Standard design with metal linking CPX L Standard design for control cabinet installation CPX P Variant P optimised for use in process automation DIL switches Miniature switches dual in line switches usually consist of several switch elements which can be used to implement settings FOn Hexadecimal numbers are marked by a low set h FEC Front End Controller e g CPX FEC can be used as stand alone system controller PLC stand alone operating mode system controller PLC remote controller operating mode fieldbus slave remote 1 0 operating mode Function module Collective term for modules with additional functions e g CP interface front end controller CPX FEC and CODESYS controller CPX CEC function modules are also known as technology modules Handheld control unit MMI Handheld terminal handheld CPX MMI for CPX modules for commissioning and service purposes man machine interface MMI 1 0 diagnostic interface The I O diagnostic interface is a bus independent diagnostic interface at 1 0 level that permits access to internal data of the CPX terminal 1 0 modules Collective term for the CPX modules which provide digital inputs and outputs Festo P
91. module 1 18 115 CPX 8DE Obj 6000 2 3 Digital 4 off output module R PDO 1 00 03 CPX 4DA Obj 6200 1 4 Digital multi 1 0 module T PDO 1 116 123 R PDO 1 04 011 CPX 8DE 8DA Obj 6000 3 Obj 6200 1 Obj 6200 2 5 Analogue 2 off input module T PDO 2 AIO 11 CPX 2AE U I Obj 6401 1 Obj 6401 2 6 Analogue 2 off output module R PDO 2 0 1 2 Obj 6411 1 6411 2 7 VTSA pneumatic interface R PDO 1 012 019 ISO plug in type 44 Obj 6200 2 DIL switch in the interface set to1 8 Obj 6200 3 solenoid coils 800 Tab 2 36 Configuration for example terminal 2 in Fig 2 4 2 32 Festo P BE FB14 EN 14114 English 2 Commissioning Configuration and addressing example 3 T PDO4 IWo Wi T PDO1 10 17 18 115 Module q R PDO 1 R PDO 4 OWO OW2 ows String 1 ss ge ge ge gs O C E E String 4 outputs o E i i E S String 1 Fig 2 5 Assignment of
92. n 2 91 2 5 1 Parameterisation during switch on 2 91 2 5 2 Parameterisation with the handheld 2 92 2 5 3 Application example for parameterisation 2 92 Commissioning the CPX terminal in the system 2 93 2 6 1 Correct commissioning normal operating status 2 94 Diagnostics sie p nie guerre eir 3 1 Summary of diagnostics 5 3 3 Diagnostics via LEDS LL 3 4 3 2 1 Normal operating status 3 5 3 2 2 Displays of the CPX specific LEDs PS PL SF M 3 6 3 2 3 Displays of the CANopen specific LEDs MS NS IO 3 9 Diagnostics via status 3 12 Diagnostics via the 1 0 diagnostic interface 3 13 Festo P BE FB14 EN 14114 English Contents and general instructions 3 5 2 Diagnostics via 3 14 3 5 1 The emergency 3 15 3 5 2 error numbers 3 20 Technical appendix cirie re RR RR Rer reete A 1 Technical data bus node CPX FB14 A 3 Examples Communication sequence
93. ng block with system additional and valve and valve power supply supply The pin allocation of the CPX interlinking blocks can be found in the CPX system description and the package insert for the CPX interlinking block 1 34 Festo P BE FB14 EN en 1411d English Commissioning Chapter 2 Festo P BE FB14 EN en 14114 English 2 1 2 Commissioning Table of contents 2 1 2 2 2 3 2 4 2 2 COMMISSIONING eR ev Rex A Sle ERN eee P NS 2 1 Commissioning a CANopen master 2 4 211 General information 2 5 Gonfigurationi Lucae USUS e Ue e 2 6 2 2 1 Layer setting service LSS 2 6 2 2 2 155 commands sour per rd a pai 2 6 2 2 3 Configuration of the LSS slave 2 24 2 2 4 Addressing the 2 26 2 2 5 Configuration examples 2 29 OVERVIEWS os UP T UV de me us 2 35 2 3 1 Brief overview of the scope of functions 2 35 2 3 2 Overview Object directory 2 36 2 3 3 Behaviour of the CPX terminal when it is switched on 2 37 2 3 4 Default identifier distribution 2 39 Object directorieS uri eh oh s 2 41 2 4 1 Communication profile
94. nsigned Map Mapping possible ro read only Attr attribute rw read write 2 48 Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designa Values Explanation hex index tion hex 6000 Dn Read input U8 ro Yes XX Inputs 96 103 8 bit Inputs 104 111 Fh XX Inputs 112 119 10n Inputs 120 127 3D Inputs 480 487 3E Inputs 488 495 Inputs 496 503 40h Inputs 504 511 U unsigned ro read only rw read write Map Mapping possible Attr attribute 2 During the transition from pre operational to operational the current SDO values will be frozen e g analogue inputs These values will be transmitted with each remote transmission request independent of further settings e g interrupt enable for analogue inputs Tab 2 44 Digital inputs Festo P BE FB14 EN en 14114 English 2 49 2 Commissioning 2 4 4 Digital outputs Receive 1 Index Sub Designa Type Map Values Explanation hex index tion hex 201 Receive XX XX XX XX Telegram length 27F PDO1 1 8 bytes 1 Byte 0 00 07 Byte 1 08 015 Byte 7 056 063 1400 0 PDO com 08 02 Numb
95. of interrupt source banks 1 Interrupt U32 00 Interrupt source bank 1 2 source bank 1 channel 0 15 2 Reset automatically after read access Festo P BE FB14 EN en 14114 English 2 57 2 Commissioning Index Sub Designation Type Attr Values Explanation hex index hex 6421 0 Analogue U8 0 10 Number of analogue inputs input interrupt trigger selection 1 Analogue rw 00 AIO input Bit 0 Upper limit value ex ceeded Bit 1 Lower limit value ex ceeded 2 Bit 2 Modification greater than Delta 3 Bit 3 7 reserved 2 00 3 00 Al2 4 00 6424 0 Analogue U8 ro 0 10 Number of analogue inputs input interrupt upper limit integer 1 Analogue 132 rw 00 Maximum value AIO 1 input 2 00 Maximum value 2 3 00 Maximum value 12 2 4 00 Maximum value AI3 1 2 Upper limit exceeded as per CIA 401 2 Bit1 Input below lower limit as per CIA 401 3 Bit2 Input changed by more than delta as per CiA 401 2 58 Festo P BE FB14 EN 14114 English 2 Commissioning Tab 2 47 Festo P BE FB14 EN en 14114 English Analogue inputs channel 0 3 Index Sub Designation Type Attr Map Values Explanation hex index hex 6425 0 Analogue U8 ro 0 10 Number of analogue input
96. ollowing pictogram marks passages in the text which describe activities with electrostatically sensitive devices Electrostatically sensitive devices Incorrect handling may cause damage to devices Contents and general instructions Marking of special information The following pictograms mark passages in the text which contain special information Pictograms Information Recommendations tips and references to other information sources Accessories Specifications on necessary or useful accessories for the Festo product Environment Information on the environmentally friendly use of Festo products Text designations e Bullets denote activities that may be carried out in any desired order 1 Numerals denote activities that must be carried out in the sequence specified Arrowheads indicate general lists Festo P BE FB14 EN 14114 English Contents and general instructions Term abbreviation The following product specific terms and abbreviations are used in this description Significance AO Al Analogue output analogue input Bus nodes Connects the CPX terminal to the fieldbus or network it transmits control signals to the connected CPX and pneumatic modules and monitors their functional capability CEC CODESYS controller e g CPX CEC CPX CEC applicable for configuration commissioning and programming of CPX terminals COB ID Communication object identifier for every co
97. proximately at the centre of the bus Festo P BE FB14 EN 14114 English 1 25 1 Installation With the Festo fieldbus plug you can implement T adapter 2 Fig 1 6 6 5 1 Fieldbus 4 Branch line 2 Voltage supply 5 T tap 3 Screening 16 Fieldbus plug with T adapter function Fig 1 6 Structure of the bus interface and example of connection 1 26 Festo P BE FB14 EN en 1411d English 1 Installation 1 3 4 Fieldbus interface There is 9 pin sub D plug on the bus node for connecting the CPX terminal to the fieldbus This connection is used for the incoming and continuing fieldbus line You can connect the CPX terminal with the fieldbus plug from Festo type FBS SUB 9 BU 2x5POL B Note gt Note that only the Festo fieldbus plug guarantees compli ance with protection class IP65 Before using fieldbus plugs from other manufacturers Replace the two flat screws with bolts type UNC4 40 M3x6 Plug on Pin Internal CANopen Designation the CPX contacting terminal 1 n c not connected 2 CAN_L CAN bus low 3 CAN GND Power supply to bus 0 V 4 not connected 5 CAN_SHLD Connection to functional earth screening 6 GND Optional GND 7 CAN H CAN bus high 8 e t n c not connected 9 CAN_V Power supply to bus 24 V Housing plug Ta
98. pter pin 1 pin 5 Current consumption Max 30 mA Nominal value 24V DC protected against incorrect polarity external fuse required Tolerance 11 30V Galvanic isolation Bus interface opto decoupled Tab A 2 Power supply Technical data for the pneumatics can be found in the scription of pneumatics A 4 Festo P BE FB14 EN 14114 English Technical appendix A 2 Examples Communication sequence All examples refer to module ID 1 i e set station number of the CPX terminal 1 A 2 1 Example 1 Start CANopen network 2 5 ES das Sa d all values in hex OJ Il x 8 000 01 xx PLC PC IPC Fig A 1 Example 1 start CANopen network A 2 2 Example 2 Set output In order to set outputs or valves on the CPX terminal the re ceive PDO must be sent by the master In the example only output 0 15 set any outputs already set will be reset 2 cdl ti all values in hex w 201 0100 PLC PC IPC Fig A 2 Example 2 set output 0 of the CPX terminal Festo P BE FB14 EN en 1411d English A 5 Technical appendix A 2 3 Example 3 Start node guard monitoring First load the indices 100C and 100D via SDO transfer gt ample 5 The node guard monitoring of the CPX terminal starts when
99. ructions on installation 1 2 Settings of the DIL switches on the bus node 1 2 1 Removing and mounting the cover for the DIL switches 1 2 2 Settingthe DIL 2 eee 1 3 Connecting the fieldbus 1 334 Fieldbus cable 5 e y ere ORE UU ERAS 1 3 2 Fieldbus baud rate and fieldbus length 1 3 3 Information on connecting the fieldbus 1 3 4 Fieldbus interface srode ree Rer ee eren 1 3 5 Connecting with the fieldbus plug from Festo 1 3 6 Further connection possibilities for the fieldbus with adapters 1 4 Bus terminal with terminating 5 510 5 1 4 1 Install a terminating resistor using the 5 1 5 Power S pply rire EST e EET 2 Commissioning a cece enhn 2 1 Commissioning on a CANopen master 2 1 1 General information on 2 2 Configuration 24 2524 dia erre px dt ede eee ee 2 2 1 Layer setting service LSS 2 22 LSS commandS ss ico ees eR ERE Rees wees bcs 2 2 3 Configuration of the LSS slave 2 2 4 Addressing the 2 2 5 Configuration examples Festo P BE FB14
100. s input interrupt upper limit integer 1 Analogue 132 rw 00 Minimum value Alo 2 input 2 00 Minimum value 2 3 00 Minimum value Al2 2 4 00 Minimum value AI3 2 6426 0 Analogue U8 0 10 Number of analogue inputs input interrupt delta unsigned 1 Analogue 032 rw 00 Minimum value modification input Alo 2 2 00 Minimum value modification 3 3 00 Minimum value modification Al2 3 4 00 Minimum value modification 2 2 Bit1 Input below lower limit as per 401 3 Bit2 Input changed by more than delta as per CiA 401 2 59 2 Commissioning 2 4 6 Analogue outputs channel 0 3 Receive PDO 2 Index Sub Designation Type Attr Map Values Explanation hex index hex 301 Receive PDO 2 Telegram length 2 4 6 or 37F 8 bytes Byte 0 1 channel 0 A00 Byte 2 3 channel 1 A01 Byte 4 5 channel 2 2 Byte 6 7 channel 3 1401 0 PDO U8 ro 02 Number of entries communication parameter record 1 PDO COB ID U32 rw 300 Default COB ID of the inputs ID 2 Transmission U8 FF Default acyclic type 1601 0 PDO U8 rw 0 8 Number of entries communication 1 mapping U32 64 1101 10 Pointer at index AOO parameter 2 64110210 Index AO1 3 64 11 03 10 Index AO2 4 64 11 04 10 Index AO3 5 00 00 0000 on mapping object 5 6 00 00
101. safety concept of your machine system permits this commission the CPX terminal with both operating voltages pins 1 and 2 but without compressed air You can then test the CPX terminal without triggering accidental reactions Festo P BE FB14 EN en 14114 English 2 93 2 Commissioning 2 6 1 Correct commissioning normal operating status 2 94 In the normal operating status the LEDs on the bus node light up as follows LED display ML MSIE PSOE Dre PEE PES sO O MO These LEDs light up PL Red and yellow LEDs do not light up SF M Fig 2 10 LEDs with normal operating status Operating status Standard Festo P BE FB14 EN en 1411d English Diagnostics Chapter 3 Festo P BE FB14 EN en 14114 English 3 1 3 Diagnostics Table of contents 3 1 3 2 3 3 3 4 3 5 3 2 Diagnostics ani velie ao Chew ares dara 3 1 Summary of diagnostics 5 3 3 Diagnostics via LEDS tisi ira See ae Ea 3 4 3 2 1 Normal operating status 3 5 3 2 2 Displays of the CPX specific LEDs PS PL SF M 3 6 3 2 3 Displays of the CANopen specific LEDs MS NS 10 3 9 Diagnostics via status 3 12 Diagnostics via the I O diagnostic interface 3 13 Diagnostics via
102. state change 2 Stopped Error codes 23xx 33 3 Input error 01 With short circuit overload at input module or failure of sensor supply 0 Pre operational 1 No state change 2 Stopped Error codes 21xx 31xx 1200 0 Server SDO U8 ro 2 Number of entries parameter 1 COB_ID Cli U32 600 node Default COB ID node ID ent gt Serv ID er rx 2 COB_ID 580 node Default COB ID node ID server gt ID client tx U unsigned Map Mapping possible 2 45 2 Commissioning 2 4 2 Overview of the PDO structure Default mapping PDO 1 Digital inputs outputs transmit receive PDO 2 Analogue inputs outputs channels 0 3 transmit receive PDO 3 Analogue inputs outputs channels 4 7 transmit receive PDO 4 Technology modules status bits 1 0 diagnostic interface Tab 2 43 PDO structure If required the default PDO structure can be changed via SDO gt PDO Communication Mapping Parameter in the following sections Index 1000p 1A03p 1600p 1603 Festo P BE FB14 EN en 1411d English 2 Commissioning 243 Digital inputs Transmit PDO 1 Index Sub Designa Type Values Explanation hex index hex 181 Transmit Telegram length 1 8 bytes 1FF PDO 1 Byte 0 10 17 Byte 1 18 115 Byte 7 156 163 1800 0 08 05 Number of entries mun
103. terface Iwo 20h IW31 Festo P BE FB14 EN en 1411d English 2 79 2 Commissioning Index Sub Designation Type Values Explanation hex index hex 6200 1 Write output U8 rw XX Status of the outputs 1 8 digital or valves 00 07 10h Write output 0120 0127 121 128 6300 1 Write output U16 rw XX Status of the outputs technology 16bit modules OWO 20n OW31 6401 1 Read 116 Analogue input channels analogue Default mapping AIO input 1 10h Read Al15 analogue input 16 6411 Write 116 rw XX Analogue output channels analogue AOO output 1 10h Write A015 analogue output 16 Tab 2 61 Overview of mapping objects 2 80 Festo P BE FB14 EN en 1411d English 2 Commissioning 2 4 12 Forcing The Force function enables the manipulation of signal statuses disconnected from actual operating statuses and is used mainly during the commissioning phase Further inform ation can be found in the appendix of the CPX system de scription P BE CPX SYS CANopen represents 16 bit analogue values left justified in a 32 bit value Force table inputs Index Sub Designa Type Attr Val Explanation Func hex index tion ues tion hex no TTT w
104. the CPX terminal in the remote 1 0 operating mode through individual parameterisation A distinction is made between the following parameterisation types System parameterisation e g switching off of error mes sages etc Parameterisation of the diagnostic memory Module parameterisation module and channel specific e g monitoring settings in case of error settings of debounce times of inputs Recommendation Parameterise the CPX terminal via the SDO in the pre operational mode A detailed description of the individual parameters as well as basic principles of application can be found in the CPX system description P BE CPX SYS Parameter lists for CPX 1 0 modules and CPX pneumatic in terfaces can be found in the description for the CPX 1 0 mod ules P BE CPX EA 2 5 1 Parameterisation during switch on 1 Parameterisation is loaded into the node by the master Parameterisation is distributed to the modules from the node Fig 2 8 Sequence of start parameterisation Festo P BE FB14 EN en 1411d English 2 91 2 Commissioning 2 5 2 Parameterisation with the handheld The CPX handheld offers menu driven access for paramet erisation of the CPX terminal without configuration software Information on operating the handheld can be found in the relevant description 2 5 3 Application example for parameterisation l Input with default
105. the PDOs on a CPX terminal with digital 1 0 modules interface MPA pneumatics and non activated diagnostic functions standard assignment without mapping configuration gt Tab 2 37 Festo P BE FB14 EN en 14114 English 2 33 2 Commissioning Tab 2 37 2 34 Configuration for example terminal 3 in Fig 2 5 Festo P BE FB14 EN 14114 English Mo Module Input address Output address dule no 0 Bus nodes CPX FB14 Without activation of diagnostic functions 1 Digital 8 off input module T PDO 1 10 17 CPX 8DE Obj 6000 1 2 Digital 4 off output module R PDO 1 00 03 CPX 4DA Obj 6200 1 3 CPX CP interface T PDO 4 IWO IW1 R PDO 4 OW3 CPX CP Obj 6100 1 Obj 6300 1 On string 1 41 bytes are assigned 321 Obj 6100 2 Obj 6300 2 On string 1 4 16 O bytes are assigned Obj 6300 3 1280 Obj 6300 4 Manual mapping for OW7 2 4 Digital multi 1 0 module T PDO 1 18 115 R PDO 1 04 011 CPX 8DE 8DA Obj 6000 2 Obj 6200 1 Obj 6200 2 MPA port pattern Passive module 5 MPA pneumatic module 800 R PDO 1 012 019 MPA1S VMPA1 FB EMS 8 Obj 6200 2 MPA pneumatic module Obj 6200 3 6 MPA pneumatic module 8DO R PDO 1 O20 O27 MPA1S VMPA1 FB EMS 8 Obj 6200 3 MPA pneumatic module Obj 6200 4 1 Manual mapping The CPX CP interface occupies in the configuration 16 byte outputs 1280 Since the PDO 4 can only address the
106. the first node guard telegram is received This telegram must be cyclically repeated within the timeout time timeout time guard time lifetime factor index 100C index 1000 If this time is exceeded the valves outputs will be switched off or they will assume the fail safe status Note Until the first node guard telegram is received the timeout monitoring in the CPX terminal is inactive Valves and outputs which are switched on remain set even after loss of communication bus interruption etc cd 1 701 lt Nod d PLC PC IPC n a guard response on o0 al 2 m OJ 1 i oO amp all values in hex Fig A 3 Example 3 start node guard monitoring Remote request A 6 Festo P BE FB14 EN 14114 English Technical appendix A 2 4 Example 4 load objects Objects of a CPX terminal can be loaded or read via SDO transfer Upload command Index and subindex The CPX terminal then sends Index and subindex Data bytes a E E 5 o 3 2 215 5 25 H fis 601 40 0010 00 00000000 581 43 0010 00 91010200 g 5 ow o ol 5 E x 8 E 2 3 3 all values in hex Fig A 4 Example 4 index 1
107. upply in accordance with IEC EN 60204 1 Protective Extra Low Voltage PELV e 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 e Always connect both circuits for operating and load voltage supply VI Festo P BE FB14 EN en 1411d English Contents and general instructions Through the use of PELV circuits protection against electric shock protection against direct and indirect contact is en sured in accordance with IEC EN 60204 1 Target group This description is intended exclusively for technicians trained in control and automation technology who have experience in installing commissioning programming and diagnosing participants on the CANopen fieldbus Service Please consult your local Festo repair service if you have any technical problems Festo P BE FB14 EN en 14114 English VII Contents and general instructions Instructions regarding this description This description contains specific information on installing configuring parameterising commissioning programming and diagnosing with the CPX bus node for CANopen This description refers to the following versions Versions 2 Supports Rev 26 5 Jun 13 Layer setting service gt section 2 2 1 Rev 24 19 Nov 08 Virtual modules via the function Rev 20 10 Oct
108. x Sub Designa Type Attr Values Explanation hex index hex 4000 Function Bool rw 0 Function assignment and assignment virtual modules mask deactivated enable 1 Function assignment and virtual modules activated 4001 0 Function U8 rw 0 10 Number of entries assignment 172 mask inputs XX 0 enter virtual bits in 10h object 6000 input array 1 enter physically present bits in object 6000 input array de fault setting 4200 0 Function 08 rw 0 10 Number of entries assignment T mask 0 enter virtual bits in 10h outputs object 6200 output array 1 enter physically present bits in object 6200 output array de fault setting 4800 0 Set module U8 rw 0 30h Number of the config configuration entries used function Ts assignment U32 With these entries a possible system 48 structure including virtual modules is defined Byte 0 number of output bits digital modules or number of output bytes analogue modules Byte 1 like byte O but for the inputs Byte 2 CPX module code specification with 0 no module code specification Byte3 bit 7 0 physically present module 1 virtual module Bit 6 2 reserved Bit 1 0 module type 00 digital 01 analogue 10 technology module Festo P BE FB14 EN en 1411d English 2 Commissioning Index Sub Designa Values Explanation hex index tion hex
109. y message Inthe case of a correct target actual comparison The function assignment masks are generated objects 4001 and 4200 and digital outputs are reset object 6200 Activate the masks by setting the object 4000 to 1 Adapt the PDO mapping objects 160x and 1A0x if you have defined virtual modules Festo P BE FB14 EN en 1411d English 2 Commissioning Configuration example with virtual modules In the following example the CPX terminal should be con figured for two different functions using Function assign ment Function A most complex CPX terminal of the system FunctionB CPX terminal A without module 5 8DI and module 8 MPA pneumatics module 8DO Through the function assignment the same PLC software can be used for terminals A and B without address shift For terminal B modules 5 and 8 are suppressed as virtual modules with object 4800 CPX terminal for funktion A m ooye CPX terminal for function B as with A without module 5 and 8 Module no 0 1 2 3 4 _ CO e e D 9 801 801 so 4DO 801 E FS a 5 5 3 5 aloe o
110. your CPX ter minal 2 Subsequent activation of the diagnostics mode requires reconfiguration The CPX internal 1 0 image can be displaced during subsequent activation of the diagnostics mode status bits or I O diagnostics interface Restart the CPX terminal with Power OFF ON Festo P BE FB14 EN en 1411d English 1 Installation 13 Connecting the fieldbus 1 3 1 Festo P BE FB14 EN 14114 English Fieldbus cable Note Faulty installation and high transmission rates may cause data transmission errors as a result of signal reflections and attenuations Causes of the transmission errors can be missing or incorrect terminating resistor incorrect screened connection branches transmission over long distances inappropriate cables Observe the cable specifications Refer to the manual for your control system for information on the type of cable to be used Use a twisted screened 4 wire cable as fieldbus line The CANopen bus interface of the CPX terminal is supplied with power via the fieldbus line If the Festo fieldbus plug is used a cable diameter of 5 8 mm or 7 10 mm is permissible Note If the CPX terminal is mounted movably into a machine the fieldbus cable on the movable part must be provided with strain relief Also observe the corresponding regulations in EN 60204 Part 1 1 23 1 Installation 1 3 2 Fieldbus baud rate and fieldbus length The maximum permissible fi

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