569122g1 manual codesys

8/9/2019 569122g1 Manual Codesys

1/87

Electronics Manual

CoDeSys Controller

TypeCPX−CEC

CPX−CEC−C1/−M1

C PX Te r mina l

Manual5 69 1 22en 1004a[753 482]


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Contents and general instructions

IF e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 100 4a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.B E−CPX−CEC−EN. . . . . . . . . . . . . . . . . . . . . . . .

Orderno. 56 9 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG & Co. KG, D73726 Esslingen, Germany, 2010)Internet:http://www.festo.comE − ma i l: s er v i c e_ i nt e rn a ti o na l @f e st o. c om

The reproduction, distribution and utilisation of this docum e nt a s w e ll a s t h e c om m un i ca t io n o f i t s c o nt e nt s t o o t he r swithout explicit authorisation is prohibited. Offenders will

be h e ld liable f o r th e p a ym e n t o f da m a ge s. A ll r igh t s r e se r v e d in t h e e v e nt o f t h e gr a n t o f a p a t en t , ut ilit y m o du leor design.


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Contents

Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ta r ge t g r o up V I I I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ser vice VI I I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Impor tant user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the use of this manual XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Sys tem s ummar y 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .1 The CoDeSys controller CPX−CE C/CPX−CEC−... 1−3. . . . . . . . . . . . . . . . . . . . . . . .

1 .2 Suppor ted motor controllers 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .3 The operating modes of the CoDeSys controllers 1−6. . . . . . . . . . . . . . . . . . . . .

1 .4 The CoDeSys provided by Festo programming environment 1−9. . . . . . . . . . . . .

1.4.1 P rogramming languages 1 −1 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 L ibraries 1 −1 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.4.3 P arameterisation 1 −1 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .5 Meaning of the LE D displays 1 −1 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 CP X−specific LE Ds 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Ins tallation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .1 General installation instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .2 Dismantling and fitting 2 −4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Dismantling 2 −4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.2.2 Fitting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .3 Connection and display elements 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .4 Setting the switches of the CoDeSys controller 2−7. . . . . . . . . . . . . . . . . . . . . . .

2.4.1 RU N/STOP rotary switch 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 DI L switches 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .5 Ethernet interface 2 −1 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 E thernet cable 2 −1 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .6 Communication interfaces 2 −1 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.6.1 C A Nopen interface (CPX−CEC−C1/−M1) 2 −1 2. . . . . . . . . . . . . . . . . . . . . . .

2.6.2 RS2 32 interface (CPX−CEC) 2 −1 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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2.7 Connection of an operator unit type F E D 2 −18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MM I 2 −19. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying with protection class I P65 /I P 67 2 −20. . . . . . . . . . . . . . . . . . . . . . . . . .

3. Commis sioning 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 P rereq uisites for commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 First steps 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Configuration of the CPX modules 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.4 Configuration of the C A Nopen slaves 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 P arameterisation of the CPX terminal 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 .5.1 P arameterisation via control configuration in CoDeSys 3 −10. . . . . . . . .

3 .5.2 P arameterisation via t he handheld type CPX−MM I 3 −13. . . . . . . . . . . . .

3.6 Forcing 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Diagnosis 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 G eneral error response of the CoDeSys controller 4−3. . . . . . . . . . . . . . . . . . . . .4.2 Diagnosis via controller LE Ds 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Fur ther diagnostic options 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical append ix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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VF e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a

D e si g nate d u se

Th e t y p e C P X − C E C/ C P X −C E C − . .. CoDeSys controller documented in this manual is intended exclusively for use in FestoCPX terminals for installation in a machine or an automationcontrol system.

I n c o m bin at io n w it h a C P X t e r m in a l, t h e C P X − C EC / C P X −C E C − .. .i s u se d fo r

controlling pneumatic and electric actuators (valves, outp u t m o du les a n d m o t o r c o n t r o lle r s v ia C A N o p e n )

interrogating electric sensor signals through the inputmodules

communication via Ethernet.

Th e C P X t e r min a l w it h t he C P X − C EC / C P X −C E C − .. . m a y o n ly beu se d a s f o llo ws:

as designated in industrial applications

without any modifications by the user. Only the conversions or modifications described in the documentationsupplied with the product are permitted

in faultless technical condition

only in combination with approved components

(e. g.valves, drive/displacement encoder combinations).

The limit values specified for pressures, temperatures, electric a l da t a , t o rq u e s e t c . sh ou ld be o bse r v e d.

P le a se c om p ly w it h th e r e g ula t io ns o f t h e w o r k er s’ c o m pensation insurance association, the German Technical Cont r o l B o ar d ( TÜ V ) a n d t he e le c t ric a l r e q uir e m en t s o f t h e V D E o rthe corresponding national and local safety regulations.


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Safety instructions

Protection against dangerous movements

Warning H ig h a c c e ler a t ion f o r ce s a t t h e c o n n ec t e d ac t u a to r s! U nde sired movements can cause collisions and severe injuries.

Dangerous movements can occur through faulty controllin g o f c o n n ec t e d a c t u at o r s, e . g . v ia :

unsafe or faulty circuitry or cabling,

faulty operation of the components,

errors in the measured value and signal generators,

defects or non−EMC−compliant components,

errors in the higher−order control system,

programming errors in user programs and projects.

Simply switching off the compressed air supply or loadv o lt ag e is n o t su ita ble f o r lo c kin g p r o c edu r e s. I n t h e e v e n to f a f a u lt, t h is co u ld lea d t o un in t en t io n al m o ve m e n t o f t h edrive.

· Before doing mounting, installation and service work,bring the system into a safe condition (e.g. by bringingthe drive into a safe position and deactivating thecontroller).Always make sure that the compressed air supply andpower supply are switched off and locked when workingin the machine area.

· Make sure that no persons are in the operating range of the drives or any other connected actuators.

· Do not switch on the compressed air supply until thesystem is correctly installed and parameterised.


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· Brakes controlled by the drive controller are alone notsuitable to ensure personal protection!Secure vertical axes from falling or sliding down whenthe compressed air and load voltages are switched off,a s f o ll o ws :

mechanical locking of the vertical axis, external braking/safety catch/clamping device or sufficient counterbalance of the axis.

· Additional measures are required for use in safety−related applications; in Europe, for example, the standardslist e d un de r th e E C M a c h ine r y D ir e c t iv e m u st be o bserved. Without additional measures in accordance withstatutory minimum requirements, the product is notsuitable for use in safety−related sections of controlsystems.

Protection from pressurised tubing

CautionD a n g er o f in j u ry t h r o u gh in a p p r op r ia te h a n dlin g o f p r e ssurised tubing!

U n de sir e d m o ve m e n ts o f t h e c o n n ec t e d a c tu a t o rs a n duncontrolled movements of loose tubing can cause injuryto human beings or damage to property.

· Do not connect, disconnect or open pressurised tubing.

· The tubing must always be vented before removal(release compressed air).

· Use suitable protective equipment (e.g. safety goggles,safety shoes, etc.).


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Target group

Th is m a n u al is in t e n de d e x c lu siv e ly f o r t e c hn ic ia ns t r a in e d incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosingpositioning systems.

S e r v i c e

Please consult your local Festo Service if you have any technical problems.


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Important user instructions

Danger categories

Th is m a n u al c o n t a in s in str u c t io n s o n t h e p o ssible da n g e r sw h ic h ca n o c cu r if t h e p r o duc t is n o t use d c o rr e c t ly. Th eseinstructions are marked (Warning, Caution, etc.), printed on ashaded 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 resultin serious personal injury or property damage.

Caution... means that failure to observe this instruction may resultin personal injury or property damage.

Note... means that failure to observe this instruction may resultin damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitivecomponents:

Electrostatically sensitive devices: Improper handling canresult in damage to components.


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Identifying special information

Th e f o llow in g p ic to g r a ms m a r k p a ssa g e s in t h e t e x t w h ichcontain special information.

Pictograms

Information:Recommendations, tips and cross−references to other information sources.

Accessories:Information on necessary or useful accessories for the Festoproduct.

Environment:I n f o rm a t ion o n t h e e n v iro n m e nt a lly f r ien dly u se o f F e st o

products.

Text markings

· The bullet indicates activities which may be carried out inany order.

1 . N u me r al s d en o te a c ti v it i es w h ic h m us t b e c a rr i ed o u t i nthe numerical order specified.

Hyphens designate general lists.

Brackets designate menu entries.Example: [Scan module configuration].

Arrow brackets mark placeholders for designations. Example:"Status of ".

Quotation marks designate names of windows, dialogues andbuttons. Example: "Control configuration".


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The following product−specific terms and abbreviations areused in this manual:

Term/abbreviation Meaning

0 signal 0 V applied at inpu t, or output supplies 0 V

1 signal 24 V applied at input, or output supplies 24 V

0 x0 1 ( A0h ) Hexadecimal numbers are marked by a prefixed "0x" or by a subscript"h"

C A Nopen Fieldbus p rotocol b ased on C A N, which i s s tandardised a s a Europeanstandard

C o D eS y s p r ov i d e d b y F e st o( = C oD e Sy s p b F)

C o D eS y s = C o n tr o l le r D e v e l o pm e n t S y st e mC o D eS y s p r ov i d e d b y F e s t o p e rm i t s c o n f ig u r a ti o n , c o m mi s s i on i n g a n dp r o g ra m m i ng o f v a ri o u s c o m p on e n t s a n d d e v i ce s b y F e s t o. I n t h i sd o c u me n t at i o n, c a l le d " C o D e Sy s p b F " f o r s h o r t

CPX t erminal Complete s ystem consisting o f C PX m odules w ith o r without

pneumatics

CPX m odules Common term for the v arious modules which c an be i ntegrated in a CPXterminal

D H CP ( D yn a mi c H o stConfiguration Protocol)

D y na m ic p r ot o co l f o r a u to m at i c a s si g nm e nt o f I P a d dr e ss e s

DI L switch Du al−in−line s witches c onsist o f s everal switch e lements w ith w hichs e tt i ng s c a n be m a de

I/O modules Collective term for the CPX modules which prov ide d igital inputs a nd

outputs

I/Os Digital inputs and outputs

EasyI P Protocol f or f ast e xchange o f o perands b etween F esto controllers

EDS f ile Electronic d ata s heet, which d escribes t he f unction a nd characteristicso f a C A N o pe n d ev i ce i n s ta n da r di s ed f o rm ( e .g . n u mb e r of I / Os ,n u m b er o f d i a gn o s i s b y t e s , et c . ) .

Ethernet Phy sical p rotocol a nd network f or connecting variou s d evices

Fieldbus n ode Provides the connection to specific f ieldbuses. Transmits controls i g n al s t o t h e c o n ne c t e d m o d ul e s a n d m on i t or s t h e ir a b i li t y t o f u n c ti o n


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X I I IF e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a


F H P P ( F e st o H a n d li n g a n dPositioningProfile)

U n i f or m f i el d b u s d a t a p r o f il e f o r p os i t i on i n g c o n tr o l le r s f r o m F e s t o

F TP ( Fi le Tr an sf er P ro to co l) P ro to co l f or f il e t ra ns fe r v ia TC P/ IP

H an dh el d t y pe C PX −M MI H an dh el d t er mi na l f or c om mi ss io ni ng a nd s er v ic e p ur po se s

H T T P ( H y p er Te x t Tr a n sf e rProtocol)

P r ot o co l f o r da t a t r an s fe r v i a T CP / I P

I P (Internet Protocol) Protocol for addressing and delivering data

Login/Logout Programming s ystem is l ogged out/logged o ut

M AC a d dr e ss ( M ed i aA c c e s s C o n tr o l a d d r e s s )

F i x ed a s si g n ed a d d r es s f o r E t h e rn e t d e v i ce

Modbus/TCP Communication s tandard v ia T CP/I P in automation t echnology

N ode I D Provides u niqu e i dentif ication o f a b us s lave o n the C A Nopen fieldbus

OLE Object Linking and E mbedding

OPC OLE f or Process C ontrol; s tandardised s oftware interface that p ermitsa c ce s s t o p ro c es s d a ta

PLC/I PC Programmable logic controller/industrial PC

Pneu matic interface Interface between the modular electric peripherals and the pneumatics

SoftMotion Motion f unctionality i ntegrated i n the C oDeSys p bF p rogramming a ndr u n − ti m e s y s t em . T h e f o l l ow i n g m o t io n c o n tr o l m o d el s a r e o f f e re d a smodules:

Single/multi−axis positioning movements with PLCopen Motionmodules

2.5D CNC control

TCP/I P Combination o f t he p rotocols TCP a nd I P, the m ost−widely u sed protocoli n c o m m un i c at i o n v i a E t h e rn e t

T F T P ( Tr i v i al F i l e Tr a n s f erProtocol)

P r ot o co l f o r f il e t r an s fe r v i a T CP / I P

TSP

( Ta r g e t S u p p or t P a c k ag e )

A t a rg e t s u p p or t p a c k ag e c o m bi n e s a l l c o n f ig u r a ti o n a n d e x p a ns i o n

f i le s t h at a r e n e ed e d t o m a ke a s p ec i fi c c o nt r ol l er ( t ar g et ) u s ab l e f o rt h e p r o gr a m m in g e n v i ro n m en t ( C o De Sy s p r ov i d e d b y F e s t o)


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U D P ( U s e r D a t ag r a mProtocol)

A m i ni m al , c o nn e ct i on l es s n e tw o rk p r ot o co l t h at h a s a l o we r p r o t oc o lo ve r he a d c o mp a re d t o T CP. T hi s h a s t h e a d va n ta g e o f a f a st e re x ch a ng e o f d a ta . D u e t o t h e l a ck o f a r e pl y, t h e c o rr e ct t r an s mi s si o nm u st b e e n su r ed , e . g. b y m e an s o f a u s er p r og r am

User data Telegram d ata w ithout p rotocol f rame d ata. T he l ength o f t he u ser datai s d e fi n ed i n t h e c o nf i gu r at i on o f t h e f i el d bu s s l av e

www World Wide Web

Ta b. 0/ 2 : P ro du ct −s pe ci fi c t er ms an d a bb re vi at io ns


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System summary

1−1F e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a

Chapter 1


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1 . S y ste m su m m ar y

1−2 F e s t o P .B E − C PX − C E C− E N e n 1 0 0 4 a

Contents

1. System summar y 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3. . . . . . . . . . . . . . . . . . . . . . . .

1.2 S uppor ted motor controllers 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 The operating modes of the CoDeSys controllers 1−6. . . . . . . . . . . . . . . . . . . . .

1.4 The CoDeSys provided by Festo programming e nvironment 1−9. . . . . . . . . . . . .

1 .4.1 P rogramming languages 1 −11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .4.2 L ibraries 1 −12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .4.3 P arameterisation 1 −12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 M eaning of the LE D displays 1 −13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 .5.1 CPX−specific LE Ds 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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CPX−CEC−C1 offers...

A CANopen interface to which up to 31 CANopen slavesc a n b e c o nn e ct e d

CPX−CEC−M1 offers...

The CoDeSys software package SoftMotion forcoordinated multi−axis movements.

CPX−CEC−M1 can alternatively also be operated as aCANopen master. The SoftMotion functions are then notavailable.

CPX−CEC offers...

An RS232 interface (Sub−D, 9−pin) for connecting a typeF E D operator unit or for operating external devices.With external devices, data communication must beprogrammed by the user.


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1.2 Su ppor ted mot or cont rollers

The CoDeSys controllers CPX−CEC−C1/−M1 as CANopenmasters support all motor controllers from Festo.

CPX−CEC−M1 with SoftMotion functions supports thefollowing motor controllers:

Motor controller Required firmware1 fr om Ve r s i on . . .

CMM P−A S 3.5.1501.2.1

CMMS−A S 1.3.0.1.11

CMMS−ST 1.3.0.1.7( t he v e rs i on s 1 . 3. 0 .1 . 10 a n d 1 . 3. 0 .1 . 12 a r en o t s u pp o r te d )

SFC−L AC 1.0.5

SFC−L ACI 1.0CMM D 1.4

1 ) S e e r at i ng p l at e f o r F C T p l ug − in o f t h e m o to r c o nt r ol l er

Ta b. 1/ 2 : S up po r te d mo to r c on tr ol le rs w it h CP X −C EC −M 1(date: June 2010)

C P X − CE C − C 1/ − M 1 su pp o r t u p t o 3 1 a x es. W e r e c om m e n d

o p e ra t in g th e C P X − CE C − M 1 w ith a m a x im um o f e ig h t ax e s.


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1 .3 T he o pe ra ti ng mo de s o f t he Co De Sy s c on tro ll er

The CoDeSys controllers can be operated in various operatingm o de s, dep e n ding o n t h e de m a nd:

Stand Alone

Remote Controller Ethernet

Remote Controller Fieldbus (fieldbus node required)

The individual operating modes are briefly presented in thefollowing:

Stand Alone operating mode

1 2

1 CPX−CEC/CPX−CEC−...

2 CPX terminal controlled by the CPX−CEC/CPX−CEC−...

F ig . 1 /1 : S ta nd A lo ne op er at in g mo de


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Remote Controller Ethernet operating mode

Ethernet

1 2

1 CPX−CEC/CPX−CEC−... connected to an Ethernet network

for communication


F i g. 1 /2 : R em o te C o nt ro l le r E th e rn e t o p er at i ng m od e


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Remote Controller Fieldbus operating mode

21 3

1 CPX−CEC/CPX−CEC−... connected to the fieldbus forcommunication over the fieldbus node

2 C P X f ie ldbus n o de , h e r e: C P X − F B1 3


F i g. 1 /3 : R e mo t e Co n tr ol l er F i el d b us o p er at i ng m od e(fieldbus node required)


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1 .4 T he C oD eS ys pr ov id ed by Fe st o p ro gr am mi n g e nv i ro nm en t

Use CoDeSys provided by Festo to commission and programthe CoDeSys controller. CoDeSys provided by Festo offers aconvenient user interface with the following functions:

Configuration and parameterisation of the CPX−CEC/CPX−CEC−... with control configuration

Programming as per IEC 61131−3 Integrated module libraries

Library administrator to integrate additional libraries

Simulation mode, permits testing of projects on the PC,without PLC

Visualisation with the integrated visualisation editor

Documentation with the integrated projectdocumentation

Debugging functions: testing program sequence,observing and changing variables, error search

CPX−CEC−M1: SoftMotion programming editors areintegrated.

To be a ble t o u se a c o n t ro lle r ( t a rg e t ) u n de r C o D e Sy sp r ov ide d by F e sto , a so − c alle d Ta r g et S u p p or t P a c k a g e isneeded for the corresponding target. This permits access tot h e syst e m f un c t ion s o f t h e t a r ge t a n d c on t a inscorresponding information in the form of online help. TheTarget Support Package makes CoDeSys functions usable fort h e r e sp e c t iv e de v ic e o r lim it s t h e m , if n e c e ssa r y.

W it h t h e Ta r g et S u p po r t P ac k a g e, C o D e Sy s c a n su p p or t a llthese characteristics and functions of these devices.And so CoDeSys provided by Festo contains many functions

that are available only on certain devices.


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CoDeSys provided by Festo is supplied with the TargetSupport Package for the CoDeSys controller. It also containsadditional functions that are specially adapted to theCoDeSys controller.

Information about which functions of CoDeSys provided byFesto are supported by the CoDeSys controller and whicha ddit io n a l fu n c t io n s a re a v aila ble c a n be f o u n d in t he o n lin ehelp (key word"Functional Overview").


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1.4.2 Libraries

To make programming easier, CoDeSys provided by Festomakes it possible to organise into libraries objects that areu sa ble inde p e nde n t ly o f p r oj e c t s, su c h a s m o du les, de c la r ations and visualisations. A library administrator, with whichyou can integrate and view libraries, is available for thispurpose.

Detailed descriptions on the libraries and programming canbe f o u nd in t h e o n line h e lp.

1.4.3 Parame terisation

I n f o rm a t ion o n pa r am e t e risa t ion o f t h e en t ire sy st em v ia t h e

CoDeSys controller can be found in the online help.


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1.5 Mean in g of th e LEDdi spla ys

The LEDs on the cover indicate the operating status of thedevice and are arranged in two groups.

1 Controller LEDs(see section 4.2)

RUNSTOP

E R R O RTP

2 CPX−specific LEDsPSPLSFM

1 2

F ig . 1 /4 : L ED di s pl ay s o f t he d ev ic e ( he re C PX −C EC −C 1/ −M 1 as a n e xa mp le )


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1.5.1 CPX −specific LE Ds

Th e disp la y s o f t h e C P X − spe c if ic L E D s a r e de sc ribe d in t h efollowing. Information on the controller LEDs can be found insection 4.2.

P S ( P ow e r Sy s te m ) s u ppl y t o t h e el e c t ro n i c s

LED (green) Seq uence Meaning Err or treatment

L E D l ig h ts u p

ON

OFF

N o e rr o r. O p e r at i n g v o l ta g e / se n s or s u p p ly a p p l ie d

L E D f l as h es

ON

OFF

Operating voltage/sensors u p p l y o u t s id e t h e t o l er a n ce r a ng e

E l i m in a t e u n d e r vo l t ag e

ON

OFFI n t e rn a l f u se f o r t h eoperating voltage/sensor

s u p p l y ha s r e s p on d e d

1 . E l im i na t e s h or t c i rc u it / ov e rl o ad o nm od u le s i de

2 . D ep e nd s o n t h e p a ra m et e ri s at i ono f t h e m od u le ( m od u le p a ra m et e r) :· T h e s e n s or s u p pl y v ol t a ge w i l l

b e s w it c he d o n ag a in automatically w h en t h e s h or t c i rc u it h a sbeen eliminated (default)

· P o we r O F F / O N i s n e c e ss a r y

L ED i s o ff

ON

OFFT h e o p e ra t i ng v o l ta g e /s e n s or s u p p ly i s n o tapplied

C h e ck th e o p e ra t i ng v o lt a g ec o nn e ct i on o f t h e e l ec t ro n ic s

Tab. 1 /4: Displays of PS LE D


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P L ( P ow e r Lo a d) l o a d s u ppl y ( o u tpu t s / va l v es )

LED (green) Sequence Meaning Er ror treatment

L E D l ig h ts u p

ON

OFF

No error. Load voltageapplied

LED flashes

ON

OFFL oa d v ol ta ge a t t he s ys te ms u p p ly o r a d d it i o na l s u p p l yo u ts i de t h e t o le ra n ce r a ng e

E l i m in a t e u n d e r vo l t ag e

Tab. 1/5 : Displays of PL LE D

SF ( Sy s t e m Fa i l ur e ) Sy s te m e r ro r

LED (red) Sequence 1 ) Meaning Er ror treatment

L ED i s o ff

ON

OFFNo error

LED flashes

ON

OFFSimple error/information( e r ro r cl a s s 1 )

S e e d e sc r ip t io n o f e r ro r n u mb e rs i nt h e C P X s y st e m ma n ua l

LED flashes

ON

OFF

E r r or ( e r r or c l a s s 2 )

LED flashes

ON

OFFS e r io u s e r r or( e r ro r cl a s s 3 )

1 ) T he s y st e m e r ro r LE D f la s he s d e pe n di n g o n th e c l as s o f e r ro r wh ic h h as o c cu r re d .E rr or c la ss 1 ( mi no r e rr or ): f la sh o nc e, p au seError class 2 (error): f lash twice, pauseE rr or c la ss 3 ( se ri ou s e rr or ): f la sh t hr ee t im es , p au se

Tab. 1/6 : Displays of SF LE D


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M ( M o d i fy ) M o d i fy / fo rc e a c t i ve

LED (yellow) Seq uence Meaning Err or treatment

L ED i s o ff

ON

OFFForce is not active

LED flashes

ON

OFFForce is active The Force f unction is e nabled

( s ee C P X s y st e m m a nu a l, s y st e m

p a r am e t er F o rc e m o d e ;f u nc t io n n o. 4 4 02 ) .

Tab. 1 /7: Displays of M LE D

Information on the controller LEDs can be found insection 4.2.


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Installation

2−1F e st o P. B E− C PX − CE C −E N e n 1 0 04 a

Chapter 2


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2 . I n st a ll a ti o n


Contents

2. Installation 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 G eneral installation instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dismantling and fitting 2 −4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .2.1 Dismantling 2 −4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .2.2 Fitting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Connection and display elements 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 S etting the switches of the CoDeSys controller 2−7. . . . . . . . . . . . . . . . . . . . . . .

2 .4.1 RU N/STOP rotary switch 2−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .4.2 DI L sw itches 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 E thernet interface 2 −10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .5.1 E thernet cable 2 −10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Communic ation interfaces 2 −12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 .6.1 C A Nopen interface (CPX−CE C−C1/−M1) 2 −12. . . . . . . . . . . . . . . . . . . . . . .

2 .6.2 RS2 32 interface ( CPX−CEC) 2 −17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Connection of an operator unit type F E D 2 −18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MM I 2 −19. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying w ith protection class I P65 /I P 67 2 −20. . . . . . . . . . . . . . . . . . . . . . . . . .


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2. 1 G en era l in st al la ti on i ns tru ct ion s

Warning Danger of injury from electric shock.

· A lw a y s swit c h o f f t h e p ow e r su pp ly be f or e f it t ing o rremoving CPX modules.

CautionThe CoDeSys controller contains electrostatically sensitivecomponents.

· Therefore, do not touch any contacts.

· Observe the handling specifications for electrostaticallysensitive devices.

NoteC h e c k w ith in t h e f r a me w o r k o f y o u r E M E R G E N C Y S TO Pconcept to ascertain the measures necessary for puttingy ou r m ac h in e /s y st e m i nt o a s a fe s t at e i n th e e ve n t o f a nE M E R G E N C Y S TO P ( e . g. sw it c h in g o f f p o we r so u r c es,load voltage supply, compressed air, etc.).

Information on fitting the CPX terminal can be found in theCPX system manual type P.BE−CPX−SYS−... .


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2.2 Dismantli ng and fitting

Th e c on t r olle r is f it t ed in an in te r lin kin g blo c k o f t h e C P Xterminal (see Fig. 2/1).

2.2.1 Dismantling

D ism a nt le t h e c o n t r o lle r a s f o llow s:

1 . L oo se n t he f ou r s cr ew s o f t he c on tr ol l er w i th a TO R Xs c re w dr i ve r s i ze T 1 0 .

2 . P u ll t h e co n tr ol l er c a re f ul l y an d w i th o ut t i lt i ng a w ay f r omt h e c o nt a ct r a il s o f t h e i nt e rl i nk i ng b l o ck .

1 CPX−CEC/CPX−CEC−...

2 Interlinking block

3 Contact rails

4 Screws

3

4

1

2

F i g. 2 / 1: D i sm a nt l in g /f i tt i ng o f t h e c o nt ro l le r ( h er e C P X− C EC − C1 / −M 1 a s a n e x am p le )


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2.2.2 Fitting

NoteF it t h e c on t ro lle r t o th e le f t en d p o sitio n o f t h e C P Xterminal (position 0).

F i t t h e c on t ro l le r a s f o ll o ws :

1 . C h ec k t h e s e al a nd s ea l s u rf a ce s .

2 . I n se r t t h e c o nt ro l l er i n t h e i n te r li n ki n g b l o ck . M a ke s ur ethat the grooves with the power contact terminals on thebo t t om o f t h e c o n tr o ller lie a bo ve t h e c o n ta c t r ails.

3 . P u sh t h e c o nt ro l le r ca re f ul l y a n d w i th o ut t il t in g as f a r a spossible into the interlinking block.

4. P la c e t h e scr e w s so t ha t t he se lf− c u tt in g th r e ads c a n be

u se d. Tig ht e n t h e sc re w s by h a n d.

5 . T ig ht en t he s cre ws w it h a TO RX s cre wd ri ve r s iz e T 10 w it ht or qu e 0 . 9 .. . 1 . 1 Nm .


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2 .3 C on nec ti on an d di sp la y e lem en ts

2

34

6

7

5

1

1 Status LEDs

2 R U N / S TO P r o t ar y sw itc h

3 Ethernet interface(10/100BaseT, RJ45)

4 CPX−CEC−C1/−M1:CANopen interface (plug, 9−pin, Sub−D )CPX−CEC:RS232 interface(socket, 9−pin, Sub−D)

5 DIL switch 1

6 DIL switch 2

7 C o n n ec t io n f o r a h a n dh eld of t y p eC P X − M M I

F i g. 2 /2 : C o nn e ct i on a n d di s pl a y el e me n ts ( h er e f o r C P X− C EC − C1 / −M 1 a s a n ex a mp l e)


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2 .4 S et ti ng t he sw it ch es of th e C oD eS ys co nt ro ll er

2. 4. 1 R UN /STO P ro ta ry s wi tch

NoteL ea v e t h e R U N / S TO P r o ta r y sw it c h a t p o sitio n " 0 " ( S TOP )during installation.

Th e sw it c h se t t in g of t h e R U N / S TO P r o t ar y sw it c h w it hfour internal digital inputs is passed on to the controller andc a n be e v alu a t ed t h e r e .

Rotar y switch Setting Meaning

0 STOP

CoDeSys controller stoppedT he S TO P L ED l i gh ts u p y el low

1 ... F RU NCoDeSys controller startedT h e R U N L E D l i gh t s u p g r ee n

Ta b. 2/ 1: S wi tc h s et ti ng s o f t he RU N /S TO P ro ta ry s wi tc h


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2.4.2 DI L switches

The DIL switches must be accessible in order to makesettings:

· R e m ov e , if a p p lic a ble , th e c o ve r o r an I P 6 5 / I P 6 7 p lugfrom the Sub−D interface.

DIL switch 1D I L s wi t ch 1 i s r es e r ve d . L ea v e t h e t w o sw i tc h e le m en t s of D I L sw i tc h 1 a t O F F.

CPX−CEC/CPX−CEC−. .. DIL switch 1

Reserved D I L 1 . 1: O F FD I L 1 . 2: O F F

Tab. 2 /2 : S et ti ng the DI L s wi tc h 1


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DIL switch 2

For CPX−CEC−C1/−M1, you can switch the CAN bus termination( 1 2 0 ) o n o r o f f.

CPX−CEC−C1/−M1 DIL switch 2

Te r m i na t i on s w i tc h e d o f f D I L 2 . 1: O F FD I L 2 . 2: O F F

Te r m i na t i on s w i tc h e d o n D I L 2 . 1: O ND I L 2 . 2: O F F

A l l f ur t h er s w it c h s e tt i ng s a re r e se r ve d .

Th e D I L sw it c h 2 o n t h e C P X −C E C h a s n o f u n ct io n .

Ta b. 2 /3 : S et ti ng the DI L s wi tc h 2


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2.5 Ethernet interface

Th e E t h e r ne t in t e r fa c e p e r m it s c o n n e c tio n o f a p r o gr a m m in gdevice, PC or type FED operator unit to the CoDeSyscontroller.

Th e E t he r n e t in t e rf a c e is de sig ne d a s a n R J 45 soc k e t.

Socket Pin Signal E xplanation

12

34

56

78

12345678Housing

TD+TDRD+n.c.n.c.RDn.c.n.c.Shield

Tr a n sm i t te d d a t a +Transmitted dataR e c ei v ed d a t a +n o t c o n ne c t edn o t c o n ne c t edR e c ei v ed d a t a n o t c o n ne c t edn o t c o n ne c t edScreening

Ta b. 2 /4 : P in a ss ig nm en t of t he Et he rn et i nt er fa ce

I f t h e Et h er n et i n t er f ac e i s n o t us e d , c lo s e i t w i th t h e A K −R J 45cover. In this way you will comply with protection classI P 6 5 / I P 6 7 .

2.5.1 Ethernet cable

U se a s c o n n ec t in g c a ble :

Cab le speci fi cation Screened flexib le Ethernet round cab le of category 5M ax. out er di am ete r: 5 .4 mmCore diameter: 0 .89 ... 1 .0 mm AWG24−26Ready made: Crimping pliers on RJ45


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NoteI f th e CP X te r m ina l is f it t ed o nt o a m o vin g p a r t o f amachine, the Ethernet cable on the moving part must beprovided with strain relief.

Ne tw or k c on nec ti on In o rd er to c on nec t yo ur Co De Sy s c on trol le r t o a n et wor k o rP C , y o u w ill re q u ire a p a t ch o r c r o ssov e r c a ble. Th e in t e r f ac e

automatically recognises which cable is connected anda u t om a t ica lly c o n v e r t s t h e sig n a ls.

NoteUse the RJ−45 plug from Festo in order to comply with theprotection class IP65/IP67:

Type FBS−RJ45−8−GS

Observe the fitting instructions for the plug.

F ig . 2/ 3: R J− 45 p lu g ty pe F BS −R J4 5 −8 −G S


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2.6 Commun icat ion i nterfaces

2 .6 .1 C A No pe n i nt er fa ce (C PX −C EC −C 1/ −M 1)

O n th e CP X − C E C− C 1 / −M 1 , th e re is a C A N o p e n in t e rf a c e f o rc o n n ec t io n of C A N bu s sla ve s.

Th e C A N o p e n in t e rf a c e is de sig ne d as a 9 − p in S u b− D p lu g .

Plug Pin Signal Internalcontacts

Explanation

5

1

9

6

12345

6789Housing(plug)

n.c.C A N _ LCAN_GNDn.c.CAN_SHLD

CAN_GNDC A N _ Hn.c.n.c.

FE

n o t c o n n ec t e dC A N l owC A N g ro un dn o t c o n n ec t e dC o nn e ct i on t o f u nc t io n al e a r th ( F E) 2 )

C A N g r ou n d ( o pt i on al )1 )

C A N h ig hn o t c o n n ec t e dn o t c o n n ec t e dT he p lu g h ou si ng m us t b e c on ne ct edto FE 2 ).

1 ) I f a m ot o r c on t ro ll e r w it h e x te r na l v ol t ag e s u pp l y i s c o nn e ct e d,C A N g r ou n d (o p ti o na l ), p i n 6 c a nn o t b e u s ed o n t h e C P X− C EC − C1 / −M 1 .

2 ) F E : F u n ct i o na l e a r t h i n g

Ta b. 2/ 5: P in as si gn me nt fo r t he C A No pe n in te rf ac e

Th e c o n n ec t e d C A N bu s sla ve s a r e n o t su pp lie d w ith p o w erover the CANopen interface.


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Connecting the CAN bus

CAN bus line

NoteFaulty installation or high transmission rates may caused a ta t ra n sm i ss i o n e r ro r s a s a r es u lt o f s i g na l re f le c ti o nsand attenuations.

Tr a n sm issio n e r r or s c a n be c a u sed by : missing or incorrect terminating resistor

incorrect screened connection

branches

large distances

unsuitable cables.

U s e a t w is t ed , s cr ee n ed 4 − c or e c a bl e as a C A N b us l i ne . Th e

CoDeSys controller communicates with the drive controllersv i a t h e C A N bu s l i ne .

I f t he Fe st o CA N bu s pl ug i s u se d, a c ab l e d i am et er o f 5 . .. 8o r 7 . .. 1 0 m m i s p er mi tt ed .

NoteI f t h e CP X t e rm in a l is f it t ed o n to t h e m o v in g p ar t o f amachine, the CAN bus line on the moving part must beprovided with strain relief. Also observe the relevantregulations in EN60204 part 1.


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C o n n ec t i o n w i th F e st o C A N b u s pl u g

Note· Use protective caps or blanking plugs to seal unused

connections.

You will then comply with protection class IP65/I P67.

· Note the fitting instructions for the CAN bus plug. Tighten

t h e t w o fa st e nin g scr e w s a t f ir st by ha n d an d t he n w ithmax. 0.4 Nm.

You can connect the CPX−CEC−C1 easily to the CAN buswith the CAN bus plug from Festo,type FBS−SUB−9−BU−2x5POL−B. You can disconnectt h e p lu g f ro m t h e n o de w it ho u t in t er r u p tin g t h e bu s lin e(T−Tap function).

NoteTh e c la mp st r ap in t h e Fe st o C A N bu s plu g is c o n n ec t e donly capacitively internally with the metal housing of thesub−D socket. This prevents equalising currents fromf l ow i ng v i a t h e s c re e ni n g o f t h e C A N b u s l i n e (Fig. 2/4).

· Clamp the screening of the CAN bus line under the clampst r a p in t h e C A N bu s plu g .


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1 Folding coverwith inspectionwindow

2 Clamp strapfor screenedconnection 1)

3 Protective cap if

c o nn e ct i on i s n o tused

4 C A N bu soutgoing (OUT)

5 C A N bu sincoming (IN)

6 SUB−D plug 1)

1) connectedcapacitively

V +

G N D H L

S L D

V +

G N D H L

S L D

21 3

456

F i g. 2 / 4: C A N b u s pl u g fr o m F es t o, t y pe F B S −S U B − 9− B U −2 x 5 PO L −B


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Further connection possibilities for the CAN buswith adapters

Caution· M a k e su r e o f t h e c o r re c t p o la rit y wh e n yo u c on n e c t t h e

C A N b u s i n te r fa c e.

· Connect the screen.

T h er e a re f u r th e r w a ys o f c o nn e ct i ng t he C A N b us w i tha da p te r s, wh ic h ca n be o r der e d se p a ra t e ly f ro m Fe st o . Th e seadapters and additional accessories can be found under:

è www.festo.com/catalogue

M12 adapter 5−pin (protection class IP65),type FBA−2−M12−5POL

Screw terminal adapter 5−pin (protection class IP20),

type FBA−1−SL−5POL


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2 .6 .2 R S2 32 in te rf ac e ( CP X− CE C)

The RS232 interface enables a type FED operator unit ore x t er n a l dev ic e s to be c o n n ec t e d to t h e C P X − C EC .

When using external devices, data communication must beprogrammed by the user.

Socket Pin Signal E xplanation

12345678

9Screen

n.c.RxDTxDn.c.GNDn.c.n.c.n.c.

n.c.Screen

n o t c o n ne c t e dR e c ei v e d d a t aTr a n sm i t te d d a t an o t c o n ne c t e dD a t a r e f er e nc e p o t e nt i a ln o t c o n ne c t e dn o t c o n ne c t e dn o t c o n ne c t e d

n o t c o n ne c t e dC on n ec t io n t o f u nc t io n al e a r th ( F E )

Ta b. 2/ 6: P in as si gn me nt of t he R S2 32 i nt er fa ce (C PX −C EC )


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2. 8 C on nec ti on of a h an dh eld ty pe CPX− MM I

The 5−pin M12 socket serves to connect a CPX−MMI for fastpreliminary commissioning, diagnosis or parameterising.

F i g. 2/ 6 : C P X t e rm i na l wi t h h a nd h el d ty p e C P X− M M I

The connection with the CPX−MMI is interrupted during ap r o gr a m dow n lo ad if p a ra m e te r s h a ve be e n c h a n ge d v ia t h eCoDeSys provided by Festo software. This guarantees thec o n sist e n c y o f t h e disp la y e d da t a.

Use only the following original cables( è www.festo.com/catalogue) for connecting the CPX−MMI:

Type Cable length in [m]

KV−M12−M12−3,5 3.5

KV−M12−M12−1,5 1.5

Ta b. 2/ 7 : C on ne ct io n c ab l e f or ha nd he ld ty pe CP X− MM I

Further information on parameterisation via CPX−MMI can befound in the section 3.5.2.G e n er a l in f o rm a t ion o n t h e C PX − M M I c a n be f o u n d in t h emanual P.BE−CPX−MMI−1−...


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2 .9 C om pl yi ng w it h pro te ct io n cl as s IP 65 /I P67

In order to comply with protection class IP 65/IP67, seal unused sockets and the switch with the appropriate covers.

Connection/switch

ConnectionIP65/IP67

Cover 1)

IP65/IP67

E thernet, RJ 45 Plugt y p e F B S − RJ 4 5 − 8 −G S

Cover2 )

t y pe A K −R J 45

Sub−D (CANopen/R S 23 2 ) a n dDIL switch

P lu g t yp e F BS −SUB−9−BU−2X5POL−B

Transparent cover2 )

t y p e A K − S U B −9 / 1 5 −B

S e r v i ce i n t er f a c e,M12

C on n ec t in g c a bl e a n dp lu g o f t he C PX −M MI

P r o te c t iv e c a p2 )

t y pe I S K− M 12

Rotary switch Cover2 )

t y pe A K −R J 45

1 ) I f c on ne ct io n i s n ot u se d2 ) I n cl u de d i n s c op e o f d e li ve r y

Ta b. 2 /8 : C on ne ct io ns a nd c ov er s fo r p ro te ct io n cl as sI P 6 5 / I P 6 7


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3 . C o mm i s si o ni n g


Contents

3. Commis sioning 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 P rereq uisites for commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 First steps 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Configuration of the CPX modules 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Configuration of C A Nopen slaves 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 P arameterisation of the CPX terminal 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 .5.1 P arametrisation via control configuration in CoDeSys 3 −10. . . . . . . . . .

3 .5.2 P arametrisation via the handheld type CPX−MM I 3 −13. . . . . . . . . . . . . .

3.6 Forcing 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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3 . C o mm i ss i o ni n g


3. 1 P re re qu is it es for com mi ss ion in g

CautionD a n ge r o f in j u ry du e t o u nde sire d m o ve m e nt s o f t h econnected actuators.

· Test projects and programs at first without activeactuators and without compressed air.

1 . I n st all t he p ro g r am e n vir o nm e n t Co D e Sy s pr ov ide d byF e sto o n a P C o n w h ich y o u c ar r y o ut c o m m issio n ing ,configuration and programming.

Detailed installation instructions can be found on theaccompanying CD−ROM. Observe the instructions on thec o ve r o f t h e C D− R O M .

2 . C o nn e ct th e P C t o t h e C o De Sy s co n tr ol l er.

3.2 Fi rst steps

The commissioning procedure described in the followingse c t io n s u se s t he e x a m ple o f t h e C P X − CE C − C 1 o r CP X − C EC − M 1a s a C A N o p e n m a st er. F u r t h e r in fo r m a tio n o n c o m m ission in gthe variants CPX−CEC−M1 with SoftMotion and CPX−CEC canbe f o u n d in th e o n line h e lp.

1 . S ta r t C oD eS ys pr ov id ed by Fe st o.

2 . C rea te a n ew pro je ct.

1 . S el ec t t he ta rg et s ys te m.

2 . I f n e ce s sa r y, ch a ng e t h e s e tt i ng s f o r t h e t a rg e tsystem.

3 . C r ea t e th e p ro g ra m m od u le " P LC _ PR G ".

· S e le c t t h e la n g ua g e of t h e m odu le , e. g . S TL .


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4 . I n t he " O bj e ct O rg a ni z er " , c h an g e to " Re s ou r ce s ".

5 . O p en th e " P LC Co n fi g ur at i on " .

6 . S el ec t th e Ro ot n od e, i f a pp li ca bl e.

7 . O p en t h e "N e tw o rk c o nf i gu ra t io n " ta b.

8 . C a rr y o ut t h e "S e ar ch n e tw o rk " f un c ti o n.

9 . S e le c t th e d es i re d C oD e Sy s c on t ro l l er.1 0 . C a r r y o u t t h e " S e t a s a c t ive P LC " fu n c tio n .

1 1 . S a ve t h e p ro j ec t . You can now log in to the controller, if necessary.

F i g. 3 /1 : N e tw o rk c o nf i gu ra t io n us i n g t h e e x am p le o f t h e C P X− C EC − C1


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3. 3 C on fi gu ra ti on of th e C PX mod ul es

Detailed information on configuration of the CPX modulesc a n be f o u n d in th e o n line h e lp.

A f t er yo u h a v e c r e at e d a n e w p r oj e c t in se c t ion 3. 2 a ndselected the desired CoDeSys controller, now continuec o m m issio n ing w it h c o nf ig u ra t io n of t h e C P X m o dule s.

1 . C lic k in t he w in do w "P LC C o nf ig u ra t io n" o n t h e n o de s t ot he l ef t of t he C PX −C EC −. ..

2 . C l ic k w i th t h e ri g ht m o us e b ut t on o n t he e l em e nt"IOModules[FIX]".

F ig . 3 /2 : C on fi gu ra ti on o f t he CP X mo du le s

Now you can perform module configuration automaticallyor manually.


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Automatic module configuration

· Perform the [Scan module configuration] function if youwant to perform module configuration automatically.

T h e I/ O m od u le s o f a C P I m o du l e ar e n o t in c l ud e d in a u to matic module configuration. In this case, carry out a manualmodule configuration (see next section) or perform the"Scan" function in the "CP Modules" tab.

F ig . 3 /3 : " CP M od ul es " t ab


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Manual module configuration

· Select [Append Subelement] if you want to performmodule configuration manually.

Attach the CPX modules from left to right in the physicalsequence on the CPX terminal. The modules are added at thebottom in the tree structure. The CoDeSys controller sits inthe CPX terminal to the far left at position 0.

· F r om t he list o f t h e C P X mo du les, se le c t t h e C P X mo du let o th e r i gh t of C P X− C EC − .. .

· Repeat [Append Subelement] until you have selected allCPX modules.

Addressing of inputs and outputs takes place automatically( p r ese t in t h e de live r y c on dit ion o f t h e de v ic e) . F or e a c h mo du le , a t le a st 4 by te s o f in p u ts o r o u t pu t s ar e r e ser v e d.

The rotary switch of the CPX−CEC−C1, for example, occupieso n ly 4 bit s o f in p u ts, bu t 4 by t e s a re r e ser v e d.Alternatively, you can also manually address the inputsand outputs. Information can be found in the online help.

3. Save the project.


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3 .5 P ar am et er is at ion o f th e C PX t er mi na l

Th e C P X te r m in al is su p p lie d fr o m th e f a c t or y wit h pr e se tp a ra m et e rs . If r e qu i re d , y o u c a n s e t t h e r e ac t io n of t h e C P Xt e r m in a l as w e ll as t h e r e a c tio n of in div idu a l mo du les a n dchannels by parameterising.A dist in c t io n is m a de be t w ee n t h e f o llo win g p a r a me t e risa tions:

system parameters, e.g.: switching off fault messages,setting reaction times, etc.

module parameters (module and channel−specific), e.g.:monitoring, settings in the event of faults, settings forforcing

diagnostic memory parameters.

Detailed specifications on the parameters and data as well as

ba sic in f o rm a t ion o n p a r a m e t er isa t io n o f t h e C P X t e r m ina lcan be found in the CPX system manual type P.BE−CPX−SYS−....

Detailed information on the module parameters can be foundin the user documentation of the respective modules.

The following parameterisation options are available:

Parameterisation via ... Des cription Proper ties

C o n tr o l c o n f ig u r a ti o n i nC o D eS y s: l o g ou t

A c c e s s t o a l l p a r a me t e rs o f t h e C P X t e rm i na l

Convenient parameterisation via a PC Parameterisation is stored in the

p r o je c t , i . e . t h e p a r a me t e rs r e m a inafter Power OFF/ON

Handheld type CPX−MM I Parameterisation is carriedo u t v i a m e nu − li s te d e n tr i esw i th t h e h a nd h el d

Parameterisation is saved only locallyi n t he C PX t er mi na l a nd i s l os t w it hPower OFF/ON

Ta b. 3 /1 : P ara me te ri sa ti on op ti on s


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3 . 5. 1 P a ra m et e ri s at i on v i a c o nt r ol co n fi g ur a ti o n i n C o De Sy s

D e t aile d in f o rm a t ion o n p a r a m e t er isa t io n c a n be f o u n d in t h eonline help.

You can easily parameterise the CPX terminal with the controlconfiguration. Parameterisation can be undertaken for:

the setpoint configuration (logout): parameters aret r a n sf e r r ed w h e n t h e p r o j ec t is lo a de d.

When the relevant dialogue has been opened, you can viewand modify the individual parameters.

Parameters cannot be changed in the online mode.

I n t h e f o llo win g , p a ra m e t er isa tio n is de sc r ibe d u sin g t h ee x a m ple o f t h e R o ot n o de :

· Click in "PLC Configuration" on the symbol for theCPX−CEC.

Settings

· Set the following parameters in the "Settings" tab,i f n e ce s sa r y:

F ig . 3/ 4: " Set ti ngs " t ab


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M o d u l e # 0

In the "Module #0" tab, you receive the following informationon the CoDeSys controller:

F ig . 3 /5 : " Mo dul e # 0" ta b

Network configuration (logout)

· Look for the controller for which you want to prepare thenew CoDeSys project in the "Network configuration" tab:

F ig . 3 /6 : " Ne tw or k co nf ig ur at io n" ta b


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S ys t e m p a ra m et e rs

· Set the system parameters in the "System Parameters"tab:

F ig . 3 /7 : " Sy st em Pa ra me te rs " t ab

Trace parameters

· Set the following parameters in the "Trace Parameters"tab:

F ig . 3 /8 : " Tr ac e P ar am et er s" ta b


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3 .5 .2 P ar am et er is a ti on v i a th e h an dh el d ty pe C PX −M M I

T h e p a ra m et e rs o f t h e C P X t er m in a l c an b e r e ad a n d m od i fi e dv i a a c o nn e ct e d ha n dh e ld .

Transfer of the parameterisation to the CPX modules

Note· Parameterisations via the handheld are saved onlylocally in the CPX terminal and are lost with PowerOFF/ON.

· Th e c on n e c tio n w ith t h e C P X − M M I is in t e rr u p te d du r in g aprogram download if parameters have been changed viathe CoDeSys provided by Festo software.

· Parameters changed by the CPX−MMI and Festo_CPX.liba r e o n ly t h en o v er w r it te n du r in g t he p r o je c t do w n loa d if parameter changes have also been made in the CoDeSysproject.

Further information on parameterisation via CPX−MMI can befound in the manual P.BE−CPX−MMI−1−...


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3.6 Forcing

Through forcing, you can compel input and output signals.Actual input signals or status changes by program areignored and replaced by the force values.

Warning High acceleration forces at the connected actuators!

U n de sir e d m ov e m e nt s o f t h e a c t ua t o r s c an c a u secollisions and severe injuries.

· Be very careful when forcing in order to avoid undesiredm o ve m e n ts o f t h e a c t ua t o r s.

· Make sure that no persons are in the operating range of the drives or any other connected actuators.

F o rc in g o f in p u ts w it h

handheld type CPX−MMI

Forcing an input does not modify the input signal itself and

cannot be o bse r v e d a t t h e r e le va n t st a t us LE D . Th e lo g ic alstatus of the input changes internally and in some cases hasan effect on the program. The forced input status is transf e r r ed t o t h e im ag e t a ble of t h e in p u ts. Th e o n line disp lay inCoDeSys provided by Festo therefore shows the forced inputsignal.

F o rc in g o f o u t pu t s w it hhandheld type CPX−MMI

Forcing an output does modify the actual output signal andc a n be o bse r v ed a t t h e r e le va n t st a t us L E D. H o w ev e r, t h eforced output signal is not t r a n sf er r e d t o t h e im a g e t able o f the outputs. The online display in CoDeSys provided byFesto does not show the forced, physical output signal,but the status from the image table.


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NoteThe online display in CoDeSys provided by Festo alwaysshows the signal status valid in the process diagram. Whenforcing with the handheld type CPX−MMI, observe thefollowing:

Forced input states are transferred to the image tableand therefore recognised by the controller. They arevisible in the online display.

Forced output states are not t r a n sfe r r ed t o t h e im a g etable and are therefore not recognised by the controller.They are not therefore represented in the online display.

You have various ways of temporarily influencing input oroutput signals, e.g. for test purposes:

Forcing via the handheld type CPX−MMI

Forcing with the online display in CoDeSys provided by

Festo.

F u r t h e r inf o r m at io n o n fo r c in g ca n be f o u n d in th e C P Xsystem manual type P.BE−CPX−SYS−... and in the online help.

I f se v e ra l f u n c t ion s a r e a c t iv e a t t h e sa m e t ime , t h e f o llow in gapplies:

Force signals have the highest priority

Forcing via the handheld has higher priority than forcingwith the online display.


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Diagnosis

4−1F e st o P. B E− C PX − CE C −E N e n 1 0 04 a

Chapter 4


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4 . D i ag n os i s


Contents

4. Diagnosis 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 G eneral error response of the CoDeSys controller 4−3. . . . . . . . . . . . . . . . . . . . .

4.2 Diagnosis via controller LE Ds 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Fur ther diagnostic options 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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4 . D i ag n os i s


4 .1 G en er al er ro r r es po ns e o f t he Co De Sy s c on t ro ll er

Warning

If an error occurs, the controller does not stop butcontinues with the program processing. Undesiredmovements of the actuators can cause collisions andsevere injuries.

· Include error handling mechanisms for all errorcategories in the user program.

· M a k e sur e t h a t no p e rso n s a re in t h e o p e ra t in g r a ng e o f the drives or any other connected actuators.

The CoDeSys controller makes available the following errorhandling mechanisms in user programs:

System event CPX_system_fault

Channel/module diagnosis in the flag words

Module support in the Festo_CPX.lib

Detailed information on error handling in user programs canbe found in the online help.


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4 . D i ag n os i s


For the CoDeSys controller, the following diagnostics optionsa r e a va i l ab l e:

Diagnos is via ... Advantages Des cription

Status LE Ds Fast on−the−spotr e co gn i ti o n o f f a ul t s

Controller LEDs, see section 4.2 CPX−specific LEDs, see section 1.5.

H and he ld ty pe C PX −M MI Fas t on −t he− sp ot

r e co gn i ti o n o f f a ul t s

S e e C P X s y st e m ma n ua l

Control configuration Online diagnosis withoutprogramming

S ee o nl in e h el p

User program Detailed diagnosticevaluation:

System eventCPX_system_fault

Channel/module diagn os is i n th e f la g w or ds

Module support in theFesto_CPX.lib

S ee o nl in e h el p

Ta b. 4 / 1: D ia gn os ti c o pt io ns o f t he C oD eS ys c on tr ol l er


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4 . D i ag n os i s


4. 2 D ia gn os is vi a c on tro lle r LED s

Th e c o n tr o ller L E D s h av e t h e f o llow in g m ea n in g :

R UN P LC s t at u s: s t ar t e d

LED (green) Sequence Status Error number Error handling

L E D l ig h ts u p

ON

OFFP LC p r o gr a m s t a r t ed( RU N /S TO P s wi tc h i s i n

p os it io n " 1 . .. F ")

L E D i s o f f

ON

OFFP LC p r o gr a m s t o p p ed( RU N /S TO P s wi tc h i s i np o s i ti o n " 0 " )

· S e t R U N / S TO Ps w i t ch t o p o s it i o n"1 ... F"

Tab. 4/2 : Displays of RU N LE D

S TO P P LC s t at u s s to p pe d

LED (yellow) Sequence Status Error number Error handling

L E D l ig h ts u p

ON

OFFP LC p r o gr a m s t o p p ed( RU N /S TO P s wi tc h i s i np o s i ti o n " 0 " )

L E D i s o f f

ON

OFFP LC p r o gr a m s t a r t ed( RU N /S TO P s wi tc h i s i np os it io n " 1 . .. F ")

· S e t R U N / S TO Ps w i t ch t o p o s it i o n"0"

Tab. 4/3 : Displays of STOP LE D


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4 . D i ag n os i s


E R RO R P LC r u n− t im e e r ro r

LED (red) Seq uence S tatus Er ror number Err or handling

L E D l ig h ts u p

ON

OFFPLC program error CPX error · R ea d o ut e rr or

c o de o ve rh a nd h el d o rC o De Sy s p b F

L ED i s o ff

ON

OFF

No error

Tab. 4/4: Displays of E RRO R LE D

TP Ethernet connection: link/traffic

LED (green) Seq uence S tatus Err or number Error handling

L E D l ig h ts u p

ON

OFF

E thernet connection OK

LED flashes

ON

OFF

D a t a t r a ns f e r a c t i ve( L E D f l a s h e s i r r eg u l a rl y )

L E D i s o f f

ON

OFFE t h e rn e t c o n n ec t i on t o t h ep a ra m et e ri s at i on P C n o t O K

· Check the connection the IP address

Tab. 4/5: Displays of TP LE D


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4 . D i ag n os i s


4.3 Fur th er dia gn ost ics opt ions

F u r t he r in f o r m at io n o n dia g n osis v ia t h e c o n t ro l c o n f ig ur a t io nin CoDeSys provided by Festo and via user programs can befound in the online help.

Further information on diagnostics with SoftMotion( C P X −C E C − M 1) c a n be f o u n d in t h e o n lin e h e lp.


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4 . D i ag n os i s



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Technical appendix

A−1F e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a

Appendix A


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A . Te c h n ic a l a p p en dix

A−2 F e s t o P .B E − C PX − C E C− E N e n 1 0 0 4 a

Contents

A. Technical append ix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Technical data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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A . Te c h n ic a l a p p en dix


A.1 Technical data

CPX−CEC/CPX−CEC−...

General technical data f or t he CPX terminal See CPX system m anual: Manual P.BE−CPX−SYS−...

Total number of axes CPX−CEC−C1 CPX−CEC−M1

313 1 ( r ec o mm e nd e d: m a x. 8 )

CPU data Processor 400 M Hz, 32 M B RAM, 32 M B f lash

Configuration suppor t CoDeSys

Parameterisation CoDeSys

Programming sof tware CoDeSys provided by Festo

Programming language As per I EC 61131−3LDR, STL, ST, FUN, SFC, also CFC

Program memory 4 M B user program

Protocol CoDeSys Level 2, EasyI P, Modbus TCP, TCP/I P

Dev ice−specific diagnostics Channel and module−oriented diagnostics Undervoltage/short circuit of modules Diagnostic memory

Additional functions CPX−CEC/CPX−CEC−... CPX−CEC−C1

CPX−CEC−M1 CPX−CEC

Diagnostic functionsM o t io n f u n c t i on s f o r e l e c tr i c d r i v es

S o f tM o t io n f u n c ti o n s f o r e l e c tr i c d r i v esR S 2 3 2 c o m mu n i c at i o n f u n c ti o n

Baud rate 10/100 bit/s as per I E E E802.3 (10BaseT)or 802.3u (100BaseTx)

Processing time Approx. 200 ìs/1k instructions

LED display (bus−specific) TP: Ethernet connection: link/traf fic


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A. Technical appendix


CPX−CEC/CPX−CEC−...

Power failure bridging 10 ms

Storage temperature 20 ... +70 °C

A mbient temperature 5 ... +50 °C

R elative air humidity 95%, non−condensing

Product weight 155 g

Dimensions W x L x H 50 mm x 107 mm x 55 mm


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A. Technical appendix

A−6 F e s t o P .B E − C PX − C E C− E N e n 1 0 0 4 a


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Index

B−1F e st o P. B E− C PX − CE C −E N e n 1 0 04 a

Appendix B


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B . I nd ex

B−2 F e s t o P .B E − C PX − C E C− E N e n 1 0 0 4 a


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B . I nd ex

B−3F e s t o P. B E − CP X − C EC − E N e n 1 0 0 4 a

A

Abbreviations XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessories 2−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

CableEthernet 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Handheld type CPX−MMI 2−19. . . . . . . . . . . . . . . . . . . . . . .

C A N bu sConnecting 2−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Connection 2−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Line 2−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Termination 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CoDeSys provided by Festo XI I , 1−9. . . . . . . . . . . . . . . . . . . .

Commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration

C A Nopen slaves 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CPX modules 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection and display elements 2−6. . . . . . . . . . . . . . . . . . .

CPX−M M I 2−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnosis 4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dismantling 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Firmware XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fitting 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Forc ing 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Front end display (F E D) 2−18. . . . . . . . . . . . . . . . . . . . . . . . . .


86/87

B . I nd ex

B−4 F e s t o P .B E − C PX − C E C− E N e n 1 0 0 4 a

H

Handheld type CP X−MM I 2−19. . . . . . . . . . . . . . . . . . . . . . . . .

I

Installation 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interfaces

C A Nopen 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ethernet 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .RS23 2 2−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LEDsController LEDs 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CPX−specific 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Motor controllers, suppor ted 1−5. . . . . . . . . . . . . . . . . . . . . .

O

Operating modes 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator unit type F E D 2−18. . . . . . . . . . . . . . . . . . . . . . . . . .

P

ParameterisationVia control configuration 3−10. . . . . . . . . . . . . . . . . . . . . . .Via handheld type CPX−MM I 3−13. . . . . . . . . . . . . . . . . . . .

Parameterisation of the CPX terminal 3−9. . . . . . . . . . . . . . . .

Pin assignmentC A Nopen interface 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . .Ethernet interface 2−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . .RS23 2 interface 2−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


87/87

B . I nd ex

Protection class I P6 5/I P67 2−20. . . . . . . . . . . . . . . . . . . . . . .

S

Ser vice V I I I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SoftMotion 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Commissioning 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Diagnosis 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Meaning X I I I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Strain relief 2−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SwitchDI L sw itch 2 −8 , 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .RU N/STOP rotary switch 2−7. . . . . . . . . . . . . . . . . . . . . . . .

System parameters 3−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TTarget group V I I I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

User instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

569122g1 manual codesys

Documents