cpx terminal busnode cpx-fb38 - festo usa terminal busnode cpx-fb38 description 562525 en 1301a ......

Electronicsdescription

Network protocolEtherCAT

CPX terminal

Bus node CPX-FB38

Description562525en 1301a[8024385]

Contents and general safety instructions

IFesto P.BE-CPX-FB38-EN en 1301a

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

Edition en 1301a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-CPX-FB38-EN. . . . . . . . . . . . . . . . . . . . . . .

Order no. 562525. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG & Co. KG, D-73726 Esslingen, 2013)Internet: http://www.festo.comE-mail: [email protected]

Reproduction, distribution or sale of this document orcommunication of its contents to others without expressauthorization is prohibited. Offenders will be liable fordamages. All rights reserved in the event that a patent,utility model or design patent is registered.


II Festo P.BE-CPX-FB38-EN en 1301a

EtherCat®, TwinCAT®, CANopen®, SPEEDCON®, TORX® are registered trademarks of therespective trademark owners in certain countries.


IIIFesto P.BE-CPX-FB38-EN en 1301a

Table of contents

Intended use VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes about the use of this manual VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Installation 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Function range (brief overview) 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 General instructions on installation 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Electrical connection and display components 1-6. . . . . . . . . . . . . . . . . . . . . . .

1.4 Dismantling and assembly 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Setting the DIL switches on the bus node 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Removing and fitting the cover over the DIL switches 1-10. . . . . . . . . . .

1.5.2 Setting the DIL switches 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Connecting to the network 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 General information about EtherCAT networks 1-17. . . . . . . . . . . . . . . .

1.6.2 Overview of connections, network connectors and cables 1-18. . . . . . .

1.6.3 Network interface 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.4 Network connection 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 You will then comply with protection class IP65/IP67 1-20. . . . . . . . . . . . . . . . . .

1.8 Pin assignment of power supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Commissioning 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General information 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Address assignment 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Addressing 2-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Basic rules for addressing 2-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Address assignment after extension or conversion 2-20. . . . . . . . . . . .


IV Festo P.BE-CPX-FB38-EN en 1301a

2.4 Configuration 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Registering participant properties (“ESI file”)in the configuration program 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Addressing and data access (data objects) 2-29. . . . . . . . . . . . . . . . . . .

2.4.3 CPX terminal configuration using Beckhoff TwinCAT(EtherCAT network configuration) 2-30. . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.4 Linking automation project (PLC project) 2-38. . . . . . . . . . . . . . . . . . . . .

2.4.5 EtherCAT topology representation 2-40. . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.6 Configuration in the Remote Controller operating mode 2-42. . . . . . . .

2.5 Parameterisation 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Introduction to parameterisation 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 General prerequisite for parameterisation 2-45. . . . . . . . . . . . . . . . . . .

2.5.3 Methods of parameterisation 2-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.4 Parameterisation via the Festo Maintenance Tool (method 1) 2-47. . . .

2.5.5 Parameterisation with the handheld unit (method 2) 2-47. . . . . . . . . . .

2.5.6 Parameterisation via EtherCAT (method 3) 2-47. . . . . . . . . . . . . . . . . . .

2.6 Remarks on parameters of the CPX system settings 2-56. . . . . . . . . . . . . . . . . . .

2.6.1 Parameterisation of the Fail safe mode 2-56. . . . . . . . . . . . . . . . . . . . . .

2.6.2 CPX-FB38-specific process of start parameterisationduring switching on (system start) 2-58. . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Application example for the parameterisation 2-60. . . . . . . . . . . . . . . . . . . . . . . .

2.8 Checklist for starting up the CPX terminal 2-61. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Bus node replacement 2-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Diagnostics 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of diagnostic possibilities 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostics via LEDs 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 EtherCAT operating status display (LED run),EtherCAT error (LED Error), connection status (LEDs L/A2, L/A1) 3-8.

3.2.2 CPX system/terminal status display (LEDs PS, PL, SF, M) 3-10. . . . . . . .

3.3 Diagnostics via status bits 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Diagnostics via the I/O diagnostic interface (STI) 3-15. . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-CPX-FB38-EN en 1301a

3.5 Diagnostics via EtherCAT 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Basic information 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Diagnostics via SDO access 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.3 Diagnostics via diagnosis history 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.4 The Emergency message 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.5 Fail safe behaviour (Fail safe settings) 3-25. . . . . . . . . . . . . . . . . . . . . . .

3.5.6 Fault types 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data of bus node CPX-FB38 A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Object directory A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE-CPX-FB38-EN en 1301a

Intended use

The CPX-FB38 bus node described in this manual has beendesigned exclusively for use as a slave (I/O device or “Box”)in an EtherCAT network.

The CPX terminal must only be used as follows:

– as intended in an industrial environment;when used outside an industrial environment, e.g. in com-mercial and mixed residential areas, measures for radiointerference suppression may be necessary

– in original condition without modification (only the con-versions or modifications described in the documentationsupplied with the product are permitted).

– in faultless technical condition.

The maximum values specified for pressures, temperatures,electrical data, torques etc. must be observed.

Comply with the legal rules and regulations and standards,rules of the testing organisations and insurance companiesand national specifications applicable for the location.

Warning• Only use PELV circuits as per IEC/EN 60204-1 (protectiveextra-low voltage, PELV) for the electrical power supply.

• Observe also the general requirements for PELV powercircuits in accordance with IEC/EN 60204-1.

• Use only voltage sources that guarantee reliableelectrical isolation of the operating voltage according toIEC/DIN EN 60204-1.

• Always connect the circuits for both operating and loadvoltage supply.


VIIFesto P.BE-CPX-FB38-EN en 1301a

Through the use of PELV circuits, protection against electricshock (protection against direct and indirect contact) isensured in accordance with IEC/EN 60204-1.

If implementing an emergency stop function, note themeasures listed in the sections 2.5.1, 2.8 and 3.1.

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosingprogrammable logic controllers (PLC) and Fieldbus systems.

Service

Please consult your local Festo Service agent if you have anytechnical problems.


VIII Festo P.BE-CPX-FB38-EN en 1301a

Notes about the use of this manual

This manual contains information about the followingmodule:

CPX bus node Typedesignation

Description Connections

CPX-FB38 Ethernet-based CPX bus node forEtherCAT

The EtherCAT field bus technologyuses the Ethernet standards forreal-time communication in anindustrial environment.

Data transmission:

– EtherCAT, based on the Ethernetprotocol (IEEE 802.3), optimisedfor process data, real-timecapable

– Transmission of process data inthe Ethernet framework

– Industrial Ethernet, SwitchedFast Ethernet, 100 Mbit/s

Standards and norms containingreference to EtherCAT:

– IEC 61158– IEC 61784– IEC 61918– ISO/IEC 8802-3

Additional information:http://www.ethercat.org

2 x M12 socket,D-coded, female,4-pin, corresponding toIEC 61076-2-101,SPEEDCON®-compatible

Tab. 0/1: Overview of CPX bus node for EtherCAT


IXFesto P.BE-CPX-FB38-EN en 1301a

This manual contains information about installation andconfiguration of the CPX bus node for EtherCAT as well asEtherCAT-specific informationen regarding parameterisation,start-up, programming and diagnosis of a CPX terminal in anEtherCAT network.

Further information about EtherCAT can be found in theInternet:

� www.ethercat.org

General basic information regarding the mode of operation,assembly, installation and commissioning of CPX terminals

can be found in the CPX system description (P.BE-CPX-SYS-...).

Information about further CPX modules can be found in themanual for the relevant module.

An overview of the structure of the CPX terminal userdocumentation is contained in the CPX system manualP.BE-CPX-SYS-...

All documents can also be found online at:

� www.festo.com� Support portal: Enter search term,e.g. “CPX-FB38”� User documentation

Product specific information about the control system(IPC, PLC or I/O controller) can be found in the manufacturer’sproduct documentation.


X Festo P.BE-CPX-FB38-EN en 1301a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto-gram. A distinction is made between the following dangerwarnings:

WarningThis means that failure to observe this instruction mayresult in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction mayresult in personal injury or damage to property.

NoteThis means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo-nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


XIFesto P.BE-CPX-FB38-EN en 1301a

Marking special information

The following pictograms mark passages in the textcontaining special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation.

Accessories:Information on necessary or sensible accessories for theFesto product.

Environment:Information on environment-friendly use of Festo products.

Text markings

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

1. Figures denote activities which must be carried out in thenumerical order specified.

– Hyphens indicate general activities.


XII Festo P.BE-CPX-FB38-EN en 1301a

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

Term/abbreviation Meaning

A0h Hexadecimal numbers are identified by a subscript “h”

Bus node Connects the CPX terminal to the fieldbus or network; it transmits controlsignals to the connected CPX and pneumatic modules and monitors theirfunctional capability

CEC CoDeSys controller, e.g. CPX−CEC/CPX−CEC..., applicable for configuration,commissioning and programming of CPX terminals

CoDeSys Controller Development System

CoE CANopen over EtherCAT

CP Compact Performance

CPX terminal Modular terminal, available in different variants:– CPX…: 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 applications

CPX module Collective term for the electrical modules which can be integrated into a CPXterminal (� Pneumatic modules)

DIL switches Miniature switch; dual-in-line switches consist of several switch elementswith which settings can be made

ESI EtherCAT slave information

I Input

I/O Input and output

I/O module Collective term for CPX modules that provide analogue or digital inputs andoutputs

O Output

Tab. 0/2: Specific terms and abbreviations – part 1


XIIIFesto P.BE-CPX-FB38-EN en 1301a

Term/abbreviation Meaning

EtherCat An industrial-Ethernet based fieldbus system for data exchange betweenthe system controller (PLC/IPC), equipment controller (e.g. CPX-FEC) andfield devices (I/O devices) or drives; transmission of process data in dataobjects (based on the CANopen fieldbus protocol); embedding of processdata in Ethernet frames (Frames) or datagrams (via UDP/IP); additionalinformation: www.ethercat.org

FEC Front End Controller, e.g. CPX-FEC, can be used as:– a stand-alone system controller (PLC, stand alone operating mode)– a system controller (PLC, remote controller operating mode)– fieldbus slave (remote I/O operating mode)

Fieldbus Data bus, via which the control device (PLC or IPC) communicates with theCPX terminal or other field devices

FMT Festo Maintenance Tool (CPX-FMT); configuration and programming soft-ware for CPX modules for commissioning and service purposes

Function module Collective term for modules with additional functions, e.g. CP-interface,Front End Controller (CPX-FEC) and CoDeSys controller (CPX-CEC); functionmodules are also known as technology modules

Handheld control unit(MMI)

Handheld terminal (handheld, CPX-MMI) for CPX modules for commission-ing and service purposes (man-machine interface, MMI)

IPC Industrial PC

PLC Programmable Logic Controller, also designated fieldbus master, systemcontroller or higher-order controller

Pneumatics interface Interface between CPX modules and pneumatic modules

STI I/O diagnostic interface (System Table Interface)

Technology module � Function module

TwinCAT Beckhoff configuration and programming software(TwinCAT: The Windows Control and Automation Technology)

Tab. 0/3: Specific terms and abbreviations – part 2


XIV Festo P.BE-CPX-FB38-EN en 1301a

Installation

1-1Festo P.BE-CPX-FB38-EN en 1301a

Chapter 1

Installation

1. Installation

1-2 Festo P.BE-CPX-FB38-EN en 1301a

Table of contents

1. Installation 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Function range (brief overview) 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 General instructions on installation 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Electrical connection and display components 1-6. . . . . . . . . . . . . . . . . . . . . . .

1.4 Dismantling and assembly 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Setting the DIL switches on the bus node 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Removing and fitting the cover over the DIL switches 1-10. . . . . . . . . . .

1.5.2 Setting the DIL switches 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Connecting to the network 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 General information about EtherCAT networks 1-17. . . . . . . . . . . . . . . .

1.6.2 Overview of connections, network connectors and cables 1-18. . . . . . .

1.6.3 Network interface 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.4 Network connection 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 You will then comply with protection class IP65/IP67 1-20. . . . . . . . . . . . . . . . . .

1.8 Pin assignment of power supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Installation


1.1 Function range (brief overview)

– Real-time Ethernet communication (EtherCAT)

– Deterministic data transmission

– Master-slave system architecture

– Diagnostic data via CoE

– Parameter data via CoE (for 20 modules)

– Adjustable fail-safe behaviour

– Activation of module diagnostics via DIL switches

1. Installation


1.2 General instructions on installation

WarningDanger of injury through uncontrolled movements of con-nected equipment.

Make sure that electrical and pneumatic equipment are ina de-energised and pressureless status.

Before working on the pneumatics:

• Switch off the compressed air supply

• Vent the valve terminal

Before working on the electrical components, e.g. beforeinstallation or maintenance work:

• Switch off the power supply

In this way, you can avoid:

– uncontrolled movements of loose tubing

– accidental and uncontrolled movements of the con-nected actuators

– undefined switching states of the electronics

NoteThe CPX bus node contains electrostatically sensitivedevices.

• Do not touch any electrical or electronic components.

• Observe the handling specifications for electrostaticallysensitive devices.

They will help you avoid damage to the electronics.

1. Installation


Information about mounting the CPX terminal can be found inthe CPX system description (P.BE-CPX-SYS-..).

1. Installation


1.3 Electrical connection and display components

You will find the following connection and display elementson the CPX bus node for EtherCAT:

4

5

6 1

CPX-FB38

2

3

1 EtherCAT-specific network status LEDs and CPX-specificLEDs

2 Network connection 2 (output “Out2”) 1)

3 Network connection 1 (input “In1”) 1)

4 Cover for DIL switches

5 Service interface for the handheld control unit (V.24)

6 Rating plate

1)Connection socket: type M12, D-coded, female, 4-pin

Fig. 1/1: Connecting and display elements on theCPX bus node

1. Installation


NoteUse protective caps or blanking plugs to seal unusedconnections. You will then comply with protection classIP65/IP67 (� Section 1.7).

1. Installation


1.4 Dismantling and assembly

When built-in, the bus node is located in an interlinking blockof the CPX terminal (� Fig. 1/2).

Dismantling Dismantle the bus node as follows:

1. Undo the four screws of the bus node with a TORXscrewdriver size T10.

2. Pull the bus node carefully and without tilting away fromthe contact rails of the manifold base.

1 CPX bus node

2 Manifold base

3 Contact rails

4 TORX T10 screws

3

4

1

2

Fig. 1/2: Dismantling/installing the bus node

NoteAlways use the correct screws for the manifold base, whichdepend on whether the base is made of metal or plastic:

– for plastic manifold bases: thread-cutting screws

– for metal manifold bases: screws with metric thread.

1. Installation


Both types of screws are enclosed respectively when orderingthe bus node as a single part.

Installation Install the bus node as follows:

1. Check seal and seal surfaces

2. Place the bus node in the manifold base. Make sure thatthe grooves (with the bus node power contact terminals)on the bottom of the bus node are above the contact rails.

3. Push the bus node carefully and without tilting as far aspossible into the manifold base.

4. Tighten the screws at first only by hand. Place the screwsso that the self-cutting threads can be used.

5. Tighten the screws with a TORX screwdriver size T10 withtorque 0.9 ... 1.1 Nm.

1. Installation


1.5 Setting the DIL switches on the bus node

To set the CPX bus node, the cover for the DIL switches mustbe removed.

NoteThe CPX bus node contains electrostatically sensitivedevices.

• Do not touch any electrical or electronic components.

• Observe the handling specifications for electrostaticallysensitive devices.

They will help you avoid damage to the electronics.

You avoid malfunctions of and damage to the electronics bydoing so.

1.5.1 Removing and fitting the cover over the DIL switches

You need a screwdriver in order to remove or fit the cover.

NoteObserve the following instructions when removing or fit-ting the cover:

• Disconnect the power supply before removing the cover.

• Make sure that the seal is seated correctly when fittingthe cover.

• Tighten the two mounting screws with a max. torque of0.4 Nm.

1. Installation


1.5.2 Setting the DIL switches

The DIL switches under the cover (� Fig. 1/3) can be used toset the following parameters:

– bus node operating mode

– diagnostic mode.

Proceed as follows:

1. Switch off the power supply.

2. Remove the cover (� Section 1.5.1).

3. Conduct the required settings (� Tab. 1/1 and Tab. 1/2).

4. Replace the cover (� Section 1.5.1).

1 DIL switch 1:bus node operatingmode

2 DIL switch 2:for Remote I/Ooperating mode:Diagnostic mode

1 2

Fig. 1/3: Settings of the DIL switches on the bus node

1. Installation


Setting the operating mode with DIL switch1

Switch element DIL 1.1 of the DIL switch1 can be used toset the operating mode of the bus node (� Tab. 1/1):

– Remote I/O operating mode

– Operating mode Remote Controller

Operating mode Setting DIL switch1

Remote I/O operating mode

All functions of the CPX terminal are controlled directly by theEtherCAT-IO controller or a superordinate PLC.

The bus node thereby takes over the connection to theEtherCAT network.

DIL 1.1: OFFDIL 1.2: OFF(factory setting)

Remote Controller operating mode

Prerequisite:A CPX-FEC or CPX-CEC is a component of the CPX terminal.

The CPX-FEC or CPX-CEC integrated in the terminal controls allfunctions.

The bus node thereby takes over the connection to the Ether-CAT network.

DIL 1.1: ONDIL 1.2: OFF

Tab. 1/1: Setting the bus node operating mode with DIL switch1

1. Installation


Remote I/O – Explanation of the operating mode

All functions of the CPX terminal are controlled directly by theEtherCAT controller or a superordinate PLC:

– Control of the CPX valve terminal (also designated I/Ocontrol)

– Data exchange between controller and modules

– Parameterisation of the modules

– Diagnostics.

Controller and CPX valve terminal communicate via EtherCAT.The bus node thereby takes over the connection to theEtherCAT network and processing of the data exchange:

– Protocol implementation

– Forwarding of incoming and outgoing data.

EtherCAT protokol(in both operating modes)

The real-time-capable EtherCAT protocol is used for this.

1. Installation


Remote Controller – Explanation of the operating mode

A CPX-FEC or CPX-CEC integrated in the CPX terminal takesover control of the terminal (also designated I/O control), forexample, as the local controller of a larger system.

Requirements for this operating mode:

– A CPX-FEC or CPX-CEC is a component of the CPX ter-minal.

– Make sure the DIL switches of the bus nodes and CPX-FECand/or CPX-CEC are set in accordance with the operatingmode (� Tab. 1/1 and description for P.BE−CPX−FEC orP.BE−CPX−CEC).

– If necessary, settings at the programme level must also beadjusted, e.g. in the hardware configuration on the pro-gramme side.

The bus node also takes over the connection to EtherCATnetwork in this configuration:

– The CPX-FEC or CPX-CEC can communicate at the field buslevel, e.g. with an EtherCAT controller, by using a 16-bytedata field (8 I-bytes and 8 O-bytes).

– A higher-order controller can use this interface, for ex-ample, to call up status information of the valve terminaland to adjust or optimise the controller accordingly withother system parts.

1. Installation


In Remote I/O operating mode:Setting the diagnostics mode with DIL switch2

The function of DIL switch2 is dependent on the setting ofDIL switch1 or the set operating mode of the CPX terminal(� Tab. 1/1):The diagnostics mode is set in the Remote I/O operatingmode.

Diagnostics mode(Remote I/O operating mode)

SettingsDIL switches2

I/O diagnostics interface and statusbits are switched off(+ 0 I/O bits)

2.1: Off2.2: Off(factorysetting)

Status bits are switched on(+ 8 (16) I bits) 1)

2.1: Off2.2: ON

I/O diagnostics interface is switchedon(+ 16 I/O bits) 1)

2.1: ON2.2: Off

Reserved for future extensions 2.1: ON2.2: ON

1) The diagnostics mode (status bits or I/O diagnostics interface)occupies 2 bytes or 4 bytes of address space (16 I-bits or 16I/O-bits; 8 I-bits remain unused in the status bits mode)

Tab. 1/2: Setting the diagnostic mode with DIL switch2(Remote I/O operating mode)

1. Installation


Note(1) The diagnostics mode reduces the available addressspace

Use of the diagnostics mode (status bits or I/O diagnosticsinterface) occupies 16 I- or 16 I/O bits and thus reducesthe number of I/O bits which are available for module com-munication. In this way, the number of addressable mod-ules is reduced in favour of additional status or diagnosticinformation.

Take account of this fact for the planning of your CPX ter-minal.

(2) Subsequent activation requires reconfiguration

The CPX-internal I/O image can be displaced during sub-sequent activation of the diagnostics mode (status bits orI/O diagnostics interface).

In this case, repeat the EtherCAT network configuration inyour configuration and programming software (e.g. Beck-hoff TwinCAT), particularly with regard to the assignmentof inputs and outputs.

In Remote Controller operating mode:Function of the DIL switch2

The function of DIL switch2 is dependent on the setting ofDIL switch1 or the set operating mode of the CPX terminal(� Tab. 1/1):

In the Remote Controller operating mode, DIL switch2 isreserved for future expansions.

1. Installation


1.6 Connecting to the network

1.6.1 General information about EtherCAT networks

NoteComponents with EtherCAT interfaces may be operatedonly in networks where all connected network componentsare supplied with PELV power supplies or integrated powersupplies with similar protection.

Installation instructions

You can obtain specifications, installation notes and instruc-tions through the EtherCAT user organisation:

� www.ethercat.org

Observe the instructions there.

1. Installation


1.6.2 Overview of connections, network connectors and cables

Bus nodes Connections Network connectors Cable specification

CPX-FB38 2x M12 socket,D-coded, female,4-pin, according toIEC 61076-2-101,SPEEDCON®

compatible

Plug from Festo, typeNECU-M-S-D12G4-C2-ET,for Ethernet lines withcable diameters of6 ... 8 mm

– Cable type:Shielded industrial Ethernet line(at least category Cat 5)

– Cable length:max. 100 m between networkparticipants (corresponding tospecifications for Ethernetnetworks, ISO/IEC 11801 andANSI/TIA/EIA-568-B)

– Core cross section for max. linelength:22 AWG (for 100 m link length,based on ISO/IEC 11801)

Tab. 1/3: Overview of connections, network connectors and network cables

NoteIf installation has not been carried out correctly and if highbaud rates are used, data transmission errors may occuras a result of signal reflections and attenuation.

1.6.3 Network interface

To connect to the network, there are two 4-pin M12 socketswith D-coding on the bus node CPX-FB38 (for industrialEthernet use, corresponding to IEC 61076-2-101). The socketsare compatible with SPEEDCON® plugs.

1. Installation


Socket Pin Signal Explanation

M12, D-coded

1234Housing

TD+RD+TD–RD–FE

Transmission data (transmit data, TD) +Receive data (receive data, RD) +Transmitted data –Received data –Shield/functional earth(Shield/functional earth, FE)

Tab. 1/4: Pin assignment of the network interface

1.6.4 Network connection

Connection with plug from Festo

Connect the CPX terminal to the network with Festo plugstype NECU-M-S-D12G4-C2-ET. The plug is designed forEthernet lines with cable diameters of 6 ... 8 mm.

To comply with protection class IP65/IP67:

– Use Festo plugs.

– Seal any unused interfaces (� Section 1.7).

Cable specification

Use shielded industrial Ethernet round cable of categoryCat 5 or higher. You can find details regarding cable specifica-tion in Tab. 1/3.

The CPX bus node FB38 supports crossover detection:You can optionally use patch cables or crossover cables(Auto-MDI) for connecting your bus node to the network,controller or a PC.

1. Installation


NoteIf the CPX terminal is fitted onto the moving part of amachine, the network cable on the moving part must beprovided with strain relief. Also observe the correspondingregulations in IEC/EN 60204 Part 1.

1.7 You will then comply with protection class IP65/IP67

In order to comply with protection class IP65/IP67, seal anyunused sockets with the appropriate plugs and cover caps:

Port Port IP65/IP67 Cover IP65/IP67 1)

L/A1, L/A2 (M12) Festo connector,type NECU-M-S-D12G4-C2-ET

Cover cap from Festo,type ISK-M12

Service interface (M12) Connecting cable and plugof the handheld control unit(CPX -MMI)

Cover cap from Festo,type ISK-M12 2)

1) if connection is not used2) included in scope of delivery

Tab. 1/5: Connections and covers for protection class IP65/IP67

1. Installation


1.8 Pin assignment of power supply

Warning• Only use PELV circuits as per IEC/EN 60204-1 (protectiveextra-low voltage, PELV) for the electrical power supply.

• Also observe the general requirements for PELV circuitsin accordance with IEC/EN 60204-1.

• Use only voltage sources that guarantee reliableelectrical isolation of the operating voltage according toIEC/DIN EN 60204-1.

The use of PELV circuits ensures protection against electricshock (protection against direct and indirect contact) inaccordance with IEC/EN 60204-1.

The current consumption of a CPX terminal depends on thenumber and type of integrated modules and components.

Read the information about the power supply as well as onthe earthing measures to be carried out in the CPX systemmanual (P.BE-CPX-SYS-...).

System supply, additionalsupply and valve supply

The CPX terminal is supplied with operating and load powervia the manifold base with system, additional and valvesupply.

1. Installation


Plug Interlinking block with

System supplyType CPX-(M-)GE-EV-S…

Additional power supplyType CPX-(M-)GE-EV-Z...

Valve supplyType CPX-GE-EV-V...

7/8” 4-pin 1)

DC

B A

D:0 VEL/SEN / 0 VVAL /0 VOUT

C: FEB: 24 VVAL / 24 VOUTA: 24 VEL/SEN

D:0 VOUTC: FEB: 24 VOUTA: not connected

D:0 VVALC: FEB: 24 VVALA: not connected

7/8” 4-pin 2)

DC

B A

D:0 VVAL / 0 VOUTC: 0 VEL/SENB: 24 VVAL / 24 VOUTA: 24 VEL/SEN

– –

7/8” 5-pin

12

3

4 5

1: 0 VVAL / 0 VOUT2: 0 VEL/SEN3: FE4: 24 VEL/SEN5: 24 VVAL / 24 VOUT

1: 0 VOUT2: not connected3: FE4: not connected5: 24 VOUT

–

M18, 4-pin 1)

1 2

34

1: 24 VEL/SEN2: 24 VVAL / 24 VOUT3: 0 VEL/SEN /

0 VVAL / 0 VOUT4: FE

1: not connected2: 24 VOUT3: 0 VOUT4: FE

1: not connected2: 24 VVAL3: 0 VVAL4: FE

Push-pull 5-pin 3) 4) 1: 24 VEL/SEN2: 0 VEL/SEN3: 24 VVAL / 24 VOUT4: 0 VVAL / 0 VOUT5: FE

1: not connected2: not connected3: 24 VOUT4: 0 VOUT5: FE

–

24 VEL/SEN, 0 VEL/SEN : Operating voltage electronics/sensors24 VOUT, 0 VOUT: Load voltage of outputs24 VVAL, 0 VVAL: Load voltage of the valvesFE: Functional earthA, B, C, D: Note: Coupling (plug socket NECU-G78G4-C2) is marked with “1, 2, 3, 4”.

Allocation: D=1, C=2, B=3, A=4. Other couplings can deviate from this.

1) Only for plastic interlinking blocks2) CPX-M-GE-EV-S-7/8-CIP-4POL only3) Only for metal interlinking blocks

4) CPX-M-GE-EV-S-PP-5POL can be usedalternatively for power supply to the followingequipment (� P.BE-CPX-SYS-…).

Tab. 1/6: Pin assignment for interlinking blocks with system supply, additional supply orvalve supply

1. Installation


Plug End plate with system power supply, type CPX-EPL-EV-S1)

1 2 3 4 5 6 7

Pin header, 7-pin 1: 0 VVAL2: 24 VVAL3: 0 VOUT4: 24 VOUT5: 0 VEL/SEN6: 24 VEL/SEN5: FE

24 VEL/SEN, 0 VEL/SEN : Operating voltage electronics/sensors24 VOUT, 0 VOUT: Load voltage of outputs24 VVAL, 24 VVAL: Load voltage of the valvesFE: Functional earth

1) Only for CPX terminals with plastic interlinking blocks

Tab. 1/7: Pin allocation of the end plate with system power supply

1. Installation


Commissioning


Chapter 2

Commissioning

2. Commissioning


Table of contents

2. Commissioning 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General information 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Address assignment 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Addressing 2-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Basic rules for addressing 2-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Address assignment after extension or conversion 2-20. . . . . . . . . . . .

2.4 Configuration 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Registering participant properties (“ESI file”)in the configuration program 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Addressing and data access (data objects) 2-29. . . . . . . . . . . . . . . . . . .

2.4.3 CPX terminal configuration using Beckhoff TwinCAT(EtherCAT network configuration) 2-30. . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.4 Linking automation project (PLC project) 2-38. . . . . . . . . . . . . . . . . . . . .

2.4.5 EtherCAT topology representation 2-40. . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.6 Configuration in the Remote Controller operating mode 2-42. . . . . . . .

2.5 Parameterisation 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Introduction to parameterisation 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 General prerequisite for parameterisation 2-45. . . . . . . . . . . . . . . . . . .

2.5.3 Methods of parameterisation 2-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.4 Parameterisation via the Festo Maintenance Tool (method 1) 2-47. . . .

2.5.5 Parameterisation with the handheld unit (method 2) 2-47. . . . . . . . . . .

2.5.6 Parameterisation via EtherCAT (method 3) 2-47. . . . . . . . . . . . . . . . . . .

2.6 Remarks on parameters of the CPX system settings 2-56. . . . . . . . . . . . . . . . . . .

2.6.1 Parameterisation of the Fail safe mode 2-56. . . . . . . . . . . . . . . . . . . . . .

2.6.2 CPX-FB38-specific process of start parameterisationduring switching on (system start) 2-58. . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Application example for the parameterisation 2-60. . . . . . . . . . . . . . . . . . . . . . . .

2.8 Checklist for starting up the CPX terminal 2-61. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Bus node replacement 2-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Commissioning


2.1 General information

Switching on the power supply

NotePlease observe the switching-on instructions in the manualof your control system (PLC/IPC).

Separate supply If the control system and the field bus slaves have separatepower supplies, the devices must be switched on in thefollowing sequence:

1. Switch on the operating voltage supply of all bussubscribers (I/O Devices).

2. Switch on the operating voltage supply for the controller.

Addressing, configuration and parameterisation

Addressing The address space of a CPX terminal in the EtherCAT networkis limited. Determine the number of assigned inputs and out-puts prior to commissioning or configuring the CPX terminal(� Section 2.2 for address assignment and section 2.3 foraddressing).

Configuration Configuration of a CPX terminal and the related CPX bus nodedepends on the control system used. The basic procedureand the required configuration data are presented on thefollowing pages (� Section 2.4).

Parameterisation A CPX terminal in the EtherCAT network can be parametrised

via a handheld control unit (CPX-MMI) or the Festo Mainten-ance Tool (CPX-FMT). 20 I/O modules can be parameterisedvia configuration and programming software (e.g. TwinCAT)

(for more information� Section 2.5).

2. Commissioning


2.2 Address assignment

NoteThe address space of a CPX terminal in the EtherCAT net-work is limited.

The CPX bus node for EtherCAT provides the CPX terminalwith an address space of up to 64 bytes for inputs (I) and64 bytes for outputs (O).

Each module of the CPX terminal occupies a certain num-ber of I/O bits, I/O bytes or words in the context of mod-ule communication.

The number of occupied I/O bytes (of the respectivemodule) can be found in the following tables (Tab. 2/1 toTab. 2/5).

Certain functions, such as the I/O diagnostics interface(STI), also reduce the number of available I/O bytes(in favour of status or diagnostic functions).

Take account of this fact for the planning of your CPX ter-minal.

Before starting up or configuring the CPX terminal, determinethe number of assigned inputs and outputs. Tab. 2/7 pro-vides help with this.

Use the configuration documents, the handheld control unit(CPX-MMI) or the Festo Maintenance Tool (CPX-FMT) todetermine address assignment or terminal set-up.

In the handheld control unit, the individual modules of theCPX terminal are displayed with the respective module identi-fiers. Using the module identifier and the following tables,you can determine the module type and, with it, the numberof inputs and outputs occupied by the module.

2. Commissioning


Module identifiers Each module, including the bus node, has its own identifier,the so-called module identifier. It serves to determine andlocalise the module type, for example as part of configura-tion. Apply the module identifiers – from left to right, corres-ponding to the physical order as installed in the CPX termin-al – in your configuration program (e.g. Beckhoff TwinCAT,� Section 2.4).

In graphically oriented configuration programs, the moduleidentifiers are typically found in a separate listing of all avail-able hardware modules or field devices, e.g. in a moduledirectory or module catalogue.

Electric modules

Tab. 2/1 and Tab. 2/2 give an overview of the assignedaddress spaces of different electrical modules and of the busnode in the Remote I/O operating mode.

Tab. 2/3 shows the assigned address space of the bus nodein the Remote Controller operating mode.

The address assignment within the individual CPX I/Omodules can be found in the description for the I/O module(P.BE-CPX-EA-...).

Details on the CP interface can be found in the manual for theCP interface (P.BE-CPX-CP-...).

2. Commissioning


Electric modules Module type Moduleidentifier 1)

Assigned address space

Description Inputs Outputs

Bus node for EtherCATin operating mode Remote I/O 2)

without diagnostics access

CPX-FB38 FB38-RIO... – –


with status bits [Status]

CPX-FB38 FB38-RIO... 2 bytes/8 (16) I 3)

(8 bits used)

–


with I/O diagnostics interface[System Table Interface, STI]

CPX-FB38 FB38-RIO... 2 byte/16I

2 byte/16 O

Digital 4-input module CPX-4DE 4DI 1 byte/4 (8) I 3)

–

Digital 8-input module CPX-8DE 8DI 1 byte/8 I –

Digital 8-input modulewith channel diagnosis

CPX-8DE-D 8DI-D 1 byte/8 I –

Digital 8-input module,n-switching

CPX-8NDE 8NDI 1 byte/8 I –

Digital 16-input module CPX-16DE 16DI 2 bytes/16 I –

Digital 16-input modulewith channel diagnosis

CPX-M-16DE-D 16DI-D 2 bytes/16 I –

1) Module identifier in the handheld unit or in the hardware configuration of the programming soft-ware

2) Number of occupied I/O bytes in the Remote Controller operating mode:� Tab. 2/33) Diagnostics mode status bits assigned 2 bytes of address space (8 I or 8 bits remain unused);

4-way modules (CPX-4DE and CPX-4DA) occupy 8 I or 8 O or 1 byte of address space (4 I/O or4 bits of address space remain unused)

Tab. 2/1: Address assignment of electric CPX modules(overview; bus node in Remote I/O operating mode) – part 1

2. Commissioning


Electric modules Module type Moduleidentifier 1)



Digital 4-output module CPX-4DA 4DO – 1 byte/4 (8) O 2)

Digital 8-output module CPX-8DA 8DO – 1 byte/8 O

Digital 8-output high currentoutput module

CPX-8DA-H 8DO-H – 1 byte/8 O

Digital multi I/O module CPX-8DE-8DA 8DI/8DO 1 byte/8 I

1 byte/8 O

Analogue 2-input module CPX-2AE-U-I 2AI 2 words/32 I –

Analogue 4-input module CPX-4AE-I 4AI-I 4 words/64 I –

Analogue 4-input module(Temp. module for RTD sensors)

CPX-4AE-T 4AI-T 2 words or4 words/32/64 I 3)

–

Analogue 4-off input module CPX-4AE-U-I 4AI 4 words/64 I –

Analogue 4-way input module(Temp. module for TC sensors)

CPX-4AE-TC 4AI-TC 4 words/64 I –

Analogue 2-output module CPX-2AA-U-I 2AO – 2 words/32 O

CP interface CPX-CP-4-FB CPI max.8 words/128 I 4)

max. 8 words/128 O 4)


2) Diagnostics mode status bits assigned 2 bytes of address space (8 I or 8 bits remain unused);4-way modules (CPX-4DE and CPX-4DA) occupy 8 I or 8 O or 1 byte of address space (4 I/O or4 bits of address space remain unused)

3) Number of inputs which can be switched between 2 and 44) Address space assignment depends on the string allocation

Tab. 2/2: Address assignment of electric CPX modules(overview; bus node in Remote I/O operating mode) – part 2

2. Commissioning


Configurationof the bus node

The identification of the bus node and the diagnostics modeare configured in the Remote I/O operating mode(� Tab. 2/1 and Tab. 2/2).

Only the identification of the bus node is configured in theRemote Controller operating mode (� Tab. 2/3).

Electric modules Moduletype

Moduleidentifier 1)



Bus node for EtherCATIn Remote Controller operating mode

CPX-FB38 FB38-RC 8 bytes/64 I 8 bytes/64 O

1) Module identifier in the handheld unit or in the hardware configuration of the programmingsoftware.

Tab. 2/3: Address assignment of the bus node in the Remote Controlleroperating mode

Pneumatic interfaces and pneumatic modules

Tab. 2/4 … Tab. 2/6 give an overview of the assigned addressspaces of different pneumatic interfaces and modules.

Configuration of thepneumatics (valves)

The valves are configured according to the pneumaticinterface used:

– Valves of type 03 (Midi/Maxi), type 12 (CPA) andtype 44/45 (VTSA/VTSA-F or ISO):

When extensions are added to the valve side, only oneconfiguration is required for the pneumatic interface. Inthe pneumatic interface, the number of valve coils is setusing a DIL switch.

2. Commissioning


– Valves of type 32 and 33 (MPA-, MPA-F-, MPA-L- andMPA-P or VPPM pneumatic modules):

From the technical point of view, the individual MPApneumatic modules each represent an electric module forcontrolling the attached valves.

Each pneumatic module of type MPA requires configura-tion:

– Pneumatic modules of typeMPA1 each occupy 1 byteof address space or 8 outputs regardless of how manyvalves are attached to the pneumatic module.

– Pneumatic modules of typeMPA2 each occupy 1 byteof address space or 8 outputs, but only 4 bits are used.

– Pneumatic modules of typeMPA-P each occupy 1 word(2 bytes) of address space or 16 inputs.

– Pneumatic modules of type VPPM each occupy 2 wordsof address space or 1 word I/1 word O or 16 inputs and16 outputs.

Pneumatic modules of type MPA-P and VPPM are ana-logue modules. Observe the order of the modules in ad-dressing or I/O mapping (� Tab. 2/8).

Further information about the pneumatics can be found in thecorresponding pneumatics descriptions (� documentoverview “Descriptions of the CPX terminal” in the CPXsystem description P.BE-CPX-SYS...).

The manuals for the pneumatic valve cluster (Midi/Maxi, CPA,MPA and VTSA/VTSA-F or ISO) contain the address assign-ment within the pneumatic modules.

For further information aboutMPA pneumatic modules and thepneumatic interfaces:� description for the CPX I/O modules(P.BE-CPX-EA-...).

2. Commissioning


CPX pneumatic interfaces1) Type Module iden-tifiers 1) 4)

Allocated addressspace

Inputs Outputs

Pneumatics interface for MPA-S valves(type 32)

VMPA-FB-EPL-... – – –

Pneumatic interface for MPA-F valves(type 33)

VMPAF-FB-EPL-... – – –

Pneumatic interface for MPA-L valves(type 34) 2)

– 1...4 solenoid coils– 1...8 solenoid coils– 1...16 solenoid coils– 1...24 solenoid coils– 1...32 solenoid coils

VMPAL-FB-EPL-... – –

1 bytes/8 O1 bytes/8 O2 bytes/16 O3 bytes/24 O4 bytes/32 O

Pneumatic interface for VTSAor VTSA-F pneumatics(CPX type 44/45: 1-..-..)with setting: 3)

– 1...8 solenoid coils– 1...16 solenoid coils– 1...24 solenoid coils– 1...32 solenoid coils

VABA-10S6-X1 ISO plug-in ortype 44 or type45 3)

–

1 bytes/8 O2 bytes/16 O3 bytes/24 O4 bytes/32 O

Pneumatic interface for Midi/Maxivalves (CPX type 03: 1-..-..)with setting: 3)

– 1...8 solenoid coils– 1...16 solenoid coils– 1...24 solenoid coils– 1…32 solenoid coils (26 effective)

CPX-GP-03-4.0 TYPE3 –

1 bytes/8 O2 bytes/16 O3 bytes/24 O4 bytes/32 O

Pneumatic interface for CPA valves(CPX type 12: 1-..-..)with setting: 3)

– 1...8 solenoid coils– 1...16 solenoid coils– 1…24 solenoid coils (22 effective)

CPX-GP-CPA-10CPX-GP-CPA-14

CPA10/14 –

1 bytes/8 O2 bytes/16 O3 bytes/24 O


2) Setting with rotary switch in the pneumatic interface3) Setting with DIL switch in the pneumatic interface4) Display text (module identifier) dependent on the version of the handheld unit

Tab. 2/4: Overview of CPX pneumatic interfaces

2. Commissioning


CPX pneumatic modules forMPA-S and MPA-F

Type of electronicsmodule

Moduleidentifiers 1)


Inputs Outputs

MPA1 pneumatic module(CPX type 32/33: 1-8V..)None Electrical isolation

VMPA1-FB-EMS-8 MPA1S – 1 byte/8 O

MPA1 pneumatic module(CPX type 32/33-G: 1-8V..)with galvanic isolation

VMPA1-FB-EMG-8 MPA1G – 1 byte/8 O

MPA2 pneumatics module(CPX type 32/33: 1-4V..)None Electrical isolation

VMPA2-FB-EMS-4 MPA2S – 1 byte/4 (8) O 2)

MPA2 pneumatics module(CPX type 32/33-G: 1-4V..)with galvanic isolation

VMPA2-FB-EMG-4 MPA2G – 1 byte/4 (8) O 2)

MPA1 pneumatic module(CPX type 32/33: 1-8V..)with diagnostic function D2

VMPA1-FB-EMS-D2-8 MPA1S-D – 1 byte/8 O

MPA1 pneumatic module(CPX type 32/33-G: 1-8V..)with galvanic isolation,with diagnostic function D2

VMPA1-FB-EMG-D2-8 MPA1G-D – 1 byte/8 O

MPA2 pneumatics module(CPX type 32/33: 1-4V..)None galvanic isolation,with diagnostic function D2

VMPA2-FB-EMS-D2-4 MPA2S-D – 1 byte/4 (8) O 2)

MPA2 pneumatics module(CPX type 32/33-G: 1-4V..)with galvanic isolation,with diagnostic function D2

VMPA2-FB-EMG-D2-4 MPA2G-D – 1 byte/4 (8) O 2)


2) In principle, MPA2 modules occupy 8 O (1 byte) of address space (4 O or 4 bits remain unused)

Tab. 2/5: Overview of CPX pneumatic modules for MPA-S and MPA-F (part 1)

2. Commissioning


CPX pneumatic modules forMPA-S and MPA-F

Module type Moduleidentifiers 1)


Inputs Outputs

VPPM proportional pressure-regulatingvalve (type 32)

VPPM-6TA-L-1-F... VPPM 1 word/16 I

1 word/16 O

MPA−P pressure sensor module VMPA-FB-PS-... MPA-P 1 word/16 I

–


Tab. 2/6: Overview of CPX pneumatic modules for MPA-S and MPA-F (part 2)

2. Commissioning


Calculating the number of inputs/outputs

Use Tab. 2/7 to calculate the number of inputs and outputs(of address assignment) of your CPX terminal.

Input/output modules and system diagnostics Inputs Outputs

1. Status bits or I/O diagnostics interface1) + ____ I + ____ O

2. Number of input modules CPX-4DE + __ x 8I2) + ____ I

3. Number of input modules CPX-8DE, 8DE-D, -8NDE + __ x 8 I + ____ I

4. Number of input modules CPX-(M-)16D(E), L-16DE-… + __ x 16I + ____ I

5. Number of output modules CPX-4DA + __ x 8O2) + ____ O

6. Number of output modules CPX-8DA, 8DA-H + __ x 8 O + ____ O

7. Number of multi I/O modules CPX-8DE-8DA, L-8DE-8DA… + __ x 8 I/O + ____ I + ____ O

8. Number of analogue input modules CPX-2AE-U-I + __ x 32 I + ____ I

9. Number of analogue input modules CPX-4AE-I, 4AE-U-I + __ x 64 I + ____ I

10. Number of analogue input modules CPX-4AE-T + __ x 32 I/ x 64 I + ____ I

11. Number of analogue input modules CPX-4AE-TC + __ x 64 I + ____ I

12. Number of analogue input modules CPX-4AE-P-… + __ x 64 I + ____ I

13. Number of analogue output modules CPX-2AA-U-I + __ x 32 O + ____ O

14. Number of inputs and outputs of other modules(e.g. CP interface, VPPM-/MPA-P pneumatic module)

+ __ I/O + ____ I + ____ O

15. Midi/Maxi, CPA-, MPA-L and VTSA/VTSA-F pneumatic interfaces:Number of configured valve solenoid coils (+ 8 O ... 32 O; factory con-figured presets are 32 O (Midi/Maxi, VTSA/VTSA-F/MPA-L) or 24 O (CPA))

+ ____ O

16. Number of MPA1 or MPA2 pneumatics modules + __ x 8 O2) + ____ O

17. Sum total of inputs/outputs to be configuredTotal from 1 to 16 (max. 512 I and 512 O)

= ____ I = ____ O

1) Number of occupied inputs/outputs: see Tab. 2/12) 4-way modules CPX-4DE and CPX-4DA as well as MPA2 pneumatic modules generally occupy

8 inputs or outputs (1 byte; available address space remains partially unused)

Tab. 2/7: Identifying the assigned address space (total of inputs and outputs)

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2.3 Addressing

2.3.1 Basic rules for addressing

– The fieldbus node counts as a module with 0 inputs and0 outputs if the status bits and the I/O diagnostics inter-face are deactivated.

– Note the remarks regarding address assignment insection 2.2.

– The address assignment of the inputs does not dependon the address assignment of the outputs.

– Counting is from left to right, addressing in bytes:Modules with less than 8 bits occupy 8 bits of addressspace, but do not use all this space.

– The I/Os of different module types are assignedseparately from each other. Observe the sequence ofaddressing:� Tab. 2/8.

NoteIf necessary, status bits or the I/O diagnostics interfacecan be activated via DIL switch (� Tab. 1/2):

– If the 8 status bits are activated, they will occupy thefirst 16 inputs in the address range (8 used).

– If the I/O diagnostics interface is activated, it will occupythe first 16 inputs and outputs in the address range.

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Sequence of addressing Description

1. Status bits or I/O dia-gnostics interface 1)

Delivers status and diagnostic information; activate via DILswitch; occupies the first 16 inputs or inputs and outputs 2)

2. Analogue modules Modules with analogue inputs/outputs

3. Technology modules e.g. CP interface, front end controller (CPX-FEC), CodeSys control-ler (CPX-CEC)

4. Digital modules Modules with digital inputs/outputs

1) � also refer to the note above as well as Tab. 1/2 and Tab. 2/1.2) Depending on the setting, you can also occupy this address space with modules

(� also refer to the following information).

Tab. 2/8: Sequence of addressing

If the status bits or I/O diagnostics interface are activatedlater, i.e. after the initial start-up, the module configurationfor the first 16 inputs or inputs and outputs is to be adjusted.

Move the modules originally configured in this addressspace into another area. Configuration of these modules is tobe repeated if necessary (� also refer to section 2.4 regard-ing configuration with EtherCAT configuration and program-ming software, e.g. Beckhoff TwinCAT).

Configuration examples

Example 1: CPX terminal with MPA1 and MPA2 pneumatic

Fig. 2/1 shows as an example a CPX terminal with MPApneumatics and the following setting:

– Status bits and /I/O diagnostics interface deactivated

The address assignment for this example terminal(in Fig. 2/1) is shown in Tab. 2/9.

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Module no.: 0

1 2

8DI 4DO 8DI

8O

3

8DO

8O

1 2 3 4 5 6

4O 4O

4

1 Bus node CPX-FB38

2 MPA pneumatic interface

3 MPA1 pneumatic modules (8 O each)

4 MPA2 pneumatic modules (4 O each)

Fig. 2/1: Example terminal 1 (with MPA1 and MPA2 pneumatics)

Module no. Module Input address Output address

0 Bus node CPX-FB38 – –

1 Digital 8-input module CPX-8DE I0 ... I7 –

2 Digital 4-way output module CPX-4DA – O0 ... O71)

3 MPA1 pneumatic module (8 O) – O8 ... O15


5 MPA2 pneumatic module (4 O) – O24 ... O311)

6 MPA2 pneumatic module (4 O) – O32 ... O391)

1) 8 bits (1 byte) assigned, 4 bits used – when the Festo ESI file is used the addresses are assignedbyte-by-byte (concerns module no. 2, 5 and 6)

Tab. 2/9: Addressing of example terminal 1 (� Fig. 2/1)

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Example 2: CPX terminal with CP interface

Fig. 2/2 shows as an example a CPX terminal withCP interface and the following setting:

– Status bits and /I/O diagnostics interface deactivated


1 2 3 4 5 6Module no.: 0

8 O 8 O

1

2

3

4

5

6

8DI 4DO 8DI 8DO

1 Bus node CPX-FB38

2 CPV valve terminal (16 O)on the CP interface (string 1)

3 CP input module (16DI)

4 Sensor

5 Cylinders

6 CP output module (16DO)on the CP interface (string 4)

Fig. 2/2: Example terminal 2 (with CP interface)

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0 Bus node CPX-FB38 – –


2 Digital 4-way output module CPX-4DA – O128 ... O1351)

3 CP interface CPX-CP...(In this case: 4 bytes I, 16 bytes O)

I0 ... I32 O0 ... O127

4 Digital multi-I/O module CPX-8DE-8DA I40 ... I47 O136 ... O143



1) 8 bits occupied, 4 bits used


Example 3: CPX terminal with analogue module andVTSA pneumatics

Fig. 2/3 shows as an example a CPX terminal with analoguemodule and VSTA pneumatics as well as the following setting:

– Status bits activated

– VTSA pneumatic interface set to 1 ... 8 valve coils (8 O)


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1 2

8DI 8DI 4DO 8DI 2AO

3

8DO

8 O

Module no.: 0 1 2 3 4 5 6

1 Bus node CPX-FB38 (with status bits)

2 VTSA pneumatic interface(set to 1 ... 8 valve coils)

3 VTSA pneumatics (type 44)

Fig. 2/3: Example terminal 3 (with analogue module and VTSA pneumatics)


0 Bus node CPX-FB38 (with status bits) I0 ... I15 1) –



3 Digital 4-output module CPX-4DA – O32 ... O39 2)


5 Analogue 2-output module CPX-2AA – O0 ... O31

6 VTSA pneumatic interface set to 1 ... 8valve coils

– O48 ... O55

1) 16 bits assigned, 8 bits used2) 8 bits assigned, 4 bits used


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2.3.2 Address assignment after extension or conversion

A speciality of the CPX terminal is its flexibility. If the demandsplaced on the machine change, the equipment fitted on theCPX terminal can also be modified.

CautionIf the CPX terminal is extended or converted at a laterstage, the input/output addresses may be shifted. Thisapplies in the following cases:

– Additional modules are inserted between existing mod-ules.

– Existing modules are removed or replaced by other mod-ules which have fewer or more input/output addresses.

– Interlinking blocks (CPA) or pneumatic manifold blocks(midi/maxi) for single-solenoid valves are replaced byinterlinking blocks/manifold blocks for double-solenoidvalves – or vice versa (� pneumatics description).

– Additional interlinking blocks (CPA) of manifold blocks(Midi/Maxi) are inserted between existing ones.

– The diagnostics mode (status bits or the I/O diagnosticsinterface) is activated/deactivated.

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Example terminal 3Revised by:

The following diagram, which is based on example ter-minal 3 (� Fig. 2/4), shows the effect of modificationsmade to the address assignment (compare with Fig. 2/3).

The following has been changed:

– The status bits have been deactivated.

– In the case of module no. 1 an 8-input module has beenreplaced by a 16-input module.

– The pneumatic interface has been set to 16 outputs(16 O) in order to reserve addresses for an extension tothe pneumatics.

1 2

16DI 8DI 4DO 8DI 2AO

3

8DO

16 O

Module no.: 0 1 2 3 4 5 6

1 Modified: Status bits deactivated

2 Modified: 8DI module replacedby 16DI module

3 Modified: Pneumatic interface(now set with DIL switch to1 ... 16 valve coils)

Fig. 2/4: Example terminal 3 after extension/conversion (compare with Fig. 2/3)

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0 Fieldbus node CPX-FB38with deactivated status bits

Depends on DIL switch settings

(� Tab. 1/2)



3 Digital 4-output module CPX-4DA – O32 ... O39 1)


5 Analogue 2-output module CPX-2AA – O0 ... O31

6 VTSA pneumatic interface withDIL switch set to 1 ... 16 valve coils

– O48 ... O63

bold = changed module or changed setting1) 8 bits occupied, 4 bits used

Tab. 2/12: Addressing of example terminal 3 after extension/modification (� Fig. 2/4)

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2.4 Configuration

General instructions on commissioning

Configuration of a CPX terminal demands a very accurateprocedure, as different configuration specifications aresometimes necessary for each participant, i.e. for each deviceand each “box” in the EtherCAT network, due to the modularstructure.

Note here the specifications in the sections which follow(as from section 2.4.1 regarding the configuration, andin section 2.3 as well as 2.4.2 regarding the addressing).

2.4.1 Registering participant properties (“ESI file”) in the configurationprogram

When you commission a new EtherCAT slave, i.e. an EtherCATdevice the first time, you must inform your configuration andprogramming software about certain properties of the slave.

The properties of the various participants are managed in aconfiguration file, namely the EtherCAT Slave Information File(ESI file) (designated System Manager Tree Item Descriptionin Beckhoff TwinCAT).

EtherCAT Slave Informa-tion File (“ESI file”)

The file/its contents are available in Extensible Markup Lan-guage (XML).

The ESI file serves to identify the bus node in the EtherCATnetwork. The ESI file sends basic properties of the EtherCATdevice, and manufacturer information, to the configurationprogram.

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Source(download link)

The current EtherCAT configuration file (ESI file) for CPXterminals and CPX-FB38 bus nodes can be found on theFesto website at:

� www.festo.com� Support portal: Enter search term,e.g. “CPX-FB38”� Firmware and drivers

Adding the ESI file • To expand the ESI library of your configuration program,copy the bus node-specific XML file into the programdirectory of your configuration program – in BeckhoffTwinCAT under: C:\TwinCAT\Io\EtherCat

Importing the ESI file • Then import the XML file into your configuration pro-gram – in the Beckhoff TwinCAT System Manager under:“Actions” > “Import XML Descriptions...”

NoteA detailed description of the process for importing an ESIfile can be found in the following section “Importing an ESIfile – detailed information”.

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Slave properties

When the ESI file is imported the following information is sentto the configuration program via the bus node/EtherCAT par-ticipant.

Information Description

Vendor Name Festo AG & Co. KG

Vendor ID 0000001Dh

Product Code 00000026h

Version number XXXXXXXXh

EtherCAT-Input/Output-Size 64 Byte/64 Byte(independent of the operating mode)

Product Name CPX-FB38(CPX-FB38 EtherCAT Bus module)

Catalogue number 552046

Tab. 2/13: EtherCAT slave properties

Once the ESI file has been imported, i.e. after the participantproperties have been added to the configuration program,the bus node is included as a possible EtherCAT participant.You can now integrate the bus node into your EtherCAT net-work and configure the CPX terminal.

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Importing an ESI file – detailed information

To configure and program the CPX terminal with a PC and anappropriate software package, e.g. Beckhoff TwinCAT, youwill need an EtherCAT Slave Information File (“ESI file”). TheESI file includes all of the required information for configuringand adjusting the CPX terminal by means of configurationand programming software, e.g. TwinCAT.

Explanations for the ESI file can be found in section 2.4.1.

Source(download link)

The current EtherCAT Slave Information File (ESI file) for CPXterminals and CPX-FB38 bus nodes can be found on theFesto website at:

� www.festo.com� Support portal: Enter search term,e.g. “CPX-FB38”� Firmware and drivers

File type File name Language Description

XML Festo CPX-FB38.xml(check the above linkfor a newer versionof the XML file)

language-in-dependent

“EtherCAT Slave Information File” for BeckhoffTwinCAT or other compatible configuration andprogramming software(“Beckhoff TwinCAT SystemManager Tree ItemDescription”)

Tab. 2/14: EtherCAT Slave Information File (“ESI file”) for CPX terminals and CPX-FB38bus nodes

Download • Download the current ESI file to your control system.

NoteCheck the above link occasionally for a newer version ofthe ESI file.

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• Copy the bus node-specific ESI file into the program dir-ectory of your configuration program – in Beckhoff Twin-CAT under:

– C:\TwinCAT\Io\EtherCat

To ensure TwinCAT enters the configuration file in thesystem environment, the XML file is to be imported – theprocess for which is described below (� also Fig. 2/5).

Import 1. Start the configuration program of the controller, e.g. theBeckhoff TwinCAT System Manager (1 in Fig. 2/5).

2. Import the ESI file into the configuration program – inthe TwinCAT System Manager under:

– “Actions” > “Import XML Descriptions...”2 in Fig. 2/5)

A file selection Pop-up window3 opens (is displayed).

3. Select the Festo ESI file4 and click “Open”5 to con-firm your selection.

Once the ESI file has been imported, i.e. after the participantproperties have been added to the configuration program,the bus node is included as a possible EtherCAT participant.You can now integrate the bus node into your EtherCAT net-work and configure the CPX terminal (� Section 2.4.3).

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Symbolic representationof the CPX terminal

The Festo ESI file also contains a symbolic representation ofthe bus node and the associated CPX terminal, which isreflected, for example, in the EtherCAT topology representa-tion (� Section 2.4.5). The topology representation,however, is only available after configuration of yourEtherCAT network. (The network configuration is describedin section 2.4.3).

1 2 3 4 5

Fig. 2/5: Registering participant properties in the configuration program(“XML file” import)

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2.4.2 Addressing and data access (data objects)

Addressing

Addressing the individual modules requires the supervisorycontroller: The EtherCAT master determines the position ofthe EtherCAT devices within the network. Thereby, block-oriented addressing is applied (in contrast to block-orientedaddressing of other field bus systems).

The controller uses the following for local addressing:

– The physical position of the device in the EtherCAT net-work (“Auto Increment Address”)

– An independent EtherCAT device address (“EtherCATAddress”)

If required, the EtherCAT address can be changed.

The global addressing is supported by a Field bus MemoryManagement Unit (FMMU).

NoteYou will find CPX specific information regarding theaddressing in the section 2.3.

Data access (data objects)

EtherCAT internal data is retrieved based on protocol-specificdata objects (according to the fieldbus protocol CANopen).

EtherCAT devices have an object directory which makes allimportant slave parameters accessible in a standardizedmanner. An EtherCAT system is configured mainly by accessto the object directory of the individual slaves.

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The access mechanism is provided by means of Service DataObjects (SDO).

There are two different communication mechanisms in aCANopen system.

The Process Data Objects (PDO) serve the fast transfer ofprocessing data and are transmitted by simple EtherCATmessages without protocol overhead. Process Data Objectscan be transmitted event-controlled, synchronous to a systempulse sequence or on demand.

The Service Data Objects (SDO) form a point-to-pointconnection and permit access to every entry in the objectdirectory of a node.

Use application-specific programs created according to yourpreferences to access these data objects.

2.4.3 CPX terminal configuration using Beckhoff TwinCAT(EtherCAT network configuration)

The subsequent sections describe the major configurationsteps using the configuration and programming softwareBeckhoff TwinCAT.

Other PLC systems may require different settings orprocedures.

Configuration examples presented in this section are basedon the utilization of a typical office PC and the configurationand programming software package Beckhoff TwinCAT (PLC)Version 2.10.

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Prerequisites for the subsequent explanations:

• It is assumed that the operation of the Beckhoff TwinCATsoftware is as understood.

• The PC is equipped with an Ethernet interface cardcomprising an Intel IC chip set.

• The Ethernet card, i.e. the I/O Device, has been incorpo-rated into the the EtherCAT system (in TwinCAT by usingAppend Device...).

• The ESI file for the CPX terminal has been imported(� Section 2.4.1).

The Beckhoff TwinCAT configuration and programmingsoftware consists of several program components. The con-figuration program, the TwinCAT System Manager and thecorresponding programming software or control system(TwinCAT PLC Control), make up the main components of thesoftware package or TwinCAT system environment.

Primary functions of the TwinCAT System Manager:

– EtherCAT network configuration

– Configuration of network participants (interface cards orI/O devices and field devices or “boxes”)

– Assignment of the I/O devices and “boxes” to controlprojects (“PLC Projects”)

Primary function of the TwinCAT PLC Control:

– Configuration and programming software for TwinCATcontrol projects (“PLC Projects”)

2. Commissioning


NoteThese instructions refer to the TwinCAT settings in“English” and “German”.

Other language versions usually use other designations forthe program and function calls and menu items mentionedhere.

The language setting can be found in the TwinCAT SystemManager by selecting:

“Options” > “Language”

CautionDanger of malfunctions, damage or injuries to people

A valve terminal will be put into operation even if it is in-correctly configured.

Before commissioning, make sure that the connected com-ponents (e.g. actuators) do not perform any unexpected oruncontrollable movements.

If necessary, disconnect the load power supply and com-pressed air supply.

� also section 2.8, checklist for commissioning the CPXterminal.

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Creating automation project

1. Start the TwinCAT System Manager:

Start > Programs > TwinCAT System > TwinCAT SystemManager (subsequently referred to as System Manager)

Note: The program path of your TwinCAT installation canbe different from the example shown here.

2. Create a new project in the System Manager:

“File” > “New”

3. Save the new project:

“File” > “Save as...”

4. Enter a project name and confirm your entry by pressingOK or “Save”.

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Adding a field device (“Box”), e.g. CPX bus node

1. Make sure the configuration mode (“Config Mode”) isactivated: The System Manager shows the activatedConfig Mode in the TwinCAT window at the bottom right-hand corner of the screen.

2. If the Config Mode is not activated:

Click the corresponding icon (� adjacent image) orpress [Shift] + [F4] to switch to the Config Mode.

3. With the exception of “Activate Free Run”, confirm allsubsequent queries with Yes:

- Restart of TwinCAT in the config mode– (“Restart TwinCAT System in Config Mode”)- Load I/O Devices– (“Load I/O Devices”)

4. Right-click the Device icon; “Device 1 (EtherCAT)” here.

A menu appears.

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5. Select... “Scan Boxes...”.

The System Manager scans for field devices (“Boxes”).

The field devices (“Box 1” here) are listed under thecorresponding device entry (“Device 1” here):� image below.

6. Left-click the box icon, “Box 1 (CPX-FB38 64Byte)” here,to display its properties, e.g. EtherCAT-specific settingsor process data.

The properties are displayed in the right-hand section ofthe System Manager.

– EtherCAT-specific settings, e.g. EtherCAT behaviour ofthe box or bus node can be found under:

EtherCat > “Advanced Settings”

– A modification of the box properties is usually notnecessary.

7. If the box properties are not displayed:

Use the “Split” function to partition the window:

“View” > “Split”

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Functional test in the framework of the Free RunState

The “Free Run State” supports the setup and inspection ofyour automation project.

The functional capability of the EtherCAT network andembedded I/O Devices can be checked in the framework ofthe Free Run State to input and output level: Also eachparticular input and output of a CPX terminal can be read oractivated (forced) for test purposes.

1. Make sure the configuration mode(“Config Mode”) is activated: The System Manager showsthe activated Config Mode in the TwinCAT window at thebottom right-hand corner of the screen.

Click the corresponding icon (� 1 in Fig. 2/6) or press[Shift] + [F4] to switch to the Config Mode.

NoteIf the Config Mode has not been activated, the Free RunState will not be available.

In this case, the Free Run icon (2 in Fig. 2/6) is greyedout, e.g. if the EtherCAT system is in a “Stopped” state.

2. Activate the “Free Run State” in the TwinCAT SystemManager:

Click the corresponding icon (� adjacent image or2 inFig. 2/6) or press [Ctrl] + [F5] to switch to the Free RunState.

The System Manager shows the activated Free Run Statein the TwinCAT window at the bottom right-hand cornerof the screen.

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1 2

3 6 87

4 5

Fig. 2/6: Functional test in the frame work of the Free Run State

3. Select the input or output to be tested (� 3 in Fig. 2/6):

Left-click the icon of the input or output, “Valves(Example)” here, to display its properties.

The properties are displayed in the right-hand section ofthe System Manager.

4. Click “Online”4 to display the current input or outputdata and/or the value (“Value”).

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The current value is displayed graphically in the lowersection of the window:� 8 in Fig. 2/6.

5. Click “Write”5 to change the value.

The “Set Value Dialog” window6 opens.

6. Enter the required value.

7. Confirm your entry by pressing “OK”7.

8. The current value changes accordingly:� graphicalrepresentation8. The valves of a CPX terminal areswitched in this example.

9. Check the execution of the value change directly at theterminal.

2.4.4 Linking automation project (PLC project)

The PLC project, together with its “inputs and outputs”(i.e. tabs and objects), forms the software interface betweenthe automation programme and the inputs and outputs of theEtherCAT network, i.e. the “I/O Devices” and “Boxes”.

An EtherCAT automation project is integrated in the systemenvironment (Beckhoff TwinCAT here) via links. The individualhardware components, namely “I/O Devices” and “Boxes”,are connected to software components (“linked to”� example in Fig. 2/7).

The varied functions and options of the TwinCAT system formthereby the basis for EtherCAT automation projects providingmultitudinous optimization opportunities.

Example projects (“Samples”) and templates (“Templates”)can either be found in the TwinCAT directory of your systemenvironment, via the TwinCAT help menu or via the “TwinCATInformation System” (separate installation required).

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Fig. 2/7: Linking the EtherCAT network with a TwinCAT automation project or“PLC Project” (example)

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The software for the “TwinCAT Information System” can befound online at:

– http://www.Beckhoff.de

Detailed information as well as example projects and masterprojects can be retrieved using the following keywords:

– “PLC”, “Project”, “Library”, “Sample”, “Configuration” (orenter the corresponding term in the respective language),“Template”, “Tutorial” etc.

For additional support please contact your Festo servicecentre, e.g. via e-mail:

– [email protected]

2.4.5 EtherCAT topology representation

Symbolic representationof the EtherCAT topologyand the CPX terminal

The topology representation represents the structure of theEtherCAT network and the “Devices” and “Boxes”, e.g. ofthe CPX bus node and the associated CPX terminal (4 inFig. 2/8).

The following explanations describe the process for callingup the topology representation in Beckhoff TwinCAT.

NoteThe topology display however is first available aftercompletion of the EtherCAT network configuration.

The network configuration is described in section 2.4.3.

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1 24 3

Fig. 2/8: EtherCAT topology display

1. In TwinCAT System Manager, click on the device symbol ofthe bus node1 to display the device properties.

2. Click “EtherCAT” in the Device Properties window2 toopen the EtherCAT tab.

3. Click “Topology”3:

A separate window shows the topology of the EtherCATnetwork and the “Devices” and “Boxes”, e.g. of the CPXbus node and the associated CPX terminal4.

2. Commissioning


2.4.6 Configuration in the Remote Controller operating mode

If there is a CPX Front End Controller (CPX-FEC) or a CoDeSyscontroller (CPX-CEC) in your CPX terminal, you can operatethe bus node in the Remote Controller operating mode. In thismode the bus node provides the control program in theCPX-FEC or CPX-CEC and the EtherCAT master (IPC/PLC) with8 byte inputs and 8 byte outputs.

Configuration in theRemote Controller busnode operating mode

1. Make sure that DIL switch DIL 1.1 of the bus node is inthe Remote Controller position (DIL 1.1 = ON, DIL 1.2 =OFF;� Section 1.5.2, Tab. 1/1).

As a result, the bus node CPX-FB38 is configured as aremote controller.

To configure the CPX-FEC or CPX-CEC and the CPX ter-minal, the use of Festo Software Tools Version 4 (FST 4) isrequired (� Step 2.).

2. Configure the CPX terminal with the Festo Software ToolsFST 4 via the CPX-FEC or CPX-CEC.

3. Start your configuration and programming software,e.g. Beckhoff TwinCAT.

4. Open the hardware configuration (“I/O Configuration”).

5. Configure the EtherCAT network.

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2.5 Parameterisation

2.5.1 Introduction to parameterisation

The system reaction of a CPX terminal can be largely adaptedto the relevant application. You can individually set the reac-tion of the entire terminal as well as of individual modulesand channels through parameterisation. A distinction is madebetween the following parameterisation functions:

– System parameterisation, e.g. switching off fault mes-sages, setting reaction times

– Module parameterisation (module- and channel-specific),e.g. monitoring functions, settings for error handling, set-tings for forcing

– Parameterising the diagnostics memory.

A detailed description of the individual parameters as well asbasic information on application can be found in the CPXsystem manual (P.BE-CPX-SYS-...).

The parameters that are available for the modules used areexplained in the description of the respective module,e.g. description for CPX I/O modules (P.BE-CPX-EA-...).An application example can be found in section 2.7.

NoteThe CPX terminal is supplied with factory-presetparameters (default parameterisation).

NotePlease observe the specific notes on parameterising thebus node CPX-FB38 in section 2.5.3.

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CautionChanges in parameterisation or application-specific para-meter settings result in changes to the module or systembehaviour. Check especially when replacing CPX terminalsto see which settings are necessary and make sure thatthese are restored, if necessary (e.g. in the start-up phaseby appropriate system-start parameterisation).

WarningAccidental activation of actuators!

An incorrect status of the valves and outputs can lead todangerous situations!

• Make sure that valves and outputs are put into a safestate when malfunctions occur.

• Check within the framework of your EMERGENCY OFFconcept and the fail-safe setting to ascertain the meas-ures necessary for putting your machine or system intoa safe state (� also see section 2.6.1).

Typical safety measures required to put system in safestate:

– Switching off the load voltage for the valves and outputmodules in the secondary circuit of the power unit

– Switching off the compressed air supply for the valveterminal

Due to energy stored in the input circuitry of valve termin-als, valves may display a delayed response when the loadvoltage is switched off.

Take this situation into account, for example by:

– using an input signal in the controller for checkingwhether the load voltage has been switched off

– blocking the valve switching signal by locking the outputsignal with the “load voltage” input signal

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2.5.2 General prerequisite for parameterisation

NoteA CPX terminal can only be parameterised if the function“System start with default parameterisation and currentCPX expansion” is activated (set “System start” systemparameter accordingly).

The “System start” system parameter allows you to determ-ine the starting reaction of the CPX terminal. Select the“System start with default parameterisation and current CPXexpansion” setting to permit the required parameterisationprocess. To perform the parameterisation, use the CPX-FMTor CPX-MMI. If the parameterisation is not changed, thefactory settings are used.

After parameterisation, change the setting of the “Systemstart” system parameter to “System start with saved para-metrisation and saved CPX expansion”. This fixes the settingsand stores them in the module.

When the CPX terminal is restarted, the bus node diagnosticsLED “Modify” (M) illuminates permanently. The terminal usesthe saved parameter settings.

CautionIn the case of CPX terminals on which the M LED lights uppermanently, parameterisation will not be restored auto-matically by the higher-order system upon replacement.In these cases, check before replacement to see whichsettings are required and carry out these settings.

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2.5.3 Methods of parameterisation

A CPX terminal with bus node CPX-FB38 can be parameterisedin various ways. A brief explanation of the available methodscan be found in Tab. 2/15 and the following sections.

Method and description Advantages Disadvantages

Method 1: Parameterisationvia the FestoMaintenance Tool(CPX-FMT)Menu-guided parameter entriesvia PC software (by means of USBadapter)

– Easy parameter entryguided by menu in plaintext

– Parameterisation is savedlocally in the CPX terminaland is lost if the CPX ter-minal or bus node isreplaced1)

Method 2: Parameterisation withthe handheld unit (CPX-MMI)Menu-guided parameter entry

– Easy parameter entryguided by menu in plaintext using a compact hand-held unit

– Parameterisation is savedlocally in the CPX terminaland is lost if the CPX ter-minal or bus node isreplaced1)

Method 3: Parameterisation viaEtherCATParameterisation for 20 I/Omodules

Parameterisation can becarried out via the controlsystem.

– Parameters be entered in abyte-oriented manner.

1) Copying and saving of parameter settings is possible, for example, for transferring parameter dataas part of a module exchange.

Tab. 2/15: Methods of parameterisation (overview)

2. Commissioning


2.5.4 Parameterisation via the Festo Maintenance Tool (method 1)

With the PC software Festo Maintenance Tool (CPX-FMT),you can easily parameterise the CPX terminal over a USBconnection.

You receive the necessary USB adapter with the CPX-FMTsoftware.

2.5.5 Parameterisation with the handheld unit (method 2)

The Festo handheld unit (CPX-MMI) offers menu-guidedaccess for parameterisation without configuration software.

Information about general operation of the handheld unit canbe found in the related manual (P.BE-CPX-MMI-1-...).

NoteThe last parameterisation set or received in theCPX terminal is always valid.

2.5.6 Parameterisation via EtherCAT (method 3)

20 I/O modules can be parameterised via EtherCAT. 64 bytesare available for each module via CoE. The parameters areentered in the configuration and programming software inhexadecimal code.

2. Commissioning


Example:

CPX terminal consisting of:

– Module 0: CPX-FB38 bus node in Remote I/O

– Module 1: Analogue output module (2 O)

– Module 2: Analogue input module (2 I)

– Module 3: Digital input and output module (8I/8O)

– Module 4: Digital input module (4I)

Fig. 2/9: Example terminal (shown in CPX-FMT)

Parameterisation via EtherCAT is described below using mod-ule 3 as an example. Parameterisation is conducted here withthe help of the TwinCAT programming and configuration soft-ware.

2. Commissioning


Parameterisation of module 3 via EtherCAT

The module parameters can be found in the followingdescriptions:

Description Contents

P.BE-CPX-AX-… Analogue CPX-E/A modules

P.BE-CPX-EA-… Digital CPX-E/A modules

The module parameters are arranged in the descriptions byfunction number. The last digit of the function numberdetermines the CoE byte for a module. Thus, 0 corresponds tobyte 1, 1 to byte 2, etc.

• Infer the module parameters from the aforementioneddescriptions:

The following module parameters can be found in thedescription P.BE-CPX-EA-… for byte 1 for the multi I/O moduletype CPX-8DE-8DA (� Tab. 2/16):

2. Commissioning


Module parameters: Monitoring CPX module

Function no. 4828 + m * 64 + 0 m =module number (0 ... 47)

Description Monitoring of the possible errors can be activated or deactivated (suppressed)for each module independently. Active monitoring causes the following. The erroris:– Sent to the CPX bus node– Displayed by the module common error LED.

Bit012

MonitoringDescriptionShort circuit/overload in sensor supply (SCS)Short circuit/overload at the outputs (SCO)Undervoltage of outputs (UOUT)

[Monitor]

[Monitor SCS][Monitor SCO][Monitor Vout]

Values 1 = active (presetting)0 = inactive

[Active][Inactive]

Comment Monitoring can also be set for the complete CPX terminal (see “System paramet-er monitoring”).

Tab. 2/16: Monitoring the CPX module

We now want to set all of the monitoring components spe-cified in Tab. 2/16 to active.

• Set bits 0 to 2 to the value 1.

Selected settings for byte 1

Bit 7 6 5 4 3 2 1 0

Value 0 0 0 0 0 1 1 1

Tab. 2/17: Determining the binary code

This value must be entered in the configuration and program-ming software in hexadecimal code.

• Convert the binary code from Tab. 2/17 into hexadecimalcode.

This will result in the value 07h.

2. Commissioning


• Enter the value 07h under “Settings Byte 1” in the config-uration and programming software.

Fig. 2/10: Module 3: Digital input/output module (8I/8O) - Entering parameters in CoE

Next we want to enter the module parameters “Behaviourafter short circuit/overload” and “Input debounce time” inbyte 2. We find the following information in the descriptionP.BE-CPX-EA-… (� Tab. 2/18):

2. Commissioning


Module parameters: Behaviour after short circuit/overload


Description Determines after a short circuit in the sensor supply or the outputs whether thepower is to remain switched off or whether it is to be switched on again automat-ically.

Bit01

Behaviour after short circuit/overloadDescriptionShort circuit/overload in sensor supply (SCS)Short circuit/overload at the outputs (SCO)

[Behaviour after]

[Behaviour after SCS][Behaviour after SCO]

Values 0 = USEN/UOFF remains switched off1 = USEN/UOFF restartDefault setting: Bit 0: USEN/UOUT restart;

Bit 1: USEN/UOUT remains switched off

[Leave switched off ][Resume]

Comment With the setting “USEN/OUT remains switched off ”, Power On/Off or Set/Reset ofthe corresponding output is required to restore power. Check which setting isnecessary for reliable operation of your system.

Tab. 2/18: Behaviour after short circuit/overload

We want to parameterise it so that USEN/UOFF is switched onagain after a short circuit/overload.

• Set bit 0 and bit 1 to the value 1.


Bit 7 6 5 4 3 2 1 0

Value 0 0 1 0 0 0 1 1


2. Commissioning


Module parameters: Input debouncing time


Description Determines when a change of edge of the sensor signal on this module is to beaccepted as a logical input signal.

Bit Bit 4, 5

ValuesBit 5 4

0 00 11 01 1

Input debounce timeDescription0.1 ms3 ms (presetting)10 ms20 ms

[Debounce time]

Comment Input debounce times are specified in order to eliminate interfering changes ofsignal edge during switching procedures (bouncing of the input signal). This set-ting applies to all inputs of the module.Further information on this parameter can be found in the CPX system descrip-tion.

Tab. 2/20: Input debounce time

We want to parameterise an input debounce time of 10 ms.

• Set bit 4 to the value 0 and bit 5 to the value 1.

This will now result in the following binary code:


Bit 7 6 5 4 3 2 1 0

Value 0 0 1 0 0 0 1 1


This value must be entered in the configuration and program-ming software in hexadecimal code.

• Convert the binary code from Tab. 2/21 into hexadecimalcode.

2. Commissioning


This will result in the value 23h.

• Enter the value 23h under “Settings Byte 2” in the config-uration and programming software.

Fig. 2/11: Module 3: Digital input/output module (8I/8O) - Entering parameters in CoE

When using module 3 you can also parameterise the moduleparameter “Signal extension time” (bit 6 and 7) in byte 2(� P .BE-CPX-EA-…). The hexadecimal code to be entered canthus still be changed if necessary.

2. Commissioning


A CPX terminal can only be parameterised if the function“System start with default parameterisation and current CPXexpansion” is activated (set “System start” system parameteraccordingly).

In this case, the factory-set parameter settings are valid in theCPX terminal after the power supply is switched on(Power ON).

If you wish to specifically change individual parameter values– without inputting again settings that have already beenmade:

1. “Enable” parameterisation (permit), i.e. activate function“System start with default programming and current CPXexpansion” (� above)

2. Do NOT restart system or CPX terminal (this ensures thatparameterisation already performed is not reset to factorysettings)

3. Change or enter parameters

4. “Block” parameterisation again, i.e. activate function“System start with saved parameterisation and saved CPXexpansion”

NoteChange the setting of the system parameter “System start”to “System start with saved parameterisation and savedCPX expansion” after completion of parameter entry toensure that parameterisation remains intact even after asystem restart or after changes to the control program(of the higher-level system controller).

If the function “System start with saved parametrisationand saved CPX expansion” is activated, the entered orchanged parameter settings become valid immediatelyafter the power supply is switched on (Power ON).

2. Commissioning


2.6 Remarks on parameters of the CPX system settings

2.6.1 Parameterisation of the Fail safe mode

Fail safe mode

This operating mode defines the status which digital outputsignals (outputs and valves) are to assume in the event offield bus communication faults.

You can determine the status to be assumed for each outputchannel (output or solenoid coil or valve) separately. Thestandard setting is “Reset of the output channel”.

Without parameterisation of the output channels, thefollowing communication condition applies:

– Input signals are transferred.

– Output signals are reset (factory setting); note that foranalogue outputs, the analogue value 0 is set.

2. Commissioning


Behaviour of the outputs in the Fail safe mode(parameterisation)

In the Fail safe mode, output channels can assume one of thefollowing states:

Digital outputs/valves Analogue outputs

Retention of the current status(“freeze” signal)

Retention of the current status(“freeze” signal)

Resetting the output channel(factory setting)

Resetting of the output channelto the analogue value 0(factory setting)

Setting the output signal Setting the required analoguevalue (output signal)

Tab. 2/22: Possible states of the output channels in theFail safe mode

If necessary, parameterise the required state of individual orall output channels (outputs or solenoid coils or valves).

The status is set with the channel-specific module parameters“Fault mode” and “Fault state”.

In doing so, make sure that you assign the suitable setting toeach output.

Further information: see CPX system manual P.BE-CPX-SYS-...

2. Commissioning


2.6.2 CPX-FB38-specific process of start parameterisation duringswitching on (system start)

Parameterisation during system start of the CPX terminal isdependent on the setting of the system start parametersaved in the bus node. This parameter establishes whetherthe start parameterisation is loaded by the controller, themaster, the FEC or CEC, or from the CPX bus node.

In the Festo Maintenance Tool, you will find the correspondingsetting under

CPX > “System Settings” > Register “System Parameters” >“System start”

When the required start parameters are set, select the systemstart option “Saved parameters”.

Process details can be found in Fig. 2/12 and the followingexplanations.

Substantial differences from the standard process:

– No start parameterisation by means of the controller ormaster, but possibly by means of the FEC or CEC controlprogram (CPX-FEC or CPX-CEC in the Remote Controlleroperating mode)

– The process “with default parameter set” uses the fact-ory-programmed default parameter set (the standardprocess in this case uses parameterisation from the fieldbus control program)

2. Commissioning


2

1

EtherCATControl system/Master (IPC...)

EtherCATI/O-Controller(possibly CPX-FEC)

3

1 With default parameter set:The control system or the I/O controller initiates use of the factory-pro-grammed default parameter set; the bus node then distributes the parameterset to the modules.

2 With saved parameter set:The CPX bus node distributes the parameter set saved in the bus node, whichmay have been changed or adapted by means of CPX-MMI or CPX-FMT.

3 With “Default” parameter set using a CPX-FEC or CPX-CEC in the Remote Con-troller operating mode (parameterisation from the control program of the FEC):The CPX-FEC or CPX-CEC loads the programmed start parameter set into theCPX bus node; the bus node then distributes the parameter set to the modules.

Fig. 2/12: Sequence of start parameterisation during switch-on of a CPX terminal withbus node CPX-FB38

Further information on parameterisation using CPX-FMT orCPX-MMI can be found in the sections 2.5.4 and 2.5.5.

2. Commissioning


2.7 Application example for the parameterisation

1 Input for1st sensor(with defaultparameterisation)

2 Parameterisedinput for 2ndsensor (� Text)

21

1st sensor2nd sensor

Fig. 2/13: Application example for parameterisation of the input debounce time andsignal extension time on the 2nd sensor

In the above application, packets are transported on afast-moving conveyor belt.

The input for the 2nd sensor is parameterised as follows forimprovement of the signal recording and processing:

– Reduction of the input debounce time from 3 ms (factorysetting) to 0.1 ms: Recording shorter signals is possible.

This parameter is set for the complete module.

– Signal extension time set to 50 ms: Reliable recording ofthe signals by the controller.

The value of this parameter is set for the completemodule but must be activated or deactivated separatelyfor each input channel.

2. Commissioning


2.8 Checklist for starting up the CPX terminal

Providing the safety concept of your machine/system per-mits, start up the CPX terminal with both operating voltages –but without compressed air. In this way, you can then test theCPX terminal without triggering unintended reactions.

NotePay attention to start-up information!

Please observe the general start-up instructions in the CPXsystem manual (P.BE-CPX-SYS-...) and in the manual ofyour controller.

CautionAccidental activation of actuators!


The CPX terminal with bus node for EtherCAT also startswith incomplete configuration.

Check the configuration and address assignment of theI/Os on the CPX terminal.For this purpose you can, if necessary, force the I/Os(� CPX system description).

2. Commissioning


Proceed as follows

• Check the DIL switch settings as well as the hardware andnetwork configuration before using and replacing the busnode or CPX terminal.

• Make sure the desired parameterisation of the CPXterminal is automatically carried out in the “start-up”phase, i.e. during initialisation (EtherCAT StatusInitialisation) (� see section 2.6.2).

NotePerform configuration and parameterisation again after amodule replacement!

Recreate the necessary configuration and parameterisa-tion settings after replacing the bus node or CPX terminal.

When doing this use:

• the EtherCAT control system - for network configuration

• the Festo Maintenance Tool (CPX-FMT) or handheld con-trol unit (CPX-MMI) – for parameterisation of the CPXterminal

CPX-specific configuration and parameter data can beentered with the CPX-FMT or CPX-MMI. 20 I/O modules canbe configured with the configuration and programmingsoftware (e.g. TwinCAT).

• Check the parameterisation, using spot checks ifnecessary.

2. Commissioning


2.9 Bus node replacement

Procedure

The configuration and parameterisation settings of the busnode are not automatically restored when the bus node isreplaced, e.g. in the event of a service. Observe the followinginstruction.

1. Check before replacement whether the PLC or the higher-order system has saved the settings and the settings havebeen downloaded.

2. If not, verify which settings are required and restore thesesettings after replacement.

3. Stop the process controller (PLC/Master):

4. If necessary, disconnect the power supply andcompressed air supply.

5. Replace the bus node (Dismantling/Installation:� Section 1.2).

6. Switch the power supply back on.

7. Start your configuration and programming software(e.g. Beckhoff TwinCAT).

8. Perform a new configuration (hardware and networkconfiguration).

9. Start the process controller (PLC/Master); choose theEtherCAT operating status Pre-operational (networkconfiguration).

The controller loads all required EtherCAT data into thebus node.

2. Commissioning


10. Recreate the required parameterisation settings; to dothis, use the CPX-MMI or CPX-FMT. Up to 20 I/O modulescan be configured with the configuration and program-ming software.

11. If necessary, switch the compressed air supply back on.

12. Start the program process (PLC/Master); choose theEtherCAT operating status Operational.

The CPX terminal or your EtherCAT system is again innormal operating condition.

Diagnostics


Chapter 3

Diagnostics

3. Diagnostics


Table of contents

3. Diagnostics 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of diagnostic possibilities 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostics via LEDs 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 EtherCAT operating status display (LED run),EtherCAT error (LED Error), connection status (LEDs L/A2, L/A1) 3-8.

3.2.2 CPX system/terminal status display (LEDs PS, PL, SF, M) 3-10. . . . . . . .

3.3 Diagnostics via status bits 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Diagnostics via the I/O diagnostic interface (STI) 3-15. . . . . . . . . . . . . . . . . . . . .

3.5 Diagnostics via EtherCAT 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Basic information 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Diagnostics via SDO access 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.3 Diagnostics via diagnosis history 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.4 The Emergency message 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.5 Fail safe behaviour (Fail safe settings) 3-25. . . . . . . . . . . . . . . . . . . . . . .

3.5.6 Fault types 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Diagnostics


3.1 Overview of diagnostic possibilities

The CPX terminal provides extensive and user-friendlypossibilities for diagnostics and error handling. The followingoptions are available depending on the configuration:

Diagnosticoption

Brief description Advantages Detaileddescription

LED display The LEDs show hardwarefaults, configuration errors,bus faults, etc. immediately

Fast “on-site” error de-tection

Section 3.2

Status bits Internal inputs, which supplycoded common diagnosticmessages; the 8 status bitsare cyclically transmitted tothe controller as “inputs” withthe normal inputs

Fast access to fault mes-sages in the PLC userprogram, regardless ofthe interface and I/Ocontroller or controlsystem

Section 3.3

I/O diagnosticinterface

Bus-independent diagnosticinterface at I/O level whichenables access to the internaldata of the CPX terminal; forthis function, 16 inputs and16 outputs (2 byte) are avail-able

Read access to internalparameters and data atI/O level.

Section 3.4,� alsosee CPX system de-scription, section ondiagnostics and er-ror elimination(P.BE-CPX-SYS...)

Diagnostics viaEtherCAT

Emergency message Detailed fault recogni-tion

Section 3.5

Diagnostics viathe handheld

Diagnostic information can beshown conveniently on thehandheld unit in a menu-driven manner

Fast “on-site” errordetection in plain textwithout programming oradditional equipment

Description forthe handheld unit(P.BE-CPX-MMI-1-..)

Tab. 3/1: Overview of the diagnostic options of the CPX terminal

3. Diagnostics


NoteAvailability of diagnosis information

Please note that the diagnostic information displayed de-pends on the settings (� Section 1.5.2) and parameterisa-tion (� Section 2.5) of the CPX terminal.

• Make sure that, in particular, system and module para-meters are set so that the required information is passedon to the higher-level control system (PLC or IPC).

Usage case example:System parameter KZS/KZA/KZV, VOUT/VAL1)

The short-circuit /overload and undervoltage diagnosticmessages for the complete CPX terminal can be sup-pressed using the monitoring system parameter (functionno. 4401).

The settings made separately for each module with themodule parameter CPX module monitoring are not af-fected by the setting of the system parameter monitoring:The “local” setting of the module parameters remains untilthere is a change to the “global” system parameter.

Diagnostic messages of the monitoring module, e.g. short-circuit error messages, are only forwarded to the controlsystem if the system parameter is activated.

Additional information on parameterisation can be foundin the CPX system description (P.BE-CPX-SYS-..) inAppendix B.

1) SCS Short circuit/overload – Sensor/logic supply

SCO Short circuit/overload – Outputs (load voltage)

SCV Short circuit/overload – Valves (load voltage)

UOUT/VAL Undervoltage Outputs/valves(load voltage)

3. Diagnostics





• Check within the framework of your EMERGENCY OFFconcept and the fail-safe setting to ascertain the meas-ures necessary for putting your machine or system intoa safe state.








3. Diagnostics


3.2 Diagnostics via LEDs

LEDs for diagnosing the CPX terminal are available on the busnode as well as on the individual modules.

The meaning of the LEDs on the electric modules can befound in the manual for the relevant module.

LEDs on the CPX bus node for EtherCAT

The light emitting diodes on the cover indicate the operatingstatus of the CPX bus node.

Error

1

2

PS

PL

SF

Run

Error

L/A2

ML/A1

PS

PL

SF

Run

L/A2

ML/A1

1 CPX-specific LEDs

PS: Power system

PL: Power Load

SF: System Failure

Host: Modify

2 EtherCAT-specific LEDs

Run: EtherCAT-operating status

Error: EtherCAT error

L/A2: Connection status (link/activity)Out2

L/A1: Connection status (link/activity)In1

3. Diagnostics


The LEDs are shown in their various states as follows:

lights; flashes or flickers; off

Normal operating status

In normal operating status, the following LEDs light green:Run, PS and PL; the LEDs L/A1 and L/A2 light up or flashgreen when the connection is used. The error and SF LEDs donot light up.

The M LED only illuminates or flashes for the changed para-meterisation setting (system start with saved parametrisationand saved CPX expansion) or force active (force mode, func-tion No. 4402;� CPX system description P.BE-CPX-SYS..., onthe spot diagnostics).

LED display Operatingstatus

PS

PM

SF

Run

Error

L/A2

ML/A1

The following LEDslight green:

– Run

– PS

– PM

– L/A2 1)

– L/A1 1)

The following LEDsdo not light:

– Error

– SF

The M LED lights orflashes if para-meterisation ischanged or forcemode is active

Standard

1) Only if connection is used:– Constant light: connection active– Flashing/blinking: Data transmission is running

Tab. 3/2: Normal operating status

3. Diagnostics


3.2.1 EtherCAT operating status display (LED run),EtherCAT error (LED Error), connection status (LEDs L/A2, L/A1)

Run – EtherCAT operating status (communication status)

LED (green) Sequence Status Meaning/error handling

LED notilluminated

ON

OFF

Init Bus node is in the Init status (normal state afterswitch-on or after a restart or reboot)

LED flashes

ON

OFF

Pre-operational Bus node is in the Pre-operational (Configura-tion of the EtherCAT network)

LED flashesonce 1)

ON

OFF

Safe-operational Bus node is in the Safe-operational state(e.g. due to a network fault). Only the inputsignals (e.g. sensor data) are updated. Outputsand valves remain in the current state (signal is“frozen”).

LEDilluminated

ON

OFF

Operational Bus node is in the Operational status (normaloperating status)

LED flickers

ON

OFF

Initialisation Bus node carries out a restart (reboot) and is notyet in the Init status

1) One-time short flashing (1x flash, pause, 1x flash, etc.) is designated as single flash.

Tab. 3/3: Fault diagnosis with the Run LED

3. Diagnostics


Error – EtherCAT error (communication error)

LED (red) Sequence Status Meaning/error handling

LED is off

ON

OFF

No fault EtherCAT communication of thebus node is in normal operatingstate

LED flashes

ON

OFF

Invalid configuration

No connection to the EtherCATnetwork

Possible causes:– Cable/connection

disconnected (interrupted)– Device has no connection

to the EtherCAT Master(for control)

– Master is not active

Error handling – check:

• The network connection(interrupted, short-circuited ordisturbed network connection)

• The configuration, in particularthe physical and logical positionand addressing of the bus node

Tab. 3/4: Fault diagnosis with the LED error

L/A2, L/A1 – Connection status (link/activity) Out2/In1

LED (green) Sequence Status Meaning/error handling

LED is off

ON

OFF

No physical networkconnection

Check network connection /network cable

LED lights up

ON

OFF

Network connection OK –

LED flickers 1)

ON

OFF

Flickering: Datatransmission is running

–

1) Rapid flickering seems to be lighting; the light intensity depends on the data traffic

Tab. 3/5: Fault diagnosis with the LEDs L/A2, L/A1

3. Diagnostics


3.2.2 CPX system/terminal status display (LEDs PS, PL, SF, M)

PS (power system) – power sensor/logic supply

LED (green) Sequence Status Fault treatment

LED lights up

ON

OFF

No fault, operatingvoltage/sensor supplyapplied

–

LED flashes

ON

OFF

Operating voltage/sensorsupply outside thetolerance range

1. Eliminate short circuit/overload2. Dependent on the parameterisation:

• The sensor supply voltage will beswitched on again automaticallyafter the short circuit has beeneliminated (default)

• Power Off/On is necessary

LED is off

ON

OFF

The operating voltage/sensor supply is notapplied

Check the operating voltage connectionof the electronics

Tab. 3/6: Fault diagnosis with the LED PS

PL (Power Load) – power load supply (outputs/valves)

LED (green) Sequence Status Fault treatment

LED lights up

ON

OFF

No fault, load voltageapplied

None

LED flashes

ON

OFF

Load voltage outsidetolerance range

1. Eliminate undervoltage2. Dependent on the parameterisation:

• The load voltage supply will beswitched on again automaticallyafter the undervoltage has beeneliminated (default)

• Power Off/On is necessary

Tab. 3/7: Fault diagnosis with the LED PL

3. Diagnostics


SF (system failure) – system fault

LED (red) Sequence Status 1) Meaning/error handling

LED is off

ON

OFF

No fault –

LED flashesonce

ON

OFF

Minor error or information(error class 1)

� description of the error numbersin the CPX system description(P.BE-CPX-SYS...)

LED flashestwice

ON

OFF

Error (error class 2)

LED flashesthree times

ON

OFF

Serious error (error class 3)

1) The system error LED flashes depending on the class of error which has occurred.Error class 1 (minor error): one flash, pauseError class 2 (error): flash twice, pauseError class 3 (serious error): flash three times, pause

Tab. 3/8: Fault diagnostics using the SF LED

3. Diagnostics


M (modify) – parameterising modified or forcing active

LED (yellow) Sequence Status Meaning/error handling

LED is off

ON

OFF

System start with defaultparameterisation (factorysetting) and current CPXexpansion has been set;external parameterisationpossible (presetting)

None

LED lights up

ON

OFF

System start with savedparameterisation andsaved CPX expansion hasbeen set;parameters and CPXexpansion are retained;external parameterisationis blocked 1)

Be careful when replacing CPX ter-minals with saved parameterisation:Parameterisation is not carried outautomatically for these CPX terminalsby the higher-order controller whenthe terminal is replaced. In thesecases, check which settings arerequired before the replacement andmake these settings if necessary.

LED flashes

ON

OFF

Force is active 1) The Force function is enabled (Force

mode; function no. 4402,� CPX sys-

tem description P.BE-CPX-SYS...).

1) The display of the Force function (LED flashes) has priority over the display of the setting for thesystem start (LED lights).

Tab. 3/9: Messages of the LED M

3. Diagnostics


3.3 Diagnostics via status bits

The CPX terminal provides 8 status bits if this function isactivated using DIL switches (� Section 1.5.2).

The status bits are used for displaying common diagnosticmessages (“global” error messages). Status bits are con-figured like inputs. If the status bits function is activated, itoccupies the first 16 inputs in the address range (8 inputs or8 bits remain unused; (� Tab. 1/2 or Tab. 2/1).

NoteNote the instructions on addressing and configuration inthe sections 2.3 and 2.4.

The following table provides an overview of the availablediagnostic information.

Bit Diagnostic information with1-signal

Description

0 Fault at valve or pneumatic module Module type in whicha fault has occurred.

1 Fault on output module

2 Fault on input module

3 Fault on analogue module ortechnologymodule

4 Undervoltage Type of fault

5 Short circuit/overload

6 Wire break

7 Other faults

Tab. 3/10: Overview Status bits of the CPX bus node(optional)

3. Diagnostics


If all status bits supply a 0-signal, no fault will be registered.If, in contrast, a status bit supplies a 1 -signal, there is a fault.

If various faults occur simultaneously on various types ofmodules, these faults cannot be assigned via the status bits.In contrast, faults can be uniquely determined via the I/Odiagnostics interface.

Diagnostic information or error messages of the status bitsfunctions (or I/O diagnostic interface) can be read by usingthe handheld unit (CPX-MMI), Festo Maintenance Tool(CPX-FMT) and via the EtherCAT network.

Further instructions on the function and content of the statusbits can be found in the CPX system manual (P.BE-CPX-SYS-...)in the Diagnostics and error handling section.

3. Diagnostics


3.4 Diagnostics via the I/O diagnostic interface (STI)

The CPX terminal provides a bi-directional 16 bit I/O dia-gnostic interface (System Table Interface, STI) if this functionis activated using DIL switches (� Section 1.5.2).

Detailed diagnostic information can be accessed via the I/Odiagnostic interface. You can ascertain this exactly, e.g. bynoting on which module and channel a fault has occurred.System diagnostics are retrieved by means of 16 input bitsand 16 output bits, through which all diagnostics data can beread.

If the I/O diagnostic interface is active, it will occupy the first16 inputs and outputs in the address range (� Tab. 1/2 andTab. 2/1).

NoteNote the instructions on addressing and configuration inthe sections 2.3 and 2.4.

The following table provides an overview of the availablediagnostic information.

Diagnostic data Contents/description

Global diagnostic data – General overview of faults

Module diagnostic data – Detail diagnosis per module

Status of diagnosticmemory

– Number of entries in the diagnosticmemory

– Operation mode

Diagnostic memory data – Long-term memory

– Detail diagnosis + relative time

stamp per fault event

Tab. 3/11: Overview of diagnostics data I/O diagnosticinterface (optional)

3. Diagnostics


Diagnostic information or error messages of the status bitsfunctions (or I/O diagnostic interface) can be read by usingthe handheld unit (CPX-MMI), Festo Maintenance Tool(CPX-FMT) and via the EtherCAT network.

Additional information about the I/O diagnostics interface(diagnostic information, function numbers) can be found inthe CPX system description (P.BE-CPX-SYS...) in the dia-gnostics and error handling section.

3. Diagnostics


3.5 Diagnostics via EtherCAT

3.5.1 Basic information

NoteAvailability of diagnostic information via the EtherCAT net-work

– Please note that the availability of diagnostic informationdepends on the settings (� Section 1.5.2) and paramet-erisation (� Section 2.5) of the CPX terminal. (� alsosection 3.1.)

– Activate the I/O diagnostics interface to ensure thaterror messages of the CPX terminal are automaticallydisplayed in the EtherCAT configuration software,e.g. Beckhoff TwinCAT.

3.5.2 Diagnostics via SDO access

The master controller can request diagnostic informationfrom the bus node via SDO access. The corresponding ob-jects can be found in the object directory in section A.2.

3.5.3 Diagnostics via diagnosis history

The 20 most recent diagnostics messages can be called upwith the help of the diagnostics object 0x10F3. For everyevent stored in the device (warning, error, information), anerror message referenced with a code is displayed. Dia-gnostics messages are decoded via the ESI file and can beread e.g. by the TwinCAT system manager. The following tableshows the structure of the diagnostics object 0x10F3.

3. Diagnostics


The following abbreviations are used:

RO = read onlyRW = read/write

Index Sub-index

Description Type Values Access

0x10F3 0 Diagnosis History RO

1 MaximumMessages U8 20 RO

2 Newest Message U8 RO

3 Newest AcknowledgedMessage

U8 RW

4 NewMessage Available BOOL RO

5 Flags U16 0x0000 RW

6 … 26 Subindex 006 … 026 U8[]

Tab. 3/12: Structure of the diagnostics object

Diagnostics messages are written to a data buffer (20 bytes).Two operating modes are available for handling diagnosticsmessages:

Overwrite Mode: When the number of diagnostics messages reaches 20, theoldest diagnostics messages are overwritten.

Acknowledge Mode: An existing diagnostics message must first be acknowledgedbefore it can be overwritten with a new diagnostics message.If the number of unconfirmed diagnostics messages reaches20, subsequent diagnostics messages will not be saved andwill be lost.

3. Diagnostics


3.5.4 The Emergency message

If there is a fault, the CPX terminal will transmit an Emergencymessage which consists of the following:

– Byte 0, 1: Error Code in accordance withDS301/DS401

– Byte 2: Error Register (Index 1001)

– Byte 3 … 7: Manufacturer-specific error field (con-tains device-typical error messages).Bytes 3 ... 6 make up the ManufacturerStatus Register (Index 1002).

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Error Code ErrorRegister

Status bits CPXmodule no.

CPX errorno.

Reserved Additionalerror inf.

Tab. 3/13: Composition of the emergency message (further information in Tab. 3/14 …Tab. 3/16)

3. Diagnostics


Composition of the Emergency Message

Additionalerror inf.

Index 1002 (Manufacturer Status Register)Index 1001

Byte 0

Status bits

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Error CodeCPXmodule no.

ReservedErrorRegister

CPX error no.

Byte 1 Byte 0 Explanation

00 00 No error

10 00 General error

23 20 Short circuit at outputs

23 30 Load dump (wire fracture)

31 20 Input voltage too low

33 20 Output voltage too low

50 00 Hardware error (all errors > 128)

Tab. 3/14: Composition of the error code

3. Diagnostics



Byte 0

Status bits


Error CodeAdditionalerror inf.

CPX moduleno.


CPX errorno.

Bit Meaning Explanation

0 Generic error Bit is set for each error

1 Current – Short circuit/overload in sensor supply (SCS)– Short circuit/overload at outputs (SCO)

2 Voltage – UARRET (Undervoltage at the outputs)– UVEN (Undervoltage at valves)– Failure of load voltage at CPX output module or input

module

3 – –

4 Communication error – Node guard, heart beat, fieldbus-specific only

5 … 6 – –

7 Manufacturer specific – Wire break– Other error

bold = Bit is used by CPX terminal

Tab. 3/15: Error register (index 1001 with bit assignment as per DS301/401)

Further diagnostic information is provided by the CPX termin-al in bytes 3 ... 6 of the emergency object (manufacturerstatus register, index 1002).

3. Diagnostics



Byte 0

Status bits


Error CodeCPX moduleno.


CPX errorno.



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. 3/16: Byte 0 of the manufacturer status register (status bits)

3. Diagnostics




Byte 0

Status bits




CPX errorno.


0 … 7 CPX module code Number of the module with diagnostic message

Tab. 3/17: Byte 1 of the Manufacturer Status Register (CPX module number)


Byte 0

Status bits




CPX errorno.



0 … 7 CPX error number CPX error number (� CPX system description in chapter“Diagnostics and error handling”.)

Tab. 3/18: Byte 2 of the Manufacturer Status Register (CPX fault number)

3. Diagnostics



Byte 0

Status bits




CPX errorno.



0 … 7 Additional information on thefault

e.g.– Node ID with Heart Beat error (which participant has

caused the Time out?)– Channel number of the first channel with fault

Tab. 3/19: Byte 7 of the Emergency Object

3. Diagnostics


3.5.5 Fail safe behaviour (Fail safe settings)

The reaction of the CPX terminal for the following errors isdependent on the configured reaction of the controller (of theMaster), i.e. of the PLC, the SPS, the IPC or the applicationprogram and the parameterised Fail safe setting:

– stop of the controller (of the master)

– network interruption

– telegram elimination.

Depending on parameterisation, the outputs (valves andelectric outputs) will:

– be switched off (reset of the output signal to the value 0in the case of analogue outputs; factory setting)

– be switched on (setting of the output signal to theparameterised value in the case of analogue outputs)

– retain their status (“freezing” of the output signal)

Further information about the Fails safe setting can be foundin the section 2.6.1 the CPX system manual P.BE-CPX-SYS-...

You can set two types of fault reactions of the controller(or the application program):

– Hard fault reaction:The controller switches to the “STOP” or pre-operationaloperating mode if a fault occurs

– Soft fault reaction:The controller switches to the “RUN” or safe-operational(or possibly operational) operating mode if a fault occurs

3. Diagnostics





• Check within the framework of your EMERGENCY OFFconcept and the fail-safe setting to ascertain the meas-ures necessary for putting your machine or system intoa safe state.








3. Diagnostics


NoteTake into account valve behaviour as part of theEMERGENCY STOP concept or of the Fail safe setting!

If the outputs are reset in the case of a controller stop,network interruption, telegram elimination or terminaldisturbance, the following valve behaviour occurs:

– Single-solenoid valves move to the basic position.

– Double-solenoid valves remain in the current position.

– Mid-position valves move to the mid-position(depending on valve type: pressurised, exhausted orblocked).

3.5.6 Fault types

A listing of all error types as well as additional diagnosisinformation can be found in the CPX system manual(P.BE-CPX-SYS-...).

3. Diagnostics


Technical appendix

A-1Festo P.BE-CPX-FB38-EN en 1301a

Appendix A

Technical appendix

A. Technical appendix

A-2 Festo P.BE-CPX-FB38-EN en 1301a

Table of contents

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data of bus node CPX-FB38 A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Object directory A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical data of bus node CPX-FB38

General

General technical data � CPX system description P.BE-CPX-SYS-...

Protection class through housing 1)

According to IEC/EN 60529, completelymounted, plug connector inserted or providedwith cover cap

IP65/IP67

Protection against electric shockProtection against direct and indirect contact asper IEC/DIN 60204-1

Through the use of PELV circuits

Module code (CPX-specific)– Remote I/O– Remote Controller

220169

Module identifier (in the Handheld)– Remote I/O– Remote Controller

FB38-RIO EtherCAT remote I/OFB38-RC EtherCAT remote controller

1) Please note that connected devices may only satisfy a lower protection class, a smaller temper-ature range, etc.

Voltage supply

Operating voltage/load voltage � CPX system description P.BE-CPX-SYS-...

Bus node own-current consumptionFrom operating voltage supply for electronics/sensors (VEL/SEN)

Max. 80 mA at 24 V (internal electronics)

SeparationEtherCAT interfaces for VEL/SENEL/SEN Galvanically isolated

Mains buffering time 10 ms



Network-specific characteristics

Fieldbus protocol EtherCAT, based on the Ethernet protocol(IEEE 802.3), optimised for process data,real-time capable

Specification Standards and norms containing reference toEtherCAT:– IEC 61158– IEC 61784– IEC 61918– ISO/IEC 8802-3

Additional information:http://www.ethercat.org

Transmission rate 100 MBit/s

Cross-over detection Auto-MDI

EtherCAT input/output size 64 bytes/64 bytes, regardless of operating mode



A.2 Object directory

The following tables list the objects of the communicationprofile (CoE communication protocol). These objects aredescribed in the EtherCAT configuration file (ESI file). Thefollowing abbreviations are used:

RO = read only

RW = read/write

U = unsigned

The module parameters can be set from index 0x8000onwards.

Index(hex)

Sub-index

Name Type Attr. Values Description

1000 0 Device type U32 RO 00 00 13 89

1001 0 Error register U8 RO 00

1008 0 Device name Str. RO CPX-FB38

1009 0 Hardware version Str. RO 6

100A 0 Software version Str. RO 7

1018 0 Identity object U8 RO 4 Number of entries

1 Vendor ID U32 00 00 00 1D Vendor ID (ETG)

2 Product code 00 00 00 26 Product code

3 Revision number xx xx.xx xx Version

4 Serial number xx xx xx xx Serial number



Index(hex)

DescriptionValuesAttr.TypeNameSub-index

10F3 0 Diagnosis history U8 RO 5 … 25 Number of entries

1 Maximummessages U8 RO x14

2 Newest message U8 ROPoints to newestmessage available

3Newest Acknow-ledged Message

U8 RW

4NewMessagesAvailable

BOOL RO false

5 Flags U16 RW 00 00

6Diagnosis Message001

U8[]Array with diagnosisdata

… Diagnosis Message … U8[]

19Diagnosis Message020

U8[]

1600 0 RxPDO U8 RO 64 Number of entries

1 Subindex 001 PDO RO 0x3001:01, 8Pointer to Outputs-Index (0x3001), Sub-index 01 Length 8 Bit

… SubIndex … PDO RO 0x3001:xx, 8Pointer to Outputs-Index (0x3001), Sub-index xx Length 8 Bit

64 Subindex 064 PDO RO 0x3001:40, 8Pointer to Outputs-Index (0x3001), Sub-index 64 Length 8 Bit



Index(hex)


1A00 0 TxPDO U8 RO 64 Number of entries

1 Subindex 001 PDO RO 0x3101:01, 8Pointer to Inputs-Index (0x3101), Sub-index 01 Length 8 Bit

… SubIndex … PDO RO 0x3101:xx, 8Pointer to Inputs-Index (0x3101), Sub-index xx Length 8 Bit

64 Subindex 064 PDO RO 0x3101:40, 8Pointer to Inputs-Index (0x3101), Sub-index 64 Length 8 Bit

1C00 0 Sync manager type U8 RO 4 Number of entries

1 Subindex 001 U8 RO 1




1C12 0 RxPDO assign U8 RO 1

1 Subindex 001 U16 RO 0x1600Pointer to RxPDO-Index

1C13 0 TxPDO assign U8 RO 1

1 Subindex 001 U16 RO 0x1A00Pointer to TxPDO-Index



Index(hex)


1C32 0 SM output parameter U8 RO 32

1 Sync mode U16 RW 0x0001

2 Cycle time U32 RW 0x00000000

3 Shift time U32 RO 0x00000000

4Sync modessupported

U16 RO 0x4003

5 Minimum cycle time U32 RO 0x0007A120

6 Calc and copy time U32 RO 0x00000000

1C33 0 SM input parameter U8 RO 32

1 Sync mode U16 RW 0x0001

2 Cycle time U32 RW 0x00000000

3 Shift time U32 RO 0x00000000

4Sync modessupported

U16 RO 0x4003

5 Minimum cycle time U32 RO 0x0007A120

6 Calc and copy time U32 RO 0x00000000

3101 0 Inputs U8 RO 64

1 IB0 U8 ROValue of PDO dataIB0 (first input byte)

… IBxx U8 ROValue of PDO dataIBxx (xx. input byte)

64 IB63 U8 ROValue of PDO dataIB63 (64. input byte)



Index(hex)


3101 0 Inputs U8 RO 64

1 IB0 U8 ROValue of PDO dataIB0 (first input byte)

… IBxx U8 ROValue of PDO dataIBxx (xx. input byte)

64 IB63 U8 ROValue of PDO dataIB63 (64. input byte)

80000 Settings Module 0 U8 RO 64

Bytewise access toparameter space ofsystem table

1 Settings byte 1 U8 RWSettings byte 1 ofmodule 0

… Settings Byte xx U8 RWSettings byte xx ofmodule 0


80xx0 Settings Module xx U8 RO 64


1 Settings byte 1 U8 RWSettings byte 1 ofmodule xx

… Settings Byte xx U8 RWSettings byte xx ofmodule xx

64 Settings byte 64 U8 RWSettings byte 64 ofmodule xx



Index(hex)


80130 Settings Module 20 U8 RO 64



… Settings Byte xx U8 RWSettings byte xx ofmodule 19


8100 0 Global CPX settings U8 RO 8 Number of entries

1Filter Alarm Vout/Vven?

U8 RW 0x00

0x00 - inactive0x01 - active0x02 - inactive0x03 - inactive

2 Monitor SCS BOOL RW TRUE

3 Monitor SCO BOOL RW TRUE

4 Monitor Vout BOOL RW TRUE

5 Monitor Vven BOOL RW TRUE

6 Monitor SCV BOOL RW TRUE

7 Fail safe U8 RW 0x000x00 - reset outputs0x01 - hold last state0x02 - fail safe mode

8 System start U8 RW 0x000x00 - start normal0x01 - start withsaved parameters



Index(hex)


82000

Fail safe - OutputMask

U8 RO 64

1Fail safe - OutputMask - Byte 1

U8 RW 0xFFBitwise enable of failsave value as definedin index 8201:01

…Fail safe - OutputMask - Byte xx

U8 RW 0xFF …

64Fail safe - OutputMask - Byte 64

U8 RW 0xFFBitwise enable of failsave value as definedin index 8201:40

8201 0 Fail safe - Output U8 RO 64

1Fail safe - OutputByte 1

U8 RW 0x00

Value used in fail safewhen enabled inindex (8200:01) andglobal fail safe(8100:07)

…Fail safe - OutputByte xx

U8 RW 0x00 …

64Fail safe - OutputByte 64

U8 RW 0x00

Value used in fail safewhen enabled inindex (8200:40) andglobal fail safe(8100:07)

A000 0 Global Diagnosis U8 RO 2 Number of entries

1 Module number U8 RO 0x00Number first modulewith an error

2 Error code U8 RO 0x00CPX error code(0x00 = no error)

Index

B-1Festo P.BE-CPX-FB38-EN en 1301a

Appendix B

Index

B. Index

B-2 Festo P.BE-CPX-FB38-EN en 1301a

Table of contents

B. Index B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Index

A

Abbreviations, Product-specific XII. . . . . . . . . . . . . . . . . . . . .

Acknowledge mode 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Additional power supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . .

Address assignment 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Address space 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Addressing 2-3, 2-14, 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . .Adress assignment 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Append Device 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Assembly 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Auto increment address 2-29. . . . . . . . . . . . . . . . . . . . . . . . . .

Automation projectCheck 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Creation 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Linking PLC project 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B

Beckhoff TwinCAT 2-30, 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . .

Beckhoff TwinCAT, version 2-30. . . . . . . . . . . . . . . . . . . . . . . . .

Behaviour after short circuit 2-52. . . . . . . . . . . . . . . . . . . . . . .

Box 2-31, 2-34, 2-35, 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Add 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Scan 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus configuration 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus node, replacement 2-63. . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


C

Cables, Network 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CEC 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Checklist 2-61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningAddressing 2-3, 2-14, 2-29. . . . . . . . . . . . . . . . . . . . . . . . . .Bus note replacement 2-63. . . . . . . . . . . . . . . . . . . . . . . . . .Checklist 2-61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Config Mode 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration 2-3, 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . .prerequisites 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configuration mode 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . .CPX system settings 2-56. . . . . . . . . . . . . . . . . . . . . . . . . . . .Data access 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fail safe mode 2-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Free Run State 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Functional test 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Layout, Adding a bus node 2-34. . . . . . . . . . . . . . . . . . . . . .Parameterisation 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parametrisation 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Remote controller 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Start parametrisation 2-58. . . . . . . . . . . . . . . . . . . . . . . . . . .

Config Mode 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configuration 2-3, 2-4, 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . .Bus nodes 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Creating automation project 2-33. . . . . . . . . . . . . . . . . . . . .Linking PLC project 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Network 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Pneumatic (valves) 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .With EtherCAT network 2-30. . . . . . . . . . . . . . . . . . . . . . . . .

Configuration mode 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ConnectingNetwork 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Network for the CPX-FB38 1-18. . . . . . . . . . . . . . . . . . . . . . .Voltage supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CP interface 2-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


CPA pneumatics 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX system settings 2-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-CEC 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FEC 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Data access 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Data objects 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designated use VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device address 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device position 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnosis history 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostic data 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DiagnosticsAvailability of diagnosis information 3-4. . . . . . . . . . . . . . . .Availability of diagnostic information, via EtherCAT 3-17. . .Diagnostic information (Status bits) 3-13. . . . . . . . . . . . . . .Fail safe behaviour 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fail safe settings 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fault types 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .I/O diagnostic interface 3-15. . . . . . . . . . . . . . . . . . . . . . . . .LED Error 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .LED M 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .LED PL 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .LED PS 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Normal operating status 3-7. . . . . . . . . . . . . . . . . . . . . . . . .Possibilities 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Run LED 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .SF LED 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status bits 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Via EtherCAT 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostics via LEDs 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DIL switches 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dismantling 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


E

Electric modules 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Electrical connection and display components 1-6. . . . . . . . .

Emergency message 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMERGENCY OFF concept 2-44, 3-5, 3-26. . . . . . . . . . . . . . . .

EMERGENCY STOP concept 3-27. . . . . . . . . . . . . . . . . . . . . . . .

End plate, Pin allocation 1-23. . . . . . . . . . . . . . . . . . . . . . . . . .

Error Code 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ESI file 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Import 2-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EtherCATDiagnostics 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fail safe settings 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EtherCAT address 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EtherCAT networkAdding a bus node 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Advanced Settings 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Specific (advanced) settings 2-35. . . . . . . . . . . . . . . . . . . . .Topology 2-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ethernet interface card 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Fail safeSettings 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Settings (Parametrisation) 3-25. . . . . . . . . . . . . . . . . . . . . . .

Fail safe mode 2-56, 2-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Installation (Parametrisation) 2-57. . . . . . . . . . . . . . . . . . . .

Fail safe settings 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault, types 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FEC 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Festo Maintenance Tool (CPX-FMT) 2-4. . . . . . . . . . . . . . . . . . .

Field bus Memory Management Unit (FMMU) 2-29. . . . . . . . .

Field device 2-34, 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Add 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Forced 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Free Run State 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Functional test 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

Handheld (CPX-MMI) 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Heart beat 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/O device 2-31, 2-35, 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O diagnostic interface 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . .

Input, forced 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Input debounce time 2-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs, Calculate 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interface, pneumatic 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interlinking block, Pin allocation 1-22. . . . . . . . . . . . . . . . . . . .

IP65/IP67 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ISO pneumatics (VTSA) 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


L

Language settings 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Layout, Adding a bus node 2-34. . . . . . . . . . . . . . . . . . . . . . . .

LEDError 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .M 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PL 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PS 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .SF 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LEDs 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Normal operating status 3-7. . . . . . . . . . . . . . . . . . . . . . . . .Run 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Linked to 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Manufacturer Status Register 3-19. . . . . . . . . . . . . . . . . . . . . .

Midi/Maxi pneumatics 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ModuleElectric 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Pneumatic 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Module identifiers 2-4, 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Module parametersBehaviour after short circuit 2-52. . . . . . . . . . . . . . . . . . . . .Input debounce time 2-53. . . . . . . . . . . . . . . . . . . . . . . . . . .

Modules, Replacement 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


N

NetworkAdding a bus node 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Topology 2-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Network cables 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

NF-LED 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Node guard 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

O

Object directory A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operation mode 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Output, forced 2-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Outputs, Calculate 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overwrite mode 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameterisation 2-3, 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . .Application example 2-60. . . . . . . . . . . . . . . . . . . . . . . . . . . .Introduction 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Methods 2-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Requirement 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Start parameterisation 2-58. . . . . . . . . . . . . . . . . . . . . . . . . .Via EtherCAT 2-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Via software 2-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .With the handheld unit 2-47. . . . . . . . . . . . . . . . . . . . . . . . . .

ParametrisationCPX system settings 2-56. . . . . . . . . . . . . . . . . . . . . . . . . . . .Fail safe mode 2-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Participant properties 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . .ESI file 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


PELV 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pictograms XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pin allocation, Field bus interface CPX-FB38 1-19. . . . . . . . . .

Pin allocation of the end plate 1-23. . . . . . . . . . . . . . . . . . . . . .

Pin allocation of the interlinking blocks 1-22. . . . . . . . . . . . . .

PLC project 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Linking 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Plug 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pneumatic interfaces 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pneumatic modules 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply, switch 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preparing, Start-up 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Prerequisites 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Process data 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Process Data Objects (PDO) 2-30. . . . . . . . . . . . . . . . . . . . . . .

ProjectAutomation project 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . .PLC project 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection class IP65/IP67 1-20. . . . . . . . . . . . . . . . . . . . . . . .

R

Remote controller 1-12, 2-42. . . . . . . . . . . . . . . . . . . . . . . . . .

Replacement (bus node/module)Bus nodes 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Layout 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Module 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameterisation 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


S

Scan Boxes 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SDO access 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service Data Objects (SDO) 2-30. . . . . . . . . . . . . . . . . . . . . . . .

SettingDiagnostic mode 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .DIL switches 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Operation mode 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Slave properties 2-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software interface 2-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Split 2-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start parameterisation 2-58, 2-59. . . . . . . . . . . . . . . . . . . . . . .

Status bits 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

STI 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch cover, Removing and fitting 1-10. . . . . . . . . . . . . . . . . .

Switching on the operating voltage 2-3. . . . . . . . . . . . . . . . . .

System Manager Tree Item Description 2-23. . . . . . . . . . . . . .

System supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Table Interface 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


T

Target group VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Text markings XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Topology 2-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TP-LED 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TwinCAT 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Information System 2-38, 2-40. . . . . . . . . . . . . . . . . . . . . . .Language settings 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . . .PLC Control 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .System Manager 2-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Valve supply module 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Voltage supply 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

VTSA pneumatics (ISO) 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . .

cpx terminal busnode cpx-fb38 - festo usa terminal busnode cpx-fb38 description 562525 en 1301a ......

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