cpx terminal - festo · cpx−cec−c1 cpx terminal manual 569 122 en 0907nh ... type...

Electronics Manual

CoDeSys Controller

TypeCPX−CEC−C1

CPX Terminal

Manual569 122en 0907NH[745 684]

Contents and general instructions

IFesto P.BE−CPX−CEC−EN en 0907NH

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

Edition en 0907NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−CPX−CEC−EN. . . . . . . . . . . . . . . . . . . . . . . .

Order no. 569 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG�&�Co. KG, D�73726 Esslingen, Germany, 2009)Internet: http://www.festo.comE−Mail: [email protected]

The reproduction, distribution and utilization of this documentas well as the comunication of its contents to others withoutexpress authorization is prohibited. Offenders will be heldliable for the payment of damages. All rights reserved in theevent of the grant of a patent, utility module or design.


II Festo P.BE−CPX−CEC−EN en 0907NH

MODBUS�® Registered trade name of Schneider Automation

CoDeSys�® Registered trademark of 3S−Smart Software Solutions GmbH

TORX�® Registered trademark of Acument Intellectual Properties, LLC, Troy, Michigan, USA

This product uses open−source software which is subject to the �GNU General PublicLicense, Version 2". The licensing conditions of the GPL are located either in theproduct’s engineering tool or at the following addresses: http://<IP address of the device>/product−information.html http://www.gnu.org/copyleft/gpl.html


IIIFesto P.BE−CPX−CEC−EN en 0907NH

Contents

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

Safety instructions VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group� VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1.2 The operating modes of the CPX−CEC−C1 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 The CoDeSys provided by Festo programming environment 1−8 . . . . . . . . . . . . .

1.3.1 Programming languages 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Libraries 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Parameterisation 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Meaning of the LED displays 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 CPX−specific LEDs 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2.1 General installation instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2.2.2 Fitting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2.4.1 RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 DIL switches 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Ethernet interface 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Ethernet cable 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Communication interfaces 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 CANopen interface 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Connection of an operator unit type FED 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MMI 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying with protection class IP65/IP67 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−CPX−CEC−EN en 0907NH

3. Commissioning 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Prerequisites for commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

3.4 Configuration of the CANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Parameterisation 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Parameterisation via control configuration in CoDeSys 3−10 . . . . . . . . .

3.5.2 Parameterisation via the handheld type CPX−MMI 3−13 . . . . . . . . . . . . .

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

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

4.1 General error response of the CoDeSys controller 4−3 . . . . . . . . . . . . . . . . . . . . .

4.2 Diagnosis via controller LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Further diagnostics options 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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


VFesto P.BE−CPX−CEC−EN en 0907NH

Designated use

The type CPX−CEC−C1 CoDeSys−Controller documented in thismanual is intended exclusively for use in Festo CPX terminalsfor installation in a machine or an automation control system.

In combination with a CPX terminal, the CPX−CEC−C1 is used for

� controlling pneumatic and electric actuators (valves,output modules and motor controllers via CANopen)

� interrogating electric sensor signals through the inputmodules

� communication via Ethernet.

The CPX terminal with the CPX−CEC−C1 may only be used asfollows:

� as designated in industrial applications

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

� in faultless technical condition

� only in combination with approved components(e.g.�valves, drive/displacement encoder combinations).�

The limit values specified for pressures, temperatures,electrical data, torques etc. should be observed.

Please comply with the regulations of the workers’ com�pensation insurance association, the German TechnicalControl Board (TÜV) and the electrical requirements of theVDE or the corresponding national and local safety regula�tions.


VI Festo P.BE−CPX−CEC−EN en 0907NH

Safety instructions

Protection against dangerous movements

WarningHigh acceleration forces at the connected actuators!Undesired movements can cause collisions and severeinjuries.

Dangerous movements can occur through faultycontrolling of connected actuators, e.g. via:

� unsafe or faulty circuitry or cabling,

� faulty operation of the components,

� errors in the measured value and signal generators,

� defects or non−EMC−compliant components,

� errors in the higher−order control system,

� programming errors in user programs and projects.

Simply switching off the compressed air supply or loadvoltage are not suitable locking procedures. In the event ofa fault, this could lead to unintentional movement of thedrive.

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

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

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


VIIFesto P.BE−CPX−CEC−EN en 0907NH

· Brakes controlled by the drive controller are alone notsuitable to ensure personal protection! Secure vertical axes from falling or sliding down whenthe compressed air and load voltage are switched off, asfollows:� mechanical locking of the vertical axis, � external braking/safety catch/clamping device or � sufficient counterbalance of the axis.

· Additional measures are required for use in safety−related applications; in Europe, for example, thestandards listed under the EC Machinery Directive mustbe observed. Without additional measures inaccordance with statutory minimum requirements, theproduct is not suitable for use in safety−related sectionsof control systems.

Protection from pressurised tubing

CautionDanger of injury through inappropriate handling ofpressurised tubing!

Undesired movements of the connected actuators anduncontrolled movements of loose tubing can cause injuryto human beings or damage to property.

· Do not connect, disconnect or open pressurised tubing.

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

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


VIII Festo P.BE−CPX−CEC−EN en 0907NH

Target group�

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosingpositioning systems.

Service

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


IXFesto P.BE−CPX−CEC−EN en 0907NH

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich can 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:

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

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

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

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo�nents:

Electrostatically sensitive components: Improper handlingcan result in damage to components.


X Festo P.BE−CPX−CEC−EN en 0907NH

Identifying special information

The following pictograms mark passages in the text whichcontain special information.

Pictograms

InformationRecommendations, tips and cross−references to otherinformation sources.

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

Environment:Information on the environmentally friendly use of Festoproducts.

Text markings

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

1. Numerals denote activities which must be carried out inthe numerical order specified.

� Hyphens designate general lists.

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

Arrow brackets mark placeholders for designations. Example: �Status of <Your Connection>".

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


XIFesto P.BE−CPX−CEC−EN en 0907NH

Notes on the use of this manual

This manual refers to the following versions:

� CoDeSys Controller CPX−CEC−C1 from software statusRev.�01

� Programming environment CoDeSys provided by Festofrom Version 2.3

This manual contains information on the function, fitting,installation and commissioning of the the CPX−CEC−C1type�CoDeSys Controller.

You will find additional information on the device in thefollowing documentation:

Type Title Description

Short manual �CoDeSys−Controller"Type P.BE−K−CPX−CEC

Connection and display elements, mouting,installation and technical data

Online help Online.Help for theCoDeSys ControllerCPX−CEC−...

Configuration, commissioning, operation anderror diagnosis

Tab.�0/1: Additional documentation on the CPX−CEC−C1

General basic information on the mode of operation, on fit�ting, installing and commissioning CPX terminals can befound in the CPX system manual, type P.BE−CPX−SYS−...

Observe also the user documentation of the componentsused in the CPX terminal.


XII Festo P.BE−CPX−CEC−EN en 0907NH

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

Term / abbreviation Meaning

0−Signal 0 V applied at input, or output supplies 0 V

1−Signal 24 V applied at input, or output supplies 24 V

0x01 (A0h) Hexadecimal numbers are marked by a prefixed �0x" or by a subscript �h"

CANopen Field bus protocol based on CAN, which is standard. as a European standard

CoDeSys providedby�Festo(= CoDeSys pbF)

CoDeSys = Controller Development SystemCoDeSys provided by Festo permits configuration, commissioning andprogramming of various components and devices by Festo. In this documentation, called �CoDeSys pbF" for short

CPX terminal Complete system consisting of CPX modules with or without pneumatics

CPX modules Collective term for the various modules which can be integrated in a CPXterminal

DHCP (Dynamic HostConfiguration Protocol)

Dynamic protocol for automatic assignment of IP addresses

DIL switch Dual−in−line switches consist of several switch elements with whichsettings can be made

EasyIP Protocol for fast exchange of operands between Festo controllers

EDS file Electronic data sheet, which describes the function and characteristicsof a CANopen device in standardised form (e.g. number of I/Os, numberof diagnosis bytes, etc.).

Ethernet Physical protocol and network for connecting various devices

FHPP (Festo Handling andPositioning Profile)

Uniform field bus data profile for positioning controllers from Festo

Field bus node Provides the connection to specific field buses. Transmits control signalsto the connected modules and monitors their ability to function.

FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP

Handheld type CPX−MMI Handheld terminal for commissioning and service purposes

HTTP (Hyper Text TransferProtocol)

Protocol for data transfer via TCP/IP


XIIIFesto P.BE−CPX−CEC−EN en 0907NH

Term / abbreviation Meaning

I/O modules Collective term for the CPX modules which provide dig. inputs and outputs

I/Os Digital inputs and outputs

IP (Internet Protocol) Protocol for addressing and delivering data

Login/Logout Programming system is logged in/logged out

MAC address (MediaAccess Control address)

Fixed assigned address for Ethernet device

Modbus/TCP Communication standard via TCP/IP in automation technology

Node ID Provides unique identification of a bus slave on the CANopen field bus

OLE Object Linking and Embedding

OPC OLE for Process Control; standardised software interface that permitsaccess to process data

PLC/IPC Programmable logic controller/industrial PC

Pneumatic interface Interface between the modular electric peripherals and the pneumatics

TCP/IP Combination of the protocols TCP and IP, the most−widely used protocolin communication via Ethernet

TCP (TransmissionControl Protocol)

Protocpl for data transport and backup

TFTP (Trivial FileTransfer�Protocol)

Protocol for file transfer via TCP/IP

TSP (Target SupportPackage)

A target support package combines all configuration and expansion filesthat are needed to make a specific controller (target) usable for theprogramming environment CoDeSys provided by Festo.

UDP (User DatagramProtocol)

A minimal, connectionless network protocol that has a lower protocoloverheat compared to TCP. This has the advantage of a faster exchangeof data. Due to the lack of a reply, the correct transmission must beensured, e.g.�by means of a user program.

User data Telegram data without protocol frame data. The length of the user datais defined in the configuration of the field bus slave

www World Wide Web

Tab.�0/2: Product−specific terms and abbreviations


XIV Festo P.BE−CPX−CEC−EN en 0907NH

System summary

1−1Festo P.BE−CPX−CEC−EN en 0907NH

Chapter 1

1. System summary

1−2 Festo P.BE−CPX−CEC−EN en 0907NH

Contents

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

1.2 The operating modes of the CPX−CEC−C1 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 The CoDeSys provided by Festo programming environment 1−8 . . . . . . . . . . . . .

1.3.1 Programming languages 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Libraries 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Parameterisation 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Meaning of the LED displays 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 CPX−specific LEDs 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 The CoDeSys controller CPX−CEC−...

The CoDeSys controller CPX−CEC−... is a modern controlsystem for CPX terminals, which makes it possible toprogram with CoDeSys provided by Festo as per IEC 61131−3.

The CoDeSys controller is available in the following variants:

Variant Characteristics Availability

CPX−CEC−C1 CoDeSys controller withCANopen interface

Available

CPX−CEC CoDeSys controller withRS232 interface

In preparation

CPX−CEC−M1 CoDeSys controller withCANopen interface andfunction library forSoftMotion

In preparation

Tab.�1/1: Variants of the CoDeSys controller

1. System summary


Characteristics of the CoDeSys controller

� Programming with CoDeSys provided by Festo as perIEC�61131−3

� Programming and communication via Ethernet

� Process visualisation within CoDeSys provided by Festo,with a type FED operator unit or with the software VipWinvia Ethernet

� Additional process visualisation systems can beconnected via the supplied OPC server if they have anOPC client

� The CPX−CEC−C1 offers a CANopen interface to which upto 31 CANopen slaves can be connected

� The CoDeSys controller controls a CPX terminal in theStand Alone or Remote Controller operating mode

� Communication over field bus in connection with the useof the respective field bus node in the CPX terminal

� Control configuration of CoDeSys provided by Festo forcommissioning, programming and diagnosis of thesystem

� Connection of a handheld of type CPX−MMI. The handheldis used to display status and diagnostic information ofthe CoDeSys controller and for fast commissioning of theCPX modules in the CPX terminal.

1. System summary


1.2 The operating modes of the CPX−CEC−C1

The CPX−CEC−C1 can be operated in various operating modes,depending on the demand:

� Stand Alone

� Remote Controller Ethernet

� Remote Controller Field Bus (field bus node required)

The individual operating modes are briefly presented in thefollowing:

Stand Alone operating mode

1 2

1 CPX−CEC−C1

2 CPX terminal controlled by the CPX−CEC−C1

Fig.�1/1: Stand Alone operating mode

1. System summary


Remote Controller Ethernet operating mode

Ethernet

1 2

1 CPX−CEC−C1 connected to an Ethernet network forcommunication

2 CPX terminal controlled by the CPX−CEC−C1

Fig.�1/2: Remote Controller Ethernet operating mode

1. System summary


Remote Controller Field Bus operating mode

21 3

1 CPX−CEC−C1 connected to the field bus forcommunication over the field bus node.

2 CPX field bus node, hier: CPX−FB13

3 CPX terminal controlled by CPX−CEC−C1

Fig.�1/3: Remote Controller Field Bus operating mode(field�bus node required)

1. System summary


1.3 The CoDeSys provided by Festo programming environment

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

� Configuration and parameterisation of the CPX−CEC−C1with control configuration

� Programming as per IEC 61131−3

� Integrated module libraries

� Library administrator to integrate additional libraries

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

� Visualisation with the integrated visualisation editor

� Documentation with the integrated projectdocumentation

� Debugging functions: Testing program sequence,observing and changing variables, error search.

To be able to use a controller (target) under CoDeSysprovided by Festo, a so−called Target Support Package isneeded for the corresponding target. This permits access tothe system functions of the target and containscorresponding informationen in the form of online help. TheTarget Support Package makes CoDeSys functions usable forthe respective device or limits them, if necessary.

With the Target Support Package, CoDeSys can support allthese characteristics and functions of these devices. And soCoDeSys provided by Festo contains many functions that areavailable only on certain devices.

1. System summary


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

Information about which functions of CoDeSys provided byFesto are supported by the CoDeSys controller and whichadditional functions are available can be found in the onlinehelp (key word �Functional Overview").

1. System summary


1.3.1 Programming languages

CoDeSys provided by Festo offers five of the programminglanguages standardised in IEC 61131−3; see Tab.�1/2. Each ofthese programming languages has certain characteristicsthat are especially suited for solving specific tasks.

Programminglanguages

Type Description

Statement list (STL) Text−basedprogramminglanguage

The statement list enables the programmer todescribe the working steps of controller functions withsimple instructions. The language set−up supports theefficient handling of complex tasks.

Structured text (ST) Structured text comes closest to the programminglanguages used for the PC, such as Pascal and C. It consists of a number of statements that can beperformed conditionally (�IF..THEN..ELSE") or in loops(WHILE..DO), as in high−level languages.

Sequential function chart(SFC)

Graphicprogramminglanguage

Enables programming of sequencers and so is suitedfor structuring and organising projects. With transi�tions and connections, the sequential function chartdescribes the time sequence of the various stepswithin the program.

Function diagram (FUN)

or

Free−graphic functiondiagram (CFC)

The function diagram works with a list of networks,whereby each network contains a structure thatdepicts a logical or arithmetic expression, calls up afunction module, a jump or a return instruction.

In addition, based on the function diagram, there isthe free−graphic function diagram (CFC), in which theelements are freely placed and feedback can bedirectly added.

Ladder diagram (LDR) The ladder diagram was developed from the circuitdiagram. The diagram of a LDR program is thereforesimilar to the diagram of a circuit diagram � in relationto the diagram of logical links.

Tab.�1/2: Programming languages of CoDeSys provided by Festo

1. System summary


1.3.2 Libraries

To make programming easier, CoDeSys provided by Festomakes it possible to organise into libraries objects that areusable independently of projects, such as modules,declarations and visualisations. A library administrator, withwhich you can integrate and view libraries, is available forthis purpose.

You will find detailed descriptions on the libraries andprogramming in the online help.

1.3.3 Parameterisation

Information on parameterisation of the entire system via theCoDeSys controller can be found in the online help.

1. System summary


1.4 Meaning of the LED displays

The LEDs on the cover indicate the operating status of theCPX−CEC−C1 and are arranged in two groups.

1 Controller LEDs(see section 4.2)

RUNSTOPERRORTP

2 CPX−specific LEDs

PSPLSFM

1 2

Fig.�1/4: LED displays of the CPX−CEC−C1

1. System summary


1.4.1 CPX−specific LEDs

The displays of the CPX−specific LEDs are described in thefollowing. Information on the controller LEDs can be found insection 4.2.

PS (Power System) � supply to the electronics

LED (green) Sequence Meaning Error treatment

LED lights up

ON

OFF

No error. Operatingvoltage/sensor supplyapplied

�

LED flashes

ON

OFF

Operating voltage/sensorsupply outside thetolerance range

Eliminate undervoltage

LED flashesON

OFFInternal fuse for theoperating voltage/sensorsupply has responded

1. Eliminate short circuit/overload onmodule side.

2. Depends on the parameterisationof the module (module parameter):· The sensor supply voltage will

be switched on again auto−matically after the short circuithas been eliminated (default)

· Power off/on is necessary

LED is off

ON

OFFThe operating voltage/sensor supply is notapplied

Check the operating voltageconnection of the electronics

Tab.�1/3: Displays of the LED PS

1. System summary


PL (Power Load) � load supply (outputs/valves)

LED (green) Sequence Meaning Error treatment

LED lights up

ON

OFF

No error. Load voltageapplied

�

LED flashes

ON

OFFLoad voltage at the systemsupply or additional supplyoutside the tolerancerange

Eliminate undervoltage

Tab.�1/4: Displays of the LED PL

SF (System Failure) � system error

LED (red) Sequence 1) Meaning Error treatment

LED is off

ON

OFFNo error �

LED flashes

ON

OFFSimple error/information(Error class 1)

See description of error numbers inthe CPX system manual

LED flashes

ON

OFF

Error (error class 2)

LED flashes

ON

OFFSerious error(Error class 3)

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

Tab.�1/5: Displays of the LED SF

1. System summary


M (Modify) � Modify/force active

LED (yellow) Sequence Meaning Error treatment

LED is off

ON

OFFForce is not active �

LED flashes

ON

OFFForce is active The Force function is enabled

(see CPX system manual, systemparameter Force mode; functionno.�4402).

Tab.�1/6: Displays of the LED M

Information on the controller LEDs can be found insection�4.2.

1. System summary


Installation


Chapter 2

2. Installation


Contents

2.1 General installation instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2.2.2 Fitting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2.4.1 RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 DIL switches 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Ethernet interface 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Ethernet cable 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Communication interfaces 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 CANopen interface 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Connection of an operator unit type FED 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MMI 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying with protection class IP65/IP67 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Installation


2.1 General installation instructions

WarningDanger of injury from electric shock.

· Always switch off the power supply before fitting orremoving CPX modules.

CautionThe CoDeSys controller contains electrostatically sensitivecomponents.

· Therefore, do not touch any components.

· Observe the handling specifications for electrostaticallysensitive components.

NoteCheck within the framework of your EMERGENCY STOPconcept to ascertain the measures necessary for puttingyour machine/system into a safe state in the event of anEMERGENCY STOP (e.g. switching off power sources, loadvoltage supply, compressed air, etc.).

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

2. Installation


2.2 Dismantling and fitting

The CoDeSys controller is fitted in an interlinking block of theCPX terminal (see Fig.�2/1).

2.2.1 Dismantling

Dismantle the CoDeSys controller as follows:

1. Loosen the four screws of the CoDeSys controller with aTORX screwdriver size T10.

2. Pull the CoDeSys controller carefully and without tiltingaway from the contact rails of the interlinking block.

1 CPX−CEC−C1

2 Interlocking block

3 Contact rails

4 Screws

3

4

1

2

Fig.�2/1: Dismantling/fitting of the CoDeSys controller

2. Installation


2.2.2 Fitting

NoteFit the CPX−CEC−C1 to the left end position of theCPX�terminal (Position 0).

Fit the CoDeSys controller as follows:

1. Check the seal and seal surfaces.

2. Insert the CoDeSys controller in the interlocking block.Make sure that the grooves with the power contactterminals on the bottom of the CPX−CEC lie above thepower rails.

3. Push the CoDeSys controller carefully and without tiltingas far as possible into the interlinking block.

4. Place the screws so that the self−cutting threads can beused. Tighten the screws by hand.

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

2. Installation


2.3 Connection and display elements

The following connecting and display elements can be foundon the CPX−CEC−C1:

2

34

6

7

5

1

1 Status LEDs

2 RUN/STOP rotary switch

3 Ethernet interface (10/100BaseT, RJ45)

4 CANopen interface (9−pin Sub−D plug)

5 DIL switch 1

6 DIL switch 2

7 Connection for a handheld oftype�CPX−MMI

Fig.�2/2: Connection and display elements CPX−CEC−C1

2. Installation


2.4 Setting of the switches of the CoDeSys controller

2.4.1 RUN/STOP rotary switch

NoteLeave the RUN/STOP rotary switch at position �0" (STOP)during installation.

The switch setting of the RUN/STOP rotary switch withfour�internal digital inputs is passed on to the controller andcan be evaluated there.

Rotary switch Setting Meaning

0 STOPCPX−CEC−C1 stoppedThe STOP LED lights up yellow

1 ... F RUNCPX−CEC−C1 startedThe RUN LED lights up green

Tab.�2/1: Switch settings of the RUN/STOP rotary switch

2. Installation


2.4.2 DIL switches

The DIL switches must be accessible in order to set theCPX−CEC−C1:

· Remove, if applicable, the cover or an IP65/IP67 plugfrom the Sub−D interface.

DIL switch 1

DIL switch 1 is reserved. Leave the two switch elements ofDIL switch 1 at OFF.

CPX−CEC−C1 DIL switch 1

Reserved DIL 1.1: OFFDIL 1.2: OFF

Tab.�2/2: Setting the DIL switch 1

DIL switch 2

For CPX−CEC−C1, you can switch the CAN bus termination(120 ) on or off with DIL switch 2.

CPX−CEC−C1 DIL switch 2

Termination switched off DIL 2.1: OFFDIL 2.2: OFF

Termination switched on DIL 2.1: ONDIL 2.2: OFF

All further switch settings are reserved.

Tab.�2/3: Setting the CAN bus termination

2. Installation


2.5 Ethernet interface

The Ethernet interface permits connection of a programmingdevice, PC or type FED operator unit to the CoDeSyscontroller.

The Ethernet interface is designed as an RJ45 socket.

Socket Pin Signal Explanation

12345678

12345678Metal covering

TD+TD�RD+n.c.n.c.RD�n.c.n.c.Shield

Transmitted data+Transmitted data�Received data+not connectednot connectedReceived data�not connectednot connectedScreening

Tab.�2/4: Pin assignment of the Ethernet interface

If the Ethernet interface is not used, close it with the AK−RJ45cover. In this way you will comply with protection classIP65/IP67.

2. Installation


2.5.1 Ethernet cable

Use as connecting cable:

Cable specification Screened flexible Ethernet round cable of category 5Max. outer diameter: 5.4 mmCore diameter: 0.89 ... 1.0 mm AWG24−26Ready made: Crimping pliers on RJ45

NoteIf the CPX terminal is fitted onto a moving part of amachine, the Ethernet cable on the moving part must beprovided with strain relief.

Network connection In order to connect your CoDeSys controller to a network orPC, you will require a patch or crossover cable. The interfaceautomatically recognises which cable is connected andautomatically converts the signals.

NoteUse the RJ−45 plug from Festo in order to comply withprotection class IP65/IP67.

� Type FBS−RJ45−8−GS

Observe the fitting instructions for the plug.

Fig.�2/3: RJ−45 plug type FBS−RJ45−8−GS

2. Installation


2.6 Communication interfaces

2.6.1 CANopen interface

On the CPX−CEC−C1, there is a CANopen interface forconnection of CAN bus slaves.

The CANopen interface is designed as a 9−pin Sub−D plug.

Plug Pin Signal Internalcontacts

Explanation

51

96

123456789Housing(plug)

n.c.CAN_LCAN_GNDn.c.CAN_SHLDCAN_GNDCAN_Hn.c.n.c.

FE

not connectedCAN lowCAN groundnot connectedConnection to functional earth (FE) 2)

CAN ground (optional) 1)

CAN highnot connectednot connectedThe plug housing must be connectedto FE 2)

1) If a drive controller with external voltage supply is connected, CAN ground (optional), pin 6 cannot be used on the CPX−CEC−C1.

2) FE: Functional earthing

Tab.�2/5: Pin assignment for the CANopen interface

The connected CAN bus slaves are not supplied with powerover the CANopen interface.

2. Installation


Connecting the CAN bus

CAN bus line

NoteFaulty installation or high transmission rates may causedata transmission errors as a result of signal reflectionsand attenuations.Transmission errors can be caused by:

� missing or incorrect terminating resistor

� incorrect screened connection

� branches

� large distances

� unsuitable cables.

Use a twisted, screened 4−core cable as CAN bus line. The CoDeSys controller communicates with the drivecontrollers via the CAN bus line.

If the Festo CAN bus plug is used, a cable diameter of5�...�8�mm or 7 ... 10 mm is permitted.

NoteIf the CPX terminal is fitted onto the moving part of amachine, the CAN bus line on the moving part must beprovided with strain relief. Also observe the relevantregulations in EN�60204 part 1.

2. Installation


Connection with Festo CAN bus plug

Note· Use protective caps or blanking plugs to seal unusedconnections.

You will then comply with protection class IP65/IP67.

· Note the fitting instructions for the CAN bus plug. Tightenthe two fastening screws at first by hand and then withmax. 0.4 Nm.

You can connect the CPX−CEC−C1 easily to the CAN bus withthe CAN bus plug from Festo, type FBS−SUB−9−BU−2x5POL−B.You can disconnect the plug from the node withoutinterrupting the bus cable (T−Tap function).

NoteThe clamp strap in the Festo CAN bus plug is connectedonly capacitively internally with the metal housing of theSub−D plug. This prevents equalizing currents from flowingvia the screening of the CAN bus cable (Fig.�2/4).

· Clamp the screening of the CAN bus cable under theclamp strap in the CAN bus plug.

2. Installation


1 Folding coverwith inspectionwindow

2 Clamp strap forscreeningconnection 1)

3 Protective cap ifconnection is notused

4 CAN bus outgoing(OUT)

5 CAN bus incoming(IN)

6 Sub−D plug 1)

1) connected capacitively

V+

GND H L

SLD

V+

GND H L

SLD

21 3

456

Fig.�2/4: CAN bus plug from Festo, type FBS−SUB−9−BU−2x5POL−B

2. Installation


Further connection possibilities for the CAN buswith adapters

Caution· Make sure of the correct polarity when you connect theCAN bus interface.

· Connect the screen.

There are further possibilities of connecting the CAN bus withadapters, which can be ordered separately from Festo. These adapters and additional accessories can be foundunder:

è www.festo.com/catalogue

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

� Screw terminal adapter 5−pin (protection class IP20), type FBA−1−SL−5POL

2. Installation


2.7 Connection of an operator unit type FED

The operator unit type FED is a display for operating andobserving automation tasks at the field level.

· Follow the accompanying user documentation wheninstalling the device.

Fig.�2/5: CPX terminal with CPX−CEC−C1 and operator unittype FED incl. optional Ethernet interface

Connect an operator unit of type FED with Ethernet interfaceto the CoDeSys controller using an Ethernet cable.

2. Installation


2.8 Connection of a handheld type CPX−MMI

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

To ensure the consistency of the displayeed data, theconnection to the CPX−MMI is interrupted during a programdownload.

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

Type Cable length in [m]

KV−M12−M12−3,5 3.5

KV−M12−M12−1,5 1.5

Tab.�2/6: Connection cable for handheld type CPX−MMI

Information on the handheld can be found in the device’saccompanying user documentation.

Fig.�2/6: CPX terminal with handheld type CPX−MMI

2. Installation


2.9 Complying with protection class IP65/IP67

In order to comply with protection class IP65/IP67, sealunused sockets and the switch with the appropriate covers.

Connection/switch

ConnectionIP65/IP67

Cover 1)

IP65/IP67

Ethernet, RJ45 Plug type FBS−RJ45−8−GS

Cover 2)

type AK−RJ45

CANopeninterface, Sub−Dand DIL switch

Plug typeFBS−SUB−9−BU−2X5POL−B

Transparent cover 2)

type AK−SUB−9/15−B

Service interface,M12

Connecting cable andplug of the CPX −MMI

Protective cap 2)

type ISK−M12

Rotary switch � Cover 2)

type AK−RJ45

1) If connection is not used2) Included in scope of delivery

Tab.�2/7: Connections and covers for protection classIP65/IP67

Commissioning


Chapter 3

3. Commissioning


Contents

3.1 Prerequisites for commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

3.4 Configuration of the CANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Parameterisation 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Parameterisation via control configuration in CoDeSys 3−10 . . . . . . . . .

3.5.2 Parameterisation via the handheld type CPX−MMI 3−13 . . . . . . . . . . . . .

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

3. Commissioning


3.1 Prerequisites for commissioning

CautionDanger of injury due to undesired movements of theconnected actuators

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

1. Install the program environment CoDeSys provided byFesto on a PC on which you carry out commissioning,configuration and programming.

Detailed installation instructions can be found on theaccompanying CD ROM. Observe the instructions on thecover of the CD−ROM.

2. Connect the PC to the CoDeSys controller.

3.2 First steps

1. Start the CoDeSys provided by Festo.

2. Create a new project.

1. Select the target system.

2. If necessary, change the settings for the targetsystem.

3. Create the program module �PLC_PRG".

· Select the language of the module, e.g. STL.

4. In the �Object Organizer", change to �Resources".

3. Commissioning


5. Open the �PLC Configuration".

6. Select the Root node, if applicable.

7. Open the �Network configuration" register.

8. Carry out the �Search network" function.

9. Select the desired CoDeSys controller.

10. Carry out the �Set as active PLC" function.

11. Back up the project.You can now log in to the controller, if necessary.

Fig.�3/1: Network configuration using the example of the CPX−CEC−C1

3. Commissioning


3.3 Configuration of the CPX modules

You will find detailed information on configuration of theCPX�modules in the online help.

After you have created a new project in section 3.2 andselected the desired CoDeSys controller, now continuecommissioning with configuration of the CPX modules.

1. Click in the window �PLC Configuration" on the nodes tothe left of the CPX−CEC−...

2. Click with the right mouse key on the element�IOModules[FIX]".

Fig.�3/2: Configuration of the CPX modules

Now you can perform module configuration automaticallyor manually.

3. Commissioning


Automatic module configuration

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

The I/O modules of a CPI module are not included inautomatic module configuration. In this case, carry out amanual module configuration (see next section) or performthe �Scan" function in the �CP Modules" register.

Fig.�3/3: �CP Modules" register

3. Commissioning


Manual module configuration

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

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

· From the list of the CPX modules, select the CPX moduleto the right of CPX−CEC−...

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

Addressing of inputs and outputs takes place automatically(preset in the delivery condition of the device). For eachmodule, at least 4 bytes of inputs or outputs are reserved.The rotary switch of the CPX−CEC−C1, for example, occupiesonly 4 bits of inputs, but 4 bytes are reserved. Alternatively,you can also manually address the inputs and outputs.Information can be found in the online help.

3. Back up the project.

3. Commissioning


3.4 Configuration of the CANopen slaves

Now continue commissioning with configuration of theCANopen slaves.

Addressing of the inputs and outputs takes placeautomatically. For each CANopen slave, at least 4 bytes ofinputs or outputs are reserved.

The input and output addresses of the CANopen slaves areattached to the input and output addresses of the CPXmodules. When the �Automatic addresses" option isselected, a change of configuration of the CPX modulesresults in a change of the address assignment of theCANopen slaves.

1. In the �PLC Configuration" window, click with the rightmouse key on the Root node of the CoDeSys controller.

2. In the [Append Subelement] menu option, choose theoption [CANopen master].The [CANopen master] appears in the Controlconfiguration after the [IOModules].

3. Click on [CANopenMaster[VAR]��] with the right mousebutton.

4. Choose [Append Subelement].

5. Select a CANopen slave.

6. Repeat steps 3 to 5 until you have selected all CANopenslaves.

You will find detailed information on configuration of theCANopen slaves in the online help and in the file�CANopen�for 3S Runtime Systems V2_...pdf" in theinstallation directory of CoDeSys provided by Festo.

3. Commissioning


3.5 Parameterisation

The CPX terminal is supplied from the factory with presetparameters. If required, you can set the reaction of the CPXterminal as well as the reaction of individual modules andchannels by parameterising.A distinction is made between the following parameterisa�tions:

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

� module parameters (module and channel−specific),�e.g.:monitoring, settings in the event of errors, settings forForcing

� diagnostic memory parameters.

Detailed specifications on the parameters and data as well asbasic information on parameterisation of the CPX terminalcan be found in the CPX system manual type P.BE−CPX−SYS−...

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

The following parameterisation options are available:

Parameterisation via ... Manual Properties

Control configuration inCoDeSys: logout

Access to all parameters ofthe CPX terminal

� Convenient parameterisation via a PC� Parameterisation is stored in the

project, i.e. the parameters remainafter Power OFF/ON

Handheld type CPX−MMI Parameterisation is carriedout via menu−listed entrieswith the handheld

� Parameterisation is saved only locallyin the CPX terminal and is lost withPower OFF/ON

Tab.�3/1: Possibilities of parameterisation

3. Commissioning


3.5.1 Parameterisation via control configuration in CoDeSys

Detailed information on parameterisation can be found in theonline help.

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

� the setpoint configuration (logout): Parameters aretransferred when the project is loaded.

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

Parameters cannot be changed in the online mode.

In the following, parameterisation is described using theexample of the Root node:

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

Settings

· Set the following parameters in the �Settings" register,if�necessary:

Fig.�3/4: �Settings" register

3. Commissioning


Module #0

In the �Module #0" register, you receive the followinginformation on the CoDeSys controller:

Fig.�3/5: �Module #0" register

Network configuration (logout)

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

Fig.�3/6: �Network configuration" register

3. Commissioning


System parameters

· Set the system parameters in the �System Parameters"register:

Fig.�3/7: �System Parameters" register

Trace parameters

· Set the following parameters in the �Trace Parameters"register:

Fig.�3/8: �Trace Parameters" register

3. Commissioning


3.5.2 Parameterisation via the handheld type CPX−MMI

The parameters of the CPX terminal can be read and modifiedvia a connected handheld.

NoteParameterisations via the handheld are saved only locallyin the CPX terminal and are lost with Power OFF/ON.

Further information on parameterising with the handheld canbe found in the manual type P.BE−CPX−MMI−1−...

3. Commissioning


3.6 Forcing

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

WarningHigh acceleration forces at the connected actuators!Undesired movements of the actuators can causecollisions and severe injuries.

· Be very careful when forcing in order to avoid undesiredmovements of the actuators.


Forcing of inputs withhandheld type CPX−MMI

Forcing an input does not modify the input signal itself andcannot be observed at the relevant status LED. The logicalstatus of the input changes internally and in some cases hasan effect on the program. The forced input status is trans�ferred to the processing image of the inputs. The onlinedisplay in CoDeSys provided by Festo therefore shows theforced input signal.

Forcing of outputs withhandheld type CPX−MMI

Forcing an output does modify the actual output signal andcan be observed at the relevant status LED. However, theforced output signal is not transferred to the processingimage of the outputs. The online display in CoDeSysprovided by Festo does not show the forced, physical outputsignal, but the status from the processing image.

3. Commissioning


NoteThe online display in CoDeSys provided by Festo alwaysshows the signal status valid in the process diagram. When forcing with the handheld type CPX−MMI, observethe following:

� Forced input states are transferred to the processingimage and therefore recognized by the controller. They are visible in the online dislpay.

� Forced output states are not transferred to theprocessing image and are therefore not recognized bythe controller. They are not therefore represented in theonline display.

You have various possibilities of temporarily influencing inputor output signals, e.g. for test purposes:

� Forcing via the handheld type CPX−MMI

� Forcing with the online display in CoDeSys provided byFesto.

Further information on forcing can be found in the CPXsystem manual type P.BE−CPX−SYS−... and in the online help.

If several functions are active at the same time, the followingapplies:

� Force signals have the highest priority

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

3. Commissioning


Diagnosis


Chapter 4

4. Diagnosis


Contents

4.1 General error response of the CoDeSys controller 4−3 . . . . . . . . . . . . . . . . . . . . .

4.2 Diagnosis via controller LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Further diagnostics options 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Diagnosis


4.1 General error response of the CoDeSys controller

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

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


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

� System event CPX_system_fault

� Channel/module diagnosis in the flag words

� Module support in the Festo_CPX.lib

You will find detailed information on error handling in userprograms in the online help.

4. Diagnosis


For the CoDeSys controller, the following diagnostics optionsare available:

Diagnosis via ... Advantages Description

Status LEDs Fast on−the−spot recognition offaults

� Controller LEDs see section 4.2� CPX−specific LEDs, see section 1.4

Handheld type CPX−MMI Fast on−the−spot recognition offaults

See CPX system manual

Control configuration Online diagnosis withoutprogramming

See online help

User program Detailed diagnostic evaluation:

� System eventCPX_system_fault

� Channel/module diagnosis inthe flag words

� Module support in theFesto_CPX.lib

See online help

Tab.�4/1: Diagnostics options of the CoDeSys controller

4. Diagnosis


4.2 Diagnosis via controller LEDs

The controller LEDs have the following meaning:

RUN � PLC status: started

LED (green) Sequence Status Error number Error handling

LED lights up

ON

OFFPLC program started (RUN/STOP switch is inposition �1 ... F")

� �

LED is off

ON

OFFPLC program stopped(RUN/STOP switch is inposition �0")

� · Set RUN/STOPswitch to position�1 ... F"

Tab.�4/2: Displays of LED RUN

STOP � PLC status stopped

LED (yellow) Sequence Status Error number Error handling

LED lights up

ON

OFFPLC program stopped(RUN/STOP switch is inposition �0")

� �

LED is off

ON

OFFPLC program started (RUN/STOP switch is inposition �1 ... F")

� · Set RUN/STOPswitch to position�0"

Tab.�4/3: Displays of LED STOP

4. Diagnosis


ERROR � PLC run−time error

LED (red) Sequence Status Error number Error handling

LED lights up

ON

OFFPLC program error CPX error · Read out error

code overhandheld orCoDeSys pbF

LED is off

ON

OFF

No error � �

Tab.�4/4: Displays of LED ERROR

TP � Ethernet connection: link/traffic

LED (green) Sequence Status Error number Error handling

LED lights up

ON

OFFEthernet connection OK � �

LED flashes

ON

OFF

Data transfer active (LED flashes irregularly)

� �

LED is off

ON

OFFEthernet connection to theparameterisation PC not OK

� · Check� the connection� the IP address

Tab.�4/5: Displays of the LED TP

4. Diagnosis


4.3 Further diagnostics options

Detailed information on diagnosis with the handheldtype�CPX−MMI can be found in the CPX system manualtype�P.BE−CPX−SYS−...

You will find detailed information on diagnostics for thecontroller configuration in CoDeSys provided by Festo anduser programs in the online help.

4. Diagnosis


Technical appendix

A−1Festo P.BE−CPX−CEC−EN en 0907NH

Appendix A

A. Technical appendix

A−2 Festo P.BE−CPX−CEC−EN en 0907NH

Contents

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


A−3Festo P.BE−CPX−CEC−EN en 0907NH

A.1 Technical data

Type CPX−CEC−C1

General technical specific. of the CPX terminal see CPX system manual P.BE−CPX−SYS−...

Total number of axes 31

CPU data Processor 400 MHz, 32�MB RAM, 32�MB flash

Configuration support CoDeSys

Parameterisation CoDeSys

Programming software CoDeSys provided by Festo

Programming language as per IEC 61131−3LDR, STL, ST, FUN, SFC, also CFC

Program memory 4 MB user program

Protocol CoDeSys Level 2, EasyIP, Modbus�TCP, TCP/IP

Device−specific diagnostics � Channel and module−oriented diagnostics� Undervoltage/short−circuit modules� Diagnostic memory

Additional functions Diagnostic functionsMotion function for electrical drive units

Baud rate 10/100 bits/s as per IEEE802.3 (10BaseT)

Processing time approx 200 s/1k instructions

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

LED display (product−specific) RUN: PLC status: startedSTOP: PLC status: stoppedERR: PLC run−time errorPS: Electronic supply, sensor supplyPL: Load supplySF: System faultM: Modify/forcing active


A−4 Festo P.BE−CPX−CEC−EN en 0907NH

Type CPX−CEC−C1

Field bus interface� Type� Connection technology� Transmission rate� Electrical isolation

CAN busPlug, Sub−D, 9−pin125, 250, 500, 800, 1000 kbps (adjust. via software)yes

Ethernet� Number� Connector plug� Transmission speed� Supported protocols

1RJ45, socket, 8−pin10/100�mbpsTCP/IP, EasyIP, Modbus TCP

Protection classonly in conjunction with plugs and covers inprotection class IP65/IP67

IP65/IP67

Nominal operating voltage 24�V DC

Load voltage� without pneumatics� with pneumatics type Midi/Maxi� with pneumatics type CPA� with pneumatics type MPA

18 ... 30�V DC21.6 ... 26.4�V DC20.4 ... 26.4�V DC18 ... 30�V DC

Intrinsic current consumption� at rated voltage Typically 85 mA

Power failure bridging 10 ms

Storage temperature �20 ... 70�°C

Ambient temperature �5 ... 50�°C

Relative air humidity 95 %, non−condensing

Product weight 155 g

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

Index

B−1Festo P.BE−CPX−CEC−EN en 0907NH

Appendix B

B. Index

B−2 Festo P.BE−CPX−CEC−EN en 0907NH

B. Index


A

Abbreviations XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

CableEthernet 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Handheld type CPX−MMI 2−17 . . . . . . . . . . . . . . . . . . . . . . .

CAN busCable 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting 2−12, 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Termination 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CoDeSys provided by Festo XIII, 1−8 . . . . . . . . . . . . . . . . . . . . .

ConfigurationCANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CPX modules 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

CPX−MMI 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

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

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

F

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

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

Front end display (FED) 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


H

Handheld type CPX−MMI 2−17 . . . . . . . . . . . . . . . . . . . . . . . . .

I

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

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

InterfacesCANopen 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ethernet 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LEDsController LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CPX−specific 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

Operating modes 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator unit type FED 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameterisation 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . via control configuration 3−10 . . . . . . . . . . . . . . . . . . . . . . . via handheld type CPX−MMI 3−13 . . . . . . . . . . . . . . . . . . . . .

Pin assignmentCANopen interface 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ethernet interface 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection class IP65/IP67 2−18 . . . . . . . . . . . . . . . . . . . . . . .

B. Index


S

Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SwitchRUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . .

SwitchesDIL switch 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

T

Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

U

User instructions X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


cpx terminal - festo · cpx−cec−c1 cpx terminal manual 569 122 en 0907nh ... type...

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