terminal cpx busnode cpx-fb37 - pneumatic & … · the busnode cpx-fb37...

Bus node CPX-FB37

Description

Network protocol

EtherCAT

8029675

1406NH

[8029664]

Terminal CPX

CPX-FB37

2 Festo – P.BE-CPX-FB37-EN – 1406NH –

Translation of the original instructions

P.BE-CPX-FB37-EN

EtherCAT®, TwinCAT®, CANopen®, SPEEDCON®, Torx®, Windows® are registered trademarks of the

respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

CPX-FB37

Festo – P.BE-CPX-FB37-EN – 1406NH – English 3

Table of Contents – CPX-FB37

1 Safety 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 General safety information 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Intended use 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Requirements for product use 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Technical requirements 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Qualification of specialists (personnel requirements) 9. . . . . . . . . . . . . . . . . . . .

1.3.3 Range of application and certifications 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Overview 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Function range (brief overview) 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Connections and display components 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Mounting and installation 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Dismantling and mounting 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Dismantling the bus node 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Mounting the bus node 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Setting the DIL switches on the bus node 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Removing and fitting the cover over the DIL switches 15. . . . . . . . . . . . . . . . . . . . .

3.2.2 Arrangement of the DIL switches 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Setting the DIL switches 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Setting the operating mode 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 Configuring the EtherCAT addressing type 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6 Setting the diagnostics mode (Remote I/O operating mode) 18. . . . . . . . . . . . . . .

3.2.7 Setting the I/O mode (remote controller operating mode) 19. . . . . . . . . . . . . . . . .

3.2.8 Starting the bootloader mode 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9 Setting the EtherCAT address 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Connecting to the EtherCAT network 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 General notes on EtherCAT networks 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Network interface 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Network connectors 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.4 Cable specification 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Complying with degree of protection IP65/IP67 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Voltage supply 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Commissioning 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General instructions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Switching on the power supply 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Addressing, configuration and parameterisation 26. . . . . . . . . . . . . . . . . . . . . . . .

4.2 Address assignment 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FB37

4 Festo – P.BE-CPX-FB37-EN – 1406NH – English

4.3 Addressing the inputs and outputs, data access 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Basic rules for addressing 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Differences in addressing between the modular device profile and fixed I/O size 27

4.3.3 Data access (data objects) 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Addressing the devices 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Assigning an independent EtherCAT device address via DIL switch 28. . . . . . . . . .

4.4.2 Assigning an independent EtherCAT device address using the configuration tool 28

4.5 Configuration 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Registering station properties in the configuration program 30. . . . . . . . . . . . . . .

4.5.2 Configuration in the Modular Device Profile (MDP) 32. . . . . . . . . . . . . . . . . . . . . . .

4.5.3 Configuration with fixed I/O size (CPX-FB38 mode) 35. . . . . . . . . . . . . . . . . . . . . .

4.5.4 Configuration in the remote controller operating mode 35. . . . . . . . . . . . . . . . . . .

4.6 Parameterisation 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 Introduction to parameterisation 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.2 Methods of parameterisation 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.3 Parameterisation with the operator unit CPX-MMI 38. . . . . . . . . . . . . . . . . . . . . . .

4.6.4 Parameterisation with the Festo Maintenance Tool (CPX-FMT) 38. . . . . . . . . . . . . .

4.6.5 Parameterisation via EtherCAT in the Modular Device Profile (MDP) 39. . . . . . . . .

4.7 Remarks on parameters of the CPX system settings 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.1 Sequence of start parameterisation during switch-on (system start) 41. . . . . . . .

4.7.2 Parameterisation of the fail-safe mode 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Web server 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.1 Configuration 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Firmware update/restoring the firmware 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9.1 Updating the firmware via FoE (File Access over EtherCAT) 50. . . . . . . . . . . . . . . .

4.9.2 Restoring the firmware with the Festo Field Device Tool (FFT) 52. . . . . . . . . . . . . .

4.10 Checklist for commissioning a CPX terminal 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11 Replacing the bus node 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Diagnostics 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Summary of diagnostics options 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Diagnostics via LEDs 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 LEDs at the bus node CPX-FB37 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Normal operating status 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 CPX-specific LEDs 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 EtherCAT-specific LEDs 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Diagnostics via status bits 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Diagnostics via the I/O diagnostic interface (STI) 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FB37


5.5 Diagnostics via EtherCAT 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Basic information 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Diagnostics via SDO access 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Diagnostics via diagnostics history 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Die Emergency Message 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.5 Error characteristics (fail-safe mode) 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.6 Error types 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Technical appendix 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Object directories 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Object directory CPX-FB37 mode (Modular Device Profile) 78. . . . . . . . . . . . . . . . .

A.2.2 Object directory CPX-FB38 mode (fixed I/O size) 81. . . . . . . . . . . . . . . . . . . . . . . .

B Glossary 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FB37


Notes on this documentation

This description contains information regarding the installation and configuration of the CPX bus node,

as well as EtherCAT-specific information regarding parameterisation, commissioning and diagnostics of

a CPX terminal in an EtherCAT network.

CPX-FB37 Description Connection technology

Ethernet-based CPX busnode for EtherCAT

2 x M12 socket, D-coded, 4-pin,

corresponding to

IEC 61076-2-101,

SPEEDCON®-compatible

Tab. 1 Overview

Additional information regarding EtherCAT can be found online (�www.ethercat.org).

Product-specific information about the control system (IPC, PLC or I/O controller) can be

found in the manufacturer’s documentation accompanying the product.

General basic information about the mode of operation, mounting, installation and

commissioning of CPX terminals can be found in the CPX system description

(P.BE-CPX-SYS-...).

Information about additional CPX modules can be found in the description for the respect-

ive module.

An overview of the structure of the CPX terminal user documentation is contained in the

CPX system description.

All documents are also available on the Festo website

(�www.festo.com/sp).

Service

Please consult your regional Festo contact if you have any technical problems.

1 Safety and requirements for product use


1 Safety

1.1 General safety information

• Observe the general safety information in the corresponding chapters.

Specific safety regulations can be found immediately before the task instructions.

Note

Damage to the product from incorrect handling.

• Switch off the supply voltage before mounting and installation work. Switch on sup-

ply voltage only whenmounting and installation work are completely finished.

• Never unplug or plug in a product when powered!

• Observe the handling specifications for electrostatically sensitive devices.

1.2 Intended use

The bus node CPX-FB37 is intended exclusively for use in CPX terminals, as a participant in the EtherCAT

fieldbus system, and it may only be used as follows:

– in excellent technical condition

– in original status, without unauthorised modifications

– within the limits of the product defined by the technical data (� Appendix A.1)

– in an industrial environment

Note

In the event of damage caused by unauthorised manipulation or other than intended

use, the guarantee is invalidated and the manufacturer is not liable for damages.

Warning

Danger of electric shock from voltage sources without protective measures.

• Use only PELV circuits in accordance with IEC/EN 60204-1 (Protective Extra-Low

Voltage, PELV) for the electric logic supply.

• Observe also the general requirements for PELV circuits in accordance with

IEC/EN 60204-1.

• Use only voltage sources that ensure a reliable electric separation of operating

voltage in accordance with IEC/EN 60204-1.



Through the use of PELV circuits, protection against electric shock (protection against direct and indir-

ect contact) is ensured in accordance with IEC/EN 60204-1.

In the CPX system description (P.BE-CPX-SYS-…), read the information on power supply as

well as on the earthing measures to be carried out.



1.3 Requirements for product use

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. Consider also the

documentation for other components and modules (e.g. CPX system descriptionP.BE-CPX-SYS-…).

• Take into consideration the legal regulations applicable for the destination, as well as:

– regulations and standards

– regulations of the testing organizations and insurers

– national specifications

1.3.1 Technical requirements

General conditions for the correct and safe use of the product, which must be observed at all times:

• Comply with the connection and environmental conditions specified in the technical data of the

product (� Appendix A.1) and of all connected components.

Only compliance with the limit values or load limits permits operation of the product in accordance

with the relevant safety regulations.

• Observe the notes and warnings in this documentation.

1.3.2 Qualification of specialists (personnel requirements)

The product may only be commissioned by trained control and automation technology professionals,

who have experience with:

– the installation, commissioning, programming and diagnostics of participants in the EtherCAT field-

bus system

– the applicable regulations for operating safety-engineered systems

– the applicable regulations for accident protection and operational reliability

– the documentation for the product

1.3.3 Range of application and certifications

Standards and test values, which the product complies with and fulfils, can be found in the “Technical

data” section (� Appendix A.1). The product-relevant EU directives can be found in the declaration of

conformity.

Certificates and the declaration of conformity for this product can be found on the Festowebsite (�www.festo.com/sp ).

The bus node CPX-FB37 successfully passed the test with the “EtherCAT Conformance Test Tool” (CTT).

2 Overview


2 Overview

2.1 Function range (brief overview)

– Real-time Ethernet communication (EtherCAT)

– Deterministic data transmission

– Master-slave system architecture

– Modular valve terminal configuration (MDP)

– Diagnostic data via CoE

– Parameterisation in plain text via CoE

– Hot Connect function for connecting and disconnecting devices during operation

– Module address can be altered via DIL switch

– Activation of the compatibility mode for the bus node CPX-FB38 via DIL switch

– Activation of the bootloader mode via DIL switch

– Adjustable fail-safe behaviour

– Adjustable CPX diagnostics mode

2 Overview


2.2 Connections and display components

The bus node has the following connections and display components:

1

2

3

4

5

6

1 EtherCAT-specific network status LEDs andCPX-specific LEDs

2 Network connection 1 (input “X1 In”)3 Network connection 2 (output “X2 Out”)

4 Cover for DIL switches5 Service interface for operator unit CPX-MMI

and USB adapter (for CPX-FMT)6 Rating plate

Fig. 2.1 Connections and display components of the bus node

Note

• Use cover caps to seal unused connections. You will then comply with the degree of

protection IP65/IP67 (� Section 3.4).

3 Mounting and installation



3.1 Dismantling and mounting

Warning

Danger of injury to people, damage to the machine and system resulting from uncon-

trolled movements of the actuators and undefined switching states

• Switch off the operating and load voltage supply.

• Switch off the compressed air supply.

• Exhaust the pneumatics valve terminal.

Note

Malfunction or damage to the electronics

The CPX bus node for EtherCAT contains electrostatically sensitive devices.

• Do not touch any components.


Note

Malfunction or damage to the bus node

Mounting /dismantling of the bus node must always take place in a de-energised state.

• To do this, disconnect the corresponding CPX terminal completely from the related

voltage supply or switch off the voltage supply.

Information about mounting of the CPX terminal can be found in the CPX system descrip-

tion (P.BE-CPX-SYS-...).



When built-in, the bus node is located in an interlinking block of the CPX terminal.

1

2

3

4

1 Bus node2 Interlinking block

3 Contact rails4 Torx T10 screws

Fig. 3.1 Mounting/dismantling the bus node

Note

Loss of settings

If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal

is saved locally in the bus node. In this case, parameterisation is lost if the bus node is

replaced.

• Save the required settings before replacing the bus node and restore the settings

after replacement.

3.1.1 Dismantling the bus node

1. Loosen the 4 screws of the bus node with a Torx screwdriver size T10.

2. Pull the bus node carefully and without tilting away from the contact rails of the interlinking block.



3.1.2 Mounting the bus node

Note

Damage to the interlinking block

• Always use the correct screws for the interlocking block, which depend on whether

the block is made of metal or plastic:

– For plastic interlinking blocks: Self-tapping screws

– Formetal interlinking blocks: Screws with metric thread

Both types of screws are enclosed when the bus node is ordered as a single part.

1. Check the seal and the sealing surfaces. Replace the damaged parts.

2. Insert the bus node into the interlinking block as far as possible without tilting it.

3. Turn the screws into the existing thread.

4. Tighten the screws in diagonally opposite sequence. Tightening torque: 0.9 … 1.1 Nm.



3.2 Setting the DIL switches on the bus node

In order to set the CPX bus node, you must first remove the cover for the DIL switches.

Note

Malfunction or damage to the electronics

The CPX bus node for EtherCAT contains electrostatically sensitive devices.

• Do not touch any components.


3.2.1 Removing and fitting the cover over the DIL switches

You need a TORX screwdriver size T10 to remove or attach the DIL switch cover.

Note

Observe the following notes when removing or fitting the cover:

• Disconnect the power supply before removing the cover.

• Make sure the seal is seated correctly when attaching the cover.

• Tighten the two mounting screws with a max. torque of 0.4 Nm.



3.2.2 Arrangement of the DIL switches

There are 3 DIL switches available for configuring the bus node. They are located underneath the DIL

switch cover.

1 2

3

1 DIL switch 1: Bus node operating mode2 DIL switch 2: Diagnostics mode, number of

I/O bytes, bootloader

3 DIL switch 3: EtherCAT address of the busnode

Fig. 3.2 DIL switches on the bus node

3.2.3 Setting the DIL switches

1. Switch off the power supply.

2. Remove the cover (� Section 3.2.1).

3. Perform the required settings (� Tab. 3.1 … Tab. 3.6).

4. Replace the cover (� Section 3.2.1).

Changes to the DIL switches only take effect when the bus node is restarted.



3.2.4 Setting the operating mode

You can set the operating mode of the bus node with switch element 1.1 of DIL switch 1.

Operating mode Setting DIL switch 1

Remote I/O DIL 1.1: OFF(factory setting)All functions of the CPX terminal are controlled directly by

the EtherCAT controller or a higher-level PLC.

The bus node thereby takes over the connection to the

EtherCAT network.

Remote controller DIL 1.1: ON

A CPX-FEC or CPX-CEC integrated into the terminal

controls all functions.

The bus node thereby takes over the connection to the

EtherCAT network.

Tab. 3.1 Setting the operating mode

3.2.5 Configuring the EtherCAT addressing type

Use switch element DIL 1.2 of DIL switch 1 to switch betweenModular Device Profile and fixed I/O size

(� Section 4.5.1).

EtherCAT addressing type Setting DIL switch 1

Modular Device Profile (MDP) active DIL 1.2: OFF(factory setting)

Fixed I/O size active (64 byte I/O)(compatible with the bus node CPX-FB38)

DIL 1.2: ON

Tab. 3.2 Configuring the EtherCAT addressing type



3.2.6 Setting the diagnostics mode (Remote I/O operating mode)

The diagnostic mode is available only in the remote I/O operating mode.

Note

1. The diagnostics mode reduces the available address space.

Use of the diagnostics mode (status bits or I/O diagnostics interface) occupies 16 I or

16 I/O bits and thus reduces the number of I/O bits which are available for module

communication. In this way, the number of addressable modules is reduced in favour of

additional status or diagnostic information.

2. When using the fixed I/O size (CPX-FB38 mode), subsequent activation of the dia-

gnostics mode requires a reconfiguration.

A detailed description of the addressing process and various addressing examples for the

CPX-FB38 mode can be found in the description of the bus node CPX-FB38

(� P.BE-CPX-FB38).

Set the diagnostics mode of the bus node with DIL switch 2.

Diagnostics mode (remote I/O operating mode) Setting DIL switch 2

I/O diagnostics interface and status bits are switched off

(+ 0 I/O bits)

DIL 2.1: OFFDIL 2.2: OFF(factory setting)

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

DIL 2.1: OFFDIL 2.2: ON

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

DIL 2.1: ONDIL 2.2: OFF

1) The diagnostics mode (status bits or I/O diagnostics interface) occupies 2 bytes or 4 bytes of address space (16 I-bits or 16

I/O-bits; 8 I-bits remain unused in the status bits mode)

Tab. 3.3 Setting the diagnostics mode (Remote I/O operating mode)



3.2.7 Setting the I/O mode (remote controller operating mode)

The I/O mode is available only in the remote controller operating mode.

Set the I/O mode of the bus node with DIL switch 2.

Number of I/O bytes (remote controller operating mode) Setting DIL switch 2

8 bytes I/8 bytes Ofor communication of the bus node with the CPX-FEC orCPX-CEC

DIL 2.1: OFFDIL 2.2: OFF(factory setting)

16 bytes I/16 bytes Ofor communication of the bus node with the CPX-FEC orCPX-CEC

DIL 2.1: OFFDIL 2.2: ON

Reserved for future extensions DIL 2.1: ONDIL 2.2: OFF

Tab. 3.4 Setting the number of I/O bytes (remote controller operating mode)

3.2.8 Starting the bootloader mode

The bootloader mode is available in any operating mode.

Start the bootloader mode with DIL switch 2.

The bootloader mode can be used to restore the operational capability of the bus node (e.g. after a

failed firmware download via FoE) (� Section 4.9.2).

Starting the bootloader Setting DIL switch 2

for firmware restore DIL 2.1: ONDIL 2.2: ON

Tab. 3.5 Starting the bootloader.



3.2.9 Setting the EtherCAT address

You can assign a free EtherCAT address (Explicit Device ID) to the bus node by using DIL switch 3.

Setting an EtherCAT address is optional (e.g. for the Hot-Connect function).

You can set the EtherCAT address in binary coded format by using switch elements 1 to 8.

If the EtherCAT address 0 is set, the programmed address in the EEPROM is used (factory

setting).

1 to 255 are thereby available as possible EtherCAT addresses.

Example: Set EtherCAT address 77

DIL switch 3

1 2 3 4 5 6 7 8

DIL switch element 1 2 3 4 5 6 7 8

Switch position ON Off ON ON Off Off ON Off

Binary 1 0 1 1 0 0 1 0

Potency (significance) 20 21 22 23 24 25 26 27

Numerical value (decim-

al)

1 0 4 8 0 0 64 0

EtherCAT address 1 + 0 + 4 + 8 + 0 + 0 + 64 + 0 = 77

Tab. 3.6 Setting the EtherCAT address with DIL switch 3

The set EtherCAT address (Explicit Device ID) must be activated.

To do this in the TwinCAT 3.x configuration tool, select the following:

� EtherCAT� Advanced settings� General� Identification� Explicit Device Identi-

fication (ADO 0x0134) (� Fig. 3.3).

Fig. 3.3 Selecting “Explicit Device Identification (ADO 0x0134)” (TwinCAT 3.x)



The set Explicit Device ID of the bus node appears in TwinCAT 3.x under the tab “CoE Online”.

Fig. 3.4 Explicit Device ID of the bus node (TwinCAT 3.x)

Another way of permanently assigning an EtherCAT address to the bus node is to write the

device address to the EEPROM using a configuration tool (� Section 4.4.2).



3.3 Connecting to the EtherCAT network

3.3.1 General notes on EtherCAT networks

Note

Components with EtherCAT interfaces may be operated only in networks where all con-

nected network components are supplied with PELV power supplies or integrated power

supplies with similar protection.

Installation instructions

You can obtain specifications, installation notes and instructions through the EtherCAT

user organisation (�www.ethercat.org).

Note

Unauthorised access to the device can cause damage or malfunctions.

When connecting the device to a network:

• Protect your network from unauthorised access.

Measures for protecting the network include:

– Firewall

– Intrusion Prevention System (IPS)

– Network segmentation

– Virtual LAN (VLAN)

– Virtual Private Network (VPN)

– Security at a physical access level (Port Security).

For further notes, please refer to the guidelines and standards for security in informa-

tion technology, e.g. IEC 62443, ISO/IEC 27001.

Note

Faulty installation and high transmission rates may cause data transmission errors as a

result of signal reflections and attenuations.



3.3.2 Network interface

To connect to the network, there are two 4-pin M12 sockets with D-coding on the bus node (for industri-

al Ethernet use, corresponding to IEC 61076-2-101). The sockets are compatible with SPEEDCON®

plugs.

M12 socket,

D-coded

Pin Signal Explanation

1 TD+ Transmission data (transmit data, TD) +

2 RD+ Receive data (receive data, RD) +

3 TD- Transmitted data –

4 RD- Received data –

Housing FE Screening/functional earth (FE)

Tab. 3.7 Pin allocation of the network interfaces

3.3.3 Network connectors

Note

To comply with degree of protection IP65/IP67:

• Use Festo plugs.

• Seal unused interfaces (� Section 3.4).

Accessories for the bus node can be found on the Festo website

(�www.festo.com/catalogue).

3.3.4 Cable specification

Use shielded Industrial Ethernet cables of category Cat 5 or higher. You can find details regarding cable

specification in Tab. 3.8.

The CPX bus node FB37 supports crossover detection:

To connect your bus node to the network, the control system or a PC, you can either use

patch cables or crossover cables (Auto-MDIX).

Note

If the CPX terminal is fitted onto the moving part of a machine, the network cable on the

moving part must be provided with strain relief. Also observe the corresponding regula-

tions in IEC/EN 60204 Part 1.



Cable specification

Cable type Ethernet twisted pair cable, shielded (Shielded Twisted Pair, STP)

Transmission class Category Cat 5 or higher

Cable diameter 6 … 8 mm

Core cross section 0.14 … 0.75 mm2; 22 AWG1)

Connection length Maximum 100 m

1) Required for maximum connection length between network participants

Tab. 3.8 Cable specification overview

3.4 Complying with degree of protection IP65/IP67

In order to comply with degree of protection IP65/IP67, seal the ports with the following plugs or cover

caps:

Port Plug Cover cap1)

X1 In, X2 Out (M12) NECU-M-S-D12G4-C2-ET ISK-M12

Service interface (M12) – Plug of the operator unit

(CPX-MMI)

– Plug of the USB adapter for

CPX-FMT

ISK- M122)

1) if connection is unused

2) included in the scope of delivery

Tab. 3.9 Ports, plugs and cover caps for degree of protection IP65/IP67

3.5 Voltage supply

Warning

Danger of electric shock from voltage sources without protective measures.

• Only use PELV circuits in accordance with IEC/EN 60204-1 (protective extra-low

voltage, PELV) for the electrical power supply.

• Also observe the general requirements for PELV circuits in accordance with

IEC/EN 60204-1.

• Only use voltage sources which ensure reliable electrical isolation of the operating

voltage in accordance with IEC/EN 60204-1.

Through the use of PELV circuits, protection against electric shock (protection against direct and indir-

ect contact) is ensured in accordance with IEC/EN 60204-1.

The current consumption of a CPX terminal depends on the number and type of integrated modules and

components.



In the CPX system description (P.BE-CPX-SYS…), read the information on power supply as

well as on the earthing measures to be carried out.

The CPX terminal is supplied with operating and load power via the manifold base with system, addi-

tional and valve supply.

The pin allocation of the CPX interlinking blocks can be found in the CPX system descrip-

tion and the package insert for the CPX interlinking block.

4 Commissioning


4 Commissioning

4.1 General instructions

4.1.1 Switching on the power supply

Note

• Please observe the switch-on instructions in the manual of your control system

(PLC/IPC).

If the control system and fieldbus station have separate voltage supplies, the devices must be switched

on in the following sequence:

1. Switch on the operating voltage supply of all bus stations (I/O devices).

2. The power supply for the controller.

4.1.2 Addressing, configuration and parameterisation

Addressing, configuration and parameterisation differ depending on whether the modular

device profile (MDP) or the fixed I/O size (CPX-FB38 mode) is used.

4.2 Address assignment

Note

– In MDP the bus node automatically determines the number of inputs and outputs of

the modules installed in the CPX terminal.

– The bus node provides the CPX terminal with an address space of up to 64 bytes for

inputs (I) and 64 bytes for outputs (O).

– Each module of the CPX terminal occupies a certain number of I/O bits, I/O bytes or

words in the context of module communication.

– Certain functions, such as the I/O diagnostics interface (STI), also reduce the num-

ber of available I/O bytes (in favour of status or diagnostic functions).

The address assignment within the individual CPX modules are found in the description

for the relevant CPX module.

On the basis of the CPX module type, you can ascertain the number of inputs and outputs

occupied by the CPX module.

In the CPX FMT or CPX MMI, the individual modules are displayed with the respective

module identifiers. In the I/O modules, the module indicator is depicted in the upper

region of the module besides the LEDs (for example, 8DI for a module with 8 digital in-

puts).

4 Commissioning


Detailed information on the electric and pneumatic CPX modules can be found on the

Festo website (�www.festo.com/sp).

4.3 Addressing the inputs and outputs, data access

4.3.1 Basic rules for addressing

– The bus node counts as a module with 0 inputs and 0 outputs when the status bits and the I/O dia-

gnostic interface are deactivated.

– Observe the notes regarding address assignment in section 4.2.

– Modules with less than 8 bits occupy 8 bits or 1 byte of address space, but do not use all this space.

– The addressing sequence differs betweenMDP and a fixed I/O size (CPX-FB38 mode).

If necessary, status bits or the I/O diagnostics interface can be activated via DIL switch

(� Tab. 3.3):

– If the 8 status bits are activated, they will occupy 16 inputs in the address range

(8 used).

– If the I/O diagnostics interface is activated, it will occupy 16 inputs and outputs in the

address range.

4.3.2 Differences in addressing between the modular device profile and fixed I/O size

Sequence of addressing—Modular Device Profile (CPX-FB37 mode)

The I/O addresses are assigned in ascending order according to the module position.

Sequence of addressing— fixed I/O size (CPX-FB38 mode)

If the bus node is set to a fixed I/O size using DIL switch 2 (� Section 3.2.5), the following rules shall

apply (� Tab. 4.1):

Sequence of addressing Description

1. Status bits or I/O diagnostics

interface

Delivers status and diagnostic information; activate through

DIL switches; occupies the first 16 inputs or inputs and

outputs

2. Analogue modules Modules with analogue inputs/outputs

3. Technology modules e. g. CP interface, front end controller (CPX-FEC), CoDeSys

controller (CPX-CEC)

4. Digital modules Modules with digital inputs/outputs

Tab. 4.1 Sequence of addressing in CPX-FB38 mode

A detailed description of the addressing process and various addressing examples for the

CPX-FB38 mode can be found in the description of the bus node CPX-FB38

(� P.BE-CPX-FB38).

4 Commissioning


4.3.3 Data access (data objects)

Asynchronous information can be exchanged with the EtherCAT devices via a mailbox mechanism.

Known data object models are used in part here, e. g. CoE (CAN over EtherCAT).

EtherCAT devices (I/O devices) have an object directory with all accessible objects.

An EtherCAT system can be configured by accessing the object directory of the individual participants.

The access mechanism is provided by Service Data Objects (SDOs).

There are two different communication mechanisms in an EtherCAT system.

The Process Data Objects (PDO) provide fast transfer of process data and are transmitted by simple

EtherCAT messages with no protocol overhead. Process Data Objects may be transmitted based on

event control, synchronised to a system clock, or on request.

The Service Data Objects (SDO) form a point-to-point connection and permit access to every entry in

the object directory of a node.

Access these data objects with the help of user programs created according to your specific require-

ments.

4.4 Addressing the devices

The higher-order controller is responsible for addressing the individual modules: The EtherCAT master

determines the position of the EtherCAT devices within the network.

The controller uses the following for local addressing:

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

– An independent EtherCAT device address (“EtherCAT Address”).

4.4.1 Assigning an independent EtherCAT device address via DIL switch

The bus node can be assigned an EtherCAT address using DIL switch 3 (� Section 3.2.9).

4.4.2 Assigning an independent EtherCAT device address using the configuration tool

The EtherCAT device address can be changed in the EEPROM using the configuration tool

(e.g. TwinCAT 3.x).

1. Remove the bus node from the EtherCAT network.

2. Write the new address into the EEPROM (� Fig. 4.1).

� EtherCAT� Advanced Settings� ESC Access� Configured Station Alias

4 Commissioning


Fig. 4.1 Writing a new EtherCAT device address

3. Switch the power supply off and back on again (cold start).

� The new device address is saved in the EEPROM.

Fig. 4.2 New EtherCAT device address

4 Commissioning


4.5 Configuration

4.5.1 Registering station properties in the configuration program

When you place a new EtherCAT participant, i.e. an EtherCAT device, into operation for the first time,

you must inform the configuration and programming software about certain properties of the parti-

cipant.

The properties of the various participants are managed in a configuration file - the EtherCAT slave in-

formation file (ESI file).

EtherCAT Slave Information File (ESI file)

The file/its contents are available in Extensible Markup Language (XML).

The ESI file serves to identify the bus node in the EtherCAT network. The ESI file sends basic properties

of the EtherCAT device, and manufacturer information, to the configuration program.

The ESI file contains all the information needed for the configuration and settings of the higher-order

controller using configuration and programming software, e.g. Beckhoff TwinCAT.

The current EtherCAT configuration file (ESI file) for the CPX terminal and bus node can be

found on the Festo website (�www.festo.com/sp).

• To expand the ESI library of your configuration program, copy the bus node-specific XML file into the

program directory of your configuration program – e.g. for Beckhoff TwinCAT 3.x under: C:\Twin-

CAT\3.x\Config\Io\EtherCAT.

4 Commissioning


Participant properties

When the ESI file is imported, e.g. the following information is sent to the configuration program via the

bus node/EtherCAT participant.

Information Description

Vendor name Festo AG & Co. KG

Vendor ID 0000001DhProduct code 0029BF58hProduct name CPX-FB37

Tab. 4.2 EtherCAT participant properties

Once the ESI file has been imported, i.e. after the participant properties have been added to the config-

uration program, the bus node is included as a possible EtherCAT participant. You can now integrate

the bus node into your EtherCAT network and configure the CPX terminal.

The bus node can access 2 different ESI files:

– an ESI file for the Modular Device Profile (MDP)

– or an ESI file for the CPX-FB38 mode (fixed I/O size)

The bus node accesses the respective ESI file depending on the position of DIL switch 1

(� Section 3.2.5).

A requirement is that both ESI files are present in the device directory.

4 Commissioning


4.5.2 Configuration in the Modular Device Profile (MDP)

Reading the configuration

The existing configuration can be read automatically.

Fig. 4.3 Automatic reading of the configuration (via the “Scan” command here in TwinCAT 3.x)

Doing this detects the bus node and all CPX modules together with their I/Os.

Fig. 4.4 Detected CPX modules

4 Commissioning


Manual configuration

Manual configuration is also possible as an alternative. Here the connected CPX modules are selected

from a module list in the configuration interface.

Fig. 4.5 Manual configuration of the CPX terminal

Adding the bus node

Select the bus node in the configuration and programming software and specify the following:

– the mode in which you want to operate the bus node

– whether, and in what format, the diagnostic messages of the CPX terminal are to be used.

The following options are available:

Module designation 1) Operating mode CPX diagnostics

FB37-RIO-EtherCAT Remote I/O Remote I/O No CPX diagnostics

FB37-RIO-EtherCAT Remote I/O [ST] Remote I/O Display of common

diagnostic messages

FB37-RIO [STI] -EtherCAT remote I/O Remote I/O All diagnostic information is

available

FB37-RC [8 bytes IO] Remote controller

8 byte I/8 byte O for

communication of the bus

node with the CPX-FEC or

CPX-CEC

–

1) Module designation in the configuration and programming software

4 Commissioning


Module designation 1) CPX diagnosticsOperating mode

FB37-RC [16 bytes IO] Remote controller

16 byte I/16 byte O for

communication of the bus

node with the CPX-FEC or

CPX-CEC

–

1) Module designation in the configuration and programming software

Tab. 4.3 Diagnostics settings

Note

The setting of DIL switch 2 must correspond to the diagnostics mode selected here

(� Section 3.2.6).

Additional information on CPX diagnostics can be found in the CPX system description

(P.BE-CPX-SYS-...).

In the illustration below (� Fig. 4.6) the bus node is added to slot 1 in the Remote I/O mode without

CPX diagnostics (view in TwinCAT 3.x).

Fig. 4.6 Bus node in Remote I/O mode, without CPX diagnostics

4 Commissioning


Adding the connected modules

The connected modules of the CPX terminal have been added to the following slots (� Fig. 4.7).

Fig. 4.7 CPX modules

48 slots are available. The CPX modules can be assigned to the individual slots.

4.5.3 Configuration with fixed I/O size (CPX-FB38 mode)

I/O assignment must be performed manually by the user.

4.5.4 Configuration in the remote controller operating mode

If there is a CPX Front End Controller (CPX-FEC) or a CoDeSys controller (CPX-CEC) in your CPX terminal,

you can operate the bus node in the Remote Controller operating mode. In this mode the bus node

provides the control program in the CPX-FEC or CPX-CEC and the EtherCAT master (IPC/PLC) with 8 or 16

byte inputs and 8 or 16 byte outputs.

1. Make sure that DIL switch DIL 1 of the bus node is in the Remote Controller position (DIL 1.1 = ON,

DIL 1.2 = OFF;� Section 3.2.4, Tab. 3.1).

� The bus node is thus configured as a remote controller.

To configure the CPX-FEC and the CPX terminal, the use of Festo Software Tools Version 4 (FST 4) is

required. To configure the CPX-CEC and the CPX terminal, CODESYS provided by Festo is required

(� Step 2.).

4 Commissioning


2. Configure the CPX terminal with the Festo Software Tools FST 4 via the CPX-FEC or with CODESYS

provided by Festo via the 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.

4 Commissioning


4.6 Parameterisation

4.6.1 Introduction to parameterisation

The system reaction of a CPX terminal can be largely adapted to the relevant application. You can indi-

vidually set the reaction of the entire terminal as well as of individual modules and channels through

parameterisation. A distinction is made between the following parameterisation functions:

– System parameterisation, e.g. switching off fault messages, setting reaction times

– Module parameterisation (module- and channel-specific), e.g. monitoring functions, settings for

error handling, settings for forcing

– Parameterisation of the diagnostic memory.

General information on commissioning the CPX terminal as well as a detailed description

of individual parameters can be found in the CPX system description

(P.BE-CPX-SYS-…).

Information on commissioning the pneumatic interfaces and the digital I/O modules can

be found in the description P.BE-CPX-EA-....

Information on commissioning the analogue I/O modules can be found in the description

P.BE-CPX-AX-....

Instructions on commissioning the pneumatic components can be found in the corres-

ponding description of pneumatics.

Caution

Changes in parameterisation or application-specific parameter settings result in

changes to the module or system behaviour.

• Check especially when replacing CPX terminals to see which settings are necessary

and make sure that these are restored, if necessary (e.g. in the commissioning

phase by appropriate system-start parameterisation).

Warning

Danger of injury to people, damage to the machine and system resulting from uncon-

trolled movements of the actuators and undefined switching states

• During the parameterisation process make sure that nobody is within the sphere of

influence of moving parts of your system.

• It is imperative that you observe the instructions on “Force”, “Idle mode” and “Fail

safe” in the CPX system description (P.BE-CPX-SYS-…), as well as in the description

of the CPX-MMI and in the online help of the CPX-FMT.

The CPX terminal is supplied from the factory with preset parameters. These parameters

are saved in the bus node.

A CPX terminal can only be parameterised if the function “System start with default para-

meterisation and current CPX expansion” is activated (set the “System start” system

parameter accordingly).

4 Commissioning


If the parameterisation is not changed, the factory settings are used.

4.6.2 Methods of parameterisation

A CPX terminal with the bus node can be parameterised using various methods. A brief explanation of

the available methods can be found in Tab. 4.4 and the following sections.

Method Description Benefits Disadvantages

Parameterisation with

the operator unit

CPX-MMI

� Section 4.6.3

Parameterisation is

carried out via

menu-driven entries.

Start with saved

parameters necessary.

Comfortable

parameterisation via

the menu navigation

(plain text).

Parameterisation of

the CPX terminal is

saved locally in the bus

node and is lost when

replaced.1)

Parameterisation with

the Festo Maintenance

Tool (CPX-FMT)

� Section 4.6.4

Parameterisation is

carried out via

menu-driven entries.

Start with saved

parameters necessary.

Fast, simple

parameterisation

during commissioning

for testing the

parameters.

Parameterisation of

the CPX terminal is

saved locally in the bus

node and is lost when

replaced.1)

Parameterisation via

EtherCAT

� Section 4.6.5

Parameterisation is

carried out with

configuration software

(e.g. TwinCat).

Parameterisation in

plain text via CoE.

—

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

Tab. 4.4 Methods of parameterisation

4.6.3 Parameterisation with the operator unit CPX-MMI

The Festo operator unit (CPX-MMI) offers menu-driven access for parameterisation without configura-

tion software.

Information about using the operator unit can be found in the corresponding description

(P.BE-CPX-MMI-1-…).

4.6.4 Parameterisation with the FestoMaintenance Tool (CPX-FMT)

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

over a USB connection.

The current version of the PC software CPX Festo Maintenance Tool (CPX-FMT) can be

found on the Festo website (�www.festo.com/sp).

To operate the PC software (CPX-FMT) on the bus node, you will need the USB adapter

(connecting cable) NEFC-M12G5-0.3-U1G5.

4 Commissioning


4.6.5 Parameterisation via EtherCAT in the Modular Device Profile (MDP)

Parameterisation of the connected modules

The parameters of the individual modules are available as objects. In contrast to the CPX-FB38 mode,

the parameters in the MDP can be accessed individually and are represented accordingly.

The parameters (objects) can be set, for example, with TwinCAT 3.x under the tab “CoE-Online”

(� Fig. 4.8).

In the CPX system description and the descriptions for the I/O modules you will find:

– an explanation of the individual parameters

– the range of values of the individual parameters.

4 Commissioning


Example: Parameterisation of an I/O module

Parameters (objects) of the multi I/O module CPX-8DE-8DA

– Monitoring short circuit/overload of sensor supply: On (TRUE)

– Monitoring short circuit/overload of outputs: On (TRUE)

– Monitoring undervoltage of outputs on: (TRUE)

– USEN after short circuit/overload of sensor supply: (Switch on again)

– UOUT after short circuit/overload of outputs: (Leave switched off )

– Debounce time: 3 ms

– Signal extension time: 15 ms

– Inputs CH0-Ch3: With signal extension (TRUE)

– Inputs Ch4-Ch7: Without signal extension (FALSE)

Fig. 4.8 Example: Objects of the I/O module CPX-8DE-8DA

4 Commissioning


4.7 Remarks on parameters of the CPX system settings

4.7.1 Sequence of start parameterisation during switch-on (system start)

The parameterisation during system start of the CPX terminal is dependent on the setting of the system

start parameter stored in the bus node.

System start with default parameters

– System start with default parameterisation (factory setting) and current CPX expansion

– External parameterisation possible

System start with saved parameters

– System start with saved parameterisation and saved CPX expansion

– Parameters and CPX expansion are saved remanently

– External parameterisation is blocked

– LED “M” on the CPX bus node illuminates

Fig. 4.9 Setting system start parameters (TwinCAT 3.x)

4 Commissioning


In the Festo Maintenance Tool, you will find the corresponding setting under:

CPX� “System Settings”� Tab “System Parameters”� “System start”.

Fig. 4.10 Setting system start parameters (FMT)

Note

Loss of settings

If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal

is saved locally in the bus node. In this case, parameterisation is lost if the bus node is

replaced.

• Save the required settings before replacing the bus node and restore the settings

after replacement.

4.7.2 Parameterisation of the fail-safe mode

This operating mode defines the status which digital output signals (outputs and valves) are to assume

in the event of field bus communication faults.

You can determine the status to be assumed for each output channel (output or solenoid coil or valve)

separately. The standard setting is “Reset of the output channel”.

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

– Input signals are transferred

– Output signals are reset (factory setting); note that the analogue value 0 is set for analogue out-

puts.

If necessary, parameterise the required status of individual or all output channels (outputs or solenoid

coils).

4 Commissioning


Example: Parameterisation of the fail-safe mode with TwinCat 3.x

Fig. 4.11 Parameterisation of the fail-safe mode for all outputs (output signals are reset)

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

4 Commissioning


4.8 Web server

A web server is integrated in the bus node. The web server makes available the most important para-

meters and diagnostic functions.

4.8.1 Configuration

In order to access the web server of the bus node, the network settings must be configured.

Example

– A PC is connected (via a server) to the EtherCAT control system via Ethernet.

– The EtherCAT control system has a second Ethernet port that is activated for EtherCAT communica-

tion. The CPX terminal is connected to this Ethernet port via the bus node.

Procedure

1. Specify a fixed IP address on the PC:

Fig. 4.12 Specifying a fixed IP address on the PC

4 Commissioning


2. Specify a fixed IP address on the EtherCAT control system using network adapter 1 (connection to

the PC).

Fig. 4.13 Specifying a fixed IP address on network adapter 1 of the control system

4 Commissioning


3. Specify a fixed IP address and subnet mask on the EtherCAT control system using network adapter 2

(connection to the bus node).

Fig. 4.14 Specifying a fixed IP address and subnet mask on network adapter 2 of the control system

4 Commissioning


4. Enable EoE communication and the IP routing function on the EtherCAT control system.

Fig. 4.15 Settings under “EtherCAT”� “Advanced Settings”� “EoE-Support” (TwinCAT 3.x)

5. Assign the bus node IP address and subnet mask. The subnetwork of the bus node must match the

subnetwork of network adapter 2 used by the control system (same subnet ID).

Fig. 4.16 Settings under “EtherCAT”� “Advanced Settings”� “Mailbox”� “EoE” (TwinCAT 3.x)

4 Commissioning


To enable the bus node to be reached via the PC, the routing settings need to be added.

6. Start the Windows program “cmd.exe” on the PC.

7. Enter the following information: “route add 172.16.0.0 mask 255.255.0.0 192.168.2.10”.

Fig. 4.17 Adding routing settings

8. Open an Internet browser of your choice on the PC.

9. In the address bar of the Internet browser enter the assigned IP address of the bus node as follows:

http://172.16.1.100.

4 Commissioning


Fig. 4.18 Web server of the bus node

4 Commissioning


4.9 Firmware update/restoring the firmware

4.9.1 Updating the firmware via FoE (File Access over EtherCAT)

The bus node supports FoE. It is possible to load the firmware onto the module via the EtherCAT master

(provided that it supports this function).

The current firmware version can be found on the Festo website

(�www.festo.com/sp).

Note

Loss of function of the device

If the supply voltage fails while the firmware is being written, it will result in a loss of

function of the bus node.

• Do not interrupt the firmware download and writing process under any circum-

stances.

When using the TwinCAT 3.x configuration software proceed as follows:

1. Copy the new firmware into a directory.

2. Switch the bus node to the status BOOTSTRAP.

� The “RUN” LED on the bus node flickers; the “Current State” in the TwinCAT 3.x configuration

program changes to “BOOT”.

Fig. 4.19 Activating BOOTSTRAP

4 Commissioning


3. Load the new firmware from the directory (click the “Download...” button).

Fig. 4.20 Downloading the firmware

� The firmware version is displayed:

Fig. 4.21 Display of the firmware version

4. Confirm by pressing “OK”.

� After downloading the firmware the bus node restarts automatically and switches to the status

OPERATIONAL (OP). The “RUN” LED illuminates permanently.

Note

In the event of a firmware update in the Remote Controller (RC) mode, the CPX terminal

switches to an unsafe status.

After the automatic restart of the bus node it is no longer recognised by the CPX-FEC or

CPX-CEC.

• Switch off the power supply to the CPX terminal briefly and then switch it on again

(cold start).

4 Commissioning


4.9.2 Restoring the firmware with the Festo Field Device Tool (FFT)

The Festo Field Device Tool enables you to restore the operational capability of the bus node (e.g. after

a failed firmware update via FoE).

The FFT software can be found on the Festo website (�www.festo.com/sp).

Install the FFT software on a PC or notebook.

1. Disconnect the power supply of the CPX terminal and, if relevant, the compressed air supply.

2. Remove the bus node from the EtherCAT network.

3. Connect your PC directly to the bus node via the network connection.

4. Set both switching elements on DIL switch 2 of the bus node to ON (� Section 3.2).

5. Start the “Recovery” function in the FFT under the “Actions” tab and select the corresponding com-

mand in the “General” group of instructions.

Fig. 4.22 Selection of the bus node

6. Click the bus node CPX-FB37 in the selection list.

� The following message appears:

4 Commissioning


Fig. 4.23 FFT message

7. Confirm the message by pressing “OK”.

8. Switch on the power supply for the bus node.

� The bus node switches to the status “Bootloader mode”.

9. Follow the instructions of the software.

Further information can be found in the online help of the Festo Field Device Tool (FFT).

4.10 Checklist for commissioning a CPX terminal

• Please observe the general commissioning instructions in the CPX system description.

• Check the DIL switch settings and the network configuration before using and replacing CPX termin-

als.

• Check the configured address range. If necessary, test the I/Os.

• Check the address assignment of the I/Os on the CPX terminal. For this purpose you can, if neces-

sary, force the I/Os (� CPX system description).

• Make sure that the desired parameterisation of the CPX terminal in the commissioning phase or

after network interruptions is restored by the higher-order controller. This ensures that if the CPX

terminal is replaced, the new terminal will also be operated with the desired parameter settings.

• Use spot checks if necessary to check the parameterisation, either with a configuration program

(e.g. TwinCAT), the Festo Maintenance Tool (FMT) or an operator unit (CPX-MMI).

4 Commissioning


4.11 Replacing the bus node

When replacing a bus node with the setting “System start with saved parameterisation

and saved CPX expansion”, the parameterisation of the CPX terminal is not restored auto-

matically by the higher-order controller.

1. Before replacing the bus node save the parameterisation of the CPX terminal in a CPX-FMT file.

2. After replacing the bus node transfer the parameterisation to the new bus node. Use the command

“Load settings…” in the CPX menu.

3. Enable all settings in the “Load” window and start the transfer to the bus node by pressing “OK”.

5 Diagnostics


5 Diagnostics

5.1 Summary of diagnostics options

The CPX terminal provides comprehensive and user-friendly options for diagnostics and error handling.

The following options are available, depending on the configuration:

Diagnostics op-

tion

Brief description Benefits Detailed description

LED display The LEDs directly display

hardware faults, configuration

errors, bus errors, etc.

Fast “on-site” error

detection

Section 5.2

Status bits Internal inputs, which supply

coded common diagnostic

messages; the 8 status bits

are cyclically transmitted to

the controller as “inputs” with

the normal inputs.

Fast access to error

messages, irrespective of

the module and master.

Section 5.3

I/O diagnostics

interface

Bus-independent diagnostic

interface at I/O level which

enables access to the internal

data of the CPX terminal; for

this function, 16 inputs and 16

outputs (2 byte) are available.

Detailed error recognition;

the diagnostic data can be

processed further, e.g.

with a PLC user program.

Section 5.4

Diagnostics via

EtherCAT

Diagnostics via

– SDO access

– Diagnostics history

– Emergency message

Detailed error detection Section 5.5

Diagnostics via

the operator

unit CPX-MMI

Diagnostic information can be

displayed with the operator

unit CPX-MMI in a convenient

and menu-driven manner.

Fast “on-site” error

detection

Operator unit

description

(P.BE-CPX-MMI-1-…)

Diagnostics via

the Festo

Maintenance

Tool (CPX-FMT)

The CPX-FMT offers the option

to display diagnostic

information at a PC.

Fast “on-the-spot” error

detection

Online help for the

CPX-FMT

Tab. 5.1 Diagnostics options

Note that the diagnostic information is dependent on the DIL switch settings on the bus

node, (� Section 3.2) as well as on the parameterisation of the CPX terminal.

5 Diagnostics


5.2 Diagnostics via LEDs

LEDs for the diagnostics of the CPX terminal are available on the bus node as well as on the individual

modules.

The meaning of the LEDs on the electric modules can be found in the description for the

relevant module.

5.2.1 LEDs at the bus node CPX-FB37

Error

PS

PL

SF

Run

Error

LAX1

MLAX2

PS

PL

SF

Run

LAX1

MLAX2

1

2

1 CPX-specific LEDs 2 EtherCAT-specific LEDs

PS: Power system Run: EtherCAT operating status

PL: Power Load Error: EtherCAT error

SF: System Failure LA X1: Connection status (link activity) X1 In

M: Modify LA X2: Connection status (link activity) X2 Out

Fig. 5.1 LEDs

5 Diagnostics


In this chapter the LEDs are depicted in their various states as follows:

illuminated, flashes or flickers, off

5.2.2 Normal operating status

LED display in normal operating status

PS

PL

SF

Run

Error

LAX1

MLAX2

The following green LEDs illuminate:

– Run

– PS

– PL

The following green LEDs illuminate or flicker if a network cable is

connected:

– LA X11)

– LA X21)

The following red LEDs do not illuminate:

– Error

– SF

The yellow LED is illuminated, flashes or is dark:

– M2)

1) Continuous light: Connection is active; flickering: Data transmission is running

2) Dependent on the configuration

Tab. 5.2 LED display in normal operating status

5 Diagnostics


5.2.3 CPX-specific LEDs

PS (power system) – power sensor/logic supply

LED (geen) Sequence Status Significance / error handling

LED illuminated

ON

OFF

No error, operating

voltage/sensor supply

applied

—

LED flashes

ON

OFF

Operating voltage/sensor

supply outside the

tolerance range

• Eliminate undervoltage

ON

OFF

Internal fuse for the

operating voltage/sensor

supply has responded

1. Eliminate short circuit/overload

2. Depending on the

parameterisation:

– The sensor supply voltage will

be switched on again

automatically after the short

circuit has been eliminated

(factory setting)

– Power OFF/ON required

LED not illuminated

ON

OFF

The operating

voltage/sensor supply is

not applied

• Check the operating voltage con-

nection of the electronics

Tab. 5.3 LED display “PS”

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

LED (geen) Sequence Status Significance / error handling

LED illuminated

ON

OFF

No error, load voltage

applied

—

LED flashes

ON

OFF

Load voltage outside

tolerance range

• Eliminate undervoltage

Tab. 5.4 LED display “PL”

5 Diagnostics


SF (system failure) – system fault

LED (red) Sequence1) Status Significance / error handling

LED

not illuminated

ON

OFF

No error —

LED flashes 1 ×

ON

OFF

Minor error or information

(error class 1)

� Description of error numbers in the

CPX system description

(P.BE-CPX-SYS…)

LED flashes 2 ×

ON

OFF

Error

(error class 2)

LED flashes 3 ×

ON

OFF

Serious error

(error class 3)

1) The “SF” LED flashes depending on the error class.

Error class 1 (minor error): 1 x flash, pause time

Error class 2 (error): 2 x flashes, pause time

Error class 3 (serious error): 3 x flashes, pause time

Tab. 5.5 LED display “SF”

5 Diagnostics


M (modify) – parameterisation, forcing

LED (yellow) Sequence Status Significance / error handling

LED

not illuminated

ON

OFF

“System start with default

parametrisation and

current CPX expansion” is

set (factory setting);

external parameterisation

is possible

—

LED illuminated

ON

OFF

“System start with saved

parameterisation and

saved CPX expansion” is

set; parameters and CPX

expansion are saved

remanently; external

parameterisation is

blocked1)

Caution when replacing bus nodes

with saved parametrisation:

When using these bus nodes,

parameterisation of the CPX terminal

is not automatically restored by the

higher-order controller during

replacement.

• Save the required settings before

replacing the bus node and restore

the settings after replacement.

LED flashes

ON

OFF

Force is active1) The Force function is enabled (� CPX

system descriptionP.BE-CPX-SYS…).

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

Tab. 5.6 LED display “M”

5 Diagnostics


5.2.4 EtherCAT-specific LEDs

Run – EtherCAT operating status (communication status)

LED (green) Sequence Status Significance / error handling

LED

not illuminated

ON

OFF

Init Bus node is in the Init status (normal

state after switch-on or after a restart

or reboot).

LED flickers

ON

OFF

Bootstrap Bus node is in the correct status to

receive a firmware update.

A firmware update is received.

LED flashes

ON

OFF

Pre-operational Bus node is in the Pre-operational

status (configuration of the EtherCAT

network).

LED

flashes 1 ×1)

ON

OFF

Safe-operational Bus node is in the safe-operational

status (e.g. due to a network fault).

Only the input signals (e.g. sensor

data) are updated. Outputs and valves

remain in the current state (signal is

“frozen”).

LED illuminated

ON

OFF

Operational Bus node is in the Operational status

(normal operating status).

1) A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.

Tab. 5.7 LED display “Run”

5 Diagnostics


Error – EtherCAT error (communication error)

LED (red) Sequence Status Significance / error handling

LEDnot illuminated

ON

OFF

No error EtherCAT communication of the busnode is in a normal operating status.

LED illuminated

ON

OFF

Application controllerfailure

Serious communication faultPossible causes:– Application controller does not

respond– Watchdog timeout through ESC• Contact Festo.

LED flashes

ON

OFF

Configuration error (invalidconfiguration)

No connection to EtherCATnetwork

Possible causes:– Cable/connection

disconnected(interrupted)

– Device has noconnection to theEtherCAT master (forcontrol)

– Master is not active

• Check:

– the network connection(interrupted, short-circuited ordisturbed network connection)

– the configuration, in particularthe physical and logicalposition and addressing of thebus node.

LEDflashes 1 ×1)

ON

OFF

EtherCAT status changedue to an error(Unsolicited state change)

The bus node changes its EtherCATstatus due to a synchronisation error(Status change from Operational toSafe-operational).

LEDflashes 2 ×2)

ON

OFF

Application watchdogtimeout

Watchdog timeout through the syncmanager

LEDflashes 3 ×3)

ON

OFF

Reserved –

LED flickers

ON

OFF

Booting error Error (checksum) in the applicationcontroller flash memory

1) A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.

2) Two brief flashes (2 x flashes, pause, 2 x flashes, etc.) is designated a double flash.

3) Three brief flashes (3 x flashes, pause, 3 x flashes, etc.) is designated a triple flash.

Tab. 5.8 LED display “Error”

5 Diagnostics


LA X1, LA X2 – Connection status (link activity) X1 In/X2 Out

LED (green) Sequence Status Significance / error handling

LED

not illuminated

ON

OFF

No physical network

connection

• Check network connection /

network cable

LED illuminated

ON

OFF

Network connection OK —

LED flickers1)

ON

OFF

Flickering: Data transmission

is running (traffic)

—

1) Rapid flickering gives an impression the LED is illuminated; the intensity of the light depends on the data traffic

Tab. 5.9 LED display “LA X1” and “LA X2”

5 Diagnostics


5.3 Diagnostics via status bits

The CPX terminal provides 8 status bits if this function is activated using DIL switches

(� Section 3.2.6).

The status bits are used for displaying common diagnostic messages (“global” error messages). Status

bits are configured like inputs. If the status bits function is activated, 16 inputs are occupied in the

address range (8 inputs or 8 bits remain unused); (� Tab. 3.3).

Note the instructions on addressing and configuration in the sections 4.3 and 4.5.

The following table provides an overview of the available diagnostic information.

Bit Diagnostic information with logic 1 Description

0 Error on valve or pneumatic module Module type in which an error has oc-

curred1 Error on output module

2 Error on input module

3 Error on analogue module or technology module

4 Undervoltage Error type

5 Short circuit/overload

6 Wire break

7 Other errors

Tab. 5.10 Overview of diagnostic information: Status bits of the CPX bus node (optional)

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 of modules, these faults cannot be assigned via

the status bits. In contrast, faults can be uniquely determined via the I/O diagnostics interface.

Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can

be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the

EtherCAT network.

Further notes on the function and content of the status bits can be found in the CPX sys-

tem description (P.BE-CPX-SYS…) in the section “Diagnostics and error handling”.

5 Diagnostics


5.4 Diagnostics via the I/O diagnostic interface (STI)

The CPX terminal provides a bi-directional 16 bit I/O diagnostic interface (System Table Interface, STI) if

this function is activated using DIL switches (� Section 3.2.6).

Detailed diagnostic information can be accessed via the I/O diagnostic interface. You can ascertain this

exactly, e.g. by noting on which module and channel a fault has occurred. System diagnostics are re-

trieved by means of 16 input bits and 16 output bits, through which all diagnostics data can be read.

If the I/O diagnostic interface is active, it will occupy 16 inputs and outputs in the address range

(� Tab. 3.3).

Note the instructions on addressing and configuration in the sections 4.3 and 4.5.

The following table provides an overview of the available diagnostic information.

Diagnostic data Contents/description

Global diagnostic data – General overview of errors

Module diagnostics data – Detail diagnostics per module

Status of diagnostic memory – Number of entries in the diagnostic memory

– Operating mode

Diagnostic memory data – Long-term memory

– Detail diagnostics + relative time stamp per error event

Tab. 5.11 Overview of diagnostics data I/O diagnostic interface (optional)

Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can

be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the Eth-

erCAT network.

Additional information about the I/O diagnostics interface (diagnostic information, func-

tion numbers) can be found in the CPX system description (P.BE-CPX-SYS…) in the section

“Diagnostics and error handling”.

5 Diagnostics


5.5 Diagnostics via EtherCAT

5.5.1 Basic information

Availability of diagnostic information via the EtherCAT network

– Note that the diagnostic information shown depends on the settings (� Section 3.2.6)

and the parameterisation (�Section 4.6) of the CPX terminal (� Section 5.1).

– Activate the I/O diagnostics interface to ensure that error messages of the CPX

terminal are automatically displayed in the EtherCAT configuration software,

e.g. Beckhoff TwinCAT.

5.5.2 Diagnostics via SDO access

The higher-order controller can request diagnostic information from the bus node via SDO access. The

corresponding objects can be found in the object directory in section A.2.

5.5.3 Diagnostics via diagnostics history

The 20 most recent diagnostics messages can be called up with the help of the diagnostics object

0x10F3. For every event stored in the device (warning, error, information), an error message referenced

with a code is displayed. Diagnostics messages are decoded via the ESI file and can be read e.g. by the

TwinCAT system manager. The following table shows the structure of the diagnostics object 0x10F3.

The following abbreviations are used:

RO = read only

RW = read/write

RO P = read only (PDO mappable)

Index

(hex.)

Sub-

index

Description Type Values Access

0x10F3 0 Diagnostics history U8 RO

1 Maximummessages U8 20 RO

2 Newest message U8 RO

3 Newest acknowledged

message

U8 RW

4 Newmessage available BOOL RO P

5 Flags U16 0x0000 RW

6 … 26 Sub-index 006 … 026 BYTE [23] RO

Tab. 5.12 Structure of the diagnostics object

5 Diagnostics


Diagnostics message

The diagnostics message of the bus node is stored in the diagnostics history.

1

1 Values of the diagnostics message

Fig. 5.2 Diagnostics message

The following table provides a brief description of the individual values of the diagnostics message1

from Fig. 5.2.

Value (hex) Designation

according to

ETG.1020

Explanation

02 00 00 E1 Diag Code CPX error number 2 (short circuit)

E1=CPX error number (� CPX system description)

E8=Error code according to DS401

02 02 Flags Number of parameters in the diagnostics message (2)

and diagnostics type 2 (error message)

02 37 Text-ID Reference to the ESI file with the plain text of the

diagnostics message (<TextId>#x3702)

1F C5 9D61 31 00 00 00 Time Stamp Local time stamp (time since the start of the bus

node)

05 00 Flags Parameter 1 Type of parameter 1 (UNSIGNED8)

02 Parameter 1 CPX module number 2 (in TwinCAT 3.x corresponds to

module 3)

05 00 Flags Parameter 2 Type of parameter 2 (UNSIGNED8)

80 Parameter 2 Channel 80h (channel 128 decimal)

Tab. 5.13 Values of the diagnostics message

5 Diagnostics


Text ID 3700h to 37FFh corresponds to the CPX error numbers (0 to 255).

Additional information can be found in the CPX system description in the chapter

“Diagnostics and error handling”.

In addition to the CPX-specific text IDs, there are also EtherCAT-specific text IDs in the ESI file.

Text ID

(hex)

Plain text (German) Plain text (English)

3800 Modulidentifikation fehlgeschlagen Ident check failed for configured module

3801 Modulidentifikation-Überprüfung nicht

durchgeführt - Steuerung hat Objekt

0xF030 nicht geschrieben

Ident check skiped - PLC has not written to

Object 0xF030

000F Berechnung Buszykluszeit fehlgeschlagen

(lokaler Timer zu langsam)

Calculate bus cycle time failed (Local timer

too slow)

0011 Sync Manager ungültige Adresse Sync Manager invalid address

0012 Sync Manager ungültige E/A Größe Sync Manager invalid size

0013 Sync Manager ungültige Konfiguration Sync Manager invalid settings

Tab. 5.14 EtherCAT-specific text IDs in the ESI file

The diagnostics messages with their text ID and plain text can be found in the TwinCAT 3.x configuration

software under the tab “Diag History”.

Fig. 5.3 Diag History in TwinCAT 3.x

Diagnostics messages are written to a data buffer (20 bytes). Two operating modes are available for

handling diagnostics messages:

Overwrite mode

When the number of diagnostics messages reaches 20, the oldest diagnostics messages are overwrit-

ten.

Acknowledge mode

An existing diagnostics message must first be acknowledged before it can be overwritten with a new

diagnostics message. If the number of unconfirmed diagnostics messages reaches 20, subsequent

diagnostics messages will not be saved and will be lost.

5 Diagnostics


Specifying the operating mode of the diagnostics message

The operating mode of the diagnostics message can be read and written in Index 0x10F3, Subindex 5,

Bit 4.

Value of bit 4 Operating mode

0 Overwrite mode

1 Acknowledge mode

Tab. 5.15 Specifying the operating mode

Fig. 5.4 Example: Specifying the operating mode in TwinCAT 3.x

5 Diagnostics


Mapping the message “NewMessage Available”

To simplify the diagnostic evaluation, the bus node offers the option of signaling the existence of a new

diagnostic message via process data. The object “New Message Available” can be optionally mapped

to the process data here. The object can be activated in the PDO Assignment of the inputs.

Fig. 5.5 Mapping “New Message Available”

5 Diagnostics


After activation, the object will be available in the “Diag History”.

Fig. 5.6 New message available

Disabling the emergency message

The emergency message (� Section 5.5.4) can be disabled via the diagnostic object

10F3:05 (� Tab. 5.12).

• Set bit 0 to the value 0.

In TwinCAT 3.x you can disable the emergency message under the tab “Diag History” (� Fig. 5.7).

5 Diagnostics


Fig. 5.7 Disabling the emergency message in TwinCAT 3.x

5 Diagnostics


5.5.4 Die EmergencyMessage

If there is an error, the CPX terminal will transmit an Emergency Message, which consists of the follow-

ing:

– Byte 0, 1: Error Code in accordance with DS301/DS401

– Byte 2: Error Register (Index 1001)

– Byte 3 … 7: Manufacturer Specific Error Field (contains device-typical error messages).

Bytes 3 … 6 form the manufacturer status register (index 1002).

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Error code Error

register

Status bits CPX

module no.

CPX error

no.

reserved additional

error inf.

Index 1001 Index 1002 (manufacturer status register)

Tab. 5.16 Composition of the emergency message (additional information in Tab. 5.17 … Tab. 5.22)

Composition of the emergency message – error code (byte 1, byte 0)

Byte 1 Byte 0 Explanation

00 00 No error

10 00 General error

23 20 Short circuit at outputs

23 30 Load dump (wire break)

31 20 Input voltage too low

33 20 Output voltage too low

50 00 Hardware error (all errors > 128)

Tab. 5.17 Error code

5 Diagnostics


Composition of the emergency message – error register (byte 2)

Bit1) Meaning Explanation

0 Generic error Bit is set for each error

1 Current – Short circuit/overload in sensor supply

– Short circuit/overload at the outputs

2 Voltage – UOUT (undervoltage of outputs)

– UVAL (undervoltage of valves)

– Failure of load voltage at CPX output module or

input module

3 — —

4 Communication error Node guard, heartbeat, fieldbus-specific only

5 … 6 — —

7 Manufacturer specific – Wire break

– other error

1) Bold = Bit is used by CPX terminal

Tab. 5.18 Error register (index 1001 with bit assignment according to DS301/401)

Further diagnostic information is provided by the CPX terminal in bytes 3 … 6 of the emergency object

(manufacturer status register, index 1002).

Composition of the emergency message – status bits (byte 3)

Bit Meaning Explanation

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. 5.19 Manufacturer status register – status bits

Composition of the emergency message – CPX module number (byte 4)


0 … 7 CPX module number Number of the module with diagnostic message

Tab. 5.20 Manufacturer status register – CPX module number

5 Diagnostics


Composition of the emergency message – CPX error number (byte 5)


0 … 7 CPX error number CPX error number (� CPX system description in

chapter “Diagnostics and error handling”.)

Tab. 5.21 Manufacturer status register – CPX error number

Composition of the emergency message – additional error information (byte 7)


0 … 7 Additional information on the

fault

e.g.

– Node ID with Heart Beat error (which slave has

caused the Time out?)

– Channel number of the first channel with fault

Tab. 5.22 Manufacturer status register – CPX error number (byte 7)

5.5.5 Error characteristics (fail-safe mode)

The reaction of the CPX terminal to the following malfunctions is dependent on the parameterised fail-

safe setting and the (configured) reaction of the controller, i.e. of the PLC, the IPC or the user program:

– Stop of the controller (of the master)

– Network interruption

– Telegram failure

Depending on the parameterisation, the outputs (valves and electrical outputs) will be:

– switched off (output signal reset, in the case of analogue outputs to 0; factory setting)

– switched on (output signal set, in the case of analogue outputs to the parameterised value)

– kept in the same state (“freezing” of output signal)

Additional information about the fail-safe setting can be found in section 4.7.2 and the

CPX system description (P.BE-CPX-SYS-...).

You can define two types of error reaction for the controller (or the application program):

– Hard error reaction:

The controller switches to the “STOP” or pre-operational mode if an error occurs.

– Soft error reaction:

The controller remains in the “RUN” or safe-operational (or, if relevant, the operational) mode if an

error occurs.

5 Diagnostics


Warning

Accidental activation of actuators!

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

• Make sure that valves and outputs are put into a safe state whenmalfunctions oc-

cur.

• Check within the framework of your EMERGENCY OFF concept and the fail-safe set-

ting to ascertain the measures necessary for putting your machine or system into a

safe state.

Note

Take into account valve behaviour as part of the EMERGENCY OFF concept or of the

fail-safe setting!

If the outputs are reset when the controller stops or in case of network interruption,

telegram failure or a terminal malfunction, the valves will behave as follows:

– Monostable valves will move to their normal position

– Bistable valves remain in the current position

– Mid-position valves will move to their neutral position (pressurised, exhausted or

closed, depending on valve type)

5.5.6 Error types

A list of all error types as well as additional diagnostics information can be found in the CPX system

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

A Technical appendix



A.1 Technical data

General

General technical data � CPX system description P.BE-CPX-SYS-...

Degree of protection through housing1)

in accordance with IEC/EN 60529, completely

mounted, plug connector inserted or provided with

cover cap

IP65/IP67

Protection against electric shock

Protection against direct and indirect contact as

per IEC/DIN 60204-1

through the use of PELV circuits

(Protected Extra Low Voltage)

Module code (CPX-specific)

– Remote I/O 224/2

– Remote controller 171/2

Module code (in operator unit MMI)

– Remote I/O FB37-RIO EtherCAT remote I/O

– Remote controller FB37-RC EtherCAT remote controller

1) Note that connected devices might only satisfy a lower degree of protection, a smaller temperature range, etc.

Tab. A.1 Technical data, general

Power supply

Bus node intrinsic current consumption

from operating voltage supply for electronics/

sensors (UEL/SEN)

typically 100 mA at 24 V (internal electronics)

Separation

EtherCAT interfaces for UEL/SEN

galvanically separated

Tab. A.2 Technical data: Voltage supply



Communication

Fieldbus protocol EtherCAT, based on the Ethernet protocol

(IEEE 802.3), optimised for process data,

real-time capable

Specification Standards and norms containing reference to

EtherCAT:

– 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-MDIX

Tab. A.3 Technical data: Voltage supply

A.2 Object directories

The following tables list the objects of the communication profile (CoE communication protocol). These

objects are described in the EtherCAT configuration file (ESI file). The following abbreviations are used:

RO = read only

RO P = read only (PDO mappable)

RW = read/write

RW P = read/write (PDO mappable)

A.2.1 Object directory CPX-FB37 mode (Modular Device Profile)

Index

(hex)

Subindex Name Data

type

Default value Access

0x1000 0 Device type U32 0x04561389 RO

0x1001 0 Error register U8 RO

0x1008 0 Device name String CPX-FB37 RO

0x1009 0 Hardware version String RO

0x100A 0 Software version String RO

0x1018 0 Identify U8 4 RO

1 Vendor ID U32 0x0000001D RO

2 Product code U32 RO

3 Revision U32 RO

4 Serial number U32 RO



Index

(hex)

AccessDefault valueData

type

NameSubindex

0x10F1 0 Error settings U8 2 RO

1 Local error reaction U32 RO

2 Sync error counter limit U32 RO




3 Newest acknowledged message U8 RW



6 … 26 Subindex 006—026 BYTE[23] RO

0x16xx 0 Module xx —RxPDO U8 yy RO

yy Output mapping yy U32 0x70xx:yy,s RW

0x1Axx 0 Module xx —TxPDO U8 yy RO

yy Input mapping yy U32 0x60xx:yy,s RW

0x1A40 0 Diag History—TxPDO U8 1 RO

1 Input mapping 01 U32 0x10F3:00,1 RW

0x20xx 0 Module parameter —module xx U8 xy RO

yy Parameter yy ? depends

on para-

meter

0x21xx 0 Fail-safe values—module xx U8 xy RO

yy Channel yy ? RW

0x2400 0 Global CPX settings U8 8 RO

1 Filter alarm Vout/Vsen U8 0x00 RW

2 Monitor SCS BOOL TRUE RW

3 Monitor SCO BOOL TRUE RW

4 Monitor Vout BOOL TRUE RW

5 Monitor Vven BOOL TRUE RW

6 Monitor SCV BOOL TRUE RW

7 Fail safe U8 0x00 RW

8 System start U8 0x00 RW

0x5000 0 Generic terminal information U8 3 RO

1 Modules count U8 xx RO

2 Input length U8 xx RO

3 Output length U8 xx RO

0x5001 0 Build hash STRING RO

0x5002 0 Unique ID STRING RO



Index

(hex)

AccessDefault valueData

type

NameSubindex

0x60xx 0 Module inputs U8 xx RO

yy Input yy ? RO P

0x70xx 0 Module outputs U8 xx RO

yy Output yy ? RW P

0xF000 0 Modular Device Profile U8 2 RO

1 Index distance U8 1 RO

2 Maximum number of modules U16 48 RO

0xF050 0 Detected module list U16 0 … 48 RO

1 Subindex 001 U32 RO

… Subindex …. U32 RO

48 Subindex 048 U32 RO

Tab. A.4 Object directory FB37 mode



A.2.2 Object directory CPX-FB38 mode (fixed I/O size)

Index

(hex)

Subindex Name Data type Default value Access

0x1000 0 Device type U32 0x04561389 RO

0x1001 0 Error register U8 RO

0x1008 0 Device name String CPX-FB38 RO

0x1009 0 Hardware version String RO

0x100A 0 Software version String R9 RO

0x1018 0 Identify U8 4 RO

1 Vendor ID U32 0x0000001D RO

2 Product code U32 0x00000026 (38) RO

3 Revision U32 0x00000009 RO

4 Serial number U32 RO

0x10F1 0 Error settings U8 2 RO

1 Local error reaction U32 RO

2 Sync error counter limit U32 RO




3 Newest acknowledged message U8 RW



6 … 26 Subindex 006 … 026 BYTE[23] RO

0x1600 0 Outputs - RxPDO U8 64 RO

1 Output mapping 1 U32 0x3001:00,08 RO

… Output mapping … U32 0x3001:…,08 RO

64 Output mapping 64 U32 0x3001:3F,08 RO

0x1A00 0 Inputs - TxPDO U8 64 RO

1 Input mapping 1 U32 0x3101:00,08 RO

… Input mapping … U32 0x3101:…,08 RO

64 Input mapping 64 U32 0x3101:3F,08 RO

0x3001 0 DO outputs U8 64 RO

1 QB 0 U8 RO P

… QB … U8 RO P

64 QB 63 U8 RO P

0x3101 0 DI inputs U8 64 RO

1 IB 0 U8 RO P

… IB … U8 RO P

64 IB 63 U8 RO P



Index

(hex)

AccessDefault valueData typeNameSubindex

0x5000 0 Generic terminal information U8 3 RO

1 Modules count U8 xx RO

2 Input length U8 xx RO

3 Output length U8 xx RO

0x5001 0 Build hash STRING RO

0x5002 0 Unique ID STRING RO

0x8000 0 Settings module 0 U8 64 RO

1 Settings byte 0 U8 RW

… Settings byte … U8 RW


…

0x8013 0 Settings module 19 U8 64 RO


… Settings byte … U8 RW


0x8100 0 Global CPX settings U8 8 RO

1 Filter alarm Vout/Vsen U8 0x00 RW

2 Monitor SCS BOOL TRUE RW

3 Monitor SCO BOOL TRUE RW

4 Monitor Vout BOOL TRUE RW

5 Monitor Vven BOOL TRUE RW

6 Monitor SCV BOOL TRUE RW

7 Fail safe U8 0x00 RW

8 System start U8 0x00 RW

0x8200 0 Fail safe - output mask U8 64 RO

1 Fail safe - output mask - byte 0 U8 RW

… Fail safe - output mask - byte … U8 RW

64 Fail safe - output mask - byte 63 U8 RW

0x8201 0 Fail safe - output U8 64 RO

1 Fail safe - output - byte 0 U8 RW

… Fail safe - output - byte … U8 RW

64 Fail safe - output - byte 63 U8 RW

0xA000 0 Global diagnosis U8 2 RO

1 Module number U8 RO

2 CPX error number U8 RO

Tab. A.5 Object directory FB38 mode

B Glossary


B Glossary

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 control

signals to the connected CPX and pneumatic modules and monitors their

functional capability

CEC CoDeSys controller, e.g. CPX−CEC/CPX−CEC..., applicable for configuration,

commissioning and programming of CPX terminals

CODESYS Controller Development System

CoE CANopen over EtherCAT (mailbox protocol)

CPX module Collective term for the electrical modules which can be integrated into a CPX

terminal (� Pneumatics module)

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: Optimised for use in process automation

DIL switch Miniature switches; dual-in-line switches usually consist of several switch

elements which can be used to implement settings

EoE Ethernet over EtherCAT (mailbox protocol)

ESI EtherCAT slave information

EtherCAT An industrial Ethernet based fieldbus system for data exchange between the

system controller (PLC/IPC), equipment controller (e.g. CPX-FEC) and field

devices (I/O devices) or drives; transmission of process data in data objects

(based on the CANopen fieldbus protocol); embedding of process data in

Ethernet frames (Frames) or datagrams (via UDP/IP); additional information:

�www.ethercat.org

FEC Front End Controller, e.g. CPX-FEC, can be used as:

– stand-alone system controller (PLC, stand alone operating mode)

– system controller (PLC, remote controller operating mode)

– fieldbus slave (remote I/O operating mode)

FFT Festo Field Device Tool (software for service and commissioning)

The Festo Field Device Tool contains various services for all Ethernet-based

field devices from Festo. It supports, among other things, the loading of

firmware files to selected Festo devices.

Fieldbus Data bus, via which the control device (PLC or IPC) communicates with the

CPX terminal or other field devices

FMT Festo Maintenance Tool (CPX-FMT); configuration and programming software

for CPX modules for commissioning and service purposes

Tab. B.1 Terms and abbreviations (part 1)

B Glossary


Term/abbreviation Significance

FoE File Access over EtherCAT (mailbox protocol)

Function module Collective term for modules with additional functions, e.g. CP-interface, Front

End Controller (CPX-FEC) and CoDeSys controller (CPX-CEC); function

modules are also known as technology modules

I Input

I/O Input and output

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

outputs

IPC Industrial PC

MDP Modular Device Profile, according to EtherCAT specification ETG.5001

O Output

Operator unit (MMI) Handheld terminal (handheld, CPX-MMI) for CPX modules for commissioning

and service purposes (man-machine interface, MMI)

PLC Programmable logic controller, also designated fieldbus master, system

controller or higher-order controller (� Also PLC)

PLC Programmable Logic Controller (German: Speicherprogrammierbare

Steuerung (SPS))

Pneumatics interface Interface between CPX modules and pneumatics 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. B.2 Terms and abbreviations (part 2)

CPX-FB37


Index

A

Acknowledge mode 68. . . . . . . . . . . . . . . . . . . . .

Address assignment 26. . . . . . . . . . . . . . . . . . . . .

Addressing 27, 28. . . . . . . . . . . . . . . . . . . . . . . . .

– Address assignment 26. . . . . . . . . . . . . . . . . . .

Auto increment address 28. . . . . . . . . . . . . . . . . .

B

Bootloader 19. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Starting 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus configuration 30. . . . . . . . . . . . . . . . . . . . . . .

Bus node, replacing 54. . . . . . . . . . . . . . . . . . . . .

C

CEC 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning

– Address assignment 26. . . . . . . . . . . . . . . . . . .

– Addressing 27, 28. . . . . . . . . . . . . . . . . . . . . . .

– Configuration 30. . . . . . . . . . . . . . . . . . . . . . . .

– Parameterisation 37. . . . . . . . . . . . . . . . . . . . .

– Preparation (general instructions) 26. . . . . . . .

– Remote controller 35. . . . . . . . . . . . . . . . . . . . .

Configuration 30. . . . . . . . . . . . . . . . . . . . . . . . . .

Configuring, EtherCAT addressing type 17. . . . . .

Connecting

– EtherCAT network 22. . . . . . . . . . . . . . . . . . . . .

– Network 23. . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX system settings, parameterisation 41. . . . . .

CPX-CEC 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FEC 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Data field size 19. . . . . . . . . . . . . . . . . . . . . . . . . .

Data objects 28. . . . . . . . . . . . . . . . . . . . . . . . . . .

Degree of protection IP65/IP67 24. . . . . . . . . . .

Device address 28. . . . . . . . . . . . . . . . . . . . . . . . .

Device position 28. . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostics

– Diagnostic data (I/O diagnostics interface) 65.

– Diagnostic information (status bits) 64. . . . . .

– Error reaction 75. . . . . . . . . . . . . . . . . . . . . . . .

– Error types 76. . . . . . . . . . . . . . . . . . . . . . . . . .

– Fail-safe setting 75. . . . . . . . . . . . . . . . . . . . . .

– I/O diagnostics interface 65. . . . . . . . . . . . . . .

– LA X1, LA X2 63. . . . . . . . . . . . . . . . . . . . . . . . .

– LED Error 62. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LED M 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LED PL 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LED PS 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LED Run 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LED SF 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Options 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Status bits 64. . . . . . . . . . . . . . . . . . . . . . . . . .

– via EtherCAT 66. . . . . . . . . . . . . . . . . . . . . . . . .

– via LEDs 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostics history 66. . . . . . . . . . . . . . . . . . . . .

Diagnostics message, Operating mode 69. . . . . .

E

Emergency Message 73. . . . . . . . . . . . . . . . . . . .

Error

– -Types 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Reaction 75. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error code 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EtherCAT

– Diagnostics 66. . . . . . . . . . . . . . . . . . . . . . . . . .

– Fail-safe setting 75. . . . . . . . . . . . . . . . . . . . . .

EtherCAT addressing type 17. . . . . . . . . . . . . . . .

– Configuring 17. . . . . . . . . . . . . . . . . . . . . . . . . .

F

Fail-safe mode 75. . . . . . . . . . . . . . . . . . . . . . . . .

– Parameterisation 42. . . . . . . . . . . . . . . . . . . . .

– Settings (parameterisation) 75. . . . . . . . . . . . .

FEC 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firmware update 50. . . . . . . . . . . . . . . . . . . . . . .

H

Heart beat 74. . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX-FB37


I

I/O bytes, Setting the number 19. . . . . . . . . . . . .

I/O diagnostics interface 65. . . . . . . . . . . . . . . . .

Intended use 7. . . . . . . . . . . . . . . . . . . . . . . . . . .

IP65/IP67 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED display, in normal operating status 57. . . . . .

LEDs 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Error 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– LA X1, LA X2 63. . . . . . . . . . . . . . . . . . . . . . . . .

– M 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Normal operating status 57. . . . . . . . . . . . . . . .

– PL 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– PS 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Run 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– SF 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Node guard 74. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the documentation 6. . . . . . . . . . . . . . .

O

Operating mode 17, 35. . . . . . . . . . . . . . . . . . . . .

Operating voltage, switch on 26. . . . . . . . . . . . . .

Overwrite mode 68. . . . . . . . . . . . . . . . . . . . . . . .

P

Parameterisation 37. . . . . . . . . . . . . . . . . . . . . . .

– Introduction 37. . . . . . . . . . . . . . . . . . . . . . . . .

– Methods 38. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– via EtherCAT 39. . . . . . . . . . . . . . . . . . . . . . . . .

– with the Festo Maintenance Tool (FMT) 38. . . .

– with the operator unit (CPX-MMI) 38. . . . . . . .

PELV 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pin allocation, Fieldbus interface 23. . . . . . . . . . .

Plug 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply, switch on 26. . . . . . . . . . . . . . . . . .

R

Remote controller 17, 35. . . . . . . . . . . . . . . . . . .

Remote I/O 17. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Restore

– Bus node 50. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– with FFT 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

Safety instructions, General 7. . . . . . . . . . . . . . .

SDO access 66. . . . . . . . . . . . . . . . . . . . . . . . . . .

Setting

– Device Identification Value 20. . . . . . . . . . . . . .

– Diagnostics mode 18. . . . . . . . . . . . . . . . . . . . .

– EtherCAT address 20. . . . . . . . . . . . . . . . . . . . .

– Operating mode 17. . . . . . . . . . . . . . . . . . . . . .

Station features 31. . . . . . . . . . . . . . . . . . . . . . . .

Status bits 64. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 23. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch cover, Remove and mount 15. . . . . . . . . .

T

Technical data 77. . . . . . . . . . . . . . . . . . . . . . . . .

W

Web server, parameterisation 44. . . . . . . . . . . . .

Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.

Copyright:Festo AG & Co. KGPostfach73726 EsslingenGermany

Phone:+49 711 347-0

Fax:+49 711 347-2144

e-mail:[email protected]

Internet:www.festo.com

Original: de

terminal cpx busnode cpx-fb37 - pneumatic & … · the busnode cpx-fb37...

Documents