Festo CP-A08...-M12 Series Electronic Manual Download Page 60

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2. Commissioning

2-6

Festo P.BE-CP-CO2-EN en 0107NH

2.2

Commissioning on a CANopen master

This chapter describes the configuration and addressing of a
CPV valve terminal on a CANopen interface or CANopen
master.

The following standards are observed:

Standards

DS 201
DS 207

CAN Application Layer CAL

DS 301, V4.01

The Draft Standard 301 is based on the CAL
based communication profile.

DS 401, V2.0

The Draft Standard 401 defines the device
profiles for input and output modules within
CANopen.

In order to understand this chapter, you should be familiar
with CANopen and the specifications DS 301 and DS 401.

Summary of Contents for CP-A08...-M12 Series

Page 1: ...Electronics manual CPV valve terminal with direct connection Type CPV GE CO2 8 Field bus protocol CANopen Manual 526 010 en 0107NH 655694 Compact performance ...

Page 2: ......

Page 3: ...der no 526 010 E Festo AG Co D 73726 Esslingen Federal Republic of Germany 2001 Internet http www festo com e mail service_international festo com The copying distribution and utilization of this document as well as the communication of its contents to others without ex pressed authorization is prohibited Offenders will be held liable for the payment of damages All rights are reserved in particula...

Page 4: ...Contents and general instructions II Festo P BE CP CO2 EN en 0107NH ...

Page 5: ... 1 3 Connecting the field bus 1 16 1 3 1 Field bus cable 1 16 1 3 2 Field bus baud rate and field bus length 1 17 1 3 3 Information on connecting the field bus 1 18 1 3 4 Connecting the field bus to the sub D plug 1 20 1 3 5 Further connection possibilities for the field bus with adapters 1 23 1 4 Bus termination with terminating resistors 1 26 1 4 1 Fitting a terminating resistor by using the ada...

Page 6: ...ult Identifier distribution 2 12 2 4 Object directories 2 13 2 4 1 Communication profile 2 13 2 4 2 Digital CP inputs Transmit PDO 1 2 18 2 4 3 Digital CP outputs Receive PDO 1 2 20 2 4 4 Manufacturer Specific Profile 2 23 2 5 Further information 2 28 3 Diagnosis 3 1 3 1 Diagnosis via LEDs 3 3 3 1 1 Normal operating status Operational 3 3 3 1 2 Error displays of the LEDs PS and MNS 3 4 3 1 3 LEDs ...

Page 7: ...duct codes A 5 A 3 Accessories A 7 B Examples B 1 B 1 Examples Communication sequence B 3 B 1 1 Example 1 Start CANopen network B 3 B 1 2 Example 2 Set output B 3 B 1 3 Example 3 Start Node guard monitoring B 4 B 1 4 Example 4 Load objects B 5 B 1 5 Example 5 Write objects B 6 B 2 Example Parametrizing with the program CANsetter B 7 C Index C 1 ...

Page 8: ...Contents and general instructions VI Festo P BE CP CO2 EN en 0107NH ...

Page 9: ...y modifications by the user in faultless technical condition The maximum values specified for pressures tempera tures electrical data torques etc must be observed Please comply with national and local safety laws and regula tions If you wish to implement an emergency stop function please observe the measures listed in chapter 1 5 3 Warning If the CP valve terminal is used as an explosion proof ope...

Page 10: ...osing slaves on the CANopen Service Please consult your local Festo service centre if you have any technical problems Notes on the use of this manual Please note This manual contains the functionality of software version V3 1 This manual contains specific information on installing com missioning programming and diagnosing CPV valve terminals with direct connection for CANopen Information on pneuma...

Page 11: ...tween the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or damage to property Caution This means that failure to observe this instruction may result in personal injury or damage to property Please note This means that failure to observe this instruction may result in damage to property The following pictogram marks passa...

Page 12: ...ns tips and references to other sources of information Accessories Information on necessary or sensible accessories for the Festo product Environment Information on environment friendly use of Festo products Text markings S The bullet indicates activities which may be carried out in any order 1 Figures denote activities which must be carried out in the numerical order specified Hyphens indicate ge...

Page 13: ...he modules to be connected with the CP cable CP modules Common term for various modules which can be incorporated in a CP system CP system Complete system consisting of CPV Direct and CP modules CPV Direct CPV valve terminal with field bus direct connection I Digital input ID Identifier I O modules Common term for the CP modules which provide digital inputs and outputs CP input modules and CP outp...

Page 14: ...Contents and general instructions XII Festo P BE CP CO2 EN en 0107NH ...

Page 15: ...Installation 1 1 Festo P BE CP CO2 EN en 0107NH Chapter 1 ...

Page 16: ...Field bus baud rate and field bus length 1 17 1 3 3 Information on connecting the field bus 1 18 1 3 4 Connecting the field bus to the sub D plug 1 20 1 3 5 Further connection possibilities for the field bus with adapters 1 23 1 4 Bus termination with terminating resistors 1 26 1 4 1 Fitting a terminating resistor by using the adapters 1 27 1 5 Power supply 1 28 1 5 1 Cable for power supply 1 28 1...

Page 17: ... the valves You can thereby avoid uncontrolled movements of loose tubing unexpected movements of the connected actuators non defined switching states of the electronic compo nents Caution The CPV valve terminal with field bus direct connection CPV Direct contains electrostatically sensitive compo nents Do not therefore touch any contacts Observe the regulations for handling electrostatically sensi...

Page 18: ...n CPV Direct 1 2 3 4 5 6 1 Field bus connection 9 pin sub D plug 2 Switch module can be removed 3 Operating voltage connection for electronics load voltage connection for CP valves 4 pin M12 plug 4 LEDs Power status PS green red Module network status MNS green red 5 CP extension connection 6 Switching status displays of the CP valve coils yellow LEDs Fig 1 1 Connecting and display elements of the ...

Page 19: ...switch module Caution The switch module contains electrostatically sensitive components Do not therefore touch any contacts Observe the regulations for handling electrostatically sensitive components The switch module must be removed before the CPV Direct can be set Fig 1 2 Fitting removing the switch module ...

Page 20: ...n the switch module 3 Lift up and remove the switch module Fitting 1 Place the switch module carefully in the recess 2 Tighten the two fastening screws alternately Please note Do not tilt the switch module when fitting it The fitting position is clearly marked by a groove in the housing Make sure that the seal is seated correctly ...

Page 21: ...ud rate Extension to the CP system Station number Proceed as follows 1 Switch off the operating voltage 2 Remove the switch module chapter 1 2 1 3 Set the baud rate 4 position DIL switch elements 1 2 4 Set the extension to the CP system 4 position DIL switch elements 3 4 5 Assign an unused station number to the CPV Direct Set the desired station number 8 position DIL switch elements 1 7 6 Fit the ...

Page 22: ... to the CP system 8 position DIL switch 3 Address selector switch for station number Fig 1 3 DIL switch in the switch module further informa tion on 1 3 see following pages Setting the baud rate 1 Set the baud rate as follows 125 kBaud 250 kBaud 500 kBaud 1000 kBaud Fig 1 4 Setting the baud rate with the 4 position DIL switch ...

Page 23: ...f the DIL switches CPV Direct without extension 16O CPV Direct with extension with a CP input module 16O 16I CPV Direct with extension with CP valve terminal or CP output module 16O 16O CPV Direct with extension with a CP valve terminal CP output module and a CP input module 16O 16O 16I Fig 1 5 Setting the extension of the CP system with the 4 position DIL switch Please note Depending on the exten...

Page 24: ...e permitted Protocol Address identification Permitted station numbers CANopen Station number 1 127 1 Setting the station number 8 position DIL switch elements 1 7 1 Fig 1 6 Setting the station number 8 position DIL switch Set station number 05 Set station number 38 20 22 1 4 5 21 22 25 2 4 32 38 Fig 1 7 Examples of set station numbers Recommendation Assign the station numbers in ascending order As...

Page 25: ...1 Installation 1 11 Festo P BE CP CO2 EN en 0107NH The following pages contain a summary of the setting of the station numbers Please note Always set switch element 8 to OFF ...

Page 26: ...F OFF 6 OFF ON ON OFF OFF OFF OFF 22 OFF ON ON OFF ON OFF OFF 7 ON ON ON OFF OFF OFF OFF 23 ON ON ON OFF ON OFF OFF 8 OFF OFF OFF ON OFF OFF OFF 24 OFF OFF OFF ON ON OFF OFF 9 ON OFF OFF ON OFF OFF OFF 25 ON OFF OFF ON ON OFF OFF 10 OFF ON OFF ON OFF OFF OFF 26 OFF ON OFF ON ON OFF OFF 11 ON ON OFF ON OFF OFF OFF 27 ON ON OFF ON ON OFF OFF 12 OFF OFF ON ON OFF OFF OFF 28 OFF OFF ON ON ON OFF OFF 1...

Page 27: ... ON OFF ON ON OFF 38 OFF ON ON OFF OFF ON OFF 54 OFF ON ON OFF ON ON OFF 39 ON ON ON OFF OFF ON OFF 55 ON ON ON OFF ON ON OFF 40 OFF OFF OFF ON OFF ON OFF 56 OFF OFF OFF ON ON ON OFF 41 ON OFF OFF ON OFF ON OFF 57 ON OFF OFF ON ON ON OFF 42 OFF ON OFF ON OFF ON OFF 58 OFF ON OFF ON ON ON OFF 43 ON ON OFF ON OFF ON OFF 59 ON ON OFF ON ON ON OFF 44 OFF OFF ON ON OFF ON OFF 60 OFF OFF ON ON ON ON OFF...

Page 28: ...ON OFF ON OFF ON 70 OFF ON ON OFF OFF OFF ON 86 OFF ON ON OFF ON OFF ON 71 ON ON ON OFF OFF OFF ON 87 ON ON ON OFF ON OFF ON 72 OFF OFF OFF ON OFF OFF ON 88 OFF OFF OFF ON ON OFF ON 73 ON OFF OFF ON OFF OFF ON 89 ON OFF OFF ON ON OFF ON 74 OFF ON OFF ON OFF OFF ON 90 OFF ON OFF ON ON OFF ON 75 ON ON OFF ON OFF OFF ON 91 ON ON OFF ON ON OFF ON 76 OFF OFF ON ON OFF OFF ON 92 OFF OFF ON ON ON OFF ON ...

Page 29: ...N OFF ON ON ON 102 OFF ON ON OFF OFF ON ON 118 OFF ON ON OFF ON ON ON 103 ON ON ON OFF OFF ON ON 119 ON ON ON OFF ON ON ON 104 OFF OFF OFF ON OFF ON ON 120 OFF OFF OFF ON ON ON ON 105 ON OFF OFF ON OFF ON ON 121 ON OFF OFF ON ON ON ON 106 OFF ON OFF ON OFF ON ON 122 OFF ON OFF ON ON ON ON 107 ON ON OFF ON OFF ON ON 123 ON ON OFF ON ON ON ON 108 OFF OFF ON ON OFF ON ON 124 OFF OFF ON ON ON ON ON 10...

Page 30: ...nces unsuitable cables Observe the cable specifications Refer to the manual for your controller for information on the cable type Use a twisted screened 4 wire cable for the field bus The bus interface and the internal logics of the CPV valve terminal are supplied with power via the field bus cable If the Festo IP65 plug is used cables with a diameter of 5 8 or 7 10 mm are permitted Please note If...

Page 31: ...r to the manuals for your control system or bus in terface for information on the T adapter and the maxi mum branch line length which is permitted for your con troller S When ascertaining the maximum permitted length of the field bus cable take into account also the sum of the branch line lengths Baud rate in kBaud Field bus length maximum Branch line length maximum Total length of the branch line...

Page 32: ...n connecting the field bus 2 3 1 4 5 6 1 Field bus 2 Power supply 3 Screening shield 4 T adapter 5 Branch line 6 Festo plug with T tap function Fig 1 13 Structure of the bus interface and connection example With sub D plug from Festo you can implement a T tap see Fig 1 13 ...

Page 33: ...r supply for the bus interface externally according to the number of bus slaves S Connect the screening shield Please note Bus slaves of different manufacturers show different toler ances in respect of interface power supply Take this into consideration when planning the bus length and placing the power unit The following tolerance in the bus interface power supply pin 9 on the sub D plug applies ...

Page 34: ...conforms with protection class IP65 Before connecting the sub D sockets of other manufac turers S Replace the two flat screws by bolts part no 340960 Pin CANopen Designation Festo sub D socket IP65 1 2 3 4 5 6 7 8 9 n c CAN_L 0 V bus n c CAN screening shield GND optional CAN_H n c 24 V bus not connected CAN bus low Power supply to the bus interface not connected Capacitive connection to housing CA...

Page 35: ... of the sub D plug is ca pacitively connected to the housing within the CPV valve terminal This is to prevent equalizing currents flowing through the screening of the field bus cable Fig 1 15 1 Capacitive connection 2 Housing 5 1 9 6 1 2 Fig 1 15 Screening connection within the CPV valve terminal ...

Page 36: ...sto sub D socket Fig 1 16 1 Screening con nection cable clip 2 Only connected capacitively 3 CPV Direct smaller than actual size 4 Pin assignment in the socket 1 2 3 4 X X CAN_L 24 V bus CAN_H 0 V bus Fig 1 16 Festo sub D plug pin assignment and screening shield connection see also Fig 1 14 Please note The cable clip in the Festo sub D plug is connected inter nally only capacitively with the metal...

Page 37: ...onnect the field bus interface and the power supply for the bus in terface internal logics S Connect the screening shield There are further connection possibilities for the CPV Direct with adapters The adapters must be ordered separately from Festo M12 adapter 5 pin protection class IP65 Type FBA 2 M12 5pol Screw terminal adapter 5 pin protection class IP20 Type FBA 1 SL 5pol ...

Page 38: ...or the continuation of the field bus Please note Use blanking plugs to seal unused connections You will then comply with protection class IP65 M12 adapter Pin no 1 Screening shield 2 24 V DC bus max 4 A 3 0 V bus 4 CAN_H 5 CAN_L Blanking plug for unused connection Bus in Bus out Fig 1 17 Pin assignment of the field bus interface adapter for M12 connection 5 pin You can implement a T tap with the t...

Page 39: ...e maximum current at the terminals is 4 A Use cables with a minimum cross sectional area of 0 34 mm2 Screw terminal adapter Pin no 1 2 3 4 5 1 0 V bus 2 CAN_L 3 Screening shield 4 CAN_H 5 24 V DC bus max 4 A 2x5 pin terminal strip Fig 1 18 Pin assignment of the field bus interface screw terminal adapter 5 pin If you connect the field bus via terminal strip type FBSD KL 2x5pol from Festo you can im...

Page 40: ... the CPV valve terminal is at the end of the field bus system a bus termination will be required If you are using T adapters we recommend that you install the terminating resistor at the unused output of the T adapter Recommendation Fit a resistor 120 Ω 0 25 W for the bus termination in the sub D plug from Festo see Fig 1 19 1 Blanking plug 2 Resistor for bus termination 120 Ω 0 25 W 1 2 Fig 1 19 ...

Page 41: ... a terminating resistor by using the adapters If the CPV valve terminal to be connected is at the end of the field bus a terminating resistor 120 Ω 0 25 W must be fitted in the field bus socket S Connect the terminating resistor between the cores for CAN_H and CAN_L ...

Page 42: ...erminal Long cables reduce the voltage supplied by the power unit S If necessary ascertain the suitable cross sectional area and the maximum permitted cable length The connection for the power supply is in the form of a plug The pin assignment of the plug can be found on the following pages For connecting the power supply use plugs from the Festo range which correspond to the outer diameter of the...

Page 43: ...lows Fig 1 20 1 In order to open the sockets loosen the centre knurled nut 2 Open the strain relief on the rear part of the housing Then pass the cable through 3 Remove 5 mm of insulation from the end of the cable and fit end sleeves on the strands 4 Connect the ends of the conductor 5 Replace the connecting part on the housing of the socket Pull the cable back so that there are no loops inside th...

Page 44: ...s protection against electric shock protection against direct and indirect contact is guar anteed with the Festo valve terminals in accordance with EN 60204 1 IEC 204 Safety transformers with the adjacent symbol must be used for supplying PELV networks The valve terminals must be earthed to ensure that they function cor rectly e g EMC The current consumption of a CP system depends on the number of...

Page 45: ... electronics pin 1 Sums CPV Direct max 100 mA CPV valve terminal max 40 mA CPA valve terminal 20 mA A CP input module max 40 mA Sensors see manufacturer s specifications CP output module max 40 mA Carry forward _______mA Current consumption of valves pin 2 Current consumption of all simultaneously energized valve coils 1 __x_____mA _______mA 1 Current consumption depends on valve type see Technica...

Page 46: ...he power supply and con nect this only to the connection for the power supply see Fig 1 1 The current consumption depends on the type of valve ter minal Please refer to the Pneumatics manual P BE CPV and the previous chapter for the values When connecting the 24 V load voltage pin 2 observe the following S Observe the tolerance 20 4 V DC 26 4 V Check the 24 V load voltage of the valves while your ...

Page 47: ...he secondary circuit of the power unit Switch off the compressed air supply to the valve terminal When the load voltage is switched off there may be a delay before the valves are switched off due to energy being stored in the input circuit of valve terminals Take this into consideration e g as follows Register the fact that the load voltage is switched off by means of an input signal in the contro...

Page 48: ... voltage for electronics and inputs in the case of connected modules on the extension connection 2 24 V DC load voltage for valves 3 0 V 4 Earth ground connection Fig 1 21 Pin assignment of power supply connection Potential equalization The CPV valve terminal has two earthing connections for potential equalization on the power supply connection on the end plate ...

Page 49: ...the left hand end plate with low impedance short cable with large cross sec tional area to the earth potential S With low impedance connections you can ensure that the housing of the valve terminal and the earth connec tion at pin 4 have the same potential and that there are no equalizing currents In this way you will avoid interference caused by electro magnetic influences ...

Page 50: ...3 2 24 V 0 V PS MNS 3 1 2 4 2 A 2 A 1 PE 2 Potential equalization 3 Load voltage can be switched off separately and external fuses 4 The earth connection at pin 4 is designed for 3 A Fig 1 22 Example of connection of PELV power unit and potential equalization ...

Page 51: ...onnection PS MNS 1 1 CP extension connection Fig 1 23 CP extension connection Please note Set the exact extension of your CP system on the 4 posi tion DIL switch on the switch module Modules which you connect to the CP extension connec tion will be recognized only if the DIL switch is set cor rectly Information on setting the DIL switches can be found in chapter 1 2 2 ...

Page 52: ... with 0 5 A The power for the module is also supplied via the CP exten sion connection The load voltage must be supplied sep arately via an M18 plug CPV valve terminals of widths 10 14 and 18 mm These are available with 4 6 or 8 CP valve plates CPV valve terminals of widths 10 and 14 mm These are available for field bus connections with max 8 double solenoid or 16 single solenoid valve plates Plea...

Page 53: ...electrical characteristics Always use therefore Festo CP connecting cables You can obtain ready to use CP connecting cables from Festo These are available in various lengths and types You will find a summary in Appendix A Seal unused CP connections of your CP system with the rel evant seal provided You will then comply with protection class IP65 The following diagram shows possible extensions ...

Page 54: ... INPUT P POWER 1 2 BUS POWER 4 1 2 POWER POWER 5 1 4 3 2 2 0 1 4 5 8 9 12 2 3 6 710 1114 15 13 POWER DIAG INPUT P BUS POWER 1 3 5 2 2 0 1 4 58 9 12 2 3 6 710 1114 15 POWER DI A G INPUT P POWER POWER Total cable length of the CP system maximum 10 m 1 CPV Direct 2 CP connecting cable 0 5 m 2 m 5 m 8 m 3 CP input module 16 inputs 8 x M12 16 x M8 plug 4 CP output module 8 outputs 8 x M12 plug 5 CPV or...

Page 55: ...Commissioning 2 1 Festo P BE CP CO2 EN en 0107NH Chapter 2 ...

Page 56: ...aster 2 6 2 2 1 General aspects of CANopen 2 7 2 3 Summaries 2 8 2 3 1 Brief summary of the scope of functions 2 8 2 3 2 Summary of the Object directory 2 9 2 3 3 Switch on behaviour of the CPV Direct 2 10 2 3 4 Default Identifier distribution 2 12 2 4 Object directories 2 13 2 4 1 Communication profile 2 13 2 4 2 Digital CP inputs Transmit PDO 1 2 18 2 4 3 Digital CP outputs Receive PDO 1 2 20 2 ...

Page 57: ...ration are complete and correct Please observe the following points when switching on the power supply Common supply If there is a common supply for the control system and for all the field bus slaves the power should be switched on via a central power unit or central switch Separate supply If there is a separate supply for the control system and for the field bus slaves the power should be switch...

Page 58: ...The following diagram shows the addressing sequence of the individual CPV valve plates 0 1 2 3 4 5 8 9 10 11 12 13 6 7 14 15 Fig 2 1 Addressing sequence of a CPV valve terminal The figures also indicate the numbers of the outputs A valve location on the CPV valve terminal always oc cupies 2 addresses even if it is fitted with a blanking plate or pressure separator plate If a valve location is fitt...

Page 59: ...n the CPV valve terminal and from the front to the rear on the individual valve locations PS MNS Byte 0 Byte 1 Bit 0 Bit 1 Bit 3 Bit 2 Bit 5 Bit 4 Bit 6 Bit 7 Bit 1 Bit 0 Bit 3 Bit 2 Bit 5 Bit 4 Bit 7 Bit 6 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Numbers of the outputs Fig 2 2 Address assignment of the CPV valve terminal outputs with examples for byte 0 and byte 1 ...

Page 60: ...pen master The following standards are observed Standards DS 201 DS 207 CAN Application Layer CAL DS 301 V4 01 The Draft Standard 301 is based on the CAL based communication profile DS 401 V2 0 The Draft Standard 401 defines the device profiles for input and output modules within CANopen In order to understand this chapter you should be familiar with CANopen and the specifications DS 301 and DS 40...

Page 61: ...echanism is provided by Service Data Objects SDOs Two different mechanisms are available for communication in a CANopen system The Process Data Objects PDOs serve for the speedy transfer of processing data and are transmitted by simple CAN messages without protocol overhead Process Data Ob jects can be transmitted event controlled synchronous with a system time interval or on demand The Service Da...

Page 62: ... 301 A Service Data Object for read and write access to the object directory A Process Data Object for access to digital outputs A Process Data Object for access to digital outputs Emergency Telegram for error message to the master Node guarding Heart beat Default setting of all identifiers as per DS 301 and the node address predefined connection set Variable Mapping ...

Page 63: ...bjects of the Festo CPV valve terminal Index hex Objects 1000 1200 Communication part of the object directory 1400 Communication parameters for Receive PDO 1600 Mapping parameters for Receive PDO 3000 Manufacturer specific 6000 Input Array 6200 Output Array 6206 Fault Mode Array for the outputs 6207 Fault State Array for the outputs ...

Page 64: ...r of the CPV Direct The following diagram shows the status transfers of the CPV Direct Stopped Power on Communication initialization Pre Operational Operational 1 0 0 0 0 4 2 5 3 Hardware initialization 2 3 1 Fig 2 3 Status transfers of the CPV Direct description see next page ...

Page 65: ...lid PDO transfer invalid outputs assume error status Node guarding Heart beat valid Node guard response Toggle 7FH 3 Stop_Node_ Indication 02H CPV valve terminal in stopped mode SDO transfer invalid PDO transfer invalid outputs assume error status Node guarding Heart beat valid Node guard response Toggle 04H 4 Reset_Communica tion_Indication 82H Reset the communication functions Outputs are reset ...

Page 66: ...r with the CPV Direct SYNC 128D 080H Peer to peer objects Object Object designation Value range of the COB identifier with the CPV Direct EMERGENCY For high priority processes e g undervoltage 129D 255D 081H 0FFH Send PDO PDO1 tx 385D 511D 181H 1FFH Receive PDO PDO1 rx 513D 639D 201H 27FH Send SDO SDO1 tx 1409D 1535D 581H 5FFH Receive SDO SDO1 rx 1537D 1663D 601H 67FH Node guarding Heart beat Guar...

Page 67: ... number of parameters has been set to zero example index 1A00 subindex 3 8 Set subindex 0 to 0 After entering the mapping values set the number of para meters to the appropriate value again Index hex Sub index Designa tion Type Attr Map Values hex Explanation 1000 0 Device type U32 ro 00 02 91 01 Only CPV valve terminal and output module 00 03 91 01 CPV valve terminal and input module 1001 0 Error...

Page 68: ...0 byte 0 of index 1002 Byte 1 byte 1 of index 1002 Byte 2 3 error code see chapter3 3 1 2 xx xx xx xx Last error n 1 3 xx xx xx xx Penultimate error n 2 O xx xx xx xx Error n 9 1005 0 COB ID SYNC Message U32 rw 80 00 00 80 Default SYNC Message COB ID 80H 1008 0 Manufac turer Device Name Str ro CO2 Node designation 1009 0 Manufac turer Hardware Version Str ro 0601 example Hardware status of the CPV...

Page 69: ...mit block time emerg ency message 100 ìs 1016 0 Consumer Heart beat Time U8 ro 3 Number of entries 1 C H Time 1 U32 rw 00 00 00 00 Heart beat ID and Heart beat Time ms 2 C H Time 2 00 00 00 00 Heart beat ID and Heart beat Time ms 3 C H Time 3 00 00 00 00 Heart beat ID and Heart beat Time ms 1017 0 Producer Heart beat Time U16 rw 00 00 Heart beat Time ms COB ID Node guard ID Status Pre Operational ...

Page 70: ...on 3 Module 3 see Appendix A 2 Product code 2 module at extension connection 1029 0 Error Behaviour Number of error classes U8 ro 3 Number of error classes 1 Communi cation Error rw 00 0 Pre Operational 1 No state change 2 Stopped with communication errors timeout Heart beat 2 Output Error 01 0 Pre Operational 1 No state change 2 Stopped with short circuit overload at CP output module 3 Input Erro...

Page 71: ...s hex Map Attr Type Designa tion Sub index 1200 0 Server SDO Parameters U8 ro 2 Number of entries 1 COB_ID Client Server rx U32 600 Default COB ID Node ID 2 COB_ID Server Client tx 580 Default COB ID Node ID U unsigned ro read only rw read write Map mapping possible attr attribute ...

Page 72: ... COB ID of the inputs 180 Node ID 2 Trans mission type U8 FF Default Acyclic 3 Inhibit Time U16 00 00 Transmit block time inputs 100 ìs 4 Not used 5 Event Timer 00 00 Time controlled trans mission of the inputs ms 1A00 0 PDO Com u i ti U8 rw 2 8 Number of entries 1 munication Mapping U32 60 00 01 08 Pointer at Index I0 I7 2 pp g Parameter 60 00 02 08 Index I8 I15 3 00 00 00 00 e g Pointer at C dit...

Page 73: ...Index hex Explanation Values hex Map Attr Type Designa tion Sub index 6000 0 Read Input 8 bit U8 ro 2 Number of 8 input groups 1 8 bit Yes xx Status of inputs 0 7 2 xx Inputs 8 15 U unsigned ro read only rw read write Map mapping possible attr attribute ...

Page 74: ...if additional objects are mapped 1400 0 PDO Com munication Parameter Record U8 ro 02 Number of entries 1 PDO COB ID U32 rw 00 00 02 xx Default COB ID of the inputs 200 Node ID 2 Trans mission type U8 FF Default Acyclic 1600 0 PDO Com u i ti U8 rw 2 8 Number of entries 1 munication Mapping U32 62 00 01 08 Pointer at index O0 O7 2 pp g Parameter 62 00 02 08 Index O8 O15 3 62 00 03 08 Index O16 O23 4...

Page 75: ...efault M d U8 ro 2 or 4 Number of 8 output groups 1 Mode Output 8 Bit rw FF Fault mode outputs 0 7 2 p FF Outputs 8 15 3 FF Outputs 16 23 4 FF Outputs 24 31 6207 0 Error State Out ut 8 Bit U8 ro 2 or 4 Number of 8 output groups 1 Output 8 Bit rw 00 Error State outputs 0 7 2 00 Outputs 8 15 3 00 Outputs 16 23 4 00 Outputs 24 31 U unsigned ro read only rw read write Map mapping possible attr attribu...

Page 76: ...s do not become active until the CPV valve ter minal is switched to the Operational Mode After switching on or resetting hardware initialization communication initialization the default values will automatically be as sumed any maskings will be overwritten The following then applies Index Definition 6206 Subindex 1 2 0 status of the output remains Subindex 1 2 Bit 0 7 1 output assumes the status d...

Page 77: ...ctual value Valve coils of the CPV Direct basic unit The values are saved continuously and remanently in actual value Details see Fig 2 5 The values are saved continuously and remanently in the CPV Direct 3001 Condition Counter actual value Valve coils of the CP valve terminal in the extension The values are saved only every 15 min remanently in actual value Details see Fig 2 5 The values are save...

Page 78: ... valve coil 14 2 g xx 1 valve coil 12 3 xx 2 valve coil 14 4 xx 2 valve coil 12 5 xx 3 valve coil 14 6 xx 3 valve coil 12 7 xx 4 valve coil 14 8 xx 4 valve coil 12 9 xx 5 Valve coil 14 O xx 5 valve coil 12 B xx 6 valve coil 14 C xx 6 valve coil 12 D xx 7 valve coil 14 I xx 7 valve coil 12 F xx 8 valve coil 14 10 xx 8 valve coil 12 Fig 2 5 Assignment of the actual values of the Condition Counter to...

Page 79: ... 4 xx 2 valve coil 12 5 xx 3 valve coil 14 6 xx 3 valve coil 12 7 xx 4 valve coil 14 8 xx 4 valve coil 12 9 xx 5 valve coil 14 O xx 5 valve coil 12 B xx 6 valve coil 14 C xx 6 valve coil 12 D xx 7 valve coil 14 I xx 7 valve coil 12 F xx 8 valve coil 14 10 xx 8 valve coil 12 Fig 2 6 Assignment of the nominal values of the Condition Counter to the valve coils of the CPV Direct basic unit Index 3010 ...

Page 80: ...o 2 Number of entries 1 Status Yes xx Condition Status 1st 4th valve Bit 0 1st valve coil 14 Bit 1 1st valve coil 12 Bit 7 4th valve coil 12 2 xx Condition Status 5th 8th valve Bit 0 5th valve coil 14 Bit 1 5th valve coil 12 Bit 7 8th valve coil 12 Fig 2 7 Assignment of the Condition Status to the valve coils of the CPV Direct basic unit Index 3020 ...

Page 81: ...4 Bit 1 5th valve coil 12 Bit 7 8th valve coil 12 3040 0 Operating h u u t U8 ro 3 Number of entries 1 hours counter U16 rw Yes xx Number of hours 2 U8 xx Number of minutes 3 xx Number of seconds 3050 0 Enable Dis able Modify U8 ro 1 Number of entries 1 able Modify Condition Counter cur rent value rw 00 Modify Condition Counter value 55 Enable Modify value 00 Disable Modify The total switch on tim...

Page 82: ...ion Counter Indices 3000 3001 Index 3010 U32 Index 3030 Index 3020 Coil Enable Disable Fig 2 8 Functioning method of the Condition Counter 2 5 Further information Examples of the communication sequence can be found in Appendix B Information on the Emergency Object and on diagnosis can be found in chapter 3 ...

Page 83: ...Diagnosis 3 1 Festo P BE CP CO2 EN en 0107NH Chapter 3 ...

Page 84: ...1 2 Error displays of the LEDs PS and MNS 3 4 3 1 3 LEDs for status display of the valve solenoid coils 3 6 3 2 Error search during bus start up 3 7 3 3 Diagnosis via the field bus 3 8 3 3 1 Structure Emergency Message 3 9 3 4 Error treatment 3 15 3 5 Short circuit overload 3 16 3 5 1 Output module 3 16 3 5 2 Sensor supply at an input module 3 17 ...

Page 85: ...status MNS 3 Yellow LED row for pilot solenoid 12 4 Yellow LED row for pilot solenoid 14 PS MNS 5 4 3 2 1 9 8 7 6 1 2 3 4 Fig 3 1 LEDs of the CPV Direct 3 1 1 Normal operating status Operational In the normal operating status both LEDs light up green lights up flashes out LED Sequence Colour Operating status Error treatment PS ON OFF green lights up CP system OK None MNS ON OFF green lights up Ope...

Page 86: ...oltage for CP valves in the extension 12 V Load voltage of output module in the extension 12 V S Check the load voltage pin 2 PS ON OFF red lights up CP string interruption Short circuit overload at CP output module Short circuit overload at CP input module Failure in sensor power supply at CP input module The set CANopen address is not permitted S Check cables plug connectors S Eliminate short ci...

Page 87: ...ational S Place CPV valve terminal in Operational Mode MNS ON OFF green flashes fast Stopped S Place CPV valve terminal in Operational Mode MNS ON OFF red flashes Node guard or Heart beat expired 1 Clarify reason for time out and eliminate 2 Place CPV valve terminal in Operational Mode MNS ON OFF red lights up Failure of 24 V CAN receiver supply S Check power supply ...

Page 88: ...levant valve locations For this purpose the load voltage must lie within the permitted tolerance LED Colour Valve solenoid coil Meaning off Basic position Switch position No signal logic 0 Signal present logic 1 but load voltage of the valves lies below the permitted tolerance range 20 4 V DC yellow lights up Switch position Basic position No signal logic 1 Signal present logic 1 but compressed ai...

Page 89: ...CPV Direct examples Deviation Behaviour BUS POWER BUS POWER Extension greater than position of DIL switch System starts LED PS lights up green A redundant non configured module will be ignored BUS POWER BUS POWER Extension smaller than position of DIL switch Module is missing System starts LED PS lights up red Emergency Message is sent code FF20 FF30 see chapter 3 3 If the missing module is added ...

Page 90: ... and 2 4 3 The flow chart shows the sequence in the event of an error Is there an error Yes No Load Error Register Index 1001 Load Manufacturer status register Index 1002 Shift error memory Index 1003 Subindex 1 A Load Pre defined error field Index 1003 Subindex 1 Output Emergency Message Output errors optically via the PS LED or MNS LED Fig 3 4 Sequence of error processing of the CPV Direct ...

Page 91: ...e position each see chapter 2 4 index 1003 subindices 1 A Bytes 3 to 7 of the Emergency Message correspond to the Manufacturer specific error field and contain device typical error messages Error summary Manufacturer specific error field Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Code Reserved Error detail Condition Status Error Register Error source Fig 3 5 Structure of Emergen...

Page 92: ...rcuit at the outputs 32 20 Input voltage too low 33 20 Output voltage too low 50 00 Hardwar error 81 30 Error case with Node guard oder Heart beat FF 00 Condition counter exceeds nominal value see Fig 3 11 FF 01 Condition Counter is write protected FF 20 String error between CPV Direct and CP valve terminal or output module in the extension FF 30 String error between CPV Direct and CP valve termin...

Page 93: ...V Direct 20 4 V 12 V Undervoltage of the CP valve terminal in the extension 20 4 V Load voltage failure at the CP output module or input module Short circuit overload or failure of additional supply CP E16 M8 Z 3 4 Communication Error Node guard Heart beat 5 6 7 Manufacturer specific Reading the Manufacturer status register makes sense see Fig 3 8 Fig 3 11 fett Bit is used by CPV Direct Fig 3 7 Er...

Page 94: ... Condition Status Error Register Error source Bit Meaning Explanation 0 Error in the CP system Deviation of the actual extension of the CP system from the extension set in the switch module e g after string interruption 1 3 4 Common error in CP system Reading byte 2 of the Emergency Message see Fig 3 7 5 7 fat Bit is used by CPV Direct Fig 3 8 Byte 0 of the Manufacturer status register Error summa...

Page 95: ...P connection interrupted at output module 1 EOn CP connection interrupted at input module 2 SC O Short circuit overload on the output module 3 Voff Load voltage failure on the output module 4 ESen Short circuit overload failure of sensor power supply 5 EVal Load voltage of the valves 20 4 V 6 VLoad Power supply of the CPV Direct 12 V 7 EVal Load voltage of valves of CPV Direct 20 4 V fat Bit is us...

Page 96: ...e guard error 02 Heart beat error Fig 3 10 Byte 2 of the Manufacturer status register Error source Index 1002 Manufacturer status register Index 1001 Byte 0 Error summary Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Code Reserved Error detail Condition Status Error Register Error source Bit Meaning Explanation 0 7 Number of the Condition Counter which has exceeded the nominal value In co...

Page 97: ...cation errors errors at the input or output module can be parametrized via index 1029 Default setting via index 1029 see chapter 2 4 Communication errors lead to Pre Operational Input and output errors do not lead to a change of status Warning S Make sure that valves and outputs are reset when the faults named occur If the valves and outputs are not reset this may lead to dangerous situations Plea...

Page 98: ...to 1 Please note The outputs cannot be used again until the short circuit or overload has been eliminated and the error deleted Deleting the error You can delete the error by resetting all eight outputs You can select one of the following possibilities Possibilities Explanation S Set all the outputs of the output module to logical 0 RESET or Manually or automatically in the program or S Briefly in...

Page 99: ...ex 1002 byte 1 bit 4 will be set to 1 Please note The outputs cannot be used again until the short circuit or overload has been eliminated and the error deleted Deleting the error short circuit overload You can delete the error in one of the following ways S Briefly interrupt the CP connection at the CP input module or S Briefly interrupt the operating voltage of the CP system on the CPV Direct Th...

Page 100: ...3 Diagnosis 3 18 Festo P BE CP CO2 EN en 0107NH ...

Page 101: ...Technical data and accessories A 1 Festo P BE CP CO2 EN en 0107NH Appendix A ...

Page 102: ...A Technical data and accessories A 2 Festo P BE CP CO2 EN en 0107NH Contents A Technical data and accessories A 1 A 1 Technical specifications A 3 A 2 Product codes A 5 A 3 Accessories A 7 ...

Page 103: ...Extra Low Voltage Protection against explosion as per EU guideline 94 9 EG EN 50021 and EN 50281 1 1 Do not disconnect electrical connections which are under tension II 3 G D EEx nA II T5 X 5 C Ta 50 C T 80 C IP65 year of manufacture see Ex identi fication on the product Plugs or adapters of the electric connections must comply at least with protection class IP64 Valves See Pneumatics manual type ...

Page 104: ...Operating voltage for the bus interface Sub D plug Pin 9 M12 adapter Pin 2 Screw terminal adapter Pin 5 Rated value Tolerance Current consumption 24 V DC protected against incorrect polarity external fuse required 11 30 V Max 30 mA Electrical isolation Bus interface opto decoupled Electromagnetic compatibility Interference emitted Resistance to interference Tested as per EN 50081 2 industry Tested...

Page 105: ...decimal CPV10 GE FB 4 100d 64h CPV10 GE FB 6 101d 65h CPV10 GE FB 8 102d 66h CPV14 GE FB 4 110d 6Eh CPV14 GE FB 6 111d 6Eh CPV14 GE FB 8 112d 70h CPV18 GE FB 4 125d 7Dh CPV18 GE FB 6 126d 7Eh CPV18 GE FB 8 127d 7Fh CPA10 14 IFB CP 150d 96h CP A08 M12 200d C8h CP A08N M12 208d D0h CP E16 M8 240d F0h CP E16 M12x2 5POL 241d F1h CP E16 KL IP20 Z 242d F2h CP E16 M8 Z 244d F4h CP E16N M8 248d F8h CP E16...

Page 106: ...A Technical data and accessories A 6 Festo P BE CP CO2 EN en 0107NH ...

Page 107: ... 9 screw connectors You can order these from Festo Plugs Type Part no PG7 straight FB SD GD7 18 497 PG9 straight FB SD GD9 18 495 PG7 angled FB SD WD7 18 524 PG9 angled FB SD WD9 18 525 Bus connection The bus is connected via a 9 pin sub D plug You can order these from Festo Type FBS SUB 9 BU 2x4pol If you wish to use 9 pin sub D plugs of other manufacturers you must replace the two flat screws on...

Page 108: ...gled socket 5 m KVI CP 1 GS WD 5 163 137 Straight plug angled socket 8 m KVI CP 1 GS WD 8 163 136 Straight plug straight socket 2 m can be used as drag chain KVI CP 2 GS GD 2 170 234 Straight plug straight socket 5 m can be used as drag chain KVI CP 2 GS GD 5 170 235 Straight plug straight socket 8 m can be used as drag chain KVI CP 2 GS GD 8 165 616 Summary of CP plugs for output module Plugs Typ...

Page 109: ... plug straight M12 PG7 SEA GS 7 18 666 Sensor plug straight M12 5 pin PG7 SEA M12 5GS 7 175 487 Duo plug M12 2 cable entries SEA GS 11 DUO 18 779 Duo plug M12 2 cable entries 5 pin SEA 5GS 11 DUO 192 010 Sensor plug straight M8 3 pin can be soldered SEA GS M8 18 696 Sensor plug straight M8 3 pin can be screwed SEA 3GS M8 S 192 009 ...

Page 110: ...A Technical data and accessories A 10 Festo P BE CP CO2 EN en 0107NH ...

Page 111: ...Examples B 1 Festo P BE CP CO2 EN en 0107NH Appendix B ...

Page 112: ...amples Communication sequence B 3 B 1 1 Example 1 Start CANopen network B 3 B 1 2 Example 2 Set output B 3 B 1 3 Example 3 Start Node guard monitoring B 4 B 1 4 Example 4 Load objects B 5 B 1 5 Example 5 Write objects B 6 B 2 Example Parametrizing with the program CANsetter B 7 ...

Page 113: ...ta All values in hex xx station number 00 all bus slaves Fig B 12 Example 1 Start CANopen network B 1 2 Example 2 Set output In order to set valves on the CPV valve terminal the Receive PDO must be sent from the master In the example only out put 0 is set any outputs already set will be reset 01 00 201 PLC PC IPC COB ID Data All values in hex Fig B 1 Example 2 Set output 0 on the CPV valve termina...

Page 114: ...eout time Timeout time Guard Time Life Time Factor Index 100C Index 100D If this time is exceeded the valves will be switched off or will assume the default status Please note The timeout monitoring in the CPV Direct is inactive until the first Node guard telegram is received Valves which are switched on remain set even after loss of communica tion bus interruption etc 05 701 701 PLC PC IPC COB ID...

Page 115: ...ndex The CPV valve terminal then sends Index and subindex Data bytes 00 00 00 00 00 00 10 40 91 01 02 00 00 00 10 43 601 581 PLC PC IPC COB ID Initiate Domain Upload Request Index Subindex 4 data bytes Initiate Domain Upload Response Index Subindex 4 data bytes All values in hex COB ID Fig B 3 Example 4 index 1000H read subindex 0 Device type Device profile Device extension ...

Page 116: ...dex Value The CPV valve terminal then sends as acknowledgement Index and subindex Data bytes not relevant 04 7F 00 00 00 0C 10 2B 00 00 00 00 00 0C 10 60 601 581 PLC PC IPC COB ID Initiate Domain Upload Request Index Subindex 4 data bytes Initiate Domain Upload Response Index Subindex 4 data bytes All values in hex COB ID Fig B 4 Example 5 Index 100CH write subindex 0 Guard Time ...

Page 117: ...with the program CANsetter You can obtain the program CANsetter from Vector Informa tik GmbH You can parametrize the CPV Direct easily with CANsetter Further information can be found in Internet under www vector informatik com Fig B 5 Example of parametrizing with CANsetter ...

Page 118: ...B Examples B 8 Festo P BE CP CO2 EN en 0107NH ...

Page 119: ...Index C 1 Festo P BE CP CO2 EN en 0107NH Appendix C ...

Page 120: ...C Index C 2 Festo P BE CP CO2 EN en 0107NH Contents C Index C 1 ...

Page 121: ...ate 1 17 Branch line lengths 1 17 Bus termination 1 26 C Cables Accessories A 8 Field bus 1 16 Power supply 1 28 CANopen COB identifier 2 12 General information 2 7 Status transfers 2 10 Summary of the object directory 2 9 CANsetter B 7 Condition Counter 2 23 Method of operation 2 28 Condition Monitoring 2 23 Connecting Field bus 1 16 1 20 1 23 Power supply 1 28 ...

Page 122: ...E Earth ground connection 1 35 Electrical connecting and display elements 1 4 Emergency Message 3 9 EMERGENCY STOP circuit 1 33 Error Code 3 9 Examples B 3 Extending the CPV Direct Eliminating faults 3 7 Setting 1 37 F Fault Extending the CPV Direct 3 7 Parametrize error reaction 3 15 Field bus baud rate 1 17 Field bus cable 1 16 Field bus length 1 17 H Heart beat 2 11 2 15 3 5 3 10 3 11 3 14 ...

Page 123: ...er specific error field 3 9 Manufacturer Specific Profile 2 23 Manufacturer status register 3 9 Mapping 2 13 N Node guard 2 11 2 15 3 5 3 10 3 11 3 14 Notes on the use of this manual VIII O Object directory Summary 2 9 Operating hours counter 2 27 Operating voltage Switching on 2 3 Operating voltage cable 1 28 Operational 3 3 ...

Page 124: ...connection 1 34 Potential equalization 1 34 Power supply 1 28 1 32 Power unit 1 30 Pre defined error field 3 9 Preparing Commissioning 2 3 R Receive PDO 1 2 20 S Screening shield connection 1 22 Screw terminal adapter 1 25 Service VIII Setting Baud rate 1 8 Extension to the CP system 1 9 Station number 1 10 Short circuit overload 3 16 Station number 1 10 Permitted 1 10 ...

Page 125: ... Strain relief 1 16 Sub D plug 1 20 Switch module Fitting and removing 1 5 Setting 1 8 T Target group VIII Technical specifications A 3 Text markings X Total current consumption 1 31 Transmit PDO 1 2 18 V Valve solenoid coils Status display 3 6 ...

Page 126: ...C Index C 8 Festo P BE CP CO2 EN en 0107NH ...

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