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Festo CPX-FB38, Electronic Manual

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1.      Installation

1−14

Festo    P.BE−CPX−FB38−EN    en  0804NH

1.3

Connecting  to  the  network

1.3.1

General  information  about  EtherCAT  networks

Please  note

Components  with  EtherCAT  interfaces  may  be  operated
only  innetworks  where  all  connected  network  components
are  supplied  with  PELV  power  supplies  or  integrated  power
supplies  with  similar  protection.

Installation  instructions

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

EtherCAT  Technology  Group:
http://www.ethercat.org/

EtherCAT−specifications  (EtherCAT  Specification",
Profiles"),  guidelines  (Guidelines")  and  instructions
(e.g.  How  to  Configure  an  EtherCAT  Slave  Device"):
http://www.ethercat.org/en/publications.html

Observe  the  instructions  there.

Summary of Contents for CPX-FB38

Page 1: ...Manual Electronics CPX bus node Type CPX FB38 Network protocol EtherCAT CPX terminal Manual 562 525 en 0804NH 733 639...

Page 2: ......

Page 3: ...rmany 2008 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilization of this docu ment as well as the comunication of its contents to others with...

Page 4: ...Germany TORX is a registered trademark of Acument Intellectual Properties LLC Manufacturer Acument Global Technologies North America Sterling Heights Michigan USA T V is a registered trademark of T V...

Page 5: ...Settings of the DIL switches on the bus node 1 7 1 2 1 Removing and fitting the cover over the DIL switches 1 7 1 2 2 Setting the DIL switches 1 8 1 3 Connecting to the network 1 14 1 3 1 General inf...

Page 6: ...ect 2 38 2 4 5 EtherCAT topology representation 2 40 2 4 6 Configuration in the Remote Controller operating mode 2 42 2 5 Parameterisation 2 43 2 5 1 Introduction to parameterisation 2 43 2 5 2 Genera...

Page 7: ...connection status LEDs L A2 L A1 3 8 3 2 2 Fault displays of the LEDs for system diagnosis LED PS PL SF M 3 10 3 3 Diagnostics via status bits 3 13 3 4 Diagnostics via the I O diagnostic interface ST...

Page 8: ...Contents and general instructions VI Festo P BE CPX FB38 EN en 0804NH...

Page 9: ...d for pressures temperatures electrical data torques etc must be observed If additional commercially available components such as sensors and actuators are connected the specified limits for pressures...

Page 10: ...by using PELV circuits If implementing an emergency stop function note the measures listed in the sections 2 5 1 2 8 and 3 1 Target group This manual is intended exclusively for technicians trained in...

Page 11: ...al time communication in an industrialenvironment Data transmission EtherCAT based on the Ethernet protocol IEEE 802 3 optimised for process data real time possible Transmission of process data in the...

Page 12: ...CAT Specification Profiles guidelines Guidelines and instructions e g How to configure an EtherCAT Slave Device http www ethercat org en publications html General basic information about the method of...

Page 13: ...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 t...

Page 14: ...ons 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...

Page 15: ...tches consist of several switch elements with which settings can be made FEC Front End Controller e g CPX FEC can be installed as independent system controller PLC Stand Alone operating mode system co...

Page 16: ...cess data into data objects following the field bus protocol CANopen embedding of process data into Ethernet frames Frames or datagrams via UDP IP additional information www ethercat org PLC Programma...

Page 17: ...Installation 1 1 Festo P BE CPX FB38 EN en 0804NH Chapter 1...

Page 18: ...d fitting the cover over the DIL switches 1 7 1 2 2 Settingthe DIL switches 1 8 1 3 Connecting to the network 1 14 1 3 1 General information about EtherCAT networks 1 14 1 3 2 Overview of connections...

Page 19: ...es You can thereby avoid uncontrolled movements of loose tubing unexpected movements of the connected actuators non defined switching states of the electronic components Caution The CPX bus node conta...

Page 20: ...node for EtherCAT 4 5 6 1 CPX FB38 2 3 1 EtherCAT specific network status LEDs and CPX specific LEDs 2 Network connection 2 output Out2 3 Network connection 1 input In1 4 Cover for DIL switches 5 Ser...

Page 21: ...n installed the bus node is located in a manifold sub base of the CPX terminal see Fig 1 2 Dismantling Dismantle the bus node as follows 1 Undo the four screws of the bus node with a TORX screwdriver...

Page 22: ...us node as a single part Installation Install the bus node as follows 1 Check seal and seal surfaces 2 Place the bus node in the manifold base Make sure that the grooves with the bus node power contac...

Page 23: ...ions for electrostatically sensitive components You avoid malfunctions of and damage to the electronics by doing so 1 2 1 Removing and fitting the cover over the DIL switches You need a screwdriver in...

Page 24: ...s node operating mode diagnostic mode Proceed as follows 1 Switch off the power supply 2 Remove the cover see section 1 2 1 3 Make the required settings see Tab 1 1 and Tab 1 2 4 Replace the cover see...

Page 25: ...ctions of the CPX terminal are controlled directly by the EtherCAT IO controller or a superordinate PLC The bus node thereby takes over the connection to the EtherCAT network DIL 1 1 OFF DIL 1 2 OFF f...

Page 26: ...X valve terminal communicate via EtherCAT The bus node thereby takes over the connection to the EtherCAT network and processing of the data exchange Protocol implementation Forwarding of incoming and...

Page 27: ...ntroller operating mode Ensure that the bus node and FEC DIL switches are set according to the operating mode If necessary set tings at the program level must also be adjusted e g in the program side...

Page 28: ...Setting DIL switch 2 The I O diagnostic interface and the status bits are switched off 0 I O bits 2 1 OFF 2 2 OFF factory setting The status bits are switched on 8 16 I bits 1 2 1 OFF 2 2 ON The I O...

Page 29: ...t activation requires a new configuration In the subsequent activation of the diagnosis mode status bits or I O diagnosis interface the CPX internal I O image can be displaced In this case repeat the...

Page 30: ...h PELV power supplies or integrated power supplies with similar protection Installation instructions You can obtain specifications installation notes and instruc tions through the EtherCAT user organi...

Page 31: ...responding to spec ifications for Ethernet networks ISO IEC 11801 and ANSI TIA EIA 568 B Core cross section for max line length 22 AWG for 100 m link length based on ISO IEC 11801 Tab 1 3 Overview of...

Page 32: ...3 4 1 2 3 4 Housing TD RD TD RD FE Transmission data Transmit Data TD Receive data Receive Data RD Send data Receive data Shield functional earth Shield functional earth FE Tab 1 4 Pin assignment of t...

Page 33: ...J45 coupling 90 degrees HARTING eCon 6050 BA Cable specification Use shielded industrial Ethernet round cable of category Cat 5 or higher You can find details regarding cable specifica tion in Tab 1 3...

Page 34: ...e plugs and covers Port Port IP65 IP67 Cover IP65 IP67 1 L A1 L A2 M12 Plug from Festo type NECU M S D12G4 C2 ET Protective cap from Festo type ISK M12 Service interface M12 Connecting cable and plug...

Page 35: ...electrical isolation of the operating voltage as per IEC DIN EN 60204 1 Due to the use of PELV power units protection against electric shock protection against direct and indirect contact is guar ant...

Page 36: ...OUT 2 not connected 3 Earth connection incoming 4 not connected 5 24 VOUT D C B A 7 8 4POL 1 A 24 VEL SEN B 24 VVAL 24 VOUT C Earth connection D 0 VEL SEN 0 VVAL 0 VOUT incoming A not connected B 24 V...

Page 37: ...Commissioning 2 1 Festo P BE CPX FB38 EN en 0804NH Chapter 2...

Page 38: ...2 38 2 4 5 EtherCAT topology representation 2 40 2 4 6 Configuration in the Remote Controller operating mode 2 42 2 5 Parameterisation 2 43 2 5 1 Introduction to parameterisation 2 43 2 5 2 General pr...

Page 39: ...ge supply for the controller Addressing configuration and parameterisation Addressing The address space of a CPX terminal in the EtherCAT network is limited Before starting up or configuring the CPX t...

Page 40: ...O diagnostics interface STI reduce the number of available I O bytes in favour of status or diagnostics functions Take account of this fact for the planning of your CPX terminal Before starting up or...

Page 41: ...configuration programs the module identifiers are typically found in a separate listing of all available hardware modules or field devices e g in a module directory or module catalogue Electric modul...

Page 42: ...DI D 1 byte 8 I Digital 8 input module n switching CPX 8NDE 8NDI 1 byte 8 I Digital 16 input module CPX 16DE 16DI 2 bytes 16 I Digital 16 input module with channel diagnosis CPX M 16DE D 16DI D 2 byte...

Page 43: ...ensors CPX 4AE T 4AI T 2 words or 4 words 32 64 I 4 Analogue 4 way input module Temp module for TC sensors CPX 4AE TC 4AI TC 4 words 64 I Analogue 2 output module CPX 2AA U I 2AO 2 words 32 O CP inter...

Page 44: ...the identifier of the bus node will be configured see Tab 2 3 Electric modules Module type Module identifier 1 Assigned address space Description Inputs Outputs Bus node for EtherCAT In Remote Contro...

Page 45: ...A pneumatic modules each represent an electric module for controlling the attached valves A configuration is required for each pneumatic module of type MPA pneumatic modules of type MPA1 each occupy 1...

Page 46: ...MPA2S 1 byte 4 8 O 3 MPA2 pneumatic module type 32 33 withelectrical isolation VMPA2 FB EMG 4 2 CPXtype32 33 G 1 4V MPA2G 1 byte 4 8 O 3 MPA1 pneumatic module type 32 33 withoutelectrical isolation wi...

Page 47: ...alve coils 1 16 valve coils 1 24 valve coils 1 32 valve coils 26 can be used CPX GP 03 4 0 CPX type 03 1 TYPE3 1 byte 8 O 2 bytes 16 O 3 bytes 24 O 4 bytes 32 O Pneumatic interface for CPA valves type...

Page 48: ...odules CPX 4AE I __ x 64 I _____ I 10 Number of analogue input modules CPX 4AE T __ x 32 I x 64 I _____ I 11 Number of analogue input modules CPX 4AE TC __ x 64 I _____ I 12 Number of analogue output...

Page 49: ...ts Counting is from left to right addressing in bytes Modules with less than 8 bits occupy 8 bits of address space but do not use all this space The I Os of different module types are assigned separat...

Page 50: ...formation Tab 2 8 Sequence of addressing If the status bits or I O diagnostic interface are activated later that is after the initial start up the module configuration for the first 16 inputs or 16 in...

Page 51: ...tics Module no Module Input address Output address 0 Bus node CPX FB38 1 Digital 8 input module CPX 8DE I0 I7 2 Digital 4 output module CPX 4DA O0 O7 3 MPA1 pneumatic module 8 O O8 O15 4 MPA1 pneumati...

Page 52: ...d I O diagnostic interface deactivated The address assignment for this example terminal in Fig 2 2 is shown in Tab 2 10 1 2 3 4 5 6 Module no 0 8 O 8 O 1 2 3 4 5 6 8DI 4DO 8DI 8DO 1 Bus node CPX FB38...

Page 53: ...I40 I47 O136 O143 5 MPA1 pneumatic module 8 O O144 O151 6 MPA1 pneumatic module 8 O O152 O159 8 bits occupied 4 bits used Tab 2 10 Addressing the example terminal 2 see Fig 2 2 Example 3 CPX terminal...

Page 54: ...cs Module no Module Input address Output address 0 Bus node CPX FB38 with status bits I0 I15 1 1 Digital 8 input module CPX 8DE I16 I23 2 Digital 8 input module CPX 8DE I24 I31 3 Digital 4 output modu...

Page 55: ...sub bases CPA or pneumatic sub bases Midi Maxi for single solenoid valves are replaced by manifold bases for double solenoid valves or vice versa see pneumatics manual if additional manifold sub bases...

Page 56: ...ddress Output address 0 Field bus node CPX FB38 withdeactivated status bits Depends on DIL switch settings see Tab 1 2 1 Digital 16 input module CPX 16DE I0 I15 2 Digital 8 input module CPX 8DE I16 I2...

Page 57: ...herCAT slave i e an EtherCAT device the first time you must inform your configuration and programming software about certain properties of the slave The properties of the various slaves are usually ad...

Page 58: ...brary of your configuration program insert the bus node specific XML file into the program directory of the configuration program in Beckhoff TwinCAT in C programs TwinCAT Io EtherCAT Importing the XM...

Page 59: ...uct Code 00000026h Version Number 00000002h EtherCAT Input Output Size 64 Byte 64 Byte independent of the operating mode Product Name CPX FB38 CPX FB38 EtherCAT Bus module Catalog Number 552 046 Tab 2...

Page 60: ...ou will find the most recent EtherCAT configuration file XML file for CPX terminals and bus node CPX FB38 on the Festo website at www festo com fieldbus File type File name Language Description XML Fe...

Page 61: ...indow 3 opens is displayed 3 Select the Festo XML file 4 and click Open 5 to confirm and cause the selection Having completed the import of the XML file i e after incorporation of the device propertie...

Page 62: ...2 Commissioning 2 26 Festo P BE CPX FB38 EN en 0804NH 1 2 3 4 5 Fig 2 5 Registering slave properties in the configuration program importing XML file...

Page 63: ...t Address an independent EtherCAT device address EtherCAT address If required the EtherCAT address can be changed The global addressing is supported by a Field bus Memory Management Unit FMMU Note You...

Page 64: ...n and permit access to every entry in the object directory of a node Use application specific programs created according to your preferences to access these data objects 2 4 3 CPX terminal configurati...

Page 65: ...he configuration and programming software Beckhoff TwinCAT comprises several programm elements The configuration program i e the TwinCAT System Manager and the related programming software or PLC i e...

Page 66: ...ocument You will find the language settings in the TwinCAT System Manager under Options Language Caution Danger of malfunctions damage or injuries to people A valve terminal with defective configurati...

Page 67: ...s TwinCAT System TwinCAT System Manager subsequently referred to as System Manager Note The program path of your TwinCAT installation can be different from the example shown here 2 Create a new projec...

Page 68: ...rogram window on the lower right 2 In case the Config Mode is not activated Click the corresponding symbol see adjoining figure in the margin or press Shift F4 to switch over to the Config Mode 3 Exce...

Page 69: ...the box icon here Box 1 CPX FB38 64 Byte to display the related properties e g EtherCAT specific settings or process data The properties are displayed in the right area of the System Manager window Yo...

Page 70: ...tivated The System Manager displays the activated Config Mode within the TwinCAT program window on the lower right Click the corresponding symbol see 1 in Fig 2 6 or press Shift F4 to switch over to t...

Page 71: ...rame work of the Free Run State 3 Select the input or output to be checked see 3 in Fig 2 6 Using the left mouse button click on the symbol representing the input or output here Valves Example to disp...

Page 72: ...s i e registers and objects the PLC project forms the software interface between the automation program and the inputs and outputs of the EtherCAT network i e the I O Devices and Boxes The integration...

Page 73: ...2 Commissioning 2 37 Festo P BE CPX FB38 EN en 0804NH Fig 2 7 Linking of the EtherCAT network with a TwinCAT automation project or PLC project example...

Page 74: ...e e g by mail service_international festo com 2 4 5 EtherCAT topology representation Symbolic representation of the EtherCAT topology and the CPX terminal The topology display represents the structure...

Page 75: ...ick on the device symbol of the bus node 1 to display the device properties 2 In the device properties windows click on EtherCAT 2 to open the EtherCAT tab 3 Click on Topology 3 A separate window disp...

Page 76: ...ote Controller bus node operating mode 1 Make sure that DIL switch DIL 1 1 of the bus node is in the remote controller position DIL 1 1 ON DIL 1 2 OFF see section 1 2 2 Tab 1 1 As a result the bus nod...

Page 77: ...terisation module and channel specific e g monitoring functions settings for error handling settings for forcing Parameterising the diagnostics memory A detailed description of the individual paramete...

Page 78: ...he framework of your EMERGENCY STOP concept and the Fail safe setting to ascertain the measures necessary for putting your machine system into a safe state see also section 2 6 1 Typical safety measur...

Page 79: ...parameterisation use the CPX FMT or CPX MMI If the parameterisation is not changed the factory settings are used After parameterisation you change the setting of the System start system parameter to S...

Page 80: ...nance Tool CPX FMT Menu guided parameter entries via PC software by means of USB adapter Easy parameter entry guided by menu in plain text Parameterisation is saved locally in the CPX terminal and is...

Page 81: ...tion You receive the necessary USB adapter with the CPX FMT software 2 5 5 Parameterisation with the handheld unit method 2 The Festo handheld unit CPX MMI offers menu guided access for parameterisati...

Page 82: ...above 2 Do NOT restart system or CPX terminal this ensures that parameterisation already performed is not reset to factory settings 3 Change or enter parameters 4 Block parameterisation again that is...

Page 83: ...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...

Page 84: ...ry setting Resetting of the output channel to the analogue value 0 factory setting Setting the output signal Setting the required analogue value output signal Tab 2 16 Possible states of the output ch...

Page 85: ...or the FEC or from the CPX bus node In the Festo Maintenance Tool you will find the corresponding setting under CPX System settings register System parameters System start After the required start par...

Page 86: ...aved parameter set The CPX bus node distributes the parameter set saved in the bus node which may have been changed or adapted by means of CPX MMI or CPX FMT 3 With default parameter set using a CPX F...

Page 87: ...ve application packets are transported on a fast moving conveyor belt The input for the 2nd sensor is parameterised as follows for improvement of the signal recording and processing Reduction of the i...

Page 88: ...ase note Pay attention to start up information Please observe the general start up instructions in the CPX system manual P BE CPX SYS and in the manual of your controller Caution Undesired activation...

Page 89: ...tialisation EtherCAT status Initialisation see section 2 6 2 Please note Perform configuration and parameterisation again after a module replacement Recreate the necessary hardware and network configu...

Page 90: ...TwinCAT 6 Perform a new configuration hardware and network configuration 7 Start the process controller PLC Master choose the EtherCAT operating status Pre operational network configuration The contr...

Page 91: ...Diagnosis 3 1 Festo P BE CPX FB38 EN en 0804NH Chapter 3...

Page 92: ...display LED run EtherCAT error LED Error connection status LEDs L A2 L A1 3 8 3 2 2 Fault displays of the LEDs for system diagnosis LED PS PL SF M 3 10 3 3 Diagnostics via status bits 3 13 3 4 Diagnos...

Page 93: ...the normal inputs Fast access to fault messages in the PLC user program regardless of the module and I O controller Section 3 3 I O diagnostic interface Bus independentdiagnostic interface at I O lev...

Page 94: ...ing the monitoring system parameter function no 4401 The settings made separately for each module with the module parameter CPX module monitoring are not affected by the setting of the system paramete...

Page 95: ...ypical safety measures for safe system condition switching off the load voltage for the valves and output modules in the secondary circuit of the power unit switching off the compressed air supply for...

Page 96: ...module LEDs on the CPX bus node for EtherCAT The light emitting diodes on the cover indicate the operating status of the CPX bus node 1 CPX specific LEDs PS Power system PL Power load SF System Failur...

Page 97: ...changed parameter isation setting system start with saved parameterisation and saved CPX expansion or force active force mode function No 4402 see CPX System Manual P BE CPX SYS onsite diagnostics LED...

Page 98: ...operational status networkconfiguration LED flashes 1x 1 ON OFF Safe operational Bus node is in the safe operational status e g due to a network disturbance Only the input signals e g sensor data are...

Page 99: ...ing check The network connection interrupted short circuited or disturbed network connection The configuration in particular the physical and logical position and addressing of the bus node Tab 3 4 Fa...

Page 100: ...after the short circuit has been eliminated default Power Off On is necessary LED is off ON OFF The operating voltage sensor supply is not applied Check the operating voltage connection of the electro...

Page 101: ...cription of the error numbers in the CPX system manual P BE CPX SYS LED flashes twice ON OFF Error error class 2 LED flashes three times ON OFF Serious error error class 3 1 The system error LED flash...

Page 102: ...tained external parameterisation is blocked 1 Be careful when replacing CPX ter minals with saved parameterisation Parameterisation is not carried out automatically for these CPX terminals by the high...

Page 103: ...inputs or 8 bits remain unused see Tab 1 2 or Tab 2 1 Please note Note the instructions on addressing and configuration in the sections 2 3 and 2 4 The following table provides an overview of the avai...

Page 104: ...AT network Please note Limited availability of diagnosis information Status bits forwarded over the EtherCAT network that is diagnostic information or error messages of the CPX terminal are almost alw...

Page 105: ...the system diagnosis If the I O diagnostic interface is active it will occupy the first 16 inputs and outputs in the address range see Tab 1 2 and Tab 2 1 Please note Note the instructions on addressi...

Page 106: ...is information Diagnostic information or error messages of the CPX terminal are almost always only displayed in EtherCAT configuration and programming software e g TwinCAT Use the handheld unit the Fe...

Page 107: ...e status of the CPX terminal are available to the EtherCAT network only by means of the I O diagnosis interface Activate the I O diagnosis interface to ensure that error messages of the CPX terminal a...

Page 108: ...ion Depending on the parameterisation the outputs valves and electric outputs will be switched off factory setting switched on or retain their status Further information about the Fails safe setting c...

Page 109: ...ypical safety measures for safe system condition switching off the load voltage for the valves and output modules in the secondary circuit of the power unit switching off the compressed air supply for...

Page 110: ...ption telegram elimination or terminal disturbance the following valve behaviour occurs Single solenoid valves move to the basic position Double solenoid valves remain in the current position Mid posi...

Page 111: ...Technical appendix A 1 Festo P BE CPX FB38 EN en 0804NH Appendix A...

Page 112: ...A Technical appendix A 2 Festo P BE CPX FB38 EN en 0804NH Contents A Technical appendix A 1 A 1 Technical specifications of bus node CPX FB38 A 3...

Page 113: ...direct and indirect contact as per IEC DIN EN 60204 1 by means of a PELV circuit Module code CPX specific Remote I O Remote controller 220 169 Module identifier in the Handheld Remote I O Remote contr...

Page 114: ...t protocol IEEE 802 3 optimised for process data Real time capable Specification Standards and norms with regard to EtherCAT IEC 61158 IEC 61784 IEC 61918 ISO IEC 8802 3 Further information http www e...

Page 115: ...Index B 1 Festo P BE CPX FB38 EN en 0804NH Appendix B...

Page 116: ...B Index B 2 Festo P BE CPX FB38 EN en 0804NH Contents B Index B 1...

Page 117: ...2 13 Assembly 1 5 B Beckhoff TwinCAT 2 29 C Cables Network 1 15 Configuration 2 4 2 21 With EtherCAT network 2 29 Connecting Network 1 14 Network for the CPX FB38 1 16 Voltage supply 1 19 CP interfac...

Page 118: ...1 4 EMERGENCY STOP circuit 2 44 3 5 3 19 F FEC 1 9 1 10 2 42 I I O diagnostic interface 3 15 Important user instructions XI Inputs Calculate 2 12 IP65 IP67 1 18 ISO pneumatics VTSA 2 9 L LEDs 3 6 M M...

Page 119: ...ation example 2 53 Methods 2 46 Requirement 2 45 Start parameterisation 2 51 Via software 2 47 With the handheld unit 2 47 PELV Protected Extra Low Voltage 1 19 Pictograms XII Pin allocation Field bus...

Page 120: ...Start parameterisation 2 51 2 52 Status bits 3 13 Strain relief 1 17 Switch cover Removing and fitting 1 7 Switching on the operating voltage 2 3 System supply 1 20 T Target group VIII Technical spec...

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