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2. Commissioning

2−38

Festo P.BE−CPX−FB38−EN en 0804NH

You can obtain the software for the TwinCAT Information
System" in the internet at:

http://www.Beckhoff.de

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

PLC", Project", Library", Sample", Configuration",
Template", Tutorial" etc.

For further support, please contact your Festo service, e.g.
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2.4.5

EtherCAT topology representation

Symbolic  representation
of  the  EtherCAT  topology
and  the  CPX  terminal

The  topology  display  represents  the  structure  of  the
EtherCAT  network  and  the  Devices"  and  Boxes",
e.g.  the  CPX  bus  node  and  the  corresponding  CPX  terminal
(

in Fig.2/8).

The subsequent explanation describes the calling of the
topology display using Beckhoff TwinCAT.

Please note

The topology display however is first available

after

completion of the EtherCAT network configuration

The network configuration is described in section 2.4.3.

Содержание CPX-FB38

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

Страница 2: ......

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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...

Страница 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...

Страница 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...

Страница 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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