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Installation

III

Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH

Contents

Intended use

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Range of application and certifications

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Target group

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Service

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Notes on this manual

VII

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Important user instructions

VIII

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Commissioning

1-1

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1.1

General information about the CANopen fieldbus protocol

1-3

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1.1.1

Components

1-3

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1.1.2

Data exchange with the CANopen fieldbus protocol

1-4

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1.1.3

CANopen specifications

1-4

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1.1.4

Brief overview of the scope of functions

1-5

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1.2

Commissioning of a master controller

1-6

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1.2.1

Installing the EDS file

1-6

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1.3

Configuration by using process data

1-7

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1.3.1

Predefined process data for establising connections

1-7

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1.3.2

Rules for internal I/O mapping

1-8

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1.3.3

I/O linking by COB-IDs

1-8

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1.4

Device parameters

1-10

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1.5

Communication

1-11

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1.5.1

Structure of communication

1-11

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1.5.2

CANopen status transitions

1-12

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1.5.3

Examples of the communication sequence

1-14

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1.6

Switching on

1-18

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1.6.1

Information concerning the switch-on behaviour of the bus node

1-18

1.6.2

Switching on the operating voltage

1-19

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1.6.3

Normal operating status

1-20

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1.7

Fail state behaviour

1-21

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Содержание CTEU-CO

Страница 1: ...Manual Functions and maintenance Bus node Type CTEU CO Fieldbus Protocol CANopen Universal bus node CTEU CO Manual 573 768 en 1101NH 756 466 ...

Страница 2: ......

Страница 3: ...tp www festo com E Mail service_international festo com The reproduction of this document and disclosure to third parties and the utilisation or communication of its contents without explicit authorization is prohibited Offenders will be held liable for compensation of damages All rights reserved in particular the right to carry out patent utility model or ornamental design registrations ...

Страница 4: ...Installation II Festo P BE CTEU CO OP MAINT EN en 1101NH CANopen CiA TORX TÜV and VDE are registered trademarks of the respective trademark owners in certain countries ...

Страница 5: ...ions 1 5 1 2 Commissioning of a master controller 1 6 1 2 1 Installing the EDS file 1 6 1 3 Configuration by using process data 1 7 1 3 1 Predefined process data for establising connections 1 7 1 3 2 Rules for internal I O mapping 1 8 1 3 3 I O linking by COB IDs 1 8 1 4 Device parameters 1 10 1 5 Communication 1 11 1 5 1 Structure of communication 1 11 1 5 2 CANopen status transitions 1 12 1 5 3 ...

Страница 6: ... 2 3 1 Diagnostics via SDO 2 9 2 3 2 The Emergency Message 2 9 2 3 3 Reaction to network communication faults 2 13 2 3 4 Node guarding 2 13 3 Error treatment 3 1 3 1 Fault finding and error elimination 3 3 3 1 1 Check the installation 3 3 3 1 2 Check the power supply 3 4 3 1 3 Restart communication between the bus node and the device 3 5 3 1 4 Check fieldbus communication 3 5 3 1 5 Check the CANop...

Страница 7: ... data torques etc should be observed Observe the regulations of the trade associations German Technical Control Board TÜV VDE stipulations or corres ponding national laws and regulations Warning Use only PELV circuits as per IEC EN 60204 1 for the electric power supply protective extra low voltage PELV Also observe the general requirements for PELV circuits in accordance with IEC EN 60204 1 Use on...

Страница 8: ...ix The product relevant EU directives can be found in the declaration of conformity Certificates and declarations of conformity for this product can be found at www festo com Target group This manual is intended exclusively for technicians trained in control and automation technology who have experience in installing commissioning programming and diagnosing programmable logic controllers PLCs and ...

Страница 9: ...en fieldbus protocol Information relating to installing the bus node can be found in Part I of the product documentation entitled Installation and Interface manual which is supplied with the bus node Information for mounting the bus node on the CAPC electric sub base can be found in the assembly instructions supplied with the electric sub base Information about other bus nodes and components of th...

Страница 10: ...een 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 Note This means that failure to observe this instruction may result in damage to property The following pictogram marks passages in th...

Страница 11: ...ps 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 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 general a...

Страница 12: ...the bus node Fail state This is a function which automatically activates the Hold last state function in the event of an abortion of the network connection and it is also designated fail safe in some cases F0h Hexadecimal numbers are marked by a low set h Heartbeat The bus node sends a telegram cyclically to the network which can be monitored by any station compare with node guarding Hold last sta...

Страница 13: ...nce or on demand PDOs are divided into TPDOs and RPDOs PLC IPC Programmable logic controller industrial PC RPDO Receive PDO SC O SCS SCO SCV Short circuit overload Short circuit overload sensor supply outputs valves SDO Service Data Objects predominantly form point to point connections between the server and client for the exchange of parameters for device configuration They enable write and read ...

Страница 14: ...Installation XII Festo P BE CTEU CO OP MAINT EN en 1101NH ...

Страница 15: ...Commissioning 1 1 Festo P BE CTEU CO OP MAINT EN en 1101NH Chapter 1 Commissioning ...

Страница 16: ... the EDS file 1 6 1 3 Configuration by using process data 1 7 1 3 1 Predefined process data for establising connections 1 7 1 3 2 Rules for internal I O mapping 1 8 1 3 3 I O linking by COB IDs 1 8 1 4 Device parameters 1 10 1 5 Communication 1 11 1 5 1 Structure of communication 1 11 1 5 2 CANopen status transitions 1 12 1 5 3 Examples of the communication sequence 1 14 1 6 Switching on 1 18 1 6 ...

Страница 17: ...ldbus protocol The CTEU product family enables the creation of a decent ralised automation system in a CANopen fieldbus network 1 1 1 Components 1 Higher order controller CAN master e g CECX 2 Fieldbus level CTEU bus node 3 Device level e g valve terminal VTUB 12 4 Drive level e g linear module HME 1 2 3 4 ...

Страница 18: ...ta exchange in CANopen is in the form of telegrams with which the work data is transmitted A distinction is made between low priority Service Data Objects SDO which are used for transmitting service data from and to the object dir ectory and between high priority Process Data Objects PDO which serve for the fast transfer of current process states In addition Network Management Telegrams NMT among ...

Страница 19: ... per Communication Profile DS301 1 Service Data Object for read and write access to the object directory Send and Receive SDO 2 Process Data Objects for access to digital inputs Transmit PDO 1 and 2 2 Process Data Objects for access to digital outputs Receive PDO 1 and 2 Emergency telegram for fault message to the master controller Node guarding and Heartbeat Default setting of all identifiers as ...

Страница 20: ...he network and describe the features and functions of the bus node are available for configuring the master controller also designated CAN Master The current EDS file can be found on the Festo website at www festo com Support Downloads Install this file by using the configuration software of your master controller Please refer to the manuals for this soft ware for detailed procedures ...

Страница 21: ...8 logical I Os for inputs and outputs Transmit PDO 1 I0 E7 I8 I15 I16 I23 I24 I31 I32 I39 I40 I47 I48 I55 I56 I63 Transmit PDO 2 I64 I71 I72 I79 I80 I87 I88 I95 I88 I95 I104 I111 I112 I119 I120 I127 Receive PDO 1 O0 O7 O8 O15 O16 O23 O24 O31 O32 O39 O40 O47 O48 O55 O56 O63 Receive PDO 2 O64 O71 O72 O79 O80 O87 O88 O95 O88 O95 O104 O111 O112 O119 O120 O127 Fig 1 1 Overview of PDO 1 and 2 for inputs...

Страница 22: ...the standard mapping function when a device is connected and the bus node is switched on Process data allocation between the bus node and valve terminal remains in effect even if the two modules are separated provided that the bus node remains under voltage during the separation Otherwise the mapping information of connected devices is deleted 1 3 3 I O linking by COB IDs COB IDs are made up of th...

Страница 23: ...O1 tx 181h 1FFh 385d 511d Transmit PDO 2 PDO2 tx 281h 2FFh 641d 767d Receive PDO 1 PDO1 rx 201h 27Fh 513d 639d Receive PDO 2 PDO2 rx 301h 37Fh 769d 895d Transmit SDO SDO1 tx 581h 5FFh 1409d 1535d Receive SDO SDO1 rx 601h 67Fh 1537d 1663d Node guarding Heartbeat Cyclic interrogation guarding or life sign message 701h 77Fh 1793d 1919d 1 0 is used as the Node ID Tab 1 3 Function Code Examples for usi...

Страница 24: ...ject 3101 for a device connected to I Port 1 or in object 3102 for a device connected to I Port 2 Extended device parameters are available via SDO access to object 3301 for a device connected to I Port 1 or object 3302 for a device connected to I Port 2 Information about the structure of the device parameters can be found in the appendix section A and in the documentation for your device ...

Страница 25: ...n which is standard with most PLC controllers Conversion to e g synchronous transmission is possible if the communica tion parameters are written with the appropriate values from the DS301 communication profile but modifying the mapping is not possible Operational After successful parameterisation the master controller can switch the fieldbus stations to the operational status with a special Netwo...

Страница 26: ...AINT EN en 1101NH 1 5 2 CANopen status transitions 0 0 0 0 2 Stopped Power On Communication initialisation Pre operational Operational 1 4 5 3 Application initialisation 3 1 2 Fig 1 2 CANopen status transitions for a description refer to Tab 1 4 ...

Страница 27: ...at valid Node guarding response Toggle 7Fh 3 Stop_Node_ Indication 02h Bus node in stopped mode SDO transmission invalid PDO transmission invalid Outputs assume error status 2 Node guarding Heartbeat valid Node guarding response Toggle 04h 4 Reset_ Communication_ Indication 82h Resetting the communication functions Outputs are reset Communication parameters are reset objects 1000 1FFF 5 Reset_Node...

Страница 28: ...rk 01 xx 000 PLC PC IPC COB ID Data all values in hex xx station number 00 all bus slaves xx xx Fig 1 3 Example 1 start CANopen network Example 2 Set output To set outputs or valves via the bus node the receive PDO must be sent from the master controller In the example only output 0 is set any outputs already set will be reset 01 00 201 PLC PC IPC COB ID Data all values in hex xx xx Fig 1 4 Exampl...

Страница 29: ...dex and subindex The bus node then sends Index and subindex Data bytes 00 00 00 00 00 00 10 40 91 01 30 00 00 00 10 43 601 581 PLC PC IPC COB ID Initiate Domain Upload Request Index Sub index 4 data bytes Initiate Domain Upload Response Index Sub index 4 data bytes all values in hex COB ID Fig 1 5 Example 3 index 1000h read subindex 0 device type device profile device extension ...

Страница 30: ...d command Index and subindex Value The bus node 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 Sub index 4 data bytes Initiate Domain Upload Response Index Sub index 4 data bytes all values in hex COB ID Fig 1 6 Example 4 Index 100CH Subindex 0 written Guard Time...

Страница 31: ...me guard time life time factor Index 100C index 100D If this time is exceeded the valves outputs will be switched off or they will assume the Fail state status Note The timeout monitoring in the bus node is inactive until the first Node guarding telegram is received Outputs that have been set e g switched valves remain set even after a loss of communication fieldbus interruptions et c 05 701 701 P...

Страница 32: ...lable for trans mission Only mount the bus node to the same or an identical and equally configured device while maintaining the operating voltage supply in order to avoid any malfunctions The configuration of connected devices is lost as soon as the operating voltage supply of the bus node is discon nected Disconnect the operating voltage from the bus node be fore connecting other devices as the c...

Страница 33: ...n the power supply Common supply The master controller and all fieldbus stations are switched on via a central power supply unit or a central switch Separate supply If the master controller and the fieldbus stations have separ ate power supplies they should be switched on in the follow ing sequence 1 Switch on the operating voltage supply for all fieldbus stations 2 Switch on the operating voltage...

Страница 34: ...atus PS illuminates green when the voltage supply is established X1 X2 illuminates green when the device has been connected correctly MNS is off during normal operation IO illuminates green as soon as commissioning of fieldbus communication has been successful and the bus node is controlled by the master controller Tab 1 5 Operating status LEDs when switching on Information about diagnosing using ...

Страница 35: ...tics of the fieldbus of the connected device Fail state switching position Signals applied by the bus node Ok Timeout Off are reset Master controller reports a con nection fault The X1 and or X2 LED on the bus node illuminate red On remain set Hold last state Timeout Ok Off are reset MNS LED on the bus node illu minates red On remain set Hold last state Timeout Off are reset The X1 and or X2 LED o...

Страница 36: ...gs Off reset default On Hold last state 1 Fig 1 8 DIL switches for Fail state behaviour Further information relating to the DIL switches on the bus node can be found in Part I of the product documentation entitled Installation and Interface manual which is supplied with the bus node ...

Страница 37: ...Diagnosis 2 1 Festo P BE CTEU CO OP MAINT EN en 1101NH Chapter 2 Diagnosis ...

Страница 38: ...y 2 4 2 2 1 Normal operating status display 2 5 2 2 2 PS LED status display 2 5 2 2 3 Status display X1 X2 LEDs 2 6 2 2 4 Status display MNS LED 2 7 2 2 5 I O LED status display 2 8 2 3 Diagnostics via fieldbus 2 9 2 3 1 Diagnostics via SDO 2 9 2 3 2 The Emergency Message 2 9 2 3 3 Reaction to network communication faults 2 13 2 3 4 Node guarding 2 13 ...

Страница 39: ...s hardware faults bus faults etc Fast on the spot recognition of errors Section 2 2 Diagnostics via fieldbus Diagnostics via SDO Emergency message Detailed fault recognition Section 2 3 Tab 2 1 Diagnostics options 1 DIL switch settings Off no diagnostic messages default On Emergency Message is sent 1 Fig 2 1 DIL switches for diagnostic messages Further information relating to the DIL switches on t...

Страница 40: ...NT EN en 1101NH 2 2 Diagnostics via LED display LEDs are located on the bus node for diagnosing the bus node and any connected devices see Fig 2 2 The LEDs can assume the following states sometimes in different colours illuminates flashes off ...

Страница 41: ...us Meaning error elimination LED illuminates green ON OFF Normal operating status Operating voltages are in the permissible range LED flashes green ON OFF Undervoltage for the signal or load voltage supply or short circuit of the bus node s I Port Eliminate short circuit on the bus node Eliminate undervoltage on the con nected device LED is off ON OFF Signal voltage is not present Check signal vol...

Страница 42: ...undervoltage LED illuminates red ON OFF Device is connected to the bus node but com munication is disrupted An incorrect device has been connected after commissioning Check fieldbus cables plug connectors signal transmission error counter overrun Restart the bus node by switching the power off on LED flashes red ON OFF Incorrect device connec ted device detected that is not I Port com patible In a...

Страница 43: ...fline CAN error CAN short circuit Check connection to network Check the setting of the DIL switches Check the voltage supply to via the fieldbus LED flashes red ON OFF Communication error fieldbus communication is defective Timeout ascertained Check connection to network LED is off ON OFF Normal operating status no communication error on the fieldbus Diagnosis is possible Access to connected devic...

Страница 44: ... trolled by the master controller LED flashes ON OFF Bus node is in pre operational mode Ready status is in preparation ON OFF Fieldbus communication is interrupted and automatically restored Amend the incorrect station number on the bus node or the controller Ready status has been stopped LED is off ON OFF No commissioning of the fieldbus No fieldbus connected No device connected Station number N...

Страница 45: ...6 when the diagnostics DIL switch is activated see section 2 1 The following sections describe the components of the emergency message and the error causes see Tab 2 9 Note As a prerequisite Node guarding or Heartbeat must be activated on the master controller Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error code Error Re gister Device 1 Device 2 Reserved Dia gnostics byte 1 Dia gnost...

Страница 46: ... memory for the last faults ascertained Error Codes Note If several Emergency Messages from Tab 2 7 are present only the most recently reported is transmitted to the mas ter controller Byte 0 Byte 1 Explanation 00 00 No error 20 22 Short circuit diagnostics 20 23 Short circuit at outputs 20 31 Operating voltage too low 20 33 Load voltage too low 00 50 Hardware fault 30 81 Node guarding or Heartbea...

Страница 47: ...es 2 Voltage Operating voltage too low Load voltage too low Load voltage not applied 3 4 Communication Error Node guarding Heartbeat CANopen error 5 6 7 Manufacturer specific Wire fracture other errors Tab 2 8 Error Register Object 1001 with bit assignment as per DS301 401 Manufacturer Status Register Error causes of the devices connected to the bus node are transmitted via bytes 3 and 4 or 5 and ...

Страница 48: ...85 00 00 12 51 No operating voltage or insufficient operating voltage X 20 31 85 00 00 00 00 Hardware error X 00 50 01 00 10 00 00 Hardware error X 00 50 01 00 00 00 10 Configuration error X 00 FF 01 00 00 00 00 Configuration error I Port 1 00 FF 01 00 10 00 00 Configuration error I Port 2 00 FF 01 00 00 00 10 Other I Port diagnostic message I Port 1 FF FF 81 Event C Low Event C High 00 00 Other I...

Страница 49: ...alves outputs of connected devices are reset as standard when the following faults and operating states occur as soon as Node guarding or Heartbeat are activ ated via the configuration Communication error Node guarding Heartbeat Transition from operational to pre operational or stopped The behaviour of connected devices in the event of commu nication errors can be changed using the corresponding D...

Страница 50: ...figured monitoring time see DS 301 When monitoring is activated the configured emergency stop response Fault reaction option code object 605Eh PNU 1021 is executed and the drive is stopped Select the Guard Time with reference to the dynamics of the system Refer to your master controller documentation for details on how to activate Node guarding ...

Страница 51: ...Error treatment 3 1 Festo P BE CTEU CO OP MAINT EN en 1101NH Chapter 3 Error treatment ...

Страница 52: ...lt finding and error elimination 3 3 3 1 1 Check the installation 3 3 3 1 2 Check the power supply 3 4 3 1 3 Restart communication between the bus node and the device 3 5 3 1 4 Check fieldbus communication 3 5 3 1 5 Check the CANopen configuration 3 6 3 1 6 Read out diagnostic messages via CANopen 3 7 ...

Страница 53: ...lowing sections completely and in the specified order 3 1 1 Check the installation Check the correct installation of the bus node on the device or the CAPC electric sub base and the correct earthing of all of the components involved Make sure that all of the necessary cables are fitted correctly Information relating to installing the bus node can be found in Part I of the product documentation ent...

Страница 54: ...0204 1 Check to make sure both power supplies for the operat ing and load voltage are connected The devices connected to the bus node are powered exclusively via the load voltage connection Check the pin assignment of self assembled cables Information relating to installing the bus node can be found in Part I of the product documentation entitled Installation and Interface manual which is supplied...

Страница 55: ...tion between the bus node and the device disassembly assembly Remedy Proceed as follows 1 Disconnect the operating voltage 2 Check the assembly and or re establish the cable connec tion between the bus node and connected devices 3 Switch voltage on again X1 and or illuminate or flash green 3 1 4 Check fieldbus communication Compare the desired baud rate with the baud rate set on the bus node DIL s...

Страница 56: ...ows 1 Check whether the mapping element conforms to the set tings of the master controller see section A 2 2 Check whether the status of the bus node e g opera tional mode complies with the settings of the master con troller see section 2 2 5 Problem description Outputs do not switch to the desired state in the event of fieldbus communication malfunctions Remedy Proceed as follows 1 Check whether ...

Страница 57: ...ion 1 Proceed as follows 1 Activate Node guarding or Heartbeat on the master con troller 2 Wait for the display of the Emergency Messages see Tab 3 10 on the master controller Error causes Device on the bus node Byte 0 1 2 3 4 5 6 7 No load voltage or insufficient load voltage I Port 1 20 33 85 12 51 00 00 res No load voltage or insufficient load voltage I Port 2 20 33 85 00 00 12 51 Tab 3 10 Extr...

Страница 58: ...3 Error treatment 3 8 Festo P BE CTEU CO OP MAINT EN en 1101NH ...

Страница 59: ...Technical appendix A 1 Festo P BE CTEU CO OP MAINT EN en 1101NH Appendix A Technical appendix ...

Страница 60: ...A Technical appendix A 2 Festo P BE CTEU CO OP MAINT EN en 1101NH Contents A Technical appendix A 1 A 1 Technical data A 3 A 2 Object directories A 6 ...

Страница 61: ...it Protected Extra Low Voltage Electromagnetic compatibility EMC 2 Emitted interference Resistance to interference See declaration of conformity www festo com Vibration and shock tested as per DIN IEC 68 EN 60068 Vibration part 2 6 Shock part 2 27 Continuous shock part 2 29 Severity level SL for assembly on Wall SL 2 H rail SL 1 Wall SL 2 H rail SL 1 Wall and H rail SL 1 Dimensions Width Length He...

Страница 62: ...18 30 V DC Load voltage 1 of connected devices Range 18 30 V DC 2 Current supply Power rating for operating and load voltage residual current Intrinsic current consumption of the bus node at 24 V DC Current consumption at 24 V DC of the bus node with operation of a connected device Current consumption at 24 V DC of the bus node with operation of one two connected devices via electric sub base CAPC...

Страница 63: ...erface signal transmission Internal cycle time 1 ms per 1 byte of user data CANopen signal transmission Max cable lengths Baud rate 125 kbps 250 kbps 500 kbps 1 000 kbps Fieldbus cable trunk cables 500 m 250 m 100 m 40 m Branch line cable drop cables 3 75 m 2 00 m 0 75 m 0 3 m ...

Страница 64: ...CiA DS301 apply Mapping entries are only possible if the number of parameters has previously 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 Note Note that basic settings can only be changed via DIL switches Index hex Sub index Designa tion Type Attr Map Values hex Explanation 1000 0...

Страница 65: ...COB ID 80h 1008 0 Manufac turer Device Name Str ro CTEU CO Bus node designation 1009 0 Manufac turer Hard ware Version Str ro r03 ex ample As 1018 3 100A 0 Manufac turer Soft ware Ver sion Str ro r03 ex ample As 1018 3 100C 0 Guard Time U16 rw 00 00 Timeout monitoring ms 100D 0 Life Time Factor U8 rw 00 Timeout monitoring Guard time x life time factor complete node guarding time 1014 0 COB ID Emer...

Страница 66: ...16 rw 00 00 Heartbeat Time ms COB ID Node guard ID Status pre operational operational stopped 1018 0 Identity Object U8 ro 04 Number of entries 1 Vendor ID U32 00 00 00 1D Vendor ID from CiA 2 Product code 570038 Product code 3 Revision number r03 ex ample CANopen Revision 4 Serial number xx xx xx xx Value from production process 1200 0 Server SDO parameter U8 ro 02 Number of entries 1 COB_ID Clie...

Страница 67: ... ro 05 Output PDO 0 Communication Parameter 1 COB ID U32 rw 200 Node ID Default COB ID of the outputs 2 Transmis sion Type U8 FF 3 Inhibit Time U16 0000 5 Event Timer 0 1401 0 Receive PDO Com munication Parameter 1 U8 ro 05 Output PDO 1 Communication Parameter 1 COB ID U32 rw 300 Node ID Default COB ID of the outputs 2 Transmis sion Type U8 FF 3 Inhibit Time U16 0000 5 Event Timer 0 ...

Страница 68: ...5 3 62 00 03 08 Index A16 A23 4 62 00 04 08 Index A24 A31 5 62 00 05 08 Index A32 A39 6 62 00 06 08 Index A40 A47 7 62 00 07 08 Index A48 A55 8 62 00 08 08 Index A56 A63 1601 0 Receive PDO Com munication Mapping Parameter 1 U8 ro 08 Output PDO 1 Mapping 1 U32 rw 62 00 09 08 Pointer at Index A0 A7 2 62 00 0A 08 Index A8 A15 3 62 00 0B 08 Index A16 A23 4 62 00 0C 08 Index A24 A31 5 62 00 0D 08 Index...

Страница 69: ...e inputs 2 Transmis sion type U8 FF Default acyclic 3 Inhibit Time U16 00 00 Transmit blocking time inputs 5 Event Timer 0 Time controlled transmis sion of the inputs ms 1801 0 Transmit PDO Com munication Mapping Parameter 1 U8 ro 05 Input PDO 1 Communication Parameter 1 COB ID U32 rw 280 Node ID Default COB ID of the inputs 2 Transmis sion type U8 FF Default acyclic 3 Inhibit Time U16 00 00 Trans...

Страница 70: ...5 3 60 00 03 08 Index E16 E23 4 60 00 04 08 Index E24 E31 5 60 00 05 08 Index E32 E39 6 60 00 06 08 Index E40 E47 7 60 00 07 08 Index E48 E55 8 60 00 08 08 Index E56 E63 1A01 0 Transmit PDO Com munication Mapping Parameter 1 U8 ro 08 Input PDO 0 Mapping 1 U32 rw 60 00 09 08 Pointer at Index E0 E7 2 60 00 0A 08 Index E8 E15 3 60 00 0B 08 Index E16 E23 4 60 00 0C 08 Index E24 E31 5 60 00 0D 08 Index...

Страница 71: ...data Number of inputs in bytes 2 Process data Number of outputs in bytes 3 U16 Manufacturer ID 4 U32 Device ID 5 U16 Function ID 6 Str Manufacturer name 7 Manufacturer URL 8 Product name 9 Part no 10 Product text 11 Serial number 12 Hardware revision 13 Software revision 14 U8 rw Slave Attribute I Port 15 Extended parameters dependent on the connected device see product description 16 U16 Diagnosi...

Страница 72: ...Manufacturer ID 4 U32 Device ID 5 U16 Function ID 6 Str Manufacturer name 7 Manufacturer URL 8 Product name 9 Part no 10 Product text 11 Serial number 12 Hardware revision 13 Software revision 14 U8 rw Slave Attribute I Port 15 Extended parameters dependent on the connected device see product description 16 U16 Diagnosis types 3301 0 Parameter Device 1 U8 ro 8 Number of entries 1 8 U8 rw Parameter...

Страница 73: ...yte 8 Use dependent on the connected device see product description 6000 0 Digital Inputs available in EDS U16 ro 4 Number of input registers 1 16 ro Yes Xx Read Input 16 Bytes Input 1 16 Sequence dependent on standard mapping or indi vidual mapping 6200 0 Digital Out puts avail able in EDS U16 ro 4 Number of outputs 1 16 ro Yes Xx Write Output 16 Bytes Output 1 16 Sequence dependent on standard m...

Страница 74: ...A Technical appendix A 16 Festo P BE CTEU CO OP MAINT EN en 1101NH ...

Страница 75: ...Index B 1 Festo P BE CTEU CO OP MAINT EN en 1101NH Appendix B Index ...

Страница 76: ...B Index B 2 Festo P BE CTEU CO OP MAINT EN en 1101NH Contents B Index B 1 ...

Страница 77: ...CE certification VI Certifications VI COB ID 1 8 1 22 Communication 1 11 Check 3 5 Examples 1 14 Status transitions 1 12 Configuration Check 3 6 Process data 1 7 D Diagnostics Emergency message 2 9 Fieldbus 2 9 LEDs 2 4 Messages via CANopen 3 7 DIL switches Diagnostics 2 3 Switching positions 1 21 ...

Страница 78: ... Field 2 10 Fail state 1 21 Locate and eliminate 3 3 Network communication faults 2 13 Error Codes 2 10 Error Field 2 10 Error Register 2 11 Manufacturer Status Register A 6 Example Load objects 1 15 Node guarding 1 17 Set output 1 14 Start CANopen network 1 14 Write objects 1 16 F Fail state 1 21 H Heartbeat 1 13 2 10 2 11 2 12 A 8 I I O LED 2 8 Important user instructions VIII Intended use V ...

Страница 79: ... 5 X1 X2 LEDs 2 6 M Manufacturer Status Register 2 11 Mapping A 6 Rules 1 8 MNS LED 2 7 N Network communication faults Parametrising the fault reaction 2 13 Node guard A 8 Node guarding 1 13 2 10 2 11 2 12 2 13 Example 1 17 Notes on the manual VII O Object Directory A 6 P Pictograms IX Pre defined error field 2 10 PS LED 2 5 ...

Страница 80: ...B Index B 6 Festo P BE CTEU CO OP MAINT EN en 1101NH S Service VI Status transitions 1 12 T Target group VI Text markings IX Transmission of error causes via Emergency Message 2 11 X X1 X2 LEDs 2 6 ...

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