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1. Installation

1-5

Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH

1.2

General information on the EtherCAT fieldbus protocol

1.2.1

Key elements of the fieldbus protocol

Participant features

When you place a new EtherCAT participant, i.e. an EtherCAT
device, into operation for the first time, you must inform the
configuration and programming software about certain prop-
erties of the participant. The properties of the various parti-
cipants are managed in a configuration file - the EtherCAT
slave information file (ESI file).

The file/its contents are available in Extensible Markup Lan-
guage (XML).

Communication protocol

The EtherCAT protocol enhances the Ethernet standard by
adding real-time capability.

In the EtherCAT protocol, data are transported within a stand-
ard Ethernet frame. When the standard Ethernet frame is
sent, the EtherCAT slaves only remove the data that are inten-
ded for them as the telegram passes through the device, and
add input data to the telegram at the same time. For this,
each slave requires two EtherCAT interfaces (one for trans-
mission and one for reception).

The CTEU-EC bus node supports the CANopen over EtherCAT
(CoE) and File Access over EtherCAT (FoE) protocols.

Participant addressing

In an EtherCAT network, the slaves are automatically as-
signed addresses. If desired the bus node can be assigned an
EtherCAT address using the DIL switches.

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Содержание CTEU-EC

Страница 1: ...Description functions and maintenance Bus node Type CTEU EC Network protocol EtherCAT Universal bus node CTEU EC Description 575401 en 1208NH 758875...

Страница 2: ......

Страница 3: ...sto AG Co KG D 73726 Esslingen 2012 Internet http www festo com E mail service_international festo com Reproduction distribution or sale of this document or communication of its contents to others wit...

Страница 4: ...Contents and general safety instructions II Festo P BE CTEU EC OP MAINT EN en 1208NH EtherCAT TwinCAT CANopen and TORX are registered trademarks of the respective trademark owners in certain countries...

Страница 5: ...l 1 5 1 2 2 EtherCAT specifications 1 6 1 2 3 Conformance with the EtherCAT specifications 1 6 1 3 General information on installation 1 7 1 4 Interfaces 1 9 1 4 1 Connection and display components 1...

Страница 6: ...EDs 3 6 3 2 4 EtherCAT operating status display LED run EtherCAT error LED error connection status LEDs L A2 L A1 3 8 3 3 Diagnostics via EtherCAT 3 10 3 3 1 Diagnostics via SDO access 3 10 3 3 2 Diag...

Страница 7: ...umentation supplied with the product are permitted in faultless technical condition The limit values specified for pressures temperatures elec trical data torques etc must be observed Comply with the...

Страница 8: ...t values which the product complies with and fulfils can be found in the section Technical appendix The product relevant EU directives can be found in the declar ation of conformity You can find certi...

Страница 9: ...Contents and general safety instructions VII Festo P BE CTEU EC OP MAINT EN en 1208NH Service Please consult your local Festo Service agent if you have any technical problems...

Страница 10: ...ntation entitled Universal bus node CTEU EC Installation and Interface manual which is supplied with the bus node All information relating to installation and to the interfaces can also be found in ch...

Страница 11: ...ime communication in an industrial environment Data transmission EtherCAT based on the Eth ernet protocol IEEE 802 3 optimised for process data real time capable Transmission of process data in the Et...

Страница 12: ...nction is made between the following danger warnings Warning means that failure to observe this instruction may result in serious personal injury or material damage Caution means that failure to obser...

Страница 13: ...ecommendations tips and references to other information sources Accessories Information on necessary or useful accessories for the Festo product Environment Information on the environmentally friendly...

Страница 14: ...An industrial Ethernet based fieldbus system for data exchange between system controller PLC IPC equipment controller and field devices slave I O devices or drives transmission of process data in dat...

Страница 15: ...participant parameters accessible in a standard ised manner PDO Process Data Objects provide fast transfer of process data and are transmitted by simple EtherCAT messages with no protocol overhead Pr...

Страница 16: ...Contents and general safety instructions XIV Festo P BE CTEU EC OP MAINT EN en 1208NH...

Страница 17: ...Installation 1 1 Festo P BE CTEU EC OP MAINT EN en 1208NH Chapter 1 Installation...

Страница 18: ...n the EtherCAT fieldbus protocol 1 5 1 2 1 Key elements of the fieldbus protocol 1 5 1 2 2 EtherCAT specifications 1 6 1 2 3 Conformance with the EtherCAT specifications 1 6 1 3 General information on...

Страница 19: ...ct family The CTEU product family is used to set up a decentralised automation system in an EtherCAT fieldbus network 1 1 1 Hardware components 1 Higher order controller master PLC IPC 2 Fieldbus leve...

Страница 20: ...ical and mechanical connec tions between the bus node and I port device are standard ised 1 1 2 Scope of functions brief overview Real time Ethernet communication EtherCAT Deterministic data transmiss...

Страница 21: ...e XML Communication protocol The EtherCAT protocol enhances the Ethernet standard by adding real time capability In the EtherCAT protocol data are transported within a stand ard Ethernet frame When th...

Страница 22: ...rCAT is available online EtherCAT specifications EtherCAT Technology Group http www ethercat org en publications html Tab 1 1 EtherCAT specifications 1 2 3 Conformance with the EtherCAT specifications...

Страница 23: ...terminal Before working on the electrical components e g before installation or maintenance work Switch off the power supply In this way you can avoid uncontrolled movements of loose tubing unexpected...

Страница 24: ...on box For H rail mounting you will also need mounting kit CAFM CAPC and CAFM For mounting the bus node a valve terminal from Festo or electrical connection box type CAPC with I port interface is requ...

Страница 25: ...on the bus node 1 2 3 4 1 DIL switch group section 1 4 5 2 Status LEDs bus status LEDs CTEU specific LEDs status indicator and diagnostics section 3 2 3 Power supply connection for bus node and any co...

Страница 26: ...ge PELV for the electrical power supply Also observe the general requirements for PELV circuits as per IEC EN 60204 1 Only use voltage sources which ensure reliable electrical isolation of the operati...

Страница 27: ...s sensors power system PS VVAL OUT Load voltage outputs valves power load PL FE Earth terminal functional earth 2 The connection to functional earth must be additionally ensured via the connected devi...

Страница 28: ...works Note Modules with EtherCAT interfaces may only be operated in networks where all connected network components are supplied with PELV power supplies or integrated power supplies with equivalent p...

Страница 29: ...itted data Received data Shield functional earth FE Tab 1 2 Pin assignment of the network interface Fieldbus connecting cable specifications and configuration Use shielded industrial Ethernet round ca...

Страница 30: ...fieldbus communication settings must be made using the DIL switches on the bus node following sections EtherCAT address station number optional Diagnostic functionality transmission of diagnostic inf...

Страница 31: ...moving or fit ting the cover Disconnect the power supply before removing the cover Make sure that the seal is seated correctly when fitting the cover Tighten the two mounting screws with a max torque...

Страница 32: ...x 23 0 x 20 0 x 21 0 x 22 0 x 23 2 5 Diagnostics Diagnostics activated trans mission of diagnostic informa tion as emergency messages EM and storage in diagnosis history Diagnostics off factory setti...

Страница 33: ...r the Hot Connect function see the following example settings Example EtherCAT address set 05 Example EtherCAT address set 14 Tab 1 3 Setting the binary coded EtherCAT address 2 Select diagnostics mod...

Страница 34: ...1 Installation 1 18 Festo P BE CTEU EC OP MAINT EN en 1208NH...

Страница 35: ...Commissioning 2 1 Festo P BE CTEU EC OP MAINT EN en 1208NH Chapter 2 Commissioning...

Страница 36: ...3 2 1 3 Configuration of the operating modes 2 7 2 1 4 Configuration of operating behaviour target configuration 2 13 2 1 5 Addressing and data access data objects 2 19 2 2 Replacing the device 2 21 2...

Страница 37: ...ion line switching the participant on off or by other means Hot Connect can access this predefined address thanks to the option of address reservation in the CTEU EC bus node using DIL switches sectio...

Страница 38: ...s that the I O data are configured according to the devices connected to the I port Two slots are available representing the respective I ports It is possible to read out the existing configuration Ma...

Страница 39: ...ar xml Modular ESI file EtherCAT Slave Information File for Beckhoff TwinCAT or other compatible configuration and programming software Festo CTEU EtherCAT Fix xml Fixed ESI file EtherCAT Slave Inform...

Страница 40: ...ption Vendor name Festo AG Co KG Vendor ID 0x0000001D Product code 572556 Version number Hardware version V1 11 Software version V4 42 3 Product name CTEU EC Tab 2 5 EtherCAT participant properties On...

Страница 41: ...change mode permits flexibility in the integration re placement of participants Here only an anonymous data range is created which is occupied by a participant It is not defined which devices will ac...

Страница 42: ...length The I O data lengths are configured via the CoE objects 0x8200 and 0x820A section A 4 The I O data length for both I ports must not exceed 16 bytes If the image table ex ceeds the defined I O...

Страница 43: ...example slot 1 is to be used for tool change mode A VTUB valve terminal is connected to slot 2 in auto mode Configuration is carried out via Modular Device Profile MDP Fig 2 2 Example configuration o...

Страница 44: ...2 Commissioning 2 10 Festo P BE CTEU EC OP MAINT EN en 1208NH Fig 2 3 Activation of tool change mode for slot 1...

Страница 45: ...2 Commissioning 2 11 Festo P BE CTEU EC OP MAINT EN en 1208NH Fig 2 4 Definition of input data here 8 bytes...

Страница 46: ...2 Commissioning 2 12 Festo P BE CTEU EC OP MAINT EN en 1208NH Fig 2 5 Definition of output data here 8 bytes Fig 2 6 Defined startup configuration for a slot...

Страница 47: ...ending on the operating mode selected automatic configuration or tool change mode The operating behaviour of the respective I port can be altered via the CoE objects 0x8100 and 0x810A section A 4 I po...

Страница 48: ...utomatically reset as soon as the connection to the device is reestablished If a device is connected to an I port after a startup the bus node temporary outputs device wrongly connected This error is...

Страница 49: ...he I port at startup the device disconnected diagnosis will be ac tivated if the device is disconnected during oper ation This error is automatically reset diagnosis device reconnected as soon as the...

Страница 50: ...2 Commissioning 2 16 Festo P BE CTEU EC OP MAINT EN en 1208NH Fig 2 7 Example value 01 for slot 1 means expect device Tab 2 6...

Страница 51: ...n only be reset by eliminating the cause of the error and subsequently restarting the system If this parameter is set at any time without a device having been connected to the I port at startup a devi...

Страница 52: ...2 Commissioning 2 18 Festo P BE CTEU EC OP MAINT EN en 1208NH Fig 2 8 Example value 02 for slot 2 means port disabled Tab 2 6...

Страница 53: ...g in the TwinCAT configuration tool EtherCAT Advanced settings General Identification Use Configured Station Alias 0x0012 The controller uses the following for local addressing The physical position o...

Страница 54: ...to a system clock or on request The Service Data Objects SDO form a point to point connec tion and permit access to every entry in the object directory of a node Access these data objects with the he...

Страница 55: ...supply 3 Replace the bus node Dismantling Mounting section 1 3 4 Switch the power supply back on 5 Start up the process controller PLC master selecting the EtherCAT operating status PRE OPERATIONAL ne...

Страница 56: ...antling Mounting section 1 3 4 Switch the bus node power supply on again The bus node detects the connected I port device In this case it is also possible to replace the I port device without switchin...

Страница 57: ...ting section 1 3 4 Switch the bus node power supply on again 5 Configure and parameterise the new I port device Procedure in tool change mode 1 Do not switch off the bus node power supply 2 Remove the...

Страница 58: ...1 3 3 Replace the electrical connection box For removal installation of the electrical connection box follow the accompanying product documentation assembly instructions CAPC F1 E M12 D2 www festo co...

Страница 59: ...ctrical connection box For removal installation of the electrical connection box follow the accompanying product documentation assembly instructions CAPC F1 E M12 D2 www festo com Support portal enter...

Страница 60: ...2 Commissioning 2 26 Festo P BE CTEU EC OP MAINT EN en 1208NH...

Страница 61: ...Diagnostics 3 1 Festo P BE CTEU EC OP MAINT EN en 1208NH Chapter 3 Diagnostics...

Страница 62: ...5 3 2 3 Status display X1 X2 LEDs 3 6 3 2 4 EtherCAT operating status display LED run EtherCAT error LED error connection status LEDs L A2 L A1 3 8 3 3 Diagnostics via EtherCAT 3 10 3 3 1 Diagnostics...

Страница 63: ...faults configuration errors bus faults etc immediately Fast on the spot error detection Section 3 2 Diagnostics via fieldbus Diagnostics via SDO access Diagnosis history Emergency message Detailed err...

Страница 64: ...X2 Internal commu nication between bus node and device 2 2 EtherCAT specific LEDs Run EtherCAT operating status L A2 Connection status Link Activity Out2 L A1 Connection status Link Activity In1 1 2 P...

Страница 65: ...approved range Load voltage present in the approved range 1 LED flashes green ON OFF Operating voltage is below the required voltage Load voltage is below the re quired voltage 1 Eliminate undervoltag...

Страница 66: ...iagnostics can be read out via fieldbus communication if activated on DIL switches on the bus node LED illuminated red ON OFF Device is connected correctly to the bus node but internal communication i...

Страница 67: ...d simul taneously no device is con nected to the bus node or configuration error target configuration Use an I port compatible device e g suitable valve terminal from Festo Connect at least one device...

Страница 68: ...a firmware update A firmware update is being per formed LED flashes ON OFF PRE OPERATIONAL Bus node is in PRE OPERATIONAL status configuration of the EtherCAT network LED flashes 1x 1 ON OFF SAFE OPE...

Страница 69: ...ON OFF Network connection OK and no data transmission LED flashes ON OFF Network connection OK and data transmission is running traffic 1 LED not illuminated ON OFF No physical network connection Chec...

Страница 70: ...via diagnosis history The 20 most recent diagnostics messages can be called up with the help of the diagnostics object 0x10F3 For every event stored in the device warning error information an error m...

Страница 71: ...f the diagnostics object Diagnostics messages are written to a data buffer 20 bytes Two operating modes are available for handling diagnostics messages Overwrite mode When the number of diagnostics me...

Страница 72: ...vated section 1 4 5 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error code Error register I port 1 event code I port 2 event code Diagnosis number Tab 3 8 Structure of an emergency message...

Страница 73: ...lid I O configuration Compare I O data lengths FF 00 Configuration error Device replaced during operation Configuration error during operation No device at either I port FF 70 Built in self test faile...

Страница 74: ...ach error 1 Current Short circuit link with error code 2 Voltage Undervoltage link with error code 3 Not used 4 Communication error Node guard heartbeat fieldbus specific only 5 Not used 6 Reserved al...

Страница 75: ...Remove heat source 42 20 Device temperature underrun Insulate device I port device temperature too low Thermally insulate the device 50 00 Device hardware fault Exchange device Hardware fault in the I...

Страница 76: ...only when PL monitoring is activated in device 60 00 Device software fault Check firmware revision Device software fault Check firmware version 63 20 Parameter error Check data sheet and values Param...

Страница 77: ...ion 8C 30 Process variable range underrun Process data uncertain Process variable range underrun process data uncertain 8C 40 Maintenance required Cleaning Maintenance required Cleaning 8C 41 Maintena...

Страница 78: ...tion remedy Explanation LSB FF 55 Input data size greater than configured Input data are greater than those configured in tool change mode No action required FF 56 Output data size greater than config...

Страница 79: ...terisation the outputs valves and electrical outputs will be switched off output signal reset in the case of analogue outputs to 0 factory setting switched on output signal set in the case of analogue...

Страница 80: ...ate Typical safety measures required to put system in safe state Switch off the load voltage for the valves and output modules in the secondary circuit of the power unit Switch off the compressed air...

Страница 81: ...reset when the controller stops or in case of network interruption telegram failure or a terminal fault the valves will behave as follows Monostable valves will move to their normal position Double s...

Страница 82: ...3 Diagnostics 3 22 Festo P BE CTEU EC OP MAINT EN en 1208NH...

Страница 83: ...Technical appendix A 1 Festo P BE CTEU EC OP MAINT EN en 1208NH Appendix A Technical appendix...

Страница 84: ...A 1 Technical data A 3 A 2 EtherCAT CANopen object model A 7 A 3 Updating the bus node EEPROM A 8 A 4 Object directories A 9 A 4 1 Objects common to both communication profiles A 9 A 4 2 Communicatio...

Страница 85: ...ort 5 50 C 20 70 C Vibration and shock 3 tested as per IEC EN 60068 Vibration part 2 6 Shock part 2 27 Continuous shock part 2 29 Severity level SL for mounting on Wall SL 2 H rail SL 1 Wall SL 2 H ra...

Страница 86: ...lanation on vibration and shock severity level Severity level 1 SL1 in accordance with EN 60068 part 2 29 Vibration 0 15 mm path at 10 58 Hz 2 g acceleration at 58 150 Hz Shock 15 g at 11 ms duration...

Страница 87: ...tronics Load capacity of the operating and load voltage supply 1 3 Bus node on device e g valve terminal Bus node on electrical connection box type CAPC X1 and X2 max 4 A max 2 A Isolation EtherCAT in...

Страница 88: ...e Ethernet protocol IEEE 802 3 optimised for process data real time capable Specification Standards and norms containing reference to EtherCAT IEC 61158 IEC 61784 IEC 61918 ISO IEC 8802 3 Additional i...

Страница 89: ...ESI file vari ants Index hex Object dictionary area 0x0000 0x0FFF Data type area 0x1000 0x1FFF Communication profile area 0x2000 0x5FFF Manufacturer specific profile area 0x6000 0x6FFF Input area 0x70...

Страница 90: ...configuration For this the fixed ESI file chapter 2 is required Depending on the configuration and programming software used the actual procedure may vary slightly from the one described below The bas...

Страница 91: ...read only RW read write RO P read only PDO mappable A 4 1 Objects common to both communication profiles The objects in the following table are available in both ESI files fixed and modular The module...

Страница 92: ...RO P 5 Flags U16 0x0000 RW 6 26 Subindex 006 026 BYTE 2 3 RO 0x1100 0 EtherCAT address U16 RO 0x1110 0 Virtual MAC address U8 RO 0x1111 0 Virtual IP address U8 5 RO 1 IP address U32 RO 2 Subnet mask U...

Страница 93: ...RW 0x8100 0 Target configuration module 1 U8 section 2 1 4 RW 0x810A 0 Target configuration module 2 U8 section 2 1 4 RW 0x8200 0 Tool change mode configuration module 1 U16 RO 1 Active U8 0 0 auto mo...

Страница 94: ...RO 3 Vendor ID U16 RO 4 Device ID U32 RO 5 Function ID U16 RO 6 Vendor name String 64 1 RO 7 Vendor URL String 64 1 RO 8 Product name String 64 1 RO 9 Order no String 64 1 RO 10 Product text String 64...

Страница 95: ...RO 3 Vendor ID U16 RO 4 Device ID U32 RO 5 Function ID U16 RO 6 Vendor name String 64 1 RO 7 Vendor URL String 64 1 RO 8 Product name String 64 1 RO 9 Order no String 64 1 RO 10 Product text String 64...

Страница 96: ...RO 0xA00A 0 Diagnosis module 2 U16 section 3 3 3 byte 5 and byte 6 RO A 4 2 Communication profile extensions fixed variant Index Sub index Description Type Values Access 0x1000 0 Device type U32 0x00...

Страница 97: ...RO 4 0x1600 04 U32 0x70000408 RO 5 0x1600 05 U32 0x70000508 RO 6 0x1600 06 U32 0x70000608 RO 7 0x1600 07 U32 0x70000708 RO 8 0x1600 08 U32 0x70000808 RO 9 0x1600 09 U32 0x70000908 RO 10 0x1600 0A U32...

Страница 98: ...32 0x60000608 RO 7 0x1A00 07 U32 0x60000708 RO 8 0x1A00 08 U32 0x60000808 RO 9 0x1A00 09 U32 0x60000908 RO 10 0x1A00 0A U32 0x60000A08 RO 11 0x1A00 0B U32 0x60000B08 RO 12 0x1A00 0C U32 0x60000C08 RO...

Страница 99: ...s 0x1000 0 Device type U32 0x00001389 5001 RO 0x1018 0 Identity object RO 1 Vendor ID U32 0x0000001D RO 2 Product code U32 Festo part number 572556 RO 3 Revision U32 2 RO 4 Serial number U32 RO 0x1600...

Страница 100: ...4 U32 0x700A 04 8 RO 5 Subindex 005 U32 0x700A 05 8 RO 6 Subindex 006 U32 0x700A 06 8 RO 7 Subindex 007 U32 0x700A 07 8 RO 8 Subindex 008 U32 0x700A 08 8 RO 0x1A00 0 TxPDO U16 8 RO 1 Subindex 001 U32...

Страница 101: ...2 0x600A 04 8 RO 5 Subindex 005 U32 0x600A 05 8 RO 6 Subindex 006 U32 0x600A 06 8 RO 7 Subindex 007 U32 0x600A 07 8 RO 8 Subindex 008 U32 0x600A 08 8 RO 0x1C12 0 RxPDO assign U16 2 RO 1 Subindex 001 U...

Страница 102: ...000 0 Outputs U16 8 RO P 1 Output 1 U8 RO P 8 Output 8 U8 RO P 0x700A 0 Outputs U16 8 RO P 1 Output 1 U8 RO P 8 Output 8 U8 RO P 0xF000 0 Modular Device Profile U8 2 RO 1 Index distance U8 10 RO 2 Max...

Страница 103: ...Index B 1 Festo P BE CTEU EC OP MAINT EN en 1208NH Appendix B Index...

Страница 104: ...B Index B 2 Festo P BE CTEU EC OP MAINT EN en 1208NH Contents B Index B 1...

Страница 105: ...roduct specific XII Acknowledge mode 3 11 Addressing 2 19 Approvals VI Auto increment address 2 19 Auto mode 2 7 B Bus configuration 2 3 C CE marking VI Commissioning Addressing 2 19 Bus node replacem...

Страница 106: ...device 2 22 Diagnosis history 3 10 Diagnostics Error reaction 3 19 Fail safe settings 3 19 LEDs L A2 L A1 3 9 Options 3 3 Run LED 3 8 via EtherCAT 3 10 via LEDs 3 3 DIL switches 1 16 E EEPROM updating...

Страница 107: ...ddress 2 19 EtherCAT EEPROM contents A 7 A 9 F Fail safe mode Settings parameterisation 3 19 Fail safe settings 3 19 H Hot Connect 2 3 I I port device Replacement 2 22 Installation 1 8 L LEDs 3 3 L A2...

Страница 108: ...erface 1 13 Process Data Objects PDO 2 20 PS LED 3 5 R Replacement Bus node 2 21 Electrical connection box 2 24 I port device 2 22 S SDO access 3 10 Service VII Service Data Objects SDO 2 20 Settings...

Страница 109: ...B Index B 7 Festo P BE CTEU EC OP MAINT EN en 1208NH U User instructions X X X1 X2 LEDs 3 6...

Страница 110: ...B Index B 8 Festo P BE CTEU EC OP MAINT EN en 1208NH...

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