Festo CPX-FB14 Electronic Manual
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Festo CPX-FB14 Electronic Manual

Festo CPX-FB14 Electronic Manual

Terminal fieldbus node
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Download this manual See also: Electronic Manual
CPX Terminal
Electronics Manual
CPX Fieldbus Node
Type CPX−FB14
Fieldbus Protocol
CANopen
Manual
526 410
en 0810b
[740 276]

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Summary of Contents for Festo CPX-FB14

  • Page 1 CPX Terminal Electronics Manual CPX Fieldbus Node Type CPX−FB14 Fieldbus Protocol CANopen Manual 526 410 en 0810b [740 276]...
  • Page 3 ....... . . 526 410 © (Festo AG & Co. KG, D 73726 Esslingen, Germany, 2009) Internet: http://www.festo.com E−Mail:...
  • Page 4 Contents and general instructions ® TORX is a registered trade mark of Acument Intellectual Properties, LLC (Manufacturer: Acument Global Technologies North America, Sterling Heights, Michigan, USA) Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 5: Table Of Contents

    ........1−24 1.3.5 Connecting with the field bus plug from Festo ....1−25 1.3.6...
  • Page 6 ..... . . 2−70 2.6.1 Error−free commissioning, normal operating status ... . 2−70 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 7 ............B−1 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 8 Contents and general instructions Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 9: Intended Use

    This manual is intended exclusively for technicians trained in control and automation technology who have experience in installing, commissioning, programming and diagnosing slaves on the CANopen field bus. Service Please consult your local Festo repair service if you have any technical problems. Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 10: Notes On This Manual

    General basic information about the method of operation, fitting, installing and commissioning CPX terminals can be found in the CPX system description. Information about further CPX modules can be found in the manual for the respective module. VIII Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 11: Important User Instructions

    This means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents. Electrostatically sensitive components may be damaged if they are not handled correctly. Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 12 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.
  • Page 13 The pneumatic interface is the interface between the modular electrical periphery and the pneumatics SC/O Short circuit/overload SCS, SCO, SCV Short circuit/overload sensor supply, outputs, valves Status bits Internal inputs which supply coded common diagnostic messages. Tab. 0/2: Product−specific terms and abbreviations Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 14 Contents and general instructions Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 15: Installation

    Installation Chapter 1 1−1 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 16 ........1−24 1.3.5 Connecting with the field bus plug from Festo ....1−25 1.3.6...

  • Page 17: General Instructions On Installation

    · Observe the handling specifications for electrostatically · sensitive components. They will help you avoid damage to the electronics. Information about fitting the CPX terminal can be found in the CPX system manual (P.BE−CPX−SYS−...). 1−3 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 18 (9−pin Sub−D plug) Fig. 1/1: Connecting and display elements on the CPX field bus node Note Use protective caps or blanking plugs to seal unused connections. You will then comply with protection class IP65/IP67. 1−4 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 19 2. Pull the field bus node carefully and without tilting away from the contact rails of the manifold base. Field bus node CPX−FB14 Interlocking block Contact rails TORX T10 screws Fig. 1/2: Dismantling/fitting the field bus node 1−5 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 20 4. Tighten the screws at first only by hand. Place the screws so that the self−cutting threads can be used. 5. Tighten the screws with a TORX screwdriver size T10 with 0.9 1.1 Nm. 1−6 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 21: Settings Of The Dil Switches On The Field Bus Node

    1. Place the cover carefully on the node. Note Make sure that the seal is seated correctly. · 2. Tighten the two fastening screws at first by hand and then with torque 0.4 Nm. 1−7 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 22: Setting The Dil Switches

    7. Operating mode Remote I/O: Set the CPX diagnostic mode (DIL switch 5). With operating mode Remote Controller: Set the required number of logical I/Os of the CPX−FB14 (DIL switch 5). 8. Fit the cover again (section 1.2.1). 1−8 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 23 An FEC integrated in the CPX terminal takes control of the DIL 1.2: OFF I/Os. This operating mode is only useful if an FEC is integrated in the CPX terminal. Tab. 1/1: DIL switch 1 (operating mode) 1−9 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 24 In this way, you can, for example, suppress unnecessary error messages during the commissioning phase. The setting of the DIL switch has precedence over the para meterizing of defined settings. No emergency message is transmitted with error filtering. 1−10 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 25 CANopen Station number 1; ...; 127 Tab. 1/2: Permissible station numbers Recommendation: Assign the station numbers in ascending order. Assign the station numbers in accordance with the machine structure of your system. 1−11 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 26 38 2 + 4 + 32 = 1 + 4 = Tab. 1/3: Examples of set station numbers (binary coded) On the following pages you will find an overview of the station number settings. 1−12 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 27 1. Installation Station Station Not permitted Tab. 1/4: Setting of station numbers 1 31: Position of the DIL switch elements 1−13 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 28 1. Installation Station Station Tab. 1/5: Setting of station numbers 32 63: Position of the DIL switch elements 1−14 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 29 1. Installation Station Station Tab. 1/6: Setting of station numbers 64 95: Position of the DIL switch elements 1−15 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 30 1. Installation Station Station Tab. 1/7: Setting of station numbers 96 127: Position of the DIL switch elements 1−16 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 31 250 kBaud 4.1: ON 4.2: OFF 500 kBaud 4.1: OFF 4.2: ON 1000 kBaud 4.1: ON 4.2: ON Tab. 1/8: DIL switch 4 (baud rate) The following table shows the settings of the DIL switch. 1−17 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 32 The diagnosis mode (status bits or I/O diagnosis interface) occupies 2 bytes or 4 bytes of address space (16 I bits or 16 I/O bits; 8 I bits remain unused in the status bits mode) Tab. 1/9: DIL switch 5 (diagnosis mode or number of I/O bytes with remote controller) 1−18 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 33 (2) Later activation of the diagnosis mode requires reconfiguration. During later activation of the diagnosis module (status bits or I/O diagnosis interface), the CPX−internal I/O image can be displaced. Restart the CPX terminal with Power OFF/ON. 1−19 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 34: Connecting The Field Bus

    Use a twisted, screened 4−wire cable as field bus line. The CANopen bus interface of the CPX terminal is supplied with power via the field bus cable. If the Festo field bus plug is used, a cable diameter of 5 or 7 10 mm is permitted.

  • Page 35: Field Bus Baud Rate And Field Bus Length

    T−adapter and maximum branch line length are permitted for your controller. Also take into account the sum of the branch line lengths · when calculating the maximum permitted length of the field bus cable. 1−21 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 36: Information On Connecting The Field Bus

    The following tolerance in the bus interface power supply (pin 3/pin 9 on the sub−D plug) applies to the CPX terminal: = 30.0 V = 11.0 V Recommendation: Place the power supply unit approximately at the centre of the bus. 1−22 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 37 1. Installation You can implement a T−adapter with the Festo field bus plug (see fig.). Ó Ó Field bus Branch line Power supply T−adapter (T−Tap) Screening Field bus plug with T−adapter function Fig. 1/5: Layout of the bus interface and example of connection 1−23...

  • Page 38: Field Bus Interface

    There is 9−pin sub−D plug on the field bus node for connecting the CPX terminal to the field bus. This connection is used for the incoming and continuing field bus cables. You can connect the CPX terminal with the field bus plug from Festo type FBS−SUB−9−BU−2x5POL−B. Note Note that only the Festo field bus plug guarantees compliance with protection class IP65.

  • Page 39: Connecting With The Field Bus Plug From Festo

    You can disconnect the plug from the node without inter rupting the bus cable (T−Tap function). Note The clamp strap in the Festo field bus plug is connected only capacitively internally with the metal housing of the sub−D plug. This prevents equalizing currents from flowing via the screening of the field bus cable (Fig.
  • Page 40 Bus IN Clamp strap for Bus OUT screen connection Protective cap if connection is not used Field bus continuing (OUT) Field bus incoming (IN) Only capacitively connected Fig. 1/6: Festo field bus plug type FBS−SUB−9−BU−2x5−POL−B 1−26 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 41: Further Connection Possibilities For The Field Bus With Adapters

    Connect the screen. · There are further possibilities of connecting the CPX terminal with adapters which can be ordered separately from Festo. M12 adapter 5−pin (protection class IP65) Type FBA−2−M12−5POL Screw terminal adapter 5−pin...
  • Page 42 Note Use protective caps or blanking plugs to seal unused · connections. You will then comply with protection class IP65. Order this connection at Festo (FBA−2−M12−5POL). M12 adapter Pin no. 1. Screening 2. 24 V DC bus (max. 4 A) 3.
  • Page 43 2x5−pin terminal strip Fig. 1/8: Pin allocation for field bus interface (5−pin screw terminal adapter) If you connect the field bus via the terminal strip FBSD−KL−2x5POL from Festo, you can implement a T−adapter function. 1−29 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 44: Bus Terminal With Terminating Resistors

    Resistor for bus termination (120 , 0.25 W) Fig. 1/9: Bus termination with resistor in Festo field bus plug 1.4.1 Install a terminating resistor using the adapters If the CPX terminal to be connected is at the end of the field bus, a terminating resistor (120 , 0.25 W) must be fitted in...

  • Page 45: Pin Assignment Of Power Supply

    The current consumption of a CPX terminal depends on the number and type of integrated modules and components. Read the information on power supply as well as on the earthing measures to be carried out in the CPX system manual. 1−31 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 46 Functional earth Note the specifications on the plug. 2) Interlinking blocks with forwarding function and interlinking blocks with system supply are identically constructed. Tab. 1/11: Pin assignment for system supply, additional supply and valve supply 1−32 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 47: Commissioning

    Commissioning Chapter 2 2−1 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 48 ..... . . 2−70 2.6.1 Error−free commissioning, normal operating status ... . 2−70 2−2 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 49: Commissioning On A Canopen Master

    CANopen Tab. 2/1: CANopen specifications taken into account with the CPX terminal In order to understand this chapter, you should be familiar with CANopen and the specifications DS301 and DS401. 2−3 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 50: General Information On Canopen

    The Service Data Objects (SDO) form a point−to−point connection and permit access to every entry in the object directory of a node. 2−4 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 51: Configuration

    8 bits in the Transmit PDO 4 (standard setting). The 16 bits of the I/O diagnostic interface must be treated like inputs and outputs. They each occupy 16 bits in the Transmit and Receive PDO 4 (standard setting). 2−5 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 52 8 byte. If the telegram received is shorter than the necessary telegram length, a fault message will be output. If the telegram received is longer, the part corresponding to the necessary length will be processed. 2−6 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 53 O8 O15 O16 O23 O24 O31 O32 O39 O40 O47 O48 O55 O56 O63 O0 O7 Transmit PDO 2 Unused Receive PDO 2 Unused Fig. 2/2: 64 logical I/Os in the PDO 1 in the Remote Controller operating mode 2−7 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 54: Configuration Examples

    R−PDO 4 (I/O diagnostic interface) Fig. 2/3: Assignment of the PDOs on a CPX terminal with digital I/O modules and MPA pneumatics and activated I/O diagnosis interface (standard assignment without mapping, configuration see Tab. 2/2) 2−8 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 55 Tab. 2/2: Configuration for example terminal 1 in Fig. 2/3 How to prepare a changed configuration of this example with assignment function and virtual modules can be found in section 2.4.13. 2−9 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 56 Fig. 2/4: Assignment of the PDOs on a CPX terminal with digital and analogue I/O modules, VTSA pneumatics (DIL switch setting 8O) and not−activated diagnostic functions (standard assignment without mapping, configuration see Tab. 2/3) 2−10 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 57 VTSA pneumatic interface R−PDO 1: O12 ISO Plug−In (type 44) Obj. 6200,2 DIL switch in the interface set to 1 Obj. 6200,3 solenoid coils (8DO) Tab. 2/3: Configuration for example terminal 1 in Fig. 2/4 2−11 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 58 String 4, outputs String 1 Fig. 2/5: Assignment of the PDOs on a CPX terminal with digital I/O modules, CPX−CP interface, MPA pneumatics and not−activated diagnostic functions (standard assignment without mapping, configuration see Tab. 2/4) 2−12 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 59 8 bytes (64O), manual mapping is required for configuration of this CPX terminal. As a result, the remaining output bytes can be made available over other PDOs. (OW4 OW7 are not depicted in Fig. 2/5). Tab. 2/4: Configuration for example terminal 3 in Fig. 2/5 2−13 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 60: Overview

    Emergency telegram for fault message to the master Node guarding and heart beat Default setting of all identifiers as per DS301 and the station number (predefined connection set) Variable mapping Function assignment and virtual modules 2−14 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 61: Overview Object Directory

    2.4.3 6200, 6300 Output array 2.4.4 6206/6306 Fault mode array for the outputs 6207/6307 Fault state array for the outputs 64xx Analogue inputs and outputs 2.4.5 Tab. 2/5: Implemented objects of the CPX terminal 2−15 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 62: Reaction Of The Cpx Terminal When It Is Switched On

    2.3.3 Reaction of the CPX terminal when it is switched on Power on Application initialization Communication initialization Pre−operational Stopped Operational Fig. 2/6: Status transitions of the CPX terminal (see illustration Tab. 2/6 on the next page) 2−16 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 63 Stored parameters (2000 5FFF) are not reloaded. The objects 6000 are always loaded with the default settings after power−on Only after the transition from operational mode to stopped or pre−operational mode Tab. 2/6: Status transitions 2−17 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 64: Default Identifier Distribution

    2. Commissioning 2.3.4 Default identifier distribution The following table shows the identifier distribution: Broadcast objects Object name Object designation Value range of the COB identifier on the CPX terminal SYNC Tab. 2/7: Broadcast objects 2−18 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 65 PDO 4 (rx) 1281 1407 Transmit SDO SDO 1 (tx) 1409 1535 Receive SDO SDO 1 (rx) 1537 1663 Node guarding / Guarding Heart beat 1793 1919 Tab. 2/8: Peer to Peer objects of the CPX−FB14 2−19 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 66: Object Directories

    (Example: index 1A00, subindex 3 Set subindex 0 to 0"). After entering the mapping values, set the number of parameters to the appropriate value again. 2−20 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 67 00 03 91 01 inputs and outputs 1001 Error no error register 1001 Error Generic/manufacturer error register (see section 3.5.1) 1002 Manufac 00 00 00 00 Module number and fault turer status number register (see section 3.5.1) 2−21 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 68 Timeout monitoring [ms] 100D Life time Timeout monitoring factor (Guard time x life time factor = complete node guard time) 1014 COB−ID 80 + node ID Default emergency object emergency COB−ID 80 + node ID object 2−22 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 69 Number of connected CPX modules Module 0 See CPX− Module code module 0 system system Module 1 Module code module 1 description Module 2 Module code module 2 Sequence as in CPX terminal from left to right 2−23 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 70 Default COB−ID + node ID Client Server (rx) COB_ID 580 + node ID Default COB−ID + node ID server client (tx) = unsigned Map. = mapping possible = read only Attr. = attribute rw = read/write 2−24 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 71: Overview Of The Pdo Structure

    PDO 4 Technology modules, status bits, I/O diagnostic interface If necessary, the default PDO structure can be changed via SDO (see PDO communication mapping parameter" in the following sections, index 1A00 1A03 , 1600 1603 2−25 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 72: Digital Inputs (Transmit Pdo 1)

    60 00 04 08 ... Index I24 60 00 05 08 ... Index I32 60 00 06 08 ... Index I40 60 00 07 08 ... Index I48 60 00 08 08 ... Index I56 2−26 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 73 During the transition from pre−operational to operational, the current SDO values will be frozen" (e.g. analogue inputs). These values will be transmitted with each remote transmission request (RTR), irrespective of further settings (e.g. interrupt enable for analogue inputs). 2−27 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 74: Digital Outputs (Receive Pdo 1)

    62 00 07 08 ... Index O48 62 00 08 08 ... Index O56 U = unsigned Map. = mapping possible ro = read only Attr. = attribute rw = read/write See remark in section 2.2.1. 2−28 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 75 ... Outputs 40 ... Outputs 48 ... Outputs 56 ... Outputs 64 ... Outputs 72 ... Outputs 80 ... Outputs 88 ... Outputs 96 − 103 ... Outputs 104 ... Outputs 112 ... Outputs 120 2−29 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 76 ... Outputs 32 ... Outputs 40 ... Outputs 48 ... Outputs 56 ... Outputs 64 ... Outputs 72 ... Outputs 80 ... Outputs 88 ... Outputs 96 ... Outputs 104 ... Outputs 112 ... Outputs 120 2−30 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 77 ... Outputs 80 ... Outputs 88 ... Outputs 96 ... Outputs 104 ... Outputs 112 ... Outputs 120 U = unsigned Map. = mapping possible ro = read only Attr. = attribute rw = read/write 2−31 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 78 0 = status of the output is retained Subindex 1 Subindex 1 1 = output assumes the status defined in index 6207 Bit 0 6207 0 = output is reset Subindex 1 Subindex 1 1 = output is set Bit 0 2−32 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 79: Analogue Inputs Channel 0 3 (Transmit Pdo 2)

    6424, 6425, 6426). The channel number of the interrupt−triggering analogue input is entered in Object 6422. The PDO is then transmitted according to the transmission code in Object 1801 , FD , FC or 0 2−33 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 80 Event timer 00 00 Time−controlled transmission of the inputs [ms] U = unsigned Map. = mapping possible ro = read only Attr. = attribute rw = read/write See remark on page 2−27 2−34 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 81 0 = disable interrupt 1 = enable enable 6422 Analogue Number of interrupt source input number banks of interrupt source banks Interrupt Interrupt source bank 1 source bank 1 (channel 0 Reset automatically after read access 2−35 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 82 Maximum value AI2 Maximum value AI3 Bit 0: Upper limit exceeded" (as per DS401) Bit 1: Input below lower limit" (as per DS401) Bit 2: Input changed by more than delta" (as per DS401) 2−36 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 83 Analogue Minimum value modification input Minimum value modification Minimum value modification Minimum value modification Bit 1: Input below lower limit" (as per DS401) Bit 2: Input changed by more than delta" (as per DS401) 2−37 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 84: Analogue Outputs Channel

    00 00 00 00 ... at mapping object 5 00 00 00 00 ... at mapping object 6 00 00 00 00 ... at mapping object 7 00 00 00 00 ... at mapping object 8 2−38 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 85 32 bit integer 32 bit Error value AO0 Error value AO1 Error value AO2 Error value AO3 = unsigned Map. = mapping possible ro = read only Attr. = attribute rw = read/write 2−39 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 86: Analogue Inputs Channel

    Event timer 00 00 Time−controlled transmission of the inputs [ms] U = unsigned Map. = mapping possible ro = read only Attr. = attribute rw = read/write See remark on page 2−27 2−40 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 87 AI15 6422 Analogue Number of interrupt source input number banks (see PDO 2) of interrupt source banks Interrupt Interrupt source bank 1 source bank 1 (channel 1 Reset automatically after read access 2−41 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 88 Maximum value AI4 input input Maximum value AI5 Maximum value AI15 6425 Analogue Number of analogue inputs input interrupt upper limit integer Analogue Minimum value AI4 input input Minimum value AI5 Minimum value AI15 2−42 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 89: Analogue Outputs Channel

    Byte 4, 5: channel 7 (AO6) Byte 6, 7: channel 8 (AO7) 1402 PDO commu− Number of entries nication parameter record PDO COB−ID 400 + Default COB−ID of the inputs node ID Transmission Default: acyclic type 2−43 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 90 6444 Analogue No. of analogue channels output error output error 00 00 00 00 Error value AO4 integer 32 bit 00 00 00 00 Error value AO5 00 00 00 00 Error value AO15 2−44 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 91: Technology Modules, Status Bits, I/O Diagnostic Interface

    Default COB−ID of the inputs Transmission Default: acyclic type Inhibit time 00 00 Transmit blocking time inputs [100 s] not used Event timer 00 00 Time−controlled trans mission of the inputs [ms] See remark on page 2−27 2−45 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 92 IW0, depending on configuration status bits or I/O diagnostic interface 1. input word technology module IW1: depending on configuration: 1. or 2. input word technology module IW2 technology module IW31 technology module Depending on diagnostic setting 2−46 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 93 00 00 00 00 ... at mapping object 5 00 00 00 00 ... at mapping object 6 00 00 00 00 ... at mapping object 7 00 00 00 00 ... at mapping object 8 2−47 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 94 FF FF ... OW31 6307 Error state Number of OW groups output 16 bit output 16 bit 00 00 Fault mode OW0 00 00 ... OW1 00 00 ... OW2 00 00 ... OW31 2−48 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 95: Manufacturer Specific Profile

    System diagnostic data System diagnostic data Details see Tab 2/12 Details see Tab. 2/12 2210 Module diagnostic data Details see Tab. 2/13 Tab. 2/9: Overview of the indices of the manufacturer specific profile area 2−49 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 96 System start Fail safe See index 6206, 6207, 6306, 0001 6307 Monitoring Monitoring the CPX terminal: 0002 the CPX Bit 0 3: short circuit/over terminal load/undervoltage Bit 4 7: reserved Tab. 2/10: System data 2−50 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 97 (module code + revision code) 2110 Number of entries 784 + xx Module Module serial number serial serial number Module 0 Module serial number Module 1 All details: See appendix in CPX system manual Tab. 2/11: Module data 2−51 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 98 2008 + module 0 module 0 Fault number Fault number reserved reserved Diagnostic I/O channel/channel number module 1 Fault number reserved reserved All details: See appendix in CPX system manual Tab. 2/13: Module diagnostic data 2−52 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 99 (and designation for 3. entry 1st message after power−on) 1st message after power−on) Module code Module position Module position Channel number 40. entry Fault number (oldest Following channels saved error) Tab. 2/14: Diagnostic memory data 2−53 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 100 At system start with saved parameterization, only the objects 2000 5FFF are loaded. The objects 6000 are always loaded with the default settings after power−on. Tab. 2/15: System parameters Detailed information on parameters and data can be found in the CPX system manual. 2−54 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 101 Signal stretching time Parameter 63 Data format analogue Module 1 values 2412, 0 40 Parameters See CPX system manual appendix B Module 2 Depends on module, see CPX System Description Tab. 2/16: Module parameters 2−55 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 102: Overview Of Mappingobjects

    Fault number 6000 Read input Status of the inputs (digital or status bits) Read input I120 I127 6100 Read input Status of the inputs 16 bit (technology modules or I/O diagnostic interface) IW31 2−56 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 103 Read Analogue input channels analogue Default mapping AI0 input 1 Read AI15 analogue input 16 6411 Write Analogue output channels analogue output 1 Write AO15 analogue output 16 Tab. 2/17: Overview of mapping objects 2−57 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 104: Force

    8−bit digital Force mode I0 inputs Force mode I8 Force mode I120 I127 5007 Force mode Number of entries 8 bit digital 8−bit digital Force value I0 inputs Force value I8 Force value I120 I127 2−58 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 105 Force mode channel 15 (AI15) 5434 Force value Number of entries analogue analogue Force value channel 0 (AI0) inputs Force value channel 1 (AI1) Force value channel 15 (AI15) Values: 0 = disable 1 = enable 2−59 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 106 16 bit digital 16−bit digital Force mode OW0 outputs Force mode OW1 Force mode OW31 5307 Force value Number of entries 16 bit digital 16−bit digital Force value OW1 outputs Force value OW1 Force value OW31 2−60 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 107 Force mode channel 15 (AO15) 5444 Force value Number of entries analogue analogue Force mode channel 0 outputs (AO0) Force mode channel 1 (AO1) Force mode channel 15 (AO15) Values: 0 = disable 1 = enable 2−61 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 108: Function Assignment And Virtual Modules

    This function is available only for digital I/O modules. The following objects can only be written if the following conditions are met: The CPX−FB14 is in pre−operational mode. No errors are generated from object 4800,0. Object 4000 = 0. 2−62 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 109 Byte 3: Bit 7: 0 = physically present module, 1 = virtual module Bit 6 ... 2: reserved Bit 1 ... 0: modul type: 00 = digital, 01 = analogue, 10 = technology module 2−63 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 110 02 = Number of outputs of the module 20 = Sum of the outputs exceeded (> 128 Bit) different 40 = Number of the physically present modules 04 = Incorrect module code does not agree with the configuration 2−64 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 111 (objects 4001 and 4200) and digital outputs are reset (object 6200). 4. Activate the masks by setting the 4000 to 1. 5. Adjust the PDO mapping (objects 160x and 1A0x) if you defined virtual modules. 2−65 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 112 4DO 8DI 8DO 8DI CPX terminal for function B (as with A without module 5 and 8) Mod. no.: 8DI 8DO 8DI 8DO Fig. 2/7: Configure two variants of a CPX terminal with function assignment 2−66 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 113 Obj. 4800,9 Obj. 4800,9 00 00 00 08 80 00 00 08 Obj. 6200,5 Obj. 6200,6 With mapping via object 1A00 With mapping via object 1600 Tab. 2/18: Virtual modules in example terminal 1 2−67 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 114: Parameterizing

    CPX I/O modules (P.BE−CPX−EA−...). 2.5.1 Parameterizing when switching on Parameterization Network is loaded into the node by the master Parameterization is distributed to the modules by the node Fig. 2/8: Sequence of start parameterization 2−68 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 115: Parameterization With The Handheld

    (Applies to the complete module). Modification of the signal lengthening time to 50 ms: The signal will be registered reliably by the controller. (Here activated only for the input channel of the 2nd. sensor). 2−69 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 116: Commissioning The Cpx Terminal In The System

    In the normal operating status, the LEDs on the field bus node light up as follows: LED display Operating status These LEDs light up Standard green: Red and yellow LEDs do not light up: 2−70 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 117: Diagnosis

    Diagnosis Chapter 3 3−1 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 118 ........3−19 3−2 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 119: Diagnosis

    Tab. 3/1: Diagnostic possibilities Note Note that the diagnostic information shown can depend on the settings (see section 1.2.2) as well as on the para meterization (see section 2.5) of the CPX terminal. 3−3 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 120: Diagnostics Via Leds

    M (yellow) CANopen−specific LEDs (green/red): MS (module status) NS (network status) IO (I/O status) Fig. 3/1: LEDs of the CPX node The LEDs are shown in their various states as follows: lights up flashes 3−4 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 121: Normal Operating Status

    In the normal operating status, the LEDs on the field bus node light up as follows: LED display Operating status These LEDs light up Normal green: Red and yellow LEDs do not light up: Tab. 3/2: LEDs with normal operating status 3−5 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 122: Error Displays Of The Cpx−Specific Leds Ps, Pl, Sf, M

    PL (power load) power load supply (outputs/valves) LED (green) Sequence Status Meaning / error handling No error. None Load voltage applied LED lights up Load voltage at the system Eliminate undervoltage or additional power supply outside tolerance range LED flashes 3−6 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 123 The system error LED flashes depending on the class of error which has occurred. Error class 1 (minor error): one flash, pause Error class 2 (fault) flash twice, pause Error class 3 (serious error): flash three times, pause Tab. 3/3: Error diagnostics using the SF LED 3−7 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 124 PLC/IPC after replacement. In these cases, check before replacing to see which settings are required and, if necessary, carry out these settings. Tab. 3/4: Messages of the LED M 3−8 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 125: Error Displays Of The Canopen−Specific Leds Ms, Ns, Io

    LED flashes 2 Hz fast green Non−permitted station number Set correct station number. · 0 set If there is still a problem: servicing required LED flashes Hardware error Servicing required LED lights up 3−9 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 126 LED flashes module Communication fault" 1. Clarify reason for time−out Node guard or heart beat 2. Set CPX terminal to operational expired (system assumes mode LED lights up pre−operational mode) 3−10 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 127: Diagnosis Via Status Bits

    Error at output Error at input Error at analogue module/ function module Undervoltage Type of error Short circuit/overload Wire break Other errors Tab. 3/5: Status bits of the CPX FB14 (optional) 3−11 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 128: Diagnosis Via The I/O Diagnostic Interface

    In order to use the I/O diagnostic interface, you must activate it with the DIL switch on the fieldbus node (see section 1.2.2). Information on the I/O diagnostic interface can be found in the CPX System Description P.BE−CPX−SYS−... 3−12 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 129: Diagnosis Via Canopen

    MS, NS or IO. Fig. 3/2: Sequence of error processing in the CPX terminal Information on the reaction of the inputs and outputs in the event of an error can also be found in the sections 2.4. 3−13 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 130: The Emergency Message

    Status bits, CPX module no., error code The pre−defined error field serves as error memory for the last 10 errors. Previous errors will each be shifted by one position (see section 2.4.1, index 1003, subindices 1 3−14 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 131 Communication error (bus voltage not applied) CAN overrun CAN in error passive mode Error with node guard or heart beat CAN recovered from bus OFF Invalid PDO received Tab. 3/6: Composition of the error code as per DS401 3−15 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 132 Tab. 3/7: Error register (index 1001 with bit assignment as per DS301/401) Further diagnostic information is provided by the CPX terminal in bytes 3 ... 6 of the emergency object (manufacturer status register, index 1002). 3−16 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 133 Error at output Error at input Error at analogue module/ function module Undervoltage Type of error Short circuit/overload Wire break Other error Tab. 3/8: Byte 0 of the manufacturer status register (status bits) 3−17 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 134 Index Index 1002 (manufacturer status register) 1001 Meaning Explanation CPX error number CPX fault number (see section 3.5.2) Tab. 3/10: Byte 2 of the manufacturer status register (CPX fault number) 3−18 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 135: Cpx Fault Numbers

    Tab. 3/11: Byte 7 of the emergency object 3.5.2 CPX fault numbers The table on the following pages shows the CPX fault numbers. Detailed information can be found in the CPX System Description in the chapter Diagnosis and Error Handling". 3−19 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 136 Wire fracture at valve (open load) reserved Module/channel failed Module code not permitted or incorrect module Incorrect I/O length (e.g. CPX−CP interface) Number of I/O points exceeded reserved Tab. 3/12: CPX fault numbers (part 1) 3−20 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 137 CAN warn limit reached Recovered from bus off Bus power lost See CPX System Description Error in CPX structure (fault number is error information for service personnel) Tab. 3/13: CPX fault numbers (part 2) 3−21 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 138 3. Diagnosis Fault Error type number Error in parameter transfer to module Invalid station number (node) Bus protocol chip: not ready reserved See description for the relevant module Tab. 3/14: CPX fault numbers (part 3) 3−22 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 139 Technical appendix Appendix A A−1 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 140: A. Technical Appendix

    ....... . . A−7 Example: Parameterization with the program CANsetter" ....A−8 A−2 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 141: Technical Appendix

    24 V DC (protected against incorrect polarity, external fuse required) Tolerance 30 V Current consumption max. 30 mA Electrical isolation Bus interface opto−decoupled Technical data for the pneumatics can be found in the pneumatics descriptions. A−3 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 142: Examples: Communication Sequence

    Receive−PDO must be sent by the master. In the example, only output 0 is set, any outputs already set will be reset. (all values in hex) 01 00 PLC/PC/IPC Fig. A/2: Example 2, set output 0 of the CPX terminal A−4 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 143: Example 3: Start Node Guard" Monitoring

    Node guard response PLC/PC/IPC (all values in hex) Fig. A/3: Example 3, start Node guard" monitoring ( Remote request) A−5 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 144: Example 4: Load Objects

    Data bytes 00 10 00 00 00 00 PLC/PC/IPC 00 10 91 01 02 00 (all values in hex) Fig. A/4: Example 4, index 1000 , read subindex 0 (device type: device profile, device extension) A−6 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 145: Example 5: Write Objects

    Index and subindex Data bytes (not relevant) 0C 10 04 7F 00 00 PLC/PC/IPC 0C 10 00 00 00 00 (all values in hex) Fig. A/5: Example 5: Index 100C , subindex 0 written (guard time) A−7 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 146: Example: Parameterization With The Program Cansetter

    The CANsetter" program is available from Vector Informatik GmbH. You can parameterize the CPX terminal easily with CANsetter. Further information can be found in the Internet under www.vector−informatik.com. Fig. A/6: Example of parameterizing with CANsetter A−8 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 147 Index Appendix B B−1 Festo P.BE−CPX−FB14−E N en 0810b...

  • Page 148: B. Index

    ............B−1 B−2 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 149 Power supply ....... . 1−31 B−3 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 150 ......... 2−58 Function assignment ......2−62 B−4 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 151 2−15 Operating mode ......1−9, 1−18 B−5 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 152 ........2−47 B−6 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 153 Virtual modules ....... . 2−62 B−7 Festo P.BE−CPX−FB14−E N en 0810b...
  • Page 154 B. Index B−8 Festo P.BE−CPX−FB14−E N en 0810b...

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