Festo Compact Performance Series Programming And Diagnosis
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Festo Compact Performance Series Programming And Diagnosis

Festo Compact Performance Series Programming And Diagnosis

Valve terminal with direct link
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Compact Performance
CPV valve terminal with direct link
Programming and diagnosis
Fieldbus protocol:
CANopen

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  • Page 1 Compact Performance CPV valve terminal with direct link Programming and diagnosis Fieldbus protocol: CANopen...
  • Page 2 Type setting: DUCOM Edition: 9905a © (Festo AG & Co., 73726 Esslingen, 1999, Federal Republic of Germany) The copying, distribution and utilization of this docu- ment as well as the communication of its contents to others without expressed authorization is prohibited. Of- fenders will be held liable for the payment of damages.
  • Page 3 Contents and general safety instructions Order no.: 175 580 Title: Manual Designation: P.BE-CP-CO-GB CP-CO 9905a...

  • Page 4: Table Of Contents

    Contents and general safety instructions Contents Designated use ..........V Target group .
  • Page 5 Contents and general safety instructions 2.5.1 Addressing the CP valve terminal ..... . 2-17 Examples: communication run ......2-18 3.

  • Page 6: Designated Use

    Designated use The CP valve terminal with direct link to the CANopen documented in this manual is designated exclusively for use as a slave on the CANopen. The Festo CP valve terminal may only be used as follows: – as designated –...

  • Page 7: Information On This Manual

    Contents and general safety instructions Information on this manual PLEASE NOTE This manual describes the functions of the CP valve terminal with CANopen direct link with - software version 1.2 - hardware status as from 0198. This manual contains specific information on the instal- lation, commissioning, programming and diagnosis of the CP valve terminal with direct link to the CANopen.

  • Page 8: Important User Instructions

    Contents and general safety instructions Important user instructions Danger This manual contains instructions on the dangers which categories may occur if the CP system is not used correctly. These instructions are always printed in italics, are framed and also signalled by a pictogram. A distinction is made between the following: WARNING This means that personal injury tor damage to...
  • Page 9 Contents and general safety instructions Pictograms Pictograms and symbols complement the danger warn- ings and draw attention to the nature and conse- quences of dangers. The following pictograms are used: Uncontrolled movements of loose tubing. Unintentional movements of the connected actuators. Electrostatically vulnerable components.

  • Page 10: Installation

    1. Installation Chapter 1 Installation CP-CO 9905a...
  • Page 11 1. Installation Contents 1. Installation General instructions on installation ..... . 1-3 Configuring the CP valve terminal ..... . . 1-4 1.2.1 Opening and closing the switch cover .

  • Page 12: General Instructions On Installation

    1. Installation 1.1 General instructions on installation WARNING Switch off the following before undertaking installa- tion and/or maintenance work: • the compressed air supply • the operating voltage supply for the logic • the operating voltage supply for the valves. You can thereby avoid: –...

  • Page 13: Configuring The Cp Valve Terminal

    1. Installation 1.2 Configuring the CP valve terminal The following connecting and display elements can be found on the CP valve terminal with CANopen direct connection: " Operating voltage connection for CP valves Diagnostic LED " Field bus connection Switch cover Switching status displays of CP valve coils Fig.

  • Page 14: Opening And Closing The Switch Cover

    1. Installation 1.2.1 Opening and closing the switch cover • Opening Unscrew and remove the 4 screws in the switch cover. Pull the cover upwards. • Closing Replace the cover. Insert and tighten the 4 screws in diagonally opposite sequence. CP-CO 9905a...

  • Page 15: Setting The Cp Valve Terminal

    1. Installation 1.2.2 Setting the CP valve terminal The following setting possibilities can be fouund in the CP valve terminal together with an LED for displaying any faults as well as the status: – the field bus baud rate – the station number (COB-ID) Error/status LED Address selector switches (station number) DIL switch for baud rate...
  • Page 16 1. Installation Setting the station number You can set the station number of the CP valve terminal with the address selector switches. The switches are numbered from 0 to 9. The arrow on the address selec- tor switches indicates the units or tens figure of the set station number.
  • Page 17 1. Installation The following station numbers are permitted: 1; ...; 98 PLEASE NOTE You must observe any possible limitations imposed by the CANopen master in respect of the station numbers. Proceed as follows: 1. Switch of the operating voltage. 2. Assign an unassigned station number to the CP valve terminal.
  • Page 18 1. Installation Setting the field bus baud rate PLEASE NOTE Set the field bus baud rate of the CP valve terminal so that it is the same as the baud rate on the master interface. Field bus baud rate 20 kBaud 125 kBaud 500 kBaud 1000 kBaud...

  • Page 19: Connecting The Cp Valve Terminal

    1. Installation 1.3 Connecting the CP valve terminal 1.3.1 Connecting cable Field bus Use a twisted screened 4-core cable for the field bus. cable The bus interface and the internal logic of the CP valve terminal are supplied with power via the field bus cable. PLEASE NOTE •...
  • Page 20 1. Installation Bus length The table below shows the guide values for the maxi- mum bus cable length depending on the baud rate se- lected. Exact details can be found in the manuals for your control system or bus interface. Baud rate Maximum Maximum...

  • Page 21: Preparing The Connecting Cables

    Operating In order to connect the operating voltage, use plugs voltage from the Festo range which correspond to the outer connection diameter of the cables used (see Appendix A, Acces- sories). Field bus plugs...
  • Page 22 1. Installation Preparing the When you have selected suitable cables, connect them cables as follows: 1. Loosen the centre knurled nut to open the socket. " Cable Housing " Connecting part Strain relief Fig. 1/6: Preparing the connecting cable 2. Open the strain relief on the rear of the housing. Then pass the cable through as described below.

  • Page 23: Selecting The Power Unit

    1. Installation 1.3.3 Selecting the power unit WARNING Use only power units which guarantee reliable electri- cal isolation of the operating voltages in accordance with IEC 742/EN 60742/VDE 0551 with at least 4 kV isolation resistance. Switch power packs are per- mitted, providing they guarantee reliable electrical isolation as per EN 60950/VDE 0805.

  • Page 24: Connecting The Load Voltage For The Cp Valves

    1. Installation 1.3.4 Connecting the load voltage for the CP valves CAUTION Protect the load voltage circuit for the CP valve coils with an external fuse max. 2 A. With the external fuse you can avoid functional damage to the CP valve terminal in the event of a short circuit.
  • Page 25 1. Installation Recommendation: • Connect the load voltage for the CP valves (pin 2) via the EMERGENCY STOP circuit. • Check the 24 V load voltage while the system is operating. Make sure that the load voltage still lies within the permitted tolerances even during full oper- ation.
  • Page 26 1. Installation Earth The CP valve terminal has an earth connection on the connection left-hand end plate. PLEASE NOTE • Connect the earth connection of the left-hand end plate with low impedance (short cable with large diameter). You will thereby avoid interference caused by electro- magnetic influences.
  • Page 27 1. Installation Connection Please observe the following when connecting the 24 V example supply (pin 2): • Maintain the tolerance of 24 V DC +10/-15%. • Use a cable of sufficient cross section when connect- ing the earth cable to the CP valve terminal. Connecting cable for potential compensation Earth connection EMERGENCY STOP...

  • Page 28: Connecting To The Field Bus

    The bus connection is made via a branch line with a socket 5-pin M12 socket with a PG 9 screw connector. These can be obtained from Festo (type FBSD-GD-9-5POL, part no. 18324). Alternatively you can use the ready-to-use bus cables supplied by various manufacturers (see also Appendix A, Accessories).
  • Page 29 1. Installation Basic structure of the bus interface " & Field bus Voltage supply " Screening/shield Branch line T-adapter & Microprocessor Valve driver Fig. 1/10: Basic structure of the bus interface 1-20 CP-CO 9905a...
  • Page 30 Recommendation Place the power unit approximately in the centre of the bus. The following tolerance in the bus interface supply applies to the Festo CP valve terminals: = 25.0 V = 11.5 V 1-21...
  • Page 31 1. Installation Pin assign- Connect the field bus cable correctly to the terminals of ment of the the bus cable socket. Observe also the connection in- field bus inter- structions below as well as the information in the ma- face nual for your controller or bus interface.
  • Page 32 1. Installation The diagram below shows the connection of the CP valve terminal to a CANopen master with a bus inter- face in accordance with DS 102. PLC/PC/IPC pin assignment Valve terminal pin assignment of field bus interface Plug n.c. CAN_L Data –...

  • Page 33: Installing The Terminating Resistor

    1. Installation 1.4.1 Installing the terminating resistor If the CP valve terminal to be connected is situated at the end of the field bus, a terminating resistor (120 Ohm, 0.25 Watt) must be fitted in the field bus socket. If you are using T-adapters, we recommend that you fit the terminating resistor to the unused output of the T- adapter.

  • Page 34: Commissioning

    2. Commissioning Chapter 2 Commissioning CP-CO 9801NH...
  • Page 35 2. Commissioning Contents 2. Commissioning Commissioning a CANopen master ..... . 2-3 2.1.1 Number of outputs ........2-3 2.1.2 General information on CANopen .

  • Page 36: Commissioning A Canopen Master

    2. Commissioning 2.1 Commissioning a CANopen master This chapter deals with the configuration and address- ing of a CP valve terminal on a CANopen interface or CANopen master. The following standards have been taken into account: DS 301 Draft Standard 301 is based on the CAL communication profile DSP 401 Draft Standard Propsal 401 defines the device profiles for input and output modules within CANopen...

  • Page 37: General Information On Canopen

    2. Commissioning 2.1.2 General information on CANopen CANopen devices have an object directory which pro- vides access in a standard form to all important slave parameters. A CANopen system is configured princi- pally by access to the object directory of the individual slaves.

  • Page 38: Summaries

    2. Commissioning 2.2 Summaries 2.2.1 Brief summary of the scope of functions • • Module states and boot-up as per communication profile DS 301 • • All entries in the communication part of the object directory are included • • A service data object for read and write access to the object directory •...

  • Page 39: Summary Of The Object Directory

    2. Commissioning 2.2.2 Summary of the object directory The following table shows the implemented objects of the Festo CP valve terminal. The table is based on standard DS-301. Index (hex) Objects 1000-100E Communication part of the object directories 1400 Communication parameters for receive PDO...

  • Page 40: Cob Identifier

    2. Commissioning 2.2.3 COB identifier The Festo CP valve terminal with CANopen is a ”mini- mum capability device” (minimum device). The PDO- COB identifier can be selected individually for write ac- cess. Bit 10 Bit 7 Bit 6 Bit 0...

  • Page 41: Start-Up Reaction Of The Cp Valve Terminal

    2. Commissioning 2.2.4 Start-up reaction of the CP valve terminal The diagram below shows the status diagram of the Festo CP valve terminal. Power on Hardware initialization Communication initialization " Pre-operational " Prepared " Operational Fig. 2/3: Status diagram of the CP valve terminal...
  • Page 42 2. Commissioning Description of the status transitions Status Designation Command Function transition specifier (cs) Automatic boot up after power on      Start_Remote_ Starts the CP valve terminal Node_Indication (operational mode), - SDO transmission valid - PDO transmission valid (outputs active) - Node guarding valid (response: toggle + 05...

  • Page 43: Default Identifier Distribution

    The following table shows the identifier distribution. Peer-to-peer objects Object name Object Function code Value range of COB designation (binary) priority group identifier with Festo CP valve terminals EMER- For high-priority 0001 0, 1 ... 226 GENCY processes e.g. undervoltage...

  • Page 44: Summary Of The Object Directory

    2. Commissioning 2.3 Summary of the object directory The communication part of the objects contains the fol- lowing objects (values and examples: Module ID = 1). Communication profile Index Object name Object Object Object Values/ Explanation of values (hex) symbolic designation type attributes...

  • Page 45: Pdo Communication Parameter Record

    2. Commissioning 2.3.1 PDO communication parameter record The following objects are defined in the ”Receive” PDO communication parameter (values and examples: module ID = 1). Communication profile Index Objekt name Object Object Object Values/ Explanation of values (hex) sSymbolic designation type attributes subindex...

  • Page 46: Digital Outputs

    = coils 0 - 7 ”2” = xx = coils 8 -15 2.3.4 Reaction of the digital outputs to a fault Festo supports the ”FAULT MODE ARRAY” for the 8-bit commands. The following table applies as per DSP401: Communication profile...
  • Page 47 2. Commissioning PLEASE NOTE Index 6206 determines which outputs are to assume a default state if there is a fault. Index 6207 determines which state the fixed outputs are to assume if there is a fault. The settings become active when the CP valve termi- nal is put into the operational mode.

  • Page 48: Structure Of Emergency Object

    2. Commissioning 2.4 Structure of emergency object Festo supports a "PDO emergency object." The follow- ing table applies in accordance with standard DS 401. The PDO emergency object is sent by the CP valve terminal in the following case: – Undervoltage at the valves (< 20.4 V) The emergency PDO is sent once when the undervolt- age occurs and when the fault is rectified.

  • Page 49: Basic Rules For Addressing

    2. Commissioning 2.5 Basic rules for addressing A CP valve terminal always occupies 16 outputs, irre- spective of the number of valve solenoid coils fitted. The diagram below shows the addressing sequence of the individual CP valve plates. Fig. 2/5: Address assignment of a CP valve terminal 2-16 CP-CO 9801NH...

  • Page 50: Addressing The Cp Valve Terminal

    2. Commissioning 2.5.1 Addressing the CP valve terminal Assignment of the CP valve coils to the data bytes    ! " # $ % & LED row for pilot solenoid 14 LED row for pilot solenoid 12 Byte 0: Bit 0; Bit 1 Byte 1: Bit 0;...

  • Page 51: Examples: Communication Run

    2. Commissioning 2.6 Examples: communication run All examples refer to module ID = 1, i.e. set CP valve terminal address 1. Example 1: Start CANopen network PLC/PC/IPC Data (values in hex) xx: 00 = all bus slaves; xx = station no. Fig.
  • Page 52 2. Commissioning Example 3: Start nodeguard monitoring COB-ID " PLC/PC/IPC Bit 7 = toggle bit " Data (values in hex) Nodeguard response Fig. 2/9: Start nodeguard monitoring The nodeguard monitoring of the CP valve terminal with CANopen direct link starts when the first nodeguard telegram is received.
  • Page 53 2. Commissioning Example 4: Upload index 1000 , subindex 0 (device type: device profile, device fitting). COB-ID ! " $ ! " PLC/ PC/ IPC Initiate domain upload request " Index Subindex 4 data bytes (values in hex) Initiate domain upload response Fig.
  • Page 54 2. Commissioning Example 5: Download index 100C , subindex 0 (guard time). COB-ID ! " $ ! " PLC/PC/IPC Initiate domain download request " Index Subindex With 2 data bytes (values in hex) Initiate domain download response Values in hex Value is undefined Fig.
  • Page 55 2. Commissioning 2-22 CP-CO 9801NH...

  • Page 56: Diagnosis

    3. Diagnosis Chapter 3 Diagnosis CP-CO 9801NH...
  • Page 57 3. Diagnosis Contents 3. Diagnosis Summary of diagnostic possibilities ..... . 3-3 Diagnosis via LEDs ........3-4 3.2.1 Normal operating status .

  • Page 58: Summary Of Diagnostic Possibilities

    3. Diagnosis 3.1 Summary of diagnostic possibilities The CP valve terminal offers the following possibilities of diagnosis and error treatment: – Diagnosis via the built-in LEDs - valve terminal status - valve terminal status display – Valve test – Diagnosis via the field bus. Diagnosis via Green: Status display of operating mode LEDs...

  • Page 59: Diagnosis Via Leds

    3. Diagnosis Diagnosis via LEDs LED display The LED on the cover of the CP valve terminal indi- cates the operating status of the CP valve terminal. Diagnosis LED in two colours (green/red) Fig. 3/1: Diagnosis LED of the CP valve terminal 3.2.1 Normal operating status In the normal operating status the LED DIAG lights up green.

  • Page 60: Error Diagnosis

    3. Diagnosis 3.2.2 Error diagnosis Reaction Signal Colour Operating status Error treatment green/ Operating status normal but: • Complete self test – self test active (LED flashes red/green alternately) • Put CP valve terminal into – CP valve terminal in pre-operational mode operational mode •...

  • Page 61: Valves

    3. Diagnosis 3.2.3 Valves There is a yellow LED for each valve solenoid coil. This LED indicates the switching status of the valve solenoid coil. Yellow LED row for pilot solenoid 14 Yellow LED row for pilot solenoid 12 Fig. 3/2: LEDs of the valve solenoid coils Switch position Meaning of valve solenoid...

  • Page 62: Testing The Valves

    3. Diagnosis 3.3 Testing the valves WARNING Before starting the test switch off the compressed air supply for the CP valve terminal. You will thereby avoid undesired or dangerous move- ments of the actuators. CAUTION • The test function runs automatically in the CP valve terminal.

  • Page 63: Starting The Test Routine

    3. Diagnosis 3.3.1 Starting the test routine 1. Switch off the operating voltage supplies for the bus interface and the internal logic. 2. Remove the cover (see also Chapter 2, Configura- tion). 3. Note the setting of the address selector switch and DIL switch elements.

  • Page 64: Diagnosis Via The Field Bus

    3. Diagnosis 3.4 Diagnosis via the field bus The CP valve terminal sends the emergency PDO if the voltage supply for the valves drops below 20.4 V. Details, structure of the emergency PDO etc. can be found in Chapter 2, Commissioning. CP-CO 9801NH...

  • Page 65: Error Treatment

    3. Diagnosis 3.5 Error treatment 3.5.1 Reaction to faults in the control system The valves react differently to a fault. A distinction is made between a: – reset by the master – communication failure. Fault Reaction Reset by the master Outputs are switched off immediately Communication failure Outputs assume the default...
  • Page 66 A. Technical specifications and index Appendix A Technical appendix CP-CO 9801NH...
  • Page 67 A. Technical specifications and index Contents A. Appendix A Technical specifications of the CP valve terminal with CANopen direct link ........A-3 Accessories.

  • Page 68: Technical Specifications Of The Cp Valve Terminal With Canopen Direct Link

    A. Technical specifications and index A.1 Technical specifications of the CP valve terminal with CANopen direct link General Temperature range: - operation C ... + 50 - storage/transport C ... + 70 Relative humidity 95%, non condensing Protection class as per EN 60 529 IP 65 Plug connector plugged in or fitted with protective cap...
  • Page 69 A. Technical specifications and index Electromagnetic compatibility - interference emission tested as per EN 55011 Limit value class A *) - resistance to interference tested as per EN 50082-2 *) The valve terminal CP-CO can also be used with individual permission in residential areas (residential, business and commercial areas, small firms).

  • Page 70: Accessories

    PG 9 angled FBSD-WD9 18525 The bus must be connected via a branch line by means connection of a 5-pin M12 socket with PG9 screw connector. These connectors can be ordered from Festo: Design Type Part no. PG 9 straight FBSD-GD9-5POL...
  • Page 71 A. Technical specifications and index Alternatively, you can use bus cables (drop cable, M12/ 7/8") from the following manufacturers: Manufacturer Type Length Lumberg RS50 RKT5-614/1.5F 1.5 F RS50 RKT5-614/3F 3.0 F RS50 RKT5-614/6F 6.0 F RS50 RKT5-614/9F 9.0 F Turck RSM 572-*M-RKC 4.5T/S630 *) Length in metres The branch line can be connected to the bus by means...
  • Page 72 A. Technical specifications and index Festo offers a power box with protection class IP65 as a T adapter: CP-FB-TBOX-SUBD9, part no. 183 590. Fig. A/1: Power box CP-FB-TBOX-SUBD9 The following accessories are available: Accessory Type Part no. Sub-D plug, S-SUB-9-GS-9...
  • Page 73 A. Technical specifications and index Connection cable for CANopen Accessory Type Part no. Cable: Terminal connection angled plug to KVI-CP-1WS- 178 564 angled socket WD-0,5 PLEASE NOTE The ready-made connection cable must be adapted to the specific connection of the power box. Adaption of the terminal connection 1.
  • Page 74 A. Technical specifications and index Addresses: Manufacturer Addresses Woodhead United States Industries Inc. Daniel Woodhead Company 3411 Woodhead Drive Northbrook, Illinois 60062 Canada Woodhead Canada Ltd. 1090 Brevik Place Mississauga, Ontario Canada L4W 3Y5 United Kingdom Aero-Motive (U.K.) Ltd. 9, Rassau Industrial Estate Ebbw Vale, Gwent, NP3 5SD Germany...
  • Page 75 A. Technical specifications and index Manufacturer Addresses Turck United States Turck Inc. 3000 Campus Drive USA-Plymouth, MN 55441-2656 United Kingdom MTE Turck Ltd. Stephenson Road Leigh-on-Sea, Essex SS9 5LS Germany Hans Turck Gmbh & Co. KG Witzlebenstraße 7 D-45472 Mülheim an der Ruhr Philips Netherlands PMA Nederland...

  • Page 76: Index

    A. Technical specifications and index A.3 Index Accessories bus cables ......A-5 manufacturer .
  • Page 77 A. Technical specifications and index Target group ....... . . V Technical specifications .

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