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Festo CPX-CMXX Manual

Festo CPX-CMXX Manual

Multi-axis interface
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CPX terminal
Manual
Electronics
Multi−axis interface
CPX−CMXX
Manual
564 222
en 0805NH
[737 773]

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  • Page 1 CPX terminal Manual Electronics Multi−axis interface CPX−CMXX Manual 564 222 en 0805NH [737 773]...
  • Page 3 ....... . . 564 222 © (Festo AG & Co. KG, D 73726 Esslingen, Germany, 2008) Internet: http://www.festo.com E−Mail:...
  • Page 4 Contents and general instructions TORX® is a registered trade name of CAMCAR TEXTRON INC., Rockford, Ill., USA Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 5: Table Of Contents

    Connection and display components ....... 1−13 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 6 ......... . . 2−10 2.5.2 Connection with Festo CAN bus plug ......2−11 2.5.3...
  • Page 7 ............B−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 8 Contents and general instructions Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 9: Intended Use

    Please comply with national and local safety laws and regulations. Target group This manual is directed exclusively at technicians trained in control and automation technology. Service Please consult your local Festo Service agent if you have any technical problems. Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 10: Important User Information

    ... means that property damage can occur if not observed. In addition, the following pictogram marks texts that describe activities with electrostatically endangered component elements: Elektrostatically endangered component elements: Improper handling can result in damage to component elements. VIII Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 11 Recommendations, tips and cross−references to other information sources. Accessories: Information about necessary or useful accessories for the Festo product. Environment: Information on the environmentally friendly use of Festo products. Text markings The list point designates activities that can be performed · in any order desired.

  • Page 12: Safety Regulations

    EN 60950/VDE 0805. The CPX−CMXX contains electrostatically sensitive components. Therefore, do not touch any contacts. Observe the handling specifications for electrostatically sensitive components. Please note Commission only a CPX terminal which has been fitted and wired completely. Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 13: Notes On This Manual

    Description of the configuration, CMXX parameterization and commissioning of the multi−axis interface CPX−CMXX Manual on the Festo handling Manual of the Festo data profile and positioning profile for FHPP−MAX, which is used for multi−axis movements communication between PLC and (FHPP−MAX), CPX−CMXX.
  • Page 14 CPX−FEC" Instructions for fitting, installing, commissioning P.BE−CPX−FEC−... and diagnosing the CPX Front End Controller. Tab. 0/2: Extract from the overview of additional documentation on the CPX terminal Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 15: Glossary

    Gantry axes are axes with the following characteristics: Gantry axes run synchronously, see synchronous PtP movement Handheld / MMI Hand−operated device for service purposes Digital input I/Os Digital inputs and outputs Digital output Output byte XIII Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 16 The synchronous point−to−point movement is a coordinated multi−axis movement movement with the following characteristics. The positioning times of the axes are adapted to the axis with the greatest positioning time. All axes end their movement simultaneously. Tab. 0/3: Terms and abbreviations Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 17: System Summary

    System summary Chapter 1 1−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 18 Connection and display components ....... 1−13 1−2 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 19 PLC via a CPX fieldbus node or through the CPX−FEC PLC integrated into the CPX terminal. Communication with the CPX−CMXX takes place over the Festo data profile FHPP−MAX. The Festo data profile is based on the Festo data profile FHPP, which was expanded for the multi−axis mode. 1−3...
  • Page 20 Configuration of 2 axis groups with up to 4 axes each is possible Per axis group, 1024 position records are available Configuration with the Festo Configuration Tool (FCT) Simple input or teaching of positions in a specified record structure Operating functions in the FCT for commissioning without connection to the PLC 1.1.2 Advantages...
  • Page 21 A higher−level PLC, which is connected to the CPX−CMXX via a CPX fieldbus node, or a CPX−FEC control the movement sequence via the Festo data profile FHPP−MAX. The PLC can thereby either specify just the record numbers stored in the CPX−CMXX or separate values for position,...
  • Page 22 1. System summary Supported drive controllers Drive controller from version Remarks CMMP−AS 3.5.150.1.1 MTR−DCI 1.04 SFC−DC 1.39 CMMS−AS in preparation CMMS−ST in preparation SFC−LAC in preparation Tab. 1/1: Overview of supported drive controllers 1−6 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 23 CPX field bus node control through CPX−FEC. Communication with the PLC takes place with 16−byte input and output data, 8 bytes per axis group. Communication takes place over the Festo data profile FHPP−MAX, see the manual P.BE−CMXX−FHPP−MAX−SW−... 1−7 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 24 Software status (SW) see type plate Tab. 1/2: Overview of CPX fieldbus node / CPX−FEC Please note Please also observe the notes on the software status in the documentation for the CPX field bus node or CPX−FEC. 1−8 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 25 4 positioning axis One drive controller per axis One drive per axis One translatory or rotatory axis each Tab. 1/3: Design of a multi−axis system The possible system configurations are explained in section 1.5. 1−9 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 26 In this configuration, the sequence control of the CPX ter minal is taken over by the CPX−FEC. Programming takes place over the Festo data profile FHPP−MAX. The CPX−CMXX takes over multi−axis control in combination with the CPX−FEC. Communication between the CPX−CMMX and CPX−FEC is carried out over the CPX terminal.
  • Page 27 In this configuration, the sequence control of the CPX ter minal is taken over by a higher−level PLC. Programming takes place over the Festo data profile FHPP−MAX. The CPX−CMXX takes over multi−axis control in combination with the higher−level PLC. Communication between the CPX−CMMX and the higher−level PLC is carried out over the...
  • Page 28 In this configuration, the sequence control of the CPX ter minal is taken over by the CPX−FEC. Programming takes place over the Festo data profile FHPP−MAX. The CPX−CMXX takes over multi−axis control in combination with the CPX−FEC. Communication between the CPX−CMMX and CPX−FEC is carried out over the CPX terminal.
  • Page 29 (selection of the operating mode) RUN/STOP rotary switch DIL switch 2 Ethernet interface (CAN bus termination) (10/100BaseT, RJ45) Interface, reserved Control interface (CAN bus, 9−pin sub−D plug) Fig. 1/4: Connection and display elements on the CPX−CMXX 1−13 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 30 (yellow) ERROR Error (red) Ethernet connection (green) Control hierarchy is with (yellow) Power system (green) The LEDs RUN 1 and STOP 2 show the status of the RUN/STOP rotary switch. Fig. 1/5: Status LEDs 1−14 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 31 Fitting and installation Chapter 2 2−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 32 ......... . . 2−10 2.5.2 Connection with Festo CAN bus plug ......2−11 2.5.3...
  • Page 33 You will then prevent the electronics from being damaged. Information about fitting the CPX terminal can be found in the CPX system manual (P.BE−CPX−SYS−...). Information on mounting the components of the multi−axis system can be found in the related components docu mentation. 2−3 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 34 2. Fitting and installation Dismantling and fitting The CPX−CMXX is fitted in a manifold block of the CPX terminal (see Fig. 2/1). CPX−CMXX Manifold base Contact rails TORX T10 screws Fig. 2/1: Dismantling/fitting the CPX−CMXX 2−4 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 35 3. Place the screws 4 so that the self−cutting threads can be used. Tighten the screws 4 at first only by hand. 4. Tighten the screws 4 with a TORX screwdriver size T10 with 0.9 1.1 Nm. 2−5 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 36 1 F to 0. The STOP LED lights up yellow. CPX−CMXX started. The switch positions 1 F have no further function. The RUN LED lights up green. Tab. 2/1: Setting the RUN/STOP rotary switch 2−6 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 37 Setting the operating mode Please note Check that the setting of the DIL switch is correct before commissioning the CPX−CMXX. Modification to the switch setting is not recognized until the power supply is switched off, then on again. 2−7 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 38 CAN bus termination switched on. DIL 2.1: ON DIL 2.2: OFF All further switch settings are reserved. Tab. 2/3: Setting the CAN bus termination Changes to DIL switch 2 have a direct effect on the CAN bus termination. 2−8 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 39 6, on the CPX−CMXX must not be used. FE: Functional earth Tab. 2/4: Pin assignment of the control interface The CPX−CMXX does not provide any voltage for the connected CAN bus slaves via the control interface. 2−9 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 40: Fitting And Installation

    Use a twisted, screened 4−core cable as CAN bus line. The CPX−CMXX communicates with the drive controllers via the CAN bus line. If the Festo CAN bus plug is used, a cable diameter of 8 mm or 7 10 mm is permitted.

  • Page 41: Connection With Festo Can Bus Plug

    (T−TAP function). Please note The clamp strap in the Festo CAN 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 CAN bus cable (Fig.

  • Page 42: Further Connection Possibilities For The Can Bus With Adapters

    (OUT) CAN bus incoming (IN) Sub−D plug connected capacitively Fig. 2/2: CAN bus plug from Festo, FBS−SUB−9−BU−2x5POL−B 2.5.3 Further connection possibilities for the CAN bus with adapters Caution Make sure of the correct polarity when you connect the ·...
  • Page 43 Please note Use protective caps or blanking plugs to seal unused · connections. You will then comply with protection class IP65. Order this adapter from Festo (FBA−2−M12−5POL). M12 adapter Pin no. 1. Screening/shield 2. 24 V DC bus (max. 4 A) 3.
  • Page 44 CAN bus. The maximum permitted current at the terminals is 4 A. Use cables with a cross sectional area of min. 0.34 mm Order this adapter from Festo (FBA−1−SL−5POL) together with the terminal strip FBSD−KL−2x5POL. Screw terminal adapter Pin no.

  • Page 45: Ethernet Interface

    AK−RJ45 cover. You will then comply with protection class IP65/IP67 (see section 2.7). If the parameterization interface is to be used permanently, use plug FBS−RJ45−8−GS. In this way, you will comply with protection class IP65/IP67, see section 2.7. 2−15 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 46 Plugs Cover FBS−RJ45−8−GS AK−RJ45 Reserved Protective cap interface, M12 ISK−M12 Rotary switch Cover AK−RJ45 DIL switches If connection is not used Included in scope of delivery Tab. 2/6: Connections and covers for protection class IP65/IP67 2−16 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 47 Commissioning Chapter 3 3−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 48 ..........3−11 3.4.3 Configuring and parameterizing CPX−CMXX ....3−13 3−2 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 49: General Instructions On Commissioning

    Information about commissioning the CPX terminal can be found in the CPX system manual (P.BE−CPX−SYS−...). Information on commissioning the components of the multi−axis system can be found in the related components documentation. 3−3 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 50: Preparing Configuration And Parameterization

    3. Commissioning Preparing configuration and parameterization To configure and parameterize the CPX−CMXX and drive controller, you need a PC on which the Festo Configuration Tool (FCT) and the respective FCT PlugIns are installed. 3.2.1 Installing FCT and FCT PlugIns Please note Installation of the FCT PlugIns of the drive controller is described in the respective online help.
  • Page 51 When installation is completed, you will find the FCT entry in the start menu under Festo software". The CMXX PlugIn is available for setting up new projects as Festo components and is activated automatically when an existing CMXX project is selected. Deinstallation The CMXX PlugIn and the FCT program are separated in each case with help of the Software"...

  • Page 52: Parameterization Of The Connected Drive Controllers

    3.3.2 Communication between CPX−CMXX and the drive controllers Communication between CPX−CMXX and the drive controllers takes place over the following interface: Parameter Setting Interface CANopen Data profile DS402 Transmission rate 1 Mbps CAN address see Tab. 3/2 Tab. 3/1: Communication interface parameters 3−6 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 53 3. Commissioning The CAN address of the axes is established as follows: Axis group Axis CAN address Tab. 3/2: CAN addresses of the axes 3−7 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 54: Specific Settings For Cmmp−As Drive Controller

    With this setting, during parameterization of the CPX−CMXX for the CMMP−AS the transfer factor must be set to 1000 increments/mm or 1000 increments/°; see online help of the CPX−CMXX FCT PlugIn. Tab. 3/3: Specific settings for CMMP−AS drive controller 3−8 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 55: Specific Settings For Mtr−Dci Drive Controller

    3.3.5 Specific settings for SFC−DC drive controller Menu/Tab Parameter Value [Configuration] Controller type SFC−DC−...−CO [Controller] [Interface] CAN address CAN addresses of the axes, see Tab. 3/2 Bit rate 1 MBit/s Data profile DS402 Tab. 3/5: Specific settings for SFC−DC drive controller 3−9 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 56: Configuration Of The Cpx−Cmxx

    To connect the PC directly to the CPX−CMXX, use alternatively a crossover cable with RJ45 plug a patch cable with RJ45 plug. The Ethernet interface of the CPX−CMXX recognises which cable is connected and automatically switches over internally. 3−10 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 57: Prepare Pc

    1. Select the command [Settings] [Network Connections] in the Windows start menu. The Network connections" window opens. 2. Double click in the Network connections" window on the network connection intended for connection of the CPX−CMXX. The dialog Status of <Your Connection>" opens. 3−11 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 58 Fig. 3/1: Setting the IP address and subnetwork mask Please note Write down the network settings of your PC before you change them. 5. Set the network properties of your PC in the dialogue Properties of Internet Protocol (TCP/IP)" and confirm with OK. 3−12 Festo P.BE−CPX−CMXX−EN en 0805NH...

  • Page 59: Configuring And Parameterizing Cpx−Cmxx

    After completion of parameterization, place the · protective cap on the Ethernet interface to reestablish the Protection class IP65/IP67. Configuration and parameterization of the CPX−CMXX is described in the online help for the CPX−CMXX FCT PlugIn. 3−13 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 60 3. Commissioning 3−14 Festo P.BE−CPX−CMXX−EN en 0805NH...
  • Page 61 Diagnosis and error treatment Chapter 4 4−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 62 Other diagnostic information ......4−18 4−2 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 63: Overview Of Diagnostic Possibilities

    CPX terminal, directly to the interface or at the MMI CPX master (CPX−FEC or CPX fieldbus node) LED display The LEDs directly indicate error Fast on−the−spot" Section 4.3 states recognition of faults Tab. 4/1: Diagnosis possibilities 4−3 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 64: Errors And Warnings

    No new positioning task will be accepted. 4.2.2 Quitting errors You have the following possibilities to delete errors: Acknowledge the error with CCON.Reset. Acknowledge the error with the FCT. Switch the operating voltage off and then on again. 4−4 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 65: Fault Numbers

    A direction of rotation is blocked, since the limit switch has been actuated) Warning Warning: detected device not fully The warning serves as information that supported possibly not all functions of the device are supported; operation is still possible 4−5 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 66 Detected invalid product code Check or change the configuration · Close the device configured in the · FCT PlugIn Detected invalid firmware Check or change the configuration · Close the device configured in the · FCT PlugIn 4−6 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 67 Start a valid position record · (Number of the selected position record outside the range 1 1024) Controller errors (CPX error category 103) Velocity < minimum velocity Check the position record · parameters and the axis parameterization 4−7 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 68 Disturb. Designation (cause) Fault treatment type System errors A (CPX error category 104) Position list cache not initialized Please consult your local Festo · (Position records could not be written service or from file {permanent memory} into service_international@festo.com internal cache {random access memory}) Position table open−error...
  • Page 69 Disable timeout Check the drive controller. · Licence error (CPX error category 144) CoDeSys license error Please consult your local Festo · service or service_international@festo.com Tab. 4/2: Error messages of the CMXX 4−9...

  • Page 70: Diagnostics Via Leds

    CPX−CMXX stopped None (RUN/STOP switch is in position 0) LED lights up CPX−CMXX not stopped Set the RUN/STOP · (RUN/STOP switch is in switch to 0 LED is off position 1 Tab. 4/4: STOP LED 4−10 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 71 None LED lights up Data transfer active None (LED flashes irregularly) LED flashes Ethernetconnection to the Check: · parameterization PC not OK the connection the IP address LED is off Tab. 4/6: TP LED 4−11 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 72 Power supply longer than Eliminate the low · 10 ms below the threshold voltage of 17 V LED flashes Power supply is not on Check the · operating voltage connection. LED is off Tab. 4/8: PS LED 4−12 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 73: Diagnosis At The Cpx Terminal

    Bit 3 = 1: error in analogue/function or technology module Type of error Bit 4 6 = 0 Bit 7 = 1: other error Further instructions on the structure of the status bits can be found in the CPX system manual P.BE−CPX−SYS−... 4−13 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 74: I/O Diagnostic Interface And Diagnostic Memory

    I/O diagnostic interface and the diagnostic memory of the CPX terminal. Diagnostic memory data (I/O diagnostic interface) The specific representation of diagnostic messages of the CPX−CMXX in the diagnostic memory of the CPX terminal occurs as shown in Tab. 4/9. 4−14 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 75 (diagnostic event) [NB] = 0 39; most current diagnostic event = 0 Tab. 4/9: Diagnostic memory data of the CPX−CMXX Instructions on diagnosis with the I/O diagnostic interface can be found in the CPX system manual. 4−15 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 76 2008 + m * 4 + 1; m = module number (0 Description CPX error category Bit 0 Value range: 0 Note The CPX error categories of the CPX−CMXX are described in section 4.2. Tab. 4/11: Module fault number 4−16 Festo P.BE−CPX−CMXX−E N en 0805NH...

  • Page 77: Definition Of Diagnosis Channels

    MMI can determine with which axis in which axis group an error is present. The following tables show the definition of the diagnosis channels: Channel number Axis group Axis Input channel Tab. 4/12: Definition Diagnosis channels, part 1 4−17 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 78 3, each nibble contains one digit of the serial number (BCD encoded). Function no: 784 + m * 4 + 0 784 + m * 4 + 1 784 + m * 4 + 2 784 + m * 4 + 3 4−18 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 79 Technical appendix Appendix A A−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 80 Device−specific information at the MMI ......A−7 A−2 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 81 Program stopped Error in the program execution Status Ethernet connection LED display (product−specific) Modify, parameterisation Electronic supply, sensor supply Protocol Festo handling and positioning profile for multi−axis motion (FHPP−MAX) Control interface CAN bus Data profile DS402 Baud rate 1 Mbps Interface Sub−D plug, 9−pin...
  • Page 82 30 V DC Intrinsic current consumption at rated voltage typ. 85 mA Power failure buffering 10 ms Product weight 155 g Dimensions W x L x H 50 mm x 107 mm x 55 mm A−4 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 83 Terminal strip for screw terminal adapter FBA−1−SL−5POL Protection class IP20 FBA−1−SL−5POL Terminal strip adapter for terminal strip FBSD−KL−2x5POL Protection class IP40 FBS−RJ45−8−GS RJ45 plug Protection class IP65/67 AK−RJ45 Cover for RJ45 connection or RUN/STOP rotary switch Protection class IP65/67 A−5 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 84 Cover Use only to store the CPX−CMXX Protection class IP65/67 Information on accessories for the CPX terminal can be found in the CPX system manual or in the manual for the CPX modules used. A−6 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 85 Fail Safe (F) Warning Incorrect entries in the Force Mode or with the Fail safe function can cause undesired movements and severe personal injury and property damage! The Parameters (P) function is not supported. A−7 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 86 CPX−CMXX are displayed with the Diagnostics function. Channel fault CH1: Output The diagnosis channel gives the error location, see Controller error section 4.4.3. _____________________________________________________ Back The CPX error categories are described in section 4.2.3. A−8 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 87 O Valve following screen. O Output O Input · Analogue / function mo Type of error O Undervoltage O Short circuit / overload O Wire fracture · Other error _____________________________________________________ { } First error Back A−9 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 88 Minutes: 2 Module position Seconds: 57 Milliseconds: 13 Module designation _____________________________________________________ Back Time stamp in the format Days:Hours:Minutes:Seconds: Milliseconds since switch−on Please note Further information on the MMI can be found in the documentation P.BE−CPX−MMI−1−... A−10 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 89 Index Appendix B B−1 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 90 ............B−1 B−2 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 91 ........1−6 B−3 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 92 ........Protection class IP65/IP67 ..... . . 2−16 B−4 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 93 User information ....... . VIII B−5 Festo P.BE−CPX−CMXX−E N en 0805NH...
  • Page 94 B. Index B−6 Festo P.BE−CPX−CMXX−E N en 0805NH...

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