Terminal CPX. Bus node CPX-FB37. Description. Network protocol EtherCAT NH [ ]

Transcription

1 Terminal CPX Bus node CPX-FB37 Description Network protocol EtherCAT NH [ ]

2 CPX-FB37 Translation of the original instructions P.BE-CPX-FB37-EN EtherCAT,TwinCAT,CANopen,SPEEDCON,Torx,Windows are registered trademarks of the respective trademark owners in certain countries. Identification of hazards and instructions on how to prevent them: Warning Hazards that can cause death or serious injuries. Caution Hazards that can cause minor injuries or serious material damage. Other symbols: Note Material damage or loss of function. Recommendations, tips, references to other documentation. Essential or useful accessories. Information on environmentally sound usage. Text designations: Activities that may be carried out in any order. 1. Activities that should be carried out in the order stated. General lists. 2 Festo P.BE-CPX-FB37-EN 1406NH

3 CPX-FB37 Table of Contents CPX-FB37 1 Safety General safety information Intended use Requirements for product use Technical requirements Qualification of specialists (personnel requirements) Range of application and certifications Overview Function range (brief overview) Connections and display components Mounting and installation Dismantling and mounting Dismantling the bus node Mounting the bus node Setting the DIL switches on the bus node Removing and fitting the cover over the DIL switches Arrangement of the DIL switches Setting the DIL switches Setting the operating mode Configuring the EtherCAT addressing type Setting the diagnostics mode (Remote I/O operating mode) Setting the I/O mode (remote controller operating mode) Starting the bootloader mode Setting the EtherCAT address Connecting to the EtherCAT network General notes on EtherCAT networks Network interface Network connectors Cable specification Complying with degree of protection IP65/IP Voltage supply Commissioning General instructions Switching on the power supply Addressing, configuration and parameterisation Address assignment Festo P.BE-CPX-FB37-EN 1406NH English 3

4 CPX-FB Addressing the inputs and outputs, data access Basic rules for addressing Differences in addressing between the modular device profile and fixed I/O size Data access (data objects) Addressing the devices Assigning an independent EtherCAT device address via DIL switch Assigning an independent EtherCAT device address using the configuration tool Configuration Registering station properties in the configuration program Configuration in the Modular Device Profile (MDP) Configuration with fixed I/O size (CPX-FB38 mode) Configuration in the remote controller operating mode Parameterisation Introduction to parameterisation Methods of parameterisation Parameterisation with the operator unit CPX-MMI Parameterisation with the Festo Maintenance Tool (CPX-FMT) Parameterisation via EtherCAT in the Modular Device Profile (MDP) Remarks on parameters of the CPX system settings Sequence of start parameterisation during switch-on (system start) Parameterisation of the fail-safe mode Web server Configuration Firmware update/restoring the firmware Updating the firmware via FoE (File Access over EtherCAT) Restoring the firmware with the Festo Field Device Tool (FFT) Checklist for commissioning a CPX terminal Replacing the bus node Diagnostics Summary of diagnostics options Diagnostics via LEDs LEDs at the bus node CPX-FB Normal operating status CPX-specific LEDs EtherCAT-specific LEDs Diagnostics via status bits Diagnostics via the I/O diagnostic interface (STI) Festo P.BE-CPX-FB37-EN 1406NH English

5 CPX-FB Diagnostics via EtherCAT Basic information Diagnostics via SDO access Diagnostics via diagnostics history Die Emergency Message Error characteristics (fail-safe mode) Error types A Technical appendix A.1 Technical data A.2 Object directories A.2.1 Object directory CPX-FB37 mode (Modular Device Profile) A.2.2 Object directory CPX-FB38 mode (fixed I/O size) B Glossary Festo P.BE-CPX-FB37-EN 1406NH English 5

6 CPX-FB37 Notes on this documentation This description contains information regarding the installation and configuration of the CPX bus node, as well as EtherCAT-specific information regarding parameterisation, commissioning and diagnostics of a CPX terminal in an EtherCAT network. CPX-FB37 Description Connection technology Ethernet-based CPX bus node for EtherCAT 2 x M12 socket, D-coded, 4-pin, corresponding to IEC , SPEEDCON -compatible Tab. 1 Overview Additional information regarding EtherCAT can be found online ( Product-specific information about the control system (IPC, PLC or I/O controller) can be found in the manufacturer s documentation accompanying the product. General basic information about the mode of operation, mounting, installation and commissioning of CPX terminals can be found in the CPX system description (P.BE-CPX-SYS-...). Information about additional CPX modules can be found in the description for the respective module. An overview of the structure of the CPX terminal user documentation is contained in the CPX system description. All documents are also available on the Festo website ( Service Please consult your regional Festo contact if you have any technical problems. 6 Festo P.BE-CPX-FB37-EN 1406NH English

7 1 Safety and requirements for product use 1 Safety 1.1 General safety information Observe the general safety information in the corresponding chapters. Specific safety regulations can be found immediately before the task instructions. Note Damage to the product from incorrect handling. Switch off the supply voltage before mounting and installation work. Switch on supply voltage only when mounting and installation work are completely finished. Never unplug or plug in a product when powered! Observe the handling specifications for electrostatically sensitive devices. 1.2 Intended use The bus node CPX-FB37 is intended exclusively for use in CPX terminals, as a participant in the EtherCAT fieldbus system, and it may only be used as follows: in excellent technical condition in original status, without unauthorised modifications within the limits of the product defined by the technical data ( Appendix A.1) in an industrial environment Note In the event of damage caused by unauthorised manipulation or other than intended use, the guarantee is invalidated and the manufacturer is not liable for damages. Warning Danger of electric shock from voltage sources without protective measures. Use only PELV circuits in accordance with IEC/EN (Protective Extra-Low Voltage, PELV) for the electric logic supply. Observe also the general requirements for PELV circuits in accordance with IEC/EN Use only voltage sources that ensure a reliable electric separation of operating voltage in accordance with IEC/EN Festo P.BE-CPX-FB37-EN 1406NH English 7

8 1 Safety and requirements for product use Through the use of PELV circuits, protection against electric shock (protection against direct and indirect contact) is ensured in accordance with IEC/EN In the CPX system description (P.BE-CPX-SYS- ), read the information on power supply as well as on the earthing measures to be carried out. 8 Festo P.BE-CPX-FB37-EN 1406NH English

9 1 Safety and requirements for product use 1.3 Requirements for product use Make this documentation available to the design engineer, installer and personnel responsible for commissioning the machine or system in which this product is used. Make sure that the specifications of the documentation are always complied with. Consider also the documentation for other components and modules (e.g. CPX system descriptionp.be-cpx-sys- ). Take into consideration the legal regulations applicable for the destination, as well as: regulations and standards regulations of the testing organizations and insurers national specifications Technical requirements General conditions for the correct and safe use of the product, which must be observed at all times: Comply with the connection and environmental conditions specified in the technical data of the product ( Appendix A.1) and of all connected components. Only compliance with the limit values or load limits permits operation of the product in accordance with the relevant safety regulations. Observe the notes and warnings in this documentation Qualification of specialists (personnel requirements) The product may only be commissioned by trained control and automation technology professionals, who have experience with: the installation, commissioning, programming and diagnostics of participants in the EtherCAT fieldbus system the applicable regulations for operating safety-engineered systems the applicable regulations for accident protection and operational reliability the documentation for the product Range of application and certifications Standards and test values, which the product complies with and fulfils, can be found in the Technical data section ( Appendix A.1). The product-relevant EU directives can be found in the declaration of conformity. Certificates and the declaration of conformity for this product can be found on the Festo website ( ). The bus node CPX-FB37 successfully passed the test with the EtherCAT Conformance Test Tool (CTT). Festo P.BE-CPX-FB37-EN 1406NH English 9

10 2 Overview 2 Overview 2.1 Function range (brief overview) Real-time Ethernet communication (EtherCAT) Deterministic data transmission Master-slave system architecture Modular valve terminal configuration (MDP) Diagnostic data via CoE Parameterisation in plain text via CoE Hot Connect function for connecting and disconnecting devices during operation Module address can be altered via DIL switch Activation of the compatibility mode for the bus node CPX-FB38 via DIL switch Activation of the bootloader mode via DIL switch Adjustable fail-safe behaviour Adjustable CPX diagnostics mode 10 Festo P.BE-CPX-FB37-EN 1406NH English

11 2 Overview 2.2 Connections and display components The bus node has the following connections and display components: EtherCAT-specific network status LEDs and CPX-specific LEDs 2 Network connection 1 (input X1 In ) 3 Network connection 2 (output X2 Out ) Fig. 2.1 Connections and display components of the bus node 4 Cover for DIL switches 5 Service interface for operator unit CPX-MMI and USB adapter (for CPX-FMT) 6 Rating plate Note Use cover caps to seal unused connections. You will then comply with the degree of protection IP65/IP67 ( Section 3.4). Festo P.BE-CPX-FB37-EN 1406NH English 11

12 3 Mounting and installation 3 Mounting and installation 3.1 Dismantling and mounting Warning Danger of injury to people, damage to the machine and system resulting from uncontrolled movements of the actuators and undefined switching states Switch off the operating and load voltage supply. Switch off the compressed air supply. Exhaust the pneumatics valve terminal. Note Malfunction or damage to the electronics The CPX bus node for EtherCAT contains electrostatically sensitive devices. Donottouchanycomponents. Observe the handling specifications for electrostatically sensitive devices. Note Malfunction or damage to the bus node Mounting /dismantling of the bus node must always take place in a de-energised state. To do this, disconnect the corresponding CPX terminal completely from the related voltage supply or switch off the voltage supply. Information about mounting of the CPX terminal can be found in the CPX system description (P.BE-CPX-SYS-...). 12 Festo P.BE-CPX-FB37-EN 1406NH English

13 3 Mounting and installation When built-in, the bus node is located in an interlinking block of the CPX terminal Bus node 2 Interlinking block Fig. 3.1 Mounting/dismantling the bus node 3 Contact rails 4 Torx T10 screws Note Loss of settings If the LED M of the bus node is permanently lit, parameterisation of the CPX terminal is saved locally in the bus node. In this case, parameterisation is lost if the bus node is replaced. Save the required settings before replacing the bus node and restore the settings after replacement Dismantling the bus node 1. Loosen the 4 screws of the bus node with a Torx screwdriver size T Pull the bus node carefully and without tilting away from the contact rails of the interlinking block. Festo P.BE-CPX-FB37-EN 1406NH English 13

14 3 Mounting and installation Mounting the bus node Note Damage to the interlinking block Always use the correct screws for the interlocking block, which depend on whether the block is made of metal or plastic: For plastic interlinking blocks: Self-tapping screws For metal interlinking blocks: Screws with metric thread Both types of screws are enclosed when the bus node is ordered as a single part. 1. Check the seal and the sealing surfaces. Replace the damaged parts. 2. Insert the bus node into the interlinking block as far as possible without tilting it. 3. Turn the screws into the existing thread. 4. Tighten the screws in diagonally opposite sequence. Tightening torque: Nm. 14 Festo P.BE-CPX-FB37-EN 1406NH English

15 3 Mounting and installation 3.2 Setting the DIL switches on the bus node In order to set the CPX bus node, you must first remove the cover for the DIL switches. Note Malfunction or damage to the electronics The CPX bus node for EtherCAT contains electrostatically sensitive devices. Donottouchanycomponents. Observe the handling specifications for electrostatically sensitive devices Removing and fitting the cover over the DIL switches You need a TORX screwdriver size T10 to remove or attach the DIL switch cover. Note Observe the following notes when removing or fitting the cover: Disconnect the power supply before removing the cover. Make sure the seal is seated correctly when attaching the cover. Tighten the two mounting screws with a max. torque of 0.4 Nm. Festo P.BE-CPX-FB37-EN 1406NH English 15

16 3 Mounting and installation Arrangement of the DIL switches There are 3 DIL switches available for configuring the bus node. They are located underneath the DIL switch cover DIL switch 1: Bus node operating mode 2 DIL switch 2: Diagnostics mode, number of I/O bytes, bootloader Fig. 3.2 DIL switches on the bus node 3 DIL switch 3: EtherCAT address of the bus node Setting the DIL switches 1. Switch off the power supply. 2. Remove the cover ( Section 3.2.1). 3. Perform the required settings ( Tab. 3.1 Tab. 3.6). 4. Replace the cover ( Section 3.2.1). Changes to the DIL switches only take effect when the bus node is restarted. 16 Festo P.BE-CPX-FB37-EN 1406NH English

17 3 Mounting and installation Setting the operating mode You can set the operating mode of the bus node with switch element 1.1 of DIL switch 1. Operating mode Setting DIL switch 1 Remote I/O DIL 1.1: OFF All functions of the CPX terminal are controlled directly by (factory setting) the EtherCAT controller or a higher-level PLC. The bus node thereby takes over the connection to the EtherCAT network. Remote controller DIL 1.1: ON A CPX-FEC or CPX-CEC integrated into the terminal controls all functions. The bus node thereby takes over the connection to the EtherCAT network. Tab. 3.1 Setting the operating mode Configuring the EtherCAT addressing type Use switch element DIL 1.2 of DIL switch 1 to switch between Modular Device Profile and fixed I/O size ( Section 4.5.1). EtherCAT addressing type Setting DIL switch 1 Modular Device Profile (MDP) active DIL 1.2: OFF (factory setting) Fixed I/O size active (64 byte I/O) (compatible with the bus node CPX-FB38) DIL 1.2: ON Tab. 3.2 Configuring the EtherCAT addressing type Festo P.BE-CPX-FB37-EN 1406NH English 17

18 3 Mounting and installation Setting the diagnostics mode (Remote I/O operating mode) The diagnostic mode is available only in the remote I/O operating mode. Note 1. The diagnostics mode reduces the available address space. Use of the diagnostics mode (status bits or I/O diagnostics interface) occupies 16 I or 16 I/O bits and thus reduces the number of I/O bits which are available for module communication. In this way, the number of addressable modules is reduced in favour of additional status or diagnostic information. 2. When using the fixed I/O size (CPX-FB38 mode), subsequent activation of the diagnostics mode requires a reconfiguration. A detailed description of the addressing process and various addressing examples for the CPX-FB38 mode can be found in the description of the bus node CPX-FB38 ( P.BE-CPX-FB38). Set the diagnostics mode of the bus node with DIL switch 2. Diagnostics mode (remote I/O operating mode) Setting DIL switch 2 I/O diagnostics interface and status bits are switched off (+ 0 I/O bits) DIL 2.1: OFF DIL 2.2: OFF (factory setting) Status bits are switched on DIL 2.1: OFF (+ 8 (16) I bits) 1) DIL 2.2: ON I/O diagnostics interface is switched on DIL 2.1: ON (+ 16 I/O bits) 1) DIL 2.2: OFF 1) The diagnostics mode (status bits or I/O diagnostics 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. 3.3 Setting the diagnostics mode (Remote I/O operating mode) 18 Festo P.BE-CPX-FB37-EN 1406NH English

19 3 Mounting and installation Setting the I/O mode (remote controller operating mode) The I/O mode is available only in the remote controller operating mode. Set the I/O mode of the bus node with DIL switch 2. Number of I/O bytes (remote controller operating mode) Setting DIL switch 2 8bytesI/8bytesO for communication of the bus node with the CPX-FEC or CPX-CEC DIL 2.1: OFF DIL 2.2: OFF (factory setting) 16 bytes I/16 bytes O for communication of the bus node with the CPX-FEC or CPX-CEC DIL 2.1: DIL 2.2: OFF ON Reserved for future extensions DIL 2.1: ON DIL 2.2: OFF Tab. 3.4 Setting the number of I/O bytes (remote controller operating mode) Starting the bootloader mode The bootloader mode is available in any operating mode. Start the bootloader mode with DIL switch 2. The bootloader mode can be used to restore the operational capability of the bus node (e.g. after a failed firmware download via FoE) ( Section4.9.2). Starting the bootloader Setting DIL switch 2 for firmware restore DIL 2.1: ON DIL 2.2: ON Tab. 3.5 Starting the bootloader. Festo P.BE-CPX-FB37-EN 1406NH English 19

20 3 Mounting and installation Setting the EtherCAT address You can assign a free EtherCAT address (Explicit Device ID) to the bus node by using DIL switch 3. Setting an EtherCAT address is optional (e.g. for the Hot-Connect function). You can set the EtherCAT address in binary coded format by using switch elements 1 to 8. If the EtherCAT address 0 is set, the programmed address in the EEPROM is used (factory setting). 1 to 255 are thereby available as possible EtherCAT addresses. Example: Set EtherCAT address 77 DIL switch DIL switch element Switch position ON Off ON ON Off Off ON Off Binary Potency (significance) Numerical value (decimal) EtherCAT address =77 Tab. 3.6 Setting the EtherCAT address with DIL switch 3 The set EtherCAT address (Explicit Device ID) must be activated. To do this in the TwinCAT 3.x configuration tool, select the following: EtherCAT Advanced settings General Identification Explicit Device Identification (ADO 0x0134) ( Fig. 3.3). Fig. 3.3 Selecting Explicit Device Identification (ADO 0x0134) (TwinCAT 3.x) 20 Festo P.BE-CPX-FB37-EN 1406NH English

21 3 Mounting and installation The set Explicit Device ID of the bus node appears in TwinCAT 3.x under the tab CoE Online. Fig. 3.4 Explicit Device ID of the bus node (TwinCAT 3.x) Another way of permanently assigning an EtherCAT address to the bus node is to write the device address to the EEPROM using a configuration tool ( Section 4.4.2). Festo P.BE-CPX-FB37-EN 1406NH English 21

22 3 Mounting and installation 3.3 Connecting to the EtherCAT network General notes on EtherCAT networks Note Components with EtherCAT interfaces may be operated only in networks where all connected network components are supplied with PELV power supplies or integrated power supplies with similar protection. Installation instructions You can obtain specifications, installation notes and instructions through the EtherCAT user organisation ( Note Unauthorised access to the device can cause damage or malfunctions. When connecting the device to a network: Protect your network from unauthorised access. Measures for protecting the network include: Firewall Intrusion Prevention System (IPS) Network segmentation VirtualLAN(VLAN) Virtual Private Network (VPN) Security at a physical access level (Port Security). For further notes, please refer to the guidelines and standards for security in information technology, e.g. IEC 62443, ISO/IEC Note Faulty installation and high transmission rates may cause data transmission errors as a result of signal reflections and attenuations. 22 Festo P.BE-CPX-FB37-EN 1406NH English

23 3 Mounting and installation Network interface To connect to the network, there are two 4-pin M12 sockets with D-coding on the bus node (for industrial Ethernet use, corresponding to IEC ). The sockets are compatible with SPEEDCON plugs. M12 socket, Pin Signal Explanation D-coded 1 TD+ Transmission data (transmit data, TD) + 2 RD+ Receivedata(receivedata,RD)+ 3 TD- Transmitted data 4 RD- Received data Housing FE Screening/functional earth (FE) Tab. 3.7 Pin allocation of the network interfaces Network connectors Note To comply with degree of protection IP65/IP67: Use Festo plugs. Seal unused interfaces ( Section3.4). Accessories for the bus node can be found on the Festo website ( Cable specification Use shielded Industrial Ethernet cables of category Cat 5 or higher. You can find details regarding cable specification in Tab The CPX bus node FB37 supports crossover detection: To connect your bus node to the network, the control system or a PC, you can either use patch cables or crossover cables (Auto-MDIX). Note If the CPX terminal is fitted onto the moving part of a machine, the network cable on the moving part must be provided with strain relief. Also observe the corresponding regulations in IEC/EN Part 1. Festo P.BE-CPX-FB37-EN 1406NH English 23

24 3 Mounting and installation Cable specification Cable type Ethernet twistedpaircable, shielded (ShieldedTwistedPair, STP) Transmission class Category Cat 5 or higher Cable diameter 6 8mm Core cross section mm 2 ;22AWG 1) Connection length Maximum 100 m 1) Required for maximum connection length between network participants Tab. 3.8 Cable specification overview 3.4 Complying with degree of protection IP65/IP67 In order to comply with degree of protection IP65/IP67, seal the ports with the following plugs or cover caps: Port Plug Cover cap 1) X1 In, X2 Out (M12) NECU-M-S-D12G4-C2-ET ISK-M12 Service interface (M12) Plug of the operator unit (CPX-MMI) ISK- M12 2) PlugoftheUSBadapterfor CPX-FMT 1) if connection is unused 2) included in the scope of delivery Tab. 3.9 Ports, plugs and cover caps for degree of protection IP65/IP Voltage supply Warning Danger of electric shock from voltage sources without protective measures. Only use PELV circuits in accordance with IEC/EN (protective extra-low voltage, PELV) for the electrical power supply. Also observe the general requirements for PELV circuits in accordance with IEC/EN Only use voltage sources which ensure reliable electrical isolation of the operating voltage in accordance with IEC/EN Through the use of PELV circuits, protection against electric shock (protection against direct and indirect contact) is ensured in accordance with IEC/EN The current consumption of a CPX terminal depends on the number and type of integrated modules and components. 24 Festo P.BE-CPX-FB37-EN 1406NH English

25 3 Mounting and installation In the CPX system description (P.BE-CPX-SYS ), read the information on power supply as well as on the earthing measures to be carried out. The CPX terminal is supplied with operating and load power via the manifold base with system, additional and valve supply. The pin allocation of the CPX interlinking blocks can be found in the CPX system description and the package insert for the CPX interlinking block. Festo P.BE-CPX-FB37-EN 1406NH English 25

26 4 Commissioning 4 Commissioning 4.1 General instructions Switching on the power supply Note Please observe the switch-on instructions in the manual of your control system (PLC/IPC). If the control system and fieldbus station have separate voltage supplies, the devices must be switched on in the following sequence: 1. Switch on the operating voltage supply of all bus stations (I/O devices). 2. The power supply for the controller Addressing, configuration and parameterisation Addressing, configuration and parameterisation differ depending on whether the modular device profile (MDP) or the fixed I/O size (CPX-FB38 mode) is used. 4.2 Address assignment Note In MDP the bus node automatically determines the number of inputs and outputs of the modules installed in the CPX terminal. The bus node provides the CPX terminal with an address space of up to 64 bytes for inputs (I) and 64 bytes for outputs (O). Each module of the CPX terminal occupies a certain number of I/O bits, I/O bytes or words in the context of module communication. Certain functions, such as the I/O diagnostics interface (STI), also reduce the number of available I/O bytes (in favour of status or diagnostic functions). The address assignment within the individual CPX modules are found in the description for the relevant CPX module. On the basis of the CPX module type, you can ascertain the number of inputs and outputs occupied by the CPX module. In the CPX FMT or CPX MMI, the individual modules are displayed with the respective module identifiers. In the I/O modules, the module indicator is depicted in the upper region of the module besides the LEDs (for example, 8DI for a module with 8 digital inputs). 26 Festo P.BE-CPX-FB37-EN 1406NH English

27 4 Commissioning Detailed information on the electric and pneumatic CPX modules can be found on the Festo website ( Addressing the inputs and outputs, data access Basic rules for addressing The bus node counts as a module with 0 inputs and 0 outputs when the status bits and the I/O diagnostic interface are deactivated. Observe the notes regarding address assignment in section 4.2. Modules with less than 8 bits occupy 8 bits or 1 byte of address space, but do not use all this space. The addressing sequence differs between MDP and a fixed I/O size (CPX-FB38 mode). If necessary, status bits or the I/O diagnostics interface can be activated via DIL switch ( Tab. 3.3): If the 8 status bits are activated, they will occupy 16 inputs in the address range (8 used). If the I/O diagnostics interface is activated, it will occupy 16 inputs and outputs in the address range Differences in addressing between the modular device profile and fixed I/O size Sequence of addressing Modular Device Profile (CPX-FB37 mode) The I/O addresses are assigned in ascending order according to the module position. Sequence of addressing fixed I/O size (CPX-FB38 mode) If the bus node is set to a fixed I/O size using DIL switch 2 ( Section 3.2.5), the following rules shall apply ( Tab. 4.1): Sequence of addressing Description 1. Status bits or I/O diagnostics interface Delivers status and diagnostic information; activate through DIL switches; occupies the first 16 inputs or inputs and outputs 2. Analogue modules Modules with analogue inputs/outputs 3. Technology modules e. g. CP interface, front end controller (CPX-FEC), CoDeSys controller (CPX-CEC) 4. Digital modules Modules with digital inputs/outputs Tab. 4.1 Sequence of addressing in CPX-FB38 mode A detailed description of the addressing process and various addressing examples for the CPX-FB38 mode can be found in the description of the bus node CPX-FB38 ( P.BE-CPX-FB38). Festo P.BE-CPX-FB37-EN 1406NH English 27

28 4 Commissioning Data access (data objects) Asynchronous information can be exchanged with the EtherCAT devices via a mailbox mechanism. Known data object models are used in part here, e. g. CoE (CAN over EtherCAT). EtherCAT devices (I/O devices) have an object directory with all accessible objects. An EtherCAT system can be configured by accessing the object directory of the individual participants. The access mechanism is provided by Service Data Objects (SDOs). There are two different communication mechanisms in an EtherCAT system. The Process DataObjects (PDO) provide fast transfer of process data and are transmitted by simple EtherCAT messages with no protocol overhead. Process Data Objects may be transmitted based on event control, synchronised to a system clock, or on request. The Service Data Objects (SDO) form a point-to-point connection and permit access to every entry in the object directory of a node. Access these data objects with the help of user programs created according to your specific requirements. 4.4 Addressing the devices The higher-order controller is responsible for addressing the individual modules: The EtherCAT master determines the position of the EtherCAT devices within the network. The controller uses the following for local addressing: The physical position of the device in the EtherCAT network ( Auto Increment Address ) An independent EtherCAT device address ( EtherCAT Address ) Assigning an independent EtherCAT device address via DIL switch The bus node can be assigned an EtherCAT address using DIL switch 3 ( Section 3.2.9) Assigning an independent EtherCAT device address using the configuration tool The EtherCAT device address can be changed in the EEPROM using the configuration tool (e.g. TwinCAT 3.x). 1. Remove the bus node from the EtherCAT network. 2. Write the new address into the EEPROM ( Fig. 4.1). EtherCAT Advanced Settings ESC Access Configured Station Alias 28 Festo P.BE-CPX-FB37-EN 1406NH English

29 4 Commissioning Fig. 4.1 Writing a new EtherCAT device address 3. Switch the power supply off and back on again (cold start). The new device address is saved in the EEPROM. Fig. 4.2 New EtherCAT device address Festo P.BE-CPX-FB37-EN 1406NH English 29

30 4 Commissioning 4.5 Configuration Registering station properties in the configuration program 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 properties of the participant. The properties of the various participants are managed in a configuration file - the EtherCAT slave information file (ESI file). EtherCAT Slave Information File (ESI file) The file/its contents are available in Extensible Markup Language (XML). The ESI file serves to identify the bus node in the EtherCAT network. The ESI file sends basic properties of the EtherCAT device, and manufacturer information, to the configuration program. The ESI file contains all the information needed for the configuration and settings of the higher-order controller using configuration and programming software, e.g. Beckhoff TwinCAT. The current EtherCAT configuration file (ESI file) for the CPX terminal and bus node can be found on the Festo website ( To expand the ESI library of your configuration program, copy the bus node-specific XML file into the program directory of your configuration program e.g. for Beckhoff TwinCAT 3.x under: C:\Twin- CAT\3.x\Config\Io\EtherCAT. 30 Festo P.BE-CPX-FB37-EN 1406NH English

31 4 Commissioning Participant properties When the ESI file is imported, e.g. the following information is sent to the configuration program via the bus node/ethercat participant. Information Description Vendor name FestoAG & Co. KG Vendor ID D h Product code 0029BF58 h Product name CPX-FB37 Tab. 4.2 EtherCAT participant properties Once the ESI file has been imported, i.e. after the participant properties have been added to the configuration program, the bus node is included as a possible EtherCAT participant. You can now integrate the bus node into your EtherCAT network and configure the CPX terminal. The bus node can access 2 different ESI files: an ESI file for the Modular Device Profile (MDP) or an ESI file for the CPX-FB38 mode (fixed I/O size) The bus node accesses the respective ESI file depending on the position of DIL switch 1 ( Section 3.2.5). A requirement is that both ESI files are present in the device directory. Festo P.BE-CPX-FB37-EN 1406NH English 31

32 4 Commissioning Configuration in the Modular Device Profile (MDP) Reading the configuration The existing configuration can be read automatically. Fig. 4.3 Automatic reading of the configuration (via the Scan command here in TwinCAT 3.x) Doing this detects the bus node and all CPX modules together with their I/Os. Fig. 4.4 Detected CPX modules 32 Festo P.BE-CPX-FB37-EN 1406NH English

33 4 Commissioning Manual configuration Manual configuration is also possible as an alternative. Here the connected CPX modules are selected from a module list in the configuration interface. Fig. 4.5 Manual configuration of the CPX terminal Adding the bus node Select the bus node in the configuration and programming software and specify the following: the mode in which you want to operate the bus node whether, and in what format, the diagnostic messages of the CPX terminal are to be used. The following options are available: Module designation 1) Operating mode CPX diagnostics FB37-RIO-EtherCATRemote I/O Remote I/O No CPX diagnostics FB37-RIO-EtherCAT Remote I/O [ST] Remote I/O Display of common diagnostic messages FB37-RIO [STI] -EtherCATremote I/O Remote I/O Alldiagnostic informationis available FB37-RC [8 bytesio] Remote controller 8 byte I/8 byte O for communication of the bus node with the CPX-FEC or CPX-CEC 1) Module designation in the configuration and programming software Festo P.BE-CPX-FB37-EN 1406NH English 33

34 4 Commissioning Module designation 1) FB37-RC [16 bytesio] Operating mode Remote controller 16 byte I/16 byte O for communication of the bus node with the CPX-FEC or CPX-CEC CPX diagnostics 1) Module designation in the configuration and programming software Tab. 4.3 Diagnostics settings Note The setting of DIL switch 2 must correspond to the diagnostics mode selected here ( Section 3.2.6). Additional information on CPX diagnostics can be found in the CPX system description (P.BE-CPX-SYS-...). In the illustration below ( Fig. 4.6) the bus node is added to slot 1 in the Remote I/O mode without CPX diagnostics (view in TwinCAT 3.x). Fig. 4.6 Bus node in Remote I/O mode, without CPX diagnostics 34 Festo P.BE-CPX-FB37-EN 1406NH English

35 4 Commissioning Adding the connected modules The connected modules of the CPX terminal have been added to the following slots ( Fig. 4.7). Fig. 4.7 CPX modules 48 slots are available. The CPX modules can be assigned to the individual slots Configuration with fixed I/O size (CPX-FB38 mode) I/O assignment must be performed manually by the user Configuration in the remote controller operating mode If there is a CPX Front End Controller (CPX-FEC) or a CoDeSys controller (CPX-CEC) in your CPX terminal, you can operate the bus node in the Remote Controller operating mode. In this mode the bus node provides the control program in the CPX-FEC or CPX-CEC and the EtherCAT master (IPC/PLC) with 8 or 16 byte inputs and 8 or 16 byte outputs. 1. Make sure that DIL switch DIL 1 of the bus node is in the Remote Controller position (DIL 1.1 = ON, DIL 1.2 = OFF; Section 3.2.4, Tab. 3.1). The bus node is thus configured as a remote controller. To configure the CPX-FEC and the CPX terminal, the use of Festo Software Tools Version 4 (FST 4) is required. To configure the CPX-CEC and the CPX terminal, CODESYS provided by Festo is required ( Step 2.). Festo P.BE-CPX-FB37-EN 1406NH English 35

36 4 Commissioning 2. Configure the CPX terminal with the Festo Software Tools FST 4 via the CPX-FEC or with CODESYS provided by Festo via the CPX-CEC. 3. Start your configuration and programming software, e.g. Beckhoff TwinCAT. 4. Open the hardware configuration ( I/O Configuration ). 5. Configure the EtherCAT network. 36 Festo P.BE-CPX-FB37-EN 1406NH English

37 4 Commissioning 4.6 Parameterisation Introduction to parameterisation The system reaction of a CPX terminal can be largely adapted to the relevant application. You can individually set the reaction of the entire terminal as well as of individual modules and channels through parameterisation. A distinction is made between the following parameterisation functions: System parameterisation, e.g. switching off fault messages, setting reaction times Module parameterisation (module- and channel-specific), e.g. monitoring functions, settings for error handling, settings for forcing Parameterisation of the diagnostic memory. General information on commissioning the CPX terminal as well as a detailed description of individual parameters can be found in the CPX system description (P.BE-CPX-SYS- ). Information on commissioning the pneumatic interfaces and the digital I/O modules can be found in the description P.BE-CPX-EA-... Information on commissioning the analogue I/O modules can be found in the description P.BE-CPX-AX-... Instructions on commissioning the pneumatic components can be found in the corresponding description of pneumatics. Caution Changes in parameterisation or application-specific parameter settings result in changes to the module or system behaviour. Check especially when replacing CPX terminals to see which settings are necessary and make sure that these are restored, if necessary (e.g. in the commissioning phase by appropriate system-start parameterisation). Warning Danger of injury to people, damage to the machine and system resulting from uncontrolled movements of the actuators and undefined switching states During the parameterisation process make sure that nobody is within the sphere of influence of moving parts of your system. It is imperative that you observe the instructions on Force, Idle mode and Fail safe in the CPX system description (P.BE-CPX-SYS- ), as well as in the description of the CPX-MMI and in the online help of the CPX-FMT. The CPX terminal is supplied from the factory with preset parameters. These parameters are saved in the bus node. A CPX terminal can only be parameterised if the function System start with default parameterisation and current CPX expansion is activated (set the System start system parameter accordingly). Festo P.BE-CPX-FB37-EN 1406NH English 37

38 4 Commissioning If the parameterisation is not changed, the factory settings are used Methods of parameterisation A CPX terminal with the bus node can be parameterised using various methods. A brief explanation of the available methods can be found in Tab. 4.4 and the following sections. Method Description Benefits Disadvantages Parameterisation with the operator unit CPX-MMI Section Parameterisation with the Festo Maintenance Tool (CPX-FMT) Section Parameterisation via EtherCAT Section Parameterisation is carried out via menu-driven entries. Start with saved parameters necessary. Parameterisation is carried out via menu-driven entries. Start with saved parameters necessary. Parameterisation is carried out with configuration software (e.g. TwinCat). Comfortable parameterisation via the menu navigation (plain text). Fast, simple parameterisation during commissioning for testing the parameters. Parameterisation in plain text via CoE. Parameterisation of the CPX terminal is saved locally in the bus node and is lost when replaced. 1) Parameterisation of the CPX terminal is saved locally in the bus node and is lost when replaced. 1) 1) Copying and saving of parameter settings is possible, for example, for transferring parameter data as part of a module exchange. Tab. 4.4 Methods of parameterisation Parameterisation with the operator unit CPX-MMI The Festo operator unit (CPX-MMI) offers menu-driven access for parameterisation without configuration software. Information about using the operator unit can be found in the corresponding description (P.BE-CPX-MMI-1- ) Parameterisation with the Festo Maintenance Tool (CPX-FMT) With the PC software Festo Maintenance Tool (CPX-FMT), you can easily parameterise the CPX terminal over a USB connection. The current version of the PC software CPX Festo Maintenance Tool (CPX-FMT) can be found on the Festo website ( To operate the PC software (CPX-FMT) on the bus node, you will need the USB adapter (connecting cable) NEFC-M12G5-0.3-U1G5. 38 Festo P.BE-CPX-FB37-EN 1406NH English

39 4 Commissioning Parameterisation via EtherCAT in the Modular Device Profile (MDP) Parameterisation of the connected modules The parameters of the individual modules are available as objects. In contrast to the CPX-FB38 mode, the parameters in the MDP can be accessed individually and are represented accordingly. The parameters (objects) can be set, for example, with TwinCAT 3.x under the tab CoE-Online ( Fig. 4.8). In the CPX system description and the descriptions for the I/O modules you will find: an explanation of the individual parameters the range of values of the individual parameters. Festo P.BE-CPX-FB37-EN 1406NH English 39

40 4 Commissioning Example: Parameterisation of an I/O module Parameters (objects) of the multi I/O module CPX-8DE-8DA Monitoring short circuit/overload of sensor supply: On (TRUE) Monitoring short circuit/overload of outputs: On (TRUE) Monitoring undervoltage of outputs on: (TRUE) U SEN after short circuit/overload of sensor supply: (Switch on again) U OUT after short circuit/overload of outputs: (Leave switched off) Debounce time: 3 ms Signal extension time: 15 ms Inputs CH0-Ch3: With signal extension (TRUE) Inputs Ch4-Ch7: Without signal extension (FALSE) Fig. 4.8 Example: Objects of the I/O module CPX-8DE-8DA 40 Festo P.BE-CPX-FB37-EN 1406NH English

41 4 Commissioning 4.7 Remarks on parameters of the CPX system settings Sequence of start parameterisation during switch-on (system start) The parameterisation during system start of the CPX terminal is dependent on the setting of the system start parameter stored in the bus node. System start with default parameters System start with default parameterisation (factory setting) and current CPX expansion External parameterisation possible System start with saved parameters System start with saved parameterisation and saved CPX expansion Parameters and CPX expansion are saved remanently External parameterisation is blocked LED M on the CPX bus node illuminates Fig. 4.9 Setting system start parameters (TwinCAT 3.x) Festo P.BE-CPX-FB37-EN 1406NH English 41

42 4 Commissioning In the Festo Maintenance Tool, you will find the corresponding setting under: CPX System Settings Tab System Parameters System start. Fig Setting system start parameters (FMT) Note Loss of settings If the LED M of the bus node is permanently lit, parameterisation of the CPX terminal is saved locally in the bus node. In this case, parameterisation is lost if the bus node is replaced. Save the required settings before replacing the bus node and restore the settings after replacement Parameterisation of the fail-safe mode This operating mode defines the status which digital output signals (outputs and valves) are to assume in the event of field bus communication faults. You can determine the status to be assumed for each output channel (output or solenoid coil or valve) separately. The standard setting is Reset of the output channel. Without parameterisation of the output channels, the following communication condition applies: Input signals are transferred Output signals are reset (factory setting); note that the analogue value 0 is set for analogue outputs. If necessary, parameterise the required status of individual or all output channels (outputs or solenoid coils). 42 Festo P.BE-CPX-FB37-EN 1406NH English

43 4 Commissioning Example: Parameterisation of the fail-safe mode with TwinCat 3.x Fig Parameterisation of the fail-safe mode for all outputs (output signals are reset) Additional information can be found in the CPX system description (P.BE-CPX-SYS ). Festo P.BE-CPX-FB37-EN 1406NH English 43

44 4 Commissioning 4.8 Web server A web server is integrated in the bus node. The web server makes available the most important parameters and diagnostic functions Configuration In order to access the web server of the bus node, the network settings must be configured. Example A PC is connected (via a server) to the EtherCAT control system via Ethernet. The EtherCAT control system has a second Ethernet port that is activated for EtherCAT communication. The CPX terminal is connected to this Ethernet port via the bus node. Procedure 1. Specify a fixed IP address on the PC: Fig Specifying a fixed IP address on the PC 44 Festo P.BE-CPX-FB37-EN 1406NH English

45 4 Commissioning 2. Specify a fixed IP address on the EtherCAT control system using network adapter 1 (connection to the PC). Fig Specifying a fixed IP address on network adapter 1 of the control system Festo P.BE-CPX-FB37-EN 1406NH English 45

46 4 Commissioning 3. Specify a fixed IP address and subnet mask on the EtherCAT control system using network adapter 2 (connection to the bus node). Fig Specifying a fixed IP address and subnet mask on network adapter 2 of the control system 46 Festo P.BE-CPX-FB37-EN 1406NH English

47 4 Commissioning 4. Enable EoE communication and the IP routing function on the EtherCAT control system. Fig Settings under EtherCAT Advanced Settings EoE-Support (TwinCAT 3.x) 5. Assign the bus node IP address and subnet mask. The subnetwork of the bus node must match the subnetwork of network adapter 2 used by the control system (same subnet ID). Fig Settings under EtherCAT Advanced Settings Mailbox EoE (TwinCAT 3.x) Festo P.BE-CPX-FB37-EN 1406NH English 47

48 4 Commissioning To enable the bus node to be reached via the PC, the routing settings need to be added. 6. Start the Windows program cmd.exe on the PC. 7. Enter the following information: route add mask Fig Adding routing settings 8. Open an Internet browser of your choice on the PC. 9. In the address bar of the Internet browser enter the assigned IP address of the bus node as follows: 48 Festo P.BE-CPX-FB37-EN 1406NH English

49 4 Commissioning Fig Web server of the bus node Festo P.BE-CPX-FB37-EN 1406NH English 49

50 4 Commissioning 4.9 Firmware update/restoring the firmware Updating the firmware via FoE (File Access over EtherCAT) The bus node supports FoE. It is possible to load the firmware onto the module via the EtherCAT master (provided that it supports this function). The current firmware version can be found on the Festo website ( Note Loss of function of the device If the supply voltage fails while the firmware is being written, it will result in a loss of function of the bus node. Do not interrupt the firmware download and writing process under any circumstances. When using the TwinCAT 3.x configuration software proceed as follows: 1. Copy the new firmware into a directory. 2. Switch the bus node to the status BOOTSTRAP. The RUN LED on the bus node flickers; the Current State in the TwinCAT 3.x configuration program changes to BOOT. Fig Activating BOOTSTRAP 50 Festo P.BE-CPX-FB37-EN 1406NH English

51 4 Commissioning 3. Load the new firmware from the directory (click the Download... button). Fig Downloading the firmware The firmware version is displayed: Fig Display of the firmware version 4. Confirm by pressing OK. After downloading the firmware the bus node restarts automatically and switches to the status OPERATIONAL (OP). The RUN LED illuminates permanently. Note In the event of a firmware update in the Remote Controller (RC) mode, the CPX terminal switches to an unsafe status. After the automatic restart of the bus node it is no longer recognised by the CPX-FEC or CPX-CEC. Switch off the power supply to the CPX terminal briefly and then switch it on again (cold start). Festo P.BE-CPX-FB37-EN 1406NH English 51

52 4 Commissioning Restoring the firmware with the Festo Field Device Tool (FFT) The Festo Field Device Tool enables you to restore the operational capability of the bus node (e.g. after a failed firmware update via FoE). TheFFTsoftwarecanbefoundontheFestowebsite( Install the FFT software on a PC or notebook. 1. Disconnect the power supply of the CPX terminal and, if relevant, the compressed air supply. 2. Remove the bus node from the EtherCAT network. 3. Connect your PC directly to the bus node via the network connection. 4. Set both switching elements on DIL switch 2 of the bus node to ON ( Section 3.2). 5. Start the Recovery function in the FFT under the Actions tab and select the corresponding command in the General group of instructions. Fig Selection of the bus node 6. Click the bus node CPX-FB37 in the selection list. The following message appears: 52 Festo P.BE-CPX-FB37-EN 1406NH English

53 4 Commissioning Fig FFT message 7. Confirm the message by pressing OK. 8. Switch on the power supply for the bus node. The bus node switches to the status Bootloader mode. 9. Follow the instructions of the software. Further information can be found in the online help of the Festo Field Device Tool (FFT) Checklist for commissioning a CPX terminal Please observe the general commissioning instructions in the CPX system description. Check the DIL switch settings and the network configuration before using and replacing CPX terminals. Check the configured address range. If necessary, test the I/Os. Check the address assignment of the I/Os on the CPX terminal. For this purpose you can, if necessary, force the I/Os ( CPX system description). Make sure that the desired parameterisation of the CPX terminal in the commissioning phase or after network interruptions is restored by the higher-order controller. This ensures that if the CPX terminal is replaced, the new terminal will also be operated with the desired parameter settings. Use spot checks if necessary to check the parameterisation, either with a configuration program (e.g. TwinCAT), the Festo Maintenance Tool (FMT) or an operator unit (CPX-MMI). Festo P.BE-CPX-FB37-EN 1406NH English 53

54 4 Commissioning 4.11 Replacing the bus node When replacing a bus node with the setting System start with saved parameterisation and saved CPX expansion, the parameterisation of the CPX terminal is not restored automatically by the higher-order controller. 1. Before replacing the bus node save the parameterisation of the CPX terminal in a CPX-FMT file. 2. After replacing the bus node transfer the parameterisation to the new bus node. Use the command Load settings in the CPX menu. 3. Enable all settings in the Load window and start the transfer to the bus node by pressing OK. 54 Festo P.BE-CPX-FB37-EN 1406NH English

55 5 Diagnostics 5 Diagnostics 5.1 Summary of diagnostics options The CPX terminal provides comprehensive and user-friendly options for diagnostics and error handling. The following options are available, depending on the configuration: Diagnostics option Brief description Benefits Detailed description LED display Status bits I/O diagnostics interface Diagnostics via EtherCAT Diagnostics via the operator unit CPX-MMI Diagnostics via the Festo Maintenance Tool (CPX-FMT) Tab. 5.1 TheLEDsdirectlydisplay hardware faults, configuration errors, bus errors, etc. Internal inputs, which supply coded common diagnostic messages; the 8 status bits are cyclically transmitted to the controller as inputs with the normal inputs. Bus-independent diagnostic interface at I/O level which enables access to the internal data of the CPX terminal; for this function, 16 inputs and 16 outputs (2 byte) are available. Diagnostics via SDO access Diagnostics history Emergency message Diagnostic information can be displayed with the operator unit CPX-MMI in a convenient and menu-driven manner. TheCPX-FMTofferstheoption to display diagnostic information at a PC. Diagnostics options Fast on-site error detection Fast access to error messages, irrespective of the module and master. Detailed error recognition; the diagnostic data can be processed further, e.g. with a PLC user program. Section 5.2 Section 5.3 Section 5.4 Detailed error detection Section 5.5 Fast on-site error detection Fast on-the-spot error detection Operator unit description (P.BE-CPX-MMI-1- ) Online help for the CPX-FMT Note that the diagnostic information is dependent on the DIL switch settings on the bus node, ( Section 3.2) as well as on the parameterisation of the CPX terminal. Festo P.BE-CPX-FB37-EN 1406NH English 55

56 5 Diagnostics 5.2 Diagnostics via LEDs LEDs for the diagnostics of the CPX terminal are available on the bus node as well as on the individual modules. The meaning of the LEDs on the electric modules can be found in the description for the relevant module LEDs at the bus node CPX-FB37 Run Error LA X1 LA X2 PS PL SF M 1 Run Error LA X1 LA X2 PS PL SF M 2 1 CPX-specific LEDs 2 EtherCAT-specific LEDs PS: Power system Run: EtherCAT operating status PL: Power Load Error: EtherCAT error SF: System Failure LA X1: Connection status (link activity) X1 In M: Modify LA X2: Connection status (link activity) X2 Out Fig. 5.1 LEDs 56 Festo P.BE-CPX-FB37-EN 1406NH English

57 5 Diagnostics In this chapter the LEDs are depicted in their various states as follows: illuminated, flashes or flickers, off Normal operating status LED display in normal operating status Run Error LA X1 LA X2 PS PL SF M 1) Continuous light: Connection is active; flickering: Data transmission is running 2) Dependent on the configuration Tab. 5.2 LED display in normal operating status The following green LEDs illuminate: Run PS PL The following green LEDs illuminate or flicker if a network cable is connected: LAX1 1) LAX2 1) The following red LEDs do not illuminate: Error SF The yellow LED is illuminated, flashes or is dark: M 2) Festo P.BE-CPX-FB37-EN 1406NH English 57

58 5 Diagnostics CPX-specific LEDs PS (power system) power sensor/logic supply LED (geen) Sequence Status Significance / error handling ON OFF LED illuminated ON OFF LED flashes ON OFF ON OFF LED not illuminated No error, operating voltage/sensor supply applied Operating voltage/sensor supply outside the tolerance range Internal fuse for the operating voltage/sensor supply has responded The operating voltage/sensor supply is not applied Eliminate undervoltage 1. Eliminate short circuit/overload 2. Depending on the parameterisation: The sensor supply voltage will be switched on again automatically after the short circuit has been eliminated (factory setting) Power OFF/ON required Check the operating voltage connection of the electronics Tab. 5.3 LED display PS PL (power load) power load supply (outputs/valves) LED (geen) Sequence Status Significance / error handling ON OFF LED illuminated LED flashes ON OFF No error, load voltage applied Load voltage outside tolerance range Eliminate undervoltage Tab. 5.4 LED display PL 58 Festo P.BE-CPX-FB37-EN 1406NH English

59 5 Diagnostics SF (system failure) system fault LED (red) Sequence 1) Status Significance / error handling LED not illuminated LEDflashes1 LEDflashes2 LEDflashes3 ON OFF ON OFF ON OFF ON OFF No error Minorerrororinformation (error class 1) Error (error class 2) Serious error (error class 3) 1) The SF LED flashes depending on the error class. Error class 1 (minor error): 1 x flash, pause time Error class 2 (error): 2 x flashes, pause time Error class 3 (serious error): 3 x flashes, pause time Tab. 5.5 LED display SF Description of error numbers in the CPX system description (P.BE-CPX-SYS ) Festo P.BE-CPX-FB37-EN 1406NH English 59

60 5 Diagnostics M (modify) parameterisation, forcing LED (yellow) Sequence Status Significance / error handling LED not illuminated LED illuminated ON OFF ON OFF System start with default parametrisation and current CPX expansion is set (factory setting); external parameterisation is possible System start with saved parameterisation and saved CPX expansion is set; parameters and CPX expansion are saved remanently; external parameterisation is blocked 1) Caution when replacing bus nodes with saved parametrisation: When using these bus nodes, parameterisation of the CPX terminal is not automatically restored by the higher-order controller during replacement. Save the required settings before replacing the bus node and restore the settings after replacement. LED flashes ON OFF Force is active 1) The Force function is enabled ( CPX system descriptionp.be-cpx-sys ). 1) The display of the Force function (LED flashes) has priority over the display of the setting for the system start (LED lights up). Tab. 5.6 LED display M 60 Festo P.BE-CPX-FB37-EN 1406NH English

61 5 Diagnostics EtherCAT-specific LEDs Run EtherCAT operating status (communication status) LED (green) Sequence Status Significance / error handling ON Init OFF LED not illuminated LED flickers LED flashes LED flashes 1 1) LED illuminated ON OFF ON OFF ON OFF ON OFF Bootstrap Pre-operational Safe-operational Operational 1) A singular brief flash (1 x flash, pause, 1 x flash, etc.)is designated a single flash. Tab. 5.7 LED display Run Bus node is in the Init status (normal state after switch-on or after a restart or reboot). Busnodeisinthecorrectstatusto receive a firmware update. A firmware update is received. Bus node is in the Pre-operational status (configuration of the EtherCAT network). Bus node is in the safe-operational status (e.g. due to a network fault). Only the input signals (e.g. sensor data) are updated. Outputs and valves remain in the current state (signal is frozen ). BusnodeisintheOperationalstatus (normal operating status). Festo P.BE-CPX-FB37-EN 1406NH English 61

62 5 Diagnostics Error EtherCAT error (communication error) LED (red) Sequence Status Significance / error handling LED not illuminated LED illuminated LED flashes LED flashes 1 1) ON OFF ON OFF ON OFF ON OFF ON OFF No error Application controller failure Configuration error (invalid configuration) No connection to EtherCAT network Possible causes: Cable/connection disconnected (interrupted) Device has no connection to the EtherCAT master (for control) Master is not active EtherCAT status change due to an error (Unsolicited state change) Application watchdog timeout EtherCATcommunicationofthebus node is in a normal operating status. Serious communication fault Possible causes: Application controller does not respond Watchdog timeout through ESC Contact Festo. Check: the network connection (interrupted, short-circuited or disturbed network connection) the configuration, in particular the physical and logical position and addressing of the bus node. The bus node changes its EtherCAT status due to a synchronisation error (Status change from Operational to Safe-operational). Watchdog timeout through the sync manager LED flashes 2 2) LED flashes 3 3) LED flickers ON OFF ON OFF Reserved Booting error Error (checksum) in the application controller flash memory 1) A singular brief flash (1 x flash, pause, 1 x flash, etc.)is designated a single flash. 2) Two brief flashes (2 x flashes, pause, 2 x flashes, etc.) is designated a double flash. 3) Three brief flashes (3 x flashes, pause, 3 x flashes, etc.) is designated a triple flash. Tab. 5.8 LED display Error 62 Festo P.BE-CPX-FB37-EN 1406NH English

63 5 Diagnostics LA X1, LA X2 Connection status (link activity) X1 In/X2 Out LED (green) Sequence Status Significance / error handling LED not illuminated ON OFF ON OFF No physical network connection Network connection OK Check network connection / network cable LED illuminated ON OFF Flickering: Data transmission is running (traffic) LED flickers 1) 1) Rapid flickering gives an impression the LED is illuminated; the intensity of the light depends on the data traffic Tab. 5.9 LED display LA X1 and LA X2 Festo P.BE-CPX-FB37-EN 1406NH English 63

64 5 Diagnostics 5.3 Diagnostics via status bits The CPX terminal provides 8 status bits if this function is activated using DIL switches ( Section 3.2.6). The status bits are used for displaying common diagnostic messages ( global error messages). Status bits are configured like inputs. If the status bits function is activated, 16 inputs are occupied in the address range (8 inputs or 8 bits remain unused); ( Tab. 3.3). Note the instructions on addressing and configuration in the sections 4.3 and 4.5. The following table provides an overview of the available diagnostic information. Bit Diagnostic information with logic 1 Description 0 Error on valve or pneumatic module Module type in which an error has occurred 1 Error on output module 2 Error on input module 3 Error on analogue module or technology module 4 Undervoltage Error type 5 Short circuit/overload 6 Wire break 7 Other errors Tab Overview of diagnostic information: Status bits of the CPX bus node (optional) If all status bits supply a 0-signal, no fault will be registered. If, in contrast, a status bit supplies a 1 -signal, there is a fault. If various faults occur simultaneously on various types of modules, these faults cannot be assigned via the status bits. In contrast, faults can be uniquely determined via the I/O diagnostics interface. Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the EtherCAT network. Further notes on the function and content of the status bits can be found in the CPX system description (P.BE-CPX-SYS ) in the section Diagnostics and error handling. 64 Festo P.BE-CPX-FB37-EN 1406NH English

65 5 Diagnostics 5.4 Diagnostics via the I/O diagnostic interface (STI) The CPX terminal provides a bi-directional 16 bit I/O diagnostic interface (System Table Interface, STI) if this function is activated using DIL switches ( Section 3.2.6). Detailed diagnostic information can be accessed via the I/O diagnostic interface. You can ascertain this exactly, e.g. by noting on which module and channel a fault has occurred. System diagnostics are retrieved by means of 16 input bits and 16 output bits, through which all diagnostics data can be read. If the I/O diagnostic interface is active, it will occupy 16 inputs and outputs in the address range ( Tab. 3.3). Note the instructions on addressing and configuration in the sections 4.3 and 4.5. The following table provides an overview of the available diagnostic information. Diagnostic data Contents/description Global diagnostic data General overview of errors Module diagnostics data Detail diagnostics per module Status of diagnostic memory Number of entries in the diagnostic memory Operating mode Diagnostic memory data Long-term memory Detail diagnostics + relative time stamp per error event Tab Overview of diagnostics data I/O diagnostic interface (optional) Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the EtherCAT network. Additional information about the I/O diagnostics interface (diagnostic information, function numbers) can be found in the CPX system description (P.BE-CPX-SYS ) in the section Diagnostics and error handling. Festo P.BE-CPX-FB37-EN 1406NH English 65

66 5 Diagnostics 5.5 Diagnostics via EtherCAT Basic information Availability of diagnostic information via the EtherCAT network Note that the diagnostic information shown depends on the settings ( Section 3.2.6) and the parameterisation ( Section 4.6) of the CPX terminal ( Section 5.1). Activate the I/O diagnostics interface to ensure that error messages of the CPX terminal are automatically displayed in the EtherCAT configuration software, e.g. Beckhoff TwinCAT Diagnostics via SDO access The higher-order controller can request diagnostic information from the bus node via SDO access. The corresponding objects can be found in the object directory in section A Diagnostics via diagnostics 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 message referenced with a code is displayed. Diagnostics messages are decoded via the ESI file and can be read e.g. by the TwinCAT system manager. The following table shows the structure of the diagnostics object 0x10F3. The following abbreviations are used: RO = read only RW = read/write RO P = read only (PDO mappable) Index (hex.) Subindex Description Type Values Access 0x10F3 0 Diagnostics history U8 RO 1 Maximum messages U8 20 RO 2 Newest message U8 RO 3 Newest acknowledged U8 RW message 4 New message available BOOL ROP 5 Flags U16 0x0000 RW 6 26 Sub-index BYTE [23] RO Tab Structure of the diagnostics object 66 Festo P.BE-CPX-FB37-EN 1406NH English

67 5 Diagnostics Diagnostics message The diagnostics message of the bus node is stored in the diagnostics history. 1 1 Values of the diagnostics message Fig. 5.2 Diagnostics message The following table provides a brief description of the individual values of the diagnostics message 1 from Fig Value (hex) Designation Explanation according to ETG E1 Diag Code CPX error number 2 (short circuit) E1=CPX error number ( CPX system description) E8=Error code according to DS Flags Number of parameters in the diagnostics message (2) and diagnostics type 2 (error message) Text-ID Reference to the ESI file with the plain text of the diagnostics message (<TextId>#x3702) 1F C5 9D Time Stamp Localtime stamp (time since the start ofthe bus node) Flags Parameter 1 Type of parameter 1 (UNSIGNED8) 02 Parameter 1 CPX module number 2 (in TwinCAT 3.x corresponds to module 3) Flags Parameter 2 Type of parameter 2 (UNSIGNED8) 80 Parameter 2 Channel 80 h (channel 128 decimal) Tab Values of the diagnostics message Festo P.BE-CPX-FB37-EN 1406NH English 67

68 5 Diagnostics Text ID 3700 h to 37FF h corresponds to the CPX error numbers (0 to 255). Additional information can be found in the CPX system description in the chapter Diagnostics and error handling. In addition to the CPX-specific text IDs, there are also EtherCAT-specific text IDs in the ESI file. Text ID (hex) Plain text (German) Plain text (English) 3800 Modulidentifikationfehlgeschlagen Ident check failed for configured module 3801 Modulidentifikation-Überprüfung nicht durchgeführt - Steuerung hat Objekt 0xF030 nicht geschrieben 000F Berechnung Buszykluszeit fehlgeschlagen (lokaler Timer zu langsam) Ident check skiped - PLC has not written to Object 0xF030 Calculate bus cycle time failed (Local timer too slow) 0011 Sync Manager ungültige Adresse Sync Manager invalid address 0012 Sync Manager ungültige E/A Größe Sync Manager invalid size 0013 Sync Manager ungültige Konfiguration Sync Manager invalid settings Tab EtherCAT-specific text IDs in the ESI file The diagnostics messages with their text ID and plain text can be found in the TwinCAT 3.x configuration software under the tab Diag History. Fig. 5.3 Diag History in TwinCAT 3.x 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 messages reaches 20, the oldest diagnostics messages are overwritten. Acknowledge mode An existing diagnostics message must first be acknowledged before it can be overwritten with a new diagnostics message. If the number of unconfirmed diagnostics messages reaches 20, subsequent diagnostics messages will not be saved and will be lost. 68 Festo P.BE-CPX-FB37-EN 1406NH English

69 5 Diagnostics Specifying the operating mode of the diagnostics message The operating mode of the diagnostics message can be read and written in Index 0x10F3, Subindex 5, Bit 4. Value of bit 4 Operating mode 0 Overwrite mode 1 Acknowledge mode Tab Specifying the operating mode Fig. 5.4 Example: Specifying the operating mode in TwinCAT 3.x Festo P.BE-CPX-FB37-EN 1406NH English 69

70 5 Diagnostics Mapping the message New Message Available To simplify the diagnostic evaluation, the bus node offers the option of signaling the existence of a new diagnostic message via process data. The object New Message Available can be optionally mapped to the process data here. The object can be activated in the PDO Assignment of the inputs. Fig. 5.5 Mapping New Message Available 70 Festo P.BE-CPX-FB37-EN 1406NH English

71 5 Diagnostics After activation, the object will be available in the Diag History. Fig. 5.6 New message available Disabling the emergency message The emergency message ( Section 5.5.4) can be disabled via the diagnostic object 10F3:05 ( Tab. 5.12). Set bit 0 to the value 0. In TwinCAT 3.x you can disable the emergency message under the tab Diag History ( Fig. 5.7). Festo P.BE-CPX-FB37-EN 1406NH English 71

72 5 Diagnostics Fig. 5.7 Disabling the emergency message in TwinCAT 3.x 72 Festo P.BE-CPX-FB37-EN 1406NH English