CPX Terminal. Electronics Manual. CoDeSys Controller. Type CPX CEC C1. Manual [ ]

Transcription

1 CPX Terminal Electronics Manual CoDeSys Controller Type CPX CEC C1 Manual en 0907NH [ ]

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3 Contents and general instructions Original de Edition en 0907NH Designation P.BE CPX CEC EN Order no (Festo AG&Co. KG, D73726 Esslingen, Germany, 2009) Internet: E Mail: service_international@festo.com The reproduction, distribution and utilization of this document as well as the comunication of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility module or design. I

4 Contents and general instructions MODBUS CoDeSys TORX Registered trade name of Schneider Automation Registered trademark of 3S Smart Software Solutions GmbH Registered trademark of Acument Intellectual Properties, LLC, Troy, Michigan, USA This product uses open source software which is subject to the GNU General Public License, Version 2". The licensing conditions of the GPL are located either in the product s engineering tool or at the following addresses: address of the device>/product information.html II

5 Contents and general instructions Contents Designated use Safety instructions Target group Service Important user instructions Notes on the use of this manual V VI VIII VIII IX XI 1. System summary The CoDeSys controller CPX CEC The operating modes of the CPX CEC C The CoDeSys provided by Festo programming environment Programming languages Libraries Parameterisation Meaning of the LED displays CPX specific LEDs Installation General installation instructions Dismantling and fitting Dismantling Fitting Connection and display elements Setting of the switches of the CoDeSys controller RUN/STOP rotary switch DIL switches Ethernet interface Ethernet cable Communication interfaces CANopen interface Connection of an operator unit type FED Connection of a handheld type CPX MMI Complying with protection class IP65/IP III

6 Contents and general instructions 3. Commissioning Prerequisites for commissioning First steps Configuration of the CPX modules Configuration of the CANopen slaves Parameterisation Parameterisation via control configuration in CoDeSys Parameterisation via the handheld type CPX MMI Forcing Diagnosis General error response of the CoDeSys controller Diagnosis via controller LEDs Further diagnostics options A. Technical appendix A 1 A.1 Technical data A 3 B. Index B 1 IV

7 Contents and general instructions Designated use The type CPX CEC C1 CoDeSys Controller documented in this manual is intended exclusively for use in Festo CPX terminals for installation in a machine or an automation control system. In combination with a CPX terminal, the CPX CEC C1 is used for controlling pneumatic and electric actuators (valves, output modules and motor controllers via CANopen) interrogating electric sensor signals through the input modules communication via Ethernet. The CPX terminal with the CPX CEC C1 may only be used as follows: as designated in industrial applications without any modifications by the user. Only the conver sions or modifications described in the documentation supplied with the product are permitted in faultless technical condition only in combination with approved components (e.g.valves, drive/displacement encoder combinations). The limit values specified for pressures, temperatures, electrical data, torques etc. should be observed. Please comply with the regulations of the workers com pensation insurance association, the German Technical Control Board (TÜV) and the electrical requirements of the VDE or the corresponding national and local safety regula tions. V

8 Contents and general instructions Safety instructions Protection against dangerous movements Warning High acceleration forces at the connected actuators! Undesired movements can cause collisions and severe injuries. Dangerous movements can occur through faulty controlling of connected actuators, e.g. via: unsafe or faulty circuitry or cabling, faulty operation of the components, errors in the measured value and signal generators, defects or non EMC compliant components, errors in the higher order control system, programming errors in user programs and projects. Simply switching off the compressed air supply or load voltage are not suitable locking procedures. In the event of a fault, this could lead to unintentional movement of the drive. Before doing mounting, installation and service work, bring the system into a safe condition (e.g. by bringing the drive into a safe position and deactivating the controller). Always make sure that the compressed air supply and power supply are switched off and locked when working in the machine area. Make sure that no persons are in the operating range of the drives or any other connected actuators. Do not switch on the compressed air supply until the system is correctly installed and parameterised. VI

9 Contents and general instructions Brakes controlled by the drive controller are alone not suitable to ensure personal protection! Secure vertical axes from falling or sliding down when the compressed air and load voltage are switched off, as follows: mechanical locking of the vertical axis, external braking/safety catch/clamping device or sufficient counterbalance of the axis. Additional measures are required for use in safety related applications; in Europe, for example, the standards listed under the EC Machinery Directive must be observed. Without additional measures in accordance with statutory minimum requirements, the product is not suitable for use in safety related sections of control systems. Protection from pressurised tubing Caution Danger of injury through inappropriate handling of pressurised tubing! Undesired movements of the connected actuators and uncontrolled movements of loose tubing can cause injury to human beings or damage to property. Do not connect, disconnect or open pressurised tubing. The tubing must always be vented before removal (release compressed air). Use suitable protective equipment (e.g. safety goggles, safety shoes, etc.). VII

10 Contents and general instructions Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service if you have any technical problems. VIII

11 Contents and general instructions Important user instructions Danger categories This manual contains instructions on the possible dangers which can occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings: Warning... means that failure to observe this instruction may result in serious personal injury or property damage. Caution... means that failure to observe this instruction may result in personal injury or property damage. Note... means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents: Electrostatically sensitive components: Improper handling can result in damage to components. IX

12 Contents and general instructions Identifying special information The following pictograms mark passages in the text which contain special information. Pictograms Information Recommendations, tips and cross references to other information sources. Accessories: Information on necessary or useful accessories for the Festo product. Environment: Information on the environmentally friendly use of Festo products. Text markings The bullet indicates activities which may be carried out in any order. 1. Numerals denote activities which must be carried out in the numerical order specified. Hyphens designate general lists. Brackets designate menu entries. Example: [Scan module configuration]. Arrow brackets mark placeholders for designations. Example: Status of <Your Connection>". Quotation marks designate names of windows, dialogues and buttons. Example: Control configuration". X

13 Contents and general instructions Notes on the use of this manual This manual refers to the following versions: CoDeSys Controller CPX CEC C1 from software status Rev.01 Programming environment CoDeSys provided by Festo from Version 2.3 This manual contains information on the function, fitting, installation and commissioning of the the CPX CEC C1 typecodesys Controller. You will find additional information on the device in the following documentation: Type Title Description Short manual CoDeSys Controller" Type P.BE K CPX CEC Connection and display elements, mouting, installation and technical data Online help Online.Help for the CoDeSys Controller CPX CEC... Configuration, commissioning, operation and error diagnosis Tab.0/1: Additional documentation on the CPX CEC C1 General basic information on the mode of operation, on fit ting, installing and commissioning CPX terminals can be found in the CPX system manual, type P.BE CPX SYS... Observe also the user documentation of the components used in the CPX terminal. XI

14 Contents and general instructions The following product specific terms and abbreviations are used in this manual: Term / abbreviation 0 Signal 1 Signal 0x01 (A0 h ) CANopen CoDeSys provided byfesto (= CoDeSys pbf) CPX terminal CPX modules DHCP (Dynamic Host Configuration Protocol) DIL switch EasyIP EDS file Ethernet FHPP (Festo Handling and Positioning Profile) Field bus node Meaning 0 V applied at input, or output supplies 0 V 24 V applied at input, or output supplies 24 V Hexadecimal numbers are marked by a prefixed 0x" or by a subscript h" Field bus protocol based on CAN, which is standard. as a European standard CoDeSys = Controller Development System CoDeSys provided by Festo permits configuration, commissioning and programming of various components and devices by Festo. In this documentation, called CoDeSys pbf" for short Complete system consisting of CPX modules with or without pneumatics Collective term for the various modules which can be integrated in a CPX terminal Dynamic protocol for automatic assignment of IP addresses Dual in line switches consist of several switch elements with which settings can be made Protocol for fast exchange of operands between Festo controllers Electronic data sheet, which describes the function and characteristics of a CANopen device in standardised form (e.g. number of I/Os, number of diagnosis bytes, etc.). Physical protocol and network for connecting various devices Uniform field bus data profile for positioning controllers from Festo Provides the connection to specific field buses. Transmits control signals to the connected modules and monitors their ability to function. FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP Handheld type CPX MMI HTTP (Hyper Text Transfer Protocol) Handheld terminal for commissioning and service purposes Protocol for data transfer via TCP/IP XII

15 Contents and general instructions Term / abbreviation I/O modules I/Os IP (Internet Protocol) Login/Logout MAC address (Media Access Control address) Modbus/TCP Node ID OLE OPC PLC/IPC Pneumatic interface TCP/IP TCP (Transmission Control Protocol) TFTP (Trivial File TransferProtocol) TSP (Target Support Package) UDP (User Datagram Protocol) User data www Meaning Collective term for the CPX modules which provide dig. inputs and outputs Digital inputs and outputs Protocol for addressing and delivering data Programming system is logged in/logged out Fixed assigned address for Ethernet device Communication standard via TCP/IP in automation technology Provides unique identification of a bus slave on the CANopen field bus Object Linking and Embedding OLE for Process Control; standardised software interface that permits access to process data Programmable logic controller/industrial PC Interface between the modular electric peripherals and the pneumatics Combination of the protocols TCP and IP, the most widely used protocol in communication via Ethernet Protocpl for data transport and backup Protocol for file transfer via TCP/IP A target support package combines all configuration and expansion files that are needed to make a specific controller (target) usable for the programming environment CoDeSys provided by Festo. A minimal, connectionless network protocol that has a lower protocol overheat compared to TCP. This has the advantage of a faster exchange of data. Due to the lack of a reply, the correct transmission must be ensured, e.g.by means of a user program. Telegram data without protocol frame data. The length of the user data is defined in the configuration of the field bus slave World Wide Web Tab.0/2: Product specific terms and abbreviations XIII

16 Contents and general instructions XIV

17 System summary Chapter 1 1 1

18 1. System summary Contents 1.1 The CoDeSys controller CPX CEC The operating modes of the CPX CEC C The CoDeSys provided by Festo programming environment Programming languages Libraries Parameterisation Meaning of the LED displays CPX specific LEDs

19 1. System summary 1.1 The CoDeSys controller CPX CEC... The CoDeSys controller CPX CEC... is a modern control system for CPX terminals, which makes it possible to program with CoDeSys provided by Festo as per IEC The CoDeSys controller is available in the following variants: Variant Characteristics Availability CPX CEC C1 CPX CEC CPX CEC M1 CoDeSys controller with CANopen interface CoDeSys controller with RS232 interface CoDeSys controller with CANopen interface and function library for SoftMotion Available In preparation In preparation Tab.1/1: Variants of the CoDeSys controller 1 3

20 1. System summary Characteristics of the CoDeSys controller Programming with CoDeSys provided by Festo as per IEC Programming and communication via Ethernet Process visualisation within CoDeSys provided by Festo, with a type FED operator unit or with the software VipWin via Ethernet Additional process visualisation systems can be connected via the supplied OPC server if they have an OPC client The CPX CEC C1 offers a CANopen interface to which up to 31 CANopen slaves can be connected The CoDeSys controller controls a CPX terminal in the Stand Alone or Remote Controller operating mode Communication over field bus in connection with the use of the respective field bus node in the CPX terminal Control configuration of CoDeSys provided by Festo for commissioning, programming and diagnosis of the system Connection of a handheld of type CPX MMI. The handheld is used to display status and diagnostic information of the CoDeSys controller and for fast commissioning of the CPX modules in the CPX terminal. 1 4

21 1. System summary 1.2 The operating modes of the CPX CEC C1 The CPX CEC C1 can be operated in various operating modes, depending on the demand: Stand Alone Remote Controller Ethernet Remote Controller Field Bus (field bus node required) The individual operating modes are briefly presented in the following: Stand Alone operating mode CPX CEC C1 2 CPX terminal controlled by the CPX CEC C1 Fig.1/1: Stand Alone operating mode 1 5

22 1. System summary Remote Controller Ethernet operating mode Ethernet CPX CEC C1 connected to an Ethernet network for communication 2 CPX terminal controlled by the CPX CEC C1 Fig.1/2: Remote Controller Ethernet operating mode 1 6

23 1. System summary Remote Controller Field Bus operating mode CPX CEC C1 connected to the field bus for communication over the field bus node. 2 CPX field bus node, hier: CPX FB13 3 CPX terminal controlled by CPX CEC C1 Fig.1/3: Remote Controller Field Bus operating mode (fieldbus node required) 1 7

24 1. System summary 1.3 The CoDeSys provided by Festo programming environment Use CoDeSys provided by Festo to commission and program the CoDeSys controller. CoDeSys provided by Festo offers a convenient user interface with the following functions: Configuration and parameterisation of the CPX CEC C1 with control configuration Programming as per IEC Integrated module libraries Library administrator to integrate additional libraries Simulation mode, permits testing of projects on the PC, without PLC Visualisation with the integrated visualisation editor Documentation with the integrated project documentation Debugging functions: Testing program sequence, observing and changing variables, error search. To be able to use a controller (target) under CoDeSys provided by Festo, a so called Target Support Package is needed for the corresponding target. This permits access to the system functions of the target and contains corresponding informationen in the form of online help. The Target Support Package makes CoDeSys functions usable for the respective device or limits them, if necessary. With the Target Support Package, CoDeSys can support all these characteristics and functions of these devices. And so CoDeSys provided by Festo contains many functions that are available only on certain devices. 1 8

25 1. System summary CoDeSys provided by Festo is supplied with the Target Support Package for the CoDeSys controller. It also contains additional functions that are specially adapted to the CoDeSys controller. Information about which functions of CoDeSys provided by Festo are supported by the CoDeSys controller and which additional functions are available can be found in the online help (key word Functional Overview"). 1 9

26 1. System summary Programming languages CoDeSys provided by Festo offers five of the programming languages standardised in IEC ; see Tab.1/2. Each of these programming languages has certain characteristics that are especially suited for solving specific tasks. Programming languages Type Description Statement list (STL) Structured text (ST) Sequential function chart (SFC) Function diagram (FUN) or Free graphic function diagram (CFC) Ladder diagram (LDR) Text based programming language Graphic programming language The statement list enables the programmer to describe the working steps of controller functions with simple instructions. The language set up supports the efficient handling of complex tasks. Structured text comes closest to the programming languages used for the PC, such as Pascal and C. It consists of a number of statements that can be performed conditionally (IF..THEN..ELSE") or in loops (WHILE..DO), as in high level languages. Enables programming of sequencers and so is suited for structuring and organising projects. With transi tions and connections, the sequential function chart describes the time sequence of the various steps within the program. The function diagram works with a list of networks, whereby each network contains a structure that depicts a logical or arithmetic expression, calls up a function module, a jump or a return instruction. In addition, based on the function diagram, there is the free graphic function diagram (CFC), in which the elements are freely placed and feedback can be directly added. The ladder diagram was developed from the circuit diagram. The diagram of a LDR program is therefore similar to the diagram of a circuit diagram in relation to the diagram of logical links. Tab.1/2: Programming languages of CoDeSys provided by Festo 1 10

27 1. System summary Libraries To make programming easier, CoDeSys provided by Festo makes it possible to organise into libraries objects that are usable independently of projects, such as modules, declarations and visualisations. A library administrator, with which you can integrate and view libraries, is available for this purpose. You will find detailed descriptions on the libraries and programming in the online help Parameterisation Information on parameterisation of the entire system via the CoDeSys controller can be found in the online help. 1 11

28 1. System summary 1.4 Meaning of the LED displays The LEDs on the cover indicate the operating status of the CPX CEC C1 and are arranged in two groups. 1 Controller LEDs (see section 4.2) 1 2 RUN STOP ERROR TP 2 CPX specific LEDs PS PL SF M Fig.1/4: LED displays of the CPX CEC C1 1 12

29 1. System summary CPX specific LEDs The displays of the CPX specific LEDs are described in the following. Information on the controller LEDs can be found in section 4.2. PS (Power System) supply to the electronics LED (green) Sequence Meaning Error treatment LED lights up ON OFF No error. Operating voltage/sensor supply applied LED flashes ON OFF ON OFF Operating voltage/sensor supply outside the tolerance range Internal fuse for the operating voltage/sensor supply has responded Eliminate undervoltage 1. Eliminate short circuit/overload on module side. 2. Depends on the parameterisation of the module (module parameter): The sensor supply voltage will be switched on again auto matically after the short circuit has been eliminated (default) Power off/on is necessary LED is off ON OFF The operating voltage/ sensor supply is not applied Check the operating voltage connection of the electronics Tab.1/3: Displays of the LED PS 1 13

30 1. System summary PL (Power Load) load supply (outputs/valves) LED (green) Sequence Meaning Error treatment LED lights up ON OFF No error. Load voltage applied LED flashes ON OFF Load voltage at the system supply or additional supply outside the tolerance range Eliminate undervoltage Tab.1/4: Displays of the LED PL SF (System Failure) system error LED (red) Sequence 1) Meaning Error treatment ON OFF No error LED is off ON OFF Simple error/information (Error class 1) See description of error numbers in the CPX system manual LED flashes ON OFF Error (error class 2) LED flashes ON OFF Serious error (Error class 3) LED flashes 1) The system error LED flashes depending on the class of error which has occurred. Error class 1 (minor error): flash once, pause Error class 2 (error): flash twice, pause Error class 3 (serious error): flash three times, pause Tab.1/5: Displays of the LED SF 1 14

31 1. System summary M (Modify) Modify/force active LED (yellow) Sequence Meaning Error treatment ON OFF Force is not active LED is off LED flashes ON OFF Force is active The Force function is enabled (see CPX system manual, system parameter Force mode; function no.4402). Tab.1/6: Displays of the LED M Information on the controller LEDs can be found in section

32 1. System summary 1 16

33 Installation Chapter 2 2 1

34 2. Installation Contents 2.1 General installation instructions Dismantling and fitting Dismantling Fitting Connection and display elements Setting of the switches of the CoDeSys controller RUN/STOP rotary switch DIL switches Ethernet interface Ethernet cable Communication interfaces CANopen interface Connection of an operator unit type FED Connection of a handheld type CPX MMI Complying with protection class IP65/IP

35 2. Installation 2.1 General installation instructions Warning Danger of injury from electric shock. Always switch off the power supply before fitting or removing CPX modules. Caution The CoDeSys controller contains electrostatically sensitive components. Therefore, do not touch any components. Observe the handling specifications for electrostatically sensitive components. Note Check within the framework of your EMERGENCY STOP concept to ascertain the measures necessary for putting your machine/system into a safe state in the event of an EMERGENCY STOP (e.g. switching off power sources, load voltage supply, compressed air, etc.). Information about fitting the CPX terminal can be found in the CPX system manual type P.BE CPX SYS

36 2. Installation 2.2 Dismantling and fitting The CoDeSys controller is fitted in an interlinking block of the CPX terminal (see Fig.2/1) Dismantling Dismantle the CoDeSys controller as follows: 1. Loosen the four screws of the CoDeSys controller with a TORX screwdriver size T Pull the CoDeSys controller carefully and without tilting away from the contact rails of the interlinking block. 1 CPX CEC C1 2 Interlocking block 4 3 Contact rails 4 Screws Fig.2/1: Dismantling/fitting of the CoDeSys controller 2 4

37 2. Installation Fitting Note Fit the CPX CEC C1 to the left end position of the CPXterminal (Position 0). Fit the CoDeSys controller as follows: 1. Check the seal and seal surfaces. 2. Insert the CoDeSys controller in the interlocking block. Make sure that the grooves with the power contact terminals on the bottom of the CPX CEC lie above the power rails. 3. Push the CoDeSys controller carefully and without tilting as far as possible into the interlinking block. 4. Place the screws so that the self cutting threads can be used. Tighten the screws by hand. 5. Tighten the screws with a TORX screwdriver size T10 with torque Nm. 2 5

38 2. Installation 2.3 Connection and display elements The following connecting and display elements can be found on the CPX CEC C1: Status LEDs 2 RUN/STOP rotary switch 3 Ethernet interface (10/100BaseT, RJ45) 5 DIL switch 1 6 DIL switch 2 7 Connection for a handheld of typecpx MMI 4 CANopen interface (9 pin Sub D plug) Fig.2/2: Connection and display elements CPX CEC C1 2 6

39 2. Installation 2.4 Setting of the switches of the CoDeSys controller RUN/STOP rotary switch Note Leave the RUN/STOP rotary switch at position 0" (STOP) during installation. The switch setting of the RUN/STOP rotary switch with fourinternal digital inputs is passed on to the controller and can be evaluated there. Rotary switch Setting Meaning 0 STOP CPX CEC C1 stopped The STOP LED lights up yellow 1... F RUN CPX CEC C1 started The RUN LED lights up green Tab.2/1: Switch settings of the RUN/STOP rotary switch 2 7

40 2. Installation DIL switches The DIL switches must be accessible in order to set the CPX CEC C1: Remove, if applicable, the cover or an IP65/IP67 plug from the Sub D interface. DIL switch 1 DIL switch 1 is reserved. Leave the two switch elements of DIL switch 1 at OFF. CPX CEC C1 DIL switch 1 Reserved DIL 1.1: OFF DIL 1.2: OFF Tab.2/2: Setting the DIL switch 1 DIL switch 2 For CPX CEC C1, you can switch the CAN bus termination (120 ) on or off with DIL switch 2. CPX CEC C1 DIL switch 2 Termination switched off DIL 2.1: OFF DIL 2.2: OFF 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 2 8

41 2. Installation 2.5 Ethernet interface The Ethernet interface permits connection of a programming device, PC or type FED operator unit to the CoDeSys controller. The Ethernet interface is designed as an RJ45 socket. Socket Pin Signal Explanation Metal covering TD+ TD RD+ n.c. n.c. RD n.c. n.c. Shield Transmitted data+ Transmitted data Received data+ not connected not connected Received data not connected not connected Screening Tab.2/4: Pin assignment of the Ethernet interface If the Ethernet interface is not used, close it with the AK RJ45 cover. In this way you will comply with protection class IP65/IP

42 2. Installation Ethernet cable Use as connecting cable: Cable specification Screened flexible Ethernet round cable of category 5 Max. outer diameter: 5.4 mm Core diameter: mm AWG24 26 Ready made: Crimping pliers on RJ45 Note If the CPX terminal is fitted onto a moving part of a machine, the Ethernet cable on the moving part must be provided with strain relief. Network connection In order to connect your CoDeSys controller to a network or PC, you will require a patch or crossover cable. The interface automatically recognises which cable is connected and automatically converts the signals. Note Use the RJ 45 plug from Festo in order to comply with protection class IP65/IP67. Type FBS RJ45 8 GS Observe the fitting instructions for the plug. Fig.2/3: RJ 45 plug type FBS RJ45 8 GS 2 10

43 2. Installation 2.6 Communication interfaces CANopen interface On the CPX CEC C1, there is a CANopen interface for connection of CAN bus slaves. The CANopen interface is designed as a 9 pin Sub D plug. Plug Pin Signal Internal contacts Explanation Housing (plug) n.c. CAN_L CAN_GND n.c. CAN_SHLD CAN_GND CAN_H n.c. n.c. FE not connected CAN low CAN ground not connected Connection to functional earth (FE) 2) CAN ground (optional) 1) CAN high not connected not connected The plug housing must be connected to FE 2) 1) If a drive controller with external voltage supply is connected, CAN ground (optional), pin 6 cannot be used on the CPX CEC C1. 2) FE: Functional earthing Tab.2/5: Pin assignment for the CANopen interface The connected CAN bus slaves are not supplied with power over the CANopen interface. 2 11

44 2. Installation Connecting the CAN bus CAN bus line Note Faulty installation or high transmission rates may cause data transmission errors as a result of signal reflections and attenuations. Transmission errors can be caused by: missing or incorrect terminating resistor incorrect screened connection branches large distances unsuitable cables. Use a twisted, screened 4 core cable as CAN bus line. The CoDeSys controller communicates with the drive controllers via the CAN bus line. If the Festo CAN bus plug is used, a cable diameter of 5...8mm or mm is permitted. Note If the CPX terminal is fitted onto the moving part of a machine, the CAN bus line on the moving part must be provided with strain relief. Also observe the relevant regulations in EN60204 part

45 2. Installation Connection with Festo CAN bus plug Note Use protective caps or blanking plugs to seal unused connections. You will then comply with protection class IP65/IP67. Note the fitting instructions for the CAN bus plug. Tighten the two fastening screws at first by hand and then with max. 0.4 Nm. You can connect the CPX CEC C1 easily to the CAN bus with the CAN bus plug from Festo, type FBS SUB 9 BU 2x5POL B. You can disconnect the plug from the node without interrupting the bus cable (T Tap function). 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.2/4). Clamp the screening of the CAN bus cable under the clamp strap in the CAN bus plug. 2 13

46 2. Installation 1 Folding cover with inspection window Clamp strap for screening connection 1) 3 Protective cap if connection is not used 4 CAN bus outgoing (OUT) GND HL V+ SLD GND HL V+ SLD 5 CAN bus incoming (IN) 6 Sub D plug 1) 1) connected capacitively Fig.2/4: CAN bus plug from Festo, type FBS SUB 9 BU 2x5POL B 2 14

47 2. Installation Further connection possibilities for the CAN bus with adapters Caution Make sure of the correct polarity when you connect the CAN bus interface. Connect the screen. There are further possibilities of connecting the CAN bus with adapters, which can be ordered separately from Festo. These adapters and additional accessories can be found under: è M12 adapter 5 pin (protection class IP65), type FBA 2 M12 5POL Screw terminal adapter 5 pin (protection class IP20), type FBA 1 SL 5POL 2 15

48 2. Installation 2.7 Connection of an operator unit type FED The operator unit type FED is a display for operating and observing automation tasks at the field level. Follow the accompanying user documentation when installing the device. Fig.2/5: CPX terminal with CPX CEC C1 and operator unit type FED incl. optional Ethernet interface Connect an operator unit of type FED with Ethernet interface to the CoDeSys controller using an Ethernet cable. 2 16

49 2. Installation 2.8 Connection of a handheld type CPX MMI The 5 pin M12 socket serves to connect a handheld for fast preliminary commissioning, diagnosis or parameterising. To ensure the consistency of the displayeed data, the connection to the CPX MMI is interrupted during a program download. Use only the following original cables (è for connecting the handheld: Type Cable length in [m] KV M12 M12 3,5 3.5 KV M12 M12 1,5 1.5 Tab.2/6: Connection cable for handheld type CPX MMI Information on the handheld can be found in the device s accompanying user documentation. Fig.2/6: CPX terminal with handheld type CPX MMI 2 17

50 2. Installation 2.9 Complying with protection class IP65/IP67 In order to comply with protection class IP65/IP67, seal unused sockets and the switch with the appropriate covers. Connection/ switch Ethernet, RJ45 Connection IP65/IP67 Plug type FBS RJ45 8 GS Cover 1) IP65/IP67 Cover 2) type AK RJ45 CANopen interface, Sub D and DIL switch Plug type FBS SUB 9 BU 2X5POL B Transparent cover 2) type AK SUB 9/15 B Service interface, M12 Connecting cable and plug of the CPX MMI Protective cap 2) type ISK M12 Rotary switch Cover 2) type AK RJ45 1) If connection is not used 2) Included in scope of delivery Tab.2/7: Connections and covers for protection class IP65/IP

51 Commissioning Chapter 3 3 1

52 3. Commissioning Contents 3.1 Prerequisites for commissioning First steps Configuration of the CPX modules Configuration of the CANopen slaves Parameterisation Parameterisation via control configuration in CoDeSys Parameterisation via the handheld type CPX MMI Forcing

53 3. Commissioning 3.1 Prerequisites for commissioning Caution Danger of injury due to undesired movements of the connected actuators Test projects and programs at first without active actuators and without compressed air. 1. Install the program environment CoDeSys provided by Festo on a PC on which you carry out commissioning, configuration and programming. Detailed installation instructions can be found on the accompanying CD ROM. Observe the instructions on the cover of the CD ROM. 2. Connect the PC to the CoDeSys controller. 3.2 First steps 1. Start the CoDeSys provided by Festo. 2. Create a new project. 1. Select the target system. 2. If necessary, change the settings for the target system. 3. Create the program module PLC_PRG". Select the language of the module, e.g. STL. 4. In the Object Organizer", change to Resources". 3 3

54 3. Commissioning 5. Open the PLC Configuration". 6. Select the Root node, if applicable. 7. Open the Network configuration" register. 8. Carry out the Search network" function. 9. Select the desired CoDeSys controller. 10. Carry out the Set as active PLC" function. 11. Back up the project. You can now log in to the controller, if necessary. Fig.3/1: Network configuration using the example of the CPX CEC C1 3 4

55 3. Commissioning 3.3 Configuration of the CPX modules You will find detailed information on configuration of the CPXmodules in the online help. After you have created a new project in section 3.2 and selected the desired CoDeSys controller, now continue commissioning with configuration of the CPX modules. 1. Click in the window PLC Configuration" on the nodes to the left of the CPX CEC Click with the right mouse key on the element IOModules[FIX]". Fig.3/2: Configuration of the CPX modules Now you can perform module configuration automatically or manually. 3 5

56 3. Commissioning Automatic module configuration Perform the [Scan module configuration] function if you want to perform module configuration automatically. The I/O modules of a CPI module are not included in automatic module configuration. In this case, carry out a manual module configuration (see next section) or perform the Scan" function in the CP Modules" register. Fig.3/3: CP Modules" register 3 6

57 3. Commissioning Manual module configuration Select [Append Subelement] if you want to perform module configuration manually. Attach the CPX modules from left to right in the physical sequence on the CPX terminal. The modules are added at the bottom in the tree structure. The CoDeSys controller sits in the CPX terminal to the far left at position 0. From the list of the CPX modules, select the CPX module to the right of CPX CEC... Repeat [Append Subelement] until you have selected all CPX modules. Addressing of inputs and outputs takes place automatically (preset in the delivery condition of the device). For each module, at least 4 bytes of inputs or outputs are reserved. The rotary switch of the CPX CEC C1, for example, occupies only 4 bits of inputs, but 4 bytes are reserved. Alternatively, you can also manually address the inputs and outputs. Information can be found in the online help. 3. Back up the project. 3 7

58 3. Commissioning 3.4 Configuration of the CANopen slaves Now continue commissioning with configuration of the CANopen slaves. Addressing of the inputs and outputs takes place automatically. For each CANopen slave, at least 4 bytes of inputs or outputs are reserved. The input and output addresses of the CANopen slaves are attached to the input and output addresses of the CPX modules. When the Automatic addresses" option is selected, a change of configuration of the CPX modules results in a change of the address assignment of the CANopen slaves. 1. In the PLC Configuration" window, click with the right mouse key on the Root node of the CoDeSys controller. 2. In the [Append Subelement] menu option, choose the option [CANopen master]. The [CANopen master] appears in the Control configuration after the [IOModules]. 3. Click on [CANopenMaster[VAR]] with the right mouse button. 4. Choose [Append Subelement]. 5. Select a CANopen slave. 6. Repeat steps 3 to 5 until you have selected all CANopen slaves. You will find detailed information on configuration of the CANopen slaves in the online help and in the file CANopenfor 3S Runtime Systems V2_...pdf" in the installation directory of CoDeSys provided by Festo. 3 8

59 3. Commissioning 3.5 Parameterisation The CPX terminal is supplied from the factory with preset parameters. If required, you can set the reaction of the CPX terminal as well as the reaction of individual modules and channels by parameterising. A distinction is made between the following parameterisa tions: system parameters,e.g.: switching off fault messages, setting reaction times, etc. module parameters (module and channel specific),e.g.: monitoring, settings in the event of errors, settings for Forcing diagnostic memory parameters. Detailed specifications on the parameters and data as well as basic information on parameterisation of the CPX terminal can be found in the CPX system manual type P.BE CPX SYS... Detailed information on the module parameters can be found in the user documentation of the respective modules. The following parameterisation options are available: Parameterisation via... Manual Properties Control configuration in CoDeSys: logout Handheld type CPX MMI Access to all parameters of the CPX terminal Parameterisation is carried out via menu listed entries with the handheld Convenient parameterisation via a PC Parameterisation is stored in the project, i.e. the parameters remain after Power OFF/ON Parameterisation is saved only locally in the CPX terminal and is lost with Power OFF/ON Tab.3/1: Possibilities of parameterisation 3 9

60 3. Commissioning Parameterisation via control configuration in CoDeSys Detailed information on parameterisation can be found in the online help. You can easily parameterise the CPX terminal with the control configuration. Parameterisation can be undertaken for: the setpoint configuration (logout): Parameters are transferred when the project is loaded. When the relevant dialogue has been opened, you can view and modify the individual parameters. Parameters cannot be changed in the online mode. In the following, parameterisation is described using the example of the Root node: Click in PLC Configuration" on the symbol for the CPX CEC. Settings Set the following parameters in the Settings" register, ifnecessary: Fig.3/4: Settings" register 3 10

61 3. Commissioning Module #0 In the Module #0" register, you receive the following information on the CoDeSys controller: Fig.3/5: Module #0" register Network configuration (logout) Look for the controller for which you want to prepare the new CoDeSys project in the Network configuration" register: Fig.3/6: Network configuration" register 3 11

62 3. Commissioning System parameters Set the system parameters in the System Parameters" register: Fig.3/7: System Parameters" register Trace parameters Set the following parameters in the Trace Parameters" register: Fig.3/8: Trace Parameters" register 3 12

63 3. Commissioning Parameterisation via the handheld type CPX MMI The parameters of the CPX terminal can be read and modified via a connected handheld. Note Parameterisations via the handheld are saved only locally in the CPX terminal and are lost with Power OFF/ON. Further information on parameterising with the handheld can be found in the manual type P.BE CPX MMI

64 3. Commissioning 3.6 Forcing Through forcing, you can compel input and output signals. Actual input signals or status changes by program are ignored and replaced by the force values. Warning High acceleration forces at the connected actuators! Undesired movements of the actuators can cause collisions and severe injuries. Be very careful when forcing in order to avoid undesired movements of the actuators. Make sure that no persons are in the operating range of the drives or any other connected actuators. Forcing of inputs with handheld type CPX MMI Forcing an input does not modify the input signal itself and cannot be observed at the relevant status LED. The logical status of the input changes internally and in some cases has an effect on the program. The forced input status is trans ferred to the processing image of the inputs. The online display in CoDeSys provided by Festo therefore shows the forced input signal. Forcing of outputs with handheld type CPX MMI Forcing an output does modify the actual output signal and can be observed at the relevant status LED. However, the forced output signal is not transferred to the processing image of the outputs. The online display in CoDeSys provided by Festo does not show the forced, physical output signal, but the status from the processing image. 3 14

65 3. Commissioning Note The online display in CoDeSys provided by Festo always shows the signal status valid in the process diagram. When forcing with the handheld type CPX MMI, observe the following: Forced input states are transferred to the processing image and therefore recognized by the controller. They are visible in the online dislpay. Forced output states are not transferred to the processing image and are therefore not recognized by the controller. They are not therefore represented in the online display. You have various possibilities of temporarily influencing input or output signals, e.g. for test purposes: Forcing via the handheld type CPX MMI Forcing with the online display in CoDeSys provided by Festo. Further information on forcing can be found in the CPX system manual type P.BE CPX SYS... and in the online help. If several functions are active at the same time, the following applies: Force signals have the highest priority Forcing via the handheld has higher priority than forcing with the online display. 3 15

66 3. Commissioning 3 16

67 Diagnosis Chapter 4 4 1

68 4. Diagnosis Contents 4.1 General error response of the CoDeSys controller Diagnosis via controller LEDs Further diagnostics options

69 4. Diagnosis 4.1 General error response of the CoDeSys controller Warning If an error occurs, the controller does not stop but continues with the program processing. Undesired movements of the actuators can thus cause collisions and severe injuries. Include error handling mechanisms for all error categories in the user program. Make sure that no persons are in the operating range of the drives or any other connected actuators. The CoDeSys controller makes available the following error handling mechanisms in user programs: System event CPX_system_fault Channel/module diagnosis in the flag words Module support in the Festo_CPX.lib You will find detailed information on error handling in user programs in the online help. 4 3

70 4. Diagnosis For the CoDeSys controller, the following diagnostics options are available: Diagnosis via... Advantages Description Status LEDs Handheld type CPX MMI Control configuration User program Fast on the spot recognition of faults Fast on the spot recognition of faults Online diagnosis without programming Detailed diagnostic evaluation: System event CPX_system_fault Channel/module diagnosis in the flag words Module support in the Festo_CPX.lib Controller LEDs see section 4.2 CPX specific LEDs, see section 1.4 See CPX system manual See online help See online help Tab.4/1: Diagnostics options of the CoDeSys controller 4 4

71 4. Diagnosis 4.2 Diagnosis via controller LEDs The controller LEDs have the following meaning: RUN PLC status: started LED (green) Sequence Status Error number Error handling LED lights up ON OFF PLC program started (RUN/STOP switch is in position 1... F") LED is off ON OFF PLC program stopped (RUN/STOP switch is in position 0") Set RUN/STOP switch to position 1... F" Tab.4/2: Displays of LED RUN STOP PLC status stopped LED (yellow) Sequence Status Error number Error handling LED lights up ON OFF PLC program stopped (RUN/STOP switch is in position 0") LED is off ON OFF PLC program started (RUN/STOP switch is in position 1... F") Set RUN/STOP switch to position 0" Tab.4/3: Displays of LED STOP 4 5

72 4. Diagnosis ERROR PLC run time error LED (red) Sequence Status Error number Error handling LED lights up LED is off ON OFF ON OFF PLC program error CPX error Read out error code over handheld or CoDeSys pbf No error Tab.4/4: Displays of LED ERROR TP Ethernet connection: link/traffic LED (green) Sequence Status Error number Error handling ON OFF Ethernet connection OK LED lights up ON OFF Data transfer active (LED flashes irregularly) LED flashes LED is off ON OFF Ethernet connection to the parameterisation PC not OK Check the connection the IP address Tab.4/5: Displays of the LED TP 4 6

73 4. Diagnosis 4.3 Further diagnostics options Detailed information on diagnosis with the handheld typecpx MMI can be found in the CPX system manual typep.be CPX SYS... You will find detailed information on diagnostics for the controller configuration in CoDeSys provided by Festo and user programs in the online help. 4 7