CPX CPX-FB14 - Pneumatic & electric automation technology ... · 1.3.4 .1-)/5..... 1-27 1.3.5 Festo...
Transcript of CPX CPX-FB14 - Pneumatic & electric automation technology ... · 1.3.4 .1-)/5..... 1-27 1.3.5 Festo...
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IFesto P.BE-CPX-FB14-ZH zh 1411d ��
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P.BE-CPX-FB14-ZH............................
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©(Festo AG & Co. KG,��:73726 Esslingen,� ,2013)� : http://www.festo.com����: [email protected]
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IIIFesto P.BE-CPX-FB14-ZH zh 1411d ��
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#$*�� VI...........................................................
"� % VII............................................................
&+ VII.................................................................
������ VIII.......................................................
�'��,�� IX.......................................................
1. � 1-1.........................................................
1.1 $��(������ 1-3.........................................
1.2 -)*+� DIL .$��, 1-8....................................
1.2.1 /���( DIL .$�0- 1-8............................
1.2.2 DIL .$�, 1-9.........................................
1.3 .1-)��/ 1-23...............................................
1.3.1 .1-)�0 1-23.........................................
1.3.2 .1-)123�.1-)�2 1-24.........................
1.3.3 �$.1-)�/�34 1-25...............................
1.3.4 .1-)/5 1-27.........................................
1.3.5 �� Festo .1-)46�/ 1-28..........................
1.3.6 ��.1-)��78/9��/�� 1-30.................
1.4 856���-)56。 1-33.......................................
1.4.1 '��/97�(56�� 1-33...........................
1.5 :��8 1-34.....................................................
2. � 2-1.........................................................
2.1 CANopen � �;��� 2-4.......................................
2.1.1 CANopen ���34 2-5...................................
2.2 �, 2-6.........................................................
2.2.1 Layer Setting Service (LSS) 2-6..........................
2.2.2 LSS <� 2-6.............................................
2.2.3 LSS � �;��, 2-24...................................
2.2.4 CPX 56�=>�* 2-26...................................
2.2.5 �,�? 2-29.............................................
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IV Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.3 9: 2-35.........................................................
2.3.1 @;<A=� 2-35.........................................
2.3.2 B�")�:> 2-36.......................................
2.3.3 CPX 56/�7�?� 2-37.................................
2.3.4 �@��AC� 2-39.......................................
2.4 B�") 2-41.....................................................
2.4.1 �3�� 2-41.............................................
2.4.2 PDO BC9: 2-46.........................................
2.4.3 DDE�F6(� PDO 1) 2-47...........................
2.4.4 DDE�G6(/E PDO 1) 2-50...........................
2.4.5 �! 0 … 3 FGE�F6(� PDO 2) 2-55................
2.4.6 �! 0 … 3 FGE�G6(/E PDO 2) 2-60................
2.4.7 �! 4 … 15 FGE�F6(� PDO 3) 2-62...............
2.4.8 �! 4 … 15 FGE�G6(/E PDO 3) 2-65...............
2.4.9 HHFI、IJ�、I/O "J/5 (PDO 4) 2-68...............
2.4.10 Manufacturer Specific Profile 2-72........................
2.4.11 KKB��9: 2-79.......................................
2.4.12 L� 2-81.................................................
2.4.13 @;C��LGFI 2-85...................................
2.5 MD�, 2-91.....................................................
2.5.1 NO7�MD�, 2-91.....................................
2.5.2 ��P (,�*MD 2-92.................................
2.5.3 MD�,�Q��? 2-92...................................
2.6 MN� CPX 56��� 2-93........................................
2.6.1 OP#��,QR$?IJ 2-94.............................
3. �� 3-1.........................................................
3.1 "JRE9� 3-3.................................................
3.2 �� LED S�T%?"J 3-4......................................
3.2.1 QR$?IJ 3-5.........................................
3.2.2 CPX �� LED S�T PS、PL、SF、M �U� 3-6.............
3.2.3 CANopen �� LED S�T MS、NS、IO �U� 3-9............
3.3 ��IJ�"J 3-12...............................................
3.4 �� I/O "J/5%?"J 3-13....................................
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VFesto P.BE-CPX-FB14-ZH zh 1411d ��
3.5 �� CANopen %?"J 3-14........................................
3.5.1 VS34 3-15.............................................
3.5.2 CPX P#W� 3-20.........................................
A. ����� A-1...................................................
A.1 -)*+ CPX-FB14 �HHMD A-3.................................
A.2 �?:�3XY A-5...............................................
A.2.1 �? 1:NO CANopen �� A-5............................
A.2.2 �? 2:�,�G6 A-5...................................
A.2.3 �? 3:NO“Node guard”Z[ A-6.......................
A.2.4 �? 4:T&B� A-7.....................................
A.2.5 �? 5:UFB� A-8.....................................
B. ����� B-1...................................................
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VI Festo P.BE-CPX-FB14-ZH zh 1411d ��
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Rev 24 (19.11.08)Rev 20 (10.10.07)
– ��@;C�B��LGFI(� y* 2.4.13)
Rev 14 (12.07.05) – CPX-FEC– CPX-CP /5
2013 x 04 z 23 {� EDS ��
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CPX ���)*�#+,-./01,34 CPX 56���
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m�'{FI����|}�" CPX FI�34。
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1.1 $��(������ 1-3.........................................
1.2 -)*+� DIL .$��, 1-8....................................
1.2.1 /���( DIL .$�0- 1-8............................
1.2.2 DIL .$�, 1-9.........................................
1.3 .1-)��/ 1-23...............................................
1.3.1 .1-)�0 1-23.........................................
1.3.2 .1-)123�.1-)�2 1-24.........................
1.3.3 �$.1-)�/�34 1-25...............................
1.3.4 .1-)/5 1-27.........................................
1.3.5 �� Festo .1-)46�/ 1-28..........................
1.3.6 ��.1-)��78/9��/�� 1-30.................
1.4 856���-)56。 1-33.......................................
1.4.1 '��/97�(56�� 1-33...........................
1.5 :��8 1-34.....................................................
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1-9Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.2.2 DIL .$�,
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– W�/Layer Setting Service
– 123
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7. ' RemoteUI/O FE�:0�, CPX "JFE(DIL .$ 5)。
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8. 0�(0-(y* U1.2.1)。
1. �(
1-10 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1 DIL .$ 1:$?FE
2 DIL .$ 2:¸�eP#34FE
3 DIL .$ 3: W�
4 DIL .$ 4:123
5 DIL .$ 5:CPX "JFE�“RemoteController”FE�NO I/O�D\
12
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56
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1 2 1 2
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1 2 1 2
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3
4
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(�$ 1U…U5 �e�34}��)
1. �(
1-11Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 1 �,$?FE
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LM DIL G� 1 #HI
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Remote Controller LM]�' CPX 56�� FEC � CEC 4� I/O [�。k�� FEC � CEC ]�� CPX 567,?�$?FEº�l。
DIL 1.1: ONDIL 1.2: OFF
Tab 1/1: DIL .$ 1($?FE)
1. �(
1-12 Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 2 HINOLM
�� 2 �E DIL .$ 2 �.$�� 1 �,P#FE:
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P�QR�NO 2.1:OFF(GY�,)
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1-13Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 3 HITU�
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CANopen W� 1; ...; 127
Tab 1/3: �� W�
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1. �(
1-14 Festo P.BE-CPX-FB14-ZH zh 1411d ��
%�:H�#TU�:05 %�:H�#TU�:38
12
34
56
78
20 + 22 =1 + 4 =5 1
23
45
67
8
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'�>Á`�,m��¬´�$ W��,�9:。
1. �(
1-15Festo P.BE-CPX-FB14-ZH zh 1411d ��
TU� 1 2 3 4 5 6 7 8 TU� 1 2 3 4 5 6 7 8
0 ¶· LSS
(V1.26 ���<��)16
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11 ON ON
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OFF
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14OFF
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15 ON ON ON ON
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Tab 1/5: W� 1 … 31 ��,:DIL .$����,
1. �(
1-16 Festo P.BE-CPX-FB14-ZH zh 1411d ��
TU� 1 2 3 4 5 6 7 8 TU� 1 2 3 4 5 6 7 8
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Tab 1/6: W� 32 … 63 ��,:DIL .$����,
1. �(
1-17Festo P.BE-CPX-FB14-ZH zh 1411d ��
TU� 1 2 3 4 5 6 7 8 TU� 1 2 3 4 5 6 7 8
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ON 80OFF OFF OFF OFF
ON
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ON
65 ON
OFF OFF OFF OFF OFF
ON 81 ON
OFF OFF OFF
ON
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66OFF
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ON 82OFF
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OFF OFF
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67 ON ON
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68OFF OFF
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ON 84OFF OFF
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69 ON
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OFF OFF OFF
ON 85 ON
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70OFF
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ON 86OFF
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71 ON ON ON
OFF OFF OFF
ON 87 ON ON ON
OFF
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72OFF OFF OFF
ON
OFF OFF
ON 88OFF OFF OFF
ON ON
OFF
ON
73 ON
OFF OFF
ON
OFF OFF
ON 89 ON
OFF OFF
ON ON
OFF
ON
74OFF
ON
OFF
ON
OFF OFF
ON 90OFF
ON
OFF
ON ON
OFF
ON
75 ON ON
OFF
ON
OFF OFF
ON 91 ON ON
OFF
ON ON
OFF
ON
76OFF OFF
ON ON
OFF OFF
ON 92OFF OFF
ON ON ON
OFF
ON
77 ON
OFF
ON ON
OFF OFF
ON 93 ON
OFF
ON ON ON
OFF
ON
78OFF
ON ON ON
OFF OFF
ON 94OFF
ON ON ON ON
OFF
ON
79 ON ON ON ON
OFF OFF
ON 95 ON ON ON ON ON
OFF
ON
Tab 1/7: W� 64 … 95 ��,:DIL .$����,
1. �(
1-18 Festo P.BE-CPX-FB14-ZH zh 1411d ��
TU� 1 2 3 4 5 6 7 8 TU� 1 2 3 4 5 6 7 8
96OFF OFF OFF OFF OFF
ON ON 112OFF OFF OFF OFF
ON ON ON
97 ON
OFF OFF OFF OFF
ON ON 113 ON
OFF OFF OFF
ON ON ON
98OFF
ON
OFF OFF OFF
ON ON 114OFF
ON
OFF OFF
ON ON ON
99 ON ON
OFF OFF OFF
ON ON 115 ON ON
OFF OFF
ON ON ON
100OFF OFF
ON
OFF OFF
ON ON 116OFF OFF
ON
OFF
ON ON ON
101 ON
OFF
ON
OFF OFF
ON ON 117 ON
OFF
ON
OFF
ON ON ON
102OFF
ON ON
OFF OFF
ON ON 118OFF
ON ON
OFF
ON ON ON
103 ON ON ON
OFF OFF
ON ON 119 ON ON ON
OFF
ON ON ON
104OFF OFF OFF
ON
OFF
ON ON 120OFF OFF OFF
ON ON ON ON
105 ON
OFF OFF
ON
OFF
ON ON 121 ON
OFF OFF
ON ON ON ON
106OFF
ON
OFF
ON
OFF
ON ON 122OFF
ON
OFF
ON ON ON ON
107 ON ON
OFF
ON
OFF
ON ON 123 ON ON
OFF
ON ON ON ON
108OFF OFF
ON ON
OFF
ON ON 124OFF OFF
ON ON ON ON ON
109 ON
OFF
ON ON
OFF
ON ON 125 ON
OFF
ON ON ON ON ON
110OFF
ON ON ON
OFF
ON ON 126OFF
ON ON ON ON ON ON
111 ON ON ON ON
OFF
ON ON 127 ON ON ON ON ON ON ON
Tab 1/8: W� 96 … 127 ��,:DIL .$����,
1. �(
1-19Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 3 YZ Layer Setting Service (LSS)
U-)*+ CPX-FB14 ½ A[ CiA DSP-305 � Layer
Setting Service (LSS)。
«¬ Layer Setting Service (LSS),LSS � �;��
�� CANopen -)ed LSS � �;�123�*+W�。
0�� 8 �E DIL .$ 3 ¶· LSS。
� ��0� DIL .$ 3 �.$�� 1 … 7 �,�OFF( W� = 0)。
1 ¶· LSS(.$��1U…U7)
12
34
56
78
1
Fig. 1/5: DIL .$ 3( W�)
JK DIL G� 3 7I[
�� DIL .$ 3 �.$�� 8 ���-)*+���G
Y�,。
CPX 56��8Â$J。
1. 0� DIL .$ 3 �.$�� 8 �,� ON。
2. 0/� CPX 56��8 (Power on)。
' Boot up ¾5U-)*+����GY�,。
3. 0� DIL .$ 3 �.$�� 8 ÿ�,� OFF。
1. �(
1-20 Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 4 HI\]^
0�� 2 �E DIL .$ 4 �,123:
\]^ DIL G� 4 #HI
125 kBaud 4.1:OFF4.2:OFF(GY�,)
250 kBaud 4.1:ON4.2:OFF
500 kBaud 4.1:OFF4.2:ON
1000 kBaud 4.1:ON4.2:ON
Tab 1/9: DIL .$ 4(123)
�>�U� DIL .$��,。
1. �(
1-21Festo P.BE-CPX-FB14-ZH zh 1411d ��
JK DIL G� 5 HI��LM_`a I/O #[b
([d�e9)
DIL .$ 5 �@;/� CPX 56u�,�$?FE(� Tab 1/1):
– Remote I/O FE:�, CPX "JFE。IJ�·� PDO 4 �� 8 ; Bit,I/O "J/5·�16 ; Bit(Bit 0 … 7 � 0 … 15,� Fig. 2/1)。
– Remote Controller FE:' PDO 1 ��:� 64 ; I/O,����-)*+FEC/CEC !5��3 (� Fig. 2/2)。
Remote I/O LM Remote Controller LM HIDIL G� 5��LM I/O g�[([d�e9)
I/O ��h��ij�k�l(+ 0 I/O Bits)
����ÅÆ^� 3.1:OFF3.2:OFF(GY�,)
ij�kG� 1)
(+ 8 (16) I Bit)3.1:OFF3.2:ON
I/O ��h�kG� 1)
(+ 16 I/O Bits)3.1:ON3.2:OFF
����ÅÆ^� 8 Byte I/8 Byte O��-)*+ CPX-FEC �CPX-CEC ��H
3.1:ON3.2:ON
1)"JFE(IJ�� I/O "J/5)·� 2 Byte � 4 Byte =>À5(16 I Bit �16 I/O Bit;'�FE�IJ���� 8 I Bit ���)
Tab 1/10: DIL .$ 5("JFE� Remote Controller �� I/O D*D)
1. �(
1-22 Festo P.BE-CPX-FB14-ZH zh 1411d ��
;<(1) '"JFE¶·�¸¹�,PDO 4 ����=>À5�$ÇÈ
��"JFE(IJ�� I/O "J/5)�·� PDO 4�� 16 I _ 16 I/O Bit。B[HHFI��7,?�ÇÈ����FI�3� I/O Bit �D\。 ¤�,�=Á/a#�IJ�"J34,�'7)ÇÈ�*>FI�D\。
0'��m� CPX 567�h�Â!b¸¹。
(2) �´¶·"JFE7Z'��%?�,
'�´¶·"JFE(IJ�� I/O "J/5)7,CPX �9� I/O KÉ�;$��dÊ。 0�� Power
OFF/ON ��NOU CPX 56。
1. �(
1-23Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3 m���#nh
1.3.1 .1-)�0
;<�(cd���3�e7,�;$¤3��K�3��ËB�Dh��P#。
Dh��P#��;¤�:
– ÃÈ�cd�56��
– ÌÄ�/cd
– CX
– ��frÍ�
– �;���0。
0�h�0$£! 0�m�[�9P��Á/�0~"
�!$34。
0�� 4 B�Å)ÌÄ�0V�.1-)�0。 ��.1-)�0µ CPX 56� CANopen -)/5:�。
�� Festo �.1-)467,_��0tÎ� 5 … 8
� 7 … 10 mm。
;<�Æ�('p9g� CPX 56��ÇO,o�)Bp9·O9���.1-)�0�;�;Ï)QfÈ(�。
0.d EN60204 $<É 1 9C!Q�$*。
1. �(
1-24 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3.2 .1-)123�.1-)�2
��³�.1-)�2�½)�2/Ä�u��123。 hÊ��,0¬´mu�[�MN�-)/5�P�。
;<� 0§hmu�[�MN��-)/5�P��*,;��mu�[�9� T "/9���³�½)�2。
� �#,'�Ë��³�.1-)�0�27,P0�h½)�-�2。
1. �(
1-25Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3.3 �$.1-)�/�34
-)�8 0R£-)/5�8� CPX 56!5�fr�µ。
9:� '�/.1-)/5�-)/5�8/�9NO�87,0�hk�。
� 0��#9-)/5��8-))� +�D"!Ð�。
� �/ÌÄ。
;<Z��.1-)�0:�(D-Sub 46��JÌ 3 �JÌ 9)。
�Ñ�B&�-))� +r��Ñ�/5�8�Ò。'%?-)�2$Ó��8ÔÕ7Z�Â}?+。
��-)/5�8�Ò;��U CPX 56(D-Sub 46��JÌ 3/JÌ 9):U³µ= 30.0 VU³�= 11.0 V
��:0��8Í}-)�5�,。
1. �(
1-26 Festo P.BE-CPX-FB14-ZH zh 1411d ��
*� Festo �.1-)46��Á��; T "/9@; (� Fig. 1/6)。
ÓÓÓÓ
2 31
4
5
6
1 .1-)
2 :��8
3 ÌÄ
4 ½)
5 T "/9 (T-Tap)
6 .1-)46,8 T ¿/9@;
Fig. 1/6: -)/5����/�?
1. �(
1-27Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3.4 .1-)/5
'U-)*+�(��; 9 J D-Sub 46,���46�� CPX 56�/}.1-)。 U/5��.1-)�0�/F�/G。 0��"�� FBS-SUB-9-BU-2x5POL-B
� Festo .1-)46�/ CPX 56。
;<0�h,k� Festo �.1-)46º;��T}+0j¡ IP65。
�/�"�B&�.1-)46y:
� 0��¤Î(UNCU4-40/M3x6 ")Ïq?�;Ö6¤H。
CPX ���#op
qr �sthJ
CANopen �W
51
96
123456789#×(46)
FE
n.c.CAN_LCAN_GNDn.c.CAN_SHLDGNDCAN_Hn.c.CAN_V+
��/CAN -) Low-)�8 (0 V)��/}@;/=��/(ÌÄ)��� GNDCAN -) High��/-)�8 (24 V)
Tab 1/11: CPX -)*+�.1-)/5�JÌC�
1. �(
1-28 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3.5 �� Festo .1-)46�/
;<0��0-�À�§6¦§����/5。 ��!.+0j¡ IP65。
� 0�h.1-)46��(S�。 i¾POÐ�;¶*¤H,®´�³µ 0.4 Nm �f��±V!
�� Festo .1-)46 (FBS-SUB-9-BU-2x5POL-B),�RØ=� CPX 56�/}.1-)�。 OZ%J-)�0(T-Tap @;),���46�*+��.。
;<Festo .1-)46��/)Ù'�9k����D-Sub 46�I�#×!�。 ? ��+aÑ��XX�.1-)�0�ÌÄ� (Fig. 1/7)。
� �.1-)�0�ÌÄÙ}.1-)46�/)Ù�。
1. �(
1-29Festo P.BE-CPX-FB14-ZH zh 1411d ��
1 8�Ò�Ó-
2 ÌÄ�/�/)Ù
3 /5���7u��0-
4 .1-)�G(OUT)
5 .1-)�F(IN)
6 k����/
V+
GN
D H LS
LD
V+
GN
D H LS
LD
21 3
456
-) IN
-) OUT
Fig. 1/7: Festo �.1-)46,"� FBS-SUB-9-BU-2x5POL-B
1. �(
1-30 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.3.6 ��.1-)��78/9��/��
9:� '�/.1-)/5�-)/5�87,0�hk�。
� �/ÌÄ。
;�� CPX 56��"8/9��/��,m��'Festo ¡���Y:
– M12 /9,5 J(+0j¡ IP65)FBA-2-M12-5POL "
– ¤Ð/)Ù/9,5 J(+0j¡ IP20)FBA-1-SL-5POL "
1. �(
1-31Festo P.BE-CPX-FB14-ZH zh 1411d ��
M12 /9 (IP65)
���/9,���-)/5�/}�;8 PG9 ¤ª/6� 5 J M12 45�。 0��É[;�/45/G.1-)。
;<� 0��0-¦§����/5。
��!.+0j¡ IP65。
0� Festo ¡�YU/5 (FBA-2-M12-5POL)。
M12 uh! qrU�
5
2
3
4
15
1
4
3
2 1.ÌÄ2.24 VDC -)(³µ 4U A)3.0 V -)4.CAN_H5.CAN_L
�Æ���/5,oZ��0-�8-)56���46。
-) IN-) OUT
Fig. 1/8: .1-)/5�JÌC�(5 J M12 /5�/9)
��?�; M12 /5��Á��; T "/9@;(� Fig. 1/6)。
1. �(
1-32 Festo P.BE-CPX-FB14-ZH zh 1411d ��
¤Ð/)Ù/9 (IP20)
��?;/9���-)/5�/}�; 2x5 J6�Ô�。 0��É[;/)�/G.1-)。6��_�³µ�X� 4A。 0��³�Ú>Õ�
0.34 mm2 ��0。
0� Festo ��¡ FBSD-KL-2x5POL "6�Ô�j�YU/5 (FBA-1-SL-5POL)。
vwh�xuh! qrU�
1 2 3 4 5
1.0 V -)2.CAN_L3.ÌÄ4.CAN_H5.24 VDC -)(³µ 4 UA)
2x5 J6�Ô
Fig. 1/9: .1-)/5�JÌC�(¤Ð/)Ù/9,5 J)
��� Festo �6�Ô FBSD-KL-2x5POL �/.1-),o�!. T "/9@;。
1. �(
1-33Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.4 y��Rz#����。
;<0{�'.1-)��6C°���;56��。 ' CPX 56��.1-)Ö6�¸¹�,�Ñ ;�。
��� T "/9,o0�56���(' T "/9�k,�G6�。
��:0� Festo .1-)46��-)56�(�;56��(120 Ω, 0.25 W, � Fig. 1/10)。
1 0-
2 -)56��(120 Ω,0.25 W)
V+
GN
D H LS
LD
V+
GN
D H LS
LD
V+
GN
D H L
SL
D
1 2
Fig. 1/10: Festo .1-)46�56��
1.4.1 '��/97�(56��
�Û�/� CPX 56��.1-)�Ö6,oZ'.1-)45��(�;56��(120 Ω,0.25 W)。
� 0' CAN_H � CAN_L ×)!5�/56��。
1. �(
1-34 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1.5 "RR|
��� 0���A[ IEC/EN 60204-1(Protective Extra-Low Voltage �0�2��e,PELV)�j� PELV
�3:�。
� l0�h.d IEC/EN 60204-1 �jB� PELV �3����'q。
� 0���A[ IEC/EN 60204-1 �j,�;��W
V�e�l�gmr��8。
���� PELV �3,���A[ IEC/DINUENU60204-1(p9��g(;,���'q)�s�+0'q(Bt/�5/su�+0)。
CPX 56��fZq/Ä�]�FI�9��D\�~"。
0�h CPX MN����$��8��u*�/=_`���。
MN�8,n¬�8�M�8
��8�MN�8、n¬�8�M�8�<�FI,��CPX 56�:WV�e�4&�e。
CPX <�FI�JÌC�¸¹,0¬´ CPX MN����
CPX <�FI��a,-��。
2. ��
2-2 Festo P.BE-CPX-FB14-ZH zh 1411d ��
")
2. � 2-1.........................................................
2.1 CANopen � �;��� 2-4.......................................
2.1.1 CANopen ���34 2-5...................................
2.2 �, 2-6.........................................................
2.2.1 Layer Setting Service (LSS) 2-6..........................
2.2.2 LSS <� 2-6.............................................
2.2.3 LSS � �;��, 2-24...................................
2.2.4 CPX 56�=>�* 2-26...................................
2.2.5 �,�? 2-29.............................................
2.3 9: 2-35.........................................................
2.3.1 @;<A=� 2-35.........................................
2.3.2 B�")�:> 2-36.......................................
2.3.3 CPX 56/�7�?� 2-37.................................
2.3.4 �@��AC� 2-39.......................................
2.4 B�") 2-41.....................................................
2.4.1 �3�� 2-41.............................................
2.4.2 PDO BC9: 2-46.........................................
2.4.3 DDE�F6(� PDO 1) 2-47...........................
2.4.4 DDE�G6(/E PDO 1) 2-50...........................
2.4.5 �! 0 … 3 FGE�F6(� PDO 2) 2-55................
2.4.6 �! 0 … 3 FGE�G6(/E PDO 2) 2-60................
2.4.7 �! 4 … 15 FGE�F6(� PDO 3) 2-62...............
2.4.8 �! 4 … 15 FGE�G6(/E PDO 3) 2-65...............
2.4.9 HHFI、IJ�、I/O "J/5 (PDO 4) 2-68...............
2.4.10 Manufacturer Specific Profile 2-72........................
2.4.11 KKB��9: 2-79.......................................
2.4.12 L� 2-81.................................................
2.4.13 @;C��LGFI 2-85...................................
2. ��
2-3Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.5 MD�, 2-91.....................................................
2.5.1 NO7�MD�, 2-91.....................................
2.5.2 ��P (,�*MD 2-92.................................
2.5.3 MD�,�Q��? 2-92...................................
2.6 MN� CPX 56��� 2-93........................................
2.6.1 OP#��,QR$?IJ 2-94.............................
2. ��
2-4 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.1 CANopen #TH}#�
y���'�; CANopen /5� CANopen � �;�CPX 56��,�=>�*。
0�h��$£��:
CANopen �~��
CiA 201,V1.1.0CiA 207
CAN Application Layer CAL
CiA 301,V4.2.0
$£ CiA 301 ���' CAL zØ���3��。
CiA 305 DSPV2.2
Draft Standard Proposal ���� LayerSetting Service (LSS)
CiA 401,V3.0.0
$£ CiA 401 *?= CANopen <A��F��GFI��;��
Tab. 2/1: �V CPX 567Z�h� CANopen $£��
�=;nec=�Ùy���,0¾ÚÜ CANopen
l=Ù CiA 301、CIA DSP 305 � CiA 401 $<。
2. ��
2-5Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.1.1 CANopen ���34
CANopen �;��B�DÝ,��jsREL7u��'�)� +MD。 CANopen MN��,�'��L7{;)� +�B�DÝ!.。 L7p���&+DhB�(SDO) �,。
' CANopen MN�����Ñ��3p�。
Process Data Object (PDO) ��Þo���YDh,l��O��.p� CAN È4%?��。 Process DataObject ��*�*�[�、MN7qÑ¢�§h0q%?��。
Service Data Object (SDO) ����+}+��/,l_L7*+B�DÝ���A)。
2. ��
2-6 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.2 �I
2.2.1 Layer Setting Service (LSS)
«¬ Layer Setting Service (LSS),LSS � �;���� CAN -)ed LSS � �;�123� W�(*+W�)。 �� LSS ��!. LSS � �;� LSS� �;!5��3。
U LSS � �;����� LSS =>%?�°。
§h CiA DSP-305,LSS =>���9C��:
– Vendor-ID
– Product-Code
– Revision-Number
– Serial-Number
�'¶·-)*+ CPX-FB38 � Layer SettingService,oZ� DIL .$ 3 �.$�� 1 … 7 �,�
OFF (� Fig. 1/5)。
k�� LSS � �;¡�“Stopped”�“Pre-Operational”IJ�7,º;�� LSS。
2.2.2 LSS <�
U LSS <��� LSS � �;�� COB-ID 0x7E5(Communication Objekt Identifier) �G。 LSS � �;��� COB-ID 0x7E4 VGßQ。
�'�� LSS B-)*+ CPX-FB14 %?�,,oZ�U-)*+%�� LSS �,FE。 ���:����Ñ�
RE:
– �ÕFE%�
– �Û�FE%�
2. ��
2-7Festo P.BE-CPX-FB14-ZH zh 1411d ��
�ÕFE%�
LSS � �;���<�“Switch Mode Global”%�LSS � �;�FE。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x04 Mode 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/2: Switch Mode Global
Mode:
– 0x01 � LSS � �;%�}�,FE
– 0x00 � LSS � �;%�}QRFE(�VFE)
LSS � �;��@<�“Switch Mode Global”。
�Û�FE%�
���Û�FE%����Û�;S*� LSS � �;。
�#,LSS � �;��Gà;<��F�。
���LM&�$% �� �� (hex.)
1. Vendor-ID �B& ID(�� CiA C�) 00 00 00 1D
2. Product-Code �aq� 00 00 00 CD
3. Revision-Number <�� xx xx xx xx
4. Serial-Number �w� xx xx xx xx
Tab. 2/3: �Û�FE%�
2. ��
2-8 Festo P.BE-CPX-FB14-ZH zh 1411d ��
1) ���LM&� – Vendor-ID
��<�“Switch Mode Selective – Vendor-ID”k;%�r�S* Vendor-ID � LSS � �;�FE。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x40 VendorID 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/4: Switch Mode Selective – Vendor-ID
LSS � �;��@<�“Switch mode selective – Vendor-ID”。
2) ���LM&� – Product-Code
��<�“Switch Mode Selective – Product-Code”k;%�r�S* Product-Code � LSS � �;�FE。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x41 ProdCode 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/5: Switch Mode Selective – Product-Code
LSS � �;��@<�“Switch mode selective – Product-Code”。
2. ��
2-9Festo P.BE-CPX-FB14-ZH zh 1411d ��
3) ���LM&� – Revision-Number
��<�“Switch mode selective – Revision-Number”k;%�r�S*��� LSS � �;�FE。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x42 Revision 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/6: Switch Mode Selective – Revision-Number
LSS ��@<�“Switch Mode Selective – Revision-Number”。
4) ���LM&� – Serial-Number
��<�“Switch Mode Selective – Serial-Number”k;%�r�S*�w�� LSS � �;�FE。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x43 Serial 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/7: Switch Mode Selective – Serial-Number
�GÉàn<�´,ÂßQ� LSS � �;�VGá�(Vendor-ID、Product-
Code、Revision-Number � Serial-Number �) LSS � �;��9Dh!A)。
2. ��
2-10 Festo P.BE-CPX-FB14-ZH zh 1411d ��
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x44 Mode 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/8: B Switch Mode Selective – Serial-Number �ßQ
Mode:
– 0x01 �,FE
– 0x00 QRFE(�VFE)
2. ��
2-11Festo P.BE-CPX-FB14-ZH zh 1411d ��
�,*+W�
��<�“Configure Node-ID”µ LSS � �;C��;��*+W�。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x11 Node ID 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/9: Configure Node-ID
Node-ID:
– LSS � �;� Node-ID(�;�g� 1 … 127)
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x11 Errorcode
Errorextension
0x00 0x00 0x00 0x00 0x00
Tab. 2/10: B Configure Node-ID �ßQ
Error code:
– 0 Node-ID C��@
– 1 rm Node-ID
– 0xFF DIP .$ 3 �u�.$�� 1 … 7 l�s¡� OFFIJ�。-)*+�¡� LSS FE�。
Error extension:
– ^�
2. ��
2-12 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�, Bit Timing Parameter
��<�“Configure Bit Timing Parameters”µ LSS� �;C��;��123。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x13 Bittimingtable
Tableentry
0x00 0x00 0x00 0x00 0x00
Tab. 2/11: Configure Bit Timing Parameters
Bit timing table:
– »5� 0。
Table entry:
– 0 1000 kBaud
– 2 500 kBaud
– 3 250 kBaud
– 4 125 kBaud
2. ��
2-13Festo P.BE-CPX-FB14-ZH zh 1411d ��
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x13 Errorcode
Errorextension
0x00 0x00 0x00 0x00 0x00
Tab. 2/12: B Configure Bit Timing Parameters �ßQ
Error code:
– 0 123C��@
– 1 �_�123(123�²½ )
– 0xFF DIP .$ 3 �u�.$�� 1 … 7 l�s¡� OFF IJ�。-)*+�¡� LSS FE�。
Error extension:
– ^�
2. ��
2-14 Festo P.BE-CPX-FB14-ZH zh 1411d ��
¶· Bit Timing
��<�“Activate Bit Timing”'â775�´¶·��123。
U<�k;'�,FE���。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x15 Delay 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/13: Activate Bit Timing
Delay:
– â775��� ms
LSS � �;��@�<�。
2. ��
2-15Festo P.BE-CPX-FB14-ZH zh 1411d ��
�ã�,
��<�“Store Configuration”���ã��*+ ID���123。
U<�k;'�,FE���。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/14: Store Configuration
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x17 Errorcode
Errorextension
0x00 0x00 0x00 0x00 0x00
Tab. 2/15: B Store Configuration �ßQ
Error code:
– 0 �,�ã�@
– 1 LSS � �½ �ã@;。
– 2 OmL7ãä~t。
– 0xFF DIP .$ 3 �u�.$�� 1 … 7 l�s¡� OFF IJ�。-)*+�¡� LSS FE�。
Error extension:
– ^�
2. ��
2-16 Festo P.BE-CPX-FB14-ZH zh 1411d ��
¬u�B& ID
��<�“Inquire Vendor-ID”��¬u LSS � �;��B& ID。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x5A 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/16: Inquire Vendor-ID
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x5A LowwordLowbyte
LowwordHighbyte
HighwordLow byte
High wordHigh byte
0x00 0x00 0x00
Tab. 2/17: B Inquire Vendor-ID �ßQ
2. ��
2-17Festo P.BE-CPX-FB14-ZH zh 1411d ��
¬u�aq�
��<�“Inquire Product-Code”��¬u LSS � �;��aq�。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x5B 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/18: Inquire Product-Code
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x5B LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/19: B Inquire Product-Code �ßQ
2. ��
2-18 Festo P.BE-CPX-FB14-ZH zh 1411d ��
¬u��
��<�“Inquire Revision Number”��¬u LSS� �;���。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x5C 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/20: Inquire Revision Number
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x5C LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/21: B Inquire Revision Number �ßQ
2. ��
2-19Festo P.BE-CPX-FB14-ZH zh 1411d ��
¬u�w�
��<�“Inquire Serial Number”��¬u LSS � �;��w�。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x5D 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/22: Inquire Serial Number
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x5D LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/23: B Inquire Serial Number �ßQ
2. ��
2-20 Festo P.BE-CPX-FB14-ZH zh 1411d ��
¬u*+W�
��<�“Inquire Node-ID”��¬u LSS � �;�y�*�*+W�。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x5E 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/24: Inquire Node-ID
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x5E Node ID 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/25: B Inquire Node-ID �ßQ
2. ��
2-21Festo P.BE-CPX-FB14-ZH zh 1411d ��
�°�B&��A
��<�“Identify Vendor-ID”���°G LSS � �;��B&��A。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x46 LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/26: Identify Vendor-ID
LSS � �;��@�<�。
�°�aq�
��<�“Identify Product-Code”���°G LSS� �;��aq�。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x47 LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/27: Identify Product-Code
LSS � �;��@�<�。
2. ��
2-22 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�°�� (Low)
��<�“Identify Revision-Number Low”���°GLSS � �;����/g。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x48 LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/28: Identify Revision-Number Low
LSS � �;��@�<�。
�°�� (High)
��<�“Identify Revision-Number High”���°GLSS � �;����/g。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x49 LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/29: Identify Revision-Number High
LSS � �;��@�<�。
2. ��
2-23Festo P.BE-CPX-FB14-ZH zh 1411d ��
�°�w� (Low)
��<�“Identify Serial-Number Low”���°GLSS � �;�w���/g。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x4A LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/30: Identify Serial-Number Low
LSS � �;��@�<�。
�°�w� (High)
��<�“Identify Serial-Number High”���°GLSS � �;�w���/g。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x4B LowwordLowbyte
LowwordHighbyte
HighwordLow byte
HighwordHighbyte
0x00 0x00 0x00
Tab. 2/31: Identify Serial-Number High
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/32: B Identify Serial-Number High �ßQ
2. ��
2-24 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�°��,�� �;
��<�“Identify Non-Configured Slave”���°G�;��,� LSS � �;。
COB-ID $%
0x7E5 Byte 0 1 2 3 4 5 6 7
Dh 0x4C 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/33: Identify Non-Configured Slave
COB-ID Acknowledge
0x7E4 Byte 0 1 2 3 4 5 6 7
Dh 0x50 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. 2/34: B Identify Non-Configured Slave �ßQ
2.2.3 LSS � �;��,
k�� LSS � �;¡�“Stopped”�
“Pre-Operational”IJ�7,º;�� LSS。
¸¹ 1:�; LSS � �;� �;!�
1. � LSS � �;%�}�,FE:
� Switch Mode global (Mode = 0x01) � Tab. 2/2
2. ¬u*+W�:
� Inquire Node-ID � Tab. 2/25
3. �,��*+W�:
� Configure Node-ID � Tab. 2/9
2. ��
2-25Festo P.BE-CPX-FB14-ZH zh 1411d ��
4. �,��123:
� Configure Bit Timing Parameters � Tab. 2/11
5. �ã�,:
� Store Configuration � Tab. 2/14
6. � LSS � �;%�}QRFE:
� Switch Mode Global (Mode = 0x00) � Tab. 2/2
¸¹ 2:�; LSS � �;� �;!�
1. � LSS � �;%�}�,FE:
� �Û�FE%� – Vendor-ID � Tab. 2/4(Festo = 0x1D)
� �Û�FE%� – Product Code � Tab. 2/5(CPX-FB14 = 0xCD)
� �Û�FE%� – Revision Number � Tab. 2/6
� �Û�FE%� – Serial Number � Tab. 2/7
2. ¬u*+W�:
� Inquire Node-ID � Tab. 2/24
3. �,��*+W�
� Configure Node-ID � Tab. 2/9
4. �,��123
� Configure Bit Timing Parameters � Tab. 2/11
5. �ã�,
� Store Configuration � Tab. 2/14
2. ��
2-26 Festo P.BE-CPX-FB14-ZH zh 1411d ��
6. � LSS � �;%�}QRFE
� Switch Mode Global (Mode = 0x00) � Tab. 2/2
2.2.4 CPX 56�=>�*
'�,y,0j��ËG.��F/�G6�D\。§hm���¸¹,CPX 56���ÑD\� I/O ��。
' CPX 56�9,?# I/O $²cOC�(�@�,)。 ����;���F6��G6:
– �F6�=>C��G6�=>C�O$。
– �DRE-)*+��,O$。 -)*+V�F
I�·� 0 � 8 ;�F6� 16 ;�F��G6,�DIL .$ 5 ��,�*(� y* 1.2.2)。
– 0�åæç�Üvè%?�D。
;<– 0�h,CPX 56�§h��,¸¹�:IJ���; I/O "J/5。
– IJ��#¼�F6%?¡�,l·�� PDO 4�� 8 Bit(�@�,)。
– 16 Bit � I/O "J/5�#�F��G6¡�,l�C°·�� �/E PDO 4 �� 16 Bit
(�@�,)。
2. ��
2-27Festo P.BE-CPX-FB14-ZH zh 1411d ��
���U� Remote I/O FE� PDO � I/O ��@C�¸¹。0�� 8 ;�� I/O Byte,lZ��“Mapping”�?# I/O Byte KK} PDO �。 ?�¸¹�,FG�!���$p}/�。 ��� Mapping � 8 n���FG�!KK} PDO �,�Ñ ;��!�¸¹。
O0…O7
� PDO 1 I0…I7
/E PDO 1
I56…I63I8…I15 I16…I23 I24…I31 I32…I39 I40…I47 I48…I55
O8…O15 O16…O23 O24…O31 O32…O39 O40…O47 O48…O55 O56…O63
� PDO 2 AI0
/E PDO 2
� PDO 3
/E PDO 3
/E PDO 4
� PDO 4
AI1 AI2 AI3
AO3AO2AO1AO0
AI7AI6AI5AI4
AO7AO6AO5AO4
IW1
OW3OW2OW1
IW3IW2
1) ��,�*:
8IJ�:I0 - I7,8 I/O "J/5:I0 … I15
HHFI��FD!QdÊ。2) ��,�*:
8¶·� I/O "J/5 O0 … O15(� y* 1.2.2)
HHFI��GD!QdÊ。
OW0 / I/O "J 2)
IW0 / "J 1)
Fig. 2/1: PDO 1 … 4 �IJ�� I/O "J/5�,9:
;<����;��/E PDO 1 … 4:
– uZ�¼��2/Ä� CPX ÅÆ,l�·�1 … 8 Byte。
– �/E}�¼�wuZ�¼��,o��G�nP#34。
– �/E}�¼�wuZ�¼��,okZ§huZ�¼��2B�9C%?!Q¡�。
2. ��
2-28 Festo P.BE-CPX-FB14-ZH zh 1411d ��
Remote Controller FE
' Remote Controller FE�(DIL .$ 1),'� PDO*� 1。 �vx 64 ;�� Remote Controller ��Dh�NO I/O。
/E PDO 1
� PDO 1
/E PDO 2 … 4
� PDO 2 … 4 ���
���
O0…O7
I0…I7 I56…I63I8…I15 I16…I23 I24…I31 I32…I39 I40…I47 I48…I55
O8…O15 O16…O23 O24…O31 O32…O39 O40…O47 O48…O55 O56…O63
Fig. 2/2: Remote Controller FE� PDO 1 �� 64 ;NO I/O
2. ��
2-29Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.2.5 �,�?
�I���H�%� 1
T-PDO 1
T-PDO 4
R-PDO 1
R-PDO 4
8DI 8DI 8DO8DI 8DO 4DO
8O 8O
0 1 2 3 4 5FIW�: 6
I0…I7 I8…I15 I16…I23
O0…O7 O8…O15 O16…O23 O24…O31 O32…O39
OW0 (I/O "J/5)
(I/O "J/5)IW0
Fig. 2/3: ��8DDE I/O FI、MPA gO9��¶· I/O "J/5� CPX567 PDO �C�(�@C���KK,�, � Tab. 2/35)
2. ��
2-30 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,U�
L, �;�� �<��
0 CANopen -)*+CPX-FB148¶·� I/O "J/5
T-PDO 4: IW0B� 6100.1
R-PDO 4: OW0B� 6300.1
1 DDE 8 �!�FFICPX-8DE
T-PDO 1: I0 … I7B� 6000.1
–
2 DDE��! I/O FICPX-8DE-8DA
T-PDO 1:I8 … I15B� 6000.2
R-PDO 1:O0 … O7B� 6200.1
3 DDE 4 �!�GFICPX-4DA
– R-PDO 1:O8 … O11B� 6200.2
4 DDE��! I/O FICPX-8DE-8DA
T-PDO 1:I16 … I23B� 6000.3
R-PDO 1:O12 … O19B� 6200.2B� 6200.3
– MPA gO9�/5O8FI
– –
5 MPA gOFI (8DO)MPA1S: VMPA1-FB-EMS-8�8�8���3� MPA gOFI
– R-PDO 1:O20 … O27B� 6200.3B� 6200.4
6 MPA gOFI (8DO)MPA1S: VMPA1-FB-EMS-8�8�8���3� MPA gOFI
– R-PDO 1:O28 … O35B� 6200.4B� 6200.5
Tab. 2/35: Fig. 2/3 ��?56 1 ��,
�$����@;C��LGFIj;�?�Âed�,�34,0¬´y* 2.4.13。
2. ��
2-31Festo P.BE-CPX-FB14-ZH zh 1411d ��
�I���H�%� 2
8DI 8DI 4DO 8DI 2AI8DO
O0…O7
I0…I7 I8…I15 I16…I23
O8…O15 O16…O23
T-PDO 2
R-PDO 1
2AO
AI0 AI1
AO1AO0
T-PDO 1
R-PDO 2
8O1 2 3 4 5FIW�: 76
Fig. 2/4: ��8DDE�FGE I/O FI、VTSA gO9�(DIL .$�, 8O)��¶·"J@;� CPX 567 PDO �C�(�@C���KK,�, � Tab. 2/36)
2. ��
2-32 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,U�
L, �;�� �<��
0 -)*+CPX-FB14�¶·"J@;
– –
1 DDE 8 �!�FFICPX-8DE
T-PDO 1: I0 … I7B� 6000.1
–
2 DDE 8 �!�FFICPX-8DE
T-PDO 1:I8 … I15B� 6000.2
–
3 DDE 4 �!�GFICPX-4DA
– R-PDO 1::O0 … O3B� 6200.1
4 DDE��! I/O FICPX-8DE-8DA
T-PDO 1:I16 … I23B� 6000.3
R-PDO 1:O4 … O11B� 6200.1B� 6200.2
5 2 �!FGE�FFICPX-2AE-U-I
T-PDO 2:AI0 … AI1B� 6401.1B� 6401.2
–
6 2 �!FGE�GFICPX-2AA
– R-PDO 2:AO0 … AO1B� 6411.1B� 6411.2
7 VTSA gO9�/5ISO Plug-In(44 ")��/5�� DIL .$Â�,�1 … 8 ;�Ý)é (8DO)
–R-PDO 1:O12 … O19B� 6200.2B� 6200.3
Tab. 2/36: Fig. 2/4 ��?56 2 ��,
2. ��
2-33Festo P.BE-CPX-FB14-ZH zh 1411d ��
�I���H�%� 3
O24…O31O16…O23O0…O7 O8…O15
I8…I15
8DI 4DO 8DI 8DO
I0…I7
R-PDO 1
T-PDO 1
1 2 3 4 5FIW�: 6
8 O 8 O
0
OW0
C½ 1
C½ 1
C½ 4,�G6
R-PDO 4
T-PDO 4 IW1IW0
OW1 OW2 OW3
Fig. 2/5: ��8DDE I/O FI、CPX-CP /5、MPA gO9���¶·"J@;� CPX 567 PDO �C�(�@C���KK,�,� Tab. 2/37)
2. ��
2-34 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,U�
L, �;�� �<��
0 -)*+CPX-FB14�¶·"J@;
– –
1 DDE 8 �!�FFICPX-8DE
T-PDO 1: I0 … I7B� 6000.1
–
2 DDE 4 �!�GFICPX-4DA
– R-PDO 1::O0 … O3B� 6200.1
3 CPX-CP /5CPX-CP·�C½ 1 �� 4 Byte I (32I)·�C½ 1 … 4 �� 16 Byte O(128O)
T-PDO 4: IW0 …IW1B� 6100.1B� 6100.2
R-PDO 4: OW0 … OW3B� 6300.1B� 6300.2B� 6300.3B� 6300.4OW4 … OW7�POKK 1)
4 DDE��! I/O FICPX-8DE-8DA
T-PDO 1:I8 … I15B� 6000.2
R-PDO 1:O4 … O11B� 6200.1B� 6200.2
– MPA gO9�/5O8FI
– –
5 MPA gOFI (8DO)MPA1S: VMPA1-FB-EMS-8MPA gOFI
– R-PDO 1:O12 … O19B� 6200.2B� 6200.3
6 MPA gOFI (8DO)MPA1S: VMPA1-FB-EMS-8MPA gOFI
– R-PDO 1:O20 … O27B� 6200.3B� 6200.4
1)*=��:U CPX-CP /5'�,�·� 16 Byte �G (128O)。 ¤� PDO 4 �=>�*�k·�y 8 ; Byte (64O),u�JB CPX 56��E�,Z'%?POKK。 ? �����" PDO ��êë��GD*。 (OW4 … OW7 ' Fig. 2/5 ��%?��)。
Tab. 2/37: Fig. 2/5 ��?56 3 ��,
2. ��
2-35Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.3 /0
2.3.1 @;<A=�
– FIIJ� Boot up A[ Communication ProfileCiA 301
– 1 ;&+DhB���xUL7B�"):� �/E SDO
– 4 ;�YDhB���L7DDE�FGE�F6:� /Transmit PDO 1U…U4
– 4 ;�YDhB���L7DDE�FGE�G6:/E/Receive PDO 1U…U4
– VS¼����P#34� }� �;�
– Node guarding � Heart beat
– A[ CiA 301 � W��u���A��@�,(predefined connection set)
– Ê\KK
– @;C��LGFI
– Layer Setting Service (LSS)
2. ��
2-36 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.3.2 B�")�:>
�� (hex) �� � @�
1000U…U1200 B�")��39C 2.4.1
1400U…U1403 /E PDO 1U…U4 ��3MD 2.4.4
1800U…U1803 � PDO 1U…U4 ��3MD 2.4.3
1600U…U1603 /E PDO 1U…U4 �KKMD 2.4.4
1A00U…U1A03 � PDO 1U…U4 �KKMD 2.4.3
Manufacturer specific (2000U…U5FFF):
2000U…U2110 MN�FIDh 2.4.10
2200U…U2210 MN�FI"JDh
2300U…U2310 "Jãä9Dh
2400U…U2421 MN�FIMD
4000 … 4801 @;C�FI(LGFI) 2.4.13
5000U…U5FFF L�>£ 2.4.12
6000, 6100 Input Array 2.4.3
6200, 6300 Output Array 2.4.4
6206/6306 �G6� Fault Mode Array
6207/6307 �G6� Error State Array
64xx FGE�F��G6 2.4.5
Tab. 2/38: CPX 56�Â`?B�
2. ��
2-37Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.3.3 CPX 56/�7�?�
00
00
2Stopped
Power-On
J>?{@
Pre-Operational
Operational
1
4
5
3
��?{@
31
2
Fig. 2/6: CPX 56�IJ�(�� � �`� Tab. 2/39)
2. ��
2-38 Festo P.BE-CPX-FB14-ZH zh 1411d ��
IJ���
iju� �W �%F�(cs) J�
00 – – /��8´cO Boot up'�'/��8´º;&F�ã�MD2000 … 5FFF 1)
1 Start_Remote_Node_Indication
01h ' Operational Mode �NOU CPX56:– SDO ���l– PDO ��(¶·�G6)– Node guarding / Heart beat �l
(Node guard response: Toggle + 05h)
2 Enter_Pre_Operation_State_Indication
80h Pre-Operational Mode �� CPX 56:– SDO ���l– PDO ����(�G6N�P#IJ 2))– Node guarding / Heart beat �l
(Node guard response: Toggle + 7Fh)
3 Stop_Node_Indication
02h Stopped Mode �� CPX 56:– SDO ����– PDO ����(�G6N�P#IJ 2))– Node guarding / Heart beat �l
(Node guard response: Toggle + 04h)
4 Reset_Communication_Indication
82h ���3@;:– ���G6– ���3MD(B� 1000U…U1FFF)
5 Reset_Node_Indication
81h FI��vxQ�Y�:– ���G6– �G6�Aì�}�@– ���3MD(B� 1000U…U1FFF)– ����&F�ã�MD (2000U…U5FFF)
1)/��8´»5��@�,&FB� 6000 …2) �/�� Operational Mode %�} Stopped � Pre-Operational Mode ´
Tab. 2/39: IJ�
2. ��
2-39Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.3.4 �@��AC�
�>�U���A�C�:
Broadcast ��
���W ���� CPX �� COB ���#K�
SYNC – 080h128d
Tab. 2/40: Broadcast B�
2. ��
2-40 Festo P.BE-CPX-FB14-ZH zh 1411d ��
Peer-to-Peer ��
�� ���� COB ���#K�
EMERGENCY e>¾¡�*�,?�:�e 081h 0FFh129d … 255d
� PDO 1 PDO1 (tx) 181h 1FFh385d … 511d
/E PDO 1 PDO1 (rx) 201h 27Fh513d … 639d
� PDO 2 PDO2 (tx) 281h 2FFh641d … 767d
/E PDO 2 PDO2 (rx) 301h 37Fh769d … 895d
� PDO 3 PDO3 (tx) 381h 3FFh897d … 1023d
/E PDO 3 PDO3 (rx) 401h 47Fh1025d … 1151d
� PDO 4 PDO4 (tx) 481h 4FFh1153d … 1279d
/E PDO 4 PDO4 (rx) 501h 57Fh1281d … 1407d
� SDO SDO1 (tx) 581h 5FFh1409d … 1535d
/E SDO SDO1 (rx) 601h 67Fh1537d … 1663d
Node guarding /Heart beat
Guarding 701h 77Fh1793d … 1919d
Tab. 2/41: CPX-FB14 � Peer to Peer B�
2. ��
2-41Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4 ����
2.4.1 �3��
�>U�=�39C�B�(Dg��?:FIID = 1)。
�?��: U = unsigned ro = read only rw = read/write
Map. = ��KK Attr. = ��
;<;�� Mapping �A[ CiA 301 �$o:k�'*¾Â�MD�D"�,�y�¸¹�,º;KKA)。
(?�: ÞÏ 1A00,�ÞÏ 3 … 8:0��ÞÏ 0 �,�“0”)。
A)�KKg´,Ã�MDD"���,á!Q�Dg。
��(hex)
���
�W �� F� �� [K(hex)
��
1000 0 Device type U32 ro – 00 0F 91 01 V1.10 ���<��:OF = CPX 56�³µÅÆ
00 0x 91 01 V1.10 �y<��:91 01 = �;���x = /Ä� CPX 56�ÅÆ:Bit 16: DDE�F6Bit 17: DDE�G6Bit 18: FGE�F6Bit 19: FGE�G6
�?:00 03 91 01
8DDE�F6��G6� CPX 56
2. ��
2-42 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K(hex)
��F����W���
1001 0 P#íã9 U8 ro � 00 no error
xx Generic/Manufacturererror (� y* 3.5.1)
1002 0 �B&IJíã9
U32 ro � 00 00 00 00 FIW��P#W� (� y* 3.5.1)
1003 0 Pre-definedError Field
U8 rw – 00 … 0A �yP#D\ (UF 00î(u�P#)(� y* 3.5.1)
1 StandardError Field
U32 ro xx xx xx xx ³����P# (n)– Byte 0 … 1 = Error
Code(� y* 3.5.1)
– Byte 2 = ÞÏ 1002� Byte 0
– Byte 3 = ÞÏ 1002� Byte 1
2 xx xx xx xx P# (n+1)
3 xx xx xx xx P# (n+2)
... ... ...
Ah xx xx xx xx ³ß���P# n+9
1005 0 COB-IDSYNCMessage
U32 rw – 80 Default SYNC Message COB-ID 80h
1008 0 Manufacturer DeviceName
Str. ro – “FB14” *+
1009 0 Manufacturer HardwareVersion
Str. ro – “0810”(�?)
�y�
100O 0 Manufacturer SoftwareVersion
Str. ro – “V2.0”(�?)
�y<��
100C 0 Guard Time U16 rw – 00 00 27Z[ [ms]
2. ��
2-43Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K(hex)
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100D 0 Life TimeFactor
U8 rw – 00 27Z[(Guard-Time xLife Time Factor =á; Node Guard 75)
1014 0 COB-IDEmergencyObject
U32 rw – 80 + Node-ID Default EmergencyObject COB-ID 80h +Node-ID
1015 0 InihibitTimeEmergencyMessage
U16 rw – 00 00 VS34�âa� 75[100 μs]
1016 0 ConsumerHeart beatTime
U8 ro – 6 A)D\
1 C.-H. Time 1 U32 rw 00 00 00 00 Heart beat ID � Heartbeat Time [ms]
2 C.-H. Time 2 00 00 00 00
... ... ...
6 C.-H. Time 6 00 00 00 00
1017 0 ProducerHeart beatTime
U16 rw – 00 00 Heart beat Time [ms] COB-ID = Node guard IDIJ (Pre-Operational,Operational, Stopped)
1018 0 IdentityObject
U8 ro – 4 A)D\
1 Vendor ID U32 00 00 00 1D :Q& ID (CiA)
2 Productcode
00 00 00 CD �aq�
3 Revisionnumber
xx xx.xx xx �(�B� 100A)
4 Serialnumber
xx xx xx xx �w�(�;FI��;����w�)
2. ��
2-44 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K(hex)
��F����W���
1027 0 FIw> U8 ro – 1 … u� CPX FI�D\
1 FI 0 U16 � CPXMN���
FI 0 �FIq� 1)
2 FI 1 FI 1 �FIq� 1)
3 FI 2 FI 2 �FIq� 1)
... ... ...
1029 0 ErrorBehaviour,Numberof�errorclasses
U8 ro – 3 P#j¡D\
1 Communication Error
rw 00 ���3P#7(Timeout/Heart beat) 0 = Pre-Operational1 = No state change2 = StoppedP#q�:8130, 8140V1.10 ���:8100,8130, 8140
2 Output Error 01 �GFI�3/�&70 = Pre-Operational1 = No state change2 = StoppedP#q�:23xx, 33xx
3 Input Error 01 �FFI�3/�&���9�8P#70 = Pre-Operational1 = No state change2 = StoppedP#q�:21xx, 31xx
1)#¼ CPX 56��å}ç�F�。
2. ��
2-45Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K(hex)
��F����W���
1200 0 Server SDOParameter(SDO &+9MD)
U8 ro – 2 A)D\
1 COB_IDClient(ï,6)} Server(&+9)(rx)
U32 600 + Node-ID Default COB-ID +Node-ID
2 COB_IDServer(&+9)} Client(ï,6)(tx)
580 + Node-ID Default COB-ID +Node-ID
U = unsigned Map. = ��KKro = read only Attr. = ��rw = read/write
Tab. 2/42: �39�B�
2. ��
2-46 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.2 PDO BC9:
Default Mapping
PDO 1 DDE�F6/�G6(� //E)
PDO 2 �! 0 … 3 FGE�F6/�G6(� //E)
PDO 3 �! 4 … 7 FGE�F6/�G6(� //E)
PDO 4 HHFI、IJ�、I/O "J/5
Tab. 2/43: PDO BC
Z'7,���� SDO ed PDO �@BC(� ��y*��“PDO Communication MappingParameter”,ÞÏ 1A00hU…U1A03h, 1600hU…U1603h)
2. ��
2-47Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.3 DDE�F6(� PDO 1)
��(hex)
���
�W �� F� �� [K (hex)
��
181 …1FF
– � PDO 1 – – – xx xx ¼��2 1 … 8 ByteByte 0:I0 … I7Byte 1:I8 … I15...Byte 7:I56 … I63
1800 0 PDO CommunicationParameterRecord
U8 ro – 05 A)D\
1 PDO COB-ID U32 rw 180 + Node-ID �F6��@ COB-ID
2 Transmission type(��~")
U8 FF �@:rð¾� 1)
3 Inhibit Time U16 00 00 �F6�âa� 75[100U μs]
4 – – ���
5 Event-Timer 00 00 �F6�7[�� [ms]
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
2. ��
2-48 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
1O00 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 60 00 01 08 ÞÏ I0 … I7 ��SJ
2 60 00 02 08 ... ÞÏ I8 … I15
3 60 00 03 08 ... ÞÏ I16 … I23
4 60 00 04 08 ... ÞÏ I24 … I31
5 60 00 05 08 ... ÞÏ I32 … I39
6 60 00 06 08 ... ÞÏ I40 … I47
7 60 00 07 08 ... ÞÏ I48 … I55
8 60 00 08 08 ... ÞÏ I56 … I63
6000 0 Read Input8�Bit
U8 ro – 0 … 40 8 �F�°�D\
1 � xx �F6 0 … 7 �IJ
2 xx ... �F6 8 … 15
3 xx ... �F6 16 … 23
4 xx ... �F6 24 … 31
5 xx ... �F6 32 … 39
6 xx ... �F6 40 … 47
7 xx ... �F6 48 … 55
8 xx ... �F6 56 … 63
9 xx ... �F6 64 … 71
Ah xx ... �F6 72 … 79
Bh xx ... �F6 80 … 87
Ch xx ... �F6 88 … 95
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
2. ��
2-49Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6000 Dh Read Input8�Bit
U8 ro � xx ... �F6 96 … 103
Eh xx ... �F6 104 … 111
Fh xx ... �F6 112 … 119
10h xx ... �F6 120 … 127
… … …
3D xx ... �F6 480 … 487
3E xx ... �F6 488 … 495
3F xx ... �F6 496 … 503
40h xx ... �F6 504 … 511
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
1) � Pre-Operational �} Operational 7,�y� SDO g�“²ñB”(?�:FGE�F6)。 '�G�; Remote Transmission Request (RTR) 7s����Dg,�7�,O$(?�:FGE�F6� Interrupt Enable)。
Tab. 2/44: DDE�F6
2. ��
2-50 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.4 DDE�G6(/E PDO 1)
��(hex)
���
�W �� F� �� [K (hex)
��
201 …27F
– /E PDO 1 – – – xx xx xx xx ¼��2 1U…U8U ByteU1)
Byte 0:O0 … O7Byte 1:O8 … O15...Byte 7:O56 … O63
1400 0 PDO CommunicationParameterRecord
U8 ro – 02 A)D\
1 PDO COB-ID U32 rw 200 + Node-ID �G6��@ COB-ID
2 Transmission Type
U8 FF �@:rð¾�
1600 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 62 00 01 08 ÞÏ O0 … O7 ��SJ
2 62 00 02 08 ... ÞÏ O8 … O15
3 62 00 03 08 ... ÞÏ O16 … O23
4 62 00 04 08 ... ÞÏ O24 … O31
5 62 00 05 08 ... ÞÏ O32 … O39
6 62 00 06 08 ... ÞÏ O40 … O47
7 62 00 07 08 ... ÞÏ O48 … O55
8 62 00 08 08 ... ÞÏ O56 … O63
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
1)� y* 2.2.4 ����
2. ��
2-51Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6200 0 WriteOutput 8�Bit
U8 ro – 0 … 10 8 �G�°�D\
1 rw � xx �G6 0 … 7 �IJ
2 xx … �G6 8 … 15
3 xx … �G6 16 … 23
4 xx … �G6 24 … 31
5 xx … �G6 32 … 39
6 xx … �G6 40 … 47
7 xx ... �G6 48 … 55
8 xx ... �G6 56 … 63
9 xx ... �G6 64 … 71
Ah xx ... �G6 72 … 79
Bh xx ... �G6 80 … 87
Ch xx ... �G6 88 … 95
Dh xx ... �G6 96 - 103
Eh xx ... �G6 104 … 111
Fh xx ... �G6 112 … 119
10h xx ... �G6 120 … 127
… … …
3D xx ... �G6 480 … 487
3E xx ... �G6 488 … 495
3F xx ... �G6 496 … 503
40h xx ... �G6 504 … 511
2. ��
2-52 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6206 0 Fault ModeOutput8�Bit
U8 ro – 0 … 40 8 �G�°�D\
1 rw FF �G6 0 … 7 �P#FE
2 FF ... �G6 8 … 15
3 FF ... �G6 16 … 23
4 FF ... �G6 24 … 31
5 FF ... �G6 32 … 39
6 FF ... �G6 40 … 47
7 FF ... �G6 48 … 55
8 FF ... �G6 56 … 63
9 FF ... �G6 64 … 71
Ah FF ... �G6 72 … 79
Bh FF ... �G6 80 … 87
Ch FF ... �G6 88 … 95
Dh FF ... �G6 96 … 103
Eh FF ... �G6 104 … 111
Fh FF ... �G6 112 … 119
10h FF ... �G6 120 … 127
… … …
3D FF ... �G6 480 … 487
3E FF ... �G6 488 … 495
3F FF ... �G6 496 … 503
40 FF ... �G6 504 … 511
2. ��
2-53Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6207 0 Error StateOutput8�Bit
U8 ro – 0 … 40 8 �G�°�D\
1 rw 00 �G6 0 … 7�P#IJ
2 00 ... �G6 8 … 15
3 00 ... �G6 16 … 23
4 00 ... �G6 24 … 31
5 00 ... �G6 32 … 39
6 00 ... �G6 40 … 48
7 00 ... �G6 48 … 55
8 00 ... �G6 56 … 63
9 00 ... �G6 64 … 71
Ah 00 ... �G6 72 … 79
Bh 00 ... �G6 80 … 87
Ch 00 ... �G6 88 … 95
Dh 00 ... �G6 96 … 103
Eh 00 ... �G6 104 … 111
… … …
3D 00 ... �G6 480 … 488
3E 00 ... �G6 489 … 495
3F 00 ... �G6 496 … 503
40h 00 ... �G6 504 … 511
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
Tab. 2/45: DDE�G6
2. ��
2-54 Festo P.BE-CPX-FB14-ZH zh 1411d ��
M� CPX 56�G6�IJ��§hP#¸¹T�*?。
;<��ÞÏ 6206 �*,P#IJ��ò#�G6'*�S*�IJ。
��ÞÏ 6207 �*,P#IJ�S*��G6'*�ò�IJ。
' CPX 56%�} Operational Mode !´,º;¶·?#�,。
�¿/����(à�ó»s)!´,�cOQ��@g,�;�ÌÄ2��²ã-。
'?g0.d��$*:
�� (hex) �
6206�ÞÏ 1 … 10hBit 0 … 7
0 = �G6�IJ� �Ê
1 = �G6Q�ÞÏ 6207 �*?�IJ
6207�ÞÏ 1 … 10hBit 0 … 7
0 = ���G6
1 = �,�G6
Tab. 2/46: P#¸¹�M��G6�IJ
2. ��
2-55Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.5 �! 0 … 3 FGE�F6(� PDO 2)
CANopen \�=��' 32 Bit g�åBzB�� 16 BitFGg:
– 6422, 6424, 6425, 6426, 6444, 5444, 5434
'ä{��y�n��¸¹�,k;�FGE�F6�gT&} PDO �:
– �Õ�J�;Â�,� Enable(ÞÏ 6423)。
– 0���Js�9(ÞÏ 6421)*?,��'��
¢�«¬FGg(³�g、³µg、gÊO、ÞÏ6424, 6425, 6426)。
'B� 6422 ��F�J7us�FGE�F6��!W�。 ®´,§hB� 1801 ����q�� PDO(FFh, FDh, FCh � 0 … F0h)。
2. ��
2-56 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
���
�W �� F� �� [K (hex)
��
281 …2FF
– � PDO 2 – – – xx ¼��2 2, 4, 6 �8 ByteByte 0, 1:�! 0 (AI0)Byte 2, 3:�! 1 (AI1)Byte 4, 5:�! 3 (AI2)Byte 6, 7:�! 4 (AI3)
1801 0 PDO CommunicationParameter Record
U8 ro – 05 A)D\
1 PDO COB-ID U32 rw 280h +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾� 1)
3 Inhibit Time U16 01 4F (= 50 ms)
�F6�âa� 75[100U μs]
4 – – ���
5 Event-Timer 00 00 �F6�7[�� [ms]
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
1)� }`>��;� 2-49
2. ��
2-57Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
���
�W �� F� �� [K (hex)
��
1O01 0 PDOCommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 64 01 01 10 ÞÏ AI0 ��SJ
2 64 01 02 10 ... ÞÏ AI1
3 64 01 03 10 ... ÞÏ AI2
4 64 01 04 10 ... ÞÏ AI3
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 ... KKB� 8 �
6401 0 ReadAnalogueInput
U8 ro – 0 … 10 FG�!�D\
1 I16 � xx AI0
2 xx AI1
3 xx AI2
4 xx AI3
6423 0 AnalogueInput GlobalInterruptEnable
B rw – 00 �Õ�J�;0 = Disable1 = Enable
6422 0 AnalogueInput Numberof InterruptSource Banks
U8 ro – 1 Interrupt Source Bank�D\
1 InterruptSource Bank 1
U32 – 00 Interrupt SourceBank 1 1)
(�! 0 … 15)
1)x/L7´�cO��Dg
2. ��
2-58 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6421 0 AnalogueInput InterruptTriggerSelection
U8 ro – 0 … 10 FGE�F6�D\
1 AnalogueInput
rw 00 AI0Bit 0:2G�/g 1)
Bit 1:���/g 2)
Bit 2:edgµ�Delta 3)
Bit 3 … 7:^�
2 00 AI1
3 00 AI2
4 00 AI3
6424 0 AnalogueInput InterruptUpper LimitInteger
U8 ro – 0 … 10 FGE�F6�D\
1 AnalogueInput
I32 rw 00 ³µg AI0 1)
2 00 ³µg AI1 1)
3 00 ³µg AI2 1)
4 00 ³µg AI3 1)
1) Bit 0: “Upper limit exceeded”(A[ CiA 401)2) Bit 1: “Input below lower limit”(A[ CiA 401)3) Bit 2: “Input changed by more than delta”(A[ CiA 401)
2. ��
2-59Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6425 0 AnalogueInput InterruptLower LimitInteger
U8 ro – 0 … 10 FGE�F6�D\
1 AnalogueInput
I32 rw 00 ³�g AI0 2)
2 00 ³�g AI1 2)
3 00 ³�g AI2 2)
4 00 ³�g AI3 2)
6426 0 AnalogueInput InterruptDeltaUnsigned
U8 ro – 0 … 10 FGE�F6�D\
1 AnalogueInput
U32 rw 00 ³�gÊO AI0 3)
2 00 ³�gÊO AI1 3)
3 00 ³�gÊO AI2 3)
4 00 ³�gÊO AI3 3)
2) Bit 1: “Input below lower limit”(A[ CiA 401)3) Bit 2: “Input changed by more than delta”(A[ CiA 401)
Tab. 2/47: FGE�F6�! 0 … 3
2. ��
2-60 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.6 �! 0 … 3 FGE�G6(/E PDO 2)
��(hex)
���
�W �� F� �� [K (hex)
��
301 …37F
– /E PDO 2 – – – xx ¼��2 2, 4, 6 �8 ByteByte 0, 1:�! 0 (AO0)Byte 2, 3:�! 1 (AO1)Byte 4, 5:�! 2 (AO2)Byte 6, 7:�! 3 (AO3)
1401 0 PDO CommunicationParameterRecord
U8 ro – 02 A)D\
1 PDO COB-ID U32 rw 300 +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾�
1601 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 64 11 01 10 ÞÏ AO0 ��SJ
2 64 11 02 10 ... ÞÏ AO1
3 64 11 03 10 ... ÞÏ AO2
4 64 11 04 10 ... ÞÏ AO3
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 ... KKB� 8 �
2. ��
2-61Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6411 0 WriteAnalogueOutput 16 Bit
U8 ro � 0 … 10 FG�!�D\
1 I16 rw xx xx AO0
2 xx xx AO1
3 xx xx AO2
4 xx xx AO3
6443 0 AnalogueOutput FaultMode
U8 ro – 0 … 10 FG�!�D\
1 rw 1 Default Mode AO0
2 1 Default Mode AO1
3 1 Default Mode AO2
4 1 Default Mode AO3
6444 0 AnalogueOutput ErrorInteger 32 Bit
U8 ro – 0 … 10 FG�!�D\
1 I32 rw 1 Error Value AO0
2 2 Error Value AO1
3 3 Error Value AO2
4 4 Error Value AO3
U = unsigned Map. = ��KKro = read only Attr. = ��rw = read/write
Tab. 2/48: FGE�G6�! 0 … 3
2. ��
2-62 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.7 �! 4 … 15 FGE�F6(� PDO 3)
��(hex)
���
�W �� F� �� [K (hex)
��
381 …3FF
– � PDO 3 – – – xx ¼��2 2, 4, 6 � 8ByteByte 0, 1:�! 4 (AI4)Byte 2, 3:�! 5 (AI5)Byte 4, 5:�! 6 (AI6)Byte 6, 7:�! 7 (AI7)
1802 0 PDO CommunicationParameterRecord
U8 ro – 05 A)D\
1 PDO COB-ID U32 rw 380 +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾� 1)
3 Inhibit Time U16 01 F4(= 50 ms)
�F6�âa� 75[100U μs]
4 – – ���
5 Event-Timer 00 00 �F6�7[�� [ms]
U = unsigned Map. = ��KKro = read only Attr.= ��rw = read/write
1)� }`>��;� 2-49
2. ��
2-63Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
1O02 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 64 01 05 10 ÞÏ AI4 ��SJ
2 64 01 06 10 ... ÞÏ AI5
3 64 01 07 10 ... ÞÏ AI6
4 64 01 08 10 ... ÞÏ AI7
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 KKB� 8 ��SJ
6401 0 ReadAnalogueInput
U8 ro – 0 … 10 FG�!�D\
5 I16 � xx xx AI4
6 xx xx AI5
... ... ...
10h xx xx AI15
6422 0 AnalogueInput Numberof InterruptSource Banks
U8 ro – 1 Interrupt Source Bank�D\ (� PDO 2)
1 InterruptSource Bank 1
U32 ro – 00 Interrupt SourceBank 1 1)
(�! 1 … 16)
1)x/L7´�cO��Dg
2. ��
2-64 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6421 0 AnalogueInput InterruptTriggerSelectionNumber ofAnalogueInput
U8 ro – 0 … 10 FGE�F6�D\
5 AnalogueInput
rw 00 AI4
6 00 AI5
... ... ...
10h 00 AI15
6424 0 AnalogueInput InterruptUpper LimitInteger
U8 ro – 0 … 10 FGE�F6�D\
5 AnalogueInput
I32 rw 00 ³µg AI4
6 00 ³µg AI5
... ... ...
10h 00 ³µg AI15
6425 0 AnalogueInput InterruptLower LimitInteger
U8 ro – 0 … 10 FGE�F6�D\
5 AnalogueInput
I32 rw 00 ³�g AI4
6 00 ³�g AI5
... ... ...
10h 00 ³�g AI15
2. ��
2-65Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6426 0 AnalogueInput InterruptDeltaUnsigned
U8 ro – 0 … 10 FGE�F6�D\
5 AnalogueInput
U32 rw 00 ³�gÊO AI4
6 00 ³�gÊO AI5
... 00 ...
10h 00 ³�gÊO AI15
Tab. 2/49: �! 4 … 15 FGE�F6(Transmit PDO 3)
2.4.8 �! 4 … 15 FGE�G6(/E PDO 3)
��(hex)
���
�W �� F� �� [K (hex)
��
401 …47F
– /E PDO 3 – – – xx ¼��2 2, 4, 6 �8 ByteByte 0, 1:�! 5 (AO4)Byte 2, 3:�! 6 (AO5)Byte 4, 5:�! 7 (AO6)Byte 6, 7:�! 8 (AO7)
1402 0 PDO CommunicationParameterRecord
U8 ro – 02 A)D\
1 PDO COB-ID U32 rw 400 +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾�
2. ��
2-66 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
1602 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 64 11 05 10 ÞÏ AO4 ��SJ
2 64 11 06 10 ... ÞÏ AO5
3 64 11 07 10 ... ÞÏ AO6
4 64 11 08 10 ... ÞÏ AO7
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 ... KKB� 8 �
6411 0 WriteAnalogueOutput 16 Bit
U8 ro – 0 … 10 FG�!�D\
5 I16 rw � xx AO4
6 xx AO5
... ... ...
10h xx AO15
6443 0 AnalogueOutput FaultMode
U8 ro – 0 … 10 FG�!�D\
5 rw 1 Default Mode AO4
6 1 Default Mode AO5
... ... ...
10h 1 Default Mode AO15
2. ��
2-67Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6444 0 AnalogueOutput ErrorInteger 32 Bit
U8 ro – 0 … 10 FG�!�D\
5 I32 rw 00 00 00 00 Error Value AO4
6 00 00 00 00 Error Value AO5
... ... ...
10h 00 00 00 00 Error Value AO15
Tab. 2/50: �! 4 … 15 FGE�G6(Receive PDO 3)
2. ��
2-68 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.9 HHFI、IJ�、I/O "J/5 (PDO 4)
;<�'��IJ�� I/O "J/5,�)¾��-)*+�� DIL .$��¶·(� y* 1.2.2)。
�$IJ�� I/O "J/5�e�34,0¬´y* 3.3� 3.4。
� PDO 4
��(hex)
���
�W �� F� �� [K (hex)
��
481 …4FF
– � PDO 4 – – – xx ¼��2 2, 4, 6 � 8ByteByte 0, 1:IJ�� I/O"J/5(/Ä��,)Byte 2, 3:^�Byte 4, 5:^�Byte 6, 7:^�
1803 0 PDO Communication Parameter Record
U8 ro – 05 A)D\
1 PDO COB-ID U32 rw 480 +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾� 1)
3 Inhibit Time U16 00 00 �F6�âa� 75[100U μs]
4 – – ���
5 Event-Timer 00 00 �F6�7[�� [ms]
1)� }`>��;� 2-49
2. ��
2-69Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
1O03 0 PDO Communication Mapping Parameter
U8 rw – 0 … 8 A)D\
1 U32 61 00 01 10 IW0 ��SJ
2 61 00 02 10 ... IW1 �
3 61 00 03 10 ... IW2 �
4 61 00 04 10 ... IW3 �
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 ... KKB� 8 �
6100 0 Read Input16 Bit
U8 ro � 0 … 20 IW �°�D\
1 U16 xx IW0,/Ä��,U1):– IJ��– I/O "J/5– HHFIÉ 1 ;�FD
2 xx IW1:/Ä��,:HHFI�É 1 �É 2 ;�FD 1)
3 xx IW2 HHFI
... ... ...
20h xx IW31 HHFI
1)/�"J�,
Tab. 2/51: Transmit PDO 4
2. ��
2-70 Festo P.BE-CPX-FB14-ZH zh 1411d ��
/E PDO 4
�$ I/O "J/5WVFE���,0¬´ CPX MN�����"Jy*。
��(hex)
���
�W �� F� �� [K (hex)
��
501 …57F
– /E PDO 4 – – – xx ¼��2 1U…U8 ByteByte 0, 1: I/O "J/5(�Â�,)Byte 2, 3:^�Byte 4, 5:^�Byte 6, 7:^�
1403 0 PDO CommunicationParameterRecord
U8 ro – 02 A)D\
1 PDO COB-ID U32 rw 500 +Node-ID
�F6��@ COB-ID
2 TransmissionType
U8 FF �@:rð¾�
1603 0 PDO CommunicationMappingParameter
U8 rw – 0 … 8 A)D\
1 U32 63 00 01 10 OW0 ��SJ
2 63 00 02 10 ... OW1 �
3 63 00 03 10 ... OW2 �
4 63 00 04 10 ... OW3 �
5 00 00 00 00 ... KKB� 5 �
6 00 00 00 00 ... KKB� 6 �
7 00 00 00 00 ... KKB� 7 �
8 00 00 00 00 ... KKB� 8 �
2. ��
2-71Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
6300 0 Write Output16 Bit
U8 ro – 0 … 8 16 �G�°�D\
1 U16 rw � xx �Â�,:– I/O "J/5
2 …8
– ^�
6300 0 Write Output16 Bit
U8 rw � 0 … 20 OW �°�D\
1 U16 xx OW0 HHFI
2 xx OW1 HHFI
3 xx OW2 HHFI
... ... ...
20h xx OW31 HHFI
6306 0 Fault ModeOutput 16 Bit
U8 ro – 0 … 20 OW �°�D\
1 U16 rw FF FF Fault-Mode OW0
2 FF FF ... OW1
3 FF FF ... OW2
... ... ...
20 FF FF ... OW31
6307 0 Error StateOutput 16 Bit
U8 ro – 0 … 20 OW �°�D\
1 U16 rw 00 00 Fault-Mode OW0
2 00 00 ... OW1
3 00 00 ... OW2
... ... ...
20 00 00 ... OW31
Tab. 2/52: Receive PDO 4
2. ��
2-72 Festo P.BE-CPX-FB14-ZH zh 1411d ��
;<��ÞÏ 6306 �*,P#IJ��ò#�G6'*�S*�IJ。
��ÞÏ 6307 �*,P#IJ�S*��G6'*�ò�IJ。
' CPX 56%�} Operational Mode !´,º;¶·?#�,。
�¿/����(à�ó»s)!´,�cOQ��@g,�;�ÌÄ2��²ã-。
2.4.10 Manufacturer Specific Profile
e�34,0¬´��>£� CPX MN���
(P.BE-CPX-SYS-...)。
��(hex)
�W �� ��
2000 MNDh(�ÕMN�,) – $?FE,hÊ�� � Tab. 2/54
2010 FIDh – hÊ�� � Tab. 2/55
2200 MN"JDh � h�� � Tab. 2/56
2210 FI"JDh – hÊ�� � Tab. 2/57
Tab. 2/53: �$ Manufacturer Specific Profile Area ÞÏ�9:
2. ��
2-73Festo P.BE-CPX-FB14-ZH zh 1411d ��
56[d
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2000 0 MNDh U8 ro 3 MDD\ –
1 $?FE 1 xx CPX $?FEBit 0 … 3:CPX $?FEBit 4: CPX ÅÆBit 5: P (,
Bit 6: L�FEBit 7: MNNO
0000
2 P#�� xx � ÞÏ 6206, 6207,6306, 6307
0001
3 CPX 56�Z[
xx CPX 56�Z[:Bit 0 … 3:�3/�&/
¸�eBit 4 … 7:^�
0002
Tab. 2/54: MNDh
2. ��
2-74 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,[d
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2010 0 FIDh U8 ro 1 … A)D\ 16 + xx 1)
1 FI 0 U16 xx xx FI~" 1)
(FIq� + �q�)
2 FI 1 xx xx FI~" 1)
(FIq� + �q�)
3 FI 2 xx xx FI~" 1)
(FIq� + �q�)
... ... ... ...
2110 0 – U8 ro 1 … A)D\ 784 + xx1)
1 FI�w�FI 0
U32 xxxxxxxx
FI�w� 1)
2 FI�w�FI 1
U32 xxxxxxxx
... ... ... ...
1)u�h��: � CPX MN����-)
Tab. 2/55: FIDh
2. ��
2-75Festo P.BE-CPX-FB14-ZH zh 1411d ��
56��[d
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2200 0 U8 ro 8 A)D\ –
1 IJD* 0 … FF IJ� 1936
2 FIW� 0,U40,U… 8"J34�FI�W� (Bit 0U…U5)ã'"J (Bit 6)
1937
3 P#W� 0 … FF P#W� 1938
4 …8
^� – ^� 1939 …1943
Tab. 2/56: MN"JDh(�%? PDO KK)
L,��[d
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2210 0 FI"J U8 ro 1 … A)D\ –
1 FI 0 "J U32 ro 00 … FF00 … FF0000
I/O �!/�!W�P#W�^�^�
2008 + xx 1)
2 FI 1 "J 00 … FF00 … FF0000
I/O �!/�!W�P#W�^�^�
... ... ... ...
1)u�h��: � CPX MN����-)
Tab. 2/57: FI"JDh
2. ��
2-76 Festo P.BE-CPX-FB14-ZH zh 1411d ��
���Q![�[d
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2300 0 "Jãä9IJ/FE
U8 ro 8 A)D\ –
1 rw xx "Jãä9FE 3480
2 – – – –
3 rw 00 "Jãä9��A)D\(UF“0”î(u�A))
3482
4 ro 00 �yIJ/åG 3483
5 rw 00 s�9n� ($?/ôa�º9 2,P#Bæ�º9,P#W��º9,FI/�!�º9)
3484
6 00 FIW� (MN) 3485
7 00 �!W� (KN) 3486
8 00 P#W� (FN) 3487
2310 0 "Jãä9 U8 ro 0 … 28 A)D\ –
1 É 1 nA)(³�P#)
Oct.-string
00 … FF00 … 1700 … 3B00 … 3B00 … 63(+ 80)
00 … FF00 … 2F00 … FF00 … FF00 … FF
õD�7D
CqDçD
10 ms ��D\ (�/��8´É 1 n34���)FIq�FI�,�!W�P#W�´Ü�!
3488,…
2 É 2 nA)
3 É 3 nA)
... ...
28h 40. A)(³ß�ã�P#)
Tab. 2/58: "Jãä9Dh
2. ��
2-77Festo P.BE-CPX-FB14-ZH zh 1411d ��
56[
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2400 0 MNMD U8 ro 8 A)D\ –
1 MDD* 0 rw 0 … FF ^� 4400
2 MDD* 1 0 … FF Z[(¶·/�¶·) 4401
3 MDD* 2 0 … FF Bit 0, 1:��� 1)
Bit 2, 3:L�FEBit 4, 5:���Bit 6, 7:MNNO 2)
4402
4 …8
^� – ^� –
1);<:�-)*+�½ “�� Faultmode”FE�“Assume fault mode”FE (� FestoMaintenance Tool)。{;�G6�P#ßQ��B� 6206 � 6207 %?MD�,。�BP#ßQ%?MD�,��G6,��P#7�%?��。(�G6P#ßQ�MD�,34 � > Tab. 2/46)
2) ��ã�MD�,NOMN7,k&FB� 2000 … 5FFF。/��8´»5��@�,&FB� 6000 …
Tab. 2/59: MNMD
MD�Dh�hÊ34,0¬´ CPX MN���。
2. ��
2-78 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,[
��(hex)
���
�W �� F� [K(hex)
�� J�U�
2410 0 FIMD
U8 ro 40 A)D\ –
1 MD 0FI 0
rw 0 … FF – CPX FIZ[– �3/�&´�2�– �F6Èö75– 3�â�75– FGgDh£E
4828,…
2 MD 1FI 0
0 … FF
... ... ...
40h MD 63FI 0
0 … FF
2411 0 FIMD
U8 ro 40h A)D\ –
1 MD 0FI 1
rw 0 … FF – CPX FIZ[– �3/�&´�2�– �F6Èö75– 3�â�75– FGgDh£E
xx 1)
... ... ...
40h MD 63FI 1
0 … FF
2412,…
0 …40h
MD0 … 63FI 2 …
U8 ... ... � CPX MN���-) B xx 1)
1) FI�$, � CPX MN���
Tab. 2/60: FIMD
2. ��
2-79Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.11 KKB��9:
�>�U���Bò#B�%?KK:
��(hex)
���
�W �� F� [K (hex)
��
1001 0 ErrorRegister
U8 ro 00 P#D\
1002 0 �B&IJíã9
U32 ro 00 00 00 00 FIW��P#W�
2200 1 MN"JDh U8 ro xx IJ�
2 8"J34�FI�W�
3 P#W�
6000 1 Read Input1 … 8
U8 ro xx �F6�IJ (DD�IJ�)I0 … I7
... ... ...
10h Read Input121U…U128
I120 … I127
6100 1 Read Input16UBit
U16 ro xx �F6�IJ(HHFI� I/O "J/5)IW0
... ...
20h IW31
2. ��
2-80 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
F����W���
6200 1 Write Output1 … 8
U8 rw xx �G6�IJ(DD�M)O0 … O7
... ... ...
10h Write Output121 … 128
O120 … O127
6300 1 Write Output16 Bit
U16 rw xx �G6�IJ(HHFI)OW0
... ...
20h OW31
6401 1 ReadAnalogueInput 1
I16 ro xx FG\�F�!Default Mapping AI0
... ... ...
10h ReadAnalogueInput 16
AI15
6411 1 WriteAnalogueOutput 1
I16 rw xx FG\�G�!AO0
... ... ...
10h WriteAnalogueOutput 16
AO15
Tab. 2/61: KKB��9:
2. ��
2-81Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.12 L�
��L�@;�� ��è3�IJ,l�¹!b$?IJ,U@;�'����_»。 e�34,0¬´ CPXMN����-) (P.BE-CPX-SYS-...)。
CANopen \�=' 32 Bit g�åBz� 16 BitFGg。
�;��U1
��(hex)
���
�W �� F� [K(hex)
�� J�U�
5000 0 Forceenable
U8 ro 0 Bit 0:L�N� 1)
(BQÞÏ 2400,3 Bit 2, 3)
–
5006 0 8 Bit DDE�F6�L�FE
U8 ro 0 … 10 A)D\ –
1 rw 0 L�FE I0 … I7
2 0 L�FE I8 … I15
... ... ...
10h 0 L�FE I120 … I127
5007 0 8 Bit DDE�F6�L�g
U8 ro 0 … 10 A)D\ –
1 rw 0 L�g I0 … I7
2 0 L�g I8 … I15
... ... ...
10h 0 L�g I120 … I127
2. ��
2-82 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
J�U�
��[K(hex)
F����W���
5106 0 16 BitDDE�F6�L�FE
U8 ro 0 … 20 A)D\ –
1 U16 rw 0 L�FE IW0
2 0 L�FE IW1
... ... ...
20h 0 L�FE IW31
5107 0 16 BitDDE�F6�L�g
U8 ro 0 … 20 A)D\ –
1 U16 rw 0 L�g IW0
2 0 L�g IW1
... ... ...
20h 0 L�g IW31
5433 0 FGE�F6�L�F
E
U8 ro 0 … 10 A)D\ –
1 rw 0 �! 0 L�FE 1) (AI0)
2 0 �! 1 L�FE (AI1)
... ... ...
10h 0 �! 15 L�FE (AI15)
5434 0 FGE�F6�L�g
U8 ro 0 … 10 A)D\ –
1 I32 rw 0 �! 0 L�g (AI0)
2 0 �! 1 L�g (AI1)
... ... ...
10h 0 �! 15 L�g (AI15)
1)g: 0 = â�1 = N�
2. ��
2-83Festo P.BE-CPX-FB14-ZH zh 1411d ��
�<��U1
��(hex)
���
�W �� F� [K(hex)
�� J�U�
5206 0 8 BitDDE�G6�L�FE
U8 ro 0 … 10 A)D\ –
1 rw 0 L�FE O0 … O7
2 0 L�FE O8 … O15
... ... ...
10h 0 L�FE O120 … O127
5207 0 8 BitDDE�G6�L�g
U8 ro 0 … 10 A)D\ –
1 rw 0 L�g O0 … O7
2 0 L�g O8 … O15
... ... ...
10h 0 L�g O120 … O127
5306 0 16 BitDDE�G6�L�FE
U8 ro 0 … 20 A)D\ –
1 U16 rw 0 L�FE OW0
2 0 L�FE OW1
... ... ...
20h 0 L�FE OW31
5307 0 16 BitDDE�G6�L�g
U8 ro 0 … 20 A)D\ –
1 U16 rw 0 L�g OW0
2 0 L�g OW1
... ... ...
20h 0 L�g OW31
2. ��
2-84 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
J�U�
��[K(hex)
F����W���
5443 0 FGE�G6�L�F
E
U8 ro 0 … 10 A)D\ –
1 rw 0 �! 0 L�FE 1) (AO0)
2 0 �! 1 L�FE (AO1)
... ... ...
10h 0 �! 15 L�FE (AO15)
5444 0 FGE�G6�L�g
U8 ro 0 … 10 A)D\ –
1 I32 rw 0 �! 0 L�g 1) (AO0)
2 0 �! 1 L�g (AO1)
... ... ...
10h 0 �! 15 L�g (AO15)
1)g: 0 = â�1 = N�
Tab. 2/62: ��B�9:
2. ��
2-85Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.4.13 @;C��LGFI
��@;C�,kZ���; PLC <���$r��ÑÅÆ� CPX 56。 m��(?�)'m��;��,CPX 56�³µÅÆ,lJB�"56|é!b�l�ã
'�FI。 ��Z��B� 4800:���B�m���FI*?�“LG”�!bã'�FI,l�Û|é�U�!QFI。 ��LGFIoOZed=>。
@;C���}Pvx,µ8ÅÆ� CPX 56�,�"@;���´Ã��B� 4800 U�LGFI。
�#,mP����B� 4801 «¬ CPX 56�a*�,。
�@;k���DDE I/O FI。 'ä{��n��¸¹�,k;UF��B�:
– U CPX-FB14 ¡� Pre-Operational Mode �。
– B� 4800.0 �$Gc。
– B� 4000 = 0。
2. ��
2-86 Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
���
�W �� F� �� [K (hex)
��
4000 – FunctionAssignmentMaskEnable
Bool rw – 0 â�@;C��LGFI
1 N�@;C��LGFI
4001 0 FunctionAssignmentMaskInputs
U8 rw – 0 … 10 A)D\
1 …10h
xx 0 ='B� 6000 (InputArray) ��FLGBit
1 ='B� 6000 (InputArray) ��F!bã'� Bit(�@�,)
4200 0 FunctionAssignmentMaskOutputs
U8 rw – 0 … 10 A)D\
1 …10h
xx 0 ='B� 6200 (OutputArray) ��FLGBit
1 ='B� 6200 (OutputArray) ��F!bã'� Bit(�@�,)
4800 0 Set ModuleConfigFunctionAssignment
U8 rw – 0 … 30h u��,A)�D\
1 …48
U32 ��?#A)��*?v�LGFI�MNBC。– Byte 0:�G Bit �D\(DD\FI)��GD*D(FG\FI)
– Byte 1: Byte 0!Ñ,��BQ���F6
– Byte 2:CPX FIq��@g (� 0 7 = OFIq��@g)
– Byte 3:Bit 7: 0 = !bã'�FI,1 = LGFIBit 6 ... 2:^�Bit 1 ... 0:FI~":00 = DD\,01 = FG\,10 = HHFI
2. ��
2-87Festo P.BE-CPX-FB14-ZH zh 1411d ��
��(hex)
��[K (hex)
��F����W���
4801 CheckModuleFunctionAssignment
0 ��� Set ModuleConfig
01 00 00 00 a*g!bgêw�@b�
80 ff oo mm ff:P#¤(}��)oo:G.P#�B� 4800��ÞÏ
mm:G.P#�FIW�
ff ��?(B� 4801 ��P#¤):
01 = FI�F6�D\�Ñ
02 = FI�G6�D\�Ñ
04 = cdFIq�
08 = FI�_V�LGFI(?�:FG\FI)
10 = 2G=�F6-D (> 128 Bit)
20 = 2G=�G6-D (> 128 Bit)
40 = !bã'FI�D\�,�A
Tab. 2/63: Function Assignment(@;C�)�LGFI
2. ��
2-88 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�'���,��LGFI,0%?���V:
1. 0� CPX-FB14 �� Pre-Operational Mode。
2. 0��B� 4800 *?mu� CPX 56��;�,(y�n�:4800.0 = 0 � 4000 = 0):– 4800.1: FI 0– 4800.2: FI 1
j
3. 0�Â�,FI�D\UFB� 4800.0 �。 ��B
��B� 4800.1U…U4800.x *?��,%?o�(a*g�!bgêw)。
– �Æ%?a*g�!bgêw7Gc:�B� 4800.0 �� 0,'B� 4801 ��F�;Gcq�l��VS34¼� CPX P# 29。
– �Æa*g�!bgêw�@b�:��@;C�ë�(B� 4001 � 4200)l��
DDE�G6(B� 6200)。
4. 0�B� 4000 �� 1,¶·�ë�。
5. �Â*?LGFI,o0�á PDO KK(B� 160x � 1A0x)。
2. ��
2-89Festo P.BE-CPX-FB14-ZH zh 1411d ��
��L,#�I%�
'���?�,���“Function Assignment”µU CPX56�,�;�Ñ�@;:
– @; A= �;�³�>� CPX 56
– @; B= �8FI 5 (8DE) � FI 8(MPA gOFI,8Da)� CPX 56 A。
��@;C���'56 A � B ���!Ñ� PLC<�,OZed=>。 B�56 B,'?g���B�4800 |éV�LGFI�FI 5 � 8。
80 1 2 3 4 5 6 7
8DI 8DI 8DO 4DO 8DI 8DO 8DI
8 O 8 O 8 O
8DI 8DI 8DO8DI 8DO 4DO
8 O 8 O
0 1 2 3 4 5FIW�:
6
��J� B # CPX ��(� A ��,W�L, 5 � 8)
��J� A # CPX ��FIW�:
Fig. 2/7: ��@;C�B CPX 56�����"%?�,
2. ��
2-90 Festo P.BE-CPX-FB14-ZH zh 1411d ��
L,U� L, �;�� 1) �<�� 2) [K Fkt. A [K Fkt. B
A B �� 4800 �� 4800
0 0 CPX-FB14 8¶·�
I/O "J/5
T-PDO 4:IW0B� 6100.1
R-PDO 4:OW0B� 6300.1
B� 4800.1:02 00 02 02
1 1 CPX-8DE T-PDO 1:I0 … I7B� 6000.1
– B� 4800.2:00 00 08 00
2 2 CPX-8DE-8DA T-PDO 1:I8 … I15B� 6000.2
R-PDO 1:O0 … O7B� 6200.1
B� 4800.3:00 00 08 08
3 3 CPX-4DA – R-PDO 1:O8 … O11B� 6200.2
B� 4800.4:00 00 00 04
4 4 CPX-8DE-8DA T-PDO 1:I16 … I23B� 6000.3
R-PDO 1:O12 … O19B� 6200.2B� 6200.3
B� 4800.5:00 00 08 08
5 – CPX-8DE T-PDO 1:I24 … I31B� 6000.4
– B�4800.6:00 00 08 00
B�4800.6:80 00 08 00
6 5 MPA1S... (8DA) – R-PDO 1:O20 … O27B� 6200.3B� 6200.4
B� 4800.700 00 00 08
7 6 MPA1S... (8DA) – R-PDO 1:O28 … O35B� 6200.4B� 6200.5
B� 4800.800 00 00 08
8 – MPA1S... (8DA) – R-PDO 1:O36 … O43B� 6200.5B� 6200.6
B� 4800.900 00 00 08
B� 4800.980 00 00 08
1)8��B� 1A00 KK@;2)8��B� 1600 KK@;
Tab. 2/64: �?56 1 ��LGFI
2. ��
2-91Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.5 [HI
m����MD�,���, CPX 56' Remote I/OFE��2�。 ����Ñ�MD�,:
– MNMD�,,?�:È(P#34j。
– "Jãä9�MD�,。
– FIMD�,(FI��!��),?�:Z[、P#I¹�,、�F6÷ö75�,。
��:0' Pre-Operational Mode ��� SDO B CPX 56%?MD�,。
{;MD�Q�zØ�hÊ��,0¬´ CPX MN���
(P.BE-CPX-SYS-...)。CPX I/O FI� CPX gO9�/5�MDw>,0¬´CPX-I/O FI��� (P.BE-CPX-EA-...).
2.5.1 NO7�MD�,
1 ��� �;�MD�,�&}*+�
2 ��*+�MD�,C�}FI�
��
1
2
Fig. 2/8: NOMD�,�XY
2. ��
2-92 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.5.2 ��P (,�*MD
��P (,�#¼ì��íL7 CPX 56�MD�,,OZ�,<�。
$�P (,����V34,0M},-����。
2.5.3 MD�,�Q��?
1 �@MD�,��F6
2 ÷ö75���3�â�75èT��F6
Î Î
ÓÓÓÓÓÓ
21
É 1 ��9É 2 ��9
Fig. 2/9: ÷ö75�îøâ�75MD�,�Q��?(�¡JBçù��9�)
'��Q����Þo� 8$�ú�。 ����MD�,,����3�*]�¡�75:
– ��F6÷ö75� 3 ms(GY�,)���0.1 ms:�«oe��3�。 (;��á;FI)。
– �3�â�75 d� 50 ms:��[�9���l=«oGU3�。
(U¡kJB¶·É 2 ;��9�F�!�¸¹)。
2. ��
2-93Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.6 56Z CPX ��#�
;<0Ñ7�hmu�[�9P���NO��。
¢V:
1. 0�.1-)�0�/} CPX -)*+。
2. 0/����;�WV�e:
– u�.1-))� +,
– CPX 56。
3. 0/�� FI�WV�e。
��:�Æmu�p9/�;�����_,~�m�����;WV�e(JÌ 1 � 2)$? CPX 56 – �OZe�Àg。 ? m��B� CPX 56%?o�,R£s�h#�Q。
2. ��
2-94 Festo P.BE-CPX-FB14-ZH zh 1411d ��
2.6.1 OP#��,QR$?IJ
'QR$?IJ�,-)*+��� LED S�T�j:
LED �% ¡¢ij
PS
PL
SF
MS
NS
IO
M
?# LED S�T��ïT:– MS– NS– IO– PS– PLðñ��ñ LED S�T��:– SF– M
QR
Fig. 2/10: QR$?IJ�� LED S�T
3. "J
3-2 Festo P.BE-CPX-FB14-ZH zh 1411d ��
")
3. �� 3-1.........................................................
3.1 "JRE9� 3-3.................................................
3.2 �� LED S�T%?"J 3-4......................................
3.2.1 QR$?IJ 3-5.........................................
3.2.2 CPX �� LED S�T PS、PL、SF、M �U� 3-6.............
3.2.3 CANopen �� LED S�T MS、NS、IO �U� 3-9............
3.3 ��IJ�"J 3-12...............................................
3.4 �� I/O "J/5%?"J 3-13....................................
3.5 �� CANopen %?"J 3-14........................................
3.5.1 VS34 3-15.............................................
3.5.2 CPX P#W� 3-20.........................................
3. "J
3-3Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.1 ��£M/¤
CPX 56��:��Øò�"J�P#¡�RE。 §h�,¸¹,�����RE"J:
��£M ¥8�� [ ¦§��
LED S�T � LED S�Tt/U��,cd、à�P#、-)P#j。
“.1”ÞoP#�° É 3.2 *
IJ� �9�F6,�:��W�¡���["J34。8 ;IJ�·�� PDO 4�y 8 ; Bit(� Fig. 2/1)。
ÞoL7�,Y���P#34,/5�� �;O$。
y* 3.3 � CPXMN��� (P.BE-CPX-SYS-...)
I/O "J/5 I/O �����-)�"J/5,��L7 CPX 56��9Dh (16 Bit, PDO 4)
x/L7 I/O ����9MD�Dh。
y* 3.4 � CPXMN��� (P.BE-CPX-SYS-...)
�� CANopen%?"J
– VSÈ4– B� 1001 … 1003– �� SDO %?"J(?�:B� 22xx)
hÊ�P#�°。 É 3.5 *
��P (,%?"J
' CPX P (,�,�RØ=#¼ì�U�"J34。
“.1”ÞoP#�°*���U�,OZWY
P (,���
Tab. 3/1: "JRE
3. "J
3-4 Festo P.BE-CPX-FB14-ZH zh 1411d ��
;<0�h,U��"J34/Ä� CPX 56��,(� y* 1.2.2)��MD�,(� y* 2.5)。
3.2 JK LED �% ¨¢��
'-)*+���;FI�� LED S�Ts��� CPX56�"J。
�gFI� LED S�T��?,h}{;FI����。
PLNS
PSMS
SF
M
IO
51
96
PS
PL
SF
MS
NS
IO
M
1
2PS
PL
SF
MS
NS
IO
M
1 CPX �� LED S�T:– PS (ïñ)– PL (ïñ)– SF (ðñ)– M (�ñ)
2 CANopen �� LEDS�T(ïñ/ðñ):– MS(FIIJ)– NS(��IJ)– IO(I/O IJ)
Fig. 3/1: CPX *+� LED S�T
3. "J
3-5Festo P.BE-CPX-FB14-ZH zh 1411d ��
��� LED S�T��ÑU�IJ,���u�:
�j �ó ôõ
3.2.1 QR$?IJ
'QR$?IJ�,-)*+��� LED S�T�j:
LED �% ¡¢ij
PS
PL
SF
MS
NS
IO
M
?# LED S�T��ïT:– MS– NS– IO– PS– PL
ðñ��ñ LED S�T��:– SF– M
QR
Tab. 3/2: QR$?IJ�� LED S�T
3. "J
3-6 Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.2.2 CPX �� LED S�T PS、PL、SF、M �U�
PS (Power System) – \©!R|/`aR|
LED �% (ª«)
¬� ij � /NO®
LEDS�T�j
ON
OFF
OP#,WV�e/��9�8QR
–
LEDS�T�ó
ON
OFF
WV�e/��9�8¡�dÒ<A!#
�(¸�e
ON
OFF
WV�e/��9�8��9�1HÂj�
1.�(FIù�3/�&2.FI�MD�,�$(FIMD):� �(�3´,��9�8�e
$¯=/�(�@)� Z'./$�8
LEDS�Tôõ
ON
OFF
WV�e/��9�8�/�
«¬��(,�WV�e�/
Tab. 3/3: IJS�T LED “PS”
3. "J
3-7Festo P.BE-CPX-FB14-ZH zh 1411d ��
PL (Power Load) – °±R|(�<�/²)
LED �% (ª«)
¬� ij � /NO®
LEDS�T�j
ON
OFF
OP#,4&�eQR
O
LEDS�T�ó
ON
OFF
MN�n¬�8�4&�e¡�dÒ<A!#
�(¸eP#
Tab. 3/4: IJS�T LED “PL”
SF (System Fail) – 56NO
LED �% (³«)
¬� 1) ij � /NO®
LED S�Tôõ
ON
OFF
OP# –
LED S�T�ó 1 ¿
ON
OFF
�ûP#/34(P#j¡ 1)
� CPX MN����y*3.5.2 ��P#W���。
LED S�T�ó 2 ¿
ON
OFF
P#(P#j¡ 2)
LED S�T�ó 3 ¿
ON
OFF
%�P#(P#j¡ 3)
1)MNP# LED S�T��óG.�P#j¡�$。
P#j¡ 1(�ûP#): �ó 1 ¿,öôP#j¡ 2(P#): �ó 2 ¿,öôP#j¡ 3(%�P#): �ó 3 ¿,öô
Tab. 3/5: IJS�T LED “SF”
3. "J
3-8 Festo P.BE-CPX-FB14-ZH zh 1411d ��
M (Modify) – [HIk´µ_�UYZ
LED �% (¶«)
¬� ij � /NO®
LEDS�Tôõ
ON
OFF
��@�MD�,(GY�,)��y CPX ÅÆNOMN;�%?#9MD�*(^�)
O
LEDS�T�ó
ON
OFF
L�¶· L�@;ÂN�(� MNMD“L�FE”;@;W� 4402)
LEDS�T�j
ON
OFF
��ã�MD�,��ã�CPX ÅÆNOMN;MD� CPX ÅÆ÷��ã;âa�#9%?MD�,
'e�Â�ã=MD�,� CPX567Z��!e�Â�ã=MD�,� CPX567,Om����¡PLC/IPC cO%?MD�,。�~¸¹�,0'e�y¾«¬l��uZ��,。
Tab. 3/6: IJS�T LED “M”
3. "J
3-9Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.2.3 CANopen �� LED S�T MS、NS、IO �U�
MS(L,ij)
LED �% (ª«/³«)
¬� ij NO®
LEDS�Tôõ
ON
OFF
LSS ¶·��, W�
� �'7�� LSS���, W��123
LEDS�TïT
�j
ON
OFF
Operational –
LEDS�TïT
�ó
ON
OFF
0.5 Hz
Pre-Operational � �'7� CPX 56��Operational FE
LEDS�TÞo�óïü
ON
OFF
2 Hz
Stopped � �'7� CPX 56��Operational FE
LEDS�TðT
�j
ON
OFF
à�P# Z'� &+
Tab. 3/7: IJS�T LED “MS”
3. "J
3-10 Festo P.BE-CPX-FB14-ZH zh 1411d ��
NS(·¸ij)
LED �% (ª«/³«)
¬� ij NO®
LEDS�TïT
�j
ON
OFF
��QR –
LEDS�TïT
�ó
ON
OFF
P#�D9åG � «¬-):�0、Þ446、3���
LEDS�TðT
�ó
ON
OFF
24 V CAN /E9�8P# � «¬lì��8:�
LEDS�TðT
�j
ON
OFF
-)$J � «¬-):�0、Þ4/6、3���(P#�D9åG)
Tab. 3/8: IJS�T LED “NS”
3. "J
3-11Festo P.BE-CPX-FB14-ZH zh 1411d ��
I/O(I/O ij)
LED �% (ª«/³«)
¬� ij NO®
LEDS�TïT
�j
ON
OFF
I/O IJQR –
LEDS�TðT
�ó
ON
OFF
“I/O P#” ø;FI¸�e、�3/�&��)Jù
� �(FI��P#
LEDS�TðT
�j
ON
OFF
“�3P#” Node guard � Heart beatÂôa(MN%FPre-Operational FE)
1.¬�27¤2.CPX 56%�}
Operational FE
Tab. 3/9: IJS�T LED “I/O”
3. "J
3-12 Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.3 JKij���
IJ���U��["J34(�ÕP#34)。
;<�'��IJ�,�)��-)*+�� DIL .$��¶·(� y* 1.2.2) ��� SDO %?u7。
�IJ�¶·,o'�@¸¹�?#IJ��·�PDO 4 �� 8 ; Bit(� y* 2.4.9)。
Bit 1 >�¹#��>º ��
0 MP# G.P#�FI~"
1 �G6��P#
2 �F6��P#
3 FGEFI/@;FI��P#
4 ¸�e P#~"
5 �3/�&
6 �)Jù
7 �7P#
Tab. 3/10: CPX-FB14 �IJ�(��)
3. "J
3-13Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.4 JK I/O ��h�¨¢��
CPX 56��:�; 16 Bit I/O "J/5。 U I/O"J/5'�@¸¹��·� PDO 4 ��Bit 0 … 15(� y* 2.4.9)
;<�'�� I/O "J/5,�)¾��-)*+�� DIL.$��¶·(� y* 1.2.2)。
�$ I/O "J/5�34,0¬´ CPX MN���P.BE-CPX-SYS-...
3. "J
3-14 Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.5 JK CANopen ¨¢��
�ýã'P#? �
ý
T&P#íã9
(ÞÏ 1001)
T&�B&IJíã9
(ÞÏ 1002)
ÇOP#íã9
(ÞÏ 1003、�ÞÏ 1 ... A)
T&^*?P#D»
(ÞÏ 1003、�ÞÏ 1)
�GVS34
�� LED S�T MS、NS� IO
�üþ¿E�GP#34
�P#úT}"Jãä9�
(ÞÏ 23xx)
�P#úT}FI"JDh�
(ÞÏ 2210)
e�MN"JDh
(ÞÏ 2200)
FIW�ee�FI
�ýã'!ÑP# ?
�
ý
Fig. 3/2: CPX 56�P#¡�XY
�$P#IJ��F6��G6?��34,0¬´y* 2.4。
3. "J
3-15Festo P.BE-CPX-FB14-ZH zh 1411d ��
3.5.1VS34
��P#7, CPX 56��G�n���9C���VS34:
– Byte 0, 1: P#q�(A[ CiA 301/CiA 401)
– Byte 2: P#íã9(ÞÏ 1001)
– Byte 3 … 7: �B&2*�P#D»(vx�;2*�P#34)Byte 3 … 6 ���B&IJíã9(ÞÏ 1002)。
IJ�
�B&2*�P#D»
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�-T�P#34
CPXFIW�
^�P#íã9
CPXP#W�
Fig. 3/3: Emergency Object ���(e�34M} Tab. 3/11 … Tab. 3/16)
V�P#íã9�^*?P#D»
�GVS34�Ñ7,'^*?P#D»(ÞÏ 1003)�$�ã��e�£E�P#34:IJ�、CPX FIW�、P#q�
U^*?P#D»�V³´ 10 nP#�P#íã9。!y�P#�C°ûÇ�;�,(� y* 2.4.1,ÞÏ 1003,�ÞÏ 1 … Ah)。
3. "J
3-16 Festo P.BE-CPX-FB14-ZH zh 1411d ��
VS34���
-T�P#34
ÞÏ 1002(�B&IJíã9)ÞÏ 1001
Byte 0
IJ�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
NOF�CPXFIW�
^�P#íã9
CPXP#W�
Byte 1 Byte 0 ��
00 00 OP#
10 00 R}P#
23 20 �G6�3
23 30 Load dump(�)Jù)
31 20 �F�e��
33 20 �G�e��
50 00 à�P#
81 00 �3P#(-)�e�{)
81 10 CAN Overrun
81 20 CAN in error passive mode
81 30 Node guard � Heart beat ��P#¸¹
81 40 CAN recovered from Bus OFF
82 10 /EOl PDO
Tab. 3/11: A[ CiA 401 �P#q����
3. "J
3-17Festo P.BE-CPX-FB14-ZH zh 1411d ��
ÞÏ 1002(�B&IJíã9)�� 1001
Byte 0
IJ�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�-T�P#34
CPXFIW�
^�NO»�!
CPXP#W�
Bit � ��
0 Generic Error ��;P#�, Bit
1 Current – KZS(��9�8�3/�&)– KZA(�G6�3/�&)
2 Voltage – UAUS(�G6¸e)– UVEN(M¸e)– CPX �GFI� CPX �FFI��4&�eP#
3 – –
4 Communication Error – Node guard、Heart beat、CAN P#
5 … 6 – –
7 Manufacturer specific – �)Jù– �7P#
¼] = CPX 56��� Bit
Tab. 3/12: P#íã9(ÞÏ 1001 �A[ CiA 301/401 � Bit C�)
CPX 56' Emergency Object � Byte 3 ... 6 ��:��""J34(�B&IJíã9,ÞÏ 1002)。
3. "J
3-18 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�� 1002(U½^ij»�!)ÞÏ 1001
Byte 0
ij�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�CPXFIW�
^�P#íã9
CPXP#W�
-T�P#34
Bit � ��
0 MP# G.P#�FI~"
1 �G6��P#
2 �F6��P#
3 FGEFI/@;FI��P#
4 ¸�e P#~"
5 �3/�&
6 �)Jù
7 �7P#
Tab. 3/13: �B&IJíã9� Byte 0(IJ�)
3. "J
3-19Festo P.BE-CPX-FB14-ZH zh 1411d ��
-T�P#34
�� 1002(U½^ij»�!)ÞÏ 1001
Byte 0
IJ�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�CPXL,U�
^�P#íã9
CPXP#W�
Bit � ��
0 … 7 CPX-FIW� 8"J34�FI�W�
Tab. 3/14: �B&IJíã9� Byte 1(CPX FIW�)
�� 1002(U½^ij»�!)ÞÏ 1001
Byte 0
IJ�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�CPXFIW�
^�P#íã9
CPXNOU�
-T�P#34
Bit � ��
0 … 7 CPX P#W� CPX P#W�(� y* 3.5.2)
Tab. 3/15: �B&IJíã9� Byte 2(CPX P#W�)
3. "J
3-20 Festo P.BE-CPX-FB14-ZH zh 1411d ��
ÞÏ 1002(�B&IJíã9)ÞÏ 1001
Byte 0
IJ�
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P#q�CPXFIW�
^�P#íã9
CPXP#W�
�`#NO>º
Bit � ��
0 … 7 -T�P#34 ?�:– G. Heart beat error 7� Node-Id(ø#)� +Ïj27)
– É�nP#�!�W�
Tab. 3/16: Emergency Object � Byte 7
3.5.2 CPX P#W�
'��Á`�>£��U� CPX P#W�。
hÊ34,0¬´ CPX MN�����“"J�P#¡�”�y。
3. "J
3-21Festo P.BE-CPX-FB14-ZH zh 1411d ��
NOU� NO��
0 OP#
1 ��"J
2 ��9�8 (KZS) ��G6 (KZA) �3/�&
3 �X�F6/�G6�)Jù/À
4 ¤�3/�&��4&�8P#(�G6ù)
5 �8�e¸�e(�F6ù)
6 … 8 ^�
9 ��a*<A
10 2Ga*<A
11 M�3
12 ^�
13 M�)Jù (Open load)
14 ^�
15 FI/�!�ü
16 FIq�rm�cd�FI
17 I/O �2cd(?�:CPX-CP /5)
18 2G I/O +D\
19 ^�
Tab. 3/17: CPX P#W�(É 1 9C)
3. "J
3-22 Festo P.BE-CPX-FB14-ZH zh 1411d ��
NOU� NO��
20 MD�,cd:��,�3�<A
21 MD�,cd:Dh£E
22 MD�,cd:)��2Dh
23 MD�,cd:DD�º9/o\gÖý¡�
24 MD�,cd:�/g
25 MD�,cd:�/g
26 FG\�GFI`?9�8P#
27 … 28 ^�
29 MD�,cd
30 … 39 ^�
40 Life Guard
41 Heart Beat
42 ^�
43 CAN Overrun
44 Invalid PDO received
45 CAN warn limit reached
46 Recovered from Bus off
47 Bus Power lost
48 … 127 � CPX MN���
128 … 199 CPX BCcd(P#W���:µ� &+ t�P#34)
Tab. 3/18: CPX P#W�(É 2 9C)
3. "J
3-23Festo P.BE-CPX-FB14-ZH zh 1411d ��
NOU� NO��
200 MD��}FI7Gc
201 W�Ol(*+)
202 -)��×þ:not ready
203 ^�
204 … 205 � {FI����
Tab. 3/19: CPX P#W�(É 3 9C)
A. HH�-)
A-2 Festo P.BE-CPX-FB14-ZH zh 1411d ��
")
A. ����� A-1...................................................
A.1 -)*+ CPX-FB14 �HHMD A-3.................................
A.2 �?:�3XY A-5...............................................
A.2.1 �? 1:NO CANopen �� A-5............................
A.2.2 �? 2:�,�G6 A-5...................................
A.2.3 �? 3:NO“Node guard”Z[ A-6.......................
A.2.4 �? 4:T&B� A-7.....................................
A.2.5 �? 5:UFB� A-8.....................................
A. HH�-)
A-3Festo P.BE-CPX-FB14-ZH zh 1411d ��
A.1 ��� CPX-FB14 #��[
�A
J���[ � CPX MN��� P.BE-CPX-SYS-...
¾¿ÀÁÂà 1)
A[ IEC/EN 60529 �j,CPX-FB14 Â�>(�b�,46¡�4FIJ�(�0-
IP65/IP67
tRqÁt/�5//s+0A[ IEC/EN 60204-1�j
���� PELV �3�0�2��e (Protected Extra-Low Voltage)
L,F�(CPX ]�#) Remote I/O: CDhRemote Controller: 9Ch
L,���(z*(�IZ#��) Remote I/O: FB14-RIO CANopen Remote I/ORemote Controller: FB14-RC CANopen bus node
1) 0�hu�/�;�;k��w��+0j¡、w��f2<Ajn��。
Tab. A/1: ���HHMD
A. HH�-)
A-4 Festo P.BE-CPX-FB14-ZH zh 1411d ��
"RR|
Ä{R� / °±R� � CPX MN��� P.BE-CPX-SYS-...
��� CPX-FB14 #R¬ÅÆ
– ���(,/��9�WV�8 (USEN)��
³µ 200 mA(�JB CPX-FB14)
��h�Ä{R�D-Sub 46:JÌ 3,JÌ 9M12 /9:JÌ 2,JÌ 3¤Ð/)Ù/9:JÌ 1,JÌ 5
– �XÈ� ³µ 30 mA
– a*g 24 V DC(k��c�0,Z'#9�1H)
– �Ò 11 … 30 V
R¬ÇÈ -)/5,ü�mr
Tab. A/2: �8
�$gO9��HHMD,0¬´gO9����。
A. HH�-)
A-5Festo P.BE-CPX-FB14-ZH zh 1411d ��
A.2 %�:J>¬�
u��?��FI ID = 1,�:�*� CPX 56� W� = 1。
A.2.1 �? 1:NO CANopen ��
01 xx000 :
PLC/PC/IPC
COB-ID
Dh
(u�Dgs���%�)
xx = W�
(00 = u�-))� +)
MS PS
PL
SF
M
NS
IO
Fig. A/1: �? 1,NO CANopen ��
A.2.2 �? 2:�,�G6
�'�� CPX 56�,�G6�M,o�)�� �;� /E PDO。 �?���,=�G6 0,�;Â�,��G6�²��。
01 00201 :PLC/PC/IPC
COB-ID
Dh (u�Dgs���%�) MS PS
PL
SF
M
NS
IO
Fig. A/2: �? 2,�, CPX 56��G6 0
A. HH�-)
A-6 Festo P.BE-CPX-FB14-ZH zh 1411d ��
A.2.3 �? 3:NO“Node guard”Z[
0¾�� SDO ��&FÞÏ 100C � 100D(� �? 5)。 ��/E}�É�;“Node guard”¼�NO CPX 56�“Node guard”Z[。 '2775��)�]���¼�:2775 = Guard Time · Life Time Factor
= ÞÏ 100C · ÞÏ 100D
�2G�75,M/�G6�$Jl%F Fail-SafeIJ。
;<'/E}É�;“Node guard”¼�!y,CPX 56�27Z[»5¡��¶·IJ:�÷�3、-)�J�
��~�¸¹´,Â/��M��G6Q� /�IJ。
05
701
701 :PLC/PC/IPC
COB-ID
Bit 7 = Toggle Bit
1)(u�Dgs���%�)
COB-ID
Node guard response
Dh
1)
MS PS
PL
SF
M
NS
IO
Fig. A/3: �? 3:NO“Node guard”Z[ (Remote request)
A. HH�-)
A-7Festo P.BE-CPX-FB14-ZH zh 1411d ��
A.2.4 �? 4:T&B�
�� SDO ����T&�x/ CPX 56�B�:
– ��<�
– ÞÏ��ÞÏ
®´ CPX 56�� ��Dh:
– ÞÏ��ÞÏ
– DhD*
00 00 00 000000 1040
91 01 02 000000 1043
601 :
581 :PLC/PC/IPC
COB-ID
Initiate Domain
Upload Request
ÞÏ
�ÞÏ
4 ;DhD*
Initiate Domain
Upload Response
ÞÏ
�ÞÏ
4 ;DhD*
(u�Dgs���%�)
COB-ID
MS PS
PL
SF
M
NS
IO
Fig. A/4: �? 4:x/ÞÏ 1000h,�ÞÏ 0(�;~":�;���、�;ÅÆ)
A. HH�-)
A-8 Festo P.BE-CPX-FB14-ZH zh 1411d ��
A.2.5 �? 5:UFB�
�'UF CPX 56�B�,�)�� SDO �&��Dh:
– �&<�
– ÞÏ��ÞÏ
– Dg
/� CPX 56�� ��DhV���:
– ÞÏ��ÞÏ
– DhD*(�!$)
04 7F 00 00000C 102B
00 00 00 00000C 1060
601 :
581 :PLC/PC/IPC
COB-ID
Initiate Domain
Upload Request
ÞÏ
�ÞÏ
4 ;DhD*
Initiate Domain
Upload Response
ÞÏ
�ÞÏ
(4 ;DhD*)
(u�Dgs���%�)
COB-ID
MS PS
PL
SF
M
NS
IO
Fig. A/5: �? 5:UFÞÏ 100Ch,�ÞÏ 0 (Guard Time)
B. $��ÞÏ
B-2 Festo P.BE-CPX-FB14-ZH zh 1411d ��
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B. ����� B-1...................................................
B. $��ÞÏ
B-3Festo P.BE-CPX-FB14-ZH zh 1411d ��
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C
CANopenCOB ��A 2-39.................................B�")�:> 2-36.............................��34 2-5....................................IJ� 2-37...................................
CEC 1-11.........................................
D
DIL .$ 1-9, 1-10...............................
F
FEC 1-11.........................................
H
Heart beat 2-38, 2-43, 3-16, 3-17................
L
Layer Setting Service 2-6........................¶· 1-19.......................................
LED S�T 3-4...................................
LSS, ¶· 1-19...................................
LSS <� 2-6.....................................
M
M12 /9 1-31..................................
Manufacturer Specific Profile 2-72...............
B. $��ÞÏ
B-4 Festo P.BE-CPX-FB14-ZH zh 1411d ��
N
Node guard 2-38, 2-43, 3-16, 3-17................
P
PDO 2-5..........................................
PDO 1 ... 4, 9: 2-27.............................
PDO 1� 2-47......................................./E 2-50.......................................
PDO 2� 2-55......................................./E 2-60.......................................
PDO 3� 2-62......................................./E 2-65.......................................
PDO 4 3-3, 3-12..................................� 2-68......................................./E 2-70.......................................
PELV 1-34........................................
S
SDO 2-5, 3-3, 3-12...............................
service VII......................................
�( 1-6.........................................
�
#¼$*�� VI..................................
\
123 1-20......................................
B. $��ÞÏ
B-5Festo P.BE-CPX-FB14-ZH zh 1411d ��
MD�,NOMD�, 2-91...............................Q��? 2-92...................................
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©ª 1-6.........................................
�
=>�* 2-26....................................
R
�0, .1-) 1-23..............................
�g�/�U��� 1-5...........................
�
B�"), 9: 2-36..............................
|
� PDO 1 2-47......................................PDO 2 2-55......................................PDO 3 2-62......................................PDO 4 2-68......................................
²
M�8 1-34......................................
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n¬�8 1-34....................................
B. $��ÞÏ
B-6 Festo P.BE-CPX-FB14-ZH zh 1411d ��
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@;C� 2-85....................................
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:��8 1-34....................................
N
P#W� 3-20....................................
P#q� 3-15....................................
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HHMD A-3.....................................
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/EPDO 1 2-50......................................PDO 2 2-60......................................PDO 3 2-65......................................PDO 4 2-70......................................
G
.$-, /���( 1-8...........................
n
�/:��8 1-34....................................1-) 1-23, 1-27, 1-30.......................
v
¤Ð/)Ù/9 1-32............................
B. $��ÞÏ
B-7Festo P.BE-CPX-FB14-ZH zh 1411d ��
L
FG�G6 2-60, 2-65...............................�F6 2-55, 2-62...............................
FE 1-11, 1-21..................................
�
"� % VII.....................................
�
�, 2-6.........................................
�
L� 2-81........................................
H
�,123 1-20.....................................FE 1-11....................................... W� 1-13....................................."JFE 1-21...................................
%
�3XY�? A-5.................................
�
�F�G"J/5 2-68............................
[
DDE�G6 2-50.....................................�F6 2-47.....................................
B. $��ÞÏ
B-8 Festo P.BE-CPX-FB14-ZH zh 1411d ��
�
����� VIII..................................
?
�U, �a�� XI................................
J
"J, .1-)%?"J 3-14......................
�� X...........................................
+
��A X.......................................
5
MN�8 1-34....................................
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.1-), �/ 1-23..............................
.1-)123,.1-)�2 1-24................
.1-)�0 1-23................................
�
LGFI 2-85....................................
�
Ï)QfÈ(� 1-23..............................
B. $��ÞÏ
B-9Festo P.BE-CPX-FB14-ZH zh 1411d ��
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KK 2-41........................................KKB��9: 2-79.............................
�
�,�� IX......................................
Ë
^*?P#D» 3-15..............................
T
W�, �, 1-13................................
q
JÌC�, .1-)/5 1-27......................
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"JFE 1-21....................................
U
�B&IJíã9 3-15............................
7
�,MD 1-19....................................
u
/9M12 1-31........................................¤Ð/)Ù 1-32.................................