CPX Terminal - Festo · 2020. 4. 20. · 2.4.2 DIL switches 2−8. . . . . . . . . . . . . . . . ....

Electronics Manual

CoDeSys Controller

TypeCPX−CECCPX−CEC−C1/−M1

CPX Terminal

Manual569 122en 1004a [753 482]

Contents and general instructions

I

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 1004a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−CPX−CEC−EN. . . . . . . . . . . . . . . . . . . . . . . .

Order�no. 569 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo SE�&�Co. KG, D�73726 Esslingen, Germany, 2010) Internet: �http://www.festo.comE−mail: �[email protected]

The reproduction, distribution and utilisation of this docu� ment as well as the communication of its contents to others without explicit authorisation is prohibited. Offenders will be held liable for the payment of damages. All rights re� served in the event of the grant of a patent, utility module or design.

Festo P.BE−CPX−CEC−E N en 1004a


II Festo P.BE−CPX−CEC−EN en 1004a

CANopen�®, CoDeSys�®, MODBUS�® and TORX�® are registered trade names of the respectivetrademark holders in certain countries.

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 engineeringtool or at the following addresses:http://<IP address of the device>/product−information.htmlhttp://www.gnu.org/copyleft/gpl.html


IIIFesto P.BE−CPX−CEC−EN en 1004a

Contents

Designated use V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group� VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the use of this manual XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3 . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Supported motor controllers 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 The operating modes of the CoDeSys controllers 1−6 . . . . . . . . . . . . . . . . . . . . .

1.4 The CoDeSys provided by Festo programming environment 1−9 . . . . . . . . . . . . .

1.4.1 Programming languages 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 Libraries 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.3 Parameterisation 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Meaning of the LED displays 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 CPX−specific LEDs 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Installation 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General installation instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dismantling and fitting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Dismantling 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Fitting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Connection and display elements 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Setting the switches of the CoDeSys controller 2−7 . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 DIL switches 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Ethernet interface 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Ethernet cable 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Communication interfaces 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 CANopen interface (CPX−CEC−C1/−M1) 2−12 . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 RS232 interface (CPX−CEC) 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−CPX−CEC−EN en 1004a

2.7 Connection of an operator unit type FED 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MMI 2−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying with protection class IP65/IP67 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Commissioning 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Prerequisites for commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 First steps 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Configuration of the CPX modules 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Configuration of the CANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Parameterisation of the CPX terminal 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Parameterisation via control configuration in CoDeSys 3−10 . . . . . . . . .

3.5.2 Parameterisation via the handheld type CPX−MMI 3−13 . . . . . . . . . . . . .

3.6 Forcing 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Diagnosis 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General error response of the CoDeSys controller 4−3 . . . . . . . . . . . . . . . . . . . . .

4.2 Diagnosis via controller LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Further diagnostic options 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−CPX−CEC−EN en 1004a

Designated use

The type CPX−CEC/CPX−CEC−... CoDeSys controller docum�ented in this manual is intended exclusively for use in FestoCPX terminals for installation in a machine or an automationcontrol system.

In combination with a CPX terminal, the CPX−CEC/CPX−CEC−...is used for

� controlling pneumatic and electric actuators (valves, out�put modules and motor controllers via CANopen)

� interrogating electric sensor signals through the inputmodules

� communication via Ethernet.

The CPX terminal with the CPX−CEC/CPX−CEC−... may only beused as follows:

� as designated in industrial applications

� without any modifications by the user. Only the conver�sions or modifications described in the documentationsupplied 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, electri�cal data, torques etc. should be observed.

Please comply with the regulations of the workers’ com�pensation insurance association, the German Technical Con�trol Board (TÜV) and the electrical requirements of the VDE orthe corresponding national and local safety regulations.


VI Festo P.BE−CPX−CEC−EN en 1004a

Safety instructions

Protection against dangerous movements

WarningHigh acceleration forces at the connected actuators! Unde�sired movements can cause collisions and severe injuries.

Dangerous movements can occur through faulty control�ling 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 loadvoltage is not suitable for locking procedures. In the eventof a fault, this could lead to unintentional movement of thedrive.

· Before doing mounting, installation and service work,bring the system into a safe condition (e.g. by bringingthe drive into a safe position and deactivating the controller). Always make sure that the compressed air supply andpower supply are switched off and locked when workingin the machine area.

· Make sure that no persons are in the operating range ofthe drives or any other connected actuators.

· Do not switch on the compressed air supply until thesystem is correctly installed and parameterised.


VIIFesto P.BE−CPX−CEC−EN en 1004a

· Brakes controlled by the drive controller are alone notsuitable to ensure personal protection!Secure vertical axes from falling or sliding down whenthe compressed air and load voltages 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−re�lated applications; in Europe, for example, the standardslisted under the EC Machinery Directive must be ob�served. Without additional measures in accordance withstatutory minimum requirements, the product is notsuitable for use in safety−related sections of control systems.

Protection from pressurised tubing

CautionDanger of injury through inappropriate handling of pres�surised tubing!

Undesired movements of the connected actuators anduncontrolled movements of loose tubing can cause injuryto 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.).


VIII Festo P.BE−CPX−CEC−EN en 1004a

Target group�

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosingpositioning systems.

Service

Please consult your local Festo Service if you have any techni�cal problems.


IXFesto P.BE−CPX−CEC−EN en 1004a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich can occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with apictogram. A distinction is made between the following danger warnings:

Warning... means that failure to observe this instruction may resultin serious personal injury or property damage.

Caution... means that failure to observe this instruction may resultin personal injury or property damage.

Note... means that failure to observe this instruction may resultin damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitivecomponents:

Electrostatically sensitive devices: Improper handling canresult in damage to components.


X Festo P.BE−CPX−CEC−EN en 1004a

Identifying special information

The following pictograms mark passages in the text whichcontain special information.

Pictograms

Information:Recommendations, tips and cross−references to other in�formation sources.

Accessories:Information on necessary or useful accessories for the Festoproduct.

Environment:Information on the environmentally friendly use of Festoproducts.

Text markings

· The bullet indicates activities which may be carried out inany order.

1. Numerals denote activities which must be carried out inthe 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 andbuttons. Example: "Control configuration".


XIFesto P.BE−CPX−CEC−EN en 1004a

Notes on the use of this manual

This manual refers to the following firmware and softwareversions:

� CoDeSys controller CPX−CEC−C1 from Rev 01

� CoDeSys controller CPX−CEC and CPX−CEC−M1 from Rev 05

� Programming environment CoDeSys provided by Festofrom Version 2.3

This manual contains information on the function, fitting,installation and commissioning of the CoDeSys controller.

Further information on the device can be found in thefollowing documentation:

Type Title Description

Shortmanual

"CoDeSys controller"type P.BE−K−CPX−CEC

Connection and display elements, mounting,installation and technical data

Online help Online.Help for theCoDeSys controllerCPX−CEC−...

Configuration, commissioning, operation anderror diagnosis

Tab.�0/1: Additional documentation on the device

General basic information on the mode of operation, on fit�ting, installing and commissioning CPX terminals can befound in the CPX system manual, type P.BE−CPX−SYS−...

Observe also the user documentation of the componentsused in the CPX terminal.


XII Festo P.BE−CPX−CEC−EN en 1004a

The following product−specific terms and abbreviations areused in this manual:

Term/abbreviation Meaning

0 signal 0 V applied at input, or output supplies 0 V

1 signal 24 V applied at input, or output supplies 24 V

0x01 (A0h) Hexadecimal numbers are marked by a prefixed "0x" or by a subscript"h"

CANopen Fieldbus protocol based on CAN, which is standardised as a Europeanstandard

CoDeSys provided by Festo(= CoDeSys pbF)

CoDeSys = Controller Development SystemCoDeSys provided by Festo permits configuration, commissioning andprogramming of various components and devices by Festo. In this documentation, called "CoDeSys pbF" for short

CPX terminal Complete system consisting of CPX modules with or withoutpneumatics

CPX modules Common term for the various modules which can be integrated in a CPXterminal

DHCP (Dynamic Host Configuration Protocol)

Dynamic protocol for automatic assignment of IP addresses

DIL switch Dual−in−line switches consist of several switch elements with whichsettings can be made

I/O modules Collective term for the CPX modules which provide digital inputs andoutputs

I/Os Digital inputs and outputs

EasyIP Protocol for fast exchange of operands between Festo controllers

EDS file Electronic data sheet, which describes the function and characteristicsof a CANopen device in standardised form (e.g. number of I/Os,number of diagnosis bytes, etc.).

Ethernet Physical protocol and network for connecting various devices

Fieldbus node Provides the connection to specific fieldbuses. Transmits control signals to the connected modules and monitors their ability to function


XIIIFesto P.BE−CPX−CEC−EN en 1004a


FHPP (Festo Handling andPositioning Profile)

Uniform fieldbus data profile for positioning controllers from Festo

FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP

Handheld type CPX−MMI Handheld terminal for commissioning and service purposes

HTTP (Hyper Text TransferProtocol)

Protocol for data transfer via TCP/IP

IP (Internet Protocol) Protocol for addressing and delivering data

Login/Logout Programming system is logged out/logged out

MAC address (Media Access Control address)

Fixed assigned address for Ethernet device

Modbus/TCP Communication standard via TCP/IP in automation technology

Node ID Provides unique identification of a bus slave on the CANopen fieldbus

OLE Object Linking and Embedding

OPC OLE for Process Control; standardised software interface that permitsaccess to process data

PLC/IPC Programmable logic controller/industrial PC

Pneumatic interface Interface between the modular electric peripherals and the pneumatics

SoftMotion Motion functionality integrated in the CoDeSys pbF programming andrun−time system. The following motion control models are offered asmodules:� Single/multi−axis positioning movements with PLCopen Motion

modules� 2.5D CNC control

TCP/IP Combination of the protocols TCP and IP, the most−widely used protocolin communication via Ethernet

TFTP (Trivial File TransferProtocol)

Protocol for file transfer via TCP/IP

TSP(Target Support Package)

A target support package combines all configuration and expansionfiles that are needed to make a specific controller (target) usable forthe programming environment (CoDeSys provided by Festo)


XIV Festo P.BE−CPX−CEC−EN en 1004a


UDP (User Datagram Protocol)

A minimal, connectionless network protocol that has a lower protocoloverhead compared to TCP. This has the advantage of a faster exchange of data. Due to the lack of a reply, the correct transmissionmust be ensured, e.g.�by means of a user program

User data Telegram data without protocol frame data. The length of the user datais defined in the configuration of the fieldbus slave

www World Wide Web

Tab.�0/2: Product−specific terms and abbreviations

System summary

1−1Festo P.BE−CPX−CEC−EN en 1004a

Chapter 1

1. System summary

1−2 Festo P.BE−CPX−CEC−EN en 1004a

Contents

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3 . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Supported motor controllers 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 The operating modes of the CoDeSys controllers 1−6 . . . . . . . . . . . . . . . . . . . . .

1.4 The CoDeSys provided by Festo programming environment 1−9 . . . . . . . . . . . . .

1.4.1 Programming languages 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 Libraries 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.3 Parameterisation 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Meaning of the LED displays 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 CPX−specific LEDs 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 The CoDeSys controller CPX−CEC/CPX−CEC−...

The controller is available in the following variants:

Variant Characteristics

CPX−CEC−C1 CoDeSys controller with CANopen interface

CPX−CEC−M1 CoDeSys controller with CANopen interfaceand function library for SoftMotion

CPX−CEC CoDeSys controller with RS232 interface

Tab.�1/1: Variants of the CoDeSys controller

All variants offer...

� Programming with CoDeSys provided by Festo as per IEC 61131−3

� Programming and communication via Ethernet

� Process visualisation within CoDeSys provided by Festo,with a type FED operator unit or with the software VipWinvia Ethernet

� Additional process visualisation systems can be con�nected via the supplied OPC server if they have an OPCclient.

� The CoDeSys controller controls a CPX terminal in theStand Alone or Remote Controller operating mode.

� Communication over fieldbus in connection with the useof the respective fieldbus node in the CPX terminal

� Control configuration of CoDeSys provided by Festo forcommissioning, programming and diagnosis of the system

� Connection of a handheld of type CPX−MMI. The handheldis used to display status and diagnostic information andfor fast commissioning of the CPX modules in the CPXterminal.

1. System summary


CPX−CEC−C1 offers...

� A CANopen interface to which up to 31 CANopen slavescan be connected

CPX−CEC−M1 offers...

� The CoDeSys software package SoftMotion for coordinated multi−axis movements.

� CPX−CEC−M1 can alternatively also be operated as a CANopen master. The SoftMotion functions are then notavailable.

CPX−CEC offers...

� An RS232 interface (Sub−D, 9−pin) for connecting a typeFED operator unit or for operating external devices. With external devices, data communication must be programmed by the user.

1. System summary


1.2 Supported motor controllers

The CoDeSys controllers CPX−CEC−C1/−M1 as CANopenmasters support all motor controllers from Festo.

CPX−CEC−M1 with SoftMotion functions supports the following motor controllers:

Motor controller Required firmware1 from Version...

CMMP−AS 3.5.1501.2.1

CMMS−AS 1.3.0.1.11

CMMS−ST 1.3.0.1.7(the versions 1.3.0.1.10 and 1.3.0.1.12 arenot supported)

SFC−LAC 1.0.5

SFC−LACI 1.0

CMMD 1.4

1) See rating plate for FCT plug−in of the motor controller

Tab.�1/2: Supported motor controllers with CPX−CEC−M1(date: June 2010)

CPX−CEC−C1/−M1 support up to 31 axes. We recommendoperating the CPX−CEC−M1 with a maximum of eight axes.

1. System summary


1.3 The operating modes of the CoDeSys controller

The CoDeSys controllers can be operated in various operatingmodes, depending on the demand:

� Stand Alone

� Remote Controller Ethernet

� Remote Controller Fieldbus (fieldbus node required)

The individual operating modes are briefly presented in thefollowing:

Stand Alone operating mode

1 2

1 CPX−CEC/CPX−CEC−...

2 CPX terminal controlled by the CPX−CEC/CPX−CEC−...

Fig.�1/1: Stand Alone operating mode

1. System summary


Remote Controller Ethernet operating mode

Ethernet

1 2

1 CPX−CEC/CPX−CEC−... connected to an Ethernet networkfor communication


Fig.�1/2: Remote Controller Ethernet operating mode

1. System summary


Remote Controller Fieldbus operating mode

21 3

1 CPX−CEC/CPX−CEC−... connected to the fieldbus forcommunication over the fieldbus node

2 CPX fieldbus node, here: CPX−FB13


Fig.�1/3: Remote Controller Fieldbus operating mode (fieldbus node required)

1. System summary


1.4 The CoDeSys provided by Festo programming environment

Use CoDeSys provided by Festo to commission and programthe CoDeSys controller. CoDeSys provided by Festo offers aconvenient user interface with the following functions:

� Configuration and parameterisation of the CPX−CEC/CPX−CEC−... with control configuration

� Programming as per IEC 61131−3

� 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

� CPX−CEC−M1: SoftMotion programming editors areintegrated.

To be able to use a controller (target) under CoDeSysprovided by Festo, a so−called Target Support Package isneeded for the corresponding target. This permits access tothe system functions of the target and containscorresponding information in the form of online help. TheTarget Support Package makes CoDeSys functions usable forthe respective device or limits them, if necessary.

With the Target Support Package, CoDeSys can support allthese characteristics and functions of these devices. And so CoDeSys provided by Festo contains many functionsthat are available only on certain devices.

1. System summary


CoDeSys provided by Festo is supplied with the TargetSupport Package for the CoDeSys controller. It also containsadditional functions that are specially adapted to theCoDeSys controller.

Information about which functions of CoDeSys provided byFesto are supported by the CoDeSys controller and whichadditional functions are available can be found in the onlinehelp (key word�"Functional Overview").

1. System summary


1.4.1 Programming languages

CoDeSys provided by Festo offers five of the programminglanguages standardised in IEC 61131−3, see Tab.�1/3. Each ofthese programming languages has certain characteristicsthat are especially suited for solving specific tasks.

Programming languages

Type Description

Statement list (STL) Text−basedprogramminglanguage

The statement list enables the programmer to de�scribe the working steps of controller functions withsimple instructions. The language structure supportsthe efficient handling of complex tasks.

Structured text (ST) Structured text comes closest to the programminglanguages 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.

Sequential function chart(SFC)

Graphic programminglanguages

Enables programming of sequences and so is suitedfor structuring and organising projects. With transi�tions and connections, the sequential function chartdescribes the time sequence of the various stepswithin the program.

Function diagram (FUN)

or

Free−graphic function diagram (CFQ)

The function diagram works with a list of networks,whereby each network contains a structure that de�picts a logical or arithmetic expression, calls up a function module, a jump or a return instruction.

In addition, based on the function diagram, there isthe free−graphic function diagram (CFC), in which theelements are freely placed and feedback can bedirectly added.

Ladder diagram (LDR) The ladder diagram was developed from the circuitdiagram. The diagram of a LDR program is thereforesimilar to the diagram of a circuit diagram � in relationto the diagram of logical links.

Tab.�1/3: Programming languages of CoDeSys provided by Festo

1. System summary


1.4.2 Libraries

To make programming easier, CoDeSys provided by Festomakes it possible to organise into libraries objects that areusable independently of projects, such as modules, declar�ations and visualisations. A library administrator, with whichyou can integrate and view libraries, is available for this purpose.

Detailed descriptions on the libraries and programming canbe found in the online help.

1.4.3 Parameterisation

Information on parameterisation of the entire system via theCoDeSys controller can be found in the online help.

1. System summary


1.5 Meaning of the LEDdisplays

The LEDs on the cover indicate the operating status of thedevice and are arranged in two groups.

1 Controller LEDs(see section 4.2)

RUNSTOPERRORTP

2 CPX−specific LEDs

PSPLSFM

1 2

Fig.�1/4: LED displays of the device (here CPX−CEC−C1/−M1 as an example)

1. System summary


1.5.1 CPX−specific LEDs

The displays of the CPX−specific LEDs are described in thefollowing. Information on the controller LEDs can be found insection 4.2.

PS (Power System) � supply to the electronics

LED (green) Sequence Meaning Error treatment

LED lights up

ON

OFF

No error. Operating volt�age/sensor supply applied

�

LED flashes

ON

OFF

Operating voltage/sensorsupply outside the toler�ance range

Eliminate undervoltage

LED flashesON

OFFInternal fuse for the operating voltage/sensorsupply has responded

1. Eliminate short circuit/overload onmodule side

2. Depends on the parameterisationof the module (module parameter):· The sensor supply voltage will

be switched on again automati�cally when the short circuit hasbeen eliminated (default)

· Power OFF/ON is necessary

LED is off

ON

OFFThe operating voltage/sensor supply is not applied

Check the operating voltage connection of the electronics

Tab.�1/4: Displays of PS LED

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

OFFLoad voltage at the systemsupply or additional supplyoutside the tolerance range

Eliminate undervoltage

Tab.�1/5: Displays of PL LED

SF (System Failure) � System error

LED (red) Sequence 1) Meaning Error treatment

LED is off

ON

OFFNo error �

LED flashes

ON

OFFSimple error/information(error class 1)

See description of error numbers inthe CPX system manual

LED flashes

ON

OFF

Error (error class 2)

LED flashes

ON

OFFSerious error(error class 3)

1) The system error LED flashes depending on the class of error which has occurred.Error class 1 (minor error): flash once, pauseError class 2 (error): flash twice, pauseError class 3 (serious error): flash three times, pause

Tab.�1/6: Displays of SF LED

1. System summary


M (Modify) � Modify/force active

LED (yellow) Sequence Meaning Error treatment

LED is off

ON

OFFForce is not active �

LED flashes

ON

OFFForce is active The Force function is enabled

(see CPX system manual, systemparameter Force mode; function no. 4402).

Tab.�1/7: Displays of M LED

Information on the controller LEDs can be found in section 4.2.

Installation


Chapter 2

2. Installation


Contents

2. Installation 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General installation instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dismantling and fitting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Dismantling 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Fitting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Connection and display elements 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Setting the switches of the CoDeSys controller 2−7 . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 DIL switches 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Ethernet interface 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Ethernet cable 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Communication interfaces 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 CANopen interface (CPX−CEC−C1/−M1) 2−12 . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 RS232 interface (CPX−CEC) 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Connection of an operator unit type FED 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Connection of a handheld type CPX−MMI 2−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Complying with protection class IP65/IP67 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Installation


2.1 General installation instructions

WarningDanger of injury from electric shock.

· Always switch off the power supply before fitting or removing CPX modules.

CautionThe CoDeSys controller contains electrostatically sensitivecomponents.

· Therefore, do not touch any contacts.

· Observe the handling specifications for electrostaticallysensitive devices.

NoteCheck within the framework of your EMERGENCY STOPconcept to ascertain the measures necessary for puttingyour machine/system into a safe state in the event of anEMERGENCY STOP (e.g. switching off power sources, load voltage supply, compressed air, etc.).

Information on fitting the CPX terminal can be found in theCPX system manual type P.BE−CPX−SYS−... .

2. Installation


2.2 Dismantling and fitting

The controller is fitted in an interlinking block of the CPX terminal (see Fig.�2/1).

2.2.1 Dismantling

Dismantle the controller as follows:

1. Loosen the four screws of the controller with a TORXscrewdriver size T10.

2. Pull the controller carefully and without tilting away fromthe contact rails of the interlinking block.

1 CPX−CEC/CPX−CEC−...

2 Interlinking block

3 Contact rails

4 Screws

3

4

1

2

Fig.�2/1: Dismantling/fitting of the controller (here CPX−CEC−C1/−M1 as an example)

2. Installation


2.2.2 Fitting

NoteFit the controller to the left end position of the CPX terminal (position 0).

Fit the controller as follows:

1. Check the seal and seal surfaces.

2. Insert the controller in the interlinking block. Make surethat the grooves with the power contact terminals on thebottom of the controller lie above the contact rails.

3. Push the controller carefully and without tilting as far aspossible into the interlinking block.

4. Place the screws so that the self−cutting threads can beused. Tighten the screws by hand.

5. Tighten the screws with a TORX screwdriver size T10 withtorque 0.9 ... 1.1 Nm.

2. Installation


2.3 Connection and display elements

2

34

6

7

5

1

1 Status LEDs

2 RUN/STOP rotary switch

3 Ethernet interface (10/100BaseT, RJ45)

4 CPX−CEC−C1/−M1:CANopen interface (plug, 9−pin, Sub−D )CPX−CEC:RS232 interface(socket, 9−pin, Sub−D)

5 DIL switch 1

6 DIL switch 2

7 Connection for a handheld of typeCPX−MMI

Fig.�2/2: Connection and display elements (here for CPX−CEC−C1/−M1 as an example)

2. Installation


2.4 Setting the switches of the CoDeSys controller

2.4.1 RUN/STOP rotary switch

NoteLeave the RUN/STOP rotary switch at position "0" (STOP)during installation.

The switch setting of the RUN/STOP rotary switch withfour�internal digital inputs is passed on to the controller andcan be evaluated there.

Rotary switch Setting Meaning

0 STOPCoDeSys controller stoppedThe STOP LED lights up yellow

1 ... F RUNCoDeSys controller startedThe RUN LED lights up green

Tab.�2/1: Switch settings of the RUN/STOP rotary switch

2. Installation


2.4.2 DIL switches

The DIL switches must be accessible in order to make settings:

· Remove, if applicable, the cover or an IP65/IP67 plugfrom the Sub−D interface.

DIL switch 1

DIL switch 1 is reserved. Leave the two switch elements ofDIL switch 1 at OFF.

CPX−CEC/CPX−CEC−... DIL switch 1

Reserved DIL 1.1: OFFDIL 1.2: OFF

Tab.�2/2: Setting the DIL switch 1

2. Installation


DIL switch 2

For CPX−CEC−C1/−M1, you can switch the CAN bus termination(120 �) on or off.

CPX−CEC−C1/−M1 DIL switch 2

Termination switched off DIL 2.1: OFFDIL 2.2: OFF

Termination switched on DIL 2.1: ONDIL 2.2: OFF

All further switch settings are reserved.

The DIL switch 2 on the CPX−CEC has no function.

Tab.�2/3: Setting the DIL switch 2

2. Installation


2.5 Ethernet interface

The Ethernet interface permits connection of a programmingdevice, PC or type FED operator unit to the CoDeSys controller.

The Ethernet interface is designed as an RJ45 socket.

Socket Pin Signal Explanation

12345678

12345678Housing

TD+TD�RD+n.c.n.c.RD�n.c.n.c.Shield

Transmitted data+Transmitted data�Received data+not connectednot connectedReceived data�not connectednot connectedScreening

Tab.�2/4: Pin assignment of the Ethernet interface

If the Ethernet interface is not used, close it with the AK−RJ45cover. In this way you will comply with protection classIP65/IP67.

2.5.1 Ethernet cable

Use as connecting cable:

Cable specification Screened flexible Ethernet round cable of category 5Max. outer diameter: 5.4 mmCore diameter: 0.89 ... 1.0 mm AWG24−26Ready made: Crimping pliers on RJ45

2. Installation


NoteIf the CPX terminal is fitted onto a moving part of a machine, the Ethernet cable on the moving part must beprovided with strain relief.

Network connection In order to connect your CoDeSys controller to a network orPC, you will require a patch or crossover cable. The interfaceautomatically recognises which cable is connected andautomatically converts the signals.

NoteUse the RJ−45 plug from Festo in order to comply with theprotection 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. Installation


2.6 Communication interfaces

2.6.1 CANopen interface (CPX−CEC−C1/−M1)

On the CPX−CEC−C1/−M1, there is a CANopen interface forconnection of CAN bus slaves.

The CANopen interface is designed as a 9−pin Sub−D plug.

Plug Pin Signal Internalcontacts

Explanation

51

96

123456789Housing(plug)

n.c.CAN_LCAN_GNDn.c.CAN_SHLDCAN_GNDCAN_Hn.c.n.c.

FE

not connectedCAN lowCAN groundnot connectedConnection to functional earth (FE) 2)

CAN ground (optional)1)

CAN highnot connectednot connectedThe plug housing must be connectedto FE 2).

1) If a motor controller with external voltage supply is connected, CAN ground (optional), pin 6 cannot be used on the CPX−CEC−C1/−M1.

2) FE: Functional earthing

Tab.�2/5: Pin assignment for the CANopen interface

The connected CAN bus slaves are not supplied with powerover the CANopen interface.

2. Installation


Connecting the CAN bus

CAN bus line

NoteFaulty installation or high transmission rates may causedata transmission errors as a result of signal reflectionsand 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 a CAN bus line. TheCoDeSys controller communicates with the drive controllersvia the CAN bus line.

If the Festo CAN bus plug is used, a cable diameter of 5 ... 8or 7 ... 10 mm is permitted.

NoteIf the CPX terminal is fitted onto the moving part of a machine, the CAN bus line on the moving part must beprovided with strain relief. Also observe the relevant regulations in EN�60204 part 1.

2. Installation


Connection with Festo CAN bus plug

Note· Use protective caps or blanking plugs to seal unusedconnections.

You will then comply with protection class IP65/IP67.

· Note the fitting instructions for the CAN bus plug. Tightenthe two fastening screws at first by hand and then withmax. 0.4 Nm.

You can connect the CPX−CEC−C1 easily to the CAN buswith 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 line (T−Tap function).

NoteThe clamp strap in the Festo CAN bus plug is connectedonly capacitively internally with the metal housing of thesub−D socket. This prevents equalising currents from flowing via the screening of the CAN bus line (Fig.�2/4).

· Clamp the screening of the CAN bus line under the clampstrap in the CAN bus plug.

2. Installation


1 Folding coverwith inspectionwindow

2 Clamp strap for screenedconnection 1)

3 Protective cap ifconnection is notused

4 CAN busoutgoing (OUT)

5 CAN busincoming (IN)

6 SUB−D plug 1)

1) connectedcapacitively

V+

GND H L

SLD

V+

GND H L

SLD

21 3

456

Fig.�2/4: CAN bus plug from Festo, type FBS−SUB−9−BU−2x5POL−B

2. Installation


Further connection possibilities for the CAN buswith adapters

Caution· Make sure of the correct polarity when you connect theCAN bus interface.

· Connect the screen.

There are further ways of connecting the CAN bus withadapters, which can be ordered separately from Festo. Theseadapters and additional accessories can be found under:

è www.festo.com/catalogue

� 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. Installation


2.6.2 RS232 interface (CPX−CEC)

The RS232 interface enables a type FED operator unit or external devices to be connected to the CPX−CEC.

When using external devices, data communication must beprogrammed by the user.

Socket Pin Signal Explanation

123456789Screen

n.c.RxDTxDn.c.GNDn.c.n.c.n.c.n.c.Screen

not connectedReceived dataTransmitted datanot connectedData reference potentialnot connectednot connectednot connectednot connectedConnection to functional earth (FE)

Tab.�2/6: Pin assignment of the RS232 interface (CPX−CEC)

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 unittype FED incl. optional Ethernet interface

Connect an operator unit of type FED with Ethernet interfaceto the CoDeSys controller using an Ethernet cable. With theCPX−CEC, connection can also take place over the RS232interface.

2. Installation


2.8 Connection of a handheld type CPX−MMI

The 5−pin M12 socket serves to connect a CPX−MMI for fastpreliminary commissioning, diagnosis or parameterising.

Fig.�2/6: CPX terminal with handheld type CPX−MMI

The connection with the CPX−MMI is interrupted during aprogram download if parameters have been changed via theCoDeSys provided by Festo software. This guarantees theconsistency of the displayed data.

Use only the following original cables (è www.festo.com/catalogue) for connecting the CPX−MMI:

Type Cable length in [m]

KV−M12−M12−3,5 3.5

KV−M12−M12−1,5 1.5

Tab.�2/7: Connection cable for handheld type CPX−MMI

Further information on parameterisation via CPX−MMI can befound in the section 3.5.2.General information on the CPX−MMI can be found in themanual P.BE−CPX−MMI−1−...

2. Installation


2.9 Complying with protection class IP65/IP67

In order to comply with protection class IP 65/IP67, seal un�used sockets and the switch with the appropriate covers.

Connection/switch

ConnectionIP65/IP67

Cover1)

IP65/IP67

Ethernet, RJ45 Plugtype FBS−RJ45−8−GS

Cover2)

type AK−RJ45

Sub−D (CANopen/RS232) and DIL switch

Plug type FBS−SUB−9−BU−2X5POL−B

Transparent cover2)

type AK−SUB−9/15−B

Service interface,M12

Connecting cable andplug of the CPX−MMI

Protective cap2)

type ISK−M12

Rotary switch � Cover2)

type AK−RJ45

1) If connection is not used2) Included in scope of delivery

Tab.�2/8: Connections and covers for protection classIP65/IP67

Commissioning


Chapter 3

3. Commissioning


Contents

3. Commissioning 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Prerequisites for commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 First steps 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Configuration of the CPX modules 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Configuration of CANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Parameterisation of the CPX terminal 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Parametrisation via control configuration in CoDeSys 3−10 . . . . . . . . . .

3.5.2 Parametrisation via the handheld type CPX−MMI 3−13 . . . . . . . . . . . . . .

3.6 Forcing 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Commissioning


3.1 Prerequisites for commissioning

CautionDanger of injury due to undesired movements of theconnected actuators.

· Test projects and programs at first without activeactuators and without compressed air.

1. Install the program environment CoDeSys provided byFesto 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 thecover of the CD−ROM.

2. Connect the PC to the CoDeSys controller.

3.2 First steps

The commissioning procedure described in the followingsections uses the example of the CPX−CEC−C1 or CPX−CEC−M1as a CANopen master. Further information on commissioningthe variants CPX−CEC−M1 with SoftMotion and CPX−CEC canbe found in the online help.

1. Start 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.

3. Commissioning


4. In the "Object Organizer", change to "Resources".

5. Open the "PLC Configuration".

6. Select the Root node, if applicable.

7. Open the "Network configuration" tab.

8. Carry out the "Search network" function.

9. Select the desired CoDeSys controller.

10. Carry out the "Set as active PLC" function.

11. Save 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. Commissioning


3.3 Configuration of the CPX modules

Detailed information on configuration of the CPX modulescan be found 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 tothe left of the CPX−CEC−...

2. Click with the right mouse button on the element "IOModules[FIX]".

Fig.�3/2: Configuration of the CPX modules

Now you can perform module configuration automaticallyor manually.

3. Commissioning


Automatic module configuration

· Perform the [Scan module configuration] function if youwant to perform module configuration automatically.

The I/O modules of a CPI module are not included in auto�matic module configuration. In this case, carry out a manualmodule configuration (see next section) or perform the"Scan" function in the "CP Modules" tab.

Fig.�3/3: "CP Modules" tab

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 thebottom in the tree structure. The CoDeSys controller sits inthe CPX terminal to the far left at position 0.

· From the list of the CPX modules, select the CPX moduleto the right of CPX−CEC−...

· Repeat [Append Subelement] until you have selected allCPX modules.

Addressing of inputs and outputs takes place automatically(preset in the delivery condition of the device). For each mod�ule, at least 4 bytes of inputs or outputs are reserved. The rotary switch of the CPX−CEC−C1, for example, occupiesonly 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. Save the project.

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 automati�cally. For each CANopen slave, at least 4 bytes of inputs oroutputs are reserved.

The input and output addresses of the CANopen slaves areattached to the input and output addresses of the CPX mod�ules. When the "Automatic addresses" option is selected, a change of configuration of the CPX modules results in achange of the address assignment of the CANopen slaves.

1. In the "PLC Configuration" window, click with the rightmouse button on the Root node of the CoDeSys con�troller.

2. In the [Append Subelement] menu option, choose theoption [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 CANopenslaves.

Detailed information on configuration of the CANopen slavescan be found in the online help and in the file "CANopen for3S Runtime Systems V2_...pdf" in the installation directory ofCoDeSys provided by Festo.

3. Commissioning


3.5 Parameterisation of the CPX terminal

The CPX terminal is supplied from the factory with presetparameters. If required, you can set the reaction of the CPXterminal as well as the reaction of individual modules andchannels 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 faults, settings forforcing

� diagnostic memory parameters.

Detailed specifications on the parameters and data as well asbasic information on parameterisation of the CPX terminalcan be found in the CPX system manual type P.BE−CPX−SYS−....

Detailed information on the module parameters can be foundin the user documentation of the respective modules.

The following parameterisation options are available:

Parameterisation via ... Description Properties

Control configuration inCoDeSys: logout

Access to all parameters ofthe CPX terminal

� Convenient parameterisation via a PC� Parameterisation is stored in the

project, i.e. the parameters remainafter Power OFF/ON

Handheld type CPX−MMI Parameterisation is carriedout via menu−listed entrieswith the handheld

� Parameterisation is saved only locallyin the CPX terminal and is lost withPower OFF/ON

Tab.�3/1: Parameterisation options

3. Commissioning


3.5.1 Parameterisation via control configuration in CoDeSys

Detailed information on parameterisation can be found in theonline help.

You can easily parameterise the CPX terminal with the controlconfiguration. 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 viewand modify the individual parameters.

Parameters cannot be changed in the online mode.

In the following, parameterisation is described using theexample of the Root node:

· Click in "PLC Configuration" on the symbol for the CPX−CEC.

Settings

· Set the following parameters in the "Settings" tab, if necessary:

Fig.�3/4: "Settings" tab

3. Commissioning


Module #0

In the "Module #0" tab, you receive the following informationon the CoDeSys controller:

Fig.�3/5: "Module #0" tab

Network configuration (logout)

· Look for the controller for which you want to prepare thenew CoDeSys project in the "Network configuration" tab:

Fig.�3/6: "Network configuration" tab

3. Commissioning


System parameters

· Set the system parameters in the "System Parameters"tab:

Fig.�3/7: "System Parameters" tab

Trace parameters

· Set the following parameters in the "Trace Parameters"tab:

Fig.�3/8: "Trace Parameters" tab

3. Commissioning


3.5.2 Parameterisation via the handheld type CPX−MMI

The parameters of the CPX terminal can be read and modifiedvia a connected handheld.

Transfer of the parameterisation to the CPX modules

Note· Parameterisations via the handheld are saved only locally in the CPX terminal and are lost with PowerOFF/ON.

· The connection with the CPX−MMI is interrupted during aprogram download if parameters have been changed viathe CoDeSys provided by Festo software.

· Parameters changed by the CPX−MMI and Festo_CPX.libare only then overwritten during the project download ifparameter changes have also been made in the CoDeSysproject.

Further information on parameterisation via CPX−MMI can befound in the manual P.BE−CPX−MMI−1−...

3. Commissioning


3.6 Forcing

Through forcing, you can compel input and output signals.Actual input signals or status changes by program areignored and replaced by the force values.

WarningHigh 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 undesiredmovements of the actuators.


Forcing of inputs withhandheld type CPX−MMI

Forcing an input does not modify the input signal itself andcannot be observed at the relevant status LED. The logicalstatus of the input changes internally and in some cases hasan effect on the program. The forced input status is trans�ferred to the image table of the inputs. The online display inCoDeSys provided by Festo therefore shows the forced inputsignal.

Forcing of outputs withhandheld type CPX−MMI

Forcing an output does modify the actual output signal andcan be observed at the relevant status LED. However, theforced output signal is not transferred to the image table ofthe outputs. The online display in CoDeSys provided byFesto does not show the forced, physical output signal, but the status from the image table.

3. Commissioning


NoteThe online display in CoDeSys provided by Festo alwaysshows the signal status valid in the process diagram. Whenforcing with the handheld type CPX−MMI, observe the following:

� Forced input states are transferred to the image tableand therefore recognised by the controller. They arevisible in the online display.

� Forced output states are not transferred to the imagetable and are therefore not recognised by the controller.They are not therefore represented in the online display.

You have various ways of temporarily influencing input oroutput signals, e.g. for test purposes:

� Forcing via the handheld type CPX−MMI

� Forcing with the online display in CoDeSys provided byFesto.

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 followingapplies:

� Force signals have the highest priority

� Forcing via the handheld has higher priority than forcingwith the online display.

3. Commissioning


Diagnosis


Chapter 4

4. Diagnosis


Contents

4. Diagnosis 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General error response of the CoDeSys controller 4−3 . . . . . . . . . . . . . . . . . . . . .

4.2 Diagnosis via controller LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Further diagnostic options 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Diagnosis


4.1 General error response of the CoDeSys controller

Warning

If an error occurs, the controller does not stop butcontinues with the program processing. Undesiredmovements of the actuators can cause collisions andsevere injuries.

· Include error handling mechanisms for all error categories in the user program.


The CoDeSys controller makes available the following errorhandling mechanisms in user programs:

� System event CPX_system_fault

� Channel/module diagnosis in the flag words

� Module support in the Festo_CPX.lib

Detailed information on error handling in user programs canbe found in the online help.

4. Diagnosis


For the CoDeSys controller, the following diagnostics optionsare available:

Diagnosis via ... Advantages Description

Status LEDs Fast on−the−spot recognition of faults

� Controller LEDs, see section 4.2� CPX−specific LEDs, see section 1.5.

Handheld type CPX−MMI Fast on−the−spot recognition of faults

See CPX system manual

Control configuration Online diagnosis withoutprogramming

See online help

User program Detailed diagnostic evaluation:

� System event CPX_system_fault

� Channel/module diag�nosis in the flag words

� Module support in theFesto_CPX.lib

See online help

Tab.�4/1: Diagnostic options of the CoDeSys controller

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

OFFPLC program started (RUN/STOP switch is inposition "1 ... F")

� �

LED is off

ON

OFFPLC program stopped(RUN/STOP switch is in position "0")

� · Set RUN/STOPswitch to position"1 ... F"

Tab.�4/2: Displays of RUN LED

STOP � PLC status stopped

LED (yellow) Sequence Status Error number Error handling

LED lights up

ON

OFFPLC program stopped(RUN/STOP switch is in position "0")

� �

LED is off

ON

OFFPLC program started (RUN/STOP switch is in position "1 ... F")

� · Set RUN/STOPswitch to position"0"

Tab.�4/3: Displays of STOP LED

4. Diagnosis


ERROR � PLC run−time error

LED (red) Sequence Status Error number Error handling

LED lights up

ON

OFFPLC program error CPX error · Read out error

code overhandheld orCoDeSys pbF

LED is off

ON

OFF

No error � �

Tab.�4/4: Displays of ERROR LED

TP � Ethernet connection: link/traffic

LED (green) Sequence Status Error number Error handling

LED lights up

ON

OFFEthernet connection OK � �

LED flashes

ON

OFF

Data transfer active (LED flashes irregularly)

� �

LED is off

ON

OFFEthernet connection to theparameterisation PC not OK

� · Check� the connection� the IP address

Tab.�4/5: Displays of TP LED

4. Diagnosis


4.3 Further diagnostics options

Further information on diagnosis via the control configurationin CoDeSys provided by Festo and via user programs can befound in the online help.

Further information on diagnostics with SoftMotion (CPX−CEC−M1) can be found in the online help.

4. Diagnosis


Technical appendix

A−1Festo P.BE−CPX−CEC−EN en 1004a

Appendix A

A. Technical appendix

A−2 Festo P.BE−CPX−CEC−EN en 1004a

Contents

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical data

CPX−CEC/CPX−CEC−...

General technical data for the CPX terminal See CPX system manual:� Manual P.BE−CPX−SYS−...

Total number of axes� CPX−CEC−C1� CPX−CEC−M1

3131 (recommended: max. 8)

CPU data Processor 400 MHz, 32�MB RAM, 32�MB flash

Configuration support CoDeSys

Parameterisation CoDeSys

Programming software CoDeSys provided by Festo

Programming language As per IEC 61131−3LDR, STL, ST, FUN, SFC, also CFC

Program memory 4 MB user program

Protocol CoDeSys Level 2, EasyIP, Modbus�TCP, TCP/IP

Device−specific diagnostics � Channel and module−oriented diagnostics� Undervoltage/short circuit of modules� Diagnostic memory

Additional functions� CPX−CEC/CPX−CEC−...� CPX−CEC−C1� CPX−CEC−M1� CPX−CEC

Diagnostic functionsMotion functions for electric drivesSoftMotion functions for electric drivesRS232 communication function

Baud rate 10/100 bit/s as per IEEE802.3 (10BaseT)or 802.3u (100BaseTx)

Processing time Approx. 200 ìs/1k instructions

LED display (bus−specific) TP: Ethernet connection: link/traffic




LED display (product−specific) RUN: PLC status: startedSTOP: PLC status: stoppedERR: PLC run−time errorPS: Electronic supply,

sensor supplyPL: Load supplySF: System faultM: Modify/forcing active

Fieldbus interface (CPX−CEC−C1/−M1)� Type� Connection technology� CPX−CEC−C1 transmission rate

� CPX−CEC−M1 transmission rate

� Electrical isolation

CAN busPlug, Sub−D, 9−pin125; 250; 500; 800; 1,000 kbps(adjust. via software)125; 250; 500; 1,000 kbps(adjust. via software)Yes

Data interface (CPX−CEC)� Type� Connection technology� Transmission speed� Electrical isolation

RS232 interfaceSocket, Sub−D, 9−pin9.6 ... 230.4�kbpsYes

Ethernet� Number� Connector plug� Transmission speed� Supported protocols

1RJ45, socket, 8−pin10/100�mbpsTCP/IP, EasyIP, Modbus TCP

Protection classonly in conjunction with plugs and covers inprotection class IP65/IP67

IP65/IP67

Nominal operating voltage 24�V DC

Load voltage� without pneumatics� with pneumatics type Midi/Maxi� with pneumatics type CPA� with pneumatics type MPA

18 ... 30�V DC21.6 ... 26.4�V DC20.4 ... 26.4�V DC18 ... 30�V DC

Intrinsic current consumption� at rated voltage Typically 85 mA




Power failure bridging 10 ms

Storage temperature �20 ... +70�°C

Ambient temperature �5 ... +50�°C

Relative air humidity 95%, non−condensing

Product weight 155 g

Dimensions W x L x H 50 mm x 107 mm x 55 mm

Index

B−1Festo P.BE−CPX−CEC−EN en 1004a

Appendix B

B. Index

B−2 Festo P.BE−CPX−CEC−EN en 1004a

B. Index


A

Abbreviations XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessories 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

CableEthernet 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Handheld type CPX−MMI 2−19 . . . . . . . . . . . . . . . . . . . . . . .

CAN busConnecting 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connection 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Line 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Termination 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CoDeSys provided by Festo XII , 1−9 . . . . . . . . . . . . . . . . . . . .

Commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ConfigurationCANopen slaves 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CPX modules 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection and display elements 2−6 . . . . . . . . . . . . . . . . . . .

CPX−MMI 2−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Designated use V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnosis 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dismantling 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Firmware XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fitting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Forcing 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Front end display (FED) 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index

B−4 Festo P.BE−CPX−CEC−EN en 1004a

H

Handheld type CPX−MMI 2−19 . . . . . . . . . . . . . . . . . . . . . . . . .

I

Installation 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

InterfacesCANopen 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ethernet 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RS232 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LEDsController LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CPX−specific 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Motor controllers, supported 1−5 . . . . . . . . . . . . . . . . . . . . . .

O

Operating modes 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator unit type FED 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . .

P

ParameterisationVia control configuration 3−10 . . . . . . . . . . . . . . . . . . . . . . . Via handheld type CPX−MMI 3−13 . . . . . . . . . . . . . . . . . . . .

Parameterisation of the CPX terminal 3−9 . . . . . . . . . . . . . . . .

Pin assignmentCANopen interface 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ethernet interface 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RS232 interface 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Protection class IP65/IP67 2−20 . . . . . . . . . . . . . . . . . . . . . . .

S

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SoftMotion 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnosis 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Meaning XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SwitchDIL switch 2−8 , 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . .

System parameters 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

User instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPX Terminal - Festo · 2020. 4. 20. · 2.4.2 DIL switches 2−8. . . . . . . . . . . . . . . . ....

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