Festo CECC-X-M1, CECC-X-M1-MV, CECC-X-M1-MV-S1 Description

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CECC-X-M1

Controller

Description

Controller

CECC-X-M1 CECC-X-M1-MV CECC-X-M1-MV-S1

8063788 en 1608 [8063790]

CANopen®, CODESYS®, EtherCAT®, EtherNet/IP®, IO-Link® and MODBUS® are registered trademarks of the respective trademark owners in certain countries.

This product uses open-source software which is subject to the "GNU General Public License, Version 2". The terms of the General Public License can be found within the programming system as well as at the following address:

– http://www.gnu.org/copyleft/gpl.html



(Festo AG & CO. KG, D-73726 Esslingen, 2016) Internet: http://www.festo.com E-Mail: service_international@festo.com

The reproduction, distribution and utilisation of this document 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 reserved in the event of the grant of a patent, utility module or design.

iii

Table of Contents

1 Important information ........................................................................................................................ 1

1.1 Designated use ............................................................................................................................ 1

1.2 Safety instructions ........................................................................................................................ 1

1.2.1 Qualification of personnel (target group) ........................................................................ 1

1.2.2 Service ........................................................................................................................... 2

1.3 Important user information ........................................................................................................... 2

1.3.1 Danger categories .......................................................................................................... 2

1.4 Marking special information ......................................................................................................... 2

1.4.1 Pictograms ..................................................................................................................... 2

1.4.2 Text markings ................................................................................................................. 2

1.4.3 Further conventions ....................................................................................................... 3

1.5 Version information ...................................................................................................................... 3

2 System overview ................................................................................................................................ 4

2.1 Controller variants ........................................................................................................................ 4

2.2 Programming software ................................................................................................................. 5

2.2.1 Packages ....................................................................................................................... 5

2.3 Libraries 5

3 Installation .......................................................................................................................................... 6

3.1 Connection for operator unit CDPX .............................................................................................. 6

4 Commissioning .................................................................................................................................. 7

4.1 General information ..................................................................................................................... 7

4.2 Preparations ................................................................................................................................. 7

4.3 Getting started ............................................................................................................................. 8

4.3.1 Creating a project ........................................................................................................... 8

4.3.2 Selecting a device .......................................................................................................... 8

4.3.3 Scanning for a device .................................................................................................. 10

4.3.4 Manually adding a device............................................................................................. 11

4.3.5 Activating the communication channel ......................................................................... 12

4.3.6 Adding a controller as a gateway ................................................................................. 12

4.4 Scan Festo Devices ................................................................................................................... 13

4.4.1 Changing network properties: ...................................................................................... 13

4.5 Programming information ........................................................................................................... 14

4.5.1 Directory paths and their meaning ............................................................................... 14

4.6 Configuring the I/O interface ...................................................................................................... 15

4.6.1 "Front" I/O interfaces [X2, X3, X4] (onboard) ............................................................... 15

4.6.2 "Lower" I/O interfaces X17, X19 and X20 .................................................................... 20

4.6.3 Motor controller connections X22, X23, X26 and X27 .................................................. 24

4.7 Configuring a CANopen slave .................................................................................................... 25

4.7.1 Adding a CANopen device ........................................................................................... 25

4.7.2 Adding CANopen_Manager ......................................................................................... 25

4.7.3 Adding a CANopen slave ............................................................................................. 26

4.7.4 Installing the driver for the integrated drive EMCX (SoftMotion) .................................. 28

4.7.5 Adding an integrated drive EMCX (SoftMotion) ........................................................... 29

4.7.6 Integrating CPV terminals ............................................................................................ 33

4.7.7 Node guarding ............................................................................................................. 34

4.8 Configuring RS232 interfaces .................................................................................................... 34

4.9 Configuring an encoder .............................................................................................................. 35

4.9.1 Parameterisation .......................................................................................................... 35

4.9.2 Sample program .......................................................................................................... 39

4.10 Configuring RS422 ..................................................................................................................... 40

4.11 Configuring RS485 ..................................................................................................................... 40

4.12 Configuring an IO-Link master ................................................................................................... 41

Festo controller CECC-X-M1

4.12.1 Integrating an IO-Link master ....................................................................................... 41

4.12.2 Selecting an IO-Link device ......................................................................................... 42

4.12.3 Scanning for an IO-Link device .................................................................................... 44

4.12.4 Configuring an IO-Link device ...................................................................................... 45

4.13 Configuring an IO-Link device .................................................................................................... 46

4.14 Configuring Modbus TCP ........................................................................................................... 48

4.14.1 Configuring Ethernet .................................................................................................... 48

4.14.2 Configuring the controller as a Modbus TCP client ...................................................... 49

4.14.3 Configuring the controller as a Modbus TCP server ..................................................... 52

4.15 Configuring EtherNet/IP ............................................................................................................. 53

4.16 Configuring an EtherCAT slave ................................ .................................................................. 56

4.16.1 Adding an EtherCAT device ......................................................................................... 56

4.16.2 Adding an EtherCAT slave ........................................................................................... 58

4.17 Configuring an OPC UA server .................................................................................................. 60

4.18 Online mode ............................................................................................................................... 63

4.18.1 Login ............................................................................................................................ 63

4.18.2 Starting and monitoring the application ........................................................................ 64

4.18.3 Manually setting I/Os ................................................................................................... 65

4.18.4 Logout .......................................................................................................................... 65

4.19 PLC shell .................................................................................................................................... 66

4.20 External USB and microSD storage media ................................................................................ 68

4.20.1 Creating a boot project on an external microSD memory card..................................... 68

4.20.2 Changing the boot device configuration ....................................................................... 69

4.20.3 Backup and restore functions when using the microSD memory card as a boot

device .......................................................................................................................... 69

4.20.4 Firmware update when using the microSD memory card as a boot device ................. 69

4.20.5 Behaviour in special situations ..................................................................................... 69

4.20.6 Vision/Quality in combination with an microSD memory card as the boot device ........ 70

4.20.7 Replacement-Mode (1:1-Replacement) ....................................................................... 70

4.21 Web interface ............................................................................................................................. 71

4.21.1 Home ........................................................................................................................... 71

4.21.2 System ......................................................................................................................... 71

4.21.3 CODESYS ................................................................................................................... 71

4.21.4 Overview ...................................................................................................................... 72

4.21.5 Miscellaneous .............................................................................................................. 74

4.22 Backing up and restoring data with the Festo Field Device Tool ................................................ 75

4.22.1 Backup ......................................................................................................................... 75

4.22.2 Restore ........................................................................................................................ 77

4.23 Vision/Quality (CECC-X-M1-MV/-S1) ......................................................................................... 79

4.23.1 Commissioning Vision/Quality using CheckKon/CheckOpti ......................................... 79

4.23.2 Special function of the digital I/Os ................................................................................ 88

4.23.3 Controlling Vision/Quality via CODESYS ..................................................................... 90

4.24 Version conflict ........................................................................................................................... 93

5 Diagnosis .......................................................................................................................................... 94

5.1 Status LEDs ............................................................................................................................... 96

6 Technical appendix .......................................................................................................................... 98

6.1 Technical data ................................................................ ............................................................ 98

6.2 Remanent variables ................................................................................................................... 99

6.3 Explanation of the severity level (SL) for vibration and shock resistance ................................. 100

7 Glossary .......................................................................................................................................... 101

Festo controller CECC-X-M1-...

1 Important information

1.1 Designated use

The controller CECC-X-M1-... documented in this manual is exclusively intended for installation in a machine or automated system.

The device is used for:

– controlling pneumatic and electric actuators – interrogating electric sensor signals – communication via Ethernet.

The controller must only be used as follows:

– As intended in industrial applications; interference suppression measures may be required outside of

industrial environments, e.g. in residential and mixed-use areas

– In original condition without unauthorised modifications; the conversions or modifications described in

the documentation supplied with the product are permitted

– In faultless technical condition – Only in combination with approved components

 The maximum limits must not be exceeded.  Take into consideration the applicable regulations for the destination as well as directives and

standards, regulations of the inspection organisations, insurance companies and national regulations.

All notes on designated use, the safety instructions and warnings as well as all further specifications for the controller also apply to the associated software libraries.

1.2 Safety instructions

 Before assembly or installation work, switch off the power supply, switch off the compressed air

supply, exhaust any pneumatic components.

 Only use PELV circuits to IEC 60204-1/EN 60204-1 for the electrical supply.  Connect an earth conductor of sufficient conductor cross section to the connection on the product

marked with the earth symbol.

 Note the handling specifications for electrostatically sensitive devices.  Note the information on the correct way to mount the product.  Only switch on the compressed air and load voltage if the system has been installed, configured and

parameterised by technically qualified staff.  Make sure that nobody enters the positioning range of the actuators. Switching off the compressed air or load voltage is not a suitable locking mechanism. Unintentional

movement of actuators may occur in the event of a malfunction.

1.2.1 Qualification of personnel (target group)

The product must only be commissioned by trained experts in control and automation technology who are familiar with:

– assembly, installation, operation and diagnosis of control systems, networks and fieldbus systems – the applicable accident prevention and occupational safety regulations – the documentation for the product.

Festo controller CECC-X-M1

1.2.2 Service

 Contact your local Festo Service partner if you have any technical problems  http://www.festo.com. Including the following information will make it easier to process support queries:

– Response to the command "getdevinfo"  PLC shell – CECC project  menu command in CODESYS: [File] [Project Archive] [Save/Send Archive] – Programming environment version  menu command in CODESYS [Help] [About] [Display Detailed

Version Information]

– Controller data  export the device properties with the help of FFT

1.3 Important user information

1.3.1 Danger categories

This manual contains information on possible dangers that can occur if the product is not used as designated. These danger warnings are marked with a signal word (warning, caution, etc.), placed on a grey background and additionally marked with a pictogram. A distinction is made between the following danger warnings:

Warning

... means that serious injury to people and damage to property can occur if this warning is not observed.

Caution

... means that injury to people and damage to property can occur if this warning is not observed.

Note

... means that damage to property can occur if this warning is not observed.

In addition, the following pictogram marks passages in the text that describe activities involving electrostatic sensitive components:

Note

Electrostatic sensitive components: inappropriate handling can result in damage to components.

1.4 Marking special information

1.4.1 Pictograms

The following pictograms mark passages in the text that contain special information.

Information: Recommendations, tips and references to other sources of information.

Accessory: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally friendly use of Festo products.

1.4.2 Text markings

1. Figures denote activities that must be carried out in the order specified.  Bullets denote activities that may be carried out in any desired order.

– Hyphens denote general listings.

Festo controller CECC-X-M1-...

1.4.3 Further conventions

[File] [New Project...]

Menu items are framed in square brackets. Example: you can create a new project using the [New Project...] command in the [File] menu.

"OK"

Names of windows, dialogs and buttons such as "Message Window", "Dearchivate Project", "OK" as well as designations are shown in inverted commas.

CTRL

Names of keys on the PC keyboard are represented in the text with uppercase letters (e.g. ENTER KEY, CTRL, C, F1, etc.).

CTRL+C

For some functions two keys must be pressed simultaneously. For example, press and hold down the CTRL key and also press the C key. This is written in the text as CTRL+C.

If "click" or "double-click" is mentioned, this always applies to the left-hand mouse button. If the right-hand mouse button is to be used, this will be explicitly mentioned.

1.5 Version information

This manual refers to the following versions:

– Festo controller CECC-X-M1-... – firmware as from version 3.2.6 – CODESYS V3 SP7 provided by Festo (pbF) software package

The manual contains information on the function of the controller as well as its assembly, installation and commissioning.

Further information on the device can be found in the following documents:

Title

Type

manual

Controller CECC-X-M1-...

Brief description

Connection and display components, assembly, installation and technical data.

Festo CECC_3 library

Online Help

Configuration, use and error diagnosis in function blocks.

Festo CECC_IOLink_3 library

Festo CVE_3 library

Festo MachineVision_3 library

Festo EasyIP_3 library

Festo Motion_3 library

Festo Positioning_Basic_3 library

Festo SerialComEx_3 library

Festo General_3 library

Festo Field Device Tool

Online Help

Servicing and commissioning of Ethernetbased Festo devices.

Table: Overview of documents for the product

Festo controller CECC-X-M1

2 System overview

2.1 Controller variants

Controller

Comment

CECC-X-M1

Basic model with SoftMotion functions

CECC-X-M1-MV

CECC-X-M1 with machine vision functions

CECC-X-M1-MV-S1

CECC-X-M1-MV with HALCON image processing software

Features of all CECC-X-M1-... variants:

– CODESYS target system ID for use in the communication settings: 16#103D9C4D

 Scan Festo Devices

– 2 CANopen interfaces – 22 inputs, of which 8 are configurable: NPN/PNP – 16 outputs, of which 8 are configurable: NPN/PNP – 4 analogue inputs, configurable: Voltage/current signal (0 V ... 10 V or 0 mA ... 20 mA) – 1 IO-Link master interface – 1 IO-Link device interface – 2 RS232 interfaces – 1 multiple communication interface, either encoder, RS485 or RS422 – 4 direct motor connections with integrated ballast circuit and torque off input – 1 microSD card interface – 2 gigabit LAN interfaces (EtherCAT master/EtherNet/IP adapter, Modbus TCP, etc.) – 2 USB 3.0 interfaces for machine vision applications and mass storage – OPC UA server – Programming using CODESYS V3.5 SP7 provided by Festo (pbF) in accordance with IEC 61131-3 – Programming, communication and visualisation via Ethernet – Controller configuration using CODESYS V3 pbF for commissioning, programming and diagnosing the

system

– Process visualisation within CODESYS V3 pbF using an operator unit CDPX and the software

"Designer Studio" (available separately)

– Use of the web visualisation under CODESYS

Information on hardware  Technical data

The current version of the CODESYS V3 pbF software package can be found in the Support Portal  www.festo.com/sp.

Festo controller CECC-X-M1-...

2.2 Programming software

Use the CODESYS V3.5 SP7 pbF programming software to commission and program the product. CODESYS V3.5 SP7 pbF offers a user-friendly interface with the following functions:

– Configuration and parameterisation of the controller – Programming in accordance with IEC 61131-3 – Integrated module libraries – Library Manager for integrating further libraries – Simulation mode for testing projects on a PC without a PLC – Integration of a visualisation; configuration using "Designer Studio" (available separately) – Documentation using the integrated project documentation function – Debugging function for testing program sequences, monitoring and changing variables,

troubleshooting

2.2.1 Packages

Using the controller as a target system under CODESYS V3.5 SP7 pbF requires the associated package

for the controller CECC-X-M1-... . This package enables the system functions of the target system to be

accessed with the help of libraries and contains corresponding information in the form of online Helps. This enables CODESYS functions to be used for the target system or restrict it.

 Use the CODESYS V3.5 SP7 pbF software and the CECC-X-M1-... package to configure the

controller www.festo.com/sp.

2.3 Libraries

To simplify programming, CODESYS enables the following objects to be organised into libraries on a project-independent basis:

– Function blocks – Declarations – Visualisations

Library

Comment

Festo_CECC_3.library

For controlling and parameterising the controller.

Festo_CECC_IOLink_3.library

For controlling and parameterising the IO-Link devices.

Festo_EasyIP_3.library

For easy networking of controllers via EasyIP.

Festo_General_3.library

For parameterising and diagnosing the controller.

Festo_Motion_3.library

For configuring motor controllers from Festo (e.g. CMMP-AS).

Festo_PositioningBasic_3.library

Predefined basic functions for simple drive control of Festo motor controllers.

Festo_CVE_3.library

For actuating motor controllers that support the CVE protocol from Festo (e.g. CMMO-ST).

Festo_MachineVision_3.library

For accessing the machine vision functionalities (CECC-X-M1-MV/S1).

Festo_SerialComEx_3.library

For configuring the serial interfaces RS232, RS422 and RS485.

Table: Libraries for programming the controller

Libraries can be viewed and integrated into CODESYS projects using the CODESYS Library Manager.

Detailed descriptions of the libraries and how to program them  online Help for the respective library.

Festo controller CECC-X-M1

3 Installation

Information on installation  Quick guide for controller CECC-X-M1-....

3.1 Connection for operator unit CDPX

The operator unit CDPX is a display for executing and monitoring automation tasks at the field level.  Refer to the accompanying user documentation when installing the device.

Figure: Controller with operator unit CDPX  Connect the operator unit to the controller via the Ethernet interface X8.

Further information  documentation for the operator unit CDPX.

Festo controller CECC-X-M1-...

4 Commissioning

4.1 General information

Caution

Risk of injury due to uncontrolled movements of the connected actuators

 Test projects and programs without active actuators and without compressed air initially.

4.2 Preparations

Administrator rights are required to install and run the CODESYS V3 SP7 pbF programming software on your PC.

1. Install the CODESYS V3 SP7 pbF programming software on the PC used to commission, configure

and program the controller.

2. Launch CODESYS with administrator rights. Install the CECC-X-M1-... package. To do this, open the

Package Manager in CODESYS using the [Package Manager] command in the [Tools] menu.

3. After the package is installed, restart CODESYS to be able to use the modified plug-ins.

4. Connect the PC to the controller directly via the Ethernet interface or indirectly via a switch/hub.

Note

Unauthorised access to the product can cause damage or malfunctions. When connecting the product to a network:

 Protect the network against unauthorised access.

Measures to protect the network include:

– Firewall – Intrusion prevention system (IPS) – Network segmentation – Virtual LAN (VLAN) – Virtual Private Network (VPN) – Security at physical access level (port security)

Further information  Directives and standards on information technology security, e.g. IEC 62443, ISO/IEC 27001.

Festo controller CECC-X-M1

4.3 Getting started

 Launch CODESYS. You will find the program on your Windows PC in the Start menu directory

[Programs] [Festo Software] [CODESYS V3].

4.3.1 Creating a project

1. Create a new project:

menu command [File] [New Project...].

2. Enter a name and the storage location.

3. Confirm your entries by clicking "OK".

Figure: "New Project" dialog

4.3.2 Selecting a device

1. Select the relevant controller in the "CECC Project" dialog.

2. Check the "Show all device versions" box for an extended selection of older device variants.

The respective version of the relevant device description file is appended to the name of the selected device.

Figure: "New Project" dialog – selecting the controller

3. Select a programming language, e.g. structured text (ST).

Festo controller CECC-X-M1-...

4. Select the relevant interfaces.

Figure: "New Project" dialog – selecting the interfaces

Options not supported by the respective device are inactive (shown in grey) and cannot be selected.

The CODESYS program window opens with the newly created project:

Device window with CECC-X-M1/-MV/-MV-S1, its interfaces and PLC logic

Editing window with tabs for the objects activated in the device window

Message window with information about the CECC-X-M1-... as well as error messages and warnings

Figure: CODESYS program window with selected controller

Festo controller CECC-X-M1

4.3.3 Scanning for a device

1. Double-click the device to be configured in the device window. The [Device] tab for making settings for the device appears in the editing window. The sub-tabs contain the

following information and setting options.

2. Open the [Communication Settings] sub-tab and click the local gateway (network path).

Figure: [Device] tab with [Communication Settings] sub-tab

3. Click the "Scan network" button to add an updated list of devices to the local gateway. Restricting the search:  Set the filter to "Target ID".

Only devices that match the controller currently used in the project will then be displayed  Selecting

a device.

 Change the sorting sequence to alter how the devices are displayed in the updated list.  Manually select a device if you know the name, node address or IP address of the controller 

Manually adding a device.  Change the network properties for the controller ( Scan Festo Devices) and repeat step 3.

The controller is then added to the local gateway on the basis of the changed properties.

The list only contains devices that match the following criteria:

– The subnet mask settings for the network connection and controller are the same – The IP address settings for the network connection and controller match

If these criteria are not met, the device must be detected using the Festo scan program  "Scan Festo Devices"

The network properties for the device can be read out in this scan program and changed to suit your company network.

Festo controller CECC-X-M1-...

4.3.4 Manually adding a device

You can also manually add a known device as an alternative to automatic selection.

1. Click the local gateway.

2. Click the "Add device..." button.

Figure: "Add device" dialog

3. Enter the name, node address or IP address of the device to be connected in the "Add device" dialog.

4. Confirm your entries by clicking "OK".

Following the update, a list of all controllers in the local gateway that match the filter settings is displayed.

Figure: Local gateway with devices

Festo controller CECC-X-M1

4.3.5 Activating the communication channel

You need a communication channel to exchange data with the connected controller.  Start by clicking the controller in the device window and then click the "Set active path" button. The currently active path is shown in bold in the list and "(active)" is appended to the name.

Figure: Controller with activated communication channel

4.3.6 Adding a controller as a gateway

You can add a controller as a gateway to extend the network. By doing so you extend the network by the subnet via which the controller can be connected.

1. Click the "Add gateway..." button. The "Gateway" dialog opens.

Figure: Gateway dialog

2. Enter a name for the new gateway in the input field.

3. Enter the known IP address for the relevant controller.

4. Confirm your entries by clicking "OK".

5. Click the "Scan network" button to add an updated list of devices to the second gateway (controller

CECC-X-M1-...).

Festo controller CECC-X-M1-...

4.4 Scan Festo Devices

This scan program finds all controllers connected to the network.

1. Click the icon in the toolbar of the CODESYS program window or click the menu command [Online] [Scan Festo Devices].

Figure: "Scan Festo Devices" scan program

2. Click the button to select the controller "CECC-X".

3. Click the "Scan for" button to start a new scan. All found devices are listed in the scan program table.

4.4.1 Changing network properties:

1. Click the found device.

2. Open the "Network properties" dialog:

– menu command [Actions] [Device] [Network Properties] or – context menu [Network Properties].

Figure: "Network properties" dialog

3. Change the IP address if it is already assigned in the network.

4. Adapt the settings for the subnet mask, standard gateway and DNS server to your network environment.

5. Apply the changes to the device. To do this, click "OK".

6. Wait until the device has successfully completed the switch-on process ("RUN" status LED lights up).

7. Close the "Scan Festo Devices" scan program.

Festo controller CECC-X-M1

4.5 Programming information

4.5.1 Directory paths and their meaning

The basic recommendation is to store all data in the CODESYS project directory. In the case of files without an explicit path, the CODESYS program directory is automatically placed before the file name.

The backup and restore functions only work on files and subdirectories from the CODESYS project directory. The rest of the controller's directory contents - with the exception of external storage media - are lost.

Directory prefix ("case sensitive")

Meaning

/mnt/usb/

USB storage device (first partition)

sFilename : STRING := '/mnt/usb/MyFile';

/mnt/sdcard/

microSD card (first partition)

sFilename : STRING := '/mnt/sdcard/MyFile';

/tmp/

RAM disk Saved data is lost when the controller is switched off. Advantage: Fast file operations Disadvantage: Volatile

sFilename : STRING := '/tmp/MyFile';

prj/

CODESYS project directory Saved data is retained when the controller is switched off. Data is included in a backup -> Backing up and restoring data Advantage: Permanent Disadvantage: Slow file operations

sFilename : STRING := 'prj/MyFile';

Table: Directory paths

The CODESYS project directory is on the microSD memory card when it is used as a boot device  External USB and microSD storage media.

Festo controller CECC-X-M1-...

4.6 Configuring the I/O interface

4.6.1 "Front" I/O interfaces [X2, X3, X4] (onboard)

1. Click the "Digital Inputs" interface under the "Onboard" branch in the CODESYS device window.

Figure: Device window - Onboard I/O interface

2. Double-click the "Digital Inputs" interface.

The tab for configuring the inputs of the I/O interface appears in the editing window.

3. Click the [Digital Inputs Parameters] sub-tab to show the debounce times.

Figure: Digital inputs configuration

4. Click the [Digital Inputs I/O Mapping] sub-tab to show the current values for the inputs.

Figure: I/O mapping for the digital inputs

Festo controller CECC-X-M1

5. Select the setting "Enabled 1" or "Enabled 2" for the "Always update variables" option in offline mode to show the states of the unused inputs in real time. The settings "Enabled 1" or "Enabled 2" should only be selected if the corresponding inputs are not being used in the program.

6. Double-click the "Digital Outputs" interface in the device window.

The tab for configuring the outputs of the I/O interface appears in the editing window.

7. Click the [Digital Outputs I/O Mapping] sub-tab to show the current values for the outputs.

Figure: I/O mapping for the digital outputs

8. Select the setting "Enabled 1" or "Enabled 2" for the "Always update variables" option in offline mode to show the states of the unused inputs in real time. The settings "Enabled 1" or "Enabled 2" should only be selected if the corresponding inputs are not being used in the program.

Festo controller CECC-X-M1-...

High-speed digital inputs X2.0 and X2.1

The following function blocks are available within the Festo CECC_3 library:

Function block

Comment

FastCounter

Used for counting signal pulses, in both ascending and descending order with limit function.

GetPulseDuration

Used for generally measuring pulse lengths. Both the times for HIGH and LOW levels as well as for the periods can be

determined in µs. One counter each for measuring the "HighPulseDuration", "LowPulseDuration"

and "CycleDuration" are used internally. This means that rounding errors can occur when adding the HighPulseDuration

and LowPulseDuration. The "CycleDuration" value should be used for measuring the pulse duration.

SetCounterOutput

Used for setting digital outputs at the connector [X4]. The selected digital outputs are not subject to the PLC cycle in this function

block, i.e. the outputs are set immediately in the FPGA after a trigger is received. The

trigger is the limit function of the "FastCounter" function block. "SetCounterOutput" only uses the least significant byte where the outputs used

and their states are stored in the event of a switch event.

SetOutputDelay

Used for defining a fixed delay for setting digital outputs at [X4]. It can be used in combination with the "SetCounterOutput" function to implement

delays to obtain a defined time response after a trigger input. The selected time delay is not subject to the PLC cycle in this function block, i.e.

the outputs of the function block are set immediately in the FPGA after a trigger is received and after the end of the set delay and can e.g. be processed further by the "SetCounterOutput" function block.

Function blocks in the Festo CECC_3 library Detailed description of the function blocks  Online Help for Festo CECC_3 library.

The signal inputs of the encoder port [X14] can also be used. This enables e.g. times between the index pulses to be measured.

The corresponding counter input is configured using the counter index in CODESYS:

Counting input

Counter index

Explanation

X2.0

COUNTER_FASTIN_1

High-speed digital input.

X2.1

COUNTER_FASTIN_2

High-speed digital input.

X2.0 and X2.1

COUNTER_FASTIN_DIFF

Differential counter that uses both high-speed inputs.

X14 channel A

COUNTER_RS485_A

High-speed input channel A at encoder port [X14].

X14 channel B

COUNTER_RS485_B

High-speed input channel B at encoder port [X14].

X14 channel N

COUNTER_RS485_N

High-speed input channel N at encoder port [X14].

X14 channel A and B

COUNTER_RS485_DIFF

Differential counter that uses both high-speed inputs channel A and channel B at encoder port [X14].

Table: Counter index

The special functions of the two high-speed digital inputs and of the encoder port are not subject to the PLC cycle, i.e. the trigger signals are recorded and processed immediately in the FPGA.

The maximum bandwidth of the high-speed digital inputs is 200 kHz and of the encoder port is 1 MHz (smallest unit 1 µs). The debounce times can be defined within CODESYS.

Festo controller CECC-X-M1

Encoder inputs X2.2 and X2.3

When using an encoder, the digital inputs X2.2 and X2.3 can assume specific functions that are described in greater detail in the section  "Configuring an encoder".

Input

Special function

Explanation

X2.2

Reference input

This input serves as a reference input if configured, i.e. the encoder is referenced or zeroed if this input is active.

X2.3

Encoder latch

This input serves as a latch input for the encoder if configured, i.e. the current encoder value is saved and can then be read out by the

program if this input is active.

Table: Special functions for encoders

The special functions of the two digital inputs are not subject to the PLC cycle, i.e. the trigger signals (homing or latching) are recorded and processed immediately in the FPGA.

Special machine vision functions (CECC-X-M1-MV/-S1)

The digital outputs X4.0, X4.1 and X4.2 as well as the digital inputs X2.2, X2.3 and X2.4 can be used by Festo Vision/Quality (machine vision kernel),

i.e. in some cases separate functions can run between Vision/Quality and CODESYS  Vision/Quality. In this case, the digital I/Os of Festo Vision/Quality are configured using the Festo CheckKon software

(available free of charge) rather than from CODESYS.

Figure: Configuration of the digital I/Os in CheckKon

Input

Special function

Explanation

X2.2

Trigger input

Hardware trigger for starting image capture. This signal is transmitted to the camera via USB. Trigger can be set for rising or falling edge.

X2.3

Flash/latch input

Can be used as a flash trigger in conjunction with the special function at output X4.2 (i.e. output X4.2 is activated directly by X2.3).

When using an encoder, this input in combination with e.g. tracking tasks enables the encoder to be latched and external lighting to be triggered at X4.2.

Flash/latch input inverted X2.4

Flash input

Can be used as a flash trigger in conjunction with the special function at output X4.2 (i.e. output X4.2 is activated directly by X2.3).

Flash input inverted

Festo controller CECC-X-M1-...

Input

Special function

Explanation

X4.0

General output for:

– Ready for operation – Good part – Bad part – Incorrectly oriented – Correctly oriented – Warning – Error – Check program output – Codesys

When used as "Check program output", the output is directly controlled by the Quality check program - in all other modes it is controlled as a function of the check result.

If the output is not to be used by Festo Vision/Quality, it must be configured for "Codesys" (default) within CheckKon.

X4.1

General output for:

– Good part – Bad part – Incorrectly oriented – Correctly oriented – Warning – Error – Check program output – Codesys

When used as "Check program output", the output is directly switched by the Quality check program - in all other modes it is switched as a function of the check result.

If the output is not to be used by Festo Vision/Quality, it must be configured for "Codesys" (default) within CheckKon.

X4.2

As for X.4.1 but also:

– External lighting – Output of X2.3 – Output of X2.3

inverted

– Output of X2.4 – Output of X2.4

inverted

The output is automatically set if "External lighting" is selected, however not in synchronicity with exposure of the external sensor to light (nevertheless the output is guaranteed "High" before exposure starts).

If "Output of X2.3/4 inverted" is selected, the output is immediately set as soon as a valid signal has been detected at the respective input. This is a good idea e.g. with tracking functions or very short exposure times  "MachineVision".

If the output is not to be used by Festo Vision/Quality, it must be configured for "Codesys" (default) within CheckKon.

Table: Special functions for MachineVision

By default, all Festo Vision/Quality I/Os are set to "Codesys" and their special functions are not active.

In the case of the digital inputs X2.2 and X2.3, a configured encoder results in a double assignment.

This is explicitly possible and is intended e.g. for tracking/sorting tasks.

Digital outputs assigned by Festo Vision/Quality cannot be used by CODESYS. The digital input, on the other hand, can be read in at any time. The debounce time specified in CODESYS is not valid for Festo Vision/Quality in this case (this is permanently set to 1 µs).

The special functions of the digital I/Os are not subject to the PLC cycle, i.e. the trigger signal or the output signals are immediately read in or controlled by the FPGA.

Festo controller CECC-X-M1

4.6.2 "Lower" I/O interfaces X17, X19 and X20

1. Click the "Digital Inputs" interface under the "Extension" branch in the CODESYS device window.

Figure: Device window - Extension I/O interface

2. Double-click the "Digital Inputs" interface.

The tab for configuring the inputs of the I/O interface appears in the editing window.

3. Click the [Digital Inputs Parameters] sub-tab to show the debounce times and the signal mode NPN or PNP, which are simultaneously valid for all inputs of X17.

Figure: Digital inputs configuration

4. Click the [Digital Inputs I/O Mapping] sub-tab to show the current values for the inputs.

Figure: I/O mapping for the digital inputs

Festo controller CECC-X-M1-...

6. Double-click the "Digital Outputs" interface in the device window.

The tab for configuring the outputs of the I/O interface appears in the editing window.

7. Click the [Digital Outputs I/O Mapping] sub-tab to show the current values for the outputs.

Figure: I/O mapping for the digital outputs

9. Double-click the "Analog Inputs" interface in the device window.

The tab for configuring the analogue inputs of the I/O interface appears in the editing window.

10. Click the [Analog Inputs Parameters] sub-tab to show the signal ranges.

The signal ranges 0 ... 10 V, 0 ... 20 mA and 4 ... 20 mA are available separately for each of the inputs.

Figure: Configuration of the analogue inputs

Festo controller CECC-X-M1

11. Click the [Analog Inputs I/O Mapping] sub-tab to show the current values for the inputs.

Figure: I/O mapping of the analogue inputs

12. Select the setting "Enabled 1" or "Enabled 2" for the "Always update variables" option in offline mode so that the states of the unused inputs will also be shown in real time. The settings "Enabled 1" or "Enabled 2" should only be selected if the corresponding inputs are not used in the program.

The physical resolution of the analogue inputs 16 bits. The scaled values (for the signal voltage range) are scaled to 14 bits internally. This means that measurements slightly beyond the signal voltage range are also possible.

The signal ranges are scaled as follows:

– 0 ... 10 V = 0 ... 16384 – 0 ... 20 mA = 0 ... 16384 – 4 ... 20 mA = 0 ... 16384

13. Double-click the "Status and Control" entry in the device window.

The tab for configuring the fan as well as the behaviour in the event of an internal bus system connection error appears in the editing window. The CPU temperature is only updated in online mode.

Figure: "Status and Control"

The "Connection error behaviour" only affects the lower digital outputs [X20].

14. Click the [Status and Control I/O Mapping] sub-tab to show the current values for the functions shown in the table.

Festo controller CECC-X-M1-...

Figure: I/O mapping for various status bits

Parameter

Value

Explanation

Torque off

TRUE / FALSE reading

Status bit for the Torque Off input [X25]. If Torque Off is active (i.e. the load voltage at the

motor controller connections is disconnected), 0 V is present at input [X25] and TRUE is displayed in the status bit.

Motor overload A ... D

TRUE / FALSE reading

Short circuit or overload of the load voltage at the motor controller connections [X22], [X23], [X26] or [X27] will result in the respective bit being set to "TRUE".

The respective bit is automatically set to "FALSE" after the short circuit or overload is eliminated.

Analog inputs monitoring

TRUE / FALSE reading

The appropriate error bit is set if the input current exceeds approx. 24 mA. Only available in the 0 ... 20 mA and 4 ... 20 mA signal range.

Analog inputs open load

TRUE / FALSE reading

The respective bit is set if the input current exceeds approx. 3 mA.

Only available in the 4 ... 20 mA signal range. The respective bit is automatically set to "FALSE"

after the open load is eliminated.

Software torque off

TRUE / FALSE

This bit can be used to overwrite a HIGH level at input [X25] by software. However, it cannot be activated,

i.e. the load voltage of the motor controller connections [X22], [X23], [X26] and [X27] can be deactivated by software independently of [X25], but cannot be activated.

15. Select the setting "Enabled 1" or "Enabled 2" for the "Always update variables" option in offline mode so that the states of the unused inputs will also be shown in real time. The settings "Enabled 1" or "Enabled 2" should only be selected if the corresponding inputs are not used in the program.

Festo controller CECC-X-M1

4.6.3 Motor controller connections X22, X23, X26 and X27

The total of four motor controller connections are used for direct connection of external motor controllers, i.e. all important signals are made available at these interfaces and can be easily and directly wired:

– Load voltage supply by [X21] (24 ... 48 V DC) – Logic voltage by [X1] (24 V DC) – CAN bus signals by CAN 2 [X18] (star wiring) – I/O cable (signals from [X24], [X28] or [X17]; see detailed interface description)

A ballast circuit ("brake chopper") is also integrated for the compact, integrated drives of the EMCX series from Festo in order to be able to reduce any braking energy that arises (e.g. with vertical axes).

A Torque Off input [X25] tailored to the EMCX series is also provided to be able to realise extremely compact configurations without further safety-related switch-off devices.

The maximum voltage and current loads must be adhered to  Technical data. The motor controller connections can still to be used in the case of higher power requirements, however

the power to the motor controllers must be supplied externally. Protective circuits are provided for:

– Overtemperature, overload and short circuit fuse of the Torque Off semiconductor relay for the load

voltage at the motor controller connections

– Overtemperature, overload and short circuit fuse for the logic voltage at the motor controller

connections

– Overtemperature fuse of the ballast circuit (brake resistor is deactivated in the event of

overtemperature)

There is a terminating resistor integrated in the CANopen interface CAN 2 [X18].

If an external ballast circuit (brake chopper) is required, it must be installed downstream of the motor controller connections and not upstream of the load voltage supply [X21].

Festo recommends that the entire load voltage supply is realised externally in this case.

Festo controller CECC-X-M1-...

4.7 Configuring a CANopen slave

Connecting via CANopen requires an appropriate baud rate. The tab for setting the baud rate is opened by double-clicking the "CANbus" branch in the

CODESYS device window.

The controller has two CANopen interfaces, network "1" [X18] and network "0" [X6].

– Network "1" [X18] with an integrated terminating resistor (120 Ω) – Network "0" [X6] without an integrated terminating resistor

4.7.1 Adding a CANopen device

1. Add the CANbus interfaces "CAN_0" and "CAN_1" in the CODESYS device window.

Figure: Device window with CANopen interfaces

2. Double-click the "CAN_0 (CANbus)" or "CAN_1 (CANbus)" branch and enter the corresponding network "0" for interface [X6]) or "1" for interface [X18].

Figure: Editing window with general settings for the CANopen interface, for example "CAN_0"

4.7.2 Adding CANopen_Manager

1. Click the "CAN_0 (CANbus)" or "CAN_1 (CANbus)" branch in the CODESYS device window.

2. Open the "Add Device" dialog

– menu command [Project] [Add Device] or – context menu [Add Device]

3. Click "Add Device".

Festo controller CECC-X-M1

4.7.3 Adding a CANopen slave

1. Click the "CANopen_Manager" branch in the CODESYS device window.

Figure: Device window - selecting "CANbus - CANopen_Manager"

2. Open the "Add Device" dialog

– menu command [Project] [Add Device] or – context menu [Add Device]

Figure: "Add Device" dialog, for example FB14

3. Click a CANopen slave in the table, for example "FB14".

4. Confirm the selection by clicking the "Add Device" button.

5. If necessary, repeat steps 3 and 4 to add further devices (max. number of CANopen slaves: 32). Example: Special case for integrating a valve terminal CPV-CO2 Integrating CPV terminals.

6. Close the dialog by clicking the "Close" button.

Festo controller CECC-X-M1-...

7. Click the added CANopen slave in the device window.

Figure: Device window - selecting "FB14"

8. Double-click the added device "FB14" or "CO2".

The tab for configuring the CANopen slave appears in the editing window, for example CO2:

Figure: Editing window with [CO2] tab for CANopen slave  Check the "Enable Expert Settings" box on the [General] sub-tab.

All setting options are then visible (default setting in CODESYS V3 pbF).

 Check the "Autoconfig PDO Mapping" box on the [General] sub-tab.

This setting executes automatic configuration if the CANopen slave supports sub-modules.

Festo controller CECC-X-M1

The PDO mapping can be found on the [PDOs] sub-tab.

Figure: [PDOs] sub-tab, for example "FB14"

4.7.4 Installing the driver for the integrated drive EMCX (SoftMotion)

1. Click [Tools] [Device Repository] in the menu bar.

2. Click "SoftMotion drives", "CAN drives".

3. Click "SM3_Drive_CAN_Festo_EMCX-ST_EC" 1

4. Click "Install" 2 and select all "*.eds" and "*.devdesc.xml" files contained in the zip file of the integrated drive EMCX.

Figure: Device repository and the installed integrated drive EMCX The installed files are displayed after installation is complete 3.

5. Close the device repository.

6. Click [Tools] [Library Repository] in the menu bar.

Festo controller CECC-X-M1-...

7. Click "Install" 1 and select the "*.compiled-library" file contained in the zip file of the integrated drive EMCX.

Figure: Library repository and the installed integrated drive EMCX The drive is displayed in the list after installation is complete 2.

8. Close the library repository.

All drivers and libraries of the integrated drive EMCX are then installed and available.

4.7.5 Adding an integrated drive EMCX (SoftMotion)

1. Double-click the "CANopen_Manager" branch in the CODESYS device window.

2. Check "Enable Sync Producing" in the CANopen Manager on the [General] sub-tab.

Note that motion control must be assigned the highest priority when using the SoftMotion functionality of the task. This task must also be called cyclically every 8 ms.

Figure: Configuration window on the [General] sub-tab of the CANopen Manager

Festo controller CECC-X-M1

Figure: Configuration window for motion control

3. Click the "CANopen-Manager" branch in the device tree and select "Add Device" in the context menu.

4. Select the integrated drive "EMCX-ST/EC_SoftMotion" under the manufacturer Festo AG & Co. KG.

Figure: Add Device selection window

5. Repeat steps 3 and 4 to add further drives.

Figure: Device tree: EMCX

Festo controller CECC-X-M1-...

6. Double-click the added device in the device tree and set the node ID on the [General] sub-tab.

Figure: Configuration window on the [General] sub-tab of the SoftMotion device EMCX

7. Further SDOs can be added and edited on the [SDOs] sub-tab. This is not normally necessary in the case of integrated drives EMCX.

Figure: Configuration window on the [SDOs] sub-tab of the SoftMotion device EMCX

8. Further PDOs can be added and edited on the [PDOs] sub-tab. The PDOs provided as standard must, however, be retained.

Festo controller CECC-X-M1

Figure: Configuration window on the [PDOs] sub-tab of the SoftMotion device EMCX

A total of four send and four receive PDOs are available. For details about the integrated drives EMCX  www.festo.com/sp.

Festo controller CECC-X-M1-...

4.7.6 Integrating CPV terminals

CPV terminals are added to CANopen slaves CO2 (CPV-CO2) as sub-modules  Adding a CANopen slave, step 3.

1. Click the CANopen slave "CO2" in the device window.

2. Open the "Add Device" dialog

– menu command [Project] [Add Device] or – context menu [Add Device]

3. Click the CPV terminal you are using or one of the optional modules in the table.

CPV terminal

Explanation

CPV basic unit

Local inputs/outputs (valves)

CPV/CPA valve terminal

Optional extension for a CPV terminal

CP input/output module

CP input module

Optional extension for a CPV terminal

CP output module

Optional extension for a CPV terminal

4. Confirm the selection by clicking the "Add Device" button.

5. Double-click the added CPV terminal in the device window.

The tab for configuring the CPV terminal appears in the editing window.

Figure: Editing window with tab for a CPV terminal as a CANopen slave

Festo controller CECC-X-M1

4.7.7 Node guarding

Node guarding telegrams can be interrupted in stop mode when using the CAN interface.

1. Open the [PLC settings] sub-tab for the controller (device).

2. Check the "Update IO while in stop" box.

Figure: [PLC settings] sub-tab

4.8 Configuring RS232 interfaces

The controller CECC-X-M1-... provides two serial interfaces:

– RS232-1 – RS232-2

 Use the appropriate libraries (e.g. "CAA SerialCom") together with the Festo SerialComEx_3 library to

parameterise the serial interfaces.

Festo controller CECC-X-M1-...

4.9 Configuring an encoder

To use an encoder, the device must be integrated in the controller configuration.

1. Add the "General Purpose Serial" interface to the CODESYS device window.

2. Click the "General Purpose Serial" branch.

3. Right-click a free placeholder.

4. Select the "Plug Device" command in the context menu.

5. Select the device from the table.

Figure: Integrating an encoder

The encoder port can also be used in parallel as a signal source for the counter functionality  "High-speed digital inputs".

4.9.1 Parameterisation

Figure: [Encoder port Parameters] sub-tab

Festo controller CECC-X-M1

Encoder settings

Parameter

Setting

Explanation

Encoder type

Encoder deactivated

Activates and presets the encoder.

Encoder 90° phase single eval.

Encoder 90° phase double eval.

Encoder 90° phase quad. eval.

Encoder with impulse and direct.

Debounce time AB0

Debounce time for signals A, B and N (0)

The debounce time can be defined with an accuracy of 15 ns. Maximum value: 0.9 ms.

Polarity Channel A, Channel B, Channel N

Not inverted Inverted

Setting for the polarity for the input signal of the respective channel. Upper limit

-2³¹ to 2³¹-1

Setting for the minimum and maximum value for the encoder position.

If the set limits are exceeded  Overflow behaviour.

Lower limit

-2³¹ to 2³¹-1

Overflow behaviour

Wrap around

If the maximum value is exceeded, the current value jumps to the minimum value.

If the minimum value is fallen below, the current value jumps to the maximum value.

No wrap around

If the maximum or minimum value is reached, the current value is retained until the direction of rotation reverses.

Comparator settings

The current position value of the encoder is compared with an upper and lower threshold (compare value). The result is immediately output at a digital output of the I/O interface.

Parameter

Setting

Explanation

Comparator to output

Condition for the signal curve at the digital output

The output set under the "Digital Output" parameter is used.

Possible signal curves:  Figure: Digital output as a function of the "Comparator to output" parameter 3 -

Pulse lengthening

Setting in µs

Pulse lengthening for the comparison: Counter value = lower compare value (with pulse

lengthening). The purpose of pulse lengthening is to improve signal

detection. It can be defined with an accuracy of 1 µs. Maximum value: 8 s  Figure: Digital output as a function of the "Comparator to output" parameter 9.

Hysteresis

Between 0 and 255 increments

The purpose of hysteresis is to prevent fluttery signals. The value is used in positive and negative direction 

Figure: Digital output as a function of the "Hysteresis" parameter.

Digital output

No digital output

Defines a digital output that is switched by the comparator.

Number of the digital output

Digital output polarity Not inverted

Setting for the output signal polarity. Inverted

Festo controller CECC-X-M1-...

Upper compare value = 10

Signal curve for "counter value within compare values"

Lower compare value = -10

Signal curve for "counter value outside compare values"

Signal curve for "counter value = lower compare value"

Signal curve for "counter value = lower compare value (with pulse lengthening)"

Signal curve for "counter value ≤ lower compare value"

d: Pulse lengthening

Signal curve for "counter value ≥

lower compare value"

Figure: Digital output as a function of the "Comparator to output" parameter (example)

Compare value

Signal curve at the digital output

Hysteresis

Figure: Digital output as a function of the "Hysteresis" parameter

Festo controller CECC-X-M1

Latch settings

A buffer memory (latch) can be used to record the position value of the encoder when an external signal (latch result) occurs. This buffer memory can be read out during the next PLC cycle.

The external signal is connected to the latch input. On the controller CECC-X-M1-..., this is the fourth input on the I/O interface (X2.3).

Parameter

Setting

Explanation

Latch function

– Latch function switched off

Defines the condition relating to whether and when the current encoder value is written to the buffer memory.

– Latch by rising edge

– Latch by rising and falling edge

Latch input polarity

– Not inverted

Polarity setting for the latch input.

– Inverted

Reference mode settings

The reference point can be changed when an external signal occurs or using the zero track. This enables e.g. the current encoder value to be set to 0 when a limit switch is exceeded. The external signal is connected to the reference mode input; on the controller CECC-X-M1-..., this is the

third input (X2.2).

Parameter

Setting

Explanation

Reference mode

– switched off

Defines the condition for whether and when referencing of the encoder takes place.

Immediate: The current position value is used as the new reference point.

Rising edge: For exact referencing, the rising edge at the digital input X2.2 ( Encoder inputs) is used.

– Immediate

– Rising edge

– Rising edge + pos. direction

– Rising edge + neg. direction

– Rising edge + pos. direction &

– Rising edge + neg. direction &

Reference input polarity

– Not inverted

Polarity setting for the reference input.

– Inverted

Festo controller CECC-X-M1-...

Encoder inputs and outputs

In addition to the actual position value, the encoder also supplies other values that are available as inputs and outputs.

Figure: [Encoder port I/O Mapping] sub-tab

Input/output

Explanation

Current value

Current encoder position value.

Latched value

Position value stored during the most recent latch event.

Latch event counter

Number of latch events. A new latch event can be detected based on a change in this value.

Comparator result

Six inputs with the results of the comparator.

Enable referencing

Signal for enabling referencing. The enable is reset as soon as referencing has been carried out under the preset conditions.

Reference value

Position value set during referencing.

Upper compare value

Limits for the comparator. Lower compare value

4.9.2 Sample program

CASE state OF

%QD5 := 1000;

//change referencing value to 1000

%QX16.0 := TRUE;

//release referencing

state := 10;

10:

IF %QX16.0 = FALSE THEN

//wait for referencing

state := 20;

//actual value equals 1000

END_IF

20:

...

END_CASE

Festo controller CECC-X-M1

4.10 Configuring RS422

To use the RS422 interface, it must be integrated in the controller configuration.

1. Add the "General Purpose Serial" interface to the CODESYS device window.

2. Click the "General Purpose Serial" branch.

3. Right-click a free placeholder.

4. Select the "Plug Device" command in the context menu.

5. Select the interface from the table.

Figure: Integrating RS422

4.11 Configuring RS485

To use the RS485 interface, it must be integrated in the controller configuration.

1. Add the "General Purpose Serial" interface to the CODESYS device window.

2. Click the "General Purpose Serial" branch.

3. Right-click a free placeholder.

4. Select the "Plug Device" command in the context menu.

5. Select the interface from the table.

Figure: Integrating RS485

Festo controller CECC-X-M1-...

4.12 Configuring an IO-Link master

4.12.1 Integrating an IO-Link master

Note

To use the IO-Link interface you need the IODD file for the relevant IO-Link device.

 Festo device: Download the IODD file from the Festo Support Portal www.festo.com/sp.  Third-party device: Request the IODD file from the respective vendor.

1. Click the "IO-Link Master" branch in the CODESYS device window.

Figure: Device window - selecting "IO-Link Master"

2. Open the context menu (right mouse button) and open the "Edit Object" dialog.

The tab for configuring the IO-Link master port appears in the editing window:

Figure: Editing window with [IO-Link Master] tab

Festo controller CECC-X-M1

The sub-tabs contain the following information and setting options:

Sub-tab

Explanation

IO-Link master

Validation setting: Read in the serial number. Options:

– Data storage: Save the parameters – Autoswitch: Automatically switch to Operate mode (default)

I/O Mapping

Reserved (I/O mapping  Configuring an IO-Link device).

Status

Status of communication.

Information

Version information.

 Click a port in the editing window to configure a master port.

The selected port is highlighted in blue.

4.12.2 Selecting an IO-Link device

1. Click an "Empty" placeholder in the "IO-Link Master" branch in the device window in order to connect an IO-Link device.

Figure: Device window - selecting "Placeholder"

2. Open the context menu (right mouse button) and open the "Plug Device" dialog.

Figure: "Plug Device" dialog

Festo controller CECC-X-M1-...

Actions in the "Plug Device" dialog

Action

Explanation

Adding a device

Select device for connecting to the selected connection.

Insert device

Does not work, since the number of connections is clearly defined.

Plug device

Replace device for connecting to the selected connection.

Update device

Accept device with new firmware at the selected connection; the device name does not change in the device window during this process.

3. Change the list of devices available for selection by:

– Selecting the vendor – Displaying all versions – Displaying outdated versions

4. Click an IO-Link device (e.g. VTUB-12 8 Valves) in the "Device" area in the table.

5. Click the "Plug Device" button to transfer the IO-Link device to the device window.

6. Close the dialog by clicking the "Close" button.

A digital sensor or actuator can also be connected to the IO-Link master port instead of an IOLink device.

 Select "Digital_Input" for a sensor.  Select "Digital_Output" for an actuator.

Figure: IO-Link master port with an IO-Link device, for example VTUB-12 8 Valves

The names in the device window can be changed.

1. Click a name in the device window.

2. Click the name again to switch to editing mode (not a double-click).

Festo controller CECC-X-M1

4.12.3 Scanning for an IO-Link device

Instead of manually selecting an IO-Link device, you can also have CODESYS find it by scanning.

Prerequisites:

– There is a (temporary) connection to the device via the active path – CODESYS has been logged into the device at least once  Online mode

1. Click the "IO-Link Master" branch in the CODESYS device window.

Figure: Device window - selecting "IO-Link Master"

2. Open the "Scan Devices" dialog

– menu command [Project] [Scan for Devices] or – context menu [Scan for Devices]

3. Note the safety prompt about connected actuators at the IO-Link master ports. If you answer "Yes", a dialog for scanning for connected IO-Link devices opens.

Figure: "Scan Devices" at the IO-Link master ports

4. Check the "show differences to project" box to show the IO-Link configuration of the CODESYS project in parallel.

5. Click the "Copy all devices to project" button to transfer the read-in configuration to the CODESYS project.

Festo controller CECC-X-M1-...

4.12.4 Configuring an IO-Link device

1. Click a plugged device in the "IO-Link Master" branch in the CODESYS device window (here: VTUB12 8 Valves).

Figure: Device window - selecting "Added IO-Link Device"

2. Double-click the plugged device.

The tab for configuring the respective IO-Link device appears in the editing window:

Figure: Editing window with tab for the IO-Link device VTUB-12 8 Valves, for example [IO-Link I/O Mapping] sub-tab

The sub-tabs for the selected IO-Link device contain the following information and setting options (example: VTUB-12 8 Valves):

Sub-tab

Comment

IO-Link Device Info

General information about the connected IO-Link device.

IO-Link Parameter

Specific parameters can be called up.

IO-Link I/O Mapping

Current process data for the components of the IO-Link device.

Status

General status of the IO-Link device.

Information

Version information for the IO-Link device.

Festo controller CECC-X-M1

4.13 Configuring an IO-Link device

The controller has an "IO-Link Device" interface for connecting to a higher-order IO-Link master.

Note

To use the IO-Link interface you need the associated IODD file (not with CAPC).

 Download the IODD file for the controller from the Festo Support Portal www.festo.com/sp.

1. Click the "IO-Link Device" branch in the CODESYS device window.

Figure: Device window - selecting "IO-Link Device"

2. Open the context menu (right mouse button) and open the "Edit Object" dialog.

The tab for configuring the controller as an IO-Link device appears in the editing window.

Figure: Tab for configuring the controller as an IO-Link device The sub-tabs contain the following information and setting options:

Sub-tab

Comment

IO-Link Device

Shows the IO-Link specification. Settings:

– Data width for the process data – Baud rate for the data transmission

I/O mapping

Current process data for the controller as an IO-Link device.

Status

Status of communication.

Information

Version information for the controller as an IO-Link device.

Festo controller CECC-X-M1-...

Figure: Sample [I/O Mapping] sub-tab for the controller as an IO-Link device

Festo controller CECC-X-M1

4.14 Configuring Modbus TCP

The controller supports Modbus TCP Client as well as Modbus TCP Server. The controller can be used simultaneously as both a server and a client.

Terms used in CODESYS

Description

Modbus TCP master

Group of Modbus TCP clients

Modbus TCP slave

Modbus TCP client

Modbus TCP slave device

Modbus TCP server

4.14.1 Configuring Ethernet

1. Click the "Device (CECC-X-M1/-MV/-MV-S1)" branch in the CODESYS device window.

2. Open the "Add Device" dialog

– menu command [Project] [Add Device] or – context menu [Add Device]

Figure: Add Device - selecting "Ethernet"

3. Select the company "3S - Smart Software Solutions GmbH" in the "Vendor" drop-down list.

4. Select the entry "Ethernet" in the "Device" drop-down list.

5. Click the "Add Device" button. Leave the "Add Device" dialog open.

6. If you want to configure the controller CECC-X-M1-... as a Modbus TCP client Configuring the controller as a Modbus TCP client.

7. If you want to configure the controller CECC-X-M1-... as a Modbus TCP server Configuring the controller as a Modbus TCP server.

Detailed information on Modbus TCP  CODESYS online Help.

Festo controller CECC-X-M1-...

4.14.2 Configuring the controller as a Modbus TCP client

1. Click the "Ethernet" branch in the device window. If there is no "Ethernet" branch added to the controller CECC-X-M1-..., add an "Ethernet" branch  Configuring Ethernet.

2. Select the module "Modbus TCP Master" in the "Add Device" dialog.

3. Click the "Add Device" button. Leave the "Add Device" dialog open.

Figure: Device window - selecting "Modbus TCP Master" in the "Ethernet" branch

4. Click the new "Modbus TCP Master" branch.

5. Select the module "Modbus TCP Slave" in the "Add Device" dialog.

6. Click the "Add Device" button. If you want to add even more devices, leave the "Add Device" dialog open.

Figure: Device window - selecting "Modbus TCP Slave" in the "Modbus TCP Master" branch

7. Double-click the new "Modbus TCP Slave" branch.

Several tabs for parameterising the selected "Modbus TCP Slave" are displayed in the editing window.

Figure: Editing window with [Modbus TCP Slave] tab, [General] sub-tab

8. Enter the IP address of the assigned Modbus TCP server.

Festo controller CECC-X-M1

9. Enter the unit ID of the Modbus TCP server. This unit ID must be the same as the unit ID in the assigned Modbus TCP server in order for communication to take place.

10. Enter the port of the Modbus TCP server.

To configure the I/O mapping, appropriate channels must be added.

11. Click the "Modbus Slave Channel" sub-tab.

Figure: [Modbus Slave Channel] sub-tab - adding a channel

12. Click the "Add Channel..." button and set the desired parameters CODESYS online Help.

When using the controller as a Modbus TCP client:

– The access type "Read Input Registers" (function code 04) provides access to the address

range %QW of a Modbus TCP server

– The access type "Write Multiple Registers (function code 16) provides access to the address

range %IW of a Modbus TCP server

13. Specify in the "Length" field how many words should be read and written.

Figure: Settings on channel 1

Festo controller CECC-X-M1-...

Figure: Settings on channel 2

This gives the controller an I/O map of the Modbus TCP server:

Figure: [ModbusTCPSlave I/O Mapping] sub-tab

14. Repeat steps 4 to 13 for each additional Modbus TCP server ("Modbus TCP Slave") to be grouped with the selected "Modbus TCP Master".

15. Repeat steps 1 to 14 for each additional "Modbus TCP Master".

Festo controller CECC-X-M1

4.14.3 Configuring the controller as a Modbus TCP server

1. Click the "Ethernet" branch in the device window. If there is no "Ethernet" branch added to the controller CECC-X-M1-..., add an "Ethernet" branch  Configuring Ethernet.

2. Select the module "Modbus TCP Slave Device" in the "Add Device" dialog.

3. Click the "Add Device" button. If you want to add more devices, leave the "Add Device" dialog open.

Figure: Device window - selecting "ModbusTCP Slave Device" in the "Ethernet" branch

4. Double-click the "ModbusTCP Slave Device" branch.

Several sub-tabs for parameterising the selected "Modbus TCP Slave Device" are displayed in the editing window:

Figure: [Modbus TCP Slave Device] tab - [General] sub-tab

If the value of the "Timeout" option is greater than zero and the holding registers are not accessed during this time, the holding register values (%IW) are automatically reset after this time elapses.

5. Enter the unit ID of the Modbus TCP server.

6. Enter the port of the Modbus TCP server.

7. Repeat steps 1 to 6 for each additional Modbus TCP server.

Festo controller CECC-X-M1-...

4.15 Configuring EtherNet/IP

1. Click the "Ethernet" branch in the device window. If there is no Ethernet branch added to the controller CECC-X-M1-..., add an "Ethernet" branch  Configuring Ethernet.

2. Select the "EtherNet/IP Adapter" in the "Add Device" context menu.

3. Click the "Add Device" button.

4. Select the "EtherNet/IP Module" module in the "Add Device" dialog.

5. Click the "Add Device" button. If you want to add more devices, leave the "Add Device" dialog open.

Figure: Device window - selecting "EtherNet_IP_Module" in the "EtherNet_IP_Adapter" branch

6. Double-click the "EtherNet_IP_Module" branch.

Several sub-tabs for parameterising the selected "EtherNet_IP_Module" are displayed in the editing window.

Figure: [EtherNet/IP Module] tab - [General] sub-tab

7. Select the module you want.

8. Repeat steps 4 to 7 for each additional EtherNet/IP module.

9. Double-click the "Ethernet" branch in the device window.

Festo controller CECC-X-M1

10. Click the "..." button.

Figure: [Ethernet] tab, [General] sub-tab with the settings for the network interface

Only the network interface "eth0" at the connector [X8] is available for Ethernet/IP.

11. Click the network interface "eth0" (connector [X8]) and make the appropriate data settings.

Figure: Network adapters view

12. Then click the "OK" button.

Figure: [Ethernet] tab, [General] sub-tab with the settings for the network interface

Festo controller CECC-X-M1-...

A functioning EtherNet/IP server is indicated by the green status indicators.

Figure: Device tree in online mode An appropriate EDS file must then be made available to the higher-order EtherNet/IP node. This generic

EDS file can be found in the CODESYS installation folder on your PC:

C:\ProgramData\CODESYS\Devices\101\1285_12_120_1\Major Revision%3D16%231%2C Minor Revision %3D 16%231\CODESYS_EtherNetIP_Adapter.eds

Since this EDS file is generic ("Generic IO-Device"), it may need to be customised for special I/O configurations. Alternatively a generic EtherNet/IP device that maps the EtherNet/IP modules configured in CODESYS can be used in the EtherNet/IP scanner.

Festo controller CECC-X-M1

4.16 Configuring an EtherCAT slave

The controller has two gigabit LAN interfaces. Only "eth1" at the connector [X10] can be used for an EtherCAT network.

4.16.1 Adding an EtherCAT device

1. Add the "EtherCAT Master" interface to the CODESYS device window.

Figure: Device window with EtherCAT Master

2. Open the configuration page for the EtherCAT master by double-clicking.

3. Check the "Select network by Name" option. Enter "eth1" in "Network Name".

The network is identified by its network name and the project is device-independent.

4. Alternatively check "Select network by MAC". The network is specified using the MAC ID. The project cannot then be used on another device since each network adapter has a unique MAC ID.

5. Connect the computer to the controller via a TCP/IP network with the LAN interface [X8] Getting started.

6. Click the "EtherCAT Master" branch, click "Browse…" and select the network adapter "eth1" in the window that opens.

Motion control must be assigned the highest priority when using the SoftMotion functionality of the task. This task must also be called cyclically. For this reason, the cycle time of the distributed clocks of the EtherCAT master must be set to e.g. 4,000 µs (4 ms) and the call for the EtherCAT task must be set to a multiple of this cycle time.

Figure: Editing window with [General] sub-tab of the EtherCAT master

Festo controller CECC-X-M1-...

Figure: Selecting the network adapter of the CECC-X-M1-...

The auto configuration mode (option: Autoconfig Master/Slaves) is checked by default and sufficient for standard applications. If this mode is not enabled, all the configuration settings for the master and slave(s) must be made manually and expert knowledge is required! The auto configuration mode option must be disabled in order to configure slave-to-slave communication.

Festo controller CECC-X-M1

4.16.2 Adding an EtherCAT slave

1. Click the "EtherCAT Master" branch in the CODESYS device window.

Figure: Device window - selecting "EtherCAT Master"

2. Open the "Add Device" dialog

– menu command [Project] [Add Device] or – context menu [Add Device]

Figure: "Add Device" dialog using the example of CPX-FB38

3. Click an EtherCAT slave in the table, for example "FB38".

4. Confirm the selection by clicking the "Add Device" button.

5. If necessary, repeat steps 3 and 4 to add further devices.

6. Close the dialog by clicking the "Close" button.

Festo controller CECC-X-M1-...

7. Click the added EtherCAT slave in the device window.

Figure: Device window - selecting "FB38"

8. Double-click the added device "CPX-FB38 EtherCAT Fieldbus module".

The tab for configuring the EtherCAT slave appears in the editing window, for example "FB38":

Figure: Editing window with FB38 tab for EtherCAT slave

9. Check the "Enable Expert Settings" box on the [General] sub-tab.

All setting options are then visible.

The settings for EtherCAT slaves originate from the device description file. No changes are required here for standard applications because the settings are already correct.

The EtherCAT I/O mapping can be found on the sub-tab of the same name:

Figure: [EtherCAT I/O Mapping] sub-tab

Festo controller CECC-X-M1

4.17 Configuring an OPC UA server

1. Click the "Application" branch in the device window.

2. Select the "Symbol Configuration" entry in the "Add Object" dialog.

3. Select "Support OPC UA Features" in the subsequent dialog.

4. Click "Add".

Figure: Properties of the symbol configuration

5. Double-click the new "Symbol Configuration" entry to be able to edit all available variables.

Figure: Overview of the symbol configuration

6. You may need to click "Build" to update or create the list.

7. You can define how the selected variables can be accessed in the "Access Rights" field.

Figure: Access rights With structures you can explicitly select member variables.

Festo controller CECC-X-M1-...

8. Click in the "Member Variables" column. A further window where the selection can be made opens:

Figure: Defining member variables

9. Click "Build" to accept the settings. Any subsequent changes to variable definitions must be explicitly compiled within the symbol configuration.

Figure: Symbol configuration with uncompiled variables

Festo controller CECC-X-M1

The server is automatically started after the application starts and the data is available for an OPC UA client.

Figure: Sample program "UaExpert" from Unified Automation GmbH as an OPC UA client

The "Micro Embedded Device Server" profile of the OPC UA specification is currently available. This permits one data access (DA) at the moment, a maximum of two sessions can be processed

in parallel.

Festo controller CECC-X-M1-...

4.18 Online mode

Caution

Risk of injury due to uncontrolled movements of the connected actuators.

 Test projects and programs without active actuators and without compressed air initially.

A configured project including program (CECC-X application) is to be transferred to the controller. Online mode must be activated for transfer, i.e. CODESYS must be "logged in" on the controller.

4.18.1 Login

 Use one of the following commands for login:

– Click the icon in the toolbar of the CODESYS program window – Menu command [Online] [Login] – Shortcut ALT+F8

CODESYS logs in to the controller connected via the active path in the gateway. The first step is a comparison of whether the connected controller is the same as the target system

selected in the project. An error message appears if there is a conflict  Controller variants.

Figure: Warning message about an incorrect target system ID The next step is a comparison of the project and the application on the controller. The following query

appears if the project has been changed.

Figure: Query if the versions are different  Decide how to handle the version differences between the CODESYS project and the application 

CODESYS online Help, "Login".

The connection with the controller is indicated in the CODESYS device window by the green bars:

– Device [connected] (CECC-X-M1/-MV/-MV-S1) – Application

Festo controller CECC-X-M1

The application is not started (not running), the "RUN" status LED on the controller lights up yellow.

Figure: Device window in online mode

4.18.2 Starting and monitoring the application

The application can be started if error-free data has been transferred.

 Start the application by carrying out one of the following actions:

– Click the icon in the toolbar of the CODESYS program window – Menu command [Debug] [Start] – Shortcut F5

The entries for the controller and the application are shown against a green background in the device window. The application is running. "[run]" appears after the application. The circular arrows light up green.

The "Run" status LED lights up green.

Figure: Device window with controller CECC-X-M1/-MV/-MV-S1 in debug mode

Festo controller CECC-X-M1-...

4.18.3 Manually setting I/Os

The editing window contains the online views for all program modules and offers the following options:

– Writing and forcing variables – Using monitoring lists – Troubleshooting in applications (debugging)

Example: "Front" I/O interfaces [X2, X3, X4] (onboard)

1. Double-click "Digital Outputs" in the "Onboard (CECC 14I/8O)" branch in the device window.

2. Open the "Digital Outputs I/O Mapping" tab in the editing window.

Figure: Editing window with [Digital Outputs I/O Mapping] sub-tab

3. Change the value of the valves by double-clicking in the "Prepared Value" column.

4. Use one of the following commands to transfer the prepared values:

– Menu command [Debug] [Write Values] or shortcut CTRL+F7 – Menu command [Debug] [Force Values] or shortcut F7

The current configuration of the outputs and therefore the current output states are only immediately visible if the "Always update variables" box is checked.

You can only check this option on the [Digital Outputs I/O Mapping] sub-tab when CODESYS is not logged into the controller.

4.18.4 Logout

Use one of the following commands for logout:

– Click the icon in the toolbar of the CODESYS program window – Menu command [Online] [Logout] – Shortcut CTRL+F8

Further information on monitoring and controlling the application  CODESYS online Help.

Festo controller CECC-X-M1

4.19 PLC shell

The PLC shell is a text-based controller monitor (terminal). Commands for requesting certain information from the controller are entered in an input line and sent to the controller as a string. The returned response string is displayed in a results window in the browser. This functionality is used for diagnostic, debugging and configuration purposes.

To use the PLC shell:

1. Click the controller CECC-X-M1-... in the CODESYS device window.

2. Double-clicking the device opens the [Device] tab in the editing window for configuring the controller.

3. Open the [PLC shell] sub-tab.

Figure: Editing window with "PLC shell" sub-tab An online connection between CODESYS and the controller is required for communication using the PLC

shell  Online mode.

The target system ID of the controller in the active path must be the same as the device type in the project.

Festo controller CECC-X-M1-...

ist of standard commands for any target systems  CODESYS online Help.

The following commands are additionally available for the controller CECC-X-M1-....

Command

Comment

Shows all commands for the device in the active path.

bootdevget

Shows the current boot device configuration.

bootdevset

Sets the configuration parameters. Use the /? option to display the possible parameters:

bootdevset /?

getdevinfo

Shows all information about the device.

getipconfig

Shows the IP configuration: IP address, DHCP, settings after restart, etc.

reboot

Reboots the device.

getrtc

Shows the current real-time clock data.

setrtc YYYY-mm-dd-HH:MM:SS

Sets the current real-time clock data. Example:

setrtc 2011-01-25-15:13:26

canlog

Functions for CAN logging. Use the /? option to display the possible parameters:

canlog /?

cangetconfig

Shows the current CAN configuration parameters.

cansetconfig

Sets the CAN configuration parameters. Use the /? option to display the possible parameters:

cansetconfig /?

cangetstat [interface]

Shows the current information for the corresponding CAN interface. [Interface] is an optional entry. The value 0 will be used if it is not

specified:

cangetstat 0

shellcmd <linux command>

Executes a Linux shell command. Example:

shellcmd uptime

Table: PLC shell commands

Festo controller CECC-X-M1

4.20 External USB and microSD storage media

USB storage devices and microSD memory cards can, in principle, be used as general mass storage media with the controller, e.g. for CODESYS and customer data.

The controller also supports the execution of CODESYS boot projects and quality check programs from an external microSD memory card using the "microSD card" boot device option. USB storage devices, on the other hand, cannot be used as a boot device.

If a CODESYS boot project is stored on a USB storage device and is to be executed by the controller, it must first be copied to a microSD memory card.

Prerequisites for using the mass storage media:

– The mass storage media are formatted for FAT32 – If a microSD memory card is used as a boot device, the controller must be configured accordingly 

Changing the boot device configuration.

Data on the external storage media is not changed during a firmware update.

4.20.1 Creating a boot project on an external microSD memory card

This step is optional if you want to create the microSD memory card in advance e.g. on your PC. If the microSD memory card has been configured as a boot device, you will be automatically working on the microSD memory card when working from CODESYS or Vision/Quality. The internal memory cannot be used with regards to the project data in this mode.

1. Plug a microSD memory card into your PC.

2. Open the project to be stored on the microSD memory card. (Click the program in the "PLC logic" branch in the device window.)

3. Select the command [Online] [Create USB files].

4. Switch to the drive letter for the microSD memory card.

5. Start saving to the microSD memory card by clicking "OK".

6. If necessary remove the microSD memory card and unplug it from the PC.

7. Insert the microSD memory card in the microSD slot provided on the controller.

Figure: Plug-in direction and orientation of the microSD memory card

Note the plug-in direction and orientation of the microSD memory card to avoid damage to the device.

Festo controller CECC-X-M1-...

4.20.2 Changing the boot device configuration

1. Connect the microSD memory card to the controller or remove the microSD memory card from the controller while it is de-energised.

2. Switch on the controller.

3. Change the boot project configuration  web interface or  PLC shell.

4. Restart the controller.

If the microSD memory card was selected as a boot device, the controller will automatically detect the CODESYS boot project. The controller then starts and only uses the data on the microSD memory card.

If the microSD memory device was configured as a boot device, the project data in the internal memory will not be available. Project data will not be automatically copied if the "Internal memory" boot device option was changed to "microSD card".

If you no longer want to use the boot project on the microSD memory card and want to reactivate the boot program saved internally, you need to change the settings for the boot device as described above. The microSD memory card can then be used as a general mass storage media in this case.

The storage path of the microSD memory card is "/mnt/sdcard" when used as a mass storage media.

The storage path of a USB storage device is "/mnt/usb". The "/mnt/sdcard" path is still available when using the "microSD card" boot device option. The retain memory can be used irrespective of the chosen boot device. The values are neither

changed nor updated when the boot device is changed.

4.20.3 Backup and restore functions when using the microSD memory card as a boot

device

The backup and restore functions refer to the memory configured in the boot device parameter. This means that if the microSD memory card is configured as a boot device, a backup of the project on the microSD memory card will be created. The restore function works the same way, but reversed. If a device that uses the microSD memory card as a boot device is replaced 1:1, the microSD memory card must be configured as a boot device on the new device and the device must be restarted before the restore function is executed.

The boot device parameter setting is not part of the backup data.

4.20.4 Firmware update when using the microSD memory card as a boot device

Irrespective of how the boot device parameter is configured, the device with the project data must be backed up before the firmware update so that it can be subsequently restored using the restore function. The data on the microSD memory card is not changed by the firmware update, however the functionality is not ensured if the backup and restore functions are not executed.

The backup and restore functions must be executed even if the microSD memory card is not used as a boot device.

4.20.5 Behaviour in special situations

If the microSD memory card was selected as the boot device but there is no microSD memory card inserted, the diagnostic message "IoDrvCECCX: Configuration error (boot device)" will be generated and the error LED on the controller will light up.

If the microSD memory card was selected as the boot device and is inserted and empty, it will be set up for use with CODESYS boot projects when the controller starts (directory structure will be created, etc.).

Festo controller CECC-X-M1

4.20.6 Vision/Quality in combination with an microSD memory card as the boot device

If the microSD memory card has been selected as the boot device, the Vision/Quality configuration on the device will be duplicated on the microSD memory card the next time the device restarts. The configuration will then be loaded from there and any changes to it will only be synchronised with the microSD memory card.

The duplicated configuration contains all the user-specific settings like check programs, system parameters, coordinate transformation data, masks, statistics, etc.

The previous Vision/Quality configuration in the internal memory will be neither changed nor updated while the microSD memory card is selected as the boot device.

Vision/Quality will report an appropriate error to the diagnostic function if no microSD memory card is inserted despite being configured or if the project stored in the memory path of the microSD memory card (folder "sbrq") is incomplete or corrupt.

A connection to CheckKon or CheckOpti is not possible in this case.

Instead of duplicating the existing configuration on the device, an existing configuration on another microSD memory card can be used. The folder "sbrq" of an already initialised microSD memory card must be copied to another microSD memory card for this.

A manually copied microSD memory card will not be used in another device until the boot device option is set to "microSD card".

Vision/Quality writes system parameters, statistics information and remanent flag words to the microSD memory card on each modification.

If the microSD memory card is used in continuous operation and with very high modification rates, the lifetime of the microSD memory card has to be considered.

4.20.7 Replacement-Mode (1:1-Replacement)

In special cases of application, it may be required to substitute a broken device instantly during continuous operation without need for device management tools.

Replacement-Mode allows to continue operation instantly after changing the device with a substitute device.

Requirements:

– microSD memory card of the original device is activated for replacement mode. – microSD memory card is activated as boot-device. – Replacement-Mode is activated for the substitute device

Optionally a CODESYS recovery point can be created for CODESYS remanent data. Vision/Quality programs will be able to continue normally in respect to remanent program data.

In menu [Miscellaneous] [Boot-Device] of the controller's web-interface the following functions are available  Boot_Device:

– "Write IP-Settings to microSD card": activates the microSD memory card for replacement mode. – "Write IP-Settings and CODESYS retain data to microSD card": activates the microSD memory card

for replacement mode and creates a recovery point for CODESYS remanent data.

– "Prepare Spare Device for 1:1-Replacement": activates the Replacement Mode for the substitute

device.

Festo controller CECC-X-M1-...

4.21 Web interface

Figure: Web interface with open [Overview] menu The web interface supports simple process visualisation and error diagnosis independently of the

applications and web visualisations running on the device. The homepage of the web interface is accessed by entering the IP address of the controller in question in

a web browser or by selecting the "Device homepage" via the Festo Field Device Tool (FFT). The homepage shows the current controller configuration as an icon. Various subcategories with further

device-specific information and functions can be called up using the dynamic menu bar. The web interface also guarantees clear and easy operation for mobile devices.

The following functions can be selected using the menu:

4.21.1 Home

– Welcome (default web homepage)

– Shows the device type including symbolic image, product key, product order numbers – Web links to Festo Web Support

– Help

– Help page for the CECC-X-M1-...

4.21.2 System

– Diagnostic status

– Shows the recorded diagnostic results

– Shows the basic configuration like IP configuration, temperature, product name/ID – About

– General license information and notes on copyright

4.21.3 CODESYS

– Shows the installed CODESYS license (if available) – Web visualisation of the CODESYS project (only available if a web visualisation was created using

CODESYS)

– CODESYS crash reports (if available)

Festo controller CECC-X-M1

4.21.4 Overview

– Vision/Quality

Offers an overview of

– Camera properties – Digital inputs used by Vision/Quality – Digital outputs controlled by Vision/Quality – Camera status

(with the option to acknowledge simple error states using a web button)

– Vision/Quality WebViewer activation/deactivation – Current camera image Individual image trigger via web button

– Device I/O

Cyclical page refresh (refreshed once per second or manual refresh)

– Status display of the digital I/Os in graphical/tabular format:

– Display of any parameterised Vision/Quality I/Os – Debounce settings for the digital inputs – Display of the digital output configuration (PNP/NPN)

– Shows the analogue inputs in tabular format:

– Sensor mode – Internal CODESYS value – Internal measured value in [mA] or [V] – Status and if necessary various possible warnings: Open Circuit, Overload, Unacknowledged

Overload, Voltage Exceed

– Detailed information:

– Fan status – Temperature – Motor controller: Torque Off status (for the motor controller connections)

– Device Status

– Total system running time in seconds – Status of USB storage device (available/not available, memory status (free/occupied)) – Status of microSD memory card (available/not available, memory status (free/occupied)) – Current temperature (CPU/housing)

– Virtual Device View

– Virtual display of the analogue inputs via superimposed text info boxes that are also used for

general error situations

– Virtual display of the digital inputs and outputs – Superimposition of the digital inputs/outputs on the side via virtual LEDs – Shows the status LEDs (Power/Net/Error/Mod) – Dynamic display of the I/O–LEDs (refreshed every second) – Virtual view of the device from

above and from the side. The digital outputs X4.0, X4.1, X4.2 are greyed out if these are being used by Vision/Quality

– Superimposition of various device information such as USB storage device/microSD card,

temperature, fan status, IP address

– Virtual superimposition of torque, motor overload, NPN/PNP – Superimposition of CODESYS error states

Festo controller CECC-X-M1-...

Figure: Virtual Device View

Festo controller CECC-X-M1

4.21.5 Miscellaneous

Root authentication once per browser session is a mandatory requirement. It is recommended to execute the available functions with great care to avoid faults. The login name is "root" and the password is "Festo".

– Boot Device

– Project Data Location: Enables selection of the boot device for a CODESYS boot project which is

either on a microSD memory card or in the internal memory

– "Reboot": System restart (e.g. after the boot device is changed) – "Write IP-Settings to microSD card": activates the microSD memory card for replacement mode 

Replacement-Mode (1:1-Replacement).

– "Write IP-Settings and CODESYS retain data to microSD card": activates the microSD memory

card for replacement mode and creates a recovery point for CODESYS remanent data  Replacement-Mode (1:1-Replacement).

– "Prepare Spare Device for 1:1-Replacement": activates the Replacement Mode for the substitute

device  Replacement-Mode (1:1-Replacement).

– Command Line Interface – Network Settings

– Display and modification option for

– IP device configuration – Hostname – DHCP

Note: A system restart will be initiated if necessary after a request for confirmation if the IP is changed. Insofar as applicable, the page is automatically refreshed in the case of a new IP address

– Time/Date Settings

– Display and setting option for date and time (RTC) on the device

– File Upload

– For uploading files with max. 8 MB per file – The storage path for the data is "/tmp/upload"

– Resource Status

– Calculates and displays the current resource situation and the observed system performance

using the "Report" web button in the format of a text-based list

– Quality License

– Shows the current Vision/Quality license

Festo controller CECC-X-M1-...

4.22 Backing up and restoring data with the Festo Field Device Tool

The Festo Device Tool (FFT) is available in the Support Portal  www.festo.com/sp.  Open the Festo Field Device Tool (FFT).

Figure: Festo Field Device Tool (FFT)

4.22.1 Backup

The following files can be backed up:

– Vision/Quality (including check programs, masks, coordinate transformation data and other settings) – Codesys

– Retain variables – Contents of the project directory (including boot project)  Directory paths and their meaning – Web visualisations

– Startup script

If the backup is created by a device with the "microSD card" boot device option, only the project data on the microSD memory card and the contents of the retain variables will be saved. Any project data in the internal memory will not be backed up in this case.

1. Click the controller and select "Backup" in the context menu.

Figure: Controller context menu in the Festo Field Device Tool (FFT)

Festo controller CECC-X-M1

A new window opens.

2. Enter the name of the backup file and the storage location.

3. Click the "OK" button.

The backup starts:

Figure: Backup settings After the backup is complete, the default web browser opens with the results of the backup operation:

Figure: Results page for the backup operation

Festo controller CECC-X-M1-...

4.22.2 Restore

Available backups can be restored to the controller. The following files can be restored:

– Vision/Quality (including check programs, masks, coordinate transformation data and other settings) – Codesys

– Retain variables – Contents of the project directory (including boot project) -> Directory paths and their meaning – Web visualisations

– Startup script

The "microSD card" boot device option used to create the backup on the original device will not be automatically made on a new device. It must be set manually. Otherwise the function will try to copy the contents to the internal memory.

1. Click the controller.

2. Select "Restore" in the context menu.

Figure: Controller context menu in the Festo Field Device Tool (FFT) A new window opens.

3. Enter the name of the backup file and the storage location.

4. Click the "OK" button.

Festo controller CECC-X-M1

The restore starts:

Figure: Restore settings After the restore is complete, the default web browser opens with the results of the restore operation:

Figure: Results page for the restore operation

The Festo Field Device Tool includes a "Firmware with Backup" function, which combines the backup, firmware download and restore functions.

Festo controller CECC-X-M1-...

4.23 Vision/Quality (CECC-X-M1-MV/-S1)

Only the camera models specified in the catalogue are supported  www.festo.com/catalogue. The camera head can only be used at connection [X7]. No USB hubs or repeaters are permitted between

the CECC-X-M1-MV/-S1 and camera. Vision/Quality is always controlled or triggered via CODESYS using the "Festo MachineVision_3 library". The Vision/Quality settings such as exposure times or digital I/Os as well as the actual check programs, on

the other hand, are created using the free software packages "CheckKon" and "CheckOpti", i.e. it is possible to execute Vision/Quality on the CECC-X-M1-... without CODESYS since Vision/Quality is

commissioned separately from the CODESYS development environment. Detailed functional description  online Help for CheckKon and CheckOpti.

The dual core architecture means that the entire Vision/Quality logic is separate from CODESYS, i.e. Vision/Quality does not significantly affect the performance of CODESYS and vice versa.

4.23.1 Commissioning Vision/Quality using CheckKon/CheckOpti

The free program CheckKon is used to make the settings for the Vision/Quality functions and the image settings. The actual check program is created using the free software CheckOpti.

Both software packages must therefore be installed when using the Vision/Quality functions  www.festo.com/sp.

1. Open the [CheckKon] program.

Figure: CheckKon dialog – functionality and connection

2. Select the function "modification (password)".

3. Select the connection option "via Ethernet interface".

4. Click "Next >". A new window appears.

The password is "mission".

Festo controller CECC-X-M1

Figure: Connection parameter

5. Either enter the IP address of the CECC-X-M1-MV/-S1 directly or click "Search...".

All settings of the CECC-X-M1-MV/-S1 are automatically read and transferred into the project.

6. Click [View], [System parameters] to be able to made the settings for the Vision/Quality functions as well as settings for the digital I/Os.

All settings made in CheckKon are directly transferred to the device (if online) and permanently saved.

Figure: System parameter

CODESYS can no longer use digital outputs that are not set to "Codesys".

Festo controller CECC-X-M1-...

7. Click [View], [Live image] to be able to change the actual image settings like exposure time, gain, white balance and pre-processing. The result can be checked directly in the output window.

Figure: Live image display window in CheckKon

8. The camera can optionally be calibrated now. The entry [View], [Calibration of coordinate transformation] must be selected for this. A dialog opens that helps you to define a calibration.

The calibration data for the coordinate transformation is permanently saved in the CECC-X-M1MV/-S1 as well as in the project. This data is not stored on the camera!

9. Existing check programs can optionally be transferred to the CECC-X-M1-MV/-S1 using the Check program Manager. The corresponding check programs must be copied to the device under [View], [Check program Manager] for this (this can also be done from the "CheckOpti" program).

Creating a check program

Creation of one or more check programs can be started once all the Vision/Quality function settings, digital I/Os settings and image settings have been made. The "CheckOpti" program must be opened for this.

1. Open the [CheckOpti] program.

Figure: CheckOpti dialog

Festo controller CECC-X-M1

2. Select the "Create new project" option and click "Next >".

3. Select the connection option "via Ethernet interface".

4. Click "Next".

Figure: CheckOpti project properties

5. Select the corresponding target device or perform a search for the target device by clicking "Ethernet interface". Either enter the IP address of the CECC-X-M1-MV/-S1 directly or click [Search...].

6. All the settings are transferred into the project by clicking "OK" and can be subsequently customised under [View], [Project properties].

Images can in principle be imported into the project and a check program can be created without a connection to the CECC-X-M1-MV/-S1.

7. Click [Device], [Connect or disconnect] in the menu bar to establish a connection with the device. Several windows open for managing and creating the check program.

8. You will see your images or parts in the parts list and can distinguish between samples and test parts (sample parts are relevant for a project with quality inspection).

9. For manual image capture, it is first necessary to specify whether a sample or test part is to be captured and then the trigger in the parts contour window must be clicked.

Festo controller CECC-X-M1-...

Parts list of sample parts

Parts list of test parts

Figure: CheckOpti parts list

Figure: Manual trigger in the Part contour window

10. Click a sample or test part in the parts list to display the part in the part contour window. You can switch between the contour and camera image display (the contour image will only be displayed if this was activated under "Camera image pre-processing" within CheckKon).

Figure: Part contour with check program features

11. Add the required tools to the check program under [Actions], [Add tools].

12. Detailed settings for the selected tool (e.g. position, size and tool-specific parameters) can be made by double-clicking the corresponding tool.

Festo controller CECC-X-M1

Figure: Tool properties (using the example of the Datacode tool)

A maximum of 256 tools can be added per check program. A maximum of 256 check programs are available.

You can view the results directly in the information area of the Part contour window since CheckOpti performs the same calculations on your PC as the CECC-X-M1-MV/-S1. This permits offline working.

Festo controller CECC-X-M1-...

Defining data output

Once all the check programs have been created, a corresponding data output can be defined in order to make the data available for CODESYS or external controllers (via telnet).

1. In the area of the menu bar, select the check program you want to add a data output to.

Figure: Selecting a check program

2. Click [View], [Data output] in the menu bar.

Figure: Adding a data output

3. Select "Telnet – SBO..-Q Data Collection" for simple data output.

Figure: Data output, settings

Festo controller CECC-X-M1

4. Assign the data output a communication name (max. 3 characters) on the [Settings] tab. The default values can be used for the rest of the settings.

Several data outputs can be defined for each check program. The data outputs are differentiated by the communication names.

Figure: Data output, defining the data to be transferred

5. Start by selecting the number of data output items (of the type float32 or char[64]) on the [Data] tab.

6. The features contained in the check program are displayed in the "Available data" area. To transfer data, drag it from the left "Available data" window and drop it in "Datasets and assigned data".

Max. 255 values of the type "float32" and max. 255 values of the type "char(64)" can be transferred per check program.

Figure: Data output, result

Festo controller CECC-X-M1-...

7. You can see the entire data output including various header data on the [Result] tab.

8. The "Data output" dialog can now be closed.

The data output is saved together with the check program. If a specific check program is to be saved, it must be exported to a file using the Check program Manager. The data output is also exported in this case.

Transferring a check program to the controller

Once the data output has been defined, the check program must be transferred or exported to the CECCX-M1-MV/-S1.

1. Open the Check program Manager under [View], [Check program Manager].

Figure: Check program Manager The "CheckOpti" list shows all the check programs created in your project.

2. Highlight the check program to be copied in the "CheckOpti" list

3. Highlight the target check program you want or the corresponding number in the "Device" list

4. Click the "Copy >" button.

The data is permanently saved on the CECC-X-M1-... after copying is complete.

Further check programs can be imported into or exported from your project using the Check program Manager.

– The "Import from file" button can be used to add check programs from a file – The "Export to file" button can be used to export check programs – The "< Copy" function imports a check program from the device into the project

In total approx. 16 MB of check program memory is available to the CECC-X-M1-MV/-S1. This is also the case when using the "microSD card" boot device option.

Communication with Vision/Quality via CODESYS  online Help for the Festo MachineVision_3 library.

Festo controller CECC-X-M1

4.23.2 Special function of the digital I/Os

Digital input X2.2

The digital input can be used as a hardware trigger. The corresponding entry under "I/O configuration" in CheckKon must be clicked for this. The polarity can also be specified at the input.

Figure: CheckKon system parameters

The digital input can be used independently of how it is used in CODESYS. The debounce times within the CODESYS project are not relevant for the trigger function.

Figure: Function, polarity of input X2.2

Digital output X4.0 and X4.1

The two digital outputs can also be controlled directly by Vision/Quality. The functional description for the individual list entries can be found in the table below.

Figure: Function of outputs X4.0 and X4.1

Festo controller CECC-X-M1-...

Digital output X4.3

The digital output X4.3 has the same functions as X4.0 and X4.1, but with the option of directly controlling the flash output signal of a connected lighting system,

i.e. a flash can be controlled directly by the camera whose flash output is connected to input X2.3 or X2.4. As a result the CECC-X-M1-MV/-S1 acts like a current amplifier since the cameras cannot operate components with higher power ratings (e.g. LED lights) directly (option "Output of ...").

The digital input X2.3 can simultaneously be used as a latch input for the encoder port. This is a good idea, e.g. in the case of a tracking function, in order to synchronise the image capture with the process (e.g. conveyor). The settings (polarity, debounce times) of the encoder within CODESYS do not apply to Vision/Quality.

Instead of using the flash output signal of the camera, Vision/Quality can set the output shortly before the trigger is initiated and deactivate the output again after the image is received ("External lighting" option).

The lighting is automatically controlled in both cases and does not have to be manually controlled via CODESYS.

Figure: Function of output X4.3

Function

Camera output

CECC-X-M1-MV/-S1

Typical application

External lighting

Digital I/O of the camera is not connected

Lighting is automatically controlled by Vision/Quality. However no hard synchronisation takes place between the flash output and camera exposure.

All inspections without a high dynamic component or strobing of the LED lighting, since the flash time lasts much longer in this mode due to a lack of synchronicity with the camera exposure.

Output of X2.4 (inverted)

Digital output of the camera is connected to X2.4

The signal at input X2.4 is immediately routed to digital output X4.3 by the FPGA. The CECC-X-M1-MV/-S1 acts like a current amplifier.

All inspections involving e.g. strobing (note the heat loss of the LEDs) or generally short exposure times are desirable.

Output of X2.3 (inverted)

Digital output of the camera is connected to X2.3

The signal at input X2.3 is immediately routed to digital output X4.3 by the FPGA. The CECC-X-M1-... acts like a current amplifier.

At the same time, the signal at input X2.3 is also used as an encoder latch signal.

All inspections where e.g. tracking or sorting is used and at the same time the encoder signal (e.g. conveyor) must be latched and provided for short exposure times (note the heat loss of the LEDs).

Functions

Festo controller CECC-X-M1

4.23.3 Controlling Vision/Quality via CODESYS

Vision/Quality can both be executed as a standalone function and controlled from CODESYS. The following function blocks are provided for this within the Festo MachineVision_3 library. Detailed description of the function blocks  online Help for Festo MachineVision_3 library.

Function block "FB_Basic"

Used for controlling the Vision/Quality functions via CODESYS. The following functions are available:

– Switching between check programs – Image trigger – Switching between evaluation modes (see table) – Saving the Vision/Quality results to a structure – Status information

Figure: Function block "FB_Basic"

The following evaluation modes are available:

EvaluationMode

UINT

Description

TRIGGERD

An image is captured after a trigger.

FREE_RUN

An image is constantly captured (with execution of the check program)

RESERVE

LIVE_IMAGE

An image is constantly captured (without execution of the check program)

Table: Evaluation modes

Festo controller CECC-X-M1-...

The associated visualisation for the function block "FB_Basic" looks as follows:

Figure: Visualisation for the function block "FB_Basic"

Vision/Quality check programs cannot be executed while the live image is being displayed! In triggered mode, the current image is displayed in the window.

The live image can be integrated using the "Embedded Web Browser" available in the CODESYS visualisation to enable the live image display to be used. The path for the browser must be specified for this and the desired refresh rate used:

http://[IP address]/cgi-bin/live-image?delay=[ms]  URL string in the function block "FB_Basic".

The refresh rate is very much dependent on the camera model used as well as the field of view. Note also that the bus load across the Ethernet interface [X8] increases sharply.

Festo controller CECC-X-M1

FB_FlagwordAccess

Used for write and read access to the Vision/Quality flagwords via CODESYS.

Figure: Function block FB_FlagwordAccess There are freely usable flagwords (e.g. for saving variables that both Vision/Quality and CODESYS should

permanently provide) and flagwords with fixed content. This enables e.g. the exposure time or the gain for the camera to be written or read directly from

CODESYS without having to modify the check program. Flagword address  online Help for CheckKon:

Figure: System parameters in CheckKon with display of the Help text and the flagword address for the system parameter "Exposure time"

The freely usable flagwords (FW 9000...9063) are always permanently saved on the CECC-XM1-MV/-S1. Exact description of the flagwords  online Help for CheckKon.

Festo controller CECC-X-M1-...

4.24 Version conflict

The following message is displayed if the device version used in CODESYS and the version of the runtime system on the connected device are not the same:

Figure: Version conflict error message

The first two digits of the device version and the runtime system version must be the same. The third digit of the runtime system must be greater than or equal to the the third digit of the device version  [Device] [Information] sub-tab.

Possible remedies:

 Update the firmware version of the controller using the FFT.  Use a suitable package (older version)  www.festo.com/sp.  Contact your local Festo Service partner if you have any questions  www.festo.com.

Festo controller CECC-X-M1

5 Diagnosis

Warning

When an error occurs, the controller carries on the active program instead of stopping. Uncontrolled actuator movements can cause collisions resulting in serious injury.

 Integrate error handling mechanisms for all error categories in the user program.  Make sure that nobody enters the positioning range of the actuators.

The following tools are available for diagnosis:

Tool

Advantages

Status LEDs

Fast, local error detection using the indicators on the product:

– Controller LEDs – CECC-X-specific LEDs

Controller configuration

Online diagnosis without programming.

User program

Detailed diagnostic evaluation:

– CmpDiagDaemonEvent system event – Support for function blocks from the Festo General_3 and Festo CECC_3

libraries  Diagnosis

Table: Diagnostic tools

Error class

Weighting

Error no.

Evaluation via function block in Festo CECC_3 library

Display in the CODESYS device log

Display in the FFT1)

No error

0 X – X 1

Information

200 ... 255

X X X 2 Warning

1 ... 127

X X X 4 Error

128 ... 199

X X X

1) The Festo Field Device Tool (FFT) program can be downloaded via the Festo Support Portal  www.festo.com/sp.

Table: Error evaluation options

Figure: Editing window with [Log] sub-tab

Festo controller CECC-X-M1-...

Error message

Error no.

Error class

Remedy

IoDrv: Overload

Warning

Check the outputs for possible short circuit.

IoDrv: IO power supply failure

Warning

Check the I/O power supply.

Undervoltage in power supply

Warning

Check the power supply. Error loading bootproject

120

Warning

Check your boot project.

FPGA open failed

146

Error

Replace the device.

FRAM open failed

133

Error

Runtime license invalid

144

Error

CODESYS started

No error

–

CODESYS shutdown

No error

–

Change to run state

No error

–

Change to stop state

No error

–

Table: CODESYS error messages

Error message

Error no.

Error class

Remedy

IOLinkDrv: Initialization failed

147

Error

Check the connected IO-Link devices. Check the power supply.

IOLinkDrv: Stack halted (Error)

148

Error

IOLinkDeviceDrv: Initialization failed

147

Error IOLinkDrv: Started

No error

–

IOLinkDeviceDrv: Started

No error

–

Table: IO-Link error messages

Error message

Error no.

Error class

Remedy

multicast daemon started

No error

–

Kernel diagnosis daemon stopped

No error

–

Kernel diagnosis daemon started

No error

–

Redirect all kernel errors to diagnostics

No error

–

Table: Internal error messages

Festo controller CECC-X-M1

5.1 Status LEDs

The LEDs on the controller indicate the operating status of the device and are arranged in six groups.

RS232, multiple interface ENC/RS422/RS485 and IO-Link

Operation (Run, Net, Error, Mod)

Ethernet

Power supply (24 V) for the device, digital and analogue inputs and the motor controller direct connection

Inputs and outputs (I/O) and power supply for I/O

Figure: Status LEDs on the CECC-X-M1-...

LED

Sequence

Meaning

Comment

24 Volt

Lights up green

Device ready for operation

Power supply.

Does not light up

Device switched off

Flashes green

Undervoltage of the device

Run

Lights up green

Program running

Application status.

Lights up yellow

Program is stopped

Does not light up

Runtime system not started

Error

Lights up red

Class 4 error

PLC runtime error.

Flashes red

Class 2 error

Does not light up

No error/class 1 error

Net

Flashes red

Device identified

Identification by FFT.

Mod – –

Reserved.

Ethernet left Lights up green

Data transfer with 100 Mbit

Speed LED = speed of data transfer.

Does not light up

Data transfer with 10 Mbit

Ethernet right

Lights up green

Connection established

Link/activity LED = connection and data transfer.

Flashes green

Data transfer active

Does not light up

No connection

Festo CECC-X-M1, CECC-X-M1-MV, CECC-X-M1-MV-S1 Description

Specifications and Main Features

Frequently Asked Questions

User Manual