Festo CPX-FB14 Electronic Manual

CPX Terminal

Electronics Manual

CPX Fieldbus Node

Type CPX−FB14

Fieldbus Protocol
CANopen

Manual

526 410
en 0810b
[740 276]

Contents and general instructions

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

Edition en 0810b. . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−CPX−FB14−EN. . . . . . . . . . . . . . . . . . . . . . .

Order no. 526 410

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2009)
Internet: http://www.festo.com
E−Mail: [email protected]

The reproduction, distribution and utilization of this docu−
ment as

well as the comunication of its contents to others
without express authorization is prohibited. Offenders will
be held liable for the payment of damages. All rights re−
served in the event of the grant of a patent, utility module
or design.

Festo P.BE−CPX−FB14−EN en 0810b

I

Contents and general instructions

®

TORX

is a registered trade mark
of Acument Intellectual Properties, LLC
(Manufacturer: Acument Global Technologies
NorthAmerica, Sterling Heights, Michigan, USA)

II

Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions

Contents

Intended use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on this manual VIII . . . . . . . . . . . . . .

Important user instructions IX . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

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

1.1 General instructions on installation 1−3 . . . . . .

1.2 Settings of the DIL switches on the field bus node 1−7 . . . . . . . . . . . . . . .

1.2.1 Removing and fitting the cover over the DIL switches 1−7 . . . . . . . . . . .

1.2.2 Setting the DIL switches 1−8 . . . . . . . . . . . . . . . . . . . . .

1.3 Connecting the field bus 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Field bus cable 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Field bus baud rate and field bus length 1−21 . . . . . . . . . . . . . . . . . . . . .

1.3.3 Information on connecting the field bus 1−22 . . . . . . . . . . . . . .

1.3.4 Field bus interface 1−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Connecting

1.3.6 Further connection possibilities for the field bus

with adapters 1−27 . . . . . . . . . . . . . . . . . . .

1.4 Bus terminal with terminating resistors 1−30 . . . . . . . . . . . . . . . . . . . . .

1.4.1 Install a terminating resistor using the adapters 1−30 . . . . . . . . . . . . . . .

1.5 Pin assignment of power supply 1−31 . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . .

. . . . . . .

. . . . . . .

with the field bus plug from Festo 1−25 . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . .

. . . . . . . . . . . . . . . . . . .

. . . . .

. .

Festo P.BE−CPX−FB14−EN en 0810b

III

Contents and general instructions

2. Commissioning 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Commissioning on a CANopen master 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 General information on CANopen 2−4 . . . . . . . . . .

2.2 Configuration 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . .

2.2.1 Addressing the CPX terminal 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Configuration examples 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Overview 2−14 . . . . . . . . . . . . .

2.3.1 Brief overview of the scope of functions 2−14 . .

2.3.2 Overview Object directory 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

. . .

2.3.3 Reaction of the CPX terminal when it is switched on 2−16 . . . . . . . . . . . .

2.3.4 Default identifier distribution 2−18 . . . . . . . . . . . . . . . . . . . . . .

2.4 Object directories 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . .

. . . . . .

2.4.1 Communication profile 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Overview of the PDO structure 2−25 . .

2.4.3 Digital inputs (transmit PDO 1) 2−26 . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . .

2.4.4 Digital outputs (receive PDO 1) 2−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.5 Analogue inputs channel 0 Ū 3 (transmit

PDO 2) 2−33 . . . . . . . . . . . . . .

2.4.6 Analogue outputs channel 0 Ū 3 (Receive PDO 2) 2−38 . . . . . . . . . . . . .

2.4.7 Analogue inputs channel 4 Ū 15 (Transmit PDO 3) 2−40 . . . .

. . . . . . . . .

2.4.8 Analogue outputs channel 4 Ū 15 (Receive PDO 3) 2−43 . . . . . . . . . . . .

2.4.9 Technology modules, status bits, I/O diagnostic interface

(PDO 4) 2−45 . . . . . . . . . . .

2.4.10 Manufacturer specific profile 2−49 . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

2.4.11 Overview of mappingobjects 2−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.12 Force 2−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. .

2.4.13 Function assignment and virtual modules 2−62 . . . . . . . . . . . . . . . . . . . .

2.5 Parameterizing 2−68 . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Parameterizing when switching on 2−68 . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . .

2.5.2 Parameterization with the handheld 2−69 . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Application example for parameterization 2−69 . . . . . . . . . . . .

. . . . . . . .

2.6 Commissioning the CPX terminal in the system 2−70 . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Error−free commissioning, normal operating status 2−70 . . . . . . . .

. . . .

.

. .

IV

Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions

3. Diagnosis 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of diagnostic possibilities 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostics via LEDs 3−4 . . . . .

3.2.1 Normal operating status 3−5 . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Error displays of the CPX−specific LEDs PS, PL, SF, M 3−6 . . . . . . . . . . .

3.2.3 Error displays of the

3.3 Diagnosis via status bits 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CANopen−specific LEDs MS, NS, IO 3−9 . . . . . . . .

. . . . . . .

3.4 Diagnosis via the I/O diagnostic interface 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Diagnosis via CANopen 3−13 . . . . . . .

3.5.1 The emergency message 3−14 . . . . . . . . . . . . .

3.5.2 CPX fault numbers 3−19 . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . .

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

. . . . . . . . . . . . . .

A.1 Technical data of fieldbus node CPX−FB14 A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Examples: Communication sequence A−4 .

A.2.1 Example 1: Start CANopen network A−4 . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . .

A.2.2 Example 2: Set output A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.3 Example

A.2.4 Example 4: Load objects A−6 . . . . . . . . . . . . . . . . . . . . . .

3: Start Node guard" monitoring A−5 . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . .

A.2.5 Example 5: Write objects A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Example: Parameterization

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

with the program CANsetter" A−8 . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo P.BE−CPX−FB14−EN en 0810b

V

Contents and general instructions

VI

Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions

Intended use

The field bus node type CPX−FB14 described in this manual
has been designed exclusively for use as a slave on the
CANopen field bus.

The CPX terminal must only be used as follows:

as intended

in original condition

 without unauthorised modifications

In faultless technical condition.

 The limit values specified for pressures, temperatures,

Please comply with the regulations of the workers’
compensation insurance association, the German Technical
Control Board (TÜV) and the electrical requirements of the
VDE or the corresponding national and local safety
regulations.

electrical data, torques

etc. should be observed.

Target group

Service

Festo P.BE−CPX−FB14−EN en 0810b

This manual is intended exclusively for technicians trained in
control and automation technology who have experience in
installing, commissioning, programming and diagnosing
slaves on the CANopen field bus.

Please consult your local Festo repair service if you have any
technical problems.

VII

Contents and general instructions

Notes on this manual

This manual contains specific information on installing,
configuring, parameterizing, commissioning, programming
and diagnosing with the CPX field bus node for CANopen.

This manual refers to the following versions:

Versions

Rev 24 (19 Nov. 08)
Rev 20 (10 Oct. 07)

Rev 14 (12 Jul. 05)  CPX−FEC

EDS file from 1 Sep. 08

1)

1)

Software status (SW) or revision no. (R) see type plate

Support of

 Virtual modules via the Function

Assignment Object (see section 2.4.13)

 CPX−CP interface

Tab.0/1: Revisions of the CPX−FB14 until December 2008

An overview of the structure of the CPX terminal user
documentation is contained in the CPX system
description.

General basic information about the method of operation,
fitting,

installing and commissioning CPX terminals can be

found in the CPX system description.

Information about further CPX modules can be found in the
manual for the respective module.

VIII

Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions

Important user instructions

Danger categories

This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:

Warning

This means that failure to observe this instruction may
result in serious personal injury or damage to property.

Caution

This means that failure to observe this instruction may
result in personal injury or damage to property.

Festo P.BE−CPX−FB14−EN en 0810b

Note

This means that failure to observe this instruction may
result in damage to property.

The following pictogram marks passages in the text which
describe activities with electrostatically sensitive compo
nents.

Electrostatically sensitive components may be damaged if
they are not handled correctly.

IX

Contents and general instructions

Marking special information

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

Pictograms

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

Accessories:
Information on necessary or sensible accessories for the
Festo product.

Environment:
Information on environment−friendly use of Festo products.

Text markings

· The bullet indicates activities which may be carried out in

any order.

1. Figures denote activities which must be carried out in the
numerical order specified.

 Hyphens indicate general activities.

X

Festo P.BE−CPX−FB14−EN en 0810b

Contents and general instructions

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

Term / abbreviation

AO, AI Analogue output, analogue input

COB Communication object identifier

CPX terminal Complete system consisting of CPX modules with or without pneumatics

DIL switch Dual−in−line switches consist of several switch elements with which

F0

h

Field bus node Provides the connection to specific fieldbuses. They transmit control

Handheld Handheld programmer for commissioning and service purposes (CPX−MMI)

I/Os Digital inputs and outputs

I/O diagnostic interface The I/O diagnostic interface is a bus−independent diagnostic interface at

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

IW / OW Input Word / Output Word

O, I Digital output, digital input

OB Output byte

PLC/IPC Programmable logic controller/industrial PC

Meaning

settings can be made

Hexadecimal numbers are marked by a low−set h"

signals to the connected modules and monitor their functioning

I/O level, permitting access to internal data of the CPX terminal

outputs

Pneumatic interface The pneumatic interface is the interface between the modular electrical

SC/O
SCS, SCO, SCV

Status bits Internal inputs which supply coded common diagnostic messages.

periphery and the pneumatics

Short circuit/overload
Short circuit/overload sensor supply, outputs, valves

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

Festo P.BE−CPX−FB14−EN en 0810b

XI

Contents and general instructions

XII

Festo P.BE−CPX−FB14−EN en 0810b

Installation

Chapter 1

1−1Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Contents

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

1.1 General instructions on installation 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Settings of the DIL switches on the field bus node 1−7

1.2.1 Removing and fitting the cover over the DIL switches 1−7 . . . . . . . . . . .

1.2.2 Setting the DIL switches 1−8 . . . . . . .

1.3 Connecting the field bus 1−20 . . . . . . . . . . . . . . . . . . .

1.3.1 Field bus cable 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Field bus baud rate and field bus length 1−21 . . . . . . . . . . . . . . . . . . . . .

1.3.3 Information on connecting the field

1.3.4 Field bus interface 1−24 . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Connecting with the field bus plug from Festo 1−25 . . . . . . . . . . . . . . . .

1.3.6 Further connection possibilities for the field bus with adapters 1−27 . .

1.4 Bus terminal

1.4.1 Install a terminating resistor using the adapters 1−30 . . . . . . . . . . . .

1.5 Pin assignment of power supply 1−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

with terminating resistors 1−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . .

bus 1−22 . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . .

. . .

1−2

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.1 General instructions on installation

Warning

Before carrying out installation and maintenance work,
switch off the following:

 compressed air supply
 the operating voltage supply for the electronics/sensors
 the load voltage supply fo

In this way, you can avoid:

uncontrolled movements of loose tubing.

unexpected movements of the connected actuators

r the outputs/valves.

Festo P.BE−CPX−FB14−EN en 0810b

 non−defined switching states

of the electronic

components.

Caution

The CPX field bus node contains electrostatically sensitive
components.

· Therefore, do not touch any components.

· Observe the handling specifications for electrostatically

sensitive components.

They will help you avoid damage to the electronics.

Information about fitting the CPX terminal can be

found in the

CPX system manual (P.BE−CPX−SYS−...).

1−3

1. Installation

Electrical connection and display elements

The following connecting and display elements can be found
on the CPX field bus node for CANopen:

MS PS

PL

NS

SF

IO

4

M

3

1 Bus−status−specific and CPX−specific

LEDs

3 Transparent cover for the DIL switches

4 Service interface for handheld

2 Field bus connection

(9−pin Sub−D plug)

Fig.1/1:Connecting and display elements on the CPX field bus node

Note

Use protective caps or blanking plugs to seal unused
connections. You will then comply with protection class
IP65/IP67.

1

2

1−4

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Dismantling and fitting

The field bus node is fitted in an interlinking block of the CPX
terminal (see Fig.1/2).

Dismantling Dismantle the field bus node as follows:

1. Loosen the 4 screws in the field bus
screwdriver size T10.

2. Pull the field bus node carefully and without tilting away
from the contact rails of the manifold base.

1 Field bus node

CPX−FB14

4

2 Interlocking block

3 Contact rails

4 TORX T10 screws

3

Fig.1/2: Dismantling/fitting the field bus node

node with a TO RX

1

2

Festo P.BE−CPX−FB14−EN en 0810b

1−5

1. Installation

Note

Always use the correct screws for the interlocking block,
which depend on whether the block is made of metal or
plastic.

For plastic interlocking blocks: thread−cutting s
For metal interlocking blocks: screws with metric thread.

Both types of screws are enclosed respectively when ordering
the bus node as a single part.

Fitting Fit the field bus node as follows:

1. Check seal and seal surfaces

2. Place the field bus node in the interlocking block.

Make sure that the grooves with the power contact
terminals on the bottom o

f the field bus node lie above

the contact rails.

crews

1−6

3. Press the field bus node carefully and without tilting as
far as possible into the interlocking block.

4. Tighten the screws at first only b

y hand. Place the screws

so that the self−cutting threads can be used.

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

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.2 Settings of the DIL switches on the field bus node

In order to set the CPX field bus node, you must first remove
the cover over the DI L switches.

Caution

The CPX field bus node contains electrostatically sensitive
components.

· Do not therefore touch any contacts.

· Observe the handling specifications for electrostatically

sensitive components.

You will then prevent the electronics in the node from being

damaged.

1.2.1 Removing and fitting the cover over the DIL switches

In order to set the CPX field bus node, you must first remove
the cover over the DI L switches.

Removing 1. Switch off the power supply.

2. Unscrew the two fastening screws in

3. Remove the cover.

Fitting 1. Place the cover carefully on the node.

Note

· Make sure that the seal is seated correctly.

2. Tighten the two fastening screws at first by hand and then
with torque 0.4Nm.

Festo P.BE−CPX−FB14−EN en 0810b

the switch cover.

1−7

1. Installation

1.2.2 Setting the DIL switches

When the cover over the DIL switches is removed, you will see
5DIL switches in the field bus node (see Fig.1/3).

You can set the following parameters with the DIL swit

ches:

operating mode

 fault mode

 station number

baud rate

 CPX diagnostic mode.

Procedure:

1. Switch off the power supply.

2. Remove the cover over the DIL switches (section1.2.1).

the desired operating mode (DIL switch1, factory

3. Set
setting: remoteI/O).

4. Set the error mode (DI L switch2).

5. Assign an unused station number to the CPX terminal.

Set the desired station

number (8−position DIL switch3,

switch elements 1Ū7).

6. Set the baud rate (DIL switch4).

1−8

7. Operating mode RemoteI/O:

Set the CPX diagnostic mode (DIL switch5).

operating mode Remote Controller:

With
Set the required number of logical I/Os of the CPX−FB14

(DIL switch 5).

8. Fit the cover again (section1.2.1).

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1 DIL switch 1:

Operation mode

2 DIL switch 2:

1

2

Undervoltage
error message

3

mode

3 DIL switch 3:

Station number

4 DIL switch 4:

Baud rate

4

5

5 DIL switch 5:

CPX diagnosis
mode or number
of logical I/Os
with Remote
Controller"

Fig.1/3: DIL switch in the field bus node

(further information on

1Ū5 in the following)

Setting the operating mode with DIL switch

You can set the operating mode of the field bus node with
switch element 1 of DIL switch 1:

ON ON

12 12

ON

ON ON

12 12

8

12 34 56 7

1

Operating mode

Remote I/O operating mode

All functions of the CPX terminal are controlled directly by
the CANopen Master. An FEC built into the CPX terminal
functions like a passive function module without a controller.

Remote controller operating mode

An FEC integrated in the CPX terminal takes control of the
I/Os. This operating mode is only useful if an FEC is
integrated in the CPX terminal.

Tab.1/1: DIL switch 1 (operating mode)

Festo P.BE−CPX−FB14−EN en 0810b

Setting DIL switch 1

DIL 1.1: OFF
DIL 1.2: OFF
(factory setting)

DIL 1.1: ON
DIL 1.2: OFF

1−9

1. Installation

Setting the error mode with DIL switch2

You set the error mode with switch element 1 of the
2−element DIL switch 2:

Error mode

Registering undervoltage error 2.1: OFF

Filtering undervoltage error

Errors during monitoring of the
operating and load voltage
supplies are ignored

Reserved 2.2:Always OFF

Setting DIL switch 2

(factory setting)

2.1: ON

Tab.1/1: DIL switch 2 (Undervoltage" error message)

With the setting Filter undervoltage", voltage errors which
occur will not be reproted as errors. In this way, you can,

for

example, suppress unnecessary error messages during the

commissioning phase.

The setting of the DIL switch has precedence over the para
meterizing of defined settings. No emergency message is
transmitted with error filtering.

1−10

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1 Setting of station

numbers (switch
elements 1Ū7)

Setting the station number with DIL switch 3

You can set the station number of the CPX terminal binary
coded with the 8−element DIL switch 3.

1

Fig.1/4: DIL switch 3 (station number)

The following station numbers are permitted:

Protocol

CANopen Station number 1; ...; 127

Tab.1/2: Permissible station numbers

Recommendation:

Assign the station numbers in ascending order. Assign the
station numbers in accordance with the machine structure of
your system.

1234 5678

Address designation Permissible

station numbers

Festo P.BE−CPX−FB14−EN en 0810b

1−11

1. Installation

Example: Station number
set: 05

20 + 22 =

1234 5678

1 + 4 =
5

Example: Station number
set: 38

21 + 22 + 25 =
2 + 4 + 32 =

1234 5678

38

Tab.1/3: Examples of set station numbers

(binary coded)

On the following pages you will find an overview of the station
number settings.

1−12

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Station
no.

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

1 2 3 4 5 6 7 8

Not permitted

ON

OFF OFF OF F OFF OFF OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON ON

OFF OFF OF F OFF OFF

OFF OFF OF F OFF OFF

ON

OFF OFF OF F OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F OFF

OFF OFF OF F OFF

OFF OFF OF F OFF

ON

OFF OFF OF F

ON

OFF OFF OF F

ON

OFF

OFF

ON ON

ON ON

OFF OFF OF F

ON

OFF OFF OF F

OFF OFF OF F

OFF OFF OF F

OFF OFF OF F

OFF OFF OF F

Station
no.

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

1 2 3 4 5 6 7 8

OFF

OFF

OFF

OFF

ON ON

ON ON

ON ON

ON ON

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

ON

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OF F OFF OFF

ON

OFF OFF OF F

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON

OFF OF F OFF

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON ON ON

OFF OFF

OFF OFF

ON

ON

OFF

ON ON

OFF OFF

ON

OFF

OFF

ON ON ON

ON ON ON

OFF

ON ON ON ON

Tab.1/4: Setting of station numbers 1 Ū 31: Position of the DIL switch elements

Festo P.BE−CPX−FB14−EN en 0810b

1−13

1. Installation

Station
no.

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

1 2 3 4 5 6 7 8

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

OFF OFF OF F OFF OFF

ON

OFF OFF OF F OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON ON

OFF OFF OF F

OFF OFF OF F

ON

ON

OFF

ON ON

OFF OFF

ON

OFF

OFF

ON ON

ON ON

OFF

ON ON ON

OFF OFF

OFF OFF

OFF OFF

OFF OFF

ON

ON

ON

ON

Station
no.

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

1 2 3 4 5 6 7 8

OFF OF F OFF OFF

ON

OFF OFF OF F

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON

OFF OF F OFF

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON ON ON ON

OFF OFF

OFF OFF

ON

ON

OFF

ON ON

OFF OFF

ON

OFF

OFF

ON ON ON ON

ON ON ON ON

OFF

ON ON ON ON ON

ON ON

ON ON

ON ON

ON ON

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON ON

ON ON ON

ON ON ON

ON ON ON

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

Tab.1/5: Setting of station numbers 32 Ū 63: Position of the DIL switch elements

1−14

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Station
no.

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

1 2 3 4 5 6 7 8

OFF OFF OF F OFF OFF OFF

ON

OFF OFF OF F OFF OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON ON

OFF OFF OF F OFF

OFF OFF OF F OFF

ON

OFF OFF OF F

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F

OFF OFF OF F

OFF OFF OF F

ON

ON

ON

OFF

ON

OFF

ON ON

ON ON

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

OFF OFF

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

Station
no.

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

1 2 3 4 5 6 7 8

OFF OF F OFF OFF

ON

OFF OFF OF F

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON

OFF OF F OFF

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON ON ON

OFF OFF

OFF OFF

ON

OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON ON

OFF

OFF

OFF

ON ON

ON ON

ON ON

OFF

ON ON

OFF

ON ON ON

ON ON ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Tab.1/6: Setting of station numbers 64 Ū 95: Position of the DIL switch elements

Festo P.BE−CPX−FB14−EN en 0810b

1−15

1. Installation

Station
no.

96

97

98

99

100

101

102

103

104

105

106

107

108

109

110

111

1 2 3 4 5 6 7 8

OFF OFF OF F OFF OFF

ON

OFF OFF OF F OFF

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON

OFF OFF OF F

ON

OFF

ON ON

OFF OFF

ON

OFF

ON ON ON ON

OFF OFF OF F

OFF OFF OF F

ON

ON

OFF

ON ON

OFF OFF

ON

OFF

OFF

ON ON

ON ON

OFF

ON ON ON

OFF OFF

OFF OFF

OFF OFF

OFF OFF

ON

ON

ON

ON

ON ON

ON ON

ON ON

ON ON

ON ON

ON ON

ON ON

ON ON

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

Station
no.

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

1 2 3 4 5 6 7 8

OFF

OFF OFF OF F

ON

OFF OFF OF F

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON

OFF OF F OFF

ON

OFF

ON ON

OFF OF F

ON

OFF

ON ON ON ON ON ON ON

OFF OFF

OFF OFF

ON

ON

OFF

ON ON

OFF OFF

ON

OFF

OFF

ON ON ON ON ON

ON ON ON ON ON

OFF

ON ON ON ON ON ON

ON ON ON

ON ON ON

ON ON ON

ON ON ON

ON ON ON

OFF

ON ON ON

OFF

ON ON ON

OFF

ON ON ON

OFF

ON ON ON ON

ON ON ON ON

ON ON ON ON

ON ON ON ON

Tab.1/7: Setting of station numbers 96 Ū 127: Position of the DIL switch elements

1−16

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Setting the baud rate with DIL switch 4

You can set the baud rate with 2−element DIL switch 4:

Baud rate

125 kBaud 4.1: OFF

250 kBaud 4.1: ON

500 kBaud 4.1: OFF

1000 kBaud 4.1: ON

Setting DIL switch 4

4.2: OFF
(factory setting)

4.2: OFF

4.2: ON

4.2: ON

Tab.1/8: DIL switch 4 (baud rate)

The following table shows the settings of the DIL switch.

Festo P.BE−CPX−FB14−EN en 0810b

1−17

1. Installation

Setting the diagnostic mode or number of logical I/Os with
DIL switch

5

The function of DIL switch 5 depends on the set operating
mode of the CPX terminal (see Tab.1/1):

Operating mode Remote I/O:

Setting the CPX diagnostic mode
The status

bits occupy 8 bits and the I/O diagnostic inter

face 16 bits in PDO 4 (bit 0 Ū 7 or 0 Ū 15, see Fig.2/1).

Remote controller operating mode:

64 I/Os are provided for

communication of the field bus

node with the FEC in PDO 1 (see Fig.2/2).

Remote I/O operating mode

Diagnostic mode Number of I/O bytes

The I/O diagnostic interface and
the status bits are switched off

(+ 0 I/O bits)

The status bits are switched on

(+ 8 (16) I bits)

The I/O diagnostic interface is
switched on

(+ 16 I/O bits)

Reserved for future extensions 8 bytes I/8 bytes O

1)

The diagnosis mode (status bits or I/O diagnosis interface) occupies 2 bytes or 4 bytes of address
space (16 I bits or 16 I/O bits; 8I bits remain unused in the status bits mode)

1)

Remote controller
operating mode

Setting not permitted 3.1: OFF

1)

for communication between
the field bus node and the
CPX−FEC

Setting
DIL switch 5

3.2: OFF
(factory setting)

3.1: OFF

3.2: ON

3.1: ON

3.2: OFF

3.1: ON

3.2: ON

Tab.1/9: DIL switch 5 (diagnosis mode or number of I/O bytes with remote controller)

1−18

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Note

(1) An activated diagnosis mode reduces the available
address space in the PDO 4.

Use of the diagnostic mode (status bits or I/O diagnostic
interface) occupies 16 I or 16 I/O

bits in the PDO 4. In
combination with technology modules, the number of I/O
bits available for module communication is thus reduced.
In this way, the number of addressable modules is

reduced

in favour of additional status or diagnostic information.
Take account of this fact for the planning of your

CPXterminal.
(2) Later activation of the diagnosis mod

e requires

reconfiguration.

During later activation of the diagnosis module (status bits
or I/O diagnosis interface), the CPX−internal I/O image can
be displaced. Restart the CPX terminal with Power

OFF/ON.

Festo P.BE−CPX−FB14−EN en 0810b

1−19

1. Installation

1.3 Connecting the field bus

1.3.1 Field bus cable

Note

Faulty installations or high transmission rates may cause
data transmission errors as a result of signal reflections
and attenuations.
Transmission errors can be caused by:

missing or
 incorrect screened connection.
branches
 transmission over long distances
unsuitable cables.
Observe the cable specifications. Refer to the manual

your control system for information on the type of cable to
be used.

incorrect terminating resistor.

for

1−20

Use a twisted, screened 4−wire cable as field bus line. The
CANopen bus interface
power via the field bus cable.

If the Festo field bus plug is used, a cable diameter of 5Ū8
or 7Ū10 mm is

Note

If the CPX terminal is fitted onto the moving part of a
machine, the field bus cable on the moving part must be
provided with strain relief. Please also observe the relevant

regulatio

ns in EN60204 part 1.

of the CPX terminal is supplied with

permitted.

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.3.2 Field bus baud rate and field bus length

The maximum permissible field bus length and length of the
branch lines depends on the baud rate used. Detailed specifi
cations can be found in the manuals for the
system or bus interface.

Note

· Refer to the manuals for your control system or bus

interface in order to ascertain which T−adapter and

maximum branch line length are permitted for your
controller.

· Also take into account the sum of the branch line lengths

when calculating the maximum permitted length of the

field bus cable.

your control

Festo P.BE−CPX−FB14−EN en 0810b

1−21

1. Installation

1.3.3 Information on connecting the field bus

Bus power supply Avoid long distances between the bus interface supply and

the CPX terminal.

Caution

· Make sure the polarity is correct when you connect the

field bus interface and the power supply for the bus
interface/internal logics.

· Protect the power supply for the bus interface with an

external fuse, in accordance with the number of bus
slaves.

· Connect the screen.

Note

Power supply is needed over the field bus cable (pin3and
pin 9 on the Sub−D plug).
Bus slaves have different tolerances in respect of the
interface power supply, depend
Observe this when planning the bus length and placing the
power supply unit.

ing on the manufacturer.

1−22

The following tolerance in the bus interface power supply
(pin3/pin 9 on the sub−D
V

= 30.0 V

max

V

= 11.0 V

min

plug) applies to the CPX terminal:

Recommendation:
Place the power supply unit approximately at the centre of
the bus.

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

6

You can implement a T−adapter with the Festo field bus plug
(see fig.).

231

5

1 Field bus

2 Power supply

3 Screening

Fig.1/5: Layout of the bus interface and example of connection

Festo P.BE−CPX−FB14−EN en 0810b

4 Branch line

5 T−adapter (T−Tap)

6 Field bus plug with T−adapter function

4

1−23

1. Installation

1.3.4 Field bus interface

There is 9−pin sub−D plug on the field bus node for connecting

the CPX terminal to the field bus. This connection is used for
the incoming and continuing field
connect the CPX terminal with the field bus plug from Festo
type FBS−SUB−9−BU−2x5POL−B.

bus cables. You can

Note

Note that only the Festo field bus plug guarantees
compliance with protection class IP65.

Before using field bus plugs from other manufacturers:

· Replace the two flat screws with bolts

(typeUNC4−40/M3x6).

Plug on
the CPX

Pin Internal

contacts

CANopen Designation

terminal

1
2
3
4

96

5

51

6
7
8
9
Housing
(plug)

FE

n.c.

CAN_L
CAN_GND

n.c.
CAN_SHLD

GND

CAN_H

n.c.

CAN_V+

Not connected
CAN Bus Low

Power supply to bus (0 V)
Not connected
Connection to functional earth
(screening/shield)
Optional GND
CAN Bus High
Not connected
Power supply to bus (24 V)

Tab.1/10: Pin assignment of the field bus interfaceof the CPX field bus node

1−24

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.3.5 Connecting with the field bus plug from Festo

Note

Use protective caps or blanking plugs to seal unused
connections. You will then comply with protection class
IP65.

· Observe the fitting instructions for the field bus plug.

Tighten the two fastening screws at first by hand and then
with max. 0.4 Nm.

You can connect the CPX valve terminal easily to the fiel

d bus

with the field bus plug from Festo (FBS−SUB−9−BU−2x5POL−B).

You can disconnect the plug from the node without inter
rupting the bus cable (T−Tap functio

n).

Note

The clamp strap in the Festo field bus plug is connected
only capacitively internally with the metal housing of the

sub−D plug. This prevents equalizing currents from flowing
via the

screening of the field bus cable (Fig.1/6).

· Clamp the screen of the field bus cable under the clamp

strap in the field bus plug.

Festo P.BE−CPX−FB14−EN en 0810b

1−25

1. Installation

1 Folding cover

with inspection
window

2 Clamp strap for

screen
connection

3 Protective cap if

connection is not
used

4 Field bus

continuing (OUT)

5 Field bus

incoming (IN)

6 Only capacitively

connected

Fig.1/6: Festo field bus plug type FBS−SUB−9−BU−2x5−POL−B

21

Bus IN

GND

V+

H

L

56

SLD

Bus OUT

GND

SLD

V+

H

L

3

4

1−26

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.3.6 Further connection possibilities for the field bus with adapters

Caution

· When connecting the field bus interface and the power

supply for the bus interface pay attention to the polarity.

· Connect the screen.

There are further possibilities of connecting the CPX terminal
with adapters which can be ordered separately from Festo.

 M12 adapter 5−pin

(protectio
Type FBA−2−M12−5POL

 Screw terminal adapter 5−pin

(protection class IP20)
Type FBA−1−SL−5POL

n class IP65)

Festo P.BE−CPX−FB14−EN en 0810b

1−27

1. Installation

M12 adapter (IP65)

With this adapter the bus is connected via a 5−pin M12 socket
with PG9 screw connector. Use the second connection socket
for the continuation of the field bus.

Note

· Use protective caps or blanking plugs to seal unused

connections.

You will then comply with protection class IP65.

Order this connection at Festo (FBA−2−M12−5POL).

M12

adapter Pin no.

2

3

Bus IN

151

5

4

2

4

Bus OUT

1. Screening

2. 24 V DC bus (max. 4A)

3

Protective cap or plug with bus termination
resistor if connection is not used.

3. 0 V bus

4. CAN_H

5. CAN_L

Fig.1/7: Pin assignment of field bus interface (adapter for 5−pin M12 connection)

With the two M12 connections you can implement a T−adapter
(see Fig.1/5).

1−28

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

Screw terminal adapter (IP20)

With this adapter the bus is connected to a 2x5−pin terminal

strip. Use the second row of connections for the continuing
field bus.

The maximum permitted current at the
Use cables with a cross sectional area of min. 0.34mm

Order this connection from Festo (FBA−1−SL−5POL) together
with the terminal strip type FBSD−KL−2x5POL.

terminals is 4A.

2

.

Screw terminal

Pin no.

adapter

1. 0 V bus

2. CAN_L

12 345

3. Screening

4. CAN_H

5. 24 V DC bus (max. 4 A)

2x5−pin terminal strip

Fig.1/8: Pin allocation for field bus interface

(5−pin screw terminal adapter)

If you connect the field bus via the terminal strip
FBSD−KL−2x5POL from Festo, you can imp

lement a T−adapter

function.

Festo P.BE−CPX−FB14−EN en 0810b

1−29

1. Installation

1.4 Bus terminal with terminating resistors

Note
Always use a bus termination at both ends of the field bus.

This also applies if the CPX terminal is at the end of the
field bus.

If you are using T−adapters, install

the terminating resistor at

the unused output of the T−adapter.

Recommendation:
For bus termination, fit a resistor (120 , 0.25 W,
see following diagram) in the Festo field bus

1 Protective cover

12

2 Resistor for bus

termination
(120 , 0.25 W)

GND

GND

SLD

SLD

V+

V+

H

L

H

L

Fig.1/9: Bus termination with resistor in Festo field bus plug

1.4.1 Install a terminating resistor using the adapters

If the CPX terminal to be connected is at the end of the field
bus, a terminating resistor (120 , 0.25 W) must be fitted in
the field bus socket.

plug.

V+

GND

SLD

H

L

1−30

· Connect the terminating resistor between the cores for

CAN_H and CAN_L.

Festo P.BE−CPX−FB14−EN en 0810b

1. Installation

1.5 Pin assignment of power supply

Warning

· For the power supply, use only PELV circuits as per

IEC/DIN EN60204−1 (Protective Extra−Low Voltage,
PELV).
Take into account also the general requirements for
PELV circuits as per IEC/DINEN60204−1.

· Use only power sources that guarantee reliable

electrical isolation of the operating voltage as per
IEC/DINEN60204−1.

Through the use of PELV circuits, protection against electric
shock (protection against direct and indirect contact) is
ensured in accordance with IEC/DINEN60204−1 (electrical
equipment of machines, general requirements).

Festo P.BE−CPX−FB14−EN en 0810b

The current consumption of a CPX

terminal depends on the

number and type of integrated modules and components.

Read the information on power supply as well as on the
earthing measures to be carried out in the CPX system
manual.

1−31

1. Installation

1)

)

System power supply,
additional power supply
and valve power supply

Plugs
(top view
of device)

7/8"−4POL

C

B

7/8"−5POL

2

3

4

M18

1
4

Push−pull

1

5

2

Interlinking block with

System supply
Type CPX−(M−)GE−EV−S...

A: 24V
B: 24V

D

C: FE
D:0V

A

1: 0V
2: 0V
3: FE
4: 24V
5: 24V

1: 24V
2: 24V
3: 0V

2
3

4: FE

1: 24V
2: 0V
3: 24V
4: 0V
5: FE

The CPX terminal is supplied with operating and load power
via the interlinking block with system, additional and valve
power supply. Further interlinking blocks are in preparation.

0V

0V

el/sen
val

el/sen

/ 0V

val

/ 0V

val
el/sen

el/sen
val

el/sen
val

el/sen

/ 0V

val

el/sen

el/sen

val

/ 0V

val

/ 24V

/

out

out

/ 24V

/ 24V

/

out

/ 24V

out

out

out

out

out

Additional power supply
Type CPX−(M−)GE−EV−Z...

A: not connected
B: 24V

out

C: FE
D:0V

out

1: 0V

out

2: not connected
3: FE
4: not connected
5: 24V

out

1: not connected
2: 24V

out

3: 0V

out

4: FE

1: not connected
2: not connected
3: 24V

out

4: 0V

out

5: FE

Valve supply
Type CPX−GE−EV−V...

A: not connected
B: 24V

val

C: FE
D:0V

val



1: not connected
2: 24V

val

3: 0V

val

4: FE



V

: Operating voltage for electronics/sensors

el/sen

V

: Load voltage for outputs

out

V

: Load voltage for valves

val

FE: Functional earth

1)

Note the specifications on the plug.

2) Interlinking blocks with forwarding function and interlinking blocks with system supply are
identically constructed.

Tab.1/11: Pin assignment for system supply, additional supply and valve supply

1−32

Festo P.BE−CPX−FB14−EN en 0810b

Commissioning

Chapter 2

2−1Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Contents

2. Commissioning 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Commissioning on a CANopen master 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 General information on CANopen 2−4 . . . . . . . . .

2.2 Configuration 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Addressing the CPX terminal 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Configuration examples 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Overview 2−14 . . . . . . . . . . .

2.3.1 Brief overview of the scope of functions 2−14 .

2.3.2 Overview Object directory 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Reaction of the CPX terminal when it is switched on 2−16 . . . . . . . . . . . .

2.3.4 Default identifier distribution 2−18 . . . . . . . . . . . . . . . . . . . . .

2.4 Object directories 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Communication profile 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Overview of the PDO structure 2−25 .

2.4.3 Digital inputs (transmit PDO 1) 2−26 . . . . . . . . . . . . . . . . .

2.4.4 Digital outputs (receive PDO 1) 2−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.5 Analogue inputs channel 0 Ū 3

2.4.6 Analogue outputs channel 0 Ū 3 (Receive PDO 2) 2−38 . . . . . . . . . . . . .

2.4.7 Analogue inputs channel 4 Ū 15 (Transmit PDO 3) 2−40 . .

2.4.8 Analogue outputs channel 4 Ū 15 (Receive PDO 3) 2−43 . . . . . . . . . . . .

2.4.9 Technology modules, status bits, I/O diagnostic interface

(PDO 4) 2−45 . . . . . . . . . .

2.4.10 Manufacturer specific profile 2−49 . . . . . . . . .

2.4.11 Overview of mappingobjects 2−56 . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.12 Force 2−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.13 Function assignment and virtual modules 2−62 . . . . . . . . . . . . . . . . . . . .

2.5 Parameterizing 2−68 . . . . . . . . . . . . . . . . . . . . .

2.5.1 Parameterizing when switching on 2−68 . . . . . . . . . . . . . . . . . .

2.5.2 Parameterization with the handheld 2−69 . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Application example for parameterization 2−69 . . . . . . . . . . .

2.6 Commissioning the CPX terminal in the system 2−70 . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Error−free commissioning, normal operating status 2−70 . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

(transmit PDO 2) 2−33 . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

. .

. . . . . . . . . . . . . . . . . . . .

. . . . .

. . . . . . . . .

. . . . . . . .

. . . . . . . . . . . .

. . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . .

. . .

. . . .

. . . . . . . .

. . . . . . . . .

. . . . . .

2−2

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.1 Commissioning on a CANopen master

This section describes the configuration and addressing of a
CPX valve terminal on a CANopen interface or CANopen
master.

The following specifications have been taken into account:

CANopen specifications

DS201
DS207

DS301, V4.01 The Draft Standard 301 is based on the CAL

DS401, V2.0 The Draft Standard 401 defines the device

CAN Application Layer CAL

communication profile

profiles for input and output modules within
CANopen

Tab.2/1: CANopen specifications taken into account with

the CPX terminal

In order to understand this chapter, you should be familiar
with C ANopen and the specifications DS301 and DS401.

Festo P.BE−CPX−FB14−EN en 0810b

2−3

2. Commissioning

2.1.1 General information on CANopen

CANopen devices have an object directory which makes all
important slave parameters accessible in a standardized
manner. A CANopen system is configured mainly by access to
the object directory of the individual slaves. The access
mechanism is provided by Service Data Objects (SDOs).

There are two different communication mechanisms in a
CANopen system.

Process Data Objects (PDOs) provide fast transfer of

The
processing data and are transmitted by simple CAN
messages without protocol overhead. Process Data Objects
can be transmitted event−controlled, synchronous to a system
pulse sequence or on demand.

ervice Data Objects (SDO) form a point−to−point

The S
connection and permit access to every entry in the object
directory of a node.

2−4

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.2 Configuration

2.2.1 Addressing the CPX terminal

Before configuring, ascertain the exact number of available
inputs/outputs. Depending on what you have ordered, a CPX
terminal comprises a different number of I/Os.

The I/Os will be assigned automatically within the CPX
terminal (standard setting). The following applies to inputs
and outputs:

 The address assignment of the inputs does not depend on

outputs.

the

 The counting method does not depend on the position of

the field bus node. The field bus node counts as a module
with 0 or 8 inputs or 16 inputs and outputs, depending on
the setting of DIL switch 5 (see section 1.2.2).

Festo P.BE−CPX−FB14−EN en 0810b

 Counting is from left to right, in ascending order

gaps.

Note

 Note that a CPX terminal provides status bits or an

I/Odiagnostic interface, depending on the setting.

 The status bits must be treated like inputs and occupy

8bits in the Transmit PDO 4 (standard setting).

 The 16 bits of the I/O diagnostic interface must be

treated like inputs and outputs. They each occupy
16bits

in the Transmit and Receive PDO 4 (standard

setting).

without

2−5

2. Commissioning

The following diagram shows the standard distribution of
I/Os in the operating mode Remote I/O. If you use more than
8 I/O bytes, you must map these into the PDOs by mapping".
In this case, the use of analogue channels will be limited.
The same applies in the reverse case if more

than 8analogue

channels are mapped into the PDOs by mapping.

Transmit PDO 1

Receive PDO 1

Transmit PDO 2

Receive PDO 2

Transmit PDO 3

Receive PDO 3

Transmit PDO 4

Receive PDO 4

I0ŪI7

O0ŪO7

O8ŪO15 O16ŪO23 O24ŪO31 O32ŪO39 O40ŪO47 O48ŪO55 O56ŪO63

OI0

IW0 / diagnosis

IW0 / IO diag.

1)

Depending on configuration:
with status bits: I0 Ū I7, with I/O diagnostic interface: I0 Ū I15
The input words of the technology modules shift correspondingly.

2)

Depending on configuration:
With activated I/O diagnosin interface O0 Ū O15 (see section 1.2.2)
The output words of the technology modules shift correspondingly.

OI1 OI2 OI3

1)

IW1

2)

I56ŪI63I8ŪI15 I16ŪI23 I24ŪI31 I32ŪI39 I40ŪI47 I48ŪI55

AO3AO2AO1AO0

AI7AI6AI5AI4

AO7AO6AO5AO4

IW3IW2

OW3OW2OW1

Fig.2/1: Overview of PDO 1 Ū 4 and position of the status bits and I/O diagnostic

interface

Note

For the Receive PDO 1 Ū 4:
 The necessary telegram length depends on the

equipment fitted on the CPX and is 1 Ū 8 byte.

If the telegram received is shorter than the necessary

telegram length, a fault message will be output.

If the telegram received is longer, the part

corresponding to the

necessary length will be

processed.

2−6

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Remote controller operating mode

In the Remote Controller operating mode (DIL switch1)
onlythe PDOs 1 are assigned. They contain 64 logical I/Os
for data exchange with the Remote Controller.

Transmit PDO 1

Receive PDO 1

Transmit PDO 2 Ū 4
Receive PDO 2 Ū 4

I0ŪI7 I56ŪI63I8ŪI15 I16ŪI23 I24ŪI31 I32ŪI39 I40ŪI47 I48ŪI55

O0ŪO7

O8ŪO15

O16ŪO23

O24ŪO31

Unused

Unused

O32ŪO39

O40ŪO47 O48ŪO55 O56ŪO63

Fig.2/2: 64 logical I/Os in the PDO 1 in the Remote Controller operating mode

Festo P.BE−CPX−FB14−EN en 0810b

2−7

2. Commissioning

2.2.2 Configuration examples

Configuration and addressing example 1

T−PDO4

T−PDO1

Mod. no.:

R−PDO1

R−PDO4

IW0

I0ŪI7 I8ŪI15 I16ŪI23

(I/O diagnostic interface)

012 34

8DI 8DI 8DO8DI 8DO 4DO

O32ŪO39

O0ŪO7 O8ŪO15 O16ŪO23

OW0 (I/O diagnostic interface)

O24ŪO31

5

8O 8O

6

Fig.2/3: Assignment of the PDOs on a CPX terminal with digital I/O modules and

MPApneumatics and activated I/O diagnosis interface
(standard assignment without mapping, configuration see Tab.2/2)

2−8

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Module

Module Input address Output address

no.

0 CANopen field bus node

1 Digital 8−input module

2 Digital multi I/O module

3 Digital 4−output module

4 Digital multi I/O module

 MPA pneumatic interface

5 MPA pneumatic module (8DO)

6 MPA pneumatic module (8DO)

CPX−FB14
With activated I/O diagnostic interface

CPX−8DE

CPX−8DE−8DA

CPX−4DA

CPX−8DE−8DA

Passive module

MPA1S: VMPA1−FB−EMS−8
MPA pneumatic modules without
separate power supply circuits

MPA1S: VMPA1−FB−EMS−8
MPA pneumatic modules without
separate power supply circuits

T−PDO 4: IW0
Obj. 6100,1

T−PDO 1: I0 Ū I7
Obj. 6000,1

T−PDO 1: I8 Ū I15
Obj. 6000,2

 R−PDO 1: O8 Ū O11

T−PDO 1: I16 Ū I23
Obj. 6000,3

 

 R−PDO 1: O20 Ū O27

 R−PDO 1: O28 Ū O35

R−PDO 4: OW0
Obj. 6300,1



R−PDO 1: O0 Ū O7
Obj. 6200,1

Obj. 6200,2

R−PDO 1: O12 Ū O19
Obj. 6200,2
Obj. 6200,3

Obj. 6200,3
Obj. 6200,4

Obj. 6200,4
Obj. 6200,5

Tab.2/2: Configuration for example terminal 1 in Fig.2/3

How to prepare a changed configuration of this example with
assignment function and virtual modules can be found in
section 2.4.13.

Festo P.BE−CPX−FB14−EN en 0810b

2−9

2. Commissioning

Configuration and addressing example 2

T−PDO2

T−PDO1

Module no.:

R−PDO1

R−PDO2

OI0 OI1

I0ŪI7 I8ŪI15 I16ŪI23

12345

8DI 8DI 4DO 8DI 2AI8DO

O8ŪO15 O16ŪO23

O0ŪO7

AO1AO0

2AO

76

8O

Fig.2/4: Assignment of the PDOs on a CPX terminal with digital and analogue

I/Omodules, VTSA pneumatics (DIL switch setting 8O) and not−activated
diagnostic functions (standard assignment without mapping, configuration
seeTab.2/3)

2−10

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Module

Module Input address Output address

no.

0 Field bus node

1 Digital 8−input module

2 Digital 8−input module

3 Digital 4−output module

4 Digital multi I/O module

5 Analogue 2−input module

6 Analogue 2−output module

7 VTSA pneumatic interface

CPX−FB14
Without activation of diagnostic functions

CPX−8DE

CPX−8DE

CPX−4DA

CPX−8DE−8DA

CPX−2AE−U−I

CPX−2AA

ISO Plug−In (type 44)
DIL switch in the interface set to 1Ū8
solenoid coils (8DO)

 

T−PDO 1: I0 Ū I7
Obj. 6000,1

T−PDO 1: I8 Ū I15
Obj. 6000,2

 R−PDO 1: O0 Ū O3

T−PDO 1: I16 Ū I23
Obj. 6000,3

T−PDO 2: AI0 Ū AI1
Obj. 6401,1
Obj. 6401,2

 R−PDO 2: AI0 Ū AI1







Obj. 6200,1

R−PDO 1: O4 Ū O11
Obj. 6200,1
Obj. 6200,2



Obj. 6411,1
Obj. 6411,2

R−PDO 1: O12 Ū O19
Obj. 6200,2
Obj. 6200,3

Tab.2/3: Configuration for example terminal 1 in Fig.2/4

Festo P.BE−CPX−FB14−EN en 0810b

2−11

2. Commissioning

Configuration and addressing example 3

T−PDO4 IW1

T−PDO1

Module no.: 6

R−PDO1

R−PDO4

String 4, outputs

IW0

I8ŪI15

I0ŪI7

0

123 4 5

8DI 4DO 8DI 8DO

O0ŪO7 O8ŪO15

OW0

O16ŪO23

OW1 OW2 OW3

8 O

O24ŪO31

String 1

8 O

String 1

Fig.2/5: Assignment of the PDOs on a CPX terminal with digital I/O modules, CPX−CP

interface, MPA pneumatics and not−activated diagnostic functions (standard
assignment without mapping, configuration see Tab.2/4)

2−12

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Module

Module Input address Output address

no.

0 Field bus node

1 Digital 8−input module

2 Digital 4−output module

3 CPX−CP interface

4 Digital multi I/O module

 MPA pneumatic interface

5 MPA pneumatic module (8DO)

CPX−FB14
Without activation of diagnostic functions

CPX−8DE

CPX−4DA

CPX−CP
On string 1, 4 I bytes are assigned (32I)
On string 1Ū4, 16 O bytes are assigned
(128O)

CPX−8DE−8DA

Passive module

MPA1S: VMPA1−FB−EMS−8
MPA pneumatic module

 

T−PDO 1: I0 Ū I7
Obj. 6000,1

 R−PDO 1: O0 Ū O3

T−PDO 4: IW0 Ū IW1
Obj. 6100,1
Obj. 6100,2

T−PDO 1: I8 Ū I15
Obj. 6000,2

 

 R−PDO 1: O12 Ū O19



Obj. 6200,1

R−PDO 4: OW0 Ū OW3
Obj. 6300,1
Obj. 6300,2
Obj. 6300,3
Obj. 6300,4
Manual mapping for
OW4 Ū OW7

R−PDO 1: O4 Ū O11
Obj. 6200,1
Obj. 6200,2

Obj. 6200,2
Obj. 6200,3

1)

6 MPA pneumatic module (8DO)

1)

Manual mapping:
The CPX−CP interface occupies in the configuration 16 byte outputs (128O). Since the PDO 4 can
only address the first 8 bytes (64O), manual mapping is required for configuration of this CPX
terminal. As a result, the remaining output bytes can be made available over other PDOs.
(OW4ŪOW7 are not depicted in Fig.2/5).

MPA1S: VMPA1−FB−EMS−8
MPA pneumatic module

 R−PDO 1: O20 Ū O27

Obj. 6200,3
Obj. 6200,4

Tab.2/4: Configuration for example terminal 3 in Fig.2/5

Festo P.BE−CPX−FB14−EN en 0810b

2−13

2. Commissioning

2.3 Overview

2.3.1 Brief overview of the scope of functions

 Module states and boot−up as per Communication Profile

DS301

1 service data object for read and write access to the

object directory Send and receive SDO

4 process data objects for access to digital and analogue

inputs: Transmit PDO 1 Ū 4

4 process data objects for access to digital and analogue

outputs:

 Emergency telegram for fault message to the master

 Node guarding and heart beat

Receive PDO 1 Ū 4

2−14

 Default setting of all identifiers as per DS301 and the

station number (predefined connection set)

 Variable mapping

 Function assignment and virtual modules

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.3.2 Overview Object directory

Index (hex) Objects See section

1000Ū1200 Communication part of the object directories 2.4.1

1400Ū1403 Communication parameters for receive PDO 1Ū4 2.4.4

1800Ū1803 Communication parameters for Transmit PDO 1Ū4 2.4.3

1600Ū1603 Mapping parameters for Receive PDO 1Ū4 2.4.4

1A00Ū1A03 Mapping parameters for Transmit PDO 1Ū4 2.4.3

Manufacturer specific (2000Ū5FFF):

2000Ū2110 System and module data 2.4.10

2200Ū2210 System and module diagnostic data

2300Ū2310 Diagnostic memory data

2400Ū2421 System and module parameters

4000Ū4801 Function assignment module (virtual modules) 2.4.13

5000Ū5FFF Force tables 2.4.12

6000, 6100 Input array 2.4.3

6200, 6300 Output array 2.4.4

6206/6306 Fault mode array for the outputs

6207/6307 Fault state array for the outputs

64xx Analogue inputs and outputs 2.4.5

Tab.2/5: Implemented objects of the CPX terminal

Festo P.BE−CPX−FB14−EN en 0810b

2−15

2. Commissioning

2.3.3 Reaction of the CPX terminal when it is switched on

Power on

Application initialization

00

4

Communication initialization

0

0

Pre−operational

2

1

3

3

Operational

Fig.2/6: Status transitions of the CPX terminal

(see illustration Tab.2/6 on the next page)

5

2

Stopped

1

2−16

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

0

Description of the status transitions

Status

Designation Command

transition

0

1 Start_Remote_

2 Enter_Pre_

3 Stop_Node_

4 Reset_

  Automatic boot−up after power on

Node_Indication

Operation_State_
Indication

Indication

Communication_
Indication

specifier (cs)

01

h

80

h

02

h

82

h

Function

The saved parameters 2000Ū5FFF are loaded
only after power on

Starts the CPX terminal in operational mode:
 SDO transmission valid
 PDO transmission (outputs active)
 Node guarding / Heart beat valid

(Node guard response: Toggle + 05h)

CPX terminal in pre−operational mode:
 SDO transmission valid
 PDO transmission invalid

Outputs assume error status 2))

 Node guarding / Heart beat valid

(Node guard response: Toggle + 7Fh)

CPX terminal in Stopped mode:
 SDO transmission invalid
 PDO transmission invalid

(Outputs assume error status 2))

 Node guarding / Heart beat valid

(Node guard response:Toggle + 04h)

Resetting the communication functions:
 Outputs are reset
 Communication parameters are reset

(objects 1000Ū1FFF)

1)

5 Reset_Node_

Indication

81

h

Module reset including application:
 Outputs are reset
 Maskings of the outputs are reset to default
 Communication parameters are reset

(objects 1000Ū1FFF)

 Stored parameters (2000Ū5FFF) are not

reloaded.

1)

The objects 6000Ū are always loaded with the default settings after power−on

2)

Only after the transition from operational mode to stopped or pre−operational mode

Tab.2/6: Status transitions

Festo P.BE−CPX−FB14−EN en 0810b

2−17

2. Commissioning

2.3.4 Default identifier distribution

The following table shows the identifier distribution:

Broadcast objects

Object name

SYNC  080

Object designation Value range of the COB identifier on the CPX

Tab.2/7: Broadcast objects

terminal

h

128

d

2−18

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Peer−to−peer objects

Object

EMERGENCY For procedures with high

Object designation Value range of the COB identifier

priority, e.g. undervoltage

081
129dŪ 255

Transmit PDO 1 PDO 1 (tx) 181

385dŪ 511

Receive PDO 1 PDO 1 (rx) 201

513dŪ 639

Transmit PDO 2 PDO 2 (tx) 281

641dŪ 767

Receive PDO 2 PDO 2 (rx) 301

769dŪ 895

Transmit PDO 3 PDO 3 (tx) 381

897dŪ 1023

Receive PDO 3 PDO 3 (rx) 401

1025dŪ 1151

Transmit PDO 4 PDO 4 (tx) 481

1153dŪ 1279

Receive PDO 4 PDO 4 (rx) 501

1281dŪ 1407

Transmit SDO SDO 1 (tx) 581

1409dŪ 1535

Receive SDO SDO 1 (rx) 601

1537dŪ 1663

Node guarding /
Heart beat

Guarding 701h 77F

1793dŪ 1919

0FF

h

h

h

h

h

h

h

h

h

h

h

h

d

1FF

h

d

27F

h

d

2FF

h

d

37F

h

d

3FF

h

d

47F

h

d

4FF

h

d

57F

h

d

5FF

h

d

67F

h

d

h

d

Tab.2/8: Peer to Peer objects of the CPX−FB14

Festo P.BE−CPX−FB14−EN en 0810b

2−19

2. Commissioning

2.4Object directories

2.4.1 Communication profile

The following tables show the objects of the communication
part (values and examples: module ID = 1).
In the following: U = unsigned

Note

For mapping the rules as per CiA DS301 apply: Mapping
entries are only possible if the number of parameters has
previously been set to zero.
(Example: index 1A00, subindex 3 Ū 8:

After entering the mapping values, set the number of
parameters to the appropriate value again.

ro = read only
rw = read/write
Map. = mapping possible
Attr. = attribute

Set subindex 0 to 0").

2−20

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

1000 0 Device type U32 ro  00 0F 91 01 As from software status

1001 0 Error

1001 0 Error

1002 0 Manufac

Sub
index

Designa
tion

register

turer status
register

Type Attr. Map. Values

Explanation

(hex)

V1.10:
OF = maximum amount of
equipment on the CPX
terminal

00 0x 91 01 Prior to software status

Example:
00 03 91 01

U8 ro Yes 00 no error

U8 ro Yes xx Generic/manufacturer error

U32 ro Yes 00 00 00 00 Module number and fault

V1.10:
91 01 = device profile
x = depends on equipment
fitted on the CPX terminal:
Bit 16: digital inputs
Bit 17: digital outputs
Bit 18: analogue inputs
Bit 19: analogue outputs

CPX terminal with digital
inputs and outputs

(see section 3.5.1)

number
(see section 3.5.1)

Festo P.BE−CPX−FB14−EN en 0810b

2−21

2. Commissioning

Index
(hex)

1003 0 Pre−defined

1005 0 COB−ID

1008 0 Manufact.

1009 0 Manufact.

Sub

tion

index

error field

1 Standard

error field

2 xx xx xx xx Error (n+1)

3 xx xx xx xx Error (n+2)

... ... ...

A

h

SYNC
message

device name

hardware
version

Map.Attr.TypeDesigna

ExplanationValues

(hex)

U8 rw  00 Ū 0A Number of current errors

U32 ro xx xx xx xx Most recent error (n)

xx xx xx xx Oldest error n+9

U32 rw  80 Default SYNC message

Str. ro  FB14" Node designation

Str. ro  0810"

(example)

(Write 00 deletes all errors)
(see section 3.5.1)

 Byte 0 Ū 1 = error code

(see section 3.5.1)

 Byte 2 = byte 0 of

index 1002

 Byte 3 = byte 1 of

index 1002

COB−ID 80

Current hardware status

h

100A 0 Manufact.

software
version

100C 0 Guard time U16 rw  00 00 Timeout monitoring [ms]

100D 0 Life time

factor

1014 0 COB−ID

emergency
object

2−22

Str. ro  V2.0"

(example)

U8 rw  00 Timeout monitoring

U32 rw  80 + node ID Default emergency object

Current software status

(Guard time x life time
factor = complete node
guard time)

COB−ID 80h + node ID

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

p

Index
(hex)

1015 0 Inhibit time

1016 0 Consumer

1017 0 Producer

1018 0 Identity

1018 1 Vendor ID U32 ro  00 00 00 1D Vendor ID (from CiA)

Sub

tion

index

emergency
message

heart beat
time

1 C.H. time 1 U32 rw 00 00 00 00 Heart beat ID und heart

2 C.−H. time 2 00 00 00 00

... ... ...

6 C.−H. time 6 00 00 00 00

heart beat
time

object

2 Product

code

U16 rw  00 00 Transmit blocking time

U8 ro  6 Number of entries

U16 rw  00 00 Heart beat time [ms]

U8 ro  4 Number of entries

Map.Attr.TypeDesigna

(hex)

00 00 00 CD Product code

ExplanationValues

emergency message
[100s]

beat time [ms]

COB−ID = Node guard ID
Status (pre−operational,
operational, stopped)

3 Revision

number

4 Serial

number

1027 0 Module list U8 ro  1 Ū Number of connected CPX

1 Module 0 U16 See CPX−

2 Module 1

3 Module 2

... ... ...

1)

Sequence as in CPX terminal from left to right

Festo P.BE−CPX−FB14−EN en 0810b

xx xx.xx xx Version (like object 100A)

xx xx xx xx Serial number (individual

system
description

for each module)

modules

Module code module 0

Module code module 1

Module code module 2

1)

1)

1)

2−23

2. Commissioning

Index
(hex)

1029 0 Error

Sub

tion

index

behaviour,
number
oferror
classes

1 Communi

cation error

2 Output error 01 With short circuit/overload

3 Input error 01 With short circuit/overload

Map.Attr.TypeDesigna

ExplanationValues

(hex)

U8 ro  3 Number of error classes

rw 00 With communication errors

(timeout/heart beat)
0 = pre−operational
1 = no state change
2 = stopped
Error code: 8130, 8140
As from V1.10: 8100, 8130,
8140

at output module
0 = pre−operational
1 = no state change
2 = stopped
Error codes: 23xx, 33xx

at input module or failure
in sensor supply
0 = pre−operational
1 = no state change
2 = stopped
Error codes: 21xx, 31xx

1200 0 Server SDO

parameter

1 COB_ID

Client }
Server (rx)

2 COB_ID

server }
client (tx)

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

U8 ro  2 Number of entries

U32 600 + node ID Default COB−ID + node ID

580 + node ID Default COB−ID + node ID

2−24

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.4.2 Overview of the PDO structure

Default mapping

PDO 1 Digital inputs/outputs (transmit/receive)

PDO 2 Analogue inputs/outputs channels 0Ū3 (transmit/receive)

PDO 3 Analogue inputs/outputs channels 4Ū7 (transmit/receive)

PDO 4 Technology modules, status bits, I/O diagnostic interface

If necessary, the default PDO structure can be changed via
SDO (see PDO communication mapping parameter" in the
following sections, index1A00hŪ1A03h, 1600hŪ1603h)

Festo P.BE−CPX−FB14−EN en 0810b

2−25

2. Commissioning

pp g

2.4.3 Digital inputs (transmit PDO 1)

Index
(hex)

181 Ū
1FF

1800 0 PDO com

1A00 0 PDO com

Sub

Designa

index

tion

 Transmit

PDO 1

munication
parameter
record

1 PDO COB−ID U32 rw 180 + node ID Default COB−ID of the

2 Trans

mission type

3 Inhibit time U16 00 00 Transmit blocking time

4   not used

5 Event timer 00 00 Time−controlled trans

munication

1

mapping
parameter

2

Type Attr. Map. Values

Explanation

(hex)

   xx xx Telegram length 1 Ū 8 bytes

U8 ro  05 Number of entries

U8 FF Default: Acyclic 1)

U8 rw  0 Ū 8 Number of entries

U32 60 00 01 08 Pointer at index I0 Ū I7

60 00 02 08 ... Index I8 Ū I15

Byte 0: I0 Ū I7
Byte 1: I8 Ū I15
...
Byte 7: I56 Ū I63

inputs

inputs [100s]

mission of the inputs [ms]

2−26

3 60 00 03 08 ... Index I16 Ū I23

4 60 00 04 08 ... Index I24 Ū I31

5 60 00 05 08 ... Index I32 Ū I39

6 60 00 06 08 ... Index I40 Ū I47

7 60 00 07 08 ... Index I48 Ū I55

8 60 00 08 08 ... Index I56 Ū I63

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

Sub
index

tion

6000 0 Read input

8bit

1

Map.Attr.TypeDesigna

(hex)

U8 ro  0 Ū 10 Number of 8−input groups

Yes xx Status of inputs 0 Ū 7

ExplanationValues

2 xx ... Inputs 8 Ū 15

3 xx ... Inputs 16 Ū 23

4 xx ... Inputs 24 Ū 31

5 xx ... Inputs 32 Ū 39

6 xx ... Inputs 40 Ū 47

7 xx ... Inputs 48 Ū 55

8 xx ... Inputs 56 Ū 63

9 xx ... Inputs 64 Ū 71

A

B

C

D

E

F

10

h

h

h

h

h

h

h

xx ... Inputs 72 Ū 79

xx ... Inputs 80 Ū 87

xx ... Inputs 88 Ū 95

xx ... Inputs 96 Ū 103

xx ... Inputs 104 Ū 111

xx ... Inputs 112 Ū 119

xx ... Inputs 120 Ū 127

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

1)

During the transition from pre−operational to operational, the current SDO values will be frozen"
(e.g. analogue inputs). These values will be transmitted with each remote transmission request
(RTR), irrespective of further settings (e.g. interrupt enable for analogue inputs).

Festo P.BE−CPX−FB14−EN en 0810b

2−27

2. Commissioning

pp g

2.4.4 Digital outputs (receive PDO 1)

Index
(hex)

201 Ū
27F

1400 0 PDO com

1600 0 PDO com

Sub

Designa

index

tion

 Receive

PDO 1

munication
parameter
record

1 PDO COB−ID U32 rw 200 + node ID Default COB−ID of the

2 Trans

mission type

munication

1

mapping
parameter

2

3 62 00 03 08 ... Index O16 Ū O23

4 62 00 04 08 ... Index O24 Ū O31

5 62 00 05 08 ... Index O32 Ū O39

Type Attr. Map. Values

Explanation

(hex)

   xx xx xx xx Telegram length

1Ū8bytes
Byte 0: O0 Ū O7
Byte 1: O8 Ū O15
...
Byte 7: O56 Ū O63

U8 ro  02 Number of entries

outputs

U8 FF Default: acyclic

U8 rw  0 Ū 8 Number of entries

U32 62 00 01 08 Pointer at Index O0 Ū O7

62 00 02 08 ... Index O8 Ū O15

1)

6 62 00 06 08 ... Index O40 Ū O47

7 62 00 07 08 ... Index O48 Ū O55

8 62 00 08 08 ... Index O56 Ū O63

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

1)

See remark in section 2.2.1.

2−28

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

Sub
index

tion

6200 0 Write

output 8bit

1

2 xx ... Outputs 8 Ū 15

3 xx ... Outputs 16 Ū 23

4 xx ... Outputs 24 Ū 31

5 xx ... Outputs 32 Ū 39

6 xx ... Outputs 40 Ū 47

7 xx ... Outputs 48 Ū 55

8 xx ... Outputs 56 Ū 63

9 xx ... Outputs 64 Ū 71

A

h

B

h

C

h

D

h

E

h

F

h

10

h

Map.Attr.TypeDesigna

ExplanationValues

(hex)

U8 ro  0 Ū 10 Number of 8−output groups

rw Yes xx Status of outputs 0 Ū 7

xx ... Outputs 72 Ū 79

xx ... Outputs 80 Ū 87

xx ... Outputs 88 Ū 95

xx ... Outputs 96 − 103

xx ... Outputs 104 Ū 111

xx ... Outputs 112 Ū 119

xx ... Outputs 120 Ū 127

Festo P.BE−CPX−FB14−EN en 0810b

2−29

2. Commissioning

Index
(hex)

Sub
index

tion

6206 0 Fault mode

output 8bit

1

2 FF ... Outputs 8 Ū 15

3 FF ... Outputs 16 Ū 23

4 FF ... Outputs 24 Ū 31

5 FF ... Outputs 32 Ū 39

6 FF ... Outputs 40 Ū 47

7 FF ... Outputs 48 Ū 55

8 FF ... Outputs 56 Ū 63

9 FF ... Outputs 64 Ū 71

A

h

B

h

C

h

D

h

E

h

F

h

10

h

Map.Attr.TypeDesigna

ExplanationValues

(hex)

U8 ro  0 Ū 10 Number of 8−output groups

rw FF Fault mode outputs 0 Ū 7

FF ... Outputs 72 Ū 79

FF ... Outputs 80 Ū 87

FF ... Outputs 88 Ū 95

FF ... Outputs 96 Ū 103

FF ... Outputs 104 Ū 111

FF ... Outputs 112 Ū 119

FF ... Outputs 120 Ū 127

2−30

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

Sub
index

tion

6207 0 Error state

output 8bit

1

U8 ro  0 Ū 10 Number of 8−output groups

Map.Attr.TypeDesigna

(hex)

rw 00 Error state outputs 0 Ū 7

2 00 ... Outputs 8 Ū 15

3 00 ... Outputs 16 Ū 23

4 00 ... Outputs 24 Ū 31

5 00 ... Outputs 32 Ū 39

6 00 ... Outputs 40 Ū 48

7 00 ... Outputs 48 Ū 55

8 00 ... Outputs 56 Ū 63

9 00 ... Outputs 64 Ū 71

A

B

C

D

E

F

10

h

h

h

h

h

h

h

00 ... Outputs 72 Ū 79

00 ... Outputs 80 Ū 87

00 ... Outputs 88 Ū 95

00 ... Outputs 96 Ū 103

00 ... Outputs 104 Ū 111

00 ... Outputs 112 Ū 119

00 ... Outputs 120 Ū 127

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

ExplanationValues

Festo P.BE−CPX−FB14−EN en 0810b

2−31

2. Commissioning

The states of the valves and outputs of the CPX valve terminal
can be defined in case there should be a fault.

Note

With Index 6206 you can define the outputs which are to
assume a defined status in the event of a fault.

With Index 6207 you can define the status which the fixed
outputs are to assume in the event of a fault.

The settings do not become active until the CPX valve
terminal is put into the operational mode.
After each switching on or after each reset (hardware
initialization), the default values will automatically be
accepted, any maskings will be overwritten.

The following applies:

Index (hex)

6206
Subindex 1 Ū 10
Bit 0 Ū 7

6207
Subindex 1 Ū 10
Bit 0 Ū 7

2−32

Definition

0 = status of the output is retained

h

h

1 = output assumes the status defined in index 6207

0 = output is reset

1 = output is set

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.4.5 Analogue inputs channel 0 Ū 3 (transmit PDO 2)

CANopen represents the 16−bit analogue values with the
following objects left justified in a 32−bit value:

 6422, 6424, 6425, 6426, 6444, 5444, 5434

Values of an analogue input are loaded into the PDO only if
the following conditions are fulfilled:

 Globale interrupt enable must be set to enable

(index6423).

 With the interrupt trigger (index

6421), you can define
how the analogue value in the following step is to be
checked (minimum/maximum value, value modifica
tion, index 6424, 6425, 6426).

The channel number of the interrupt−triggering analogue
input is entered in Object 6422. The PDO is then transmitted
according to the transmission code in Object 1801
(FF

, FDh, FCh or 0 Ū F0h).

h

Festo P.BE−CPX−FB14−EN en 0810b

2−33

2. Commissioning

Index
(hex)

281 Ū
2FF

1801 0 PDO commu

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

1)

Sub

Designation Type Attr. Map. Values

index

 Transmit

PDO2

nication
parameter
record

1 PDO COB−ID U32 rw 280h +

2 Transmission

type

3 Inhibit time U16 01 4F

4   not used

5 Event timer 00 00 Time−controlled

See remark on page 2−27

   xx Telegram length 2, 4, 6 or

U8 ro  05 Number of entries

U8 FF Default: acyclic

(hex)

node ID

(= 50 ms)

Explanation

8bytes
Byte 0, 1: channel 0 (AI0)
Byte 2, 3: channel 1 (AI1)
Byte 4, 5: channel 3 (AI2)
Byte 6, 7: channel 4 (AI3)

Default COB−ID of the inputs

1)

Transmit blocking time
inputs [100s]

transmission of the inputs
[ms]

2−34

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

pp g

Index
(hex)

1A01 0 PDO commu

6401 0 Read

6423 0 Analogue

Sub

Designation Type Attr. Map. Values

index

nication

1

mapping
parameters

2

3 64 01 03 10 ... Index AI2

4 64 01 04 10 ... Index AI3

5 00 00 00 00 ... at mapping object5

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

8 00 00 00 00 ... at mapping object8

analogue
input

1

2 xx AI1

3 xx AI2

4 xx AI3

input global
interrupt
enable

Explanation

(hex)

U8 rw  0 Ū 8 Number of entries

U32 64 01 01 10 Pointer at Index AI0

64 01 02 10 ... Index AI1

U8 ro  0 Ū 10 Number of analogue

channels

I16 Yes xx AI0

B rw  00 Globale interrupt enable

0 = disable
1 = enable

6422 0 Analogue

1)

Reset automatically after read access

Festo P.BE−CPX−FB14−EN en 0810b

input number
of interrupt
source banks

1 Interrupt

source bank 1

U8 ro  1 Number of interrupt source

U32  00 Interrupt source bank 1

banks

1)

(channel 0 Ū 15)

2−35

2. Commissioning

Index
(hex)

6421 0 Analogue

index

U8 ro  0 Ū 10 Number of analogue inputs

Map.Attr.TypeDesignationSub

input interrupt
trigger
selection

1 Analogue

rw 00 AI0

input

2 00 AI1

3 00 AI2

4 00 AI3

6424 0 Analogue

U8 ro  0 Ū 10 Number of analogue inputs
input interrupt
upper limit
integer

1 Analogue

input

2

I32 rw 00 Maximum value AI0

3 00 Maximum value AI2

4 00 Maximum value AI3

1)

Bit 0: Upper limit exceeded" (as per DS401)

2)

Bit 1: Input below lower limit" (as per DS401)

3)

Bit 2: Input changed by more than delta" (as per DS401)

ExplanationValues

(hex)

Bit 0: Upper limit value

exceeded

Bit 1: Lower limit value

exceeded

Bit 2: Modification greater

than delta

Bit 3 Ū 7: reserved

00 Maximum value AI1

1)

2)

3)

1)

1)

1)

1)

2−36

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

6425 0 Analogue

index

U8 ro  0 Ū 10 Number of analogue inputs

Map.Attr.TypeDesignationSub

input interrupt
upper limit
integer

1 Analogue

input

2

I32 rw 00 Minimum value AI0

3 00 Minimum value AI2

4 00 Minimum value AI3

6426 0 Analogue

U8 ro  0 Ū 10 Number of analogue inputs
input interrupt
delta
unsigned

1 Analogue

U32 rw 00 Minimum value modification
input

2 00 Minimum value modification

3 00 Minimum value modification

4 00 Minimum value modification

2)

Bit 1: Input below lower limit" (as per DS401)

3)

Bit 2: Input changed by more than delta" (as per DS401)

ExplanationValues

(hex)

00 Minimum value AI1

3)

AI0

3)

AI1

3)

AI2

3)

AI3

2)

2)

2)

2)

Festo P.BE−CPX−FB14−EN en 0810b

2−37

2. Commissioning

pp g

2.4.6 Analogue outputs channel 0 Ū 3 (Receive PDO 2)

Index
(hex)

301 Ū
37F

1401 0 PDO commu−

1601 0 PDO commu−

Sub

Designation Type Attr. Map. Values

index

 Receive PDO 2    xx Telegram length 2, 4, 6 or

nication
parameter
record

1 PDO COB−ID U32 rw 300 +

2 Transmission

type

nication

1

mapping
parameters

2

3 64 11 03 10 ... Index AO2

4 64 11 04 10 ... Index AO3

5 00 00 00 00 ... at mapping object5

Explanation

(hex)

8bytes
Byte 0, 1: channel 0 (AO0)
Byte 2, 3: channel 1 (AO1)
Byte 4, 5: channel 2 (AO2)
Byte 6, 7: channel 3 (AO3)

U8 ro  02 Number of entries

Default COB−ID of the inputs

nodeID

U8 FF Default: acyclic

U8 rw  0 Ū 8 Number of entries

U32 64 11 01 10 Pointer at index AO4

64 11 02 10 ... Index AO1

2−38

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

8 00 00 00 00 ... at mapping object8

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

6411 0 Write

6443 0 Analogue

6444 0 Analogue

index

analogue
output 16 bit

1

2 xx xx AO1

3 xx xx AO2

4 xx xx AO3

output fault
mode

1

2 1 Default mode AO1

3 1 Default mode AO2

4 1 Default mode AO3

output error
integer 32 bit

1

2 2 Error value AO1

3 3 Error value AO2

Map.Attr.TypeDesignationSub

ExplanationValues

(hex)

U8 ro Yes 0 Ū 10 Number of analogue

I16 rw xx xx AO0

U8 ro  0 Ū 10 Number of analogue

rw 1 Default mode AO0

U8 ro  0 Ū 10 Number of analogue

I32 rw 1 Error value AO0

channels

channels

channels

4 4 Error value AO3

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

Festo P.BE−CPX−FB14−EN en 0810b

2−39

2. Commissioning

2.4.7 Analogue inputs channel 4 Ū 15 (Transmit PDO 3)

Index
(hex)

381 Ū
3FF

1802 0 PDO commu−

U = unsigned Map. = mapping possible
ro = read only Attr. = attribute
rw = read/write

1)

Sub

Designation Type Attr. Map. Values

index

 Transmit

PDO3

nication
parameter
record

1 PDO COB−ID U32 rw 380 +

2 Transmission

type

3 Inhibit time U16 01 F4

4   not used

5 Event timer 00 00 Time−controlled

See remark on page 2−27

   xx Telegram length 2, 4, 6 or

U8 ro  05 Number of entries

U8 FF Default: acyclic

(hex)

nodeID

(= 50 ms)

Explanation

8bytes
Byte 0, 1: channel 4 (AI4)
Byte 2, 3: channel 5 (AI5)
Byte 4, 5: channel 6 (AI6)
Byte 6, 7: channel 7 (AI7)

Default COB−ID of the inputs

1)

Transmit blocking time
inputs [100s]

transmission of the inputs
[ms]

2−40

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

pp g

Index
(hex)

1A02 0 PDO commu−

6401 0 Read

6422 0 Analogue

1)

index

nication

1

mapping
parameters

2

3 64 01 07 10 ... Index AI6

4 64 01 08 10 ... Index AI7

5 00 00 00 00 ... at mapping object5

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

8 00 00 00 00 Pointer at mapping object8

analogue
input

5

6 xx xx AI5

... ... ...

10

h

input number
of interrupt
source banks

1 Interrupt

source bank 1

Reset automatically after read access

Values

Map.Attr.TypeDesignationSub

Explanation

(hex)

U8 rw  0 Ū 8 Number of entries

U32 64 01 05 10 Pointer at index AI4

64 01 06 10 ... Index AI5

U8 ro  0 Ū 10 Number of analogue

I16 Yes xx xx AI4

xx xx AI15

U8 ro  1 Number of interrupt source

U32 ro  00 Interrupt source bank 1

channels

banks (see PDO 2)

1)

(channel 1 Ū 16)

Festo P.BE−CPX−FB14−EN en 0810b

2−41

2. Commissioning

Index
(hex)

6421 0 Analogue

6424 0 Analogue

6425 0 Analogue

index

input interrupt
trigger
selection
number of
analogue
input

5 Analogue

input

6

... ... ...

10

h

input interrupt
upper limit
integer

5 Analogue

input

6

... ... ...

10

h

input interrupt
upper limit
integer

Values

Map.Attr.TypeDesignationSub

Explanation

(hex)

U8 ro  0 Ū 10 Number of analogue inputs

rw 00 AI4

00 AI5

00 AI15

U8 ro  0 Ū 10 Number of analogue inputs

I32 rw 00 Maximum value AI4

00 Maximum value AI5

00 Maximum value AI15

U8 ro  0 Ū 10 Number of analogue inputs

2−42

5 Analogue

input

6

... ... ...

10

h

I32 rw 00 Minimum value AI4

00 Minimum value AI5

00 Minimum value AI15

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

Index
(hex)

6426 0 Analogue

index

input interrupt
delta
unsigned

5 Analogue

input

6

... 00 ...

10

h

U8 ro  0 Ū 10 Number of analogue inputs

U32 rw 00 Minimum value change AI4

Values

Map.Attr.TypeDesignationSub

Explanation

(hex)

00 Minimum value change AI5

00 Minimum value change AI15

2.4.8 Analogue outputs channel 4 Ū 15 (Receive PDO 3)

Index
(hex)

401 Ū
47F

Sub

Designation Type Attr. Map. Values

index

 Receive PDO 3    xx Telegram length 2, 4, 6 or

(hex)

Explanation

8bytes
Byte 0, 1: channel 5 (AO4)
Byte 2, 3: channel 6 (AO5)
Byte 4, 5: channel 7 (AO6)
Byte 6, 7: channel 8 (AO7)

1402 0 PDO commu−

nication
parameter
record

1 PDO COB−ID U32 rw 400 +

2 Transmission

type

Festo P.BE−CPX−FB14−EN en 0810b

U8 ro  02 Number of entries

Default COB−ID of the inputs

node ID

U8 FF Default: acyclic

2−43

2. Commissioning

pp g

p

g

Index
(hex)

1602 0 PDO commu−

6411 0 Write

6443 0 Analogue

index

nication

1

mapping
parameters

2

3 64 11 07 10 ... Index AO6

4 64 11 08 10 ... Index AO7

5 00 00 00 00 ... at mapping object5

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

8 00 00 00 00 ... at mapping object8

analogue

5

output 16bit

6

... ... ...

10

h

output fault

5

mode

6 1 Default mode AO5

Map.Attr.TypeDesignationSub

ExplanationValues

(hex)

U8 rw  0 Ū 8 Number of entries

U32 64 11 05 10 Pointer at Index AO4

64 11 06 10 ... Index AO5

U8 ro  0 Ū 10 No. of analogue channels

I16 rw Yes xx AO4

xx AO5

xx AO15

U8 ro  0 Ū 10 No. of analogue channels

rw 1 Default mode AO4

... ... ...

10

h

6444 0 Analogue

5

6

... ... ...

10

h

2−44

output error
integer 32 bit

1 Default mode AO15

U8 ro  0 Ū 10 No. of analogue channels

I32 rw 00 00 00 00 Error value AO4

00 00 00 00 Error value AO5

00 00 00 00 Error value AO15

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2.4.9 Technology modules, status bits, I/O diagnostic interface (PDO 4)

Note

In order to use the status bits or the I/O diagnostic
interface, you must activate them with the DIL switches on
the field bus node (see section 1.2.2).

Further information on the status bits and on the I/O
diagnostic interface can be found in section 3.3 and 3.4.

Transmit PDO 4

Index
(hex)

481 Ū
4FF

1803 0 PDO commu−

1)

Sub

Designation Type Attr. Map. Values

index

 Transmit

PDO4

nication
parameter
record

1 PDO COB−ID U32 rw 480 + nodeIDDefault COB−ID of the inputs

2 Transmission

type

3 Inhibit time U16 00 00 Transmit blocking time

4   not used

5 Event timer 00 00 Time−controlled trans

See remark on page 2−27

Explanation

(hex)

   xx Telegram length 2, 4, 6 or

U8 ro  05 Number of entries

U8 FF Default: acyclic

8bytes
Byte 0, 1: Status bits or I/O
diagnostic interface (de
pending on configuration)
Byte 2, 3: reserved
Byte 4, 5: reserved
Byte 6, 7: reserved

1)

inputs [100s]

mission of the inputs [ms]

Festo P.BE−CPX−FB14−EN en 0810b

2−45

2. Commissioning

pp g

Index
(hex)

1A03 0 PDO commu−

6100 0 Read input

index

nication

1

mapping
parameters

2

3 61 00 03 10 ... at IW2

4 61 00 04 10 ... at IW3

5 00 00 00 00 ... at mapping object5

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

8 00 00 00 00 ... at mapping object8

16bit

1

2 xx IW1: depending on

Map.Attr.TypeDesignationSub

ExplanationValues

(hex)

U8 rw  0 Ū 8 Number of entries

U32 61 00 01 10 Pointer at IW0

61 00 02 10 ... at IW1

U8 ro Yes 0 Ū 20 Number of IW groups

U16 xx IW0, depending on

configuration1):
 status bits or
 I/O diagnostic interface
1. input word technology

module

configuration: 1. or 2. input
word technology module

1)

3 xx IW2 technology module

... ... ...

20

h

1)

Depending on diagnostic setting

2−46

xx IW31 technology module

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

pp g

Sub

Index
(hex)

Designation Type Attr. Map. Values

index

Receive PDO 4

A description of the method of operation of the I/O diagnostic
interface can be found in the Diagnosis chapter of the CPX
System Description.

Explanation

(hex)

501 Ū
57F

1403 0 PDO commu−

1603 0 PDO commu−

 Receive PDO4    xx Telegram length 1 Ū 8 bytes

nication
parameter
record

1 PDO COB−ID U32 rw 500 +

2 Transmission

type

nication

1

mapping
parameters

2

3 63 00 03 10 ... at OW2

4 63 00 04 10 ... at OW3

5 00 00 00 00 ... at mapping object5

6 00 00 00 00 ... at mapping object6

7 00 00 00 00 ... at mapping object7

Byte 0, 1: I/O diagnostic
interface (if configured)
Byte 2, 3: reserved
Byte 4, 5: reserved
Byte 6, 7: reserved

U8 ro  02 Number of entries

Default COB−ID of the inputs

node ID

U8 FF Default: acyclic

U8 rw  0 Ū 8 Number of entries

U32 63 00 01 10 Pointer at OW0

63 00 02 10 ... at OW1

8 00 00 00 00 ... at mapping object8

Festo P.BE−CPX−FB14−EN en 0810b

2−47

2. Commissioning

Index
(hex)

6300 0 Write output

6300 0 Write output

6306 0 Fault mode

index

16bit

1 U16 rw Yes xx If configured:

2 Ū 8  reserved

16bit

1

2 xx OW1 technology module

3 xx OW2 technology module

... ... ...

20

h

output 16 bit

1

2 FF FF ... OW1

3 FF FF ... OW2

... ... ...

Map.Attr.TypeDesignationSub

ExplanationValues

(hex)

U8 ro  0 Ū 8 Number of 16−output

U8 rw Yes 0 Ū 20 Number of OW groups

U16 xx OW0 technology module

xx OW31 technology module

U8 ro  0 Ū 20 Number of OW groups

U16 rw FF FF Fault mode OW0

groups

 I/O diagnostic interface

20 FF FF ... OW31

6307 0 Error state

output 16 bit

1

2 00 00 ... OW1

3 00 00 ... OW2

... ... ...

20 00 00 ... OW31

2−48

U8 ro  0 Ū 20 Number of OW groups

U16 rw 00 00 Fault mode OW0

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

2000

System data

Operating mode, details see Tab.2/10

Note

With Index 6306 you can define the outputs which are to
assume a defined status in the event of an error.

With Index 6307 you can define the status which the fixed
outputs are to assume in the event of an error.

The settings do not become active until the CPX valve
terminal is put into the operational mode.
After each switching on or after each reset (hardware
initialization), the default values will automatically be
accepted, any maskings will be overwritten.

2.4.10 Manufacturer specific profile

Further information can be found in the following tables and
in the CPX System Description (P.BE−CPX−SYS−...).

Index

Designation Map. Explanation

(hex)

2000 System data  Operating mode, details see Tab.2/10

2010 Module data  Details see Tab.2/11

2200 System diagnostic data Yes Details see Tab.2/12

2210 Module diagnostic data  Details see Tab.2/13

(global system configuration)

Tab.2/9: Overview of the indices of the manufacturer specific profile area

Festo P.BE−CPX−FB14−EN en 0810b

2−49

2. Commissioning

System data

Index
(hex)

2000 0 System data U8 ro 3 Number of parameters 

Sub
index

Designa
tion

Type Attr. Values

(hex)

Explanation Func

tion no.

1 Operating

mode1

2 Fail safe xx See index 6206, 6207, 6306,

3 Monitoring

the CPX
terminal

Tab.2/10: System data

xx CPX operating mode

Bit 0 Ū 3: CPX operating

mode
Bit 4: CPX expansion
Bit 5: Handheld
Bit 6: Force mode
Bit 7: System start

6307

xx Monitoring the CPX terminal:

Bit 0 Ū 3: short circuit/over

load/undervoltage
Bit 4 Ū 7: reserved

0000

0001

0002

2−50

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

serial

xx

Module data

Index
(hex)

Sub
index

Designa
tion

Type Attr. Values

(hex)

Explanation Func

tion no.

2010 0 Module data U8 ro 1 Ū Number of entries 16 + xx

1 Module0 U16 xx xx Module type

2 Module1 xx xx Module type

3 Module2 xx xx Module type

... ... ... ...

2110 0  U8 ro 1 Ū Number of entries 784 + xx

1 Module

serial
number
Module 0

2 Module

serial
number
Module 1

... ... ... ...

1)

All details: See appendix in CPX system manual

U32 xx

xx
xx
xx

U32 xx

xx
xx
xx

(module code + revision code)

(module code + revision code)

(module code + revision code)

Module serial number

1)

1)

1)

1)

Tab.2/11: Module data

1)

1)

Festo P.BE−CPX−FB14−EN en 0810b

2−51

2. Commissioning

module 0

00

FF

Fault number

xx

)

System diagnostic data

Index
(hex)

2200 0 U8 ro 8 Number of entries 

Sub

Designa

index

tion

1 Status byte 0 Ū FF Status bits 1936

Type Attr. Values

(hex)

Explanation Func

tion no.

2 Module

number

3 Error

number

4 Ū 8 reserved  reserved 1939Ū

0,40,ŪNumber of the module with

diagnostic message
(bit 0Ū5)
Diagnosis completed (bit 6)

0 Ū FF Fault number 1938

Tab.2/12: System diagnostic data (PDO mapping is possible)

Module diagnostic data

Index
(hex)

2210 0 Module

Sub

Designa

index

tion

diagnostics

1 Diagnostic

module 0

2 Diagnostic

module 1

Type Attr. Values

Explanation Func

(hex)

U8 ro 1 Ū Number of entries 

U32 ro 00 Ū FF

00 Ū FF
00
00

00 Ū FF
00 Ū FF
00
00

I/O channel/channel number
Fault number

Ū

reserved
reserved

I/O channel/channel number
Fault number
reserved
reserved

1937

1943

tion no.

2008 +

1)

xx

... ... ... ...

1)

All details: See appendix in CPX system manual

Tab.2/13: Module diagnostic data

2−52

Festo P.BE−CPX−FB14−EN en 0810b

2. Commissioning

g

00

3B

3

Numb

00

63

Number of 10 ms

1stmessage after power−on)

00

2F

Module position

Diagnostic memory parameters and data

Index
(hex)

Sub
index

Designa
tion

Type Attr. Values

(hex)

Explanation Func

tion no.

2300 0 Status/

2310 0 Diagnosis

mode

1

diagnostic
memory

2

3 rw 00 Number of entries in the

4 ro 00 Current status / overrun 3483

5 rw 00 Trigger conditions

6 00 Module number (MN) 3485

7 00 Channel number (CN) 3486

8 00 Fault number (FN) 3487

memory

1 1. Entry

(latest error)

2 2. entry

3 3. entry

... ...

28

40. entry

h

(oldest
saved error)

U8 ro 8 Number of entries 

rw xx Diagnostic memory mode 3480

   

diagnostic memory
(writing 0" will delete all
entries)

(Run/stop filter 2, error
end filter, fault number filter,
module/channel filter)

U8 ro 0 Ū 28 Number of entries 

Oct.
string

00 Ū FF
00 Ū 17

Ū
00 Ū 3B
00 Ū 6

Ū
(+ 80)

00 Ū FF
00 Ū 2F

Ū
00 Ū FF
00 Ū FF
00 Ū FF

Number of days
Number of hours

er of minutes
Number of seconds
Number of 10 ms
(and designation for
1stmessage after power−on)
Module code
Module position
Channel number
Fault number
Following channels

3482

3484

3488,

Ū

Tab.2/14: Diagnostic memory data

Festo P.BE−CPX−FB14−EN en 0810b

2−53

2. Commissioning

System parameters

Index
(hex)

Sub
index

Designa
tion

Type Attr. Values

(hex)

Explanation Func

tion no.

2400 0 System

1)

At system start with saved parameterization, only the objects 2000Ū5FFF are loaded.
The objects 6000Ū are always loaded with the default settings after power−on.

parameters

1 Parameter

byte 0

2 Parameter

byte 1

3 Parameter

byte 2

4 Ū 8 reserved  reserved 

U8 ro 8 Number of entries 

rw 0 Ū FF reserved 4400

0 Ū FF Monitoring (active/inactive) 4401

0 Ū FF Bit 0, 1: not implemented

Bit 2, 3: Force mode
Bit 4, 5: not implemented
Bit 6, 7: System start

Tab.2/15: System parameters

Detailed information on parameters and data can be found in
the CPX system manual.

4402

1)

2−54

Festo P.BE−CPX−FB14−EN en 0810b