Festo CTEU-EC Description

Universal bus node
CTEU-EC

Description,
functions and
maintenance

Bus node

Type CTEU-EC

Network protocol
EtherCAT

Description

575401
en 1208NH
[758875]

Contents and general safety instructions

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

Version en 1208NH.................................

Designation P.BE-CTEU-EC-OP+MAINT-EN..............

Order no. 575401..................................

© (Festo AG & Co. KG, D-73726 Esslingen, 2012)
Internet: http://www.festo.com
E-mail: [e-mail]

Reproduction, distribution or sale of this document or
communication of its contents to others without express
authorization is prohibited. Offenders will be liable for
damages. All rights reserved in the event that a patent,
utility model or design patent is registered.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

I

Contents and general safety instructions

EtherCAT®,TwinCAT®,CANopen®and TORX®are registered trademarks of the respective
trademark owners in certain countries.

II

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Contents and general safety instructions

Contents

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

Range of application and certifications VI.....................................

Target group VI..........................................................

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

Notesonthismanual VIII...................................................

Important user instructions X..............................................

1. Installation 1-1...................................................

1.1 General information on the CTEU product family 1-3......................

1.1.1 Hardware components 1-3...................................

1.1.2 Scope of functions (brief overview) 1-4.........................

1.2 General information on the EtherCAT fieldbus protocol 1-5.................

1.2.1 Key elements of the fieldbus protocol 1-5.......................

1.2.2 EtherCAT specifications 1-6...................................

1.2.3 Conformance with the EtherCAT specifications 1-6................

1.3 General information on installation 1-7.................................

1.4 Interfaces 1-9.....................................................

1.4.1 Connection and display components 1-9........................

1.4.2 Power supply 1-10...........................................

1.4.3 Functional test – without network connection 1-12.................

1.4.4 Fieldbus connection 1-12.....................................

1.4.5 Basic settings for fieldbus communication 1-14...................

2. Commissioning 2-1................................................

2.1 Configuration 2-3..................................................

2.1.1 Hot Connect functionality 2-3.................................

2.1.2 Registering participant properties (“ESI file”) in the configuration

program 2-3...............................................

2.1.3 Configuration of the operating modes 2-7.......................

2.1.4 Configuration of operating behaviour (target configuration) 2-13.....

2.1.5 Addressing and data access (data objects) 2-19...................

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III

Contents and general safety instructions

2.2 Replacing the device 2-21............................................

2.2.1 Replacing the bus node 2-21..................................

2.2.2 Replacing the I-port device – same device type (substitute) 2-22.....

2.2.3 Replacing the I-port device – different device type (replacement) 2-23.

2.2.4 Replacing the electrical connection box CAPC-… 2-24...............

3. Diagnostics 3-1...................................................

3.1 Summary of diagnostics options 3-3...................................

3.2 Diagnostics via LED display 3-3.......................................

3.2.1 Normal operating status display 3-4...........................

3.2.2 PS LED status display 3-5....................................

3.2.3 Status display X1/X2 LEDs 3-6................................

3.2.4 EtherCAT operating status display (LED run),
EtherCAT error (LE D error), connection status (LEDs L/A2, L/A1) 3-8.

3.3 Diagnostics via EtherCAT 3-10.........................................

3.3.1 Diagnostics via SDO access 3-10...............................

3.3.2 Diagnostics via diagnosis history 3-10...........................

3.3.3 Diagnostics via emergency message 3-12........................

3.3.4 Error codes 3-13.............................................

3.3.5 Error register 3-14...........................................

3.3.6 I-port event code 3-15........................................

3.3.7 Error reaction (fail-state settings) 3-19...........................

A. Technical appendix A-1.............................................

A.1 Technical data A-3..................................................

A.2 EtherCAT CANopen object model A-7..................................

A.3 Updating the bus node EEPROM A-8...................................

A.4 Object directories A-9...............................................

A.4.1 Objects common to both communication profiles A-9..............

A.4.2 Communication profile – extensions, fixed variant A-14.............

A.4.3 Communication profile – extensions, modular variant A-17..........

B. Index B-1.........................................................

IV

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Contents and general safety instructions

Designated use

The bus node type CTEU-EC described in this manual has
been designed exclusively for use as a participant (slave
device)inanEtherCATnetwork.

The bus node may only be used as follows:

– In industrial environments according to its intended use;

outside of industrial environments, e.g. in commercial and
mixed-residential areas, measures to suppress interfer­ence may be required

– in original condition without modification (only the con-

versions or modifications described in the documentation
supplied with the product are permitted)

– in faultless technical condition

The limit values specified for pressures, temperatures, elec­trical data, torques etc. must be observed.

Comply with the legal rules and regulations and standards,
rules of the testing organisations and insurance companies
and national specifications applicable for the location.

Warning

•

Use only PELV circuits for the electrical power supply in
accordance with IEC/EN 60204-1
(Protective Extra-Low Vo l tage, PELV).

•

Observe also the general requirements for PELV circuits
in accordance with IEC/EN 60204-1.

•

Useonlyvoltagesourcesthatensureareliableelectrical
isolation of operating voltage in accordance with
IEC/EN 60204-1.

•

Always connect the circuits for both operating and load
voltage supply.

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V

Contents and general safety instructions

Through the use of PELV circuits, protection against electric
shock (protection against direct and indirect contact) is en­sured in accordance with IEC/EN 60204-1.

Range of application and certifications

The product fulfils the requirements of EU directives and is
marked with the CE marking.

Standards and test values which the product complies with
and fulfils can be found in the section “Technical appendix”.
The product-relevant EU directives can be found in the declar­ation of conformity.

Targ e t gro u p

You can find certificates and declarations of conformity for
this product online at:

 www.festo.com

You can find information on EtherCAT online at:

 www.ethercat.org

This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installation, commissioning, programming and diagnostics of
programmable logic controllers (PLC) and fieldbus systems.

VI

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Contents and general safety instructions

Service

Please consult your local Festo Service agent if you have any
technical problems.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

VII

Contents and general safety instructions

Notesonthismanual

This manual is Part II of the product documentation for the
bus node, and contains specific information about the
configuration, parameterisation, commissioning, program­ming and diagnostics of the bus node with the EtherCAT
fieldbus protocol.

Information relating to installation of the bus node can be
found in Part I of the product documentation entitled
“Universal bus node CTEU-EC – Installation and Interface
manual”, which is supplied with the bus node.

All information relating to installation and to the interfaces
can also be found in chapter 1 of this manual.

Information on mounting the bus node on the electrical
connection box CAPC-... can be found in the assembly
instructions that accompany the electrical connection box.

Information about other bus nodes and components of the
CTEU… product family can be found in the user
documentation for the respective product.

You can also find all documents online at:

 www.festo.com  Support portal: enter search term,
e.g. “CTEU”  user documentation

VIII

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Contents and general safety instructions

This manual contains information about the following
module:

EtherCAT bus
node

Type

Description Connection technology

designation

CTEU-EC Ethernet-based bus node for

EtherCAT

The EtherCAT field bus
technology uses the Ethernet
standards for real-time
communication in an industrial
environment.

Data transmission:

– EtherCAT, based on the Eth-

ernet protocol (IEEE 802.3),
optimised for process data,
real-time capable

– Transmission of process

data in the Ethernet
framework

– Industrial Ethernet,

Switched Fast Ethernet,
100 Mbit/s

2xM12socket,
D-coded, female, 4-pin, cor­responding to
IEC 61076-2-101

Tab. 0/1: Overview of CTEU bus node for EtherCAT

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

Standards and norms
containing reference to
EtherCAT:

– IEC 61158
– IEC 61784
– IEC 61918
– ISO/IEC 8802-3

Additional information:
http://www.ethercat.org

IX

Contents and general safety instructions

Important user instructions

Danger categories

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

Warning

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

Caution

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

Note

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

In addition, the following pictogram denotes passages in the
text which describe activities involving electrostatically sens­itive devices:

X

Electrostatically sensitive devices: Incorrect handling may
cause damage to devices.

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Contents and general safety instructions

Marking of special information

The following pictograms denote passages in the text which
contain special information.

Pictograms

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

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

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

Text designations

•

Bullet points denote activities that may be carried out in
any sequence.

1. Numerals denote activities that must be carried out in the
sequence specified.

– Arrowheads indicate general lists.

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XI

Contents and general safety instructions

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

T erm/abbreviation

Box Field device, e.g. bus node

Bus nodes Create the connection to certain networks or fieldbuses, transmit con-

CoE CANopen over EtherCAT

DIL switches Miniature switches; dual-in-line switches usually consist of several

ESI EtherCAT slave information

EtherCAT An industrial-Ethernet based fieldbus system for data exchange

FoE File access over EtherCAT

Hold last state defines the status which outputs or valves are to assume following

Meaning

trol signals to the connected modules and monitor their functioning

switch elements which can be used to implement settings

between system controller (PLC/IPC), equipment controller and field
devices (slave/I/O devices) or drives; transmission of process data
in data objects (based on the fieldbus protocol CA Nopen); embedding
of process data in Ethernet frames (Frames) or datagrams (via UDP/IP);
additional information: www.ethercat.org

fieldbus and/or communication errors

I Digital input

I/Os Digital inputs and outputs

IB Input byte

IPC Industrial PC

I-port Festo-specific port for the transfer of c ommunication data (process

data, sensor signals, pilot signals) and supply voltages

Tab. 0/2: Specific terms and abbreviations – part 1

XII

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Contents and general safety instructions

T erm/abbreviation Meaning

Load voltage includes the power supply for connected devices and outputs, e.g.

solenoid coils of valves (load voltage supply as distinct from operating
voltage supply for electronics and sensors)

LSB Byte with the lowest importance (Least Significant Byte)

MDP Information model in which hardware and software components are

represented as individual modules (M

MSB Byte with the highest importance (Most Significant Byte)

O Digital output

odular Device Profile)

OB Output byte

Object directory makes all important participant parameters accessible in a standard-

ised manner

PDO Process Data Objects provide fast transfer of process data and are

transmitted by simple EtherCAT messages with no protocol overhead.
Process Data Objects may be transmitted based on event control, syn­chronised to a system clock, or on request.

PLC Programmable Logic Controller, same as SPS

Power supply Umbrella term for o perating and load voltage supplies

SDO Ser vice Data Objects form point-to-point connections between the

server and client, primarily for the exchange of parameters for device
configuration. These permit write and read access to any entry in the
object directory of a bus node.

TwinC AT Beckhoff configuration and programming software

(TwinCAT: The Windows Control and Automation Technology)

Tab. 0/3: Specific terms and abbreviations – part 2

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Contents and general safety instructions

XIV

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Installation

Chapter 1

Installation

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1-1

1. Installation

Contents

1. Installation 1-1...................................................

1.1 General information on the CTEU product family 1-3......................

1.1.1 Hardware components 1-3...................................

1.1.2 Scope of functions (brief overview) 1-4.........................

1.2 General information on the EtherCAT fieldbus protocol 1-5.................

1.2.1 Key elements of the fieldbus protocol 1-5.......................

1.2.2 EtherCAT specifications 1-6...................................

1.2.3 Conformance with the EtherCAT specifications 1-6................

1.3 General information on installation 1-7.................................

1.4 Interfaces 1-9.....................................................

1.4.1 Connection and display components 1-9........................

1.4.2 Power supply 1-10...........................................

1.4.3 Functional test – without network connection 1-12.................

1.4.4 Fieldbus connection 1-12.....................................

1.4.5 Basic settings for fieldbus communication 1-14...................

1-2

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1. Installation

1.1 General information on the CTEU product family

The CTEU… product family is used to set up a decentralised
automation system in an EtherCAT fieldbus network.

1.1.1 Hardware components

Higher-order

1

controller
(master/PLC/IPC)

2

Fieldbus level:
bus node CTEU

1

3

Device level:
e.g. valve
terminal VTUB-12

4

Drive level:
e.g. linear
module HME

2

3

4

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1-3

1. Installation

The fieldbus and device levels are connected via an I-port.
I-port is a Festo-specific port for the transmission of commu­nication data (process data, sensor signals, pilot signals) and
supply voltage. The I-port communication protocol is based
on the IO-Link protocol. The electrical and mechanical connec­tions between the bus node and I-port device are standard­ised.

1.1.2 Scope of functions (brief overview)

– Real-time Ethernet communication (EtherCAT)

– Deterministic data transmission

– Master-slave system architecture

– Modular valve terminal configuration (MDP)

– Diagnostic data via CoE

– Parameter data via CoE

– Hot Connect function for connecting and disconnecting

devices during operation

– Module address can be altered via DIL switches

– Adjustable fail state behaviour

– Activation of module diagnostics via DIL switches

1-4

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1. Installation

1.2 General information on the EtherCAT fieldbus protocol

1.2.1 Key elements of the fieldbus protocol

Participant features

When you place a new EtherCAT participant, i.e. an EtherCAT
device, into operation for the first time, you must inform the
configuration and programming software about certain prop­erties of the participant. The properties of the various parti­cipants are managed in a configuration file - the EtherCAT
slave information file (ESI file).

The file/its contents are available in Extensible Markup Lan­guage (XML).

Communication protocol

The EtherCAT protocol enhances the Ethernet standard by
adding real-time capability.

In the EtherCAT protocol, data are transported within a stand­ard Ethernet frame. When the standard Ethernet frame is
sent, the EtherCAT slaves only remove the data that are inten­ded for them as the telegram passes through the device, and
add input data to the telegram at the same time. For this,
each slave requires two EtherCAT interfaces (one for trans­mission and one for reception).

The CTEU-EC bus node supports the CANopen over EtherCAT
(CoE) and File Access over EtherCAT (FoE) protocols.

Participant addressing

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In an EtherCAT network, the slaves are automatically as­signed addresses. If desired the bus node can be assigned an
EtherCAT address using the DIL switches.

1-5

1. Installation

1.2.2 EtherCAT specifications

Further information on EtherCAT is available online:

EtherCAT specifications

EtherCAT
Tec h n o l o g y
Group

http://www.ethercat.org/en/publications.html

T ab. 1/1: EtherCAT specifications

1.2.3 Conformance with the EtherCAT specifications

TheCTEU-ECbusnodegaveapositiveresultintestingwiththe
“EtherCAT Conformance Test T ool” (CTT, Version 1.20.52.0).

1-6

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1. Installation

1.3 General information on installation

Warning

Danger of injury due to uncontrolled movements of con­nected equipment.

Make sure that electrical and pneumatic equipment are in
a de-energised and pressureless state.

Before working on the pneumatics:

•

Switch off the compressed air supply

•

Vent the valve terminal

Before working on the electrical components, e.g. before
installation or maintenance work:

•

Switch off the power supply

In this way, you can avoid:
– uncontrolled movements of loose tubing
– unexpected and uncontrolled movements of the connec-

ted actuators

– non-defined switching states of the electronics

Note

The EtherCAT bus node contains electrostatically sensitive
components.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

•

Do not touch any electrical or electronic components.

•

Observe the handling specifications for electrostatically
sensitive devices.

This will help to prevent damage to the electronics.

1-7

1. Installation

Note

Use cover caps to seal unused connections. In this way you
can attain IP65 protection.

Mounting the bus node

Information on mounting the bus node on the electrical con­nection box CAPC-... can be found in the assembly instruc­tions supplied with the connection box.
For H-rail mounting, you will also need mounting kit CAFM-...
(CAPC and CAFM).

For mounting the bus node, a valve terminal from Festo, or
electrical connection box type CAPC-... with I-port interface, is
required.

1. Inspect the seals and sealing surfaces on the bus node
and valve terminal.

2. Push the bus node onto the valve terminal in the correct
position with no tilt.

3. First, lightly screw in the three self-tapping screws with a
TORX screwdriver (size T10): use existing threads, if ap­plicable.

4. Tighten the screws to 1.0 Nm.

1-8

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1. Installation

1.4 Interfaces

1.4.1 Connection and display components

The following electrical connection and display components
can be found on the bus node:

1

4

1

DILswitchgroup( section 1.4.5 )

2

Status LEDs:
bus status LEDs, CTEU-specific LEDs;
status indicator and diagnostics
( section 3.2)

3

Power supply connection for bus node and any connec­ted devices, e.g. valve terminal;
M12, 5-pin, A-coded, pin plug connector
( section 1.4.2)

2

3

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

4

Fieldbus connections (fieldbus interfaces):
2x M12, 4-pin, socket plug connector, D-coded
( section 1.4.4)

1-9

1. Installation

1.4.2 Power supply

The bus node has separate operating and load voltage
supplies. The bus node also supplies voltage to equipment
connected via the I-port interface.

Warning

•

Only use PELV circuits compliant with IEC/EN 60204-1
(protective extra-low voltage, PEL V) for the electrical
power supply.

•

Also observe the general requirements for PELV circuits
as per IEC/EN 60204-1.

•

Only use voltage sources which ensure reliable electrical
isolation of the operating voltage in accordance with
IEC/EN 60204-1.

•

Always connect the circuits for both operating and load
voltage supply.

The use of PELV circuits ensures protection from electric
shock (protection from direct and indirect contact) in accord­ance with IEC/EN 60204-1 (Electrical equipment of machines,
General requirements).

1-10

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1. Installation

Power supply connection

Pin Assignment

1)

(M12, A-coded)

1)

V

EL/SEN

1 24 V

2 24 V

3 0V

4 0V

5 FE

: Operating voltage, electronics/sensors

EL/SEN

VAL/OUT

EL/SEN

VAL/OUT

2)

(power system, PS)

V

VAL/OUT

: Load voltage, outputs/valves

(power load, PL)

FE: Earth terminal (functional earth)

2)

The connection to functional earth must be additionally ensured
via the connected device or electrical connection box CAPC-...

(PS)

(PL)

(PS)

(PL)

For the connection to power supply units or the power supply,
use cables with M12 coupling (socket plug connector),
A-coded, in accordance with IEC 61076-2
 Accessories  www.festo.com/catalogue.

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1-11

1. Installation

1.4.3 Functional test – without network connection

Check the operating status of the bus node on the PS and
X1/X2 status LEDs:

–ThePS LED is illuminated green when the power supply is

correctl y connect e d to both circuits.

–TheX1/X2 LEDs are illuminated green when a device is con-

nected ( section 3.2).

1.4.4 Fieldbus connection

General information on EtherCAT networks

Note

Modules with EtherCAT interfaces may only be operated
in networks where all connected network components are
supplied with PEL V power supplies or integrated power
supplies with equivalent protection.

Installation instructions

You can obtain specifications, installation notes and instruc­tions through the EtherCAT user organisation:

– EtherCAT Technology Group:

http://www.ethercat.org/

– EtherCAT-specifications (“EtherCAT Specification”,

“Profiles”), guidelines (“Guidelines”) and instructions
(e.g. “How to Configure an EtherCAT Slave Device”):
http://www.ethercat.org/en/publications.html

1-12

Observe the instructions in these documents.

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1. Installation

Fieldbus interface – connection technology and pin
allocation

There are two 4-pin M12 socket plug connectors with
D-coding (for industrial Ethernet use, corresponding to
IEC 61076-2-101) for connecting the bus node to the fieldbus.

Socket
(M12, D-coded)

Pin Allocation

(signal)

1
2
3
4
Housing

TD+
RD+
TD–
RD–
FE

Explanation

Transmission data (transmit data, TD) +
Receivedata(receivedata,RD)+
Transmitted data –
Received data –
Shield/functional earth (FE)

Tab. 1/2: Pin assignment of the network interface

Fieldbu s connecting cable – specifications and configurati on

•

Use shielded industrial Ethernet round cable of cat­egory Cat 5 or higher.

– Cable length:

max. 100 m between network participants
(corresponding to specifications for Ethernet net­works, ISO/IEC 11801 and ANSI/TIA/EIA-568-B).

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

– Wire cross section for max. line length:

22 AWG (for 100 m link length, based on
ISO/IEC 11801).

Note

If installation has not been carried out correctly and if high
baud rates are used, data transmission errors may occur
as a result of signal reflections and attenuations.

1-13

1. Installation

1.4.5 Basic settings for fieldbus communication

The following basic fieldbus communication settings must be
made using the DIL switches on the bus node
( following sections):

– EtherCAT address (“station number”, optional)

– Diagnostic functionality (transmission of diagnostic

information as emergency messages (EM) into the
diagnostic history)

– Fail state mode

T o set the DIL switches, you must remove the cover.

1-14

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1. Installation

Removal of the DIL switch cover

Note

Observe the following instructions when removing or fit­ting the cover:

•

Disconnect the power supply before removing the cover.

•

Make sure that the seal is seated correctly when fitting
the cover .

•

Tighten the two mounting screws with a max. torque of

0.4 Nm.

Proceed as follows:

1. Switch off the power supply.

2. Unscrew the two mounting screws of the transparent cov­er and remove the cover.

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1-15

1. Installation

Settingthe DIL switches

The following table provides an overview of the possible
settings.

DIL switch

Function

ON OFF

123

1 1 … 4: EtherCAT address, 0 … 15, binary coded (factory setting: 0)

0

1: 2

1

2: 2

2

3: 2

3

4: 2

2 5: Diagnostics Diagnostics activated: trans-

0

1x2

1

1x2

2

1x2

3

1x2

mission of diagnostic informa­tion as emergency messages
(EM) and storage in diagnosis
history

0

0x2

1

0x2

2

0x2

3

0x2

Diagnostics off ( factory setting)

1)

3 6: Fail state mode

1)

Optional, e.g. for Hot Connect function

2)

If the PLC is in stop (Ethe r CAT: PRE-OPERATIONAL) mode or the fieldbus connection is interrupted

2)

(fail state); applies for all outputs
Note: Fail-state mode is also known as “fail-safe mode”

1-16

Hold last state Reset

(factory setting)

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1. Installation

Proceed as follows:

1. Assign an unused EtherCAT address (device identification
value) to the bus node.
Setting an EtherCAT address is optional (e.g. for the Hot
Connect function).
 see the following example settings.

Example: EtherCAT address
set: 05

Example: EtherCAT address
set: 14

Tab. 1/3: Setting the binary coded EtherCAT address

2. Select diagnostics mode.

3. Select fail state mode.

Mounting the DIL switch cover

1. Place the cover carefully on the bus node. Make sure that
the seal is seated correctly.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2. Tighten the two mounting screws with a max. torque of

0.4 Nm.

1-17

1. Installation

1-18

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Commissioning

Chapter 2

Commissioning

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2-1

2. Commissioning

Contents

2. Commissioning 2-1................................................

2.1 Configuration 2-3..................................................

2.1.1 Hot Connect functionality 2-3.................................

2.1.2 Registering participant properties (“ESI file”) in the configuration

program 2-3...............................................

2.1.3 Configuration of the operating modes 2-7.......................

2.1.4 Configuration of operating behaviour (target configuration) 2-13.....

2.1.5 Addressing and data access (data objects) 2-19...................

2.2 Replacing the device 2-21............................................

2.2.1 Replacing the bus node 2-21..................................

2.2.2 Replacing the I-port device – same device type (substitute) 2-22.....

2.2.3 Replacing the I-port device – different device type (replacement) 2-23.

2.2.4 Replacing the electrical connection box CAPC-… 2-24...............

2-2

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2. Commissioning

2.1 Configuration

General commissioning instructions

Configuration of the higher-order controller demands a very
accurate procedure, as different configuration specifications
are sometimes necessary for each participant, i.e. for each
device and each “box” in the EtherCAT network, due to the
modular structure.

2.1.1 Hot Connect functionality

Hot Connect functionality makes it possible to connect and
disconnect parts of the network during operation. This can be
done by disconnecting/connecting the communication line,
switching the participant on/off, or by other means.

Hot Connect can access this predefined address thanks to the
option of address reservation in the CTEU-EC bus node using
DIL switches ( section 1.4.5).

The first EtherCAT participant after the master should not be
a Hot Connect-configured participant, as this will slow down
link detection at the master.

2.1.2 Registering participant properties (“ESI file”) in the configuration
program

When you place a new EtherCAT participant, i.e. an EtherCAT
device, into operation for the first time, you must inform the
configuration and programming software about certain prop­erties of the participant.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

The properties of the various participants are managed in a
configuration file - the EtherCAT slave information file (ESI
file).

2-3

2. Commissioning

EtherCAT slave information
file (“ESI file”)

The file/its contents are available in Extensible Markup Lan­guage (XML).

The ESI file serves to identify the bus node in the EtherCAT
network. The ESI file sends basic properties of the EtherCAT
device, and manufacturer information, to the configuration
program.

The ESI file contains all the information needed for the config­uration and settings of the higher-order controller using con­figuration and programming software, e.g. Beckhoff TwinCAT.

The ESI file for the CTEU-EC bus node is available in two vari­ants.

Modular ESI file This file requires that the I/O data are configured according

to the devices connected to the I-port. Two slots are available,
representing the respective I-ports. It is possible to read out
the existing configuration. Manual configuration is also pos­sible. Here the connected device is selected from a module
list in the configuration interface. If configuration has been
performed incorrectly, an error will be output when switching
from PRE-OPERATIONAL to SAFE-OPERATIONAL status. This
will take the form of an “invalid SM IN cfg” or “inval­id SM OUT cfg” message.
This error message indicates the cause of the failed startup.

Fixed ESI file This file works with the full I/O register of the CTEU-EC bus

2-4

node (16 byte I/O data), without precisely defining on the
user interface which devices are connected to the I-port. I/O
assignment must be performed manually by the user.

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2. Commissioning

The CTEU-EC bus node is supplied ready for use with the
modular ESI file. In order for the fixed ESI file to be used, the
EEPROM must be updated ( section A.3) with the help of
the configuration and programming software.

Source
(download link)

You will find the latest EtherCAT configuration files (ESI files)
for the CTEU-EC bus node on the Festo website at:

 www.festo.com  Support portal: enter search term,
e.g. “CTEU”  Firmware and drivers

File name

Festo CTEU-EtherCAT Modular.xml Modular ESI file “EtherCAT Slave Information File”

Festo CTEU-EtherCAT Fix.xml Fixed ESI file “EtherCAT Slave Information File”

Variant Description

for Beckhoff TwinCAT or other compatible
configuration and programming software

for Beckhoff TwinCAT or other compatible
configuration and programming software

T ab. 2/4: EtherCAT configuration files (“ESI files”) for the CTEU-EC bus node

•

Adding the ESI file

T o add an ESI file to the ESI library of your configuration
program, copy the bus node-specific ESI file into the pro­gram directory of your configuration program – e.g. for
Beckhoff TwinCAT :

Importing the ESI file

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

C:\TwinCAT\Io\EtherCAT

•

Then import the ESI file into your configuration program
– e.g. in Beckhoff TwinCA T System Manager:

Actions > Import XML descriptions...

2-5

2. Commissioning

Participant properties

When the ESI file is imported, e.g. the following information is
sent to the configuration program via the bus node/EtherCAT
participant.

Information

Vendor name Festo AG & Co. KG

Vendor I D 0x0000001D

Product code 572556

Version number Hardware version: V1.11

Product name CTEU-EC

Description

Software version: V4.42.3

T ab. 2/5: EtherCAT participant properties

Once the ESI file has been imported, i.e. after the participant
properties have been added to the configuration program,
the bus node is included as a possible EtherC AT participant.
You can now integrate the bus node into your EtherCAT
network.

2-6

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2. Commissioning

2.1.3 Configuration of the operating modes

Depending on the application, the CTEU-EC bus node permits
manual configuration as an alternative to automatic configur­ation. In automatic configuration (auto mode), the connected
devices are automatically read in. In this case, however , the
configuration defined must match the connected devices. If
other participants are detected, or a participant is missing, an
error will be output.
T ool change mode permits flexibility in the integration/re­placement of participants. Here only an anonymous data
range is created, which is occupied by a participant. It is not
defined which devices will actually be connected. This allows
different devices to be used as desired.

Configuration of operating modes must be complete before
SAFE-OPERATIONAL status is activated.

Automatic configuration (auto mode)

In auto mode, the I-ports are checked for devices at startup.
The I/O data lengths are read from the I-port device and
transmitted to EtherCAT. The I/O data length for both I-ports
must not exceed 16 bytes. Devices connected to the I-port
can only be replaced with devices of the same type.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-7

2. Commissioning

Fig. 2/1: Example: configuration for a valve terminal and an input module in auto mode

Too l change mod e

In tool change mode, only the data width of each I-port is
defined; the specific components that can be connected are
not.
The startup parameters are configured by activating tool
change mode for each I-port and defining the data width. This
ensures that the correct module configuration, i.e. data

width, is requested after each startup. Each I-port is assigned
a fixed I/O data length.
The I/O data lengths are configured via the CoE objects
0x8200 and 0x820A ( section A.4). The I/O data length for
both I-ports must not exceed 16 bytes. If the image table ex­ceeds the defined I/O data length, the excess bytes will be
excluded. If the modular ESI file is used, the number of bytes
must correspond to the formula 2
(i.e.: 1, 2, 4, 8 or 16 bytes).
The connected I-port devices can be exchanged freely. No
diagnostics messages are generated when devices are re­placed. Only if the I-port configuration “expect device” is se­lected is the message
“Output data size is greater than configured” generated when
a device with an I/O length greater than that configured in
tool change mode is connected ( section 2.1.4).

n

where n = 0, 1, 2, 3 or 4

2-8

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2. Commissioning

In the below example, slot 1 is to be used for tool change
mode. A VTUB valve terminal is connected to slot 2 in auto
mode. Configuration is carried out via Modular Device Profile
(MDP).

Fig. 2/2: Example: configuration of slot 1 in tool change mode and slot 2 in auto mode

(VTUB valve terminal)

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-9

2. Commissioning

Fig. 2/3: Activation of tool change mode for slot 1

2-10

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2. Commissioning

Fig. 2/4: Definition of input data (here 8 bytes)

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-11

2. Commissioning

Fig. 2/5: Definitio n of output data (here 8 bytes)

Fig. 2/6: Defined startup configuration for a slot

2-12

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2. Commissioning

2.1.4 Configuration of operating behaviour (target configuration)

In addition to operating modes, operating behaviour can also
be defined.
The defined operating behaviour has different effects
depending on the operating mode selected (automatic
configuration or tool change mode).
The operating behaviour of the respective I-port can be
altered via the CoE objects 0x8100 and 0x810A
( section A.4).

I-port

CoE object

Value Operating behaviour

(hex.)

1 0x8100 0x00 Use responding device (standard setting)

0x01 Expect device

0x02 Port disabled

2 0x810A 0x00 Use responding device (standard setting)

0x01 Expect device

0x02 Port disabled

Tab. 2/6: Operating behaviour

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2-13

2. Commissioning

Use responding device (standard setting)

The CTEU-EC bus node starts up in this operating mode by
default. A device can be connected to the I-port, but this is
not essential.

Auto mode

IfadeviceisdisconnectedfromtheI-portduring
operation, the “device disconnected” diagnosis
will be activated.
This error is automatically reset as soon as the
connection to the device is reestablished.

If a device is connected to an I-port after a
startup, the bus node temporary outputs “device
wrongly connected”.
This error is automatically reset as soon as the
device is disconnected again.

Tool change mode

A fixed address space is reserved in the image
table for each I-port.
As soon as a device is detected at an I-port, its
I/O data are mapped to the image table.

The lack of a connection to the device and config­uration errors (e.g. device I/O length is greater
than tool change mode I/O length) do not trigger
diagnostic messages.

2-14

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2. Commissioning

Expect device

This I-port configuration always requires a device to be con­nected to the corresponding I-port. An I-port with this config­uration must always be connected to a device. Otherwise an
error will be output.

Auto mode

If no device was pre sent at the respective I-port
at startup, no I/O data will have been mapped to
the image table. “Device configuration failed”
will be output. All other I-por ts are then likewise
inactive and can no longer be used.
This error can only be reset by eliminating the
cause of the error and subsequently restarting
the system.

If a device was detected at the I-por t at startup,
the “device disconnected” diagnosis will be ac­tivated if the device is disconnected during oper­ation.
This error is automatically reset (diagnosis:
“device reconnected”) as soon as the connection
to the device is reestablished.

Tool change mode

A fixed address space is reserved in the image
table for each I-port. As soon as a device is de­tected at an I-port, its I/O data are mapped to
the image table.

The “device disconnected” diagnosis will be ac­tivated if the device is disconnected during oper­ation.
This error is automatically reset as soon as the
connection to the device is reestablished.

If a device with an I/O length greater than that
configured in tool change mode is connected, an
“output data size is greater than configured” er­ror is signalled at the relevant port until the
device is disconnected from that port.
All other I-ports will remain active and usable.

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2-15

2. Commissioning

Fig. 2/7: Example: value 01 for slot 1 means “expect device” ( Tab. 2/6)

2-16

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2. Commissioning

Port disabled

TheI-portisdeactivatedandcannotbeused.Theremustbe
no device active at this I-port. If a device is, however, active in
auto mode at startup, all other I-ports will also cease to be
usable because the I/O mapping will no longer be consistent.

Auto mode

If a device was detected at the I-por t at startup,
a “device wrongly connected” message is gener­ated. All other I-ports are then likewise inactive
and can no longer be used.
This error can only be reset by eliminating the
cause of the error and subsequently restarting
the system.

If this parameter is set at any time without a
device having been connected to the I-port at
startup, a “device wrongly connected” message
will be generated for the respective port on a
temporary basis only. All other ports can contin­ue to be used.
If the device is disconnected again from the re­spective I-port, this configuration error is auto­matically reset.

Tool change mode

When a device is detected at an I-port for which
this parameter has been set, a “device wrongly
connected” message will be temporarily output.
All other I-ports will remain active and usable.
If the respective device is disconnected again,
the diagnostic message is automatically reset.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-17

2. Commissioning

Fig. 2/8: Example: value 02 for slot 2 means “port disabled” ( Tab. 2/6)

2-18

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2. Commissioning

2.1.5 Addressing and data access (data objects)

Addressing

The higher-order controller is responsible for addressing the
individual modules: the EtherCAT master determines the
position of the EtherCAT devices within the network.
Block-oriented addressing (i.e. not module-oriented
addressing as used by other fieldbus systems) is used.

Alternatively, the CTEU-EC bus node can be assigned an
EtherCAT address using the DIL switches ( section 1.4.5).
To activate the defined hardware address, the following
setting must be made e.g. in the Twi nCA T configuration tool

 EtherCAT  Advanced settings  General
 Identification  Use Configured Station Alias (0x0012).

The controller uses the following for local addressing:

– The physical position of the device in the EtherCAT

network (“auto increment address”)

– An independent EtherCAT device address (“EtherCAT

address”)

The EtherCAT device address can be changed using the con­figuration tool if necessary.

Data access (data objects)

Internal EtherCAT data are accessed via protocol-specific data
objects (based on the CANopen fieldbus protocol).

EtherCAT devices (I/O devices) have an object directory which
makes all the key participant parameters accessible in a
standardised way. An EtherCAT system is configured mainly
by accessing the object directory of the individual parti­cipants.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-19

2. Commissioning

The access mechanism is provided by Service Data Objects
(SDOs).

There are two different communication mechanisms in an
EtherCAT system.

rocess Data Objects (PDO) provide fast transfer of process

P

data and are transmitted by simple EtherCAT messages with
no protocol overhead. Process Data Objects can be transmit­ted based on event control, synchronised to a system clock,
or on request.

The S

ervice Data Objects (SDO) form a point-to-point connec-

tion and permit access to every entry in the object directory
of a node.

Access these data objects with the help of user programs
created according to your specific requirements.

Caution

Danger of malfunctions, damage or personal injury
A valve terminal will be put into operation even if it is in-

correctly configured.

•

Before commissioning, ensure that the connected ele­ments (e.g. actuators) do not perform any unexpected or
uncontrollable movements.

•

If necessary, disconnect the load power supply and com­pressed air supply.

2-20

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2. Commissioning

2.2 Replacing the device

2.2.1 Replacing the bus node

Procedure

1. Stop the process controller (PLC/master).

2. Disconnect the power supply and, if relevant, the com­pressed air supply.

3. Replace the bus node (Dismantling/Mounting:
 section 1.3).

4. Switch the power supply back on.

5. Start up the process controller (PLC/master), selecting the
EtherCAT operating status “PRE-OPERATIONAL” (network
configuration).

6. If relevant, switch the compressed air supply back on.

7. Start the program sequence (PLC/master); do this by se­lecting the EtherCAT operating status “OPERATIONAL”.

Your EtherCAT system is again in normal operating mode.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

2-21

2. Commissioning

2.2.2 Replacing the I-port device – same device type (substitute)

Procedure in auto mode

1. Switch off the bus node power supply.

2. Remove the bus node from the I-port device
(Dismantling/Mounting:  section 1.3).

3. Mount the bus node on the new I-port device
(Dismantling/Mounting:  section 1.3).

4. Switch the bus node power supply on again.

The bus node detects the connected I-port device.

In this case it is also possible to replace the I-port device
without switching off the bus node power supply.

Procedure in tool change mode

1. Do not switch off the bus node power supply.

2. Remove the bus node from the I-port device
(Dismantling/Mounting:  section 1.3).

3. Mount the bus node on the new I-port device
(Dismantling/Mounting:  section 1.3).

The bus node detects the connected I-port device.

2-22

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2. Commissioning

2.2.3 Replacing the I-por t device – different device type (replacement)

Procedure in auto mode

1. Switch off the bus node power supply.

2. Remove the bus node from the I-port device
(Dismantling/Mounting:  section 1.3).

3. Mount the bus node on the new I-port device
(Dismantling/Mounting:  section 1.3).

4. Switch the bus node power supply on again.

5. Configure and parameterise the new I-port device

Procedure in tool change mode

1. Do not switch off the bus node power supply.

2. Remove the bus node from the I-port device
(Dismantling/Mounting:  section 1.3).

3. Mount the bus node on the new I-port device
(Dismantling/Mounting:  section 1.3).

The bus node detects the connected I-port device. If the
image table exceeds the currently defined I/O data
length, the excess bytes will be excluded.

Notesontoolchangemode section 2.1.3

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2-23

2. Commissioning

2.2.4 Replacing the electrical connection box CAPC-…

Procedure in auto mode

1. Switch off the bus node power supply.

2. Remove the bus node from the electrical connection box
(Dismantling/Mounting:  section 1.3).

3. Replace the electrical connection box

For removal/installation of the electrical connection box,
follow the accompanying product documentation:
assembly instructions CAPC-F1-E-M12-D2
 www.festo.com  Support portal: enter search term,
e.g. “CAPC-F1-E-M12-D2”  User documentation.

4. Mount the bus node on the new electrical connection box
(Dismantling/Mounting:  section 1.3).

5. Switch the bus node power supply on again.

The bus node detects the connected I-port devices.

2-24

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2. Commissioning

Procedure in tool change mode

1. Switch off the bus node power supply.

2. Remove the bus node from the electrical connection box
(Dismantling/Mounting:  section 1.3).

3. Replace the electrical connection box

For removal/installation of the electrical connection box,
follow the accompanying product documentation:
assembly instructions CAPC-F1-E-M12-D2
 www.festo.com  Support portal: enter search term,
e.g. “CAPC-F1-E-M12-D2”  User documentation.

4. Mount the bus node on the new electrical connection box
(Dismantling/Mounting:  section 1.3).

5. Switch the bus node power supply on again.

The bus node detects the connected I-port devices.

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2-25

2. Commissioning

2-26

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Diagnostics

Chapter 3

Diagnostics

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-1

3. Diagnostics

Contents

3. Diagnostics 3-1...................................................

3.1 Summary of diagnostics options 3-3...................................

3.2 Diagnostics via LED display 3-3.......................................

3.2.1 Normal operating status display 3-4...........................

3.2.2 PS LED status display 3-5....................................

3.2.3 Status display X1/X2 LEDs 3-6................................

3.2.4 EtherCAT operating status display (LED run),
EtherCAT error (LE D error), connection status (LEDs L/A2, L/A1) 3-8.

3.3 Diagnostics via EtherCAT 3-10.........................................

3.3.1 Diagnostics via SDO access 3-10...............................

3.3.2 Diagnostics via diagnosis history 3-10...........................

3.3.3 Diagnostics via emergency message 3-12........................

3.3.4 Error codes 3-13.............................................

3.3.5 Error register 3-14...........................................

3.3.6 I-port event code 3-15........................................

3.3.7 Error reaction (fail-state settings) 3-19...........................

3-2

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

3.1 Summary of diagnostics options

The following possibilities for diagnostics and error handling
are available, depending on the configuration of the bus
node:

Diagnostics

Brief description Benefits Detailed

option

LED display The LEDs show hardware

faults, configuration errors,
bus faults, etc. immediately

Diagnostics via
fieldbus

Diagnostics via
– SDO access
– Diagnosis history
– Emergency message

Fast “on-the-spot” error
detection

Detailed error detection Section 3.3

Tab. 3/1: Overview of the diagnostic options of the bus node

3.2 Diagnostics via LED display

There are LE Ds on the bus node to assist in diagnostics on the
bus node and any connected devices
( Fig. 3/1).

The LEDs can assume the following states (sometimes in dif­ferent colours):

description

Section 3.2

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

Illuminated Flashing Off

3-3

3. Diagnostics

3.2.1 Normal operating status display

Device-specific

1

LEDs

PS: Power system

X1: Internal commu-

nication between
bus node and
device 1

X2: Internal commu-

nication between
bus node and
device 2

1

PS

X1

X2

2

RUN

2

EtherCAT­specific LEDs

Run: EtherCAT

operating
status

L/A2: Connection

status
(Link/Activity)
Out2

L/A1: Connection

status
(Link/Activity)
In1

Fig. 3/1: LEDs on the bus node

After the switch-on procedure the status LEDs indicate the
operating status and correct function of the bus node and of
fieldbus communication.

L/A2

L/A1

3-4

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3. Diagnostics

3.2.2 PS LED status display

PS (power system) – power sensor/logic supply

LED Process Status Meaning/error elimination

LED illuminated
green

LED flashes
green

ON

OFF

ON

OFF

ON

OFF

Normal operating status:
– Operating voltage present (in

the approved range)

– Load voltage present (in the

approved range)

1)

–Operatingvoltageisbelow

the required voltage

– Load voltage is below the re-

quired voltage

1)

Operating voltage not present • Check the power supply

–

• Eliminate undervoltage at the

connected device

LED is off

1)

Display depends on whether the connected device monitors the load voltage and reports this to
the bus node

Tab. 3/2: Status displays of the device-specific “PS” LED

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3-5

3. Diagnostics

3.2.3 Status display X1/X2 LEDs

X1 or X21)- Internal communication between bus node and device 1 or 2

1)

LED Process Status Meaning/error elimination

ON

OFF

Normal operating status –

LED illuminated
green

ON

OFF

LED flashes
green

ON

OFF

LED illuminated
red

– Connected device reports

diagnostics status

– Connection between bus

node and device OK

– Device is connected correctly

to the bus node, but internal
communication is faulty

– A connected device has been

Device diagnostics c an be read
out via fieldbus communication
(if activated on DIL switches on
the bus node)

• Check I-port cable/mounting

• Restart the bus node (by

switching the power off -> on)

removed after commission­ing.

1) Separate accessory (electrical connection box, type CAPC-…) with two interfaces for connecting
another device is required.

T ab. 3/3: Status displays of the device-specific “X1” LEDs if a device 1 is connected

and“X2”ifadevice2isconnected

3-6

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3. Diagnostics

X1 or X21)- Internal communication between bus node and device 1 or 2

1)

LED Process Status Meaning/error elimination

ON

OFF

LED flashes red

– Incorrect device connected

(device detected that is not

I-port compatible)
– Non-configured device
– Device replaced with another

type after commissioning
– If only LED X1 flashes red: er-

• Use an I-por t compatible

device (e.g. suitable valve
terminal) from Festo

• Connect at least one device

• Check target configuration

• Restart the bus node (by

switching the power off -> on)

ror in the bus node
– If X1 and X2 flash red simul-

taneously: no device is con-

nected to the bus node, or

configuration error (target

configuration)

ON

OFF

LED is off

– No device is connected to

the corresponding I-port in-

terface.

–

1) Separate accessory (electrical connection box, type CAPC-…) with two interfaces for connecting
another device is required.

T ab. 3/4: Status displays of the device-specific “X1” LEDs if a device 1 is connected

and “X2” if a device 2 is connected (continuation of Tab. 3/3)

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3-7

3. Diagnostics

3.2.4 EtherCAT operating status display (LED run),
EtherCAT error (LED error), connection status (LEDs L/A2, L/A1)

Run – EtherCAT operating status (communication status)

LED (green) Process Status Meaning/error elimination

LED illuminated

LED flickers

LED flashes

LED flashes 1x

ON

OFF

ON

OFF

OPERATIONAL Bus node is in OPERATIONAL status

(normal operating status)

BOOTSTRAP Busnodeisincorrectstatustoac-

cept a firmware update

A firmware update is being per­formed

ON

OFF

PRE-OPERATIONAL BusnodeisinPRE-OPERATIONAL

status ( c onfiguration of the EtherCAT
network)

ON

OFF

1)

SAFE-OPERATIONAL BusnodeisinSAFE-OPERATIONAL

status (e.g. due to a network fault).
Only the input signals (e.g. sensor
data) are updated. Outputs and
valves remain in the current state
(signal is “frozen”).

ON

OFF

LED not
illuminated

1)

Single brief flash (1 x flash, pause, 1 x flash, etc.) is designated as single flash.

Tab. 3/5: Error diagnostics with the run LED

3-8

INIT BusnodeisinINITstatus(normal

state after switch-on or after a restart
or reboot)

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

L/A2, L/A1 – Connection status (link/activity) Out2/In1

LED (green) Process Status Meaning/error elimination

ON

OFF

Network connection OK and no
data transmission

–

LED illuminated

ON

OFF

LED flashes

ON

OFF

Network connection OK and

–
data transmission is running
(traffic)

1)

No physical network connection • Check network connection/

network cable

LED not
illuminated

1)

Rapid flickering gives impression that LED is lit; light intensity depends on data traffic

Tab. 3/6: Error diagnostics with the LEDs L/A2, L/A1

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-9

3. Diagnostics

3.3 Diagnostics via EtherCAT

3.3.1 Diagnostics via SDO access

The master controller can request diagnostic information
from the bus node via SDO access. The corresponding ob­jects can be found in the object directory in section A.4.

3.3.2 Diagnostics via diagnosis history

The 20 most recent diagnostics messages can be called up
with the help of the diagnostics object 0x10F3. For every
event stored in the device (warning, error, information), an
error message referenced with a code is displayed. Dia­gnostics messages are decoded via the ESI file and can be
read e.g. by the TwinCAT system manager. The following table
shows the structure of the diagnostics object 0x10F3.

The following abbreviations are used:

RO = read only
RW = read/write
RO P = read only (PDO mappable)

3-10

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

Index Sub-

Description Type Values Access

index

0x10F3 0 Diagnosis history RO

1 Maximum messages U8 20 RO

2 Newest message U8 RO

3 Newest acknowledged

message

4 New message available BOOL RO P

5 Flags U16 0x0000 RW

6…26 S ubindex 006 … 026 BYTE[23] RO

U8 RW

Tab. 3/7: Structure of the diagnostics object

Diagnostics messages are written to a data buffer (20 bytes).
T wo operating modes are available for handling diagnostics
messages:

Overwrite mode: When the number of diagnostics messages reaches 20, the

oldest diagnostics messages are overwritten.

Acknowledge mode: An existing diagnostics message must first be acknowledged

before it can be overwritten with a new diagnostics message.
When the number of unconfirmed diagnostics messages
reaches 20, subsequent diagnostics messages will not be
saved and will be lost.

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-11

3. Diagnostics

3.3.3 Diagnostics via emergency message

If an error occurs, the bus node will send an emergency
message (EM) with a defined structure ( Tab. 3/8) provided
that the “diagnostics” DIL switch is activated
( section 1.4.5).

Byte 0

Error code Error

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

I-port 1 event code I-port 2 event code Diagnosis

register

Tab. 3/8: Structure of an emergency message (EM)

Note

If several emergency messages from Tab. 3/9 are present,
only the most recently reported is transmitted to the mas­ter controller.

The following sections describe the components of the emer­gency message and the error causes
( Tab. 3/9 ... Tab. 3/11).

number

3-12

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

3.3.4 Error c odes

Error code

Explanation Remark/possible causes

(hex.)

Byte 0 Byte 1

00 00 No error –

00 12 Invalid I/O configuration • Compare I/O data lengths

FF 00 Configuration error – Device replaced during operation

– Configuration error during operation
– No device at either I-port

FF 70 Built-in self test failed • Restart device

• Contact support

FF FF Other diagnostic message – Diagnostic bytes from I-port

telegram present
(I-port event codes,



Tab. 3/11)

Tab. 3/9: Bus node error codes

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-13

3. Diagnostics

3.3.5 Error register

Bit Meaning Explanation

0 Generic error Set for each error

1 Current Short circuit (link with error code)

2 Voltage Undervoltage (link with error code)

3 – Not used

4 Communication error Node guard, heartbeat – fieldbus-specific only

5 – Not used

6 Reserved (always 0) Always 0

7 Manufacturer s pecific Always set if error is not 1 … 6 or diagnostics program from

I-port

Tab. 3/10: Error register

3-14

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

3.3.6 I-port event code

The content for I-port 1 is in bytes 3 and 4; the content for
I-port2isinbytes5and6.

Event code (hex.)

Explanation Description/remedy

MSB LSB

00 00 Device OK (Default),

no malfunction

10 00 Device NOK, unknown error I-port device is not OK,

40 00 Temperature fault – Overload Temperature fault – Overload

42 10 Device temperature overrun –

Clear source of heat

42 20 Device temperature underrun –

Insulate device

50 00 Device hardware fault –

Exchange device

I-port device is OK, no errors

unknown error

I-port device temperature
exceeded

• Remove heat source

I-port device temperature too
low

• Thermally insulate the device

Hardware fault in the I-port
device

• Replace device

50 10 Component malfunction –

50 11 Non-volatile memory loss –

50 12 Batteries low – Exchange

51 00 General power supply fault –

51 01 Fuse blown/open - Exchange

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

Repair or exchange

Check batteries

batteries

Check availibility

fuse

A component is malfunctioning

• Repair or replace

Loss of data from non-volatile
memory

• Check batteries

Batteries are low

• Replace batteries

General fault in power supply

• Check availability

Fuse has tripped o r is not
correctly inserted

• Replace fuse or insert

correctly

3-15

3. Diagnostics

Event code (hex.) Description/remedyExplanation

MSB

51 10 Primary supply voltage overrun

51 11 Primary supply voltage

51 12 Secondary supply voltage fault

51 14 Undervoltage in load supply PL

60 00 Device software fault – Check

63 20 Parameter error – Check data

LSB

–Checktolerance

underrun – Check tolerance

–Checktolerance

(provided supervisory function
is enabled)

firmware revision

sheet and values

Description/remedyExplanation

Primary supply voltage is too
high

• Check voltage tolerance

Primary supply voltage is too
low

• Check voltage tolerance

Fault in the secondary power
supply

• Check voltage tolerance

Load voltage (PL) too low
(only when PL monitoring is
activated in device)

Device software fault

• Check firmware version

Parameter error

• Check data sheet and values

63 21 Parameter missing – Check data

sheet

63 50 Parameter changed – Check

configuration

77 00 Wire break of a subordinate

device – Check configuration

77 01 … 0F Wire break of subordinate

device 1 ... 15 – Check
installation

77 10 Short circuit – Check

installation

77 11 Ground fault – Check

installation

Missing parameters

• Check data sheet

Changed parameter

• Check configuration

Wire break in a subordinate
device

• Check configuration

Wire break in subordinate
device 1 … 15

• Check installation

Short circuit

• Check installation

Earth connection

• Check installation

3-16

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

Event code (hex.) Description/remedyExplanation

MSB

8C 00 Technology specific application

8C 01 Simulation active – Check

8C 10 Process variable range overrun

8C 20 Measurement range overrun –

8C 30 Process variable range

8C 40 Maintenance required –

LSB

fault – Reset device

operational mode

– Process data uncertain

Check application

underrun – Process data
uncertain

Cleaning

Description/remedyExplanation

Technology-specific application
error

• Reset device

Simulation active

• Check operating mode

Process variable range
exceeded, process data
uncertain

Measuring range exceeded

• Check application

Process variable range
underrun, process data
uncertain

Maintenance required

• Cleaning

8C 41 Maintenance required – Refill Maintenance required

• Refill

8C 42 Maintenance required –

Exchange wear and tear parts

Maintenance required

• Replace wearing parts

8D 00 Test mode enabled Test mode is active

FF 50 I-Port-Device disconnected I-port device is disconnected

FF 51 I-Port-Device reconnected Connection to I-port device

reestablished

FF 52 Device configuration failed • Compare target configuration

with the I-ports used

• Then restart

FF 53 Device wrongly connected • Remove device from the

respective I-port

FF 54 Device missing • Connect device to I-port

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-17

3. Diagnostics

Event code (hex.) Description/remedyExplanation

MSB

FF 55 Input data size greater than

FF 56 Output data size greater than

LSB

configured

configured

Tab. 3/11: I-port event code

Description/remedyExplanation

Input data are greater than
those configured in tool change
mode

• No action required

Output data are greater than
those configured in tool change
mode

• No action required

3-18

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

3.3.7 Error reaction (fail-state settings)

The reaction of the bus node to the following errors is de­pendent on the parameterised fail-safe setting and the (con­figured) reaction of the controller, i.e. the PLC, the IPC or the
application program:

– (Master) controller stops

– Network interruption

– Telegram failure

Depending on the parameterisation, the outputs (valves and
electrical outputs) will be:

– switched off (output signal reset, in the case of analogue

outputs to 0; factory setting)

– switched on (output signal set, in the case of analogue

outputs to the parameterised value)

– kept in the same state (“freezing” of output signal)

You can define two types of error reaction for the controller
(or the application program):

– Hard error reaction:

The controller switches to “STOP”/PRE-OPERATIONAL
mode when a fault occurs

– Soft error reaction:

The controller remains in “RUN”/SAFE-OPERATIONAL (or,
if relevant, OPERATIONAL) mode when a fault occurs

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-19

3. Diagnostics

Warning

Accidental activation of actuators!
Incorrect statuses of valves and outputs can lead to dan-

gerous situations!

•

Make sure that valves and outputs are put in a safe state
when malfunctions occur.

•

In the context of your EMERGENCY STOP concept
and fail-state settings, check what measures are neces­sary in order to put your machine/system in a safe state.

Typical safety measures required to put system in safe
state:

– Switch off the load voltage for the valves and output

modules in the secondary circuit of the power unit

– Switch off the compressed air supply to the valve termin-

al

Due to energy stored in the input circuitry of valve termin­als, valves may display a delayed response when the load
voltage is switched off.

Take this situation into account, for example by:
– using an input signal in the controller to check whether

the load voltage has been switched off

– blocking the valve switching signal by locking the output

signal with the “load voltage” input signal

3-20

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

3. Diagnostics

Note

T ake account of valve behaviour in your EMERGENCY STOP
concept/fail-safe settings!

If the outputs are reset when the controller stops or in case
of network interruption, telegram failure or a terminal
fault, the valves will behave as follows:

– Monostable valves will move to their normal position
– Double-solenoid valves will remain in their current posi-

tion

– Mid-position valves will move to their neutral position

(pressurised, exhausted or closed, depending on valve
type)

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

3-21

3. Diagnostics

3-22

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

Technical appendix

Appendix A

Technical appendix

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-1

A. Technical appendix

Contents

A. Technical appendix A-1.............................................

A.1 Technical data A-3..................................................

A.2 EtherCAT CANopen object model A-7..................................

A.3 Updating the bus node EEPROM A-8...................................

A.4 Object directories A-9...............................................

A.4.1 Objects common to both communication profiles A-9..............

A.4.2 Communication profile – extensions, fixed variant A-14.............

A.4.3 Communication profile – extensions, modular variant A-17..........

A-2

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

A.1 Technical data

General

Degree of protection provided by housing

1)

according to IEC/EN 60529, completely moun­ted, plug connector inserted or provided with
cover cap

Protection against electric shock

protection against direct and indirect contact as
per IEC/DIN 60204-1

Electromagnetic compatibility (EMC)

2)

– Emitted interference
– Resistance to interference

Ambient temperature

1)

–Operation
– Storage/transport

Vibration and shock

3)

tested as per IEC/EN 60068
–Vibration(part2-6)
– S hoc k (part 2 - 27)
– Continuous shock (part 2 - 29)

Dimensions

–Width
–Length
–Height

IP65

through the use of PELV circuits

See declaration of conformity
 www.festo.com

–5 … +50 °C
–20…+70°C

Severity level (SL) for mounting on ...

Wall: SL 2, H-rail: SL 1
Wall: SL 2, H-rail: SL 1
Wall and H-rail: SG 1

40 mm
91 mm
50 mm

Weight (bus node without cable and substruc­ture)

1)

Please note that connected devices may only satisfy a lower protection class, be suitable for a
smaller temperature range, etc.

2)

The device is intended for use in an industrial environment. Outside of industrial environments,
e.g. in commercial and mixed-residential areas, measures t o suppress interference may be
required.

3)

Explanation of severity level  following table “Explanation of vibration and shock – severity
level”

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

90 g

A-3

A. Technical appendix

General

Materials

– Housing
– Housing cover, cover for DIL switches
– Threaded sleeve M12
– Threaded bush M3
– S eals
–Screws

RoHS-compliant
PA, reinforc ed
PC
Brass, galvanically nickel-plated
Brass
Nitrile rubber
Galvanised steel

Explanation on vibration and shock – severity level

Severity level 1
(SL1, in accordance with EN 60068,
part 2 – 29)

Vibration:

0.15 mm path at 10 … 58 Hz;
2 g acceleration at 58 ... 150 Hz

Shock:
±15 g at 11 ms duration;
5 shocks per direction

Continuous shock:
±15gat6msduration;
1000 shocks per direction

Severity level 2
(SG2, in accordance with E N 60068,
part 2 – 27)

Vibration:

0.35 mm path at 10 … 60 Hz;
5 g acceleration at 60 ... 150 Hz

Shock:
±30 g at 11 ms duration;
5 shocks per direction

Continuous shock:
n. a.

A-4

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

Power supply

Operating voltage for bus nodes and connect ed
I-port devices

– Nominal value
– Tolerance range

Load voltage for connected devices

– Tolerance range DC 18 … 30 V

1)

DC 24 V
DC 18 … 30 V

1)

2)

Bus node intrinsic current consumption

from operating voltage supply for electronics/
sensors (U

EL/SEN

)

max. 60 mA at 24 V
(internal electronics)

Load capacity of the operating and load voltage
supply

– Bus node on device (e.g. valve terminal)
– Bus node on electrical connection box, type

1) 3)

CAPC-... (X

and X2)

1

max. 4 A
max. 2 A

Isolation

EtherCAT interfaces for U

EL/SEN

Galvanically isolated

Mains buffering time 10 ms

1)

Separate external fuses are required for operating and load voltage supply

2)

Dependent on the connected device (e.g. valve terminal)

3)

Load capacity with regard to the connected equipment, e.g. the valve terminal, including the bus
node

I-port interface signal transmission

– Internal cycle time 1msper1byteofuserdata

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-5

A. Technical appendix

Network-specific characteristics

Fieldbus protocol EtherCAT, based on the Ethernet protocol

(IEEE 802.3), optimised for process data,
real-time capable

Specification Standards and norms containing reference to

EtherCAT:
– IEC 61158
– IEC 61784
– IEC 61918
– IS O/IEC 8802-3

Additional information:
http://www.ethercat.org

Baud rate 100 Mbit/s

Cross-over detection Auto-MDI

EtherCAT input/output size max. 16 bytes/max. 16 bytes

A-6

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

A.2 EtherCAT CANopen object model

The following table shows the general address space of the
Modular Device Profile, which is used for both ESI file vari­ants.

Index (hex.)

0x0000 – 0x0FFF Data type area

0x1000 – 0x1FFF Communication profile area

0x2000 – 0x5FFF Manufacturer specific profile area

0x6000 – 0x6FFF Input area

0x7000 – 0x7FFF Output area

0x8000 – 0x8FFF Configuration area

0x9000 – 0x9FFF Information area

0xA000 – 0xAFFF Diagnosis area

0xB000 – 0xBFFF Service transfer area

0xC000 – 0xEFFF Reserved area

0xF000 – 0xFFFF Device area

Object dictionary area

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-7

A. Technical appendix

A.3 Updating the bus node EEPROM

In its delivery status, the CTEU-EC bus node uses a Modular
Device Profile (MDP) for both I-ports.
Because some EtherCAT masters do not yet support an MDP,
it may be necessary to rewrite the bus node EEPROM from
MDPtoafixedI/Oconfiguration.
For this the fixed ESI file ( chapter 2) is required.
Depending on the configuration and programming software
used, the actual procedure may vary slightly from the one
described below. The basic procedure is as follows:

1. Select the CTEU-EC bus node from “I/O configuration”
in the configuration and programming software.

2. Select “EEPROM Update”.

3. Overwrite the EEPROM with the fixed ESI file.

4. Perform a cold start of the bus node.

5. Find the bus node in your configuration and program­ming software, and reparameterise it.

A-8

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

A.4 Object directories

The following tables list the communication profile (CoE com­munication protocol) objects. These objects are described in
the EtherCAT configuration (ESI) files. Two different ESI files
areavailablefromFesto( chapter 2). The following abbrevi-
ations are used:

RO= read only
RW = read/write
RO P = read only (PDO mappable)

A.4.1 Objects common to both communication profiles

The objects in the following table are available in both ESI
files (fixed and modular)

The module parameters can be set from index 0x8000
onwards.

Index Sub-

index

0x1001 0 Error register U8 RO

0x1008 0 Device name String CTEU-EC RO

0x1009 0 Hardware version String RO

0x100A 0 Software version String RO

0x10F1 0 Error settings RO

Description Type Values Explanation/note Access

1 Local error reaction U32 RO

2 Sync error counter

limit

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

U32 RO

A-9

A. Technical appendix

Index AccessExplanation/noteValuesTypeDescriptionSub-

index

0x10F3 0 Diagnosis history RO

1 Maximum messages U8 20 RO

2 Newest message U8 RO

3 Newest

acknowledged
message

4 New message

available

5 Flags U16 0x0000 RW

6…26 S ubindex 006 … 026 BYTE[2

0x1100 0 EtherCAT address U16 RO

0x1110 0 Virtual MAC address U8 RO

0x1111 0 Virtual IP address U8 5 RO

1 IP-address U32 RO

2 Subnet mask U32 RO

3 Default gateway U32 RO

4 DNS server U32 RO

U8 RW

BOOL RO P

RO

3]

5 DNS name String RO

0x1C000x1C00 0 Sync manager type U16 4 RO

1 Mailbox write U8 0x01 RO

2 Mailbox read U8 0x02 RO

3 Process output data U8 0x03 RO

4 Process input data U8 0x04 RO

0x1C32 SM 2 parameter

0x1C33 SM 3 parameter

A-10

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

Index AccessExplanation/noteValuesTypeDescriptionSub-

index

0x8000 0 Settings for module 1 U16 8 RO

1 Settings byte 1 U8 RW

… … … … …

16 Settings byte 16 U8 RW

0x8010 0 Settings for module 2 U16 8 RO

1 Settings byte 1 U8 RW

… … … … …

16 Settings byte 16 U8 RW

0x8100 0 Target configuration

module 1

0x810A 0 Target configuration

module 2

0x8200 0 Tool change mode

configuration
module 1

1 Active U8 0 0=automode

2 Input data length U8 8 Length in bytes RW

3 Output data length U8 8 Length in bytes RW

0x820A 0 Tool change mode

configuration mod­ule 2

U8

U8

U16 RO

U16 RO

 section 2.1.4

 section 2.1.4

1 = tool change mode

RW

RW

RW

1 Active U8 0 0=automode

2 Input data length U8 8 Length in bytes RW

3 Output data length U8 8 Length in bytes RW

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

RW

1 = tool change mode

A-11

A. Technical appendix

Index AccessExplanation/noteValuesTypeDescriptionSub-

index

0x9000 0 Identity module 1 U16 17 RO

1 PDO input length U8 RO

2 PDO output length U8 RO

3 Vendor I D U16 RO

4 Device ID U32 RO

5 Function ID U16 RO

6 Vendor name String

(64+1)

7 Vendor U RL String

(64+1)

8 Product name String

(64+1)

9 Order no. String

(64+1)

10 Product text String

(64+1)

11 Order code String

(64+1)

12 HW revision String

(64+1)

13 SW revision String

(64+1)

14 Slave attribute U8 RO

RO

RO

RO

RO

RO

RO

RO

RO

15 Extended parameter U8 RO

16 Diagnosis type U16 RO

17 I-port revision U16 RO

18 Type-I D U8 RO

A-12

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

Index AccessExplanation/noteValuesTypeDescriptionSub-

index

0x900A 0 Identity module 2 U16 17 RO

1 PDO input length U8 RO

2 PDO output length U8 RO

3 Vendor I D U16 RO

4 Device ID U32 RO

5 Function ID U16 RO

6 Vendor name String

(64+1)

7 Vendor U RL String

(64+1)

8 Product name String

(64+1)

9 Order no. String(

64+1)

10 Product text String

(64+1)

11 Order code String

(64+1)

12 HW revision String

(64+1)

13 SW revision String

(64+1)

14 Slave attribute U8 RO

RO

RO

RO

RO

RO

RO

RO

RO

15 Extended parameter U8 RO

16 Diagnosis type U16 RO

17 I-port revision U16 RO

18 Type-I D U8 RO

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-13

A. Technical appendix

Index AccessExplanation/noteValuesTypeDescriptionSub-

index

0xA000 0 Diag nosis module 1 U16

0xA00A 0 Diagnosis module 2 U16

 section 3.3.3

(

byte 3 and byte 4)

 section 3.3.3

(

byte 5 and byte 6)

A.4.2 Communication profile – extensions, fixed variant

Index Sub-

index

0x1000 0 Device type U32 0x00001389 (5001) RO

0x1018 0 Identity object RO

1 Vendor I D U32 0x0000001D RO

2 Product code U32 Festo part number:

Description Type Values Access

572556

RO

RO

RO

3 Revision U32 1 RO

4 Serial number U32 RO

0x1400
…
0x15FF

0 RxPDO parameter

A-14

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

Index AccessValuesTypeDescriptionSub-

index

0x1600 0 RxPDO mapping U16 16 RO

1 0x1600:01 U32 0x70000108 RO

2 0x1600:02 U32 0x70000208 RO

3 0x1600:03 U32 0x70000308 RO

4 0x1600:04 U32 0x70000408 RO

5 0x1600:05 U32 0x70000508 RO

6 0x1600:06 U32 0x70000608 RO

0x1800
…
0x19FF

7 0x1600:07 U32 0x70000708 RO

8 0x1600:08 U32 0x70000808 RO

9 0x1600:09 U32 0x70000908 RO

10 0x1600:0A U32 0x70000A08 RO

11 0x1600:0B U32 0x70000B08 RO

12 0x1600:0C U32 0x70000C08 RO

13 0x1600:0D U32 0x70000D08 RO

14 0x1600:0E U32 0x70000E08 RO

15 0x1600:0F U32 0x70000F08 RO

16 0x1600:10 U32 0x70001008 RO

0 TxPDO parameter C

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-15

A. Technical appendix

Index AccessValuesTypeDescriptionSub-

index

0x1A00 0 TxPDO mapping U16 16 RO

1 0x1A00:01 U32 0x60000108 RO

2 0x1A00:02 U32 0x60000208 RO

3 0x1A00:03 U32 0x60000308 RO

4 0x1A00:04 U32 0x60000408 RO

5 0x1A00:05 U32 0x60000508 RO

6 0x1A00:06 U32 0x60000608 RO

7 0x1A00:07 U32 0x60000708 RO

8 0x1A00:08 U32 0x60000808 RO

9 0x1A00:09 U32 0x60000908 RO

10 0x1A00:0A U32 0x60000A08 RO

11 0x1A00:0B U32 0x60000B08 RO

12 0x1A00:0C U32 0x60000C08 RO

13 0x1A00:0D U32 0x60000D08 RO

14 0x1A00:0E U32 0x60000E08 RO

15 0x1A00:0F U32 0x60000F08 RO

16 0x1A00:10 U32 0x60001008 RO

0x1C12 0 RxPDO assign U16 1 RO

1 0x1C12:01 U16 0x1600 RO

0x1C13 0 TxPDO assign U16 1 RO

1 0x1C13:01 U16 0x1A00 RO

0x6000 0 Input entries U16 RO P

1
…
16

Output 1
…
Output 16

A-16

U8
…
U8

RO P
…
RO P

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH

A. Technical appendix

Index AccessValuesTypeDescriptionSub-

index

0x7000 0 Output entries U16 16 RO P

1 Output 1 U8 RO P

… … … … …

16 Output 16 U8 RO P

A.4.3 Communication profile – extensions, modular variant

Index Sub-

Description Type Values Access

index

0x1000 0 Device type U32 0x00001389 (5001) RO

0x1018 0 Identity object RO

1 Vendor I D U32 0x0000001D RO

2 Product code U32 Festo part number:

572556

3 Revision U32 2 RO

4 Serial number U32 RO

0x1600 0 RxPDO U16 8 RO

1 Subindex 001 U32 0x7000:01, 8 RO

2 Subindex 002 U32 0x7000:02, 8 RO

3 Subindex 003 U32 0x7000:03, 8 RO

4 Subindex 004 U32 0x7000:04, 8 RO

RO

5 Subindex 005 U32 0x7000:05, 8 RO

6 Subindex 006 U32 0x7000:06, 8 RO

7 Subindex 007 U32 0x7000:07, 8 RO

8 Subindex 008 U32 0x7000:08, 8 RO

Festo P.BE-CTE U-EC-OP+MAINT-EN en 1208NH

A-17

A. Technical appendix

Index AccessValuesTypeDescriptionSub-

index

0x160A 0 RxPDO U16 8 RO

1 Subindex 001 U32 0x700A:01, 8 RO

2 Subindex 002 U32 0x700A:02, 8 RO

3 Subindex 003 U32 0x700A:03, 8 RO

4 Subindex 004 U32 0x700A:04, 8 RO

5 Subindex 005 U32 0x700A:05, 8 RO

6 Subindex 006 U32 0x700A:06, 8 RO

7 Subindex 007 U32 0x700A:07, 8 RO

8 Subindex 008 U32 0x700A:08, 8 RO

0x1A00 0 TxPDO U16 8 RO

1 Subindex 001 U32 0x6000:01, 8 RO

2 Subindex 002 U32 0x6000:02, 8 RO

3 Subindex 003 U32 0x6000:03, 8 RO

4 Subindex 004 U32 0x6000:04, 8 RO

5 Subindex 005 U32 0x6000:05, 8 RO

6 Subindex 006 U32 0x6000:06, 8 RO

7 Subindex 007 U32 0x6000:07, 8 RO

8 Subindex 008 U32 0x6000:08, 8 RO

A-18

Festo P.BE-CTEU-EC-OP+MAINT-E N en 1208NH