Festo СРХ User Manual
CPX Terminal
Electronics Manual
CoDeSys Controller
Type
CPX−CEC
CPX−CEC−C1/−M1
Manual
569 122
en 1004a
[753 482]
Contents and general instructions
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 1004a. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−CPX−CEC−EN. . . . . . . . . . . . . . . . . . . . . . . .
Orderno. 569 122
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Germany, 2010)
Internet:http://www.festo.com
E−mail: service_international@festo.com
The reproduction, distribution and utilisation of this docu
ment as
well as the communication of its contents to others
without explicit authorisation is prohibited. Offenders will
be held liable for the payment of damages. All rights re
served in the event of the grant of a patent, utility module
or design.
Festo P.BE−CPX−CEC−EN en 1004a
I
Contents and general instructions
CANopen®, CoDeSys®, MODBUS® and TORX® are registered trade names of the respective
trademark holders in certain countries.
This product uses open−source software which is subject to the "GNU General Public License,
Version 2". The licensing conditions of the GPL are located either in the product’s engineering
tool or at the following addresses:
http://<IP address of the device>/product−information.html
http://www.gnu.org/copyleft/gpl.html
II
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general instructions
Contents
Designated use V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX . . . . . . . . . . . .
Notes on the use of this manual XI . . . . . . . . . .
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1. System summary 1−1 . . . . . . . . . . . . . . .
1.1 The CoDeSys controller CPX−CEC/CPX−CEC−... 1−3 . . . . . . . . . . . . . . .
1.2 Supported motor controllers 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 1−6 . . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming environment 1−9 . . . . . . . . . . . . .
1.4.1 Programming languages 1−11 .
1.4.2 Libraries 1−12 . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 1−12 . . . . . . . . . . . . . . . . . . .
1.5 Meaning of the LED displays 1−13 . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 CPX−specific LEDs 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Installation 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and fitting 2−4 . . . .
2.2.1 Dismantling 2−4 . . . . . . . . . .
2.2.2 Fitting 2−5 . . . . . . . . . . . . . . . .
2.3 Connection and display elements 2−6 . . . . . . . . . . . . .
2.4 Setting the switches of the CoDeSys controller 2−7 . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 RUN/STOP rotary switch 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 DIL switches 2−8 . . . . . . . . . . .
2.5 Ethernet interface 2−10 . . . . . . . . . . . . . . . .
2.5.1 Ethernet cable 2−10 . . . . . . . . . . . . . . . . .
2.6 Communication interfaces 2−12 . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 CANopen interface (CPX−CEC−C1/−M1) 2−12 . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 RS232 interface (CPX−CEC) 2−17 . . . . .
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Festo P.BE−CPX−CEC−EN en 1004a
III
Contents and general instructions
2.7 Connection of an operator unit type FED 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Connection of a handheld type CPX−MMI 2−19 . . . . . . . . . .
. . . . . . . . . . . . . . . . . .
2.9 Complying with protection class IP65/IP67 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning 3−1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Prerequisites for commissioning 3−3
3.2 First steps 3−3 . . . . . . . . . . . . .
3.3 Configuration of the CPX modules 3−5 . . . . . .
3.4 Configuration of the CANopen slaves 3−8 . . . . . . . . . . . . . . . . . .
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3.5 Parameterisation of the CPX terminal 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Parameterisation via
control configuration in CoDeSys 3−10 . . . . . . . . .
3.5.2 Parameterisation via the handheld type CPX−MMI 3−13 . . . . . . . . . . . . .
3.6 Forcing 3−14 . . . . . . . . . . . . . . . . .
4. Diagnosis 4−1 . . . . . . . . . . . .
4.1 General error response of the CoDeSys controller 4−3 . .
4.2 Diagnosis via controller LEDs 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Further diagnostic options 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data A−3
B. Index B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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IV
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general instructions
Designated use
The type CPX−CEC/CPX−CEC−... CoDeSys controller docum
ented in this manual is intended exclusively for use in Festo
CPX terminals for installation in a machine or an automation
control system.
In combination with a CPX terminal, the CPX−CEC/CPX−CEC−...
is used for
controlling pneumatic and electric actuators (valves, out
put modules and motor controllers via CANopen)
interrogating
electric sensor signals through the input
modules
communication via Ethernet.
The CPX terminal with the CPX−CEC/CPX−CEC−... may only be
used as follows:
as designated in industrial applications
without any modifications by the user. Only the conver
sions or modifications described in the documentation
supplied with the product are permitted
in faultless technical condition
only in
combination with approved components
(e.g.valves, drive/displacement encoder combinations).
The limit values specified for pressures, temperatures, electri
cal data, torques etc. should be observed.
Please comply with the regulations of the workers’ com
pensation insurance association, the German Technical Con
trol Board (TÜV) and the electrical requirements of the VDE or
the corresponding national and
local safety regulations.
Festo P.BE−CPX−CEC−EN en 1004a
V
Contents and general instructions
Safety instructions
Protection against dangerous movements
Warning
High acceleration forces at the connected actuators! Unde
sired movements can cause collisions and severe injuries.
Dangerous movements can occur through faulty control
ling of connected actuators, e.g. via:
unsafe or faulty circuitry or cabling,
faulty operation of the components,
errors in the measured value and signal generators,
defects or non−EMC−compliant components,
errors in
programming errors in user programs and projects.
Simply switching off the compressed air supply or load
voltage is not suitable for locking procedures. In the event
of a fault, this could lead to unintentional movement of the
drive.
· Before doing mounting, installation and service work,
· Make sure that no persons are in the operating range of
· Do not switch on the compressed air supply until the
the higher−order control system,
bring the system into a safe condition (e.g. by bringing
the drive into a safe position and deactivating the
controller).
Always make sure that the compressed air supply and
power supply are switched off and locked when working
in the machine area.
the drives or any other connected actuators.
system is correctly installed and parameterised.
VI
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general instructions
· Brakes controlled by the drive controller are alone not
· Additional measures are required for use in safety−re
Protection from pressurised tubing
suitable to ensure personal protection!
Secure vertical axes from falling or sliding down when
the compressed air and load voltages are switched off,
as follows:
mechanical locking of the vertical axis,
external braking/safety catch/clamping device or
sufficient counterbalance of the axis.
lated applications; in Europe, for example, the standards
listed under the EC Machinery Directive must be ob
served. Without additional measures in accordance with
statutory minimum requirements, the product is not
suitable for use in safety−related sections of control
systems.
Festo P.BE−CPX−CEC−EN en 1004a
Caution
Danger of injury through inappropriate handling of pres
surised tubing!
Undesired movements of the connected actuators and
uncontrolled movements of loose tubing can cause injury
to human beings or damage to property.
· Do not connect, disconnect or open pressurised tubing.
· The tubing must always be vented before removal
(release compressed air).
· Use suitable protective equipment (e.g. safety goggles,
safety shoes, etc.).
VII
Contents and general instructions
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.
Service
Please consult your local Festo Service if you have any techni
cal problems.
VIII
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general 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 property damage.
Caution
... means that failure to observe this instruction may result
in personal injury or property damage.
Festo P.BE−CPX−CEC−EN en 1004a
Note
... 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
components:
Electrostatically sensitive devices: Improper handling can
result in damage to components.
IX
Contents and general instructions
Identifying special information
The following pictograms mark passages in the text which
contain special information.
Pictograms
Information:
Recommendations, tips and cross−references to other in
formation sources.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally friendly use of Festo
products.
Text markings
· The bullet indicates activities which may be carried out in
any order.
1. Numerals denote activities which must be carried out in
the numerical order specified.
Hyphens designate general lists.
Brackets designate menu entries.
Example: [Scan module configuration].
Arrow brackets mark placeholders for designations. Example:
"Status of <Your Connection>".
Quotation marks designate names of windows, dialogues
and
buttons. Example: "Control configuration".
X
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general instructions
Notes on the use of this manual
This manual refers to the following firmware and software
versions:
CoDeSys controller CPX−CEC−C1 from Rev 01
CoDeSys controller CPX−CEC and CPX−CEC−M1 from
Rev 05
Programming environment CoDeSys provided by Festo
from Version 2.3
This manual contains information on the function, fitting,
installation and commissioning of the CoDeSys controller.
Further information on the device
following documentation:
Type
Short
manual
Online help Online.Help for the
Title Description
"CoDeSys controller"
type P.BE−K−CPX−CEC
CoDeSys controller
CPX−CEC−...
Connection and display elements, mounting,
installation and technical data
Configuration, commissioning, operation and
error diagnosis
Tab.0/1: Additional documentation on the device
General basic information on the mode of operation, on fit
ting, installing and commissioning CPX terminals can be
found in the CPX system manual, type P.BE−CPX−SYS−...
Observe also the user documentation of the components
used in the CPX terminal.
can be found in the
Festo P.BE−CPX−CEC−EN en 1004a
XI
Contents and general instructions
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation
0 signal 0 V applied at input, or output supplies 0 V
1 signal 24 V applied at input, or output supplies 24 V
0x01 (A0h) Hexadecimal numbers are marked by a prefixed "0x" or by a subscript
CANopen Fieldbus protocol based on CAN, which is standardised as a European
CoDeSys provided by Festo
(= CoDeSys pbF)
CPX terminal Complete system consisting of CPX modules with or without
CPX modules Common term for the various modules which can be integrated in a CPX
DHCP (Dynamic Host
Configuration Protocol)
DIL switch Dual−in−line switches consist of several switch elements with which
I/O modules Collective term for the CPX modules which provide digital inputs and
I/Os Digital inputs and outputs
Meaning
"h"
standard
CoDeSys = Controller Development System
CoDeSys provided by Festo permits configuration, commissioning and
programming of various components and devices by Festo. In this
documentation, called "CoDeSys pbF" for short
pneumatics
terminal
Dynamic protocol for automatic assignment of IP addresses
settings can be made
outputs
EasyIP Protocol for fast exchange of operands between Festo controllers
EDS file Electronic data sheet, which describes the function and characteristics
Ethernet Physical protocol and network for connecting various devices
Fieldbus node Provides the connection to specific fieldbuses. Transmits control
XII
of a CANopen device in standardised form (e.g. number of I/Os,
number of diagnosis bytes, etc.).
signals to the connected modules and monitors their ability to function
Festo P.BE−CPX−CEC−EN en 1004a
Contents and general instructions
Term/abbreviation Meaning
FHPP (Festo Handling and
Positioning Profile)
FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP
Handheld type CPX−MMI Handheld terminal for commissioning and service purposes
HTTP (Hyper Text Transfer
Protocol)
IP (Internet Protocol) Protocol for addressing and delivering data
Login/Logout Programming system is logged out/logged out
MAC address (Media
Access Control address)
Modbus/TCP Communication standard via TCP/IP in automation technology
Node ID Provides unique identification of a bus slave on the CANopen fieldbus
OLE Object Linking and Embedding
OPC OLE for Process Control; standardised software interface that permits
PLC/IPC Programmable logic controller/industrial PC
Pneumatic interface Interface between the modular electric peripherals and the pneumatics
SoftMotion Motion functionality integrated in the CoDeSys pbF programming and
Uniform fieldbus data profile for positioning controllers from Festo
Protocol for data transfer via TCP/IP
Fixed assigned address for Ethernet device
access to process data
run−time system. The following motion control models are offered as
modules:
Single/multi−axis positioning movements with PLCopen Motion
modules
2.5D CNC control
TCP/IP Combination of the protocols TCP and IP, the most−widely used protocol
TFTP (Trivial File Transfer
Protocol)
TSP
(Target Support Package)
Festo P.BE−CPX−CEC−EN en 1004a
in communication via Ethernet
Protocol for file transfer via TCP/IP
A target support package combines all configuration and expansion
files that are needed to make a specific controller (target) usable for
the programming environment (CoDeSys provided by Festo)
XIII
Contents and general instructions
Term/abbreviation Meaning
UDP (User Datagram
Protocol)
User data Telegram data without protocol frame data. The length of the user data
www World Wide Web
A minimal, connectionless network protocol that has a lower protocol
overhead compared to TCP. This has the advantage of a faster
exchange of data. Due to the lack of a reply, the correct transmission
must be ensured, e.g.by means of a user program
is defined in the configuration of the fieldbus slave
Tab.0/2: Product−specific terms and abbreviations
XIV
Festo P.BE−CPX−CEC−EN en 1004a
System summary
Chapter 1
Festo P.BE−CPX−CEC−EN en 1004a
1−1
1. System summary
Contents
1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CoDeSys
1.2 Supported motor controllers 1−5 . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 1−6 . . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming
1.4.1 Programming languages 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Libraries 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 1−12 . .
1.5 Meaning of the LED displays 1−13 . . . . . . .
1.5.1 CPX−specific LEDs 1−14 . . . . . . . . . . . . . . . . . .
controller CPX−CEC/CPX−CEC−... 1−3 . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . .
environment 1−9 . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
1−2
Festo P.BE−CPX−CEC−EN en 1004a
1. System summary
1.1 The CoDeSys controller CPX−CEC/CPX−CEC−...
The controller is available in the following variants:
Variant
CPX−CEC−C1 CoDeSys controller with CANopen interface
CPX−CEC−M1 CoDeSys controller with CANopen interface
CPX−CEC CoDeSys controller with RS232 interface
Characteristics
and function library for SoftMotion
Tab.1/1: Variants of the CoDeSys controller
All variants offer...
Programming with CoDeSys provided by Festo as per
IEC 61131−3
Programming and communication via Ethernet
Process visualisation within CoDeSys provided by Festo,
with a type FED operator unit or with the software VipWin
via Ethernet
Additional process visualisation systems can be con
nected via the supplied
OPC server if they have an OPC
client.
The CoDeSys controller controls a CPX terminal in the
Stand Alone or Remote Controller operating mode.
Communication over fieldbus in connection with the use
of the respective fieldbus node in the CPX terminal
Festo P.BE−CPX−CEC−EN en 1004a
Control configuration of CoDeSys provided by Festo for
commissioning, programming and diagnosis of
the
system
Connection of a handheld of type CPX−MMI. The handheld
is used to display status and diagnostic information and
for fast commissioning of the CPX modules in the CPX
terminal.
1−3
1. System summary
CPX−CEC−C1 offers...
A CANopen interface to which up to 31 CANopen slaves
can be connected
CPX−CEC−M1 offers...
The CoDeSys software package SoftMotion for
coordinated multi−axis movements.
CPX−CEC−M1 can alternatively also be operated as a
CANopen master. The SoftMotion functions are then not
available.
CPX−CEC offers...
An RS232 interface (Sub−D, 9−pin) for connecting a type
operator unit or for operating external devices.
FED
With external devices, data communication must be
programmed by the user.
1−4
Festo P.BE−CPX−CEC−EN en 1004a
1. System summary
1.2 Supported motor controllers
The CoDeSys controllers CPX−CEC−C1/−M1 as CANopen
masters support all motor controllers from Festo.
CPX−CEC−M1 with SoftMotion functions supports the
following motor controllers:
Motor controller
CMMP−AS 3.5.1501.2.1
CMMS−AS 1.3.0.1.11
CMMS−ST 1.3.0.1.7
SFC−LAC 1.0.5
SFC−LACI 1.0
CMMD 1.4
1) See rating plate for FCT plug−in of the motor controller
Required firmware1 from Version...
(the versions 1.3.0.1.10 and 1.3.0.1.12 are
not supported)
Tab.1/2: Supported motor controllers with CPX−CEC−M1
(date: June 2010)
CPX−CEC−C1/−M1 support up to 31 axes. We recommend
operating the CPX−CEC−M1 with a maximum of eight axes.
Festo P.BE−CPX−CEC−EN en 1004a
1−5
1. System summary
1.3 The operating modes of the CoDeSys controller
The CoDeSys controllers can be operated in various operating
modes, depending on the demand:
Stand Alone
Remote Controller Ethernet
Remote Controller Fieldbus (fieldbus node required)
The individual operating modes are briefly presented in the
following:
Stand Alone operating mode
1−6
1
2
1 CPX−CEC/CPX−CEC−...
2 CPX terminal controlled by the CPX−CEC/CPX−CEC−...
Fig.1/1: Stand Alone operating mode
Festo P.BE−CPX−CEC−EN en 1004a
1. System summary
Remote Controller Ethernet operating mode
Ethernet
12
1 CPX−CEC/CPX−CEC−... connected to an Ethernet network
for communication
Festo P.BE−CPX−CEC−EN en 1004a
2 CPX terminal controlled by the CPX−CEC/CPX−CEC−...
Fig.1/2: Remote Controller Ethernet operating mode
1−7
1. System summary
Remote Controller Fieldbus operating mode
21 3
1 CPX−CEC/CPX−CEC−... connected to the fieldbus for
communication over the fieldbus node
1−8
2 CPX fieldbus node, here: CPX−FB13
3 CPX terminal controlled by the CPX−CEC/CPX−CEC−...
Fig.1/3: Remote Controller Fieldbus operating mode
(fieldbus node required)
Festo P.BE−CPX−CEC−EN en 1004a
1. System summary
1.4 The CoDeSys provided by Festo programming environment
Use CoDeSys provided by Festo to commission and program
the CoDeSys controller. CoDeSys provided by Festo offers a
convenient user interface with the following functions:
Configuration and parameterisation of the CPX−CEC/
CPX−CEC−... with control configuration
Programming as per IEC 61131−3
Integrated module libraries
Library administrator to integrate additional libraries
Simulation mode, permits testing of projects
on the PC,
without PLC
Visualisation with the integrated visualisation editor
Documentation with the integrated project
documentation
Debugging functions: testing program sequence,
observing and changing variables, error search
CPX−CEC−M1: SoftMotion programming editors are
integrated.
To be able to use a controller (target) under CoDeSys
provided by Festo, a so−called Target Support Package is
needed for
the corresponding target. This permits access to
the system functions of the target and contains
corresponding information in the form of online help. The
Target Support Package makes CoDeSys functions usable for
the respective device or limits them, if necessary.
With the Target Support Package, CoDeSys can support all
these characteristics and functions of
these devices.
And so CoDeSys provided by Festo contains many functions
that are available only on certain devices.
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1. System summary
CoDeSys provided by Festo is supplied with the Target
Support Package for the CoDeSys controller. It also contains
additional functions that are specially adapted to the
CoDeSys controller.
Information about which functions of CoDeSys provided by
Festo are supported by the CoDeSys controller and which
additional functions are available can be found in the
online
help (key word"Functional Overview").
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1. System summary
1.4.1 Programming languages
CoDeSys provided by Festo offers five of the programming
languages standardised in IEC 61131−3, see Tab.1/3. Each of
these programming languages has certain characteristics
that are especially suited for solving specific tasks.
Programming
Type Description
languages
Statement list (STL)
Structured text (ST) Structured text comes closest to the programming
Sequential function chart
(SFC)
Function diagram (FUN)
or
Free−graphic function
diagram (CFQ)
Ladder diagram (LDR) The ladder diagram was developed from the circuit
Text−based
programming
language
Graphic
programming
languages
The statement list enables the programmer to de
scribe the working steps of controller functions with
simple instructions. The language structure supports
the efficient handling of complex tasks.
languages used for the PC, such as Pascal and C.
It consists of a number of statements that can be
performed conditionally ("IF..THEN..ELSE") or in loops
(WHILE..DO), as in high−level languages.
Enables programming of sequences and so is suited
for structuring and organising projects. With transi
tions and connections, the sequential function chart
describes the time sequence of the various steps
within the program.
The function diagram works with a list of networks,
whereby each network contains a structure that de
picts a logical or arithmetic expression, calls up a
function module, a jump or a return instruction.
In addition, based on the function diagram, there is
the free−graphic function diagram (CFC), in which the
elements are
directly added.
diagram. The diagram of a LDR program is therefore
similar to the diagram of a circuit diagram in relation
to the diagram of logical links.
freely placed and feedback can be
Ta b.1/3: Programming languages of CoDeSys provided by Festo
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