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: [email protected]
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-CTEU-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-EN en 1208NH
Contents and general safety instructions
Contents
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V
VI
VI
VII
VIII
X
1.
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1.1
General information on the CTEU product family . . . . . . . . . . . . . . . . . . . . . .
1.1.1
Hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2
Scope of functions (brief overview) . . . . . . . . . . . . . . . . . . . . . . . . .
General information on the EtherCAT fieldbus protocol . . . . . . . . . . . . . . . . .
1.2.1
Key elements of the fieldbus protocol . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
EtherCAT specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Conformance with the EtherCAT specifications . . . . . . . . . . . . . . . .
General information on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1
Connection and display components . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3
Functional test – without network connection . . . . . . . . . . . . . . . . .
1.4.4
Fieldbus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.5
Basic settings for fieldbus communication . . . . . . . . . . . . . . . . . . .
1-3
1-3
1-4
1-5
1-5
1-6
1-6
1-7
1-9
1-9
1-10
1-12
1-12
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
1.2
1.3
1.4
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Contents and general safety instructions
2.2
Replacing the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1
Replacing the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2
Replacing the I-port device – same device type (substitute) . . . . .
2.2.3
Replacing the I-port device – different device type (replacement) .
2.2.4
Replacing the electrical connection box CAPC-… . . . . . . . . . . . . . . .
2-21
2-21
2-22
2-23
2-24
3.
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3.1
3.2
3-3
3-3
3-4
3-5
3-6
3.3
Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics via LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Normal operating status display . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2
PS LED status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3
Status display X1/X2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4
EtherCAT operating status display (LED run),
EtherCAT error (LED error), connection status (LEDs L/A2, L/A1) .
Diagnostics via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1
Diagnostics via SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Diagnostics via diagnosis history . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3
Diagnostics via emergency message . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5
Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.6
I-port event code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.7
Error reaction (fail-state settings) . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8
3-10
3-10
3-10
3-12
3-13
3-14
3-15
3-19
A.
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A.1
A.2
A.3
A.4
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
EtherCAT CANopen object model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Updating the bus node EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IV
B-1
Festo P.BE-CTEU-EC-OP+MAINT-EN 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) in an EtherCAT network.
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 conversions 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 Voltage, PELV).
• Observe also the general requirements for PELV circuits
in accordance with IEC/EN 60204-1.
• Use only voltage sources that ensure a reliable electrical
isolation of operating voltage in accordance with
IEC/EN 60204-1.
• Always connect the circuits for both operating and load
voltage supply.
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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.
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
Target group
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-EN en 1208NH
Contents and general safety instructions
Service
Please consult your local Festo Service agent if you have any
technical problems.
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
VII
Contents and general safety instructions
Notes on this manual
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
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Contents and general safety instructions
This manual contains information about the following
module:
EtherCAT bus
node
Type
designation
Description
Connection technology
CTEU-EC
Ethernet-based bus node for
EtherCAT
2 x M12 socket,
D-coded, female, 4-pin, corresponding to
IEC 61076-2-101
The EtherCAT field bus
technology uses the Ethernet
standards for real-time
communication in an industrial
environment.
Data transmission:
– EtherCAT, based on the Ethernet 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
Standards and norms
containing reference to
EtherCAT:
–
–
–
–
IEC 61158
IEC 61784
IEC 61918
ISO/IEC 8802-3
Additional information:
http://www.ethercat.org
Tab. 0/1:
Overview of CTEU bus node for EtherCAT
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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:
Electrostatically sensitive devices: Incorrect handling may
cause damage to devices.
X
Festo P.BE-CTEU-EC-OP+MAINT-EN 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.
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
XI
Contents and general safety instructions
The following product-specific terms and abbreviations are
used in this manual:
Term/abbreviation
Meaning
Box
Field device, e.g. bus node
Bus nodes
Create the connection to certain networks or fieldbuses, transmit control signals to the connected modules and monitor their functioning
CoE
CANopen over EtherCAT
DIL switches
Miniature switches; dual-in-line switches usually consist of several
switch elements which can be used to implement settings
ESI
EtherCAT slave information
EtherCAT
An industrial-Ethernet based fieldbus system for data exchange
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 CANopen); embedding
of process data in Ethernet frames (Frames) or datagrams (via UDP/IP);
additional information: www.ethercat.org
FoE
File access over EtherCAT
Hold last state
defines the status which outputs or valves are to assume following
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 communication data (process
data, sensor signals, pilot signals) and supply voltages
Tab. 0/2:
XII
Specific terms and abbreviations – part 1
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Contents and general safety instructions
Term/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 (Modular Device Profile)
MSB
Byte with the highest importance (Most Significant Byte)
O
Digital output
OB
Output byte
Object directory
makes all important participant parameters accessible in a standardised 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 operating and load voltage supplies
SDO
Service 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.
TwinCAT
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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Installation
Chapter 1
Installation
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
1-1
1. Installation
Contents
1.
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1.1
General information on the CTEU product family . . . . . . . . . . . . . . . . . . . . . .
1.1.1
Hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2
Scope of functions (brief overview) . . . . . . . . . . . . . . . . . . . . . . . . .
General information on the EtherCAT fieldbus protocol . . . . . . . . . . . . . . . . .
1.2.1
Key elements of the fieldbus protocol . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
EtherCAT specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Conformance with the EtherCAT specifications . . . . . . . . . . . . . . . .
General information on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.1
Connection and display components . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3
Functional test – without network connection . . . . . . . . . . . . . . . . .
1.4.4
Fieldbus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.5
Basic settings for fieldbus communication . . . . . . . . . . . . . . . . . . .
1-3
1-3
1-4
1-5
1-5
1-6
1-6
1-7
1-9
1-9
1-10
1-12
1-12
1-14
1.2
1.3
1.4
1-2
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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
1 Higher-order
controller
(master/PLC/IPC)
1
2 Fieldbus level:
bus node CTEU
3 Device level:
e.g. valve
terminal VTUB-12
2
4 Drive level:
e.g. linear
module HME
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
1-4
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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
1. Installation
1.2
1.2.1
General information on the EtherCAT fieldbus protocol
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
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.
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1-5
1. Installation
1.2.2
EtherCAT specifications
Further information on EtherCAT is available online:
EtherCAT specifications
EtherCAT
Technology
Group
Tab. 1/1:
1.2.3
http://www.ethercat.org/en/publications.html
EtherCAT specifications
Conformance with the EtherCAT specifications
The CTEU-EC bus node gave a positive result in testing with the
“EtherCAT Conformance Test Tool” (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 connected actuators
– non-defined switching states of the electronics
Note
The EtherCAT bus node contains electrostatically sensitive
components.
• 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.
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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
1.4.1
Interfaces
Connection and display components
The following electrical connection and display components
can be found on the bus node:
1
2
4
3
1 DIL switch group ( 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)
4 Fieldbus connections (fieldbus interfaces):
2x M12, 4-pin, socket plug connector, D-coded
( section 1.4.4)
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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, PELV) 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
(M12, A-coded)
Pin
Assignment 1)
1
24 VEL/SEN
(PS)
2
24 VVAL/OUT
(PL)
3
0 VEL/SEN
(PS)
4
0 VVAL/OUT
(PL)
5
FE 2)
1)
VEL/SEN: Operating voltage, electronics/sensors
(power system, PS)
VVAL/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-...
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. 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:
–
The PS LED is illuminated green when the power supply is
correctly connected to both circuits.
–
The X1/X2 LEDs are illuminated green when a device is connected ( 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 PELV 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
Observe the instructions in these documents.
1-12
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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)
Tab. 1/2:
Pin
Allocation
(signal)
Explanation
1
2
3
4
Housing
TD+
RD+
TD–
RD–
FE
Transmission data (transmit data, TD) +
Receive data (receive data, RD) +
Transmitted data –
Received data –
Shield/functional earth (FE)
Pin assignment of the network interface
Fieldbus connecting cable – specifications and configuration
•
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).
–
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.
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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
To 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
1
1
1 … 4:
2
3
EtherCAT address, 0 … 15, binary coded (factory setting: 0) 1)
1: 20
2: 21
3: 22
4: 23
1 x 20
1 x 21
1 x 22
1 x 23
0 x 20
0 x 21
0 x 22
0 x 23
2
5: Diagnostics
Diagnostics activated: transmission of diagnostic information as emergency messages
(EM) and storage in diagnosis
history
Diagnostics off (factory setting)
3
6: Fail state mode 2)
Hold last state
Reset
(factory setting)
1)
2)
Optional, e.g. for Hot Connect function
If the PLC is in stop (EtherCAT: PRE-OPERATIONAL) mode or the fieldbus connection is interrupted
(fail state); applies for all outputs
Note: Fail-state mode is also known as “fail-safe mode”
1-16
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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
Tab. 1/3:
Example: EtherCAT address
set: 14
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.
2. Tighten the two mounting screws with a max. torque of
0.4 Nm.
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1. Installation
1-18
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Commissioning
Chapter 2
Commissioning
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2-1
2. Commissioning
Contents
2.
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1
2.1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
Hot Connect functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2
Registering participant properties (“ESI file”) in the configuration
program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3
Configuration of the operating modes . . . . . . . . . . . . . . . . . . . . . . .
2.1.4
Configuration of operating behaviour (target configuration) . . . . .
2.1.5
Addressing and data access (data objects) . . . . . . . . . . . . . . . . . . .
Replacing the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1
Replacing the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2
Replacing the I-port device – same device type (substitute) . . . . .
2.2.3
Replacing the I-port device – different device type (replacement) .
2.2.4
Replacing the electrical connection box CAPC-… . . . . . . . . . . . . . . .
2-3
2-3
2.2
2-2
2-3
2-7
2-13
2-19
2-21
2-21
2-22
2-23
2-24
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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.
The properties of the various participants are managed in a
configuration file - the EtherCAT slave information file (ESI
file).
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2. Commissioning
EtherCAT slave information The file/its contents are available in Extensible Markup Lanfile (“ESI file”)
guage (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
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.
2-4
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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
Variant
Description
Festo CTEU-EtherCAT Modular.xml
Modular ESI file
“EtherCAT Slave Information File”
for Beckhoff TwinCAT or other compatible
configuration and programming software
Festo CTEU-EtherCAT Fix.xml
Fixed ESI file
“EtherCAT Slave Information File”
for Beckhoff TwinCAT or other compatible
configuration and programming software
Tab. 2/4:
EtherCAT configuration files (“ESI files”) for the CTEU-EC bus node
Adding the ESI file
•
To 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:
C:\TwinCAT\Io\EtherCAT
Importing the ESI file
•
Then import the ESI file into your configuration program
– e.g. in Beckhoff TwinCAT System Manager:
Actions > Import XML descriptions...
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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
Description
Vendor name
Festo AG & Co. KG
Vendor ID
0x0000001D
Product code
572556
Version number
Hardware version: V1.11
Software version: V4.42.3
Product name
CTEU-EC
Tab. 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 EtherCAT 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.
Tool 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.
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2-7
2. Commissioning
Fig. 2/1: Example: configuration for a valve terminal and an input module in auto mode
Tool change mode
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 2n where n = 0, 1, 2, 3 or 4
(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).
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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)
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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)
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2-11
2. Commissioning
Fig. 2/5: Definition 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
(hex.)
Value
Operating behaviour
1
0x8100
0x00
Use responding device (standard setting)
0x01
Expect device
0x02
Port disabled
0x00
Use responding device (standard setting)
0x01
Expect device
0x02
Port disabled
2
Tab. 2/6:
0x810A
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
Tool change mode
If a device is disconnected from the I-port during
operation, the “device disconnected” diagnosis
will be activated.
This error is automatically reset as soon as the
connection to the device is reestablished.
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.
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.
2-14
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.
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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
Tool change mode
If no device was present 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-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.
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.
If a device was detected at the I-port 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.
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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.
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
The I-port is deactivated and cannot be used. There must be
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
Tool change mode
If a device was detected at the I-port 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.
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.
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.
Festo P.BE-CTEU-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 TwinCAT 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-CTEU-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.
Process Data Objects (PDO) provide fast transfer of process
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 Service Data Objects (SDO) form a point-to-point connection 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 incorrectly configured.
• Before commissioning, ensure that the connected ele-
ments (e.g. actuators) do not perform any unexpected or
uncontrollable movements.
• If necessary, disconnect the load power supply and com-
pressed air supply.
2-20
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2. Commissioning
2.2
2.2.1
Replacing the device
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.
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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-port 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.
Notes on tool change mode 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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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.
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
2-25
2. Commissioning
2-26
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Diagnostics
Chapter 3
Diagnostics
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3-1
3. Diagnostics
Contents
3.
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3.1
3.2
Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics via LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Normal operating status display . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2
PS LED status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3
Status display X1/X2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4
EtherCAT operating status display (LED run),
EtherCAT error (LED error), connection status (LEDs L/A2, L/A1) .
Diagnostics via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1
Diagnostics via SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Diagnostics via diagnosis history . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3
Diagnostics via emergency message . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5
Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.6
I-port event code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.7
Error reaction (fail-state settings) . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3
3-3
3-4
3-5
3-6
3.3
3-2
3-8
3-10
3-10
3-10
3-12
3-13
3-14
3-15
3-19
Festo P.BE-CTEU-EC-OP+MAINT-EN 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
option
Brief description
Benefits
Detailed
description
LED display
The LEDs show hardware
faults, configuration errors,
bus faults, etc. immediately
Fast “on-the-spot” error
detection
Section 3.2
Diagnostics via
fieldbus
Diagnostics via
– SDO access
– Diagnosis history
– Emergency message
Detailed error detection
Section 3.3
Tab. 3/1:
3.2
Overview of the diagnostic options of the bus node
Diagnostics via LED display
There are LEDs 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):
Illuminated
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Flashing
Off
3-3
3. Diagnostics
3.2.1
Normal operating status display
1 Device-specific
1
LEDs
PS
PS: Power system
X1
X1: Internal communication between
bus node and
device 1
X2
X2: Internal communication between
bus node and
device 2
2
RUN
L/A2
2 EtherCATspecific LEDs
L/A1
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.
3-4
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
3.2.2
PS LED status display
PS (power system) – power sensor/logic supply
LED
Process
ON
OFF
LED illuminated
green
ON
OFF
LED flashes
green
ON
Status
Meaning/error elimination
Normal operating status:
–
– Operating voltage present (in
the approved range)
– Load voltage present (in the
approved range) 1)
– Operating voltage is below
the required voltage
– Load voltage is below the required voltage 1)
• Eliminate undervoltage at the
Operating voltage not present
• Check the power supply
OFF
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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3-5
3. Diagnostics
3.2.3
Status display X1/X2 LEDs
X1 or X2 1) - Internal communication between bus node and device 1 or 2 1)
LED
Process
ON
LED illuminated
green
Meaning/error elimination
Normal operating status
–
– Connected device reports
diagnostics status
– Connection between bus
node and device OK
Device diagnostics can be read
out via fieldbus communication
(if activated on DIL switches on
the bus node)
– Device is connected correctly
to the bus node, but internal
communication is faulty
– A connected device has been
removed after commissioning.
• Check I-port cable/mounting
• Restart the bus node (by
OFF
ON
OFF
LED flashes
green
ON
OFF
LED illuminated
red
Status
switching the power off -> on)
1) Separate accessory (electrical connection box, type CAPC-…) with two interfaces for connecting
another device is required.
Tab. 3/3:
3-6
Status displays of the device-specific “X1” LEDs if a device 1 is connected
and “X2” if a device 2 is connected
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
X1 or X2 1) - Internal communication between bus node and device 1 or 2 1)
LED
Process
Status
Meaning/error elimination
ON
– 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: error in the bus node
– If X1 and X2 flash red simultaneously: no device is connected to the bus node, or
configuration error (target
configuration)
• Use an I-port compatible
– No device is connected to
the corresponding I-port interface.
–
OFF
LED flashes red
ON
OFF
LED is off
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)
1) Separate accessory (electrical connection box, type CAPC-…) with two interfaces for connecting
another device is required.
Tab. 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)
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
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
ON
OPERATIONAL
Bus node is in OPERATIONAL status
(normal operating status)
BOOTSTRAP
Bus node is in correct status to accept a firmware update
OFF
LED illuminated
ON
OFF
LED flickers
A firmware update is being performed
ON
PRE-OPERATIONAL
Bus node is in PRE-OPERATIONAL
status (configuration of the EtherCAT
network)
SAFE-OPERATIONAL
Bus node is in SAFE-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”).
INIT
Bus node is in INIT status (normal
state after switch-on or after a restart
or reboot)
OFF
LED flashes
ON
OFF
LED flashes 1x 1)
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:
3-8
Error diagnostics with the run LED
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
L/A2, L/A1 – Connection status (link/activity) Out2/In1
LED (green)
Process
Status
Meaning/error elimination
ON
Network connection OK and no
data transmission
–
Network connection OK and
data transmission is running
(traffic) 1)
–
OFF
LED illuminated
ON
OFF
LED flashes
ON
OFF
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-CTEU-EC-OP+MAINT-EN en 1208NH
3-9
3. Diagnostics
3.3
3.3.1
Diagnostics via EtherCAT
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 =
RW =
RO P =
3-10
read only
read/write
read only (PDO mappable)
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
Index
Subindex
Description
0x10F3
0
Diagnosis history
1
Maximum messages
U8
2
Newest message
U8
RO
3
Newest acknowledged
message
U8
RW
4
New message available
BOOL
RO P
5
Flags
U16
6 … 26
Subindex 006 … 026
BYTE[23]
Tab. 3/7:
Type
Values
Access
RO
20
0x0000
RO
RW
RO
Structure of the diagnostics object
Diagnostics messages are written to a data buffer (20 bytes).
Two 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-CTEU-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
Tab. 3/8:
Byte 1
Byte 2
Byte 3
Byte 4
Error
register
I-port 1 event code
Byte 5
Byte 6
I-port 2 event code
Byte 7
Diagnosis
number
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).
3-12
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
3.3.4
Error codes
Error code
(hex.)
Explanation
Remark/possible causes
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-CTEU-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 specific
Always set if error is not 1 … 6 or diagnostics program from
I-port
Tab. 3/10:
3-14
Error register
Festo P.BE-CTEU-EC-OP+MAINT-EN 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-port 2 is in bytes 5 and 6.
Event code (hex.)
Explanation
Description/remedy
MSB
LSB
00
00
Device OK (Default),
no malfunction
I-port device is OK, no errors
10
00
Device NOK, unknown error
I-port device is not OK,
unknown error
40
00
Temperature fault – Overload
Temperature fault – Overload
42
10
Device temperature overrun –
Clear source of heat
I-port device temperature
exceeded
• Remove heat source
42
20
Device temperature underrun –
Insulate device
I-port device temperature too
low
• Thermally insulate the device
50
00
Device hardware fault –
Exchange device
Hardware fault in the I-port
device
• Replace device
50
10
Component malfunction –
Repair or exchange
A component is malfunctioning
• Repair or replace
50
11
Non-volatile memory loss –
Check batteries
Loss of data from non-volatile
memory
• Check batteries
50
12
Batteries low – Exchange
batteries
Batteries are low
• Replace batteries
51
00
General power supply fault –
Check availibility
General fault in power supply
• Check availability
51
01
Fuse blown/open - Exchange
fuse
Fuse has tripped or is not
correctly inserted
• Replace fuse or insert
correctly
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3-15
3. Diagnostics
Event code (hex.)
Explanation
Description/remedy
MSB
LSB
51
10
Primary supply voltage overrun
– Check tolerance
Primary supply voltage is too
high
• Check voltage tolerance
51
11
Primary supply voltage
underrun – Check tolerance
Primary supply voltage is too
low
• Check voltage tolerance
51
12
Secondary supply voltage fault
– Check tolerance
Fault in the secondary power
supply
• Check voltage tolerance
51
14
Undervoltage in load supply PL
(provided supervisory function
is enabled)
Load voltage (PL) too low
(only when PL monitoring is
activated in device)
60
00
Device software fault – Check
firmware revision
Device software fault
• Check firmware version
63
20
Parameter error – Check data
sheet and values
Parameter error
• Check data sheet and values
63
21
Parameter missing – Check data
sheet
Missing parameters
• Check data sheet
63
50
Parameter changed – Check
configuration
Changed parameter
• Check configuration
77
00
Wire break of a subordinate
device – Check configuration
Wire break in a subordinate
device
• Check configuration
77
01 … 0F
Wire break of subordinate
device 1 ... 15 – Check
installation
Wire break in subordinate
device 1 … 15
• Check installation
77
10
Short circuit – Check
installation
Short circuit
• Check installation
77
11
Ground fault – Check
installation
Earth connection
• Check installation
3-16
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3. Diagnostics
Event code (hex.)
Explanation
Description/remedy
MSB
LSB
8C
00
Technology specific application
fault – Reset device
Technology-specific application
error
• Reset device
8C
01
Simulation active – Check
operational mode
Simulation active
• Check operating mode
8C
10
Process variable range overrun
– Process data uncertain
Process variable range
exceeded, process data
uncertain
8C
20
Measurement range overrun –
Check application
Measuring range exceeded
• Check application
8C
30
Process variable range
underrun – Process data
uncertain
Process variable range
underrun, process data
uncertain
8C
40
Maintenance required –
Cleaning
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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
• Connect device to I-port
3-17
3. Diagnostics
Event code (hex.)
Explanation
Description/remedy
MSB
LSB
FF
55
Input data size greater than
configured
Input data are greater than
those configured in tool change
mode
• No action required
FF
56
Output data size greater than
configured
Output data are greater than
those configured in tool change
mode
• No action required
Tab. 3/11:
3-18
I-port event code
Festo P.BE-CTEU-EC-OP+MAINT-EN 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-CTEU-EC-OP+MAINT-EN en 1208NH
3-19
3. Diagnostics
Warning
Accidental activation of actuators!
Incorrect statuses of valves and outputs can lead to dangerous 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 terminal
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-EN en 1208NH
3. Diagnostics
Note
Take 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 position
– Mid-position valves will move to their neutral position
(pressurised, exhausted or closed, depending on valve
type)
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
3-21
3. Diagnostics
3-22
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Technical appendix
Appendix A
Technical appendix
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A-1
A. Technical appendix
Contents
A.
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A.1
A.2
A.3
A.4
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
EtherCAT CANopen object model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Updating the bus node EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
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-EN 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
IP65
Protection against electric shock
protection against direct and indirect contact as
per IEC/DIN 60204-1
through the use of PELV circuits
Electromagnetic compatibility (EMC) 2)
– Emitted interference
– Resistance to interference
See declaration of conformity
www.festo.com
Ambient temperature 1)
– Operation
– Storage/transport
–5 … +50 °C
–20 … +70 °C
Vibration and shock 3)
tested as per IEC/EN 60068
– Vibration (part 2 - 6)
– Shock (part 2 - 27)
– Continuous shock (part 2 - 29)
Dimensions
– Width
– Length
– Height
Weight (bus node without cable and substructure)
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
90 g
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 to suppress interference may be
required.
3) Explanation of severity level following table “Explanation of vibration and shock – severity
level”
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A-3
A. Technical appendix
General
Materials
– Housing
– Housing cover, cover for DIL switches
– Threaded sleeve M12
– Threaded bush M3
– Seals
– Screws
RoHS-compliant
PA, reinforced
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:
± 15 g at 6 ms duration;
1000 shocks per direction
Severity level 2
(SG2, in accordance with EN 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-EN en 1208NH
A. Technical appendix
Power supply
Operating voltage for bus nodes and connected
I-port devices 1)
– Nominal value
– Tolerance range
DC 24 V
DC 18 … 30 V
Load voltage for connected devices 1)
– Tolerance range
DC 18 … 30 V 2)
Bus node intrinsic current consumption
from operating voltage supply for electronics/
sensors (UEL/SEN)
max. 60 mA at 24 V
(internal electronics)
Load capacity of the operating and load voltage
supply 1) 3)
– Bus node on device (e.g. valve terminal)
– Bus node on electrical connection box, type
CAPC-... (X1 and X2)
max. 4 A
max. 2 A
Isolation
EtherCAT interfaces for UEL/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
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
1 ms per 1 byte of user data
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
– ISO/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-EN 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.)
Object dictionary area
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
Festo P.BE-CTEU-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
MDP to a fixed I/O configuration.
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-EN 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
are available from Festo ( chapter 2). The following abbreviations are used:
RO=
RW =
RO P =
read only
read/write
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
Subindex
Description
Type
0x1001
0
Error register
U8
0x1008
0
Device name
String
0x1009
0
Hardware version
String
RO
0x100A
0
Software version
String
RO
0x10F1
0
Error settings
1
Local error reaction
U32
RO
2
Sync error counter
limit
U32
RO
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Values
Explanation/note
Access
RO
CTEU-EC
RO
RO
A-9
A. Technical appendix
Index
Subindex
Description
0x10F3
0
Diagnosis history
1
Maximum messages
U8
2
Newest message
U8
RO
3
Newest
acknowledged
message
U8
RW
4
New message
available
BOOL
RO P
5
Flags
U16
6 … 26
Subindex 006 … 026
BYTE[2
3]
RO
0x1100
0
EtherCAT address
U16
RO
0x1110
0
Virtual MAC address
U8
RO
0x1111
0
Virtual IP address
U8
1
IP-address
U32
RO
2
Subnet mask
U32
RO
3
Default gateway
U32
RO
4
DNS server
U32
RO
5
DNS name
String
RO
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
0x1C00
0x1C32
SM 2 parameter
0x1C33
SM 3 parameter
A-10
Type
Values
Explanation/note
Access
RO
20
0x0000
5
RO
RW
RO
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A. Technical appendix
Index
Subindex
Description
Type
Values
0x8000
0
Settings for module 1
U16
8
1
Settings byte 1
U8
…
…
…
16
Settings byte 16
U8
0
Settings for module 2
U16
1
Settings byte 1
U8
…
…
…
16
Settings byte 16
U8
0x8100
0
Target configuration
module 1
U8
section 2.1.4
RW
0x810A
0
Target configuration
module 2
U8
section 2.1.4
RW
0x8200
0
Tool change mode
configuration
module 1
U16
1
Active
U8
0
0 = auto mode
1 = tool change mode
RW
2
Input data length
U8
8
Length in bytes
RW
3
Output data length
U8
8
Length in bytes
RW
0
Tool change mode
configuration module 2
U16
1
Active
U8
0
0 = auto mode
1 = tool change mode
RW
2
Input data length
U8
8
Length in bytes
RW
3
Output data length
U8
8
Length in bytes
RW
0x8010
0x820A
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Explanation/note
Access
RO
RW
…
…
RW
8
RO
RW
…
…
RW
RO
RO
A-11
A. Technical appendix
Index
Subindex
Description
Type
Values
0x9000
0
Identity module 1
U16
17
1
PDO input length
U8
RO
2
PDO output length
U8
RO
3
Vendor ID
U16
RO
4
Device ID
U32
RO
5
Function ID
U16
RO
6
Vendor name
String
(64+1)
RO
7
Vendor URL
String
(64+1)
RO
8
Product name
String
(64+1)
RO
9
Order no.
String
(64+1)
RO
10
Product text
String
(64+1)
RO
11
Order code
String
(64+1)
RO
12
HW revision
String
(64+1)
RO
13
SW revision
String
(64+1)
RO
14
Slave attribute
U8
RO
15
Extended parameter
U8
RO
16
Diagnosis type
U16
RO
17
I-port revision
U16
RO
18
Type-ID
U8
RO
A-12
Explanation/note
Access
RO
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A. Technical appendix
Index
Subindex
Description
Type
Values
0x900A
0
Identity module 2
U16
17
1
PDO input length
U8
RO
2
PDO output length
U8
RO
3
Vendor ID
U16
RO
4
Device ID
U32
RO
5
Function ID
U16
RO
6
Vendor name
String
(64+1)
RO
7
Vendor URL
String
(64+1)
RO
8
Product name
String
(64+1)
RO
9
Order no.
String(
64+1)
RO
10
Product text
String
(64+1)
RO
11
Order code
String
(64+1)
RO
12
HW revision
String
(64+1)
RO
13
SW revision
String
(64+1)
RO
14
Slave attribute
U8
RO
15
Extended parameter
U8
RO
16
Diagnosis type
U16
RO
17
I-port revision
U16
RO
18
Type-ID
U8
RO
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Explanation/note
Access
RO
A-13
A. Technical appendix
Index
Subindex
Description
Type
0xA000
0
Diagnosis module 1
0xA00A
0
Diagnosis module 2
Values
Explanation/note
Access
U16
section 3.3.3
(byte 3 and byte 4)
RO
U16
section 3.3.3
(byte 5 and byte 6)
RO
A.4.2 Communication profile – extensions, fixed variant
Index
Subindex
Description
Type
Values
Access
0x1000
0
Device type
U32
0x00001389 (5001)
RO
0x1018
0
Identity object
1
Vendor ID
U32
0x0000001D
RO
2
Product code
U32
Festo part number:
572556
RO
3
Revision
U32
1
RO
4
Serial number
U32
0
RxPDO parameter
0x1400
…
0x15FF
A-14
RO
RO
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
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
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
0x1800
…
0x19FF
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
C
A-15
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
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
0
RxPDO assign
U16
1
RO
1
0x1C12:01
U16
0x1600
RO
0
TxPDO assign
U16
1
RO
1
0x1C13:01
U16
0x1A00
RO
0
Input entries
U16
RO P
1
…
16
Output 1
…
Output 16
U8
…
U8
RO P
…
RO P
0x1C12
0x1C13
0x6000
A-16
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
0x7000
0
Output entries
U16
16
RO P
1
Output 1
U8
…
…
…
16
Output 16
U8
RO P
…
…
RO P
A.4.3 Communication profile – extensions, modular variant
Index
Subindex
Description
Type
Values
Access
0x1000
0
Device type
U32
0x00001389 (5001)
RO
0x1018
0
Identity object
1
Vendor ID
U32
0x0000001D
RO
2
Product code
U32
Festo part number:
572556
RO
3
Revision
U32
2
RO
4
Serial number
U32
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
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
0x1600
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
RO
RO
A-17
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
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
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
0x1A00
A-18
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
0x1A0A
0
TxPDO
U16
8
RO
1
Subindex 001
U32
0x600A:01, 8
RO
2
Subindex 002
U32
0x600A:02, 8
RO
3
Subindex 003
U32
0x600A:03, 8
RO
4
Subindex 004
U32
0x600A:04, 8
RO
5
Subindex 005
U32
0x600A:05, 8
RO
6
Subindex 006
U32
0x600A:06, 8
RO
7
Subindex 007
U32
0x600A:07, 8
RO
8
Subindex 008
U32
0x600A:08, 8
RO
0
RxPDO assign
U16
2
RO
1
Subindex 001
U16
0x1600
RO
2
Subindex 002
U16
0x160A
RO
0
TxPDO assign
U16
2
RO
1
Subindex 001
U16
0x1A00
RO
2
Subindex 002
U16
0x1A0A
RO
0
Inputs
U16
8
RO P
1
Input 1
U8
…
…
…
8
Input 8
U8
0
Inputs
U16
1
Input 1
U8
…
…
…
8
Input 8
U8
0x1C12
0x1C13
0x6000
0x600A
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
RO P
…
…
RO P
8
RO P
RO P
…
…
RO P
A-19
A. Technical appendix
Index
Subindex
Description
Type
Values
Access
0x7000
0
Outputs
U16
8
RO P
1
Output 1
U8
…
…
…
8
Output 8
U8
0
Outputs
U16
1
Output 1
U8
…
…
…
8
Output 8
U8
0
Modular Device Profile
U8
2
RO
1
Index distance
U8
10
RO
2
Maximum number of modules
U16
2
RO
0
Detected module list
U16
0 ... 2
RO
1
Subindex 001
U32
RO
2
Subindex 002
U32
RO
0x700A
0xF000
0xF050
A-20
RO P
…
…
RO P
8
RO P
RO P
…
…
RO P
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
Index
Appendix B
Index
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B-1
B. Index
Contents
B.
B-2
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B-1
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B. Index
Index
A
Abbreviations, Product-specific . . . . . . . . . . . . . . . . . . . . . XII
Acknowledge mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VI
Auto increment address . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Auto mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
B
Bus configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
C
CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VI
Commissioning
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Bus node replacement . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B-3
B. Index
D
Data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V
Device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Device position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Device replacement
Bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Electrical connection box . . . . . . . . . . . . . . . . . . . . . . . 2-24
I-port device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Diagnosis history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Diagnostics
Error reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Fail-safe settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
LEDs L/A2, L/A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Run LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
E
EEPROM, updating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
Electrical connection box, Replacement . . . . . . . . . . . . . 2-24
Emergency message . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I-port event code . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-12
3-13
3-14
3-15
EMERGENCY STOP concept . . . . . . . . . . . . . . . . . . . 3-20, 3-21
Error, reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
ESI file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Fixed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Modular . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
B-4
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B. Index
EtherCAT
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Fail-safe settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
EtherCAT address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
EtherCAT EEPROM contents . . . . . . . . . . . . . . . . . . . . A-7, A-9
F
Fail-safe mode, Settings (parameterisation) . . . . . . . . . 3-19
Fail-safe settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
H
Hot Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
I
I-port device, Replacement . . . . . . . . . . . . . . . . . . . . . . . 2-22
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
L
LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L/A2, L/A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating status display . . . . . . . . . . . . . . . . . . . . . . . .
PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
X1/X2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3
3-9
3-4
3-5
3-8
3-6
N
Notes on this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
O
Overwrite mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B-5
B. Index
P
Participant properties . . . . . . . . . . . . . . . . . . . . . . . . . 2-3, 2-6
XML file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
PELV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
Pin allocation, Fieldbus interface . . . . . . . . . . . . . . . . . . 1-13
Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . 2-20
PS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
R
Replacement
Bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Electrical connection box . . . . . . . . . . . . . . . . . . . . . . . 2-24
I-port device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
S
SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . 2-20
Settings, DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
Slave Information File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
T
Target configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VI
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Text designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
Tool change mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
B-6
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B. Index
U
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
X
X1/X2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH
B-7
B. Index
B-8
Festo P.BE-CTEU-EC-OP+MAINT-EN en 1208NH