Compact Performance - Festo · 2020-03-19 · Rockford,Ill.,USA. Contents and general instructions Festo P.BE-CPV-CO3-EN en 1201a III ... 3.3 Overview of diagnostic objects 3-17

Electronics Manual

CPV valve terminalwith directconnection

TypeCPV...-GE-CO3-8

Field bus protocol:– CANopen

Manual548744en 1201a[762118]

Compact Performance

Contents and general instructions

I

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

Edition en 1201a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-CPV-CO3-EN. . . . . . . . . . . . . . . . . . . . . . . .

Order no. 548744. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo SE & Co. KG, D-73726 Esslingen, Germany, 2012) Internet: http://www.festo.comE-Mail: [email protected]

The reproduction, distribution and utilization of this docu-ment as well as the comunication of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights re-served in the event of the grant of a patent, utility module or design.

Festo P.BE-CPV-CO3-EN en 1201a


II Festo P.BE-CPV-CO3-EN en 1201a

TORX® is a registered trade name of CAMCAR TEXTRON INC.,Rockford, Ill., USA


IIIFesto P.BE-CPV-CO3-EN en 1201a

Contents

Intended use VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

Notes on the use of this manual VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1.1 General notes on installation 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Setting the CPV Direct 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Overview of setting the CPV Direct 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Setting the CANopen bus address (node ID) 1-7. . . . . . . . . . . . . . . . . .

1.2.3 Setting the baud rate 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Setting the configuration mode 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Recognizing the CPI extension with the SAVE button 1-9. . . . . . . . . . .

1.2.6 Help table for setting the bus address 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3 Connecting to the field bus 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Field bus cable 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Field bus baud rate and field bus length 1-15. . . . . . . . . . . . . . . . . . . . .

1.3.3 Information on connecting the field bus 1-16. . . . . . . . . . . . . . . . . . . . .

1.3.4 Field bus interface 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Field bus plug from Festo 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.6 Further connection possibilities for the field bus with adapters 1-21. .

1.4 Bus termination with terminating resistors 1-24. . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 Install a terminating resistor using the adapters 1-24. . . . . . . . . . . . . . .

1.5 Power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Cable for power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Selecting the power unit 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Connecting the power supply 1-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Extending the CPV Direct 1-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Rules for extending the CPI system 1-35. . . . . . . . . . . . . . . . . . . . . . . . .

1.7 Preparing the CPI system for commissioning 1-38. . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Checking the CP strings 1-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-CPV-CO3-EN en 1201a

1.7.2 Saving the string assignment 1-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 Switching-on reaction of the CPI system 1-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9 Reaction of the CPI system to faults in operation 1-43. . . . . . . . . . . . . . . . . . . . . .

1.9.1 Eliminating assignment faults 1-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9.2 Replacing CPI/CP modules 1-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2.1 Preparing the CPV valve terminal for commissioning 2-3. . . . . . . . . . . . . . . . . .

2.1.1 Switching on the operating voltages 2-3. . . . . . . . . . . . . . . . . . . . . . . .

2.1.2 Address assignment of the CPV valve terminal 2-4. . . . . . . . . . . . . . . .

2.1.3 Address assignment of CPI/CP modules 2-6. . . . . . . . . . . . . . . . . . . . .

2.1.4 Address assignment for tool change configuration 2-7. . . . . . . . . . . . .

2.2 Commissioning on a CANopen master 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 General information on CANopen 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Overview 2-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Brief overview of the scope of functions 2-9. . . . . . . . . . . . . . . . . . . . .

2.3.2 Overview Object directory 2-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Switch-on behaviour of the CPV Direct 2-11. . . . . . . . . . . . . . . . . . . . . .

2.3.4 Default Identifier distribution 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Reaction to network communication faults 2-14. . . . . . . . . . . . . . . . . . .

2.3.6 Manufacturer Specific Condition Monitoring 2-15. . . . . . . . . . . . . . . . . .

2.3.7 Module parameters 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Tool change configuration 2-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Example of the tool change configuration 2-18. . . . . . . . . . . . . . . . . . . .

2.5 Overview of parametrizing 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Further information 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Diagnosis and error treatment 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Diagnosis via LEDs 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Normal operating status 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Fault diagnosis with the LEDs 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3 Status display of the valve solenoid coils 3-9. . . . . . . . . . . . . . . . . . . .

3.2 Diagnosis via the field bus 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Composition of the Emergency Message 3-11. . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-CPV-CO3-EN en 1201a

3.3 Overview of diagnostic objects 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Short circuit/overload 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Output module 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Sensor supply on one input module 3-19. . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix and accessories A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical specifications A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Product codes A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Object directories B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Object directories B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Overview Object directory B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Communication profile B-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 Digital CP inputs (Transmit PDO 1) B-10. . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.4 Digital CP outputs (Receive PDO 1) B-12. . . . . . . . . . . . . . . . . . . . . . . . .

B.1.5 Manufacturer Specific Condition Monitoring B-15. . . . . . . . . . . . . . . . . .

B.1.6 Module configuration B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Examples C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Examples: Communication sequence C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Example 1: Start CANopen network (operational mode) C-3. . . . . . . .

C.1.2 Example 2: Set output C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Example 3: Start “Node guard” monitoring C-4. . . . . . . . . . . . . . . . . . .

C.1.4 Example 4: Load objects C-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.5 Example 5: Write objects C-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 Example: Parametrizing with the program “CANsetter” C-7. . . . . . . . . . . . . . . .

D. Index D-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE-CPV-CO3-EN en 1201a

Intended use

The CPV valve terminal with field bus direct connection(CPV Direct) described in this manual is intended exclusivelyfor use as a slave on the CANopen field bus.

The valve terminal 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 documentationsupplied with the product are permitted.

– in faultless technical condition.

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

If additional commercially-available components such assensors and actuators are connected, the specified limits forpressures, temperatures, electrical data, torques, etc. mustnot be exceeded.

Please comply with national and local safety laws andregulations.

If implementing an emergency stop function, note themeasures listed in section 1.5.3.


VIIFesto P.BE-CPV-CO3-EN en 1201a

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology who have experience ininstalling, commissioning, programming and diagnosingslaves on the CANopen.

Service

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

Notes on the use of this manual

This manual contains specific information on installing,commissioning, programming and diagnosing CPV valveterminals with direct connection for CANopen.

Information on the pneumatics can be found in the“Pneumatics manual, P.BE-CDV-...”


VIII Festo P.BE-CPV-CO3-EN en 1201a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto-gram. A distinction is made between the following dangerwarnings:

WarningThis means that failure to observe this instruction mayresult in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction mayresult in personal injury or damage to property.

NoteThis means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo-nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


IXFesto P.BE-CPV-CO3-EN en 1201a

Marking special information

The following pictograms mark passages in the textcontaining special information.

Pictograms

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

Accessories:Information on necessary or sensible accessories for theFesto product.

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

Text markings

• The bullet indicates activities which may be carried out inany order.

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

– Hyphens indicate general activities.


X Festo P.BE-CPV-CO3-EN en 1201a

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

Term/abbreviation Meaning

CP cable Special cable for connecting the various CPI/CP modules in a CP string.Colour: black, type KVI-CP1-... and type KVI-CP2-...

CP function Supports the CP protocolwithout extended functions

CP module Common term for moduleswithout extended functions which can beincorporated in a CPI/CP system.

CP string CPI or CP modules which are connected by CPI/CP cable and which areconnected to the CPX-CP interface. For reasons of simplicity, only the term“CP string” is used, even if it has CPI functionality.

CP system Complete electrical installation system consisting of a CP master with oneor more CP strings. The system consists of CP modules (without extendedfunctions).

CP valve terminal CPV valve terminal (type 10) or CPA valve terminal (type 12), each withCP connection (also regarded as CP modules). Basic electric unit, black.

CPI cable Special cable for connecting the various CPI/CP modules in a CP string.Colour: white, type KVI-CP3-...

CPI connection Socket or plug on the CPI modules which allows the modules to beconnected using the CPI or CP cable.

CPI function Supports the CPI protocolwith extended functions

CPI module Common term for moduleswith extended functions which can beincorporated in a CPI/CP system.

CPI system Also: “CPI installation system”Complete electrical installation system consisting of a CP master with oneor more CP strings. The system consists of CPI/CP moduleswith andwithout extended functions. The system need not consist exclusively ofCPI modules.

CPV Direct CPV valve terminal with field bus direct connection

I Digital input

I/Os Digital inputs and outputs


XIFesto P.BE-CPV-CO3-EN en 1201a

Term/abbreviation Meaning

I/O modules Collective term for the modules which provide digital inputs and outputs(e.g., CPX I/O modules, CPI input modules and CPI output modules).

ID Identifier

Input module Input module

O Digital output

Output module Output module

SC/O Short circuit/overload

String assignment Type and order of the CPI/CP modules connected to one or more CP strings.

Tab. 0/1: Product-specific terms and abbreviations


XII Festo P.BE-CPV-CO3-EN en 1201a

Installation

1-1Festo P.BE-CPV-CO3-EN en 1201a

Chapter 1

Installation

1. Installation

1-2 Festo P.BE-CPV-CO3-EN en 1201a

Contents

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

1.1 General notes on installation 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Setting the CPV Direct 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Overview of setting the CPV Direct 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Setting the CANopen bus address (node ID) 1-7. . . . . . . . . . . . . . . . . .

1.2.3 Setting the baud rate 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Setting the configuration mode 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Recognizing the CPI extension with the SAVE button 1-9. . . . . . . . . . .

1.2.6 Help table for setting the bus address 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3 Connecting to the field bus 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Field bus cable 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Field bus baud rate and field bus length 1-15. . . . . . . . . . . . . . . . . . . . .

1.3.3 Information on connecting the field bus 1-16. . . . . . . . . . . . . . . . . . . . .

1.3.4 Field bus interface 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Field bus plug from Festo 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.6 Further connection possibilities for the field bus with adapters 1-21. .

1.4 Bus termination with terminating resistors 1-24. . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 Install a terminating resistor using the adapters 1-24. . . . . . . . . . . . . . .

1.5 Power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Cable for power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Selecting the power unit 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Connecting the power supply 1-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Extending the CPV Direct 1-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Rules for extending the CPI system 1-35. . . . . . . . . . . . . . . . . . . . . . . . .

1.7 Preparing the CPI system for commissioning 1-38. . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Checking the CP strings 1-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Saving the string assignment 1-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 Switching-on reaction of the CPI system 1-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9 Reaction of the CPI system to faults in operation 1-43. . . . . . . . . . . . . . . . . . . . . .

1.9.1 Eliminating assignment faults 1-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9.2 Replacing CPI/CP modules 1-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Installation


1.1 General notes on installation

WarningSudden unexpected movement of the connected actuatorsand uncontrolled movements of loose tubing can causeinjury to human beings or damage to property.

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

– the compressed air supply

– the operating voltage supply for the internal logics

– the load voltage supply to the valves.

You will thereby avoid undefined switching states of theelectronic components.

CautionThe electronic components may be damaged if they arenot handled correctly.

– Observe the handling specifications for electrostaticallysensitive components.

– Do not touch the electrical contacts of the components.

1. Installation


Electrical connecting and display elements

1

2

3

4

6

5

1 Field bus connection(9-pin Sub-D plug)

2 Connection for voltage supply(M12 plug, 4-pin, see section 1.5)

3 Status LEDs (see section 3.1)– module/network status (MNS)– operating voltage for electronics (PS)– load voltage (PL)– faultP

4 Switching status displays of the valvecoils (yellow LED, see section 3.1)

5 CPI extension connection(see section 1.6)

6 Switch cover (removable) forDIL switches and the SAVE button(see section 1.2)

Fig. 1/1: Connecting and display elements on the CPV Direct

1. Installation


1.2 Setting the CPV Direct

1.2.1 Overview of setting the CPV Direct

The CPV Direct can be set by means of 2 DIL switchessituated under the switch cover.

The SAVE button for recognizing the CPI extension is alsosituated under the switch over.

Fig. 1/2: Removing/fitting the switch cover

1. Installation


1 42 3

1 2-element DIL switch, switch elements 1 … 2 for settingthe CANopen baud rate

2 SAVE button for the CPI system

3 8-element DIL switch, switch elements 1 … 7 node ID forsetting the CANopen bus address

4 8-element DIL switch, switch element 8 for setting thestring configuration (tool change configuration)

Fig. 1/3: DIL switches and the SAVE button

Procedure

1. Switch off the operating voltage.

2. Unscrew the screws in the switch cover and remove thecover.

3. Setting the DIL switch:

– setting the baud rate on the 2-element DIL switch,

– bus address and tool change configuration on the8-element DIL switch.

4. If you have connected CPI/CP modules to the CPI exten-sion connection: read the procedure for configuring theCPI/CP modules in section 1.6.

5. Replace the switch cover, check that the seal is seatedcorrectly and tighten the fastening screws by hand.

1. Installation


NoteThe fitting position of the switch cover is clearly marked bymeans of a recess in the housing.

Make sure that the seal is seated correctly.

1.2.2 Setting the CANopen bus address (node ID)

You can set the CANopen bus address (binary coded) withswitch elements 1 … 7 of the 8-element DIL switch.

The following bus addresses are permitted:

Protocol Address designation Permittedbus addresses

CANopen Bus address 0; …; 127

Tab. 1/1: Permitted bus address for CANopen

NoteBus addresses may only be assigned once per fieldbus line.

Help tables for setting the bus address can be found insection 1.2.6.

1. Installation


Examples for setting the CANopen bus address

Set bus address Position of the switch elements

05 20 + 22= 1 + 4 =5

38 21 + 22 + 25=2 + 4 + 32 =38

Tab. 1/2: Examples of set bus addresses (binary coded)

Recommendation:Assign the bus addresses in ascending order. Assign the busaddresses to suit the machine structure of your system.

1.2.3 Setting the baud rate

You can set the baud rate with switch elements 1 and 2 of the2-element DIL switch.

Baud rate Position of the switch elements

125 kBaud DIL 1.1 = offDIL 1.2 = off

250 kBaud DIL 1.1 = onDIL 1.2 = off

500 kBaud DIL 1.1 = offDIL 1.2 = on

1000 kBaud DIL 1.1 = onDIL 1.2 = on

Tab. 1/3: Setting the baud rate

1. Installation


1.2.4 Setting the configuration mode

You can set the string configuration with switch element 8 ofthe 8-element DIL switch.

String configuration Position of the switch elements

Normal mode DIL 2.8 = off

Tool changeconfiguration

DIL 2.8 = on

Tab. 1/4: Setting the string configuration on the 8-elementDIL switch

1.2.5 Recognizing the CPI extension with the SAVE button

When the SAVE button is pressed, the CPI/CP modules con-nected to the CPI extension connection will be recognizedautomatically. This can only take place in normal mode.

1. Prepare to connect the CPV Direct to the power supply(see section 1.5).

2. Carry out the CPI extension according to the sections 1.6“Extending the CPV Direct” and 1.7 “Preparing theCPI system for commissioning”.

In the tool change configuration, pressing the SAVE button isnot necessary. Please refer here to section 2.4.

1.2.6 Help table for setting the bus address

On the following pages you will find an overview on settingthe bus address.

1. Installation


Bus

address

1 2 3 4 5 6 7 8 Bus

address

1 2 3 4 5 6 7 8

0 not permitted 16OFF OFF OFF OFF

ON

OFF OFF

1 ON

OFF OFF OFF OFF OFF OFF

17 ON

OFF OFF OFF

ON

OFF OFF

2OFF

ON

OFF OFF OFF OFF OFF

18OFF

ON

OFF OFF

ON

OFF OFF

3 ON ON

OFF OFF OFF OFF OFF

19 ON ON

OFF OFF

ON

OFF OFF

4OFF OFF

ON

OFF OFF OFF OFF

20OFF OFF

ON

OFF

ON

OFF OFF

5 ON

OFF

ON

OFF OFF OFF OFF

21 ON

OFF

ON

OFF

ON

OFF OFF

6OFF

ON ON

OFF OFF OFF OFF

22OFF

ON ON

OFF

ON

OFF OFF

7 ON ON ON

OFF OFF OFF OFF

23 ON ON ON

OFF

ON

OFF OFF

8OFF OFF OFF

ON

OFF OFF OFF

24OFF OFF OFF

ON ON

OFF OFF

9 ON

OFF OFF

ON

OFF OFF OFF

25 ON

OFF OFF

ON ON

OFF OFF

10OFF

ON

OFF

ON

OFF OFF OFF

26OFF

ON

OFF

ON ON

OFF OFF

11 ON ON

OFF

ON

OFF OFF OFF

27 ON ON

OFF

ON ON

OFF OFF

12OFF OFF

ON ON

OFF OFF OFF

28OFF OFF

ON ON ON

OFF OFF

13 ON

OFF

ON ON

OFF OFF OFF

29 ON

OFF

ON ON ON

OFF OFF

14OFF

ON ON ON

OFF OFF OFF

30OFF

ON ON ON ON

OFF OFF

15 ON ON ON ON

OFF OFF OFF

31 ON ON ON ON ON

OFF OFF

Tab. 1/5: Setting bus addresses 0 … 31: Position of the DIL switch elements

1. Installation


Bus

address

1 2 3 4 5 6 7 8 Bus

address

1 2 3 4 5 6 7 8

32OFF OFF OFF OFF OFF

ON

OFF

48OFF OFF OFF OFF

ON ON

OFF

33 ON

OFF OFF OFF OFF

ON

OFF

49 ON

OFF OFF OFF

ON ON

OFF

34OFF

ON

OFF OFF OFF

ON

OFF

50OFF

ON

OFF OFF

ON ON

OFF

35 ON ON

OFF OFF OFF

ON

OFF

51 ON ON

OFF OFF

ON ON

OFF

36OFF OFF

ON

OFF OFF

ON

OFF

52OFF OFF

ON

OFF

ON ON

OFF

37 ON

OFF

ON

OFF OFF

ON

OFF

53 ON

OFF

ON

OFF

ON ON

OFF

38OFF

ON ON

OFF OFF

ON

OFF

54OFF

ON ON

OFF

ON ON

OFF

39 ON ON ON

OFF OFF

ON

OFF

55 ON ON ON

OFF

ON ON

OFF

40OFF OFF OFF

ON

OFF

ON

OFF

56OFF OFF OFF

ON ON ON

OFF

41 ON

OFF OFF

ON

OFF

ON

OFF

57 ON

OFF OFF

ON ON ON

OFF

42OFF

ON

OFF

ON

OFF

ON

OFF

58OFF

ON

OFF

ON ON ON

OFF

43 ON ON

OFF

ON

OFF

ON

OFF

59 ON ON

OFF

ON ON ON

OFF

44OFF OFF

ON ON

OFF

ON

OFF

60OFF OFF

ON ON ON ON

OFF

45 ON

OFF

ON ON

OFF

ON

OFF

61 ON

OFF

ON ON ON ON

OFF

46OFF

ON ON ON

OFF

ON

OFF

62OFF

ON ON ON ON ON

OFF

47 ON ON ON ON

OFF

ON

OFF

63 ON ON ON ON ON ON

OFF


1. Installation


Bus

address

1 2 3 4 5 6 7 8 Bus

address

1 2 3 4 5 6 7 8

64OFF OFF OFF OFF OFF OFF

ON 80OFF OFF OFF OFF

ON

OFF

ON

65 ON

OFF OFF OFF OFF OFF

ON 81 ON

OFF OFF OFF

ON

OFF

ON

66OFF

ON

OFF OFF OFF OFF

ON 82OFF

ON

OFF OFF

ON

OFF

ON

67 ON ON

OFF OFF OFF OFF

ON 83 ON ON

OFF OFF

ON

OFF

ON

68OFF OFF

ON

OFF OFF OFF

ON 84OFF OFF

ON

OFF

ON

OFF

ON

69 ON

OFF

ON

OFF OFF OFF

ON 85 ON

OFF

ON

OFF

ON

OFF

ON

70OFF

ON ON

OFF OFF OFF

ON 86OFF

ON ON

OFF

ON

OFF

ON

71 ON ON ON

OFF OFF OFF

ON 87 ON ON ON

OFF

ON

OFF

ON

72OFF OFF OFF

ON

OFF OFF

ON 88OFF OFF OFF

ON ON

OFF

ON

73 ON

OFF OFF

ON

OFF OFF

ON 89 ON

OFF OFF

ON ON

OFF

ON

74OFF

ON

OFF

ON

OFF OFF

ON 90OFF

ON

OFF

ON ON

OFF

ON

75 ON ON

OFF

ON

OFF OFF

ON 91 ON ON

OFF

ON ON

OFF

ON

76OFF OFF

ON ON

OFF OFF

ON 92OFF OFF

ON ON ON

OFF

ON

77 ON

OFF

ON ON

OFF OFF

ON 93 ON

OFF

ON ON ON

OFF

ON

78OFF

ON ON ON

OFF OFF

ON 94OFF

ON ON ON ON

OFF

ON

79 ON ON ON ON

OFF OFF

ON 95 ON ON ON ON ON

OFF

ON


1. Installation


Bus

address

1 2 3 4 5 6 7 8 Bus

address

1 2 3 4 5 6 7 8

96OFF OFF OFF OFF OFF

ON ON 112OFF OFF OFF OFF

ON ON ON

97 ON

OFF OFF OFF OFF

ON ON 113 ON

OFF OFF OFF

ON ON ON

98OFF

ON

OFF OFF OFF

ON ON 114OFF

ON

OFF OFF

ON ON ON

99 ON ON

OFF OFF OFF

ON ON 115 ON ON

OFF OFF

ON ON ON

100OFF OFF

ON

OFF OFF

ON ON 116OFF OFF

ON

OFF

ON ON ON

101 ON

OFF

ON

OFF OFF

ON ON 117 ON

OFF

ON

OFF

ON ON ON

102OFF

ON ON

OFF OFF

ON ON 118OFF

ON ON

OFF

ON ON ON

103 ON ON ON

OFF OFF

ON ON 119 ON ON ON

OFF

ON ON ON

104OFF OFF OFF

ON

OFF

ON ON 120OFF OFF OFF

ON ON ON ON

105 ON

OFF OFF

ON

OFF

ON ON 121 ON

OFF OFF

ON ON ON ON

106OFF

ON

OFF

ON

OFF

ON ON 122OFF

ON

OFF

ON ON ON ON

107 ON ON

OFF

ON

OFF

ON ON 123 ON ON

OFF

ON ON ON ON

108OFF OFF

ON ON

OFF

ON ON 124OFF OFF

ON ON ON ON ON

109 ON

OFF

ON ON

OFF

ON ON 125 ON

OFF

ON ON ON ON ON

110OFF

ON ON ON

OFF

ON ON 126OFF

ON ON ON ON ON ON

111 ON ON ON ON

OFF

ON ON 127 ON ON ON ON ON ON ON


1. Installation


1.3 Connecting to the field bus

1.3.1 Field bus cable

NoteIf installation has not been carried out correctly and if highbaud rates are used, data transmission errors may occuras a result of signal reflections and attenuations.Causes of the transmission faults can be:

– missing or incorrect terminating resistor

– incorrect screening/shield connection

– branch lines too long

– transmission over long distances

– unsuitable cables.

Observe the cable specifications. Refer to your controllermanual for information on the type of cable to be used.

Use a twisted, screened 4-core cable for connecting the fieldbus. The bus interface is supplied with power via the field buscable.

If the Festo field bus plug is used, a cable diameter of5 … 8 mm or 7 … 10 mm is permitted.

NoteIf the valve terminal is fitted into a moving part of amachine, the field bus cable on the moving part must beprovided with strain relief. Note the relevant regulations in:IEC/DIN EN 60204-1.

1. Installation


1.3.2 Field bus baud rate and field bus length

The maximum permitted field bus length depends on thebaud rate used. Detailed information can be found in themanuals for your control system.

The maximum permitted length of the branch line depends onthe total length of the branch lines and the baud rate.

Note• Refer to the manuals for your control system or businterface in order to ascertain which T-adapter youshould use and the maximum branch line length whichis permitted for your controller.

• Take into account also the sum of the branch line lengthswhen calculating the maximum permitted length of thefield bus cable.

Information on setting the baud rate can be found insection 1.2.3.

1. Installation


1.3.3 Information on connecting the field bus

The field bus interface on the CPV Direct serves for providingand continuing the field bus cable. The feld bus connectioncan be exchanged and has been designed as:

– a 9-pin Sub-D plug

– an M12 adapter

– a screw terminal adapter.

Caution• Make sure the polarity is correct when you connect thefield bus interface and the power supply for the businterface/internal logics.

• Connect the screening/shield.

NoteBus slaves have different tolerances in respect of the inter-face supply, depending on the manufacturer. Note thiswhen planning the bus length and placing the power unit.

The following tolerance of the bus interface supply applies tothe CPV Direct (pin 9 on the Sub-D plug or pin 2 on the M12adapter and pin 5 on the screw terminal adapter):Vmax = 30.0 VVmin = 11.0 V

Recommendation:Avoid long distances between the bus interfaces/logic supplyand the CPV Direct. Place the power unit approximately in thecentre of the bus.

1. Installation


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

2 31

4

5

6

1 Field bus

2 Power supply

3 Screening/shield

4 T-adapter (T-tap)

5 Branch line

6 Field bus plug with T-adapter function

Fig. 1/4: Structure of the bus interface and example of connection

1. Installation


1.3.4 Field bus interface

There is 9-pin Sub-D plug on the top of the valve terminal forconnecting the CPV Direct to the field bus. This connectionserves for the incoming and continuing field bus cables. Youcan connect the CPV Direct with the field bus plug from Festotype FBS-SUB-9-BU-2x5POL-B.

NoteNote that only the Festo field bus plug guaranteescompliance with protection class IP65.

Before using field bus plugs from other manufacturers:

• Replace the two flat screws by bolts (part no. 340 960).

Pin CANopen Description Field bus plug fromFesto (IP65)

123456789

n.c.CAN_L0 V busn.c.CAN screening/shieldGND optionalCAN_Hn.c.24 V bus

not connectedCAN Bus LowPower supply to the bus interfacenot connectedCapacitive connection to housing–CAN Bus Highnot connectedPower supply to the bus interface

–A/LGND–Clamping strap–B/H–V+

(view of connection on the CPV Direct)51

96

Tab. 1/9: Pin assignment of the field bus interface on the CPV Direct

1. Installation


NoteThe screening connection at pin 5 of the field bus interfaceof the CPV Direct is connected capacitively with the hous-ing inside the valve terminal. This prevents equalizing cur-rents from flowing via the screening of the field bus cable(Fig. 1/5).

1 Capacitiveconnection

2 Housing

51

96

1

2

Fig. 1/5: Screening connection within the CPV Direct

1.3.5 Field bus plug from Festo

NoteUse a protective cap or blanking plug to seal unused con-nections. You will then comply with protection class IP65.

• Observe the fitting instructions for the field bus plug.

You can connect the CPV valve terminal easily to the field buswith the field bus plug from Festo (FBS-SUB-9-BU-2x5POL-B).You can disconnect the plug from the node without interrupt-ing the bus cable (T-TAP function).

NoteThe clamp strap in the Festo field bus plug is connectedonly capacitively internally with the metal housing of theSub-D plug. This prevents equalizing currents from flowingvia the screening of the field bus cable (Fig. 1/6).

1. Installation


• Clamp the screening of the field bus cable under theclamp strap in the field bus plug. The “SLD” terminal inthe fieldbus plug is optional.

1 Hinged cover withdisplay window

2 Clamp strap forscreening/shieldconnection

3 Protective cap ifconnection is notused

4 Field buscontinuing (OUT)

5 Field busincoming (IN)

6 Only connectedcapacitively

V+

GND H L

SLD

V+

GND H L

SLD

21 3

456

Bus in

Bus out

Fig. 1/6: Field bus plug from Festo type FBS-SUB-9-BU-2x5POL-B

1. Installation


1.3.6 Further connection possibilities for the field bus with adapters

Caution• Make sure the polarity is correct when you connect thefield bus interface and the power supply for the businterface/internal logics.

• Connect the screening/shield.

There are further possibilities of connecting the CPV Direct bymeans of adapters. The adapters must be ordered separatelyfrom Festo:

– M12 adapter 5-pin (protection class IP65)type FBA-2-M12-5POL

– screw terminal adapter 5-pin (protection class IP20)type FBA-1-SL-5POL

1. Installation


M12 adapter (IP65)

Order this connection from Festo (type FBA-2-M12-5POL). Thebus is connected via a 5-pin M12 socket with PG9 screw con-nector. Use the second connection socket for the continuationof the field bus.

NoteUse blanking plugs to seal unused connections. You willthen comply with protection class IP65.

Order this connection from Festo (type FBA-2-M12-5POL).

M12 adapter Pin no.

5

2

3

4

15

1

4

3

2

In Out

1. Screening/shield2. 24 V DC bus (max. 4 A)3. 0 V bus4. CAN_H5. CAN_L

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

Bus In

Bus Out

Tab. 1/10: Pin assignment of the field bus interface (adapter for M12 connection 5-pin)

You can disconnect the M12 adapter from the CPV Directwithout interrupting the bus cable (T-TAP function). Bus Inand Bus Out are connected together with an M12 connector(see Fig. 1/4).

1. Installation


Screw terminaladapter (IP20)

With this adapter the bus can be connected to a 2x5-pinterminal strip. Use the second row of connections for thecontinuing field bus.The maximum permitted current at the terminals is 4 A.Use cables with a cross sectional area of min. 0.34 mm2.

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

Screw terminal adapter Pin no.

1 2 3 4 5

1. 0 V bus2. CAN_L3. Screening/shield4. CAN_H5. 24 V DC bus (max. 4 A)

2x5-pin terminal strip

Tab. 1/11: Pin assignment of the field bus interface(screw terminal adapter 5-pin)

If you connect the field bus via the terminal strip typeFBSD-KL-2x5POL from Festo, you can implement a T-adapterfunction.

Alternatively, you can use ready made bus cables from othermanufacturers (see also appendix A, Accessories).

1. Installation


1.4 Bus termination with terminating resistors

NoteAlways use a bus termination at both ends of the field bus.This also applies if the CPV Direct is at the end of the fieldbus.

If you use T-adapters, install the terminating resistor at theunused output of the T-adapter.

Recommendation:Fit a resistor (120 Ω, 0.25 W, see following fig.) for the bustermination in the Festo field bus plug.

1 Protective cap

2 Resistor for busconnection(120 Ω, 0.25 W)

V+

GND H L

SLD

V+

GND H L

SLD

V+

GND H L

SLD

1 2

Fig. 1/7: Bus termination with resistor in the field bus plug from Festo

1.4.1 Install a terminating resistor using the adapters

If the CPV valve terminal to be connected is at the end of thefield bus, a terminating resistor (120 Ω, 0.25 W) must befitted in the field bus socket.

• Connect the terminating resistor between the cores forCAN_H and CAN_L.

1. Installation


1.5 Power supply

1.5.1 Cable for power supply

• Use a power supply cable with sufficient cross-sectionalarea.

• Avoid long distances between the power unit and theCPV valve terminal. Long cables reduce the voltagesupplied by the power unit.

• If necessary calculate the suitable cross-sectional areaand the maximum permitted cable length.

The power supply connection is in the form of a plug. The pinassignment of the plug can be found on the following pages.

Use plugs from the Festo range for connecting the power sup-ply in accordance with the outer diameter of the cables used(see appendix A.3).

1. Installation


1 Cable

2 Strain relief

3 Housing

4 Connecting part

12

3

4

Fig. 1/8: Individual socket parts and cable routing

Preparing When you have selected suitable cables, connect them asfollows (Fig. 1/8):

1. Open the socket: To do this loosen the centre knurled nut.

2. Open the strain relief on the rear of the housing and pullthe cable through.

3. Remove 5 mm of the insulation from the end of the cableand fit core end sleeves.

4. Connect the conductors.

5. Replace the connecting part on the housing of the socketand screw it tight. Pull the cable back so that there are noloops inside the housing.

6. Tighten the strain relief.

1. Installation


1.5.2 Selecting the power unit

Warning• In order to provide the electric power supply, use onlyPELV circuits as per IEC/DIN EN 60204-1 (ProtectiveExtra-Low Voltage, PELV).Take into account also the general requirements forPELV circuits as per IEC/DIN EN 60204-1.

• Use only power packs which guarantee reliable electri-cal isolation of the operating voltage as per IEC/DINEN 60204-1.

By the use of PELV power units, protection against electricshock (protection against direct and indirect contact) isguaranteed in accordance with IEC/DIN EN 60204-1(electrical equipment of machines, general requirements).

The current requirement of a CPI/CP system depends on thenumber of CPI/CP modules and valve coils.Recommendation:

• Use closed-loop controlled power units.

• When selecting the power unit, check that it providessufficient output. If necessary, calculate the total currentrequirement according to the following table.

1. Installation


Total currentconsumption

The table below shows how to calculate the total currentconsumption of a CPI/CP system. The values specified havebeen rounded up.

Current consumption of the CPelectronics (pin 1)

Sums

CPV Direct max. 100 mA

CPV valve terminal max. 40 mA

CPA valve terminal 20 mA

CPI/CP input module max. 40 mA

Sensors see manufacturerspecifications

CPI/CP output module max. 40 mA

Carry forward = ______ mA

Current consumption of the valve supply(pin 2)

Current consumption ofall simultaneouslyenergized valve coils 1) __ x ____ mA = ______ mA

1) Current consumption depends on the valve type(see Technical specifications of the valves)

Tab. 1/12: Calculating the total current consumption

1. Installation


1.5.3 Connecting the power supply

WarningIf the valve terminal is supplied with load voltage via anoutput of a “safety I/O module”, switch-on test pulses ofthe “safety I/O module” may lead to unexpected reactionsof the valve terminal.

• Make sure that switch-on test pulses are reliablysuppressed or switched off.

Current consumption depends on the type of valve terminal.Please refer to the “Pneumatics Manual, P.BE-CPV-...” and theprevious section for the values.

• Connect the power supply to the 4-pin M12 plug(Fig. 1/1).

• Observe the tolerance when connecting the 24 V loadvoltage at pin 2: 20.4 … 26.4 V DC. Check the 24 V operat-ing voltage of the valves whilst the system is operating.

CautionProtect the load voltage of the CPV valve coils with amax. 2 A external fuse.

In this way you can avoid functional damage to theCPV Direct in the event of a short circuit.

1. Installation


NoteCheck your EMERGENCY STOP circuit in order to ascertainthe measures necessary for switching your machine/sys-tem into a safe state in the event of an EMERGENCY STOP.

– Switching off the load voltage for the valves and outputmodules in the secondary circuit of the power unit.

– Switching off the compressed air supply for the valveterminal.

Due to energy stored in the input circuitry of valve ter-minals, there may be a delayed reaction of the valves whenthe load voltage is switched off.

Take this into consideration, e.g. as follows:

– by using an input signal in the controller for checkingwhether the load voltage has been switched off.

– by blocking the control signal for the valves by lockingthe output signal with the input signal “Load voltage”.

Pin assignment of the power supply connection

1

1 Pin assignment1: 24 V DC operating voltage for the electronics

(and inputs, with modules connected to theextension connection)

2: 24 V DC load voltage for the valves (max. 2 A)3: 0 V4: Earth/ground connection

Fig. 1/9: Pin assignment of the power supply connection

1. Installation


Potential equalization

The CPV valve terminal has 2 earth connections for potentialequalization:

– on the power supply connection

– on the end plate.

Note• Always connect the earth potential to pin 4 of the powersupply connection.

• Connect the earth connection of the end plate with lowimpedance (short cable with large cross-sectional area)to the earth potential.

• By means of low-impedance connections, make surethat the housing of the valve terminal and the earth con-nection at pin 4 have the same potential and that thereare no equalizing currents.

In this way, you will avoid interference caused by electro-magnetic influences.

1. Installation


1 2 43 2

24 V

0 V

3 1 2 4

2 A

2 A

2

1 PE

2 Potential equalization

3 The load voltage can be switched off separately andexternal fuses

4 Earth connection at pin 4 designed for 3 A

Fig. 1/10: Example of connection with PELV power supplyunit and potential equalization

1. Installation


1.6 Extending the CPV Direct

This section is only relevant for you if you wish to connectCPI/CP modules to the CPI extension connection.

1

1 CPI extension connection

Fig. 1/11: CPI extension connection

The rules for CPI systems apply for extending the CPV Direct(see section 1.6.1).

You can connect the following CPI/CP modules to theCPI extension connection:

– CP input and output modules

– CPI input and output modules (with extended functions)

– CPV-SC with CPI connection

– CPV/CPA valve terminals with and without extendedfunctions.

1. Installation


CautionThe maximum cable length between the CPV Direct and thelast CPI/CP module must not exceed 10 m.

The CP connecting cables must have special electricalproperties. Therefore always use Festo CP connectingcables.

Ready-to-use CP connecting cables are available from Festo.These are available in various lengths and designs. www.festo.com/catalogue

Seal unused CPI/CP connections of yourCPI/CP system with the relevant sealprovided. In this way you will complywith protection class IP65.

1. Installation


1.6.1 Rules for extending the CPI system

The CPI system supports a different number of modules perCP string, depending on the type of CP master and on theCPI/CP modules connected.

The CPV Direct is a CPI master.

Modules can be placed in two different groups:

– CPI modules (with extended functions)

– CP modules (without extended functions)

Rules and properties

CPI system – Max. 4 modules on the CP string– Max. 32 inputs and 32 outputs (per CP string)– The sequence of the modules within the CP string is optional

CPI master A mixture of CPI/CP modules is possible on CPI masters:– Only one CP input module is possible at the end of a string– Only one CP valve terminal 2) or one CP output module 2) is possible per CP string.– “Unused” locations on the CP string can be “filled” with CPI modules 1).

CPI modules Modules always have an Incoming and continuing interface on all CPI modules(input modules, output modules) and valve terminals with CPI connection.

1) with extended functions2) without extended functions

Tab. 1/13: Rules for extending the CPI system

1. Installation


NoteIrrespective of the type of CPI/CP modules, not more than32 inputs and 32 outputs may be connected (sum of allmodules on a CP string).

This means that a CP string can be extended by maximum2 CP valve terminals with CPI ability, as CP valve terminalsalways occupy 16 output addresses.

X X I

CPI master

X X

X X I

X VI/O

X: Any CPI module or CP valve terminal with CPI ability(max. 2 valve terminals possible)

I: CP input module

VI/O: CP valve terminal or CP output module

grey: CPI modules/valve terminals with extended functions

X X

X

Fig. 1/12: Examples of extending a CPI system

1. Installation


CP string withoutCPI output modulewith max. oneCP valve terminaltype

Maximumsensor currentconsumption ofthe CPI moduleson the CP string 1)

Maximum string length with CPI cable,type KVI-CP-3-...

Vval = 21.6 ... 24 V16 valves 2)

Vval = 20.4 V8 valves 3)

Vval = 20.4 V16 valves 4)

CPV10-.../CPA10-... 0.5 ... 1.5 A 10 m 10 m 10 m

CPV14-.../CPA14-... 0.5 ... 1.5 A 10 m 10 m 10 m

CPV18-...

0.5 A 10 m 10 m 10 m

1.0 A 10 m 10 m 10 m 5)

8 m 6)

1.5 A 10 m 10 m 10 m 5)

5 m 6)

1) Maximum sensor supply current used2) Rated voltage or undervoltage of -10 %, 16 valve solenoid coils switched simultaneously

(high current phase)3) Rated voltage or undervoltage of -15 %, 8 valve solenoid coils switched simultaneously

(high current phase)4) Rated voltage or undervoltage of -15 %, 16 valve solenoid coils switched simultaneously

(high current phase)5) Valve terminal installed in each case at start of string6) Valve terminal installed in each case at end of string

Tab. 1/14: Permitted string lengths with CPI cables, type KVI-CP-3-... depending on theCP valve terminal used and on the sensor current consumption

CP string without CP valveterminal, with a maximum ofone CPI output module, type

Maximum sensor currentconsumption of the CPImodules on the CP string 1)

Maximum string lengthwith CP cable, typeKVI-CP-3-...

CP-A04-M12-CL 0.5 A 10 m

CP-A08...-M12-... 1.5 A 10 m

1) Maximum sensor supply current used

Tab. 1/15: Permitted string lengths with CP cables, type KVI-CP-3-... depending on theCPI output module used and on the sensor current consumption

1. Installation


1.7 Preparing the CPI system for commissioning

This section is only relevant for you if you have connectedCPI/CP modules to the CPI extension connection.

NoteDo not yet connect the CPV Direct to a higher-ordercontroller for preparing commissioning.

You will thus avoid addressing faults which may occur invarious field bus systems when address ranges are modi-fied during operation.

1.7.1 Checking the CP strings

Preparations Before commissioning a CPV Direct with CPI extensions,you should first prepare each individual CPI system forcommissioning.

Proceed as follows:

1. Check the pneumatic tubing of the valve terminals withthe aid of the manual override (see pneumatics manual).

2. Check the complete electric circuitry of the CPI system.

3. Save the current string assignment of the CPI system asthe nominal assignment, as described in section 1.7.2.

1. Installation


1.7.2 Saving the string assignment

WarningBe very careful if the string assignment of your CPI systemis modified at a later stage:

• After saving the string assignment, check the addressassignments of your CPI system before starting userprograms.

You will then avoid addressing faults in the case of incor-rectly fitted CPI/CP modules.

String assignment The CPV Direct saves the type and the sequence of theconnected CPI/CP modules for the CP string (stringassignment).

The saved string assignment enables the CPV Direct to avoidfaults in connecting, and thus addresssing. It checks auto-matically to see if the current string assignment is the sameas the saved assignment. A distinction is made here betweenthe following test phases:

– testing during the start-up phase (see section 1.8)

– testing during operation (see section 1.9).

When the status LEDs on all the CPI/CP modules light up, theCPI system is prepared for commissioning. You can now com-mission the CPI system.

1. Installation


Saving the stringassignment

The desired string assignment is generated and saved forcommissioning. In this way the connected CPI/CP modulesare assigned with the relevant addresses.

Save the string assignment as follows:

1. Leave the power supply for the CPV Direct switched offfor the time being.

2. Make sure that the CPI cables are fastened properly withthe union nut.

3. Switch on the power supply for the CPV Direct and, ifnecessary, for the CPI/CP modules with load voltageconnection.The fault LEDP on the CPV Direct will flash if CPI/CPmodules are connected or if the string assignment ismodified.

4. Use a small screwdriver or similar tool to press the SAVEbutton for at least 1 s (see Fig. 1/3).This will save the current string assignment as thenominal string assignment in the CPV Direct.The fault LEDPno longer flashes.The status LEDs of all the recognized CPI/CP moduleslight up.

NoteAfter saving the string assignment, check the addressassignments of your CPI system before starting userprograms.

1. Installation


1.8 Switching-on reaction of the CPI system

When the power supply is switched on, the CPV Directascertains automatically the current string assignment. It alsoascertains which CPI/CP modules are connected to the stringextension.

If the current assignment is the same as the savedassignment, the CPV Direct will switch automatically to theready-to-operate status.The PS/PL LEDs of the CPV Direct as well as the status LEDson the connected CPI/CP modules light up.

If the current assignment is not the same as the savedassignment, the fault LEDP on the CPV Direct will flash.In this case the CPI system is not ready to operate.

You then have the following possibilities of restoring thereadiness to operate:

– Eliminate assignment faults manually or replaceindividual CPI modules (see section 1.9).

– Save the current assignment as the nominal assignment(see section 1.7.2).

Detailed instructions on diagnosing the CPV Direct using theLEDs can be found in section 3.1.

1. Installation


“CP configuration fault”Fault LEDP flashes

Switch on the powersupply

Yes

Save buttonpressed?

No

String assignmentsave

Fault LEDP out

Module types:Set = Actual?

Yes

CP string: Registermodule types

No

CPI system ready tooperate (permanentI/O update)

First commissioning(commissioning withmodified configuration)

Normal operation

Fig. 1/13: Switching-on reaction of the CPI system

1. Installation


1.9 Reaction of the CPI system to faults in operation

WarningUndesired activation of actuators

An incorrect status of the valves and outputs can lead todangerous situations.

• Make sure that valves and outputs are put into a safestate when faults occur.

If there is a fault on the CP string during operation, e g. dueto cable fracture, this will be displayed on the CPV Direct bythe diagnostic LED of the string extension (P). The status LEDon the relevant module goes out. All modules working with-out faults remain ready to operate.

Detailed instructions on diagnosing the CPV Direct using theLEDs can be found in section 3.1.

1.9.1 Eliminating assignment faults

In order to eliminate assignment or connection faults of theCPI system:

1. Switch off the power supply for the CPV Direct.

2. Restore the saved assignment by connecting theappropriate CPI/CP modules with the CPV Direct again.

3. Switch on the power supply for the CPV Direct again.

1. Installation


1.9.2 Replacing CPI/CP modules

NoteReplacing a CPI/CP module with a CPI/CP module of adifferent type or replacing several CPI/CP modules willrequire new commissioning and new saving of the stringassignment (see section 1.7).

In order to replace an individual module, proceed as follows:

1. Switch off the power supply for the CPV Direct.

2. In the case of CPI/CP output modules and valve terminalson the CP string concerned:Switch off the following sources of energy:– the compressed air supply to the valve terminal– the operating voltage supply for the CPI/CP output

module.

3. Disconnect all connecting cables and, if necessary, alsothe tubing.

4. Connect all the cables and, if applicable, the tubing withthe new module of the same type.

5. Now connect the new module of the same type to thesame string.

6. In the case of CPI/CP output modules and CP valveterminals:Switch on the operating voltage supply or thecompressed air supply again.

7. Switch on the power supply for the CPV Direct again.

8. Check the addresses of the CPI system.

Commissioning


Chapter 2

Commissioning

2. Commissioning


Contents

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

2.1 Preparing the CPV valve terminal for commissioning 2-3. . . . . . . . . . . . . . . . . .

2.1.1 Switching on the operating voltages 2-3. . . . . . . . . . . . . . . . . . . . . . . .

2.1.2 Address assignment of the CPV valve terminal 2-4. . . . . . . . . . . . . . . .

2.1.3 Address assignment of CPI/CP modules 2-6. . . . . . . . . . . . . . . . . . . . .

2.1.4 Address assignment for tool change configuration 2-7. . . . . . . . . . . . .

2.2 Commissioning on a CANopen master 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 General information on CANopen 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Overview 2-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Brief overview of the scope of functions 2-9. . . . . . . . . . . . . . . . . . . . .

2.3.2 Overview Object directory 2-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Switch-on behaviour of the CPV Direct 2-11. . . . . . . . . . . . . . . . . . . . . .

2.3.4 Default Identifier distribution 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Reaction to network communication faults 2-14. . . . . . . . . . . . . . . . . . .

2.3.6 Manufacturer Specific Condition Monitoring 2-15. . . . . . . . . . . . . . . . . .

2.3.7 Module parameters 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Tool change configuration 2-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Example of the tool change configuration 2-18. . . . . . . . . . . . . . . . . . . .

2.5 Overview of parametrizing 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Further information 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Commissioning


2.1 Preparing the CPV valve terminal for commissioning

2.1.1 Switching on the operating voltages

NotePlease observe the switching-on instructions in the manualfor your PLC controller.

• Before switching on, make sure that the field bus hasbeen configured completely and correctly as specified.

Observe the following points before switching on the powersupply:

Common supply Provide a common power supply for the control system andall field bus slaves via a central power unit or a central switch.

Separate supply If the control system and the field bus slaves have separatepower supplies, the devices must be switched on in the fol-lowing sequence:

1. the operating voltage supply for all field bus slaves

2. the operating voltage supply for the controller.

2. Commissioning


2.1.2 Address assignment of the CPV valve terminal

The CPV valve terminal with field bus direct connection al-ways occupies 16 output addresses, irrespective of thenumber of valve solenoid coils fitted on it. This enables theCPV valve terminal to be extended at a later date without theneed to shift the addresses.

The following diagram shows the addressing sequence of theindividual CPV valve plates.

0-1

2-3

4-5 8-9

10-11

12-13

6-7 14-15

Fig. 2/1: Address assignment of the CPV Direct

– A valve location on the CPV valve terminal alwaysoccupies 2 addresses, even if it is fitted with a blankingplate or pressure separation plate. If a valve location isfitted with a double-solenoid valve, the following applies:

– pilot solenoid 14 occupies the lower-value address;

– pilot solenoid 12 occupies the higher-value address.

With single-solenoid valves the higher-value addressremains unused.

2. Commissioning


– The address assignment on the CPV valve terminal is fromleft to right and on the individual valve locations from thefront to the rear.

Byte 0 Byte 1

Bit0

Bit1

Bit3

Bit2

Bit5

Bit4

Bit6

Bit7

Bit1

Bit0

Bit3

Bit2

Bit5

Bit4

Bit7

Bit6

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15Numbers ofthe outputs

Fig. 2/2: Address assignment of the CPV valve terminal(outputs) with examples for byte 0 and byte 1

2. Commissioning


2.1.3 Address assignment of CPI/CP modules

Tab. 2/1 provides an overview of the assigned addresses forthe various CPI/CP modules (as at 2011).

CPI/CP modules Assigned I/O onCPV-CO3-...

Type CPI-capable 1) CPI masters 1)

I O

CPI/CP input modules CP-E08-M8-CLCP-E08-M12-CLCP-E16-KL-CLCP-E08-M12-ELCP-E16-M8-ELCP-E32-M8-ELCP-E16-M8CP-E16N-M8CP-E16-M8-ZCP-E16-M12x2-5POLCP-E16N-M12x2CP-E16-KL-IP20-Z

YesYesYesYesYesYesNoNoNoNoNoNo

8 I8 I16 I16 I16 I32 I16 I16 I16 I16 I16 I16 I

––––––––––––

CPI/CP output modules CP-A04-M12-CLCP-A08-M12-EL-ZCP-A08-M12-5POLCP-A08N-M12

YesYesNoNo

––––

8 O8 O16 O16 O

CPI/CP valve terminals CPV...-CPICPV-SC-CPICPV...-GE-FB-4CPV...-GE-FB-6CPV...-GE-FB-8CPA10/14-IFB-CP

YesYesNoNoNoNo

– 16 O16 O16 O16 O16 O16 O

1) with extended functions

Further CPI modules and CPI-capable valve terminals in preparation.

Tab. 2/1: Assigned I/Os of the CPI/CP modules

2. Commissioning


2.1.4 Address assignment for tool change configuration

Further information on the tool change configuration can befound in section 2.4.

2.2 Commissioning on a CANopen master

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

The following standard specifications have been taken intoaccount:

CANopen specifications (standard regulations)

DS 201DS 207

CAN Application Layer CAL

DS 301, 4.02 The Draft Standard 301 is based on the CAL communication profile.

DS 401, V2.1 The Draft Standard 401 defines the device profiles for input and outputmodules within CANopen.

In order to understand this section, you should be familiarwith CANopen and the specifications DS 301 and DS 401.

2. Commissioning


2.2.1 General information on CANopen

CANopen devices have an object directory which makes allimportant slave parameters accessible in a standardizedmanner. A CANopen system is configured mainly by access tothe object directory of the individual slaves. The accessmechanism is provided by Service Data Objects (SDO).

There are two different communication mechanisms in aCANopen system.

The Process Data Objects (PDO) serve for the fast transfer ofprocessing data and are transmitted by simple CAN mess-ages without protocol overhead. Process Data Objects can betransmitted event-controlled, synchronous to a system pulsesequence or on demand.

The Service Data Objects (SDO) form a point-to-point connec-tion and permit access to every entry in the object directoryof a node.

2. Commissioning


2.3 Overview

2.3.1 Brief overview of the scope of functions

– Module states and boot-up as per Communication ProfileDS 301

– A Service Data Object for read and write access to theobject directory

– A Process Data Object for access to digital outputs

– A Process Data Object for access to digital inputs

– Emergency telegram for fault message to the master

– Node guarding / Heart beat

– Default setting of all identifiers as per DS 301 and thenode address (predefined connection set)

– Variable mapping

2. Commissioning


2.3.2 Overview Object directory

The following table provides an overview of the implementedobjects of the CPV-CO3:

Index (hex) Objects Seesection

1000 … 1200 Communication part of the objectdirectory

B.1.2

1400 Communication parameters forReceive PDO (outputs)

B.1.4

1600 Mapping parameters for Receive PDO(outputs)

1800 Communication parameters forTransmit PDO (inputs)

B.1.3

1A00 Mapping parameters for Transmit PDO(inputs)

3000 … 3050 Manufacturer Specific,Condition Counter

B.1.5

3100 Manufacturer Specific, Module Identity B.1.6

3200 Manufacturer Specific,Module Diagnosis

3300 Manufacturer Specific,Module Parameter

6000 Input Array B.1.3

6200 Output Array B.1.4

6206 Fault Mode Array for the outputs

6207 Fault State Array for the outputs

2. Commissioning


2.3.3 Switch-on behaviour of the CPV Direct

The following diagram shows the status transitions of theCPV Direct:

Stopped

Power on

Communication initialization

Pre-operational

Operational

1

00

004

2

5

3

Hardware initialization

2

31

Fig. 2/3: Status transitions of the CPV Direct (description see next page)

2. Commissioning


Description of the status transitions

Statustransition

Description CommandSpecifier (CS)

Function

00 Automatic boot up after Power On

1 Operationalmode

01H

Start_Remote_Node_Indication

Starts the CPV valve terminal in operationalmode:– SDO transmission valid– PDO transmission (outputs active)– Node guarding / Heart beat valid

(Node guard response: Toggle + 05H)

2 Pre-operationalmode

80H

Enter_Pre_Operation_State_Indication

CPV valve terminal in pre-operational mode:– SDO transmission valid– PDO transmission invalid (outputs assume

fault status *) )– Node guarding / Heart beat valid

(Node guard response: Toggle + 7FH)

3 Stopped mode 02H

Stop_Node_Indication

CPV valve terminal in stopped mode:– SDO transmission invalid– PDO transmission invalid (outputs assume

fault status *) )– Node guarding / Heart beat valid

(Node guard response: Toggle + 04H)

4 Resetting thecommunicationfunctions

82H

Reset_Communication_Indication

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

(Index 1000h … 1FFFh)

5 Module resetincludingapplication

81H

Reset_Node_Indication

Module reset including application:– Outputs are reset– SDO re-initialized, modified values are reset

(Index 1000h … 6207h)

*) only after the transition from operational mode to stopped or pre-operational mode

2. Commissioning


2.3.4 Default Identifier distribution

The following table shows the identifier distribution:

Broadcast objects

Object name Object designation Value range of the COB identifierwith the CPV Direct

SYNC 128D080H

Peer-to-Peer objects

Object Object designation Value range of the COB identifierwith the CPV Direct *)

EMERGENCY For procedures with highpriority, e.g. undervoltage

129D … 255D081H 0FFH

Send PDO PDO1 (Tx), inputs 385D … 511D181H 1FFH

Receive PDO PDO1 (Rx), valves/outputs 513D … 639D201H 27FH

Transmit SDO SDO1 (Tx) 1409D … 1535D581H 5FFH

Receive SDO SDO1 (Rx) 1537D … 1663D601H 67FH

Node guarding /Heart beat

Guarding 1793D … 1919D701H 77FH

*) The value depends on the bus address, e.g.: PDO1 (Tx) = 384D + bus address

2. Commissioning


2.3.5 Reaction to network communication faults

You can parametrize the reaction of the valves and any exist-ing outputs if a fault occurs. All valves/outputs are reset asstandard when the following faults and operating states occuras soon as Node guard, Heart beat are activated via the con-figuration:

– Communication faults (Node guard, Heart beat)

– Transition from operational to pre-operational or stopped

The status of the valves/outputs can be modified via indices6206 and 6207 (Default Output Mode, Error State Output)(see section B.1.4).

The general reaction of the valve terminal to faults (communi-cation faults, faults on the input or output module and faultson the CPI/CP string) can be parametrized via Index 1029.

Default setting via Index 1029 (see section B.1):

– Communication faults as well as input/output faults leadto the pre-operational status.

– CPI/CP faults remain in the current status.

Warning• Make sure that valves and outputs are reset when thefaults named occur.

Dangerous situations may arise if the valves and outputsare not reset.

Note here the example C.1.3. in the appendix.

2. Commissioning


NotePlease note the following if the outputs are reset afterPLC stop, field bus interruption or fault:

– Single-solenoid valves move to the basic position.

– Double-solenoid valves remain in the current position.

– Mid-position valves move to the mid-position (depend-ing on valve type: pressurized, exhausted or blocked).

2.3.6 Manufacturer Specific Condition Monitoring

Examples see section B.1.5.

2.3.7 Module parameters

Further information on the module parameters seeCPI system description CP-BE-CPX-CP-...

2. Commissioning


2.4 Tool change configuration

With the string configuration in the tool change configuration,you can commission modules on the CPI extension connec-tion without a new configuration. In the tool change configur-ation, pressing the SAVE button is not necessary.

The tool change configuration is useful if various CPI stringextensions are connected in turn to the CPV Direct duringoperation.

NoteIn the tool change configuration, the system does notcheck which modules are actually connected. After modifi-cation to the string assignment, evaluation of input signalsmay appear to be incorrect if inputs, which are no longer inthe new string assignment, are read. The current CP stringextension can be ascertained via Object 3100.2-5.

After modification to the string assignment (e.g. with fewermodules): Make sure that the controller processes only theaddresses of the modules actually connected to the CPstring. The same applies for outputs.

Addressing and function With the tool change configuration, the maximum possible32 inputs and 32 outputs will be assigned in the CPI stringextension, irrespective of whether these are used or not. Theaddresses are assigned without gaps, module after modulein ascending sequence. Please take this into account whenprogramming the controller.

2. Commissioning


I/O assignment of the tool change configuration:

Device Assigned I/Os Default PDO mapping Objects

CPV basic unit 16O RxPDO, byte 0 … 1 6200.1-2

CPI extension 32I TxPDO, byte 0 … 3 6000.1-4

32O RxPDO, byte 2 … 5 6200.3-6

Tab. 2/2: Example of I/O assignment of the tool change configuration

Configuration Advantages Disadvantages

Standard – Good diagnostic possibilities– Protection against confusion of the

modules on the CPI string

– Modifications to the CPI extensionstring must be configured again.

Tool changeconfiguration

– Modifications to the CPI extensionstring are possible without newconfiguration.

– Can be configured

– Limited diagnostic possibilities– Address assignment of the

exchangeable configurations mustbe carried out very carefully.

Tab. 2/3: Advantages and disadvantages of the tool change configuration

2. Commissioning


2.4.1 Example of the tool change configuration

The following examples1,2 and3 show the I/O assign-ment as a factor of the configuration. By means of the toolchange configuration you can connect the Object extensions1,2 or3 without a new configuration.

Tool change configuration

8 I

4 O 8 I

16 O

1

2

38 I8 I8 I8 I

1 CPV-CO3 + CP-E08-M12-CL2 CPV-CO3 + CP-A04-M12-CL + CP-E08-M12-CL3 CPV-CO3 + 4x CP-E08-M12-CL

Tab. 2/4: Various extensions with the tool change configuration

2. Commissioning


2.5 Overview of parametrizing

Designation Set value

1 Parameters of the CPV basic unit see Object Index 3300, Subindex 1

2 Parametrizing the CPI extensions see Object Index 3300, Subindex 2 … 5

3 Parametrizing the reaction to faults see Object Index 1029

Tab. 2/5: Overview of parametrizing possibilities

2.6 Further information

Information on the Emergency Object and on diagnosis canbe found in chapter 3.

Examples of communication sequence and on operation withJetter controllers can be found in appendix B.

2. Commissioning


Diagnosis and error treatment


Chapter 3

Diagnosis and error treatment

3. Diagnosis and error treatment


Contents

3. Diagnosis and error treatment 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Diagnosis via LEDs 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Normal operating status 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Fault diagnosis with the LEDs 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3 Status display of the valve solenoid coils 3-9. . . . . . . . . . . . . . . . . . . .

3.2 Diagnosis via the field bus 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Composition of the Emergency Message 3-11. . . . . . . . . . . . . . . . . . . . .

3.3 Overview of diagnostic objects 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Short circuit/overload 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Output module 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Sensor supply on one input module 3-19. . . . . . . . . . . . . . . . . . . . . . . .



3.1 Diagnosis via LEDs

The LEDs on the cover indicate the operating status of theCPV valve terminal.

1

2

3

1 LED PS: “Power System”: Operatingvoltage supply for theelectronics and sensors

LED PL: “Power Load”: Load voltagesupply for the valves(and valves/outputs in theCPI/CP extension string)

2 LED MNS: Module/network statusLEDP: CPI system fault or

other error messages

3 Yellow LEDs for pilot solenoids12 and 14

Fig. 3/1: LEDs on the CPV Direct

Representationof the LEDs

In the following overviews the different states of the LEDsare represented by icons:

LED lights up; LED flashes; LED off.



3.1.1 Normal operating status

In the normal operating status the Power LED and the LED MNSlight up green. Depending on the switching status, the yellowLEDs of the pilot solenoids will also light up.

LED Display Operating status

PS lights up green The operating voltage for the electronics/sesnors is applied

PL lights up green The load voltage for valves/outputs is applied

MNS lights up green The CPV Direct is in the operational status

Tab. 3/1: LED displays in the normal operating status



3.1.2 Fault diagnosis with the LEDs

Operating voltage for the electronics/sensors(LED PS)

LED Display Operating status Fault treatment

PS off The operating voltage for theelectronics/sensors is not applied

• Check operating voltage supply(pin 1)

PS flashesslowly(green)

Operating voltage for the elec-tronics/sensors in the CPV Direct orin the extension string < 20.4 V

PS flashes fast(green)

The set CANopen address is notpermitted

• Correct bus address

PS lights upgreen

The operating voltage for theelectronics and sensors is applied

–

Tab. 3/2: Fault diagnosis with the green LED PS



Operating voltage and load voltage supply (LED PL)


PL off The load voltage for the valves/outputs is not applied

• Check load voltage supply (pin 2)

PL flashes fast(green)

Load voltage of the CP valves ofthe CPV Direct < 20.4 V

PL flashesslowly(green)

Load voltage in the CPI extensionstring < 20.4 V

• Check load voltage supply of theCPI extension string (pin 2)

PL lights upgreen

Load voltage of the valves/outputs is applied

–

Tab. 3/3: Fault diagnosis with the green LED PL



Module/network status (LED MNS)


MNS off The operating voltage for theelectronics is not applied

Check operating voltage supply (pin 1)

MNS flashesslowly(green)

Pre-operational

MNS flashes fast(green)

Stopped

MNS flashesslowly (red)

CAN communication fault,Node guard or Heart beatPre-operational

Check connection to network

MNS flashes fast(red)

CAN communication fault,Node guard or Heart beatStopped

MNS lights up red Failure of the 24 V supply to theCAN interface

Check connection to network

MNS lights upgreen

Operational – processing data arecontrolled by PLC

Tab. 3/4: Fault diagnosis with the red/green LED MNS



CPI system fault or other faults (LEDP)


P off Normal operating status –

P flashes fast(red)

CPI string fault:– Configuration fault after

Power ON.• Check the CPI configuration and, if

necessary, carry out new recogni-tion (see section 1.2.5)

P flashesslowly (red,at 1 secondintervals)

Periphery fault in the CPI string:– The module has a diagnostic

fault (short circuit, overload,...)

• Check the modules in the CPI string(see section 3.2)

P lights up red Module failure in the CPI string:– Cable interrupted or short

circuit in the string– If the LEDs PS/PL are off: there

is a hardware fault

• Check CPI cables

• Servicing required

Tab. 3/5: Fault diagnosis with the red LEDP



3.1.3 Status display of the valve solenoid coils

There is a yellow LED for every valve solenoid coil(see Tab. 3/6). This LED indicates the switching status ofthe valve solenoid coil.

NoteThe LEDs indicate the signal states only if there are valvecoils at the relevant valve locations. For this purpose theload voltage must lie within the permitted tolerance.

LED Display Valve solenoid coil Meaning

off – Basic position There is no signal (logical “0”)

lights upyellow

– Switching positionor

– Basic position

There is a signal (logical “1”)There is a signal (logical “1”) but:– the load voltage of the valves lies below the

permitted tolerance range (< 20.4 V DC) or– the compressed air supply is not OK or– pilot exhaust is blocked– servicing is required

Tab. 3/6: LEDs for the status display of the valve solenoid coils



3.2 Diagnosis via the field bus

Information on the reaction of the inputs and outputs in theevent of a fault can also be found in the sections B.1.3 andB.1.4.

The flow diagram shows the sequence if a fault occurs.

Is there a fault? Yes

No

Load Error Register

(Index 1001)

Load Manufacturer Status

Register

(Index 1002)

Shift fault memory

(Index 1003, Subindex 1 … A)

Load pre-defined error field

(Index 1003, Subindex 1)

Send Emergency Message

Send fault optically via the LED

PS or MNS

Detailed module diagnosis

(Index 3200)

Fig. 3/2: Sequence of fault processing in the CPV Direct



3.2.1 Composition of the Emergency Message

The CPV Direct sends an Emergency Message in the eventof a fault. Parallel to this, the pre-defined error field(Index 1003) will be written with the appropriate faultmessage from:

– Byte 0 and byte 1 of the Manufacturer Status Register(Index 1002) (corresponds to bytes 3 and 4 of theemergency object)

– Error code as per DS301

The existing faults will each be shifted by one position in thepre-defined error field (see section B.1, Index 1003, Subin-dices 1 … A).

Bytes 3 to 7 of the Emergency Message correspond to theManufacturer specific error field and contain device-typicalerror messages.

Overviewof faults

Manufacturer Specific Error Field

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Error code ReservedFaultdetail

ConditionStatus

Errorregister

Sourceof fault

Obj. 1003 Obj. 1003 Obj. 1003 Obj. 1003

Obj. 1002 Obj. 1002 Obj. 1002 Obj. 1002Obj. 1001

Fig. 3/3: Composition of the Emergency Object, further information inTab. 3/7 ... Tab. 3/12

Fault memory

In the pre-defined error field (Index 1003) the last 10 faultsare saved in compressed form: O overview of faults, faultdetail, error code



Further information can be found in the Object Directory insection B.1.2.

Index 1002 (Manufacturer Status Register)Index1001

Byte 0

Overviewof faults

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


ConditionStatus

Errorregister

Sourceof fault

Byte 1 Byte 0 Explanation

00 00 No fault

22 20 Short circuit in the system (SC/O at the CPI input module)

23 20 Short circuit at the outputs

32 20 Operating voltage failure (pin 1, 24 V)

33 20 Output voltage too low

50 00 Hardware fault

81 30 Fault with Node guard or Heart beat

FF 00 Condition Counter exceeds nominal value (see Tab. 3/12)

FF 01 Condition Counter write-protected

FF 0F Extended diagnostic message (e.g. cable fracture)

FF 10 Short circuit at the string

FF 11 The actual configuration does not correspond to the set configuration

FF 20 String fault in the CPI extension 1




Tab. 3/7: Composition of the error code as per DS 401




Byte 0

Overviewof faults



ConditionStatus

Errorregister

Sourceof fault

Bit Meaning Explanation

0 Generic Error Bit is set for each fault

1 Current Short circuit at CP output module

2 Voltage – Undervoltage in the CPV Direct (< 20.4 V, < 12 V)– Undervoltage of the CP valve terminal in the extension (< 20.4 V)– Failure of load voltage at CP output module or input module– Short circuit/overload or failure of additional supply

(CP-E16-M8-Z)

3 – –

4 Communication error – Node guard, Heart beat

5 … 6 – –

7 Manufacturer specific Reading out the “Manufacturer Status Register” is useful(see Tab. 3/9 … Tab. 3/12)

bold = Bit is used by CPV Direct

Tab. 3/8: Error register (Index 1001 with bit assignment as per DS 301/401)

Further diagnostic information is provided by the CPV Directin bytes 3 … 6 of the Emergency Object (Manufacturer StatusRegister, Index 1002).




Byte 0

Overviewof faults



ConditionStatus

Errorregister

Sourceof fault


0 Fault in the CP system Display of configuration fault, short circuit or failure

1 CPI-string short-circuited Short circuit

2 CPI string extension 3 failed Failure

3 CPI string extension 4 failed Failure

4 Common fault Read out byte 2 of the Emergency Message (see Tab. 3/8).

5 res.

6 CPI string configuration fault(actual ≠ saved), ornon-permitted extension(e.g. > 4 module)

The actual configuration does not correspond to the setconfiguration

7 Extended diagnosis(see Object 3200)

With new diagnostic numbers from the CPI, e.g. cablefracture (diagnostic number can be read via its ownobject.)


Tab. 3/9: Byte 0 of the Manufacturer Status Register (overview of faults)




Byte 0

Overviewof faults



ConditionStatus

Errorregister

Sourceof fault


0 Iout CPI string extension1

1 Iin CPI string extension 2

2 SC/O Short circuit/overload at output module

3 Vout Load voltage failure at output module

4 Vsen Short circuit/overload in sensor supply, failure in sensor supply

5 Vval Load voltage for valve coils < 20.4 V

6 Vload Load voltage for valve coils of the CPV Direct < 12 V

7 Vval Load voltage for valve coils of the CPV Direct < 20.4 V


Tab. 3/10: Byte 1 of the Manufacturer Status Register (fault detail)




Byte 0

Overviewof faults



ConditionStatus

Errorregister

Sourceof fault


0 … 7 Source of fault with communi-cation faults

01 = Node guard error02 = Heart beat error

Tab. 3/11: Byte 2 of the Manufacturer Status Register (source of faults)


Byte 0

Overviewof faults



ConditionStatus

Errorregister

Sourceof fault


0 … 7 Number of the ConditionCounter which has overwrittenthe nominal value

1 … 16, valve coil of the CPV Direct (basic unit) hasoverwritten the Condition Counter set value.0 = No error

Tab. 3/12: Byte 3 of the Manufacturer Status Register (Condition status)



3.3 Overview of diagnostic objects

Diagnostic possibility Set value

1 Diagnosis via EmergencyMessage

Bytes 0 + 1 = error codeByte 2 = Object 1001Byte 3 = Object 1002 byte 0Byte 4 = Object 1002 byte 1Byte 5 = Object 1002 byte 2Byte 6 = Object 1002 byte 3Byte 7 = res.

2 Diagnosis via CANopenStandard Objects

Object 1001 Error RegisterObject 1002 Manufacturer StatusObject 1003 Pre-defined error field

3 Diagnosis of the CPV basic unit See Object Index 3200, Subindex 1

4 Diagnosis of the CPI extension See Object Index 3200, Subindex 2 … 5

5 Example:Diagnostic CPI stringshort-circuited

Example:Diagnostic entry via Object 1002 and Emergency withError Code FF10

6 Reaction aftrer short circuit inCPI string

If one of the two supplies (Vload/Vel/sen) has a shortcircuit, both voltages will be switched off permanently(self-locking).

Tab. 3/13: Overview of diagnostic objects



3.4 Short circuit/overload

Detailed information on input and output modules can befound in the manual “CP modules electronics”.

3.4.1 Output module

If there is a short circuit or overload

– all the digital outputs of an output module will beswitched off

– the green LED “Diag” on the output module will flash fast

– the bit Short circuit/overload (Index 1002, byte 1, bit 2)will be set to “1”.

NoteThe outputs cannot be used again until the short circuit oroverload has been eliminated and the fault deleted.

Deleting faults

You can delete (quit) the fault by resetting all 8 outputs. Youcan do this in one of the following ways:

Options Explanation

• Set all the outputs of the output module to “0” (RESET)or

• Interrupt briefly the operating voltage for theCP system

– Manually or automatically in theprogram

– All outputs on the CP system will bereset automatically

Tab. 3/14: Possibilities of deleting the fault

The outputs can then be used again. If the short circuit/overload still exists, the outputs will be switched off again.



3.4.2 Sensor supply on one input module

If there is a short circuit, overload or voltage fault in thesensor supply:

– The sensor supply for all inputs of the module will beswitched off.

– If there is a diagnostic LED on the output module, it willlight up, otherwise the green LED will flash.

– The fault bit Vsen (Index 1002, byte 1, bit 4) will be setto “1”.

NoteThe inputs cannot be used again until the short circuit oroverload has been eliminated and the fault quitted.

Deleting faults

In order to delete the fault, proceed as follows:

– Interrupt briefly the operating voltage for the CPI systemon the CPV Direct

The inputs can then be scanned again. If the short circuit/overload still exists, the fault will be shown again.

Module CP-E16-M8-Z:The short circuit/overload will be reset automatically and thevoltage will switched on again.



Technical appendix and accessories

A-1Festo P.BE-CPV-CO3-EN en 1201a

Appendix A

Technical appendix and accessories

A. Technical appendix and accessories

A-2 Festo P.BE-CPV-CO3-EN en 1201a

Contents

A. Technical appendix and accessories A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical specifications A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Product codes A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical specifications

General information

Temperature range– Operation– Storage/transport

-5 … +50 °C-20 … +70 °C

Relative air humidity 95 %, non-condensing

Protection class as per EN 60529(plug connector inserted or provided withprotective cap)

– IP65 with Sub-D connector or M12 adapter– IP20 with screw terminal adapter

Protection against electric shock(protection against direct and indirect contactas per IEC/DIN EN 60204-1)

by means of a PELV circuit(Protective Extra-Low Voltage)

Electromagnetic compatibilityEMC interference emissionEMC resistance to interference

see declaration of conformitywww.festo.com

Vibration and shock– Vibration

– Shock

– tested as per DIN/IEC 68/EN 60068 part 2-6;for wall mounting:0.35 mm path at 10 … 60 Hz,5 g acceleration at 60 … 150 Hz

– tested as per DIN/IEC 68/EN 60068 part 2-27;for wall mounting:±30 g at 11 ms duration; 15 cycles

Pneumatic valves see Pneumatics manual type P.BE-CPV-...

Operating voltage for bus interface and logic

Pin 1Operating voltage connection– Nominal value– Tolerance

24 V DC (protected against reverse polarity)20.4 … 26.4 V

Current consumption– Nominal value max. 200 mA + current consumption of the sensors

Residual ripple 4 Vpp (within tolerance)

Electrical isolation bus interface opto-decoupled



Load voltage for solenoid CPV valves

Pin 2Load voltage connection– Nominal value– Tolerance

24 V DC (protected against reverse polarity)20.4 … 26.4 V

Current consumption– Nominal value– Tolerance

sum of all switched-on CP solenoid valves;see manual “CPV pneumatics”

Residual ripple 4 Vpp (within tolerance)

Operating voltage for bus interface

Sub-D plug: Pin 9M12 adapter: Pin 2Screw terminal adapter: Pin 5– Nominal value– Tolerance– Current consumption

24 V DC (protected against reverse polarity)11 … 30 Vmax. 30 mA

CPI system

Version– No. of CP strings– Cable length per CP string– Number of CPI/CP modules per CP string– Number of inputs/outputs per CP string– Update time

– all CP strings assigned exclusively with moduleswith extended functions

– mixed string assignment– Supports the extended functions of the CPI system

1max. 10 m (see Tab. 1/14 and Tab. 1/15)max. 432 I / 32 O

max. 2 ms

max. 4 msyes

Maximum current consumption on the CP string max. 1.6 A at 24 V

Short circuit protection automatic voltage return



A.2 Product codes

The following table lists the product codes of the moduleswhich you can connect to the extension connection. This tableis not complete.

Module Product codedecimal

Product codehexadecimal

CPV10-GE-FB-4 100d 64h



CPV14-GE-FB-4 110d 6Eh

CPV14-GE-FB-6 111d 6Fh


CPV18-GE-FB-4 125d 7Dh

CPV18-GE-FB-6 126d 7Eh

CPV18-GE-FB-8 127d 7Fh

CPA10/14-IFB-CP 150d 96h

CP-A08-M12 200d C8h

CP-A08N-M12 208d D0h

CP-E16-M8 240d F0h

CP-E16-M12x2-5POL 241d F1h

CP-E16-KL-IP20-Z 242d F2h

CP-E16-M8-Z 244d F4h

CP-E16N-M8 248d F8h

CP-E16N-M12x2 249d F9h



A.3 Accessories

www.festo.com/catalogue

Object directories

B-1Festo P.BE-CPV-CO3-EN en 1201a

Appendix B

Object directories

B. Object directories

B-2 Festo P.BE-CPV-CO3-EN en 1201a

Contents

B. Object directories B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Object directories B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Overview Object directory B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Communication profile B-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 Digital CP inputs (Transmit PDO 1) B-10. . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.4 Digital CP outputs (Receive PDO 1) B-12. . . . . . . . . . . . . . . . . . . . . . . . .

B.1.5 Manufacturer Specific Condition Monitoring B-15. . . . . . . . . . . . . . . . . .

B.1.6 Module configuration B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



B.1 Object directories

B.1.1 Overview Object directory

The following table provides an overview of the implementedobjexts of the CPV-CO3:

Index (hex) Objects Seesection

1000 … 1200 Communication part of the objectdirectory

B.1.2

1400 Communication parameters forReceive PDO (outputs)

B.1.4

1600 Mapping parameters for Receive PDO(outputs)

1800 Communication parameters forTransmit PDO (inputs)

B.1.3

1A00 Mapping parameters for Transmit PDO(inputs)

3000 … 3050 Manufacturer Specific,Condition Counter

B.1.5

3100 Manufacturer Specific, Module Identity B.1.6

3200 Manufacturer Specific,Module Diagnosis

3300 Manufacturer Specific,Module Parameter

6000 Input Array B.1.3

6200 Output Array B.1.4

6206 Fault Mode Array for the outputs

6207 Fault State Array for the outputs



B.1.2 Communication profile

The following tables show the objects of the communicationpart (values and examples: module ID = 1).The following abbreviations mean:U = unsignedro = read onlyrw = read/writeMap. = Mapping possibleAttr. = Attribute

NoteFor mapping the rules as per CiA DS 301 apply:Mapping entries are only possible if the number of para-meters has previously been set to zero.(Example: Index 1A00, Subindex 3 … 8:set subindex 0 to “0”).

After entering the mapping values set the number ofparameters to the appropriate value again.

Index(hex)

Sub-

index

Description Type Attr. Map. Values (hex) Explanation

1000 0 Device type U32 ro – 00 03 01 91 01 … 91 = device profileDS 401 with digital inputsand outputs

1001 0 Error register U8 ro yes xx (bits 0 … 7, see below)see section 3.2.1

Bit 0: Generic error – is set for each faultBit 1: Current fault – short circuit/overvoltage CPI moduleBit 2: Voltage error – undervoltage CPV/CPI modulesBit 3: reservedBit 4: Communication error (Node guard, Heart beat)Bit 5: reservedBit 6: reservedBit 7: Manufacturer Specific – other errors



Index(hex)

ExplanationValues (hex)Map.Attr.TypeDescriptionSub-

index

1002 0 ManufacturerStatus Register

U32 ro Yes 00 00 00 00 (bytes 0 … 3, see below)

Byte 0 = overview of errors

Bit 0: Faults in the CPI systemBit 1: CPI-string short-circuitedBit 2: CPI string 3. Extension failedBit 3: CPI string 4. Extension failedBit 4: Common faultBit 5: res.Bit 6: CPI string configuration fault (is ≠ saved)Bit 7: Extended diagnosis (see Object 3200)

Byte 1 = fault detail

Bit 0: CPI string 1. Extension failedBit 1: CPI string 2. Extension failedBit 2: Short circuit/overvoltage at CPI output moduleBit 3: Load voltage failure at CPI output moduleBit 4: Short circuit/overvoltage at sensor supply or failure of sensor supply at CPI input moduleBit 5: Undervoltage in load voltage at CPI valve terminalBit 6: CPV load voltage < 12 VBit 7: CPV load voltage < 20.4 V

Byte 2 = source of fault

0 = No Error1 = Node-Guarding Error2 = Heart-Beat Error

Byte 3 = Condition Status

0 = No Error1 … 16 = CPV valve coil with Counter overflow



Index(hex)


index

1003 0 Pre-definederror field

U8 rw – 00 … 0A Number of current faults(write 00 deletes allfaults) (see section 3.2.1)

1 Standard errorfield

U32 ro xx xx xx xx Most recent fault (n)(see section 3.2.1)Bytes 0 + 1 = error codeByte 2 = byte 0 of

Index 1002Byte 3 = byte 1 of

Index 1002

2 xx xx xx xx Last fault (n+1)

3 xx xx xx xx Penultimate fault (n+2)

… … …

A xx xx xx xx Fault n+9

1005 0 COB_ID SYNCmessage

U32 rw – 80 00 00 80 Default SYNC messageCOB-ID 80H

1008 0 Manufacturerdevice name

Str. ro – “CO3” Node designation

1009 0 Manufacturerhardwareversion

Str. ro – “0507”(example)

Hardware status of theCPV Direct

100A 0 Manufacturersoftwareversion

Str. ro – “V1.4”(example)

Software status of theCPV Direct

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

100D 0 Life time factor U8 rw – 00 Timeout monitoring(Guard time x Life timefactor = complete Ti-meout time)

1014 0 COB_IDEmergencyobject

U32 rw – 00 00 00 80 Default Emergency Ob-ject COB-ID 80H + NodeID



Index(hex)


index

1015 0 Inihibit TimeEmergencyMessage

U16 rw – 00 00 Transmit blocking timeEmergency Message[100 μs]

1016 0 ConsumerHeart beattime

U8 ro – 03 Number of entries

1 C.H. time 1 U32 rw 00 00 00 00 Heart beat ID und Heartbeat time [ms]

2 C.H. time 2 00 00 00 00 Heart beat ID und Heartbeat time [ms]

3 C.H. time 3 00 00 00 00 Heart beat ID und Heartbeat time [ms]

1017 0 Producer Heartbeat time

U16 rw – 00 00 Heart beat time [ms]COB-ID = Node guard IDStatus (pre-operational,operational, stopped)

1018 0 Identity object U8 ro – 04 Number of entries

1 Vendor ID U32 00 00 00 1D Vendor ID (from CiA)

2 Product code 0A Product code

3 Revision num-ber

e.g. 1.0004xxxx.xxxx

Version (like object 100A)

4 Serial number Individual Serial number



Index(hex)


index

1027 0 Modular devicenumber ofconnectedmodules

U8 ro – 1 … 5 Number of connectedCPI/CP modules

1 Module 1 U16

0B0C

Product code of theCVP basis– Normal mode– Tool change configura-tion

2 Module 2 seeappendix A.2

Product code 1, moduleon extension connection









Index(hex)


index

1029 0 Errorbehaviour,number oferror classes

U8 ro – 03 Number of error classes

1 Communica-tion error

rw 00 0 = pre-operational1 = no state change2 = stoppedwith communication fault(Timeout/Heart beat)

2 Output error 01 0 = pre-operational1 = no state change2 = stoppedwith short circuit/over-load at CP output module

3 Input error 01 0 = pre-operational1 = no state change2 = stoppedwith short circuit/over-load at CP input moduleor failure in sensor supply

4 Extension error 01 0 = pre-operational1 = no state change2 = stoppedstring fault betweenCPV Direct and CP valveterminal, output moduleor input module in theextension

1200 0 Server SDOparameter


1 COB_ID Client Server (Rx)

U32 600 Default COB-ID + Node-ID

2 COB_ID Server Client (Tx)

580 Default COB-ID + Node-ID

U = unsigned ro = read only rw = read/write Map. = Mapping possible Attr. = Attribute



B.1.3 Digital CP inputs (Transmit PDO 1)

Index(hex)

Sub-

index


181…1FF – TransmitPDO 1

– – – xx xx Telegram length 2 bytes(standard)3 … 8 bytes, if additionalobjects are mapped

1800 0 PDO Com-municationParameterRecord


1 PDO COB_ID U32 rw 00 00 01 xx Default COB-ID of the inputs180 + Node ID

2 Transmis-sion type

U8 FF Default: acyclic

3 Inhibit time U16 00 00 Transmit blocking timeinputs [100 μs]

4 – – not used

5 Event timer 00 00 Time-controlled transmis-sion of the inputs [ms]

1A00 0 PDO Com-municationMappingParameter

U8 rw – 2 … 8 Number of entries

1 U32 60 00 01 08 Pointer at Index I0 … I7

2 60 00 02 08 ... Index I8 … I15

3 60 00 03 08 ... Index I16 … I23

4 60 00 04 08 ... Index I24 … I31

5 00 00 00 00 e.g. pointer at:– Condition Status– Operating time– Error register– Manufacturer Status

Register– ...

6 00 00 00 00

7 00 00 00 00

8 00 00 00 00



Index(hex)


index

6000 0 Digitalinputs(read Input8 bit)

U8 ro – 02 Number of 8-input groups

1 yes xx Status of inputs 0 … 7

2 xx ... Inputs 8 … 15

3 xx ... Inputs 16 …23

4 xx ... Inputs 24 …31




B.1.4 Digital CP outputs (Receive PDO 1)

The assignment of the outputs to the valve solenoid coils canbe found in Fig. 2/1 and Fig. 2/2.

Index(hex)

Sub-

index


201…27F – ReceivePDO 1

– – – xx xx xx xx Telegram length 2 or 4 bytes(standard)5 … 8 bytes, if additionalobjects are mapped.

1400 0 PDO Com-municationParameterRecord


1 PDO COB_ID U32 rw 00 00 02 xx Default COB-ID of theoutputs 200 + Node ID

2 Transmis-sion type

U8 FF Default: acyclic

1600 0 PDO Com-municationMappingParameter

U8 rw – 2 … 8 Number of entries

1 U32 62 00 01 08 Pointer at Index O0 … O7

2 62 00 02 08 ... Index O8 … O15

3 62 00 03 08 ... Index O16 … O23

4 62 00 04 08 ... Index O24 … O31

5 62 00 05 08 ... Index O32 … O39

6 62 00 06 08 ... Index O40 … O47

7 00 00 00 00 e.g. pointer at:– Reset Condition Counter

8 00 00 00 00



Index(hex)


index

6200 0 Digitaloutputs(writeoutput 8 bit)

U8 ro – 2 or 4 Number of 8-output groups

1 rw yes xx Status of outputs 0 … 7

2 xx ... Outputs 8 … 15

3 xx ... Outputs 16 … 23

4 xx ... Outputs 24 … 31

5 xx ... Outputs 32 … 39

6 xx ... Outputs 40 … 47

6206 0 Error modeoutput 8 bit


1 rw FF Fault mode outputs 0 … 7

2 FF ... Outputs 8 … 15

3 FF ... Outputs 16 … 23

4 FF ... Outputs 24 … 31

5 FF ... Outputs 32 … 39

6 FF ... Outputs 40 … 47

6207 0 Error valueoutput 8 bit


1 rw 00 Error state outputs 0 … 7

2 00 ... Outputs 8 … 15

3 00 ... Outputs 16 … 23

4 00 ... Outputs 24 … 31

5 00 ... Outputs 32 … 39

6 00 ... Outputs 40 … 47


The states of the valves and outputs of the CPV valve terminalcan be defined in case there should be a fault.



NoteWith Index 6206 you can define the outputs which are toassume the default status in the event of a fault.

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

The settings do not become active until the CPV valve ter-minal is put into the operational mode. After each switch-ing on or after each reset (hardware initialization, com-munication initialization), the default values will automati-cally be accepted, any maskings will be overwritten.

The following applies:

Index Definition

6206Subindex 1 … 6Bit 0 … 7

0 = status of the output is retained

1 = output assumes the status defined in Index 6207

6207Subindex 1 … 6Bit 0 … 7

0 = output is reset

1 = output is set



B.1.5 Manufacturer Specific Condition Monitoring

Setpoint value

Status

Reset

Actual value

Bit

U32

Condition Counter

Index 3000Index 3010U32

Index 3030

Index 3020

(coil)

Enable/Disable

Fig. B/1: Functioning method of the Condition Counter

Condition Monitoring

Condition Monitoring serves the preventive maintenance ofwearing parts, necessary adjustments depending on move-ments, etc.

There is a counter for each valve coil. The values are madeavailable in 32-bit format. You can compare the actual valueautomatically with a specified nominal value. The comparisonwill not be activated until you specify a nominal value (> 0).



Further information can be found in the following tables:

Index(hex)

Description Map. Explanation

3000 Condition Counter actual valueDetails see Tab. B/2.

– Valve coils of the CPV Direct (basic unit)The values are saved continuously andremanently in the CPV Direct.

3010 Condition Counter nominal valueDetails see Tab. B/3.

– Valve coils of the CPV Direct basic unit

3020 Condition StatusDetails see Tab. B/4.

yes The Condition status is set to “1” if theCondition Counter actual value exceeds thenominal value.

3030 Reset Condition Counter yes Reset Condition Counter actual value

3040 Operating time counter yes Hours, minutes, seconds

3050 Enable/DisableModify Condition Counter

– Write protection for the Condition Counter

Tab. B/1: Overview of the indices for the Condition Counter



Index(hex)

Sub-

index

Description Type Attr. Map. Values

(hex)

Explanation

3000 0 ConditionCounter actualvalue


1 U32 rw – xx xx xx xx Condition Counter actualvalue1. valve/coil 14

2 xx xx xx xx 1. valve/coil 12








A xx xx xx xx 5. valve/coil 12

B xx xx xx xx 6. valve/coil 14

C xx xx xx xx 6. valve/coil 12

D xx xx xx xx 7. valve/coil 14

E xx xx xx xx 7. valve/coil 12

F xx xx xx xx 8. valve/coil 14


11 … 30(hex)

ConditionCounter actualvalue

U32 ro – xx xx xx xx CPV valve coils 0 … 31on the CP string

Tab. B/2: Assignment of the actual values of the Condition Counter to the valve coils(index 3000)



Index(hex)

Sub-

index


(hex)

Explanation

3010 0 ConditionCounternominal value(see alsoTab. B/1)


1 U32 rw – xx xx xx xx Condition Counter nominalvalue1. valve/coil 14









A xx xx xx xx 5. valve/coil 12

B xx xx xx xx 6. valve/coil 14

C xx xx xx xx 6. valve/coil 12

D xx xx xx xx 7. valve/coil 14

E xx xx xx xx 7. valve/coil 12

F xx xx xx xx 8. valve/coil 14


Tab. B/3: Assignment of the nominal values of the Condition Counter to the valve coilsof the CPV Direct basic unit (index 3010)

NoteNo nominal values of the Condition Counter can bespecified for a CP valve terminal in the extension.



Index(hex)

Sub-

index


(hex)

Explanation

3020 0 ConditionStatus


1 Yes xx Condition status 1. … 4. valveBit 0: 1. valve/coil 14Bit 1: 1. valve/coil 12...Bit 7: 4. Valve/coil 12

2 xx Condition status 5. … 8. valveBit 0: 5. valve/coil 14Bit 1: 5. valve/coil 12...Bit 7: 8. valve/coil 12

Tab. B/4: Assignment of the Condition Status to the valve coils of the CPV Direct basicunit (index 3020)



Index(hex)

Sub-

index


(hex)

Explanation

3030 0 Reset Condi-tion Counteractual value


1 rw yes 00 Reset Condition Counter actualvalueBit x = 1 actual value = 0Bit 0: 1. valve/coil 14Bit 1: 1. valve/coil 12...Bit 7: 4. valve/coil 12

2 00 Reset Condition Counter actualvalueBit x = 1 actual value = 0Bit 0: 5. valve/coil 14Bit 1: 5. valve/coil 12...Bit 7: 8. valve/coil 12

3040 0 Operatingtime counter


1 U16 yes xx xx Number of hours

2 U8 xx Number of minutes

3 xx Number of seconds

3050 0 Enable/DisableModify Condi-tion Counteractual value


1 rw 00 Modify Condition CounterValue = 55: Enable ModifyValue = 00: Disable Modify

Tab. B/5: Condition Counter

The total switch-on time of the CPV Direct is registered withindex 3040.

Index 3050 defines a write protection for the ConditionCounter. The actual value of the Condition Counter can onlybe modified or reset if index 3050, subindex 1, contains thevalue 55H.



B.1.6 Module configuration

Index(hex)

Sub-

index


(hex)

Explanation

3100 0 Moduleidentity

U8 ro – 1 … 5 Number of inputs (depends onnumber of extensions)

1 U32 ro –

0B0C

Module 1 (CPV basic unit)type no.– Normal mode– Tool change configuration

2 Module 2 (CPI extension 1)parts indent. no., type no.




Tab. B/6: Assignment of the actual values to the module identity



Index(hex)

Sub-

index


(hex)

Explanation

3200 0 Modulediagnosis


1 yes xx Module 1 (CPV basic unit)Fault no.

2 yes xx Module 2 (CPI extension 1)Fault no.




Tab. B/7: Assignment of diagnosis

Fault no. Fault type

2 Short circuit/overload in sensor supply or at output

5 Undervoltage in power supply (on input side)

11 Short circuit at valve

12 Reserved

13 Wire fracture at valve (open load)

14 Condition counter exceeded

34 CPI module failed

35 CPI configuration fault

36 CPI string short-circuited

40 Life Guard

41 Heart beat

Note: New fault numbers can be found in the documentation for the CPI extension.

Tab. B/8: Assignment of fault numbers to fault type



Example of parameters of the CPI extensionsfor Subindex 2 … 5

Example Values as a function of

Example of parametersof CPI extensions

Depends on function scope of the extension modules

For input modules (1 byte):

B0: Power failure of the sensor supply for modules with additionalsupply (def. 1 (en))

B1: Short circuit/overload in sensor supply (def. 1 (en))B3: Reaction after short circuit (def. automatic return)B4/B5: Switch-on delayB6/B7: Minimum pulse duration (pulse extension)

For output modules (1 byte):

B0: Power failure of the load voltage of the outputsB1: Short circuit/overload of outputsB3: Reaction after short circuit

For valve terminals (1 byte):

B0: Power failure of the load voltage of the valvesB1: Short circuit/overload at the valvesB2: Valve fault Open Load (at present only with MPA)B3: Reaction after short circuitB7: Valve fault Plunger (at present only with MPA)

Tab. B/9: Example as a factor of extension module



Index(hex)

Sub-

index


(hex)

Explanation

3300 0 Moduleparameters


1 rw 01 Module 1 (CPV basic unit)Bit 0: Monitor Vload valves

0: inactive1: active (default)

Bits 1 … 7: res.

2 5B Module 2 (CPI extension 1)depends on connectedCPI module




Tab. B/10: Parameter assignment

Examples

C-1Festo P.BE-CPV-CO3-EN en 1201a

Appendix C

Examples

C. Examples

C-2 Festo P.BE-CPV-CO3-EN en 1201a

Contents

C. Examples C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Examples: Communication sequence C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Example 1: Start CANopen network (operational mode) C-3. . . . . . . .

C.1.2 Example 2: Set output C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Example 3: Start “Node guard” monitoring C-4. . . . . . . . . . . . . . . . . . .

C.1.4 Example 4: Load objects C-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.5 Example 5: Write objects C-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 Example: Parametrizing with the program “CANsetter” C-7. . . . . . . . . . . . . . . .

C. Examples


C.1 Examples: Communication sequence

All examples refer to module ID = 1, i.e. set CPV valveterminal address 1.

C.1.1 Example 1: Start CANopen network (operational mode)

01 xx000 :

PLC/PC/IPC

COB-ID

Data

(all values in hex)xx=busaddress

(00=allbusslaves)

Fig. C/1: Example 1: Start CANopen network

C.1.2 Example 2: Set output

In order that the valves on the CPV valve terminal can be set,the Receive-PDO must be sent by the master. In the example(in operational mode) only output 0 is set, any outputs al-ready set will be reset; (201 corresponds to PDO1, connectionto bus address 1).

01 00201 :PLC/PC/IPC

COB-ID

Data (all values in hex)

Fig. C/2: Example 2: Set output 0 on the CPV valve terminal, set 1st. valve coil 14

C. Examples


C.1.3 Example 3: Start “Node guard” monitoring

Load first the indices 100C and 100D via SDO transfer (seeexample 5). The “Node guard” monitoring of the CPV Directstarts when the first “Node guard” telegram is received.This telegram must be cyclically repeated within the Time outtime:Timeout time = Guard Time · Life Time Factor

= Index 100C · Index 100D

If this time is exceeded, the valves will be switched off or theywill assume the default status.

NoteThe time out monitoring in the CPV Direct is inactive untilthe first “Node guard” telegram is received: Valves whichare switched on remain set even after loss of communica-tion, bus interruption, etc.

05

701

701 :PLC/PC/IPC

COB-ID

Bit7=togglebit

(all values in hex)COB-ID

Node guard response

Data

Fig. C/3: Example 3: Start “Node guard” monitoring

C. Examples


C.1.4 Example 4: Load objects

Objects of a CPV valve terminal can be loaded or read viaSDO transfer:

– Upload command

– Index and Subindex

The CPV valve terminal then sends:


– Data bytes

00 00 00 000000 1040

91 01 02 000000 1043

601 :

581 :PLC/PC/IPC

COB-ID

Initiate

Domain

UploadRequest

Index

Subindex

4data

bytes

Initiate

Domain

UploadResponse

Index

Subindex

4data

bytes

(all values in hex)

COB-ID

Fig. C/4: Example 4: Index 1000H, Read subindex 0 (Device type: device profile,device extension)

C. Examples


C.1.5 Example 5: Write objects

In order to write objects of a CPV valve terminal, you mustload the following via SDO:

– Download command


– Value

The CPV valve terminal then sends as acknowledgement:


– Data bytes (not relevant)

04 7F 00 00000C 102B

00 00 00 00000C 1060

601 :

581 :PLC/PC/IPC

COB-ID

Initiate

Domain

UploadRequest

*)

Index

Subindex

4data

bytes

Initiate

Domain

UploadResponse

Index

Subindex

(4data

bytes)

(all values in hex)

COB-ID

*) Data length:2B: Word2F: Byte23: Double word

Fig. C/5: Example 5: Index 100CH, Write Subindex 0 (Guard Time)

C. Examples


C.2 Example: Parametrizing with the program “CANsetter”

The “CANsetter” program is available from Vector InformatikGmbH. You can parametrize the CPV Direct easily withCANsetter. Further information can be found in Internet underwww.vector-informatik.com.

Fig. C/6: Example of parametrizing with CANsetter

C. Examples


Index

D-1Festo P.BE-CPV-CO3-EN en 1201a

Appendix D

Index

D. Index

D-2 Festo P.BE-CPV-CO3-EN en 1201a

Contents

D. Index D-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


A

Abbreviations, product-specific X. . . . . . . . . . . . . . . . . . . . . .

Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

AdapterM12 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Screw terminals 1-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Address assignment 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B

Baud rate 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus termination 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

CableField bus 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cable length 1-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CANopenCOB identifier 2-13, 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . .General information 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview Object directory 2-10, B-3. . . . . . . . . . . . . . . . . . .Specifications 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status transitions 2-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CANsetter C-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning, Preparations for commissioning 1-38. . . . .

Condition Counter B-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Method of operation B-15. . . . . . . . . . . . . . . . . . . . . . . . . .

Condition monitoring B-15. . . . . . . . . . . . . . . . . . . . . . . . . . . .

ConnectingField bus 1-14, 1-18, 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . .Power supply 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection instructions, CANopen 1-16. . . . . . . . . . . . . . . . .

CP inputs B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


CP outputs B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPI systemCommissioning 1-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Extending 1-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Switching-on reaction 1-41. . . . . . . . . . . . . . . . . . . . . . . . .

CPI/CP modulesAddress assignment 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Replacement 1-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Current consumption 1-28. . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

DiagnosisVia LEDs 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Via the field bus 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

Earth connection 1-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Electrical connecting and display elements 1-4. . . . . . . . . . .

Emergency message 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMERGENCY STOP circuit 1-30. . . . . . . . . . . . . . . . . . . . . . . .

Error code 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Example of parameters of the CPI extensions B-23. . . . . . . .

Examples, Communication sequence C-3. . . . . . . . . . . . . . . .

Extending the CPV Direct 1-33. . . . . . . . . . . . . . . . . . . . . . . . .

F

FaultDeleting faults 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fault memory 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fault number B-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fault type B-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Network communication faults 2-14. . . . . . . . . . . . . . . . . .Parametrizing the fault reaction 3-17. . . . . . . . . . . . . . . . .

D. Index


Field bus baud rate 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Field bus cable 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Field bus length 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

Heart beat 2-12, 3-12, 3-13, 3-16, B-7, B-22. . . . . . . . . . . . . . .

I

Important user instructions VIII. . . . . . . . . . . . . . . . . . . . . . . .

Intended use VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LEDFault 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .MNS 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PL 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PS 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Life Guard B-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

M12 adapter 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manufacturer Specific Condition Monitoring 2-15, B-15. . . . .

Manufacturer specific error field 3-11. . . . . . . . . . . . . . . . . . .

Manufacturer Status Register 3-11. . . . . . . . . . . . . . . . . . . . .

Mapping B-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Module configuration B-21. . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Network communication faults, Parametrizing the fault reac-tion 2-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Node guard 2-12, 3-12, 3-13, 3-16, B-7. . . . . . . . . . . . . . . . . .

Notes on the use of this manual VII. . . . . . . . . . . . . . . . . . . . .

O

Object directory, Overview 2-10, B-3. . . . . . . . . . . . . . . . . . . .

Operating time counter B-20. . . . . . . . . . . . . . . . . . . . . . . . . .

OverviewObject directory 2-10, B-3. . . . . . . . . . . . . . . . . . . . . . . . . . .Parametrizing 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Scope of functions 2-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

PDO 1Receive B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Transmit B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pictograms IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pin assignmentField bus interface 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . .Power supply connection 1-30. . . . . . . . . . . . . . . . . . . . . . .

Potential equalization 1-31. . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 1-25, 1-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power unit 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pre-defined error field 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . .

PreparingCommissioning 1-38, 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . .Installation 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R

Receive PDO 1 B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

SAVE button 1-6, 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Saving the string assignment 1-40. . . . . . . . . . . . . . . . . . . . .

Screw terminal adapter 1-23. . . . . . . . . . . . . . . . . . . . . . . . . .

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

SettingBaud rate 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Bus address 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration mode 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . .CPV Direct 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Extending the CPI system 1-35. . . . . . . . . . . . . . . . . . . . . .

Short circuit/overload 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . .

Status transitions 2-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sub-D plug 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch module, Removing and fitting 1-5. . . . . . . . . . . . . . . . .

Switching on the operating voltage 2-3. . . . . . . . . . . . . . . . . .

T

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

Technical specifications A-3. . . . . . . . . . . . . . . . . . . . . . . . . . .

Text markings IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tool change configuration 1-6, 2-16. . . . . . . . . . . . . . . . . . . . .

Transmit PDO 1 B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Valve solenoid coils, Status display 3-9. . . . . . . . . . . . . . . . . .

Documents

Compact Performance - Festo · 2020-03-19 · Rockford,Ill.,USA. Contents and general instructions Festo P.BE-CPV-CO3-EN en 1201a III ... 3.3 Overview of diagnostic objects 3-17