CPX-E CPX-E-EC EtherCAT 8071155 2017-07 [8075310]
CPX-E-EC CPX-E-EC-KO EtherCAT, TwinCAT (). :, 2 Festo CPX-E-EC-KO 2017-07
CPX-E-EC 1... 4 1.1... 4 1.2... 4 1.3... 4 1.4... 5 1.5... 5 2... 6 2.1... 6 2.1.1... 6 2.1.2... 6 2.1.3 (Auto-MDI/MDI-X)... 6 2.1.4 Distributed Clocks... 6 2.1.5... 7 2.1.6... 7 2.1.7... 8 2.1.8... 9 2.2... 10 2.3... 10 2.3.1... 10 2.3.2... 10 2.4... 11 2.4.1 LED... 12 2.4.2... 14 2.4.3 I/O... 14 2.5 EtherCAT... 15 2.5.1 SDO... 15 2.5.2... 15 2.5.3 Emergency Message... 17 3... 19 3.1 (Modular Device Profile)... 19 A... 21 B... 22... 23 Festo CPX-E-EC-KO 2017-07 3
1 1. 1.1. 1.1 CPX-E (CPX-E-SYS) CPX-E (CPX-E-SYS) CPX-E-EC(CPX-E-EC) CPX-E Tab. 1.1 CPX-E CPX-E, www.festo.com/pk. 1.2. EtherCAT-. 1.3 : CPX-E-EC Tab. 1.2 CPX-E-EC 1 Festo. Festo Support Portal www.festo.com/sp... www.festo.com/sp. 4 Festo CPX-E-EC-KO 2017-07
1 1.4. Data Matrix Code Festo Support Portal. ( 11- ) Support Portal. 1 2 / 3 4 Data Matrix Code 5 6 / 7 1 2 3 4 5 6 7 Fig. 1.1 1.5 EN 60529:2013-10 IEC 61784:2014-08 EN 61000-6-2:2009-04 IEC 61918:2013-08 EN 61000-6-4:2011-09 IEEE 802.3:2014-00 IEC 60204-1:2014-10 ISO/IEC 8802-3:2000-10 IEC 61158:2014-07 NE 21:2015-05 Tab. 1.3 Festo CPX-E-EC-KO 2017-07 5
2 2 2.1 EtherCAT CPX-E. IEEE 802.3 Ethernet. Ethernet (RJ45). EtherCAT (0 4095) DIL Hot Connect ( ). 2.1.1 CPX-E. Ethernet over EtherCAT(EoE),. IP. : PC IP (z. B. 192.168.2.100) PC IP (: 192.168.2.10) IP (: 172.16.1.1; 255.255.0.0). Ethernet over EtherCAT(EoE) IP IP. (: 172.16.1.100; 255.255.0.0). Windows cmd.exe : route add 172.16.0.0 mask 255.255.0.0 192.168.2.10 2.1.2 (ESI ). CPX-E (: Beckhoff TwinCAT). Festo Support Portal www.festo.com/sp. 2.1.3 (Auto-MDI/MDI-X) (Auto-MDI/MDI-X).. 2.1.4 Distributed Clocks EtherCAT Distributed Clocks.. CPX-E Distributed Clocks : CPX-E-16DI(-P) CPX-E-8DO(-P) CPX-E-1CI 6 Festo CPX-E-EC-KO 2017-07
2 2.1.5 1 LED 2 DIL 3 U EL/SEN [XD] 4 5 [OUT] 6 7 [IN] 7 6 5 1 2 Fig. 2.1 4 3 2.1.6 1 LED : EtherCAT [Run] (, ) EtherCAT [Error](, ) [LA IN]/[LA OUT]() 2 LED : U EL/SEN [PS]() U OUT [PL]() [SF]() Force mode [M]() Fig. 2.2 1 2 Festo CPX-E-EC-KO 2017-07 7
2 2.1.7 /DIL 3 EtherCAT Explicit Device ID 16. 0 = EtherCAT, Explicit Device ID 1 4095(1 h fff h ) = 0 EtherCAT ( ). : 0 DIL Tab. 2.2. Tab. 2.1 DIL DIL 1: OFF DIL 2: OFF 1) DIL 1: OFF DIL 2: ON DIL 1: ON DIL 2: OFF I/O DIL 1: ON DIL 2: ON 2) 1) 2) Festo Field Device Tool(FFT). Tab. 2.2 DIL. 8 Festo CPX-E-EC-KO 2017-07
2 2.1.8 [IN], [OUT] 1) Tab. 2.3 1 TD+ + 2 TD 3 RD+ + 4 n.c. 5 n.c. 6 RD 7 n.c. 8 n.c. 1) [XD] 1) 0 +24 V DC U EL/SEN 1 2 0 V DC U EL/SEN 1) XD.0 XD.1, XD.2 XD.3. Tab. 2.4 3 Festo CPX-E-EC-KO 2017-07 9
2 2.2 CPX-E CPX-E. CPX-E. CPX-E ( ). CPX-E 10 I/O +. CPX-E. CPX-E 64 64. I/O. 2.3 2.3.1.. I/O 0, 0. 16 (8 ). I/O 16 16.. I/O. 2.3.2 1 CPX-E-EP( ) I/O 2 CPX-E-16DI 3 CPX-E-8DO 4 CPX-E-8DO 5 CPX-E-4AI-U-I 6 CPX-E-4AO-U-I : 0 1 2 3 4 5 Fig. 2.3 1 2 3 4 5 6 CPX-E Tab. 2.5. 0 CPX-E-EP( ) E0 E15 1 CPX-E-16DI E16 E31 2 CPX-E-8DO A0 A7 3 CPX-E-8DO A8 A15 4 CPX-E-4AI-U-I E32 E95 5 CPX-E-4AO-U-I A16 A79 Tab. 2.5 10 Festo CPX-E-EC-KO 2017-07
2 2.4 CPX-E. LED LED. LED... I/O I/O CPX-E. Festo PC. EtherCAT EtherCAT.. Tab. 2.6 CPX-E CPX-E 2.4.1 CPX-E-PN 2.4.2 CPX-E 2.4.3 CPX-E 2.5 Festo CPX-E-EC-KO 2017-07 11
2 2.4.1 LED LED. LED CPX-E 1.1. [LA IN], [LA OUT] LED () () 1) off. 1).. Tab. 2.7 EtherCAT [Run] LED (, ) 1) Operational Pre-operational EtherCAT. Safe-operational ( ).. Bootstrap. Bootloader off Init. 1) Single Flash: (1x,, 1x ) Tab. 2.8 12 Festo CPX-E-EC-KO 2017-07
2 EtherCAT [Error] LED (, ) 1) 2) (Application Controller Failure) : Application Controller ESC Watchdog Timeout (Invalid Configuration). : / EtherCAT (Unsolicited State Change) Operational Safe-operational. Sync Manager Watchdog Timeout Festo www.festo.com... 3) (Booting Error) Application Controller Flash () Bootloader off 1) Single Flash: (1x,, 1x ) 2) Double Flash: (2x,, 2x ) 3) Tripple Flash: (3x,, 3x ) Tab. 2.9 Festo CPX-E-EC-KO 2017-07 13
2 2.4.2 CPX-E 8. 0 1. 0. 1. CPX-E.. I/O 2.4.3 I/O. CPX-E 1.1. 2.4.3 I/O CPX-E I/O 16 16. I/O. I/O CPX-E. I/O CPX-E 1.1. 14 Festo CPX-E-EC-KO 2017-07
2 2.5 EtherCAT EtherCAT DIL. CPX-E I/O. 2.5.1 SDO SDO. 3.1 (Modular Device Profile). 2.5.2 0x10F3 64. (,, ). ESI. 0x10F3 (hex) 1) 0x10F3 0 Diagnosis History U8 RO 1 Maximum Messages U8 64 RO 2 Newest Message U8 RO 3 Newest Acknowledged Message U8 RW 4 New Message Available BOOL RO P 5 Flags U16 0x0000 RW 6 70 Subindex 006 070 BYTE [23] RO 1) RO = read only; RW = read/write; RO P = read only(pdo mappable) Tab. 2.10. : 02 00 00 E1 02 02 02 37 1F C5 9D 61 31 00 00 00 05 00 02 05 00 80 1 2 3 4 5 6 7 8. 1) (hex) 1 Diag Code 02 00 00 E1 CPX-E (2 = ) 2) E1 = CPX-E E8 = DS401 Error Code 2 Flags 02 02 (2) 2(Error Message) 3 Text-ID 02 37 ESI (<TextId>#x3702) 4 Time Stamp 1F C5 9D 61 31 00 00 00 DC ( ) 5 Flags Parameter 1 05 00 1 (UNSIGNED8) 6 1 02 CPX 7 Flags Parameter 2 05 00 2 (UNSIGNED8) 8 2 80 80 h ( 128 d ) 1) ETG.1020 2) CPX-E Tab. 2.11 Festo CPX-E-EC-KO 2017-07 15
2 Text-IDs 3700 h 37FF h CPX (0 255). CPX-E 1.1. ESI CPX Text-ID EtherCAT Text-ID. ESI EtherCAT Text-ID Text-ID(hex) () () 3800 Ident check failed for configured module 3801 0xF030 Ident check skiped PLC has not written to Object 0xF030 000F ( ) Calculate bus cycle time failed(local timer too slow) 0011 Sync Manager Sync Manager invalid address 0012 Sync Manager I/O Sync Manager invalid size 0013 Sync Manager Sync Manager invalid settings Tab. 2.12 (80). 2: Overwrite : 64. Acknowledge :. 64. 0x10F3(Subindex 5, Bit 4). 4 Overwrite 0 Acknowledge 1 Tab. 2.13 New Message Available. New Message Available. Emergency Message / Emergency Message( 2.5.3 Emergency Message) 0x10F3( 5, 0). Emergency Message 0 0 1 Tab. 2.14 16 Festo CPX-E-EC-KO 2017-07
2 2.5.3 Emergency Message CPX-E Emergency Message : Emergency Message 0 1 2 3 4 5 6 7 Error Code 1) 1) DS301/DS401 2) Tab. 2.15 Error Register CPX-E CPX-E Index 1001 Index 1002(Manufacturer Status Register) 2) Emergency Message Error Code( 1, 0) 1 0 00 00 10 00 23 20 23 30 Load dump() 31 20 33 20 50 00 (, 128) Tab. 2.16 Emergency Message Error Register( 2) 0 Generic Error 1 Current SCS( /) SCO( /) 2 Voltage (U OUT ) 3 4 Communication Error Node guard, Heart beat, 5 6 7 Manufacturer specific, Tab. 2.17 Emergency Message ( 3) 0 1 2 3 4 5 / 6 7 Tab. 2.18 Emergency Message CPX-E ( 4) 0 7 CPX-E Tab. 2.19 2) Festo CPX-E-EC-KO 2017-07 17
2 Emergency Message CPX-E ( 5) 0 7 CPX-E CPX-E 1) 1) CPX-E Tab. 2.20 Emergency Message ( 7) 0 7 : Heart beat error(?) ID Tab. 2.21 18 Festo CPX-E-EC-KO 2017-07
3 3 CPX-E Festo. : ( ) CPX-E 1.1. 3.1 (Modular Device Profile). 3.1 (Modular Device Profile) (Modular Device Profile) (hex) 1) 0x1000 0 Device Type U32 0x04561389 RO 0x1001 0 Error Register U8 RO 0x1008 0 Device Name String CPX-E-EC RO 0x1009 0 Hardware Version String RO 0x100A 0 Software Version String RO 0x1018 0 Identify U8 4 RO 1 Vendor ID U32 0x0000001D RO 2 Product Code U32 RO 3 Revision U32 RO 4 Serial Number U32 RO 0x10F1 0 Error Settings U8 2 RO 1 Local Error Reaction U32 RO 2 Sync Error Counter Limit U32 RO 0x10F3 0 Diagnosis History U8 RO 1 Maximum Messages U8 64 RO 2 Newest Message U8 RO 3 Newest Acknowledged Message U8 RW 4 New Message Available BOOL RO P 5 Flags U16 0x0000 RW 6 26 Subindex 006 026 BYTE[23] RO 0x16xx 0 Module xx RxPDO U8 yy RO yy Output Mapping yy U32 0x70xx:yy,s RW 0x1Axx 0 Module xx TxPDO U8 yy RO yy Input Mapping yy U32 0x60xx:yy,s RW 0x1A40 0 Diag History TxPDO U8 1 RO 1 Input Mapping 01 U32 0x10F3:00,1 RW 0x20xx 0 Module Parameter Module xx U8 xy RO yy Parameter yy? 2) 0x21xx 0 Failsafe Values Module xx U8 xy RO yy Channel yy? RW 1) RO = read only, RO P = read only(pdo mappable), RW = read/write, RW P = read/write(pdo mappable) 2) 3) IO-Link CPX-E-4IOL- Festo CPX-E-EC-KO 2017-07 19
3 (Modular Device Profile) (hex) 1) 0x22xx 3) 0 ISDU Access Module xx U8 7 RO 1 Direction(0 = Read, 1 = Write) U8 RW 2 Channel(Start at 0) U8 RW 3 ISDU Index From IO-Link Device U16 RW 4 ISDU Subindex From IO-Link Device U8 RW 5 ISDU Error U16 RW 6 Length Of Data U8 RW 7 Data ARRAY OF RW BYTE 0x2400 0 Global CPX Settings U8 8 RO 1 Filter Alarm V OUT /V SEN U8 0x00 RW 2 Monitor SCS BOOL TRUE RW 3 Monitor SCO BOOL TRUE RW 4 Monitor V OUT BOOL TRUE RW 5 Monitor V VEN BOOL TRUE RW 6 Monitor SCV BOOL TRUE RW 7 Fail safe U8 0x00 RW 8 System Start U8 0x00 RW 0x2401 0 Diagnosis History Filter No Error U8 RW 0x5000 0 Generic Terminal Information U8 3 RO 1 Modules Count U8 xx RO 2 Input Length U8 xx RO 3 Output Length U8 xx RO 0x5001 0 Build Hash STRING RO 0x5002 0 Unique ID STRING RO 0x60xx 0 Module Inputs U8 xx RO yy Input yy? RO P 0x70xx 0 Module Outputs U8 xx RO yy Output yy? RW P 0xF000 0 Modular Device Profile U8 2 RO 1 Index Distance U8 1 RO 2 Maximum Number Of Modules U16 48 RO 0xF050 0 Detected Module List U16 0 48 RO 1 Subindex 001 U32 RO U32 RO 48 Subindex 048 U32 RO 1) RO = read only, RO P = read only(pdo mappable), RW = read/write, RW P = read/write(pdo mappable) 2) 3) IO-Link CPX-E-4IOL- Tab. 3.1 20 Festo CPX-E-EC-KO 2017-07
A A / CPX-E CPX-E 1.1 ( x x ) [mm] 125.8 x 37.8 x 76.5 1) [g] 145 / [ C] 5 +60 ( 5 +50) 2) [ C] 20 +70 () [%] 0 95 (/) [] / [] 16 3) / I/O [] 16/16 / (CPX-E ) 222/37 E-EC EN 60529 IP20 (IEC 60204-1 PELV(Protected extra-low voltage) ) EN 61000-6-2/-4 NE 21 1) 2) 3) 8 ( 8 ) 2. Tab. A.1 / / (U EL/SEN ) [V DC] 24 ± 25% U EL/SEN 24V [ma] 50 24 V U EL/SEN 0 V U EL/SEN [ms] 20 Tab. A.2 / EtherCAT 1) 2) IEC 61158, IEC 61784, IEC 61918, ISO/IEC 8802-3 [MBit/s] 100 Auto-MDI/MDI-X [m] 100 Ethernet, Cat 5 [mm] 6 8 [mm²] 0.14 0.75; 22AWG 3) 1) Ethernet IEEE 802.3,, 2) EtherCAT 3) Tab. A.3 Festo CPX-E-EC-KO 2017-07 21
B B / CPX-E CPX-E DIL ESI Ethernet I/O I/O I/O Tab. B.1 CPX-E. CPX-E. (Dual-In-Line). EtherCAT (EtherCAT ) CPX-E. CPX-E I/O. /. CPX-E CPX-E.. CPX-E. CPX-E ( ). 22 Festo CPX-E-EC-KO 2017-07
CPX-E-EC D Distributed Clocks, 6 E Emergency Message, 17 ESI, 6 EtherCAT, 13 EtherCAT, 12 EtherCAT, 15 Emergency Message, 17 SDO, 15, 15 I I/O, 14 L LED, 12 EtherCAT, 13 EtherCAT, 12, 12 M Modular Device Profile, 19 S SDO, 15, 19 (Auto-MDI/MDI-X), 6, 21, 14, 22, 12, 22, 6, 6, 4, 5, 4, 10, 10, 10, 10, 11 EtherCAT, 15 I/O, 14 LED, 12, 14, 15, 4 Festo CPX-E-EC-KO 2017-07 23
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