761886 1112c en - festo

Manual

Controller Modular CECX

CECX-X-C1 CECX-X-M1

761886 1112c en

1112c en

1112c en

Original . . . . . . . . . . . . . . . . . . . . . en Edition . . . . . . . . . . . . . . . . . . . . . . Rev 01 (1112c en) Designation . . . . . . . . . . . . . . . . . . GDCC-CECX-SY-EN

© (Festo SE & Co. KG, D-73726 Esslingen, 2011) Internet: http://www.festo.com E−Mail: [email protected] The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited. Offenders will be held liable for compensation of damages. All rights are reserved, in particular the right to carry out patent, utility model or ornamental design registration.

Content

CECX-I: CECX modular control system:: Overview of functions Network configuration Control configuration

CECX-II: System ManualCECX

CECX-III: Library: Ethernet.lib

CECX-IV: Library: EventData.lib

CECX-V: Library: IncEnc.lib

CECX-VI: Library: Festo_EasyIP.lib

CECX-VII: Library: PLCService.lib

CECX-VIII: Library: SysLibComEx.lib

CECX-IX: Library: Festo_Motion.lib

CECX-X: Library: Festo_PartDetector.lib

CECX-XI: Interface FED/VipWin

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CECX modular control system



Table of contents

CECX modular control system .................................................................................................................. 1

Overview of functions and libraries .......................................................................................................... 1

Network configuration.............................................................................................................................. 12 Network Configuration[SLOT] .............................................................................................................. 12

Control configuration ............................................................................................................................... 13 Adding / configuring a module ............................................................................................................. 13 End points and status values of configured modules........................................................................... 14 Process map........................................................................................................................................ 15 Address setting for modules ................................................................................................................ 15 CECX-D-16E ....................................................................................................................................... 16 CECX-D-14A-2 .................................................................................................................................... 17 CECX-D-8E8A-NP-2............................................................................................................................ 18 CECX-D-6E8A-PN-2............................................................................................................................ 20 CECX-A-4E-V ...................................................................................................................................... 21 CECX-A-4A-V ...................................................................................................................................... 22 CECX-A-4E4A-V.................................................................................................................................. 23 CECX-A-4E4A-A.................................................................................................................................. 24 CECX-E-4E-T-P1................................................................................................................................. 25 CECX-E-6E-T-P2................................................................................................................................. 26 CECX-F-PB-S-V1 (12 Bytes, 32 Bytes, 64 Bytes) ............................................................................... 27 CECX-F-PB-V1.................................................................................................................................... 28 CECX-C-2G2 ....................................................................................................................................... 30 CECX-S-2S1........................................................................................................................................ 31 CECX-C-2G1 ....................................................................................................................................... 32 CECX-C-S1, CECX-S-S4 .................................................................................................................... 33 CECX-B-CO......................................................................................................................................... 33 CAN Master [SLOT]............................................................................................................................. 35 Bus interface [SLOT] (for Controller CECX-X-M1)............................................................................... 36 Unused [SLOT] .................................................................................................................................... 37

Notes on system behavior ....................................................................................................................... 37 Watchdog exception ............................................................................................................................ 37

CECX-I ii



The CECX modular control system contains a complete development environment that is based on the CoDeSys 2.3.x development environment of the firm 3S. It supports a host of devices of different manufacturers. These devices each have different characteristics and functions.

To enable a control (target system) to be used under CoDeSys a so-called Target Support Package is required for the respective target system. This enables the system functions of the target system to be accessed and contains appropriate information in the form of online Help. The Target Support Package makes the CoDeSys functions usable for the respective device or limits them if necessary.

With the corresponding Target Support Package CoDeSys 2.3.x can support all the features and functions of these devices. The development environment therefore contains many functions that are only available on specific controls. Not all these functions are supported by the CECX modular control system.

The functions of CoDeSys provided by Festo that are supported by CECX modular control system is contained in the Overview of functions further down.

Overview of chapters

Overview of functions and libraries Network configuration Control configuration

Additional information on the hardware is contained in the system manual of online Help.

Overview of functions and libraries

CECX function overview

This overview of functions specifies which functions are supported or not supported in CECX and which pre-settings become effective for this target system when a new project is created.

Functionality / functions Supported

Loading and storing Yes

User information Yes

Editor Yes

Work area Yes

Colors Yes

Directories Yes

Log book Yes

Debugging Yes

Replacing constants Yes

Nested comments Yes

Project options

Compiling options

Creating binary files Yes

CECX-I 1


Actions shade programs Yes

Compiling LREAL as REAL Yes

Number of data segments Yes

Excluding objects Yes

Compiler version Yes 2)

Macro before compiling Yes

Macro after compiling Yes

Automatic check Yes

Passwords Yes

Only source code Yes

All files Yes

Implicit during loading Yes

Notes during loading Yes

Creating implicit during boot project

Yes

Source download

Only upon request Yes

Symbol configuration Yes

Project data base (ENI server) No

Macros Yes

2) If nothing else is specified always use the current compiler version.


Managing projects All functions Yes

Managing objects All functions Yes

General editing functions All functions Yes

CECX-I 2



Login Yes

Logout Yes

Loading Yes

Start Yes

Stop Yes

Reset Yes

Reset (cold) Yes

Reset (origin) Yes

Breakpoint on/off Yes

Breakpoint dialog Yes

Single step over Yes

Single step in Yes

Single cycle Yes

Writing values Yes

Forcing values Yes

Cancel forcing Yes

General online functions (part 1)

Writing/forcing dialog Yes


Invocation hierarchy Yes

Sequence control Yes

Simulation Yes

Communication parameters Yes

Load source code Yes

Creating boot project Yes

Writing file into control Yes

Loading file from control Yes 1)

Online change Yes 2)

General online functions (part 2)

VAR PERSISTENT Yes

CECX-I 3


1) If a project is stored in the control (project options->source download) the name "Source.dat" is always allocated on the target system. To open the project that has been stored in the control in CoDeSys it must first be uploaded (online->load file from control, specify "Source.dat" as file name). The file must then be renamed <projectname>.pro on the PC. The project can then be opened in CoDeSys as usual. 2) If online Change is used the contents of addresses can be displaced.


Windows All functions Yes

Instruction list (IL) Yes

Structured Text (ST) Yes

Sequential Function Chart (SFC) Yes

Ladder Diagram (LD) Yes

Function chart (FUP) Yes

Editors (languages)

Continuous graphic function chart (CFC) Yes

Addresses automatically Yes

Check address overlapping Yes

Configuration options

Storing configuration files in the project

Yes

HW scan No

State No

Control configuration

Diagnosis from target system No

Alarm configuration All functions Yes

Global variables All functions Yes

Library manager All functions Yes

Log book All functions Yes

CECX-I 4



Name Yes

Priority (0-31) Yes 1)

Cyclical Yes

Free-running Yes

Event-driven Yes

Externally event-driven Yes

Watchdog

Time

Insert/add task

Sensitivity

Yes

Task configuration

Insert/add program call-up Yes

1) Longer waiting decides at equal priority


System events 1) start

stop

before_reset

after_reset

shutdown

excpt_cycletime_overflow

excpt_watchdog

excpt_access_violation

after_reading_inputs

before_writing_outputs

debug_loop

DI_edge

Yes

Task configuration in online mode

All functions Yes

A task with a valid condition is executed, either when the time specified at "Interval" has expired, or after a rising edge of a condition variable specified at event.

Yes

If several tasks have a valid condition, the task with the highest priority is executed.

Yes

If several tasks have a valid condition and equal priority, then the task with the longest waiting period is executed.

Yes

The processing of program calls for each task in the online mode is executed according to their order in the task editor from top to bottom.

Yes

Task processing sequence

Processing of the PLC_PRG as cyclical task with 10 ms with watchdog. 2)

Yes

CECX-I 5


Defining Extras->Debug task Yes

Switching Extras->Debug task on/off Yes

Extras-> call hierarchy Yes

1) The control is a preemptive multi-task system in which the tasks with the higher priority can interrupt or displace those with a lower one. The system events are executed in a highest priority task context and therefore displace all other tasks. This means that a system event should contain only a very short code and the execution time should not exceed 50 µs. If this time factor would not be observed in a system event (e.g. due to long calls or even endless loop) then the entire control would be blocked. To prevent this from occurring it is monitored via a hardware watchdog which returns the control to a safe state by means of a restart. Functions of long duration in the context of a system event, such as SysResetPlcProgram or file operations, should therefore not be executed. An IEC task with the highest priority which runs as event-driven task should be used for debugging. In the context of the event only the event on which the task is waiting is called up (if necessary, also information that would otherwise be lost is stored, e.g. the precise time stamp, although this should only be assignments to global variables).

2) With some functions (e.g. SysRTCSetTime) this could cause task monitoring (watchdog) to respond.


Insert -> new watch list Yes

Extras-> rename watch list Yes

Extras-> save watch list Yes

Offline mode

Extras-> load watch list Yes

Extra -> monitoring active Yes

Extras-> write recipe Yes

Extras-> read recipe Yes

Watch and recipe manager

Online mode

Forcing and writing values in watch manager

Yes

Work area All functions Yes

Functionality / functions Supported/name

Name Modular controller: CECX-X-C1

Motion controller: CECX-X-M1

Target system settings Target platform

Type-adjusted operand value

Only relevant for X86

CECX-I 6


Functionality / functions Setting

Basis, area Fixed setting

Size (code) 6 MB

Size per segment (global) 14 MB

Size (marker) 8 KB

Size (input) 8 KB

Size (output) 8 KB

Size retain 128 KB 1)

Own retain segment on/off On

Size of the entire data memory 20 MB

Maximum number of global data segments

1

Target system settings Memory partitioning

Maximum number of modules 4096

1) Of these 12 bytes are used by the runtime system, and the rest of 131060 bytes can be used by the application.


I/O configuration: configurable Yes

I/O configuration: Download as file No (added to program code)

I/O configuration: No address check Yes / can be set

Supporting CANopen configuration Yes

Supporting profibus configuration Yes

Supporting preemptive multi-tasking Yes / fixed

Online change Yes / can be set

Updating used IOs Yes / can be set

Single-task in multi-tasking No

Byte addressing Yes / fixed

Zero initialization Yes / fixed

Sending symbol file Yes / can be set

Symbol configuration from INI file No

PLC browser Yes

Trace recording Yes

Target system settings General

VAR_IN_OUT as reference Yes / fixed

CECX-I 7


Initializing Inputs Yes / fixed

Automatically loading boot project Yes / can be set

Softmotion Yes / can be set

Maintain forcing No / fixed

Save No

Cycle-independent forcing No


Supporting parameter manager Yes / can be set

Supporting network variables Yes 1) / can be set

Names of supported network interfaces Yes

Index areas for parameters Yes

Index areas for variables Yes

Index areas for mappings Yes

Network functions

Subindex area Yes

Display width in pixel Yes / can be set

Display height in pixel Yes / can be set

Use of 8.3 file format Yes 2) / can be set

Alarm handling within the control No

Trend data recording within the control Yes / can be set

Activating system variable 'CurrentVisu' Yes / can be set

Supported fonts in the target system No

Simplified input handling Yes / can be set

Web visualization No (is not displayed)

Preventing download of the visualization files

Yes / can be set

Target visualization No

Using VISU_INPUT_TASK Yes / fixed

Deactivation creation of tasks No

Target system settings

Visualization

Keyboard operation for table Yes / can be set

CECX-I 8


1) Network variables are only supported via UDP. 2) MS-DOS file name conventions (8+3 characters).


Trace recording All functions Yes

PLC browser All functions Yes

Parameter manager All functions Yes

ENI All functions No

Arithmetic operators Yes

Bit string operators Yes

Bit shift operators Yes

Selection operators Yes

Comparative operators Yes

Address operators Yes

Call operators Yes

Type conversion Yes

IEC operators and additional standard extending functions

Numeric operators Yes

BOOL constants Yes

TIME constants Yes

DATE constants Yes

TIME_OF_DAY constants Yes

DATE_AND_TIME constants Yes

Numbers constants Yes

REAL and LREAL constants Yes

STRING constants Yes

Constants

Typed constants Yes

Variables Yes Variables

System flags (implicitly declared variables) No 1)

Operands in CoDeSys

Addresses %+Area prefix + size prefix + number (e.g. %QX4.7)

Yes

1) to be created in the control.

CECX-I 9



BOOL Yes

Integer data types Yes

REAL / LREAL Yes

String Yes

Standard data types

Time data types Yes

Array Yes

Pointer Yes

Enumeration type Yes

Structures Yes

References Yes

Data types in CoDeSys

Defined data types

Sub-range types Yes

Operators Yes

Functions of the library Standard.lib Yes

Operators in CoDeSys

Functions of the library Util.lib Yes

Command line commands Yes Command line commands

Command file commands Yes

Keyboard operation All functions Yes

Siemens import All functions Yes

DDE communication All functions Yes

CoDeSys visualization All functions Yes

CoDeSys HMI All functions Yes 1)

CoDeSys license management

All functions Yes 1)

Tools for calling up external applications

All functions No

SoftMotion All functions Yes 2)

1) Not contained in the scope of supply of CoDeSys provided by Festo. 2) Target-dependent

Libraries on CECx

CoDeSys provided by Festo makes available the following libraries for the CECx:

Library Description Source

CECX-I 10


Standard.lib Modules that are required by IEC61131-3 as standard modules for an IEC programming system.

Util.lib Modules for BCD conversion, bit/byte functions, mathematical help functions, controllers, signal generators, function manipulators and analog value processing

AnalyzationNew.lib Modules for analyzing of terms

From 3S: − standard libraries on CoDeSys

− Modbus libraries on CoDeSys

3S_CanDrv.lib 3S_CANopenManager.lib 3S_CANopenMaster.lib

− CANopen libraries

SysLibCallback.lib 1)

SysLibCom.lib

SysLibDir.lib

SysLibDirect.lib

SysLibEvent.lib

SysLibFile.lib 2)

SysLibFileAsync.lib

SysLibFileStream.lib

SysLibGetAddress.lib

SysLibIecTask.lib

SysLibInitLibrary.lib

SysLibMem.lib

SysLibPLCConfig.lib

SysLibPlcCtrl.lib

SysLibProjectInfo.lib

SysLibRtc.lib 3)

SysLibSem.lib

SysLibShm.lib

SysLibSockets.lib 4)

SysLibSocketsAsync.lib 4)

SysLibStr.lib

SysLibTask.lib

SysLibTime.lib

SysTaskInfo.lib

BusDiag.lib

System libraries that offer access to special hardware and software functions of a CECx (e.g. access to real-time clock, file system, communication interface, etc.).

Diagnosis for CAN bus systems and PROFIBUS DP systems

From 3S − target system specific libraries that are adjusted specially to a CECx system

Ethernet.lib Modules for network configuration

EventData.lib Modules for evaluating interruptible inputs

IncEnc.lib Modules for latch functions of incremental encoders

PLCService.lib Modules for control services (e.g. operating hours counter, version information, etc.)

SysLibComEx.lib Modules for switching the mode between RS485/422

KSys.lib

TestFunctions.lib

Internal modules

From KEBA: − target system specific library

CECX-I 11


ModbusTCPSrv.lib 5) Modules for ModuBus TCP-Server 3S additional libraries

1) The SysLibCallback.lib supports the system events listed under "System events".

2) Example for accessing a USB stick:

sFileName := '/usbmassstorage.0.0/testdatei.txt'; dwFilePointer := SysFileOpen(sFileName, 'a');

3) SysRtcCheckBattery and SysRtcGetHourMode are not supported. When a date is set before 1990-12-27-00:00:00 with function SysRtcSetTime, this is lost after a system restart.

4) The ports between 10 000 and 20 000 should be used exclusively for the application.

5) Additional descriptions on the application, please see: Library\Docu

Network configuration

The settings of the control are described in the network configuration, to make it accessible via Ethernet.

When the development PC is connected to a network there is an automatic search for controls on this network. The controls found are displayed under Network Configuration[SLOT].

Network Configuration[SLOT]

Tab Find PLC lists the controls that have been found in the network.

The following actions can be activated with buttons:

Search Network

Add PLC

Net Config

Set as active PLC

Search Network

By pressing button Search Network the search for controls in the network will be repeated.

Prerequisite is that Multicast has been enabled by the network administrator and "Answer on find requests" has been selected in Net Config, for the relevant control.

Add PLC

When this button is pressed the window Add PLC opens. After entering the name or the IP address of the control and OK, CoDeSys searches for the control.

This function can also be used to find controls for which Answer on find requests" has not been selected in Net Config,.

Net Config

After selecting a control (PLC) and pressing button Net Config, a window opens for entering the configuration of the network parameters for the selected control.

The following parameters can be entered:

Name Description

PLC name Name of the control in the network IP IP address *) Subnet Subnet mask *) Gateway Gateway entry *) Enable DHCP When selected, the IP address is automatically requested

CECX-I 12


from the DHCP server. Answer on find requests When selected: the control answers to search requests.

See Search Network and Add PLC. Synchronize RTC with PC When selected: After confirmation with OK the selected

control takes over the date and time from the PC. Reboot on OK When selected: A reboot is carried out after OK, to take

over the settings.

*) Examples and information on different network configurations: See system manual of the control (start-up, establishing Ethernet connection to PC/control).

Set as active PLC

Takes over the network settings of the selected control (PLC) in the communication settings of CoDeSys.

Control configuration

The settings of the target system are described in the control configuration. Entered here are the control components used and how they are configured.

Prerequisites

A target system of the CECX series must be installed with Install Target.

When creating a new project the target system must be selected in Target system settings under configuration.

The settings for Target platform, Memory partioning, General, Network functions and Visualization are preset and must not be changed.

That makes the target system available under resources -> control configuration for the configuration entries.

Adding / configuring a module

Further modules can be added by plugging in at the side on the bus connection of the central processor module. Each hardware module that is added must be entered in the control configuration of CoDeSys.

Select Control configuration under Resources..

For production versions CECX-C1 and CECX-M1 different windows are displayed for the PLC configurations.

CECX-I 13


In both cases a module is added by clicking on ExtModules[SLOT] with the right mouse button, selecting Add subelement and clicking on the desired module in the menu offered.

The parameters that can be configured are listed in tab Module parameters.

See also online Help of the CoDeSys programming system, Resources, chapter Export/import of modules.

End points and status values of configured modules

When a module has been configured, CoDeSys creates end points which can be accessed in the IEC program.

The following end points will be created:

One end point per input or output containing the measured value (e.g. the value V for an analog, electrical signal).

A status value as diagnosis information for each module (module error: If this value is TRUE, an error exists, otherwise not)

A status value for each end point (end-point error: If this value is TRUE, an error exists, otherwise not)

Example for the end point and status values that have been created. The actual addresses are specified by the concrete project and need not agree with the example shown here.

CECX-I 14


For a description of the stored status values: See the description of the configuration of modules in the following chapters.

Process map Input

InputTreiber

physikalischeInputs (Sensoren)

OutputOutputTreiber

physikalischeOutputs (Aktoren)

Merker

Byte addressing is used.

%IX0.0 -

%IX0.7

%IX1.0 -

%IX1.7

%IX2.0 -

%IX2.7

%IX3.0 -

%IX3.7

%IX4.0 -

%IX4.7

%IX5.0 -

%IX5.7

%IX6.0 -

%IX6.7

%IX7.0 -

%IX7.7

%IX8.0 -

%IX8.7

%IX9.0 -

%IX9.7

%IB0 %IB1 %IB2 %IB3 %IB4 %IB5 %IB6 %IB7 %IB8 %IB9

%IW0 %IW2 %IW4 %IW6 %IW8

%ID0 %ID4 %ID8

Attention:

In the system CECX the access of direct adressed BOOL-variables (%IX0.0, %QX0.0, %MX0.0) is not possible. The access to bits must be always byte wise.

Address setting for modules

Die station address is set on the module via rotary switches (hexswitch).

The following rules apply for assigning addresses:

Modules of the same type (e.g. several CECX-D-16E modules), that have been added to the same CPU module, must have different addresses.

If this instruction is not adhered to and address conflicts result, it is possible that modules are not recognized and that inputs/output settings are duplicated, set incorrectly or not set at all.

Different type modules (e.g. a CECX-D-16E module and a CECX-A-4E4A-V module on a CPU module) can use the same address settings.

In the CoDeSys configuration there are two options for specifying addresses:

1. Auto

2. Pre-defined value between 0 and F (Hex).

The "auto" setting is intended for those instances where the control does not contain several modules of the same type. Here it is not necessary to inform the programming system of a fixed, pre-defined address.

A pre-defined value must be specified when several modules of the same type are used in the control and the modules must be differentiated. The "address" module parameter specified in the configuration entry must then agree with the switch position set on the module.

CECX-I 15


The "auto" setting and the specific assignment of addresses should not be mixed in an control system.

CECX-D-16E

Digital input module 16 digital inputs of type 1

Module parameters

Name Value Description

Address Auto The address set on the hex switch on the module is recognized and taken over automatically. See chapter "Address setting for modules".

0 - F The address set here (specified in hexcode) must be brought into agreement with the position of the address switch on the module.

DI0 - DI15: despike None No input signal debouncing. 100 ms Debouncing time 100 ms. DI0 - DI1: Interrupt None No edge evaluation. Rising edge Signal change at rising edge. *) Falling edge Signal change at falling edge. *) Both Signal change at every signal edge. *)

*) The two inputs DI0 and DI1 can be interrupted. i.e. they can trigger system events when corresponding module parameters have been set. They can be evaluated with the functions of the 'EventData.lib" library.

Status values as diagnosis information

The following status values are created for this module (example):

CECX-I 16


Possible error states (when status = TRUE)

Module status: module is defective or missing.

DI status: no error message

CECX-D-14A-2

Digital output module 14 digital output modules 2A at 50%

coincidence, divided into 2 groups (6 and 8 outputs), short-circuit protected, overload protection, short-circuit detection, group cut-off.

Module parameters




DO0..DO7: short circuit scan, DO8..DO13: short circuit scan

None This module has two output groups with separate voltage supply. The short-circuit detection switches off all active outputs of the output group in which the short circuit occurred.

Scan The short-circuit detection reactivates the outputs not

CECX-I 17


affected by the short circuit.





DO status: Short circuit of the outputs.

CECX-D-8E8A-NP-2

Digital input/output module 8 digital inputs sink, of which 2 are interruptible 8 digital outputs 2A source at 50% coincidence,

short-circuit protected, overload protection, short-circuit detection, group cut-off

Module parameters




short circuit scan None The short-circuit detection deactivates all active outputs of the output group.

CECX-I 18


scan The short-circuit detection reactivates the outputs not affected by the short circuit.

DI0 - DI7: despike None No input signal debouncing. 100 ms Debouncing time 100 ms. DI0 - DI1: Interrupt None No edge evaluation. Rising

edge Signal change at rising edge. *)

Falling edge

Signal change at falling edge. *)

Both Signal change at every signal edge. *)







DO status: short circuit of the outputs.

CECX-I 19


CECX-D-6E8A-PN-2

Digital input/output module 6 digital inputs source, of which 2 are

interruptible 8 digital outputs 2A sink at 50% coincidence,

short-circuit protected, overload protection, short-circuit detection, group cut-off

Module parameters




short circuit scan None The short-circuit detection deactivates all active outputs of the output group.

scan The short-circuit detection reactivates the outputs not affected by the short circuit.

DI0 – DI5: despike None Debouncing time 1 ms. 100 ms Debouncing time 100 ms. DI0 - DI1: Interrupt None No edge evaluation. Rising

edge Signal change at rising edge. *)

Falling edge

Signal change at falling edge. *)

Both Signal change at every signal edge. *)


CECX-I 20







DO status: short circuit of the outputs.

CECX-A-4E-V

Analog input/output module Analog inputs +/- 10V or 0-10V, resolution 14-

bit, sensor failure detection

Module parameters




AI0 - AI3: operating mode

-10..+10V Operating mode with differential input circuit.

CECX-I 21


0..URef Single-ended input circuit, calibration standardized to URef.





AI status: sensor failure detection

CECX-A-4A-V

Analog input/output module 4 analog outputs +/- 10V, resolution: 12 Bit

Module parameters




CECX-I 22






AO status: no error message

CECX-A-4E4A-V

Analog input/output module 4 analog inputs universal +/- 10V, resolution: 14

Bit, sensor failure detection 4 analog outputs +/- 10V, resolution: 12 Bit

Module parameters





-10 ... +10 V Operating mode with differential input circuit.

0...URef Single-ended input circuit, calibration standardized to URef.



CECX-I 23




AI status: sensor failure detection


CECX-A-4E4A-A

Analog input/output module 4 analog inputs 0-20mA/4-20mA, resolution: 14

Bit 4 analog outputs 0-20mA/4-20mA, resolution:

12 Bit

Module parameters





0 ... 20 mA Operating mode with input current range 0 to 20 mA.

4...20 mA Input current range 4 to 20 mA, for detecting cable breakage.



CECX-I 24




AI status: sensor failure detection at 4...20 mA


CECX-E-4E-T-P1

Temperature measurement module 4 temperature inputs for PT 100 temperature

sensor 2 or 4 conductor technique

Module parameters






CECX-I 25




TI status: sensor failure detection

CECX-E-6E-T-P2

Temperature measurement module 6 temperature inputs for thermocouple type J, K,

L. Cold junction compensation internal

Module parameters




operation mode internal reference

The compensation of the terminal temperature is achieved with an internal temperature measurement sensor. *)

microvolt is applied if the terminal temperature is measured with a semi-conductor temperature sensor (KTY type) with a nominal resistance of 2,000 W. This semi-conductor temperature sensor is connected to an analog input. The cold junction compensation and the linearization must be realized in the user program. *)

TI0 - TI5: sensor type

J For thermocouple type J (Fe-CuNi) according to IEC 548-1 (-100 °C to 700 °C).

K For thermocouple type K (NiCr-Ni) according to IEC 548-1 (-100 °C to 1000 °C).

L For thermocouple type L (Fe-CuNi) according to DIN 43710/1977 (-100 °C to +700 °C).

*) See online help section titled Target system - Festo CECX (hardware configuring,module CECX-E-6E-T-P2, chapter Functional description).


CECX-I 26





TI status: sensor failure detection

CECX-F-PB-S-V1 (12 Bytes, 32 Bytes, 64 Bytes)

PROFIBUS Slave interface module PROFIBUS Slave DPV1, each with 32-byte or

64-byte data.

Module parameters



0 Only two modules of this type may be operated on one CPU. An address setting is therefore not required.

The required GSD file (CECX_F_FB_S_V1_6008.gsd) for the configuration of the PROFIBUS slave module is stored in the IOCONFIG directory of the Target Support Packages.

Data

The data transmitted over the PROFIBUS are made available in the application in Bytes (Input byte 0 to 31, or 0 to 63 and Output byte 0 to 31, or 0 to 63).

With the configuration of a PROFIBUS slave, the first two data module must be kept

free with 'empty placeholders'! See image.

CECX-I 27


You can find more detailed information in the specification of the protocol PROFIBUS-DP (Decentralized Peripherals) in the relevant field bus literature.


The following status values are created for this module (example for 32-byte module):



BAI status: none.

BAO status: none.

CECX-F-PB-V1

PROFIBUS Master interface module PROFIBUS Master DPV1.

The module is configurable in the PLC configuration at the lower-most "unused[SLOT]" (see image).

CECX-I 28


by selecting CECX-F-PB-V1.

For the use of Profibus DP-V1 services, set the module parameter DPV1Support of the

appropriate slave to "Enabled".

Please consider, that the behaviour of not all Profibus DP-V1-slaves conforms with the standard. If the DP-V1 communication does not work with the "Enabled" setting, set it to "Disabled".

Module parameters

A description of the parameters and data can be found in the CoDeSys online help under "Configuring PROFIBUS modules".

Bus diagnosis

The library BusDag.lib is used for bus diagnosis.

The device number must be set for this as follows:

DEVICENUMBER = 2

Application example for usage of library „BusDiag_Lib“:

Declaration of variables:

PROGRAMM BusDiag_Lib_Profibus VAR DiagGBS : DiagGetBusState; DiagGS : DiagGetState; Diag : BOOL:=FALSE; Stationsadress:DWORD; (*Stationsadress of the profibus slave*) END_VAR

Program code:

DiagGBS(ENABLE := TRUE, DRIVERNAME := 0, DEVICENUMBER := 2); // Initial situation: In the case of an error the bus has the state 7 // (DiagGBS.EXTENDEDINFO[Stationsadress]:= 7). // In the following it is described, how to reset the bus state and how to // get diagnosis information. // 1. At the first ascending edge of the variable diag in case of an error // the state of DiagGBS.EXTENDEDINFO[Stationsadress] is set from 7 (bus // member reports an error) to 3 (bus member is active). // 2. After the second ascending edge of the variable diag the diagnosis // information is displayed in DiagGS.EXTENDEDINFO DiagGS(ENABLE := Diag, DRIVERNAME := 0, DEVICENUMBER := 2, BUSMEMBERID := Stationsadresse);

CECX-I 29


CECX-C-2G2

Motion extension module Incremental encoder (500 kHz)) 2 channels

Module parameters



0 - 7 The address set here (specified in hexcode) must be brought into agreement with the position of the address switch on the module.

Latch input type Sink Latch input DI0, DI1 (sink: switched to 24 V *) Source Latch input DI0, DI1 (source: switched to 0 V). *) INC0 - INC1: encoder-type

24 V Encoder interfaces INC0, INC1, incremental input, for encoder wit 24V output (single ended). **)

RS-422 For encoders with RS-422output (5 V differential). INC0 - INC1: edge count

1x Encoder counter pulse single.

2x Encoder counter pulse 2-fold. 4x Encoder counter pulse 4-fold. Counter Counter with track A, without direction detection. Signed

counter Counter with track A and B, (with direction detection).

INC0: DI0 - INC1: DI1 latch edge

None No latch function (= data storage at change of latch input signal).

Rising edge Latch function activated at rising edge. *) Falling edge Latch function activated at falling edge. *) INC0 - INC1: increments per revolution

Number of impulses of transducer per rotation.

*) Additional latch functions can be used via the IncEnc.lib library.

**) With 24 V encoders no sensor failure and short circuit can be detected.



CECX-I 30




INC status: sensor failure, short circuit.


When parameter INC0 - encoder type (or INC1 - encoder type) is set on RS-422 and no incremental encoder has been connected to the encoder input, the error state "INC Status" switches to TRUE. Encoder inputs not used should therefore be configured as 24 V type.

CECX-S-2S1

Serial interface module 2 RS-232-C

Modul parameters


address auto The address set on the hex switch on the module is recognized and taken over automatically. See chapter "Address setting for modules".






Additional information: See online help section titled Target system - Festo CECX (CECX-S-2S1).

CECX-I 31


CECX-C-2G1

Serial interface module SSI Interface 4 interfaces

Modul parameters


address auto The address set on the hex switch on the module is recognized and taken over automatically. See chapter "Address setting for modules".

0 - F The address set here (specified in hexcode) must be brought into agreement with the position of the address switch on the module..

baud rate 125, 250, 500 kBaud, 1 Mbaud.

Data transmission rate.

data bits 16 – 24 Number of data bits data code Binary oder

gray code Coding of the sensor. Gray code = after Frank Gray coding process for robust transmission of digital values.

bit oder most significant bit first oder least significant bit first

Specification of sequence in which the bits are transmitted in the data stream.





Channel status: Sensor failure detection, sensor shows fault in SSI telegram.

CECX-I 32


CECX-C-S1, CECX-S-S4

Serial option module: CECX-C-S1: RS-232-C, CECX-S-S4: RS-485/422

Modul parameters

These modules are configured as CoDeSys interface in the PLC configuration via Communication Parameters, SIO Config. For the application, these interfaces are useable via the functions from the CoDeSys SysLib Com.

Name Values Description

Port COM2 to COM8

See chapter "Operation of interfaces, Serial interfaces".

baud rate From 4800 to 115000 Baud

Data transmission rate.

parity None, odd, even

Parity

data bits 8 Number of data bits. stop bits 0, 1 oder 2 Number of stop bits.

See also online help to the target system CECX under: Start-up of CoDeSys and control -> Establishing PC/Control connection -> Serial connection.

CECX-B-CO

CANOpen bus link module: for up to 12 add-on modules.

The CECX-B-CO is a CANOpen bus link module, and may be connected as slave module to each CAN master module.

Set the values of the CAN parameters as desired (baudrate according to length of data line, other parameters adequate to the settings at the CAN modules).

When configuring the CAN master, consider that the parameter „Support DSP301,V4.01 and DSP306“ is selected. If this option is set, then the CAN module selection is available.

CECX-I 33


CAN module selection

Select the add-on modules of the bus link module via CAN-module selection.

At the bus the CECX-B-CO sorts the modules in the following sequence:

1. CECX-E-6E-T-P2 2. CECX-A-4E4A-V 3. CECX-A-4E4A-A 4. CECX-A-4E-V 5. CECX-A-4A-V 6. CECX-E-4E-T-P1 7. CECX-D-16E 8. CECX-D-14A-2 9. CECX-D-8E8A-NP-2 10. CECX-D-6E8A-PN-2 11. CECX-C-2G2 12. CECX-C-2G1

When adding modules take care that the modules selected are inserted in the sequence described above. Otherwise data could be written onto the wrong modules.

When adding modules, they are inserted above the actual selected module. Do not start selection with module of CECX-E-6E-T-P2 type.

PDO-Mapping

To ensure that data are transmitted between CAN-Master and CAN-Slave, the 'Receive PDO-Mapping' and the 'Send PDO-Mapping' must be set right and complete.

In the left window select a data entry (in the example: Write Output 8-Bit_CECX-D-8E8A)

and a PDO (in the example: PDO 0x1400) and add it with the key. The StandardDataTypes must not used here.

CECX-I 34


The system configuration will be added with an entry.

If the message appears "Caution! The following PDOs are currently not active: ...", it can be ignored. These are PDOs, which are created but not used in the system.

In the system configuration any name can be entered for the created system variable (e.g. out).

In principal the PDO mapping can be done arbitrary. If a PDO is filled, then a message will be shown, and the next PDO has to be used.

Digital in-/output values are mapped to unsigned system variables (UINT for 16 bit transmission, USINT for 8 bit). Bit 0 corresponds to the flirst in-/output, bit 1 to the second in-/output, and so on. E.g. if the outputs 1, 2 and 4 should be set, then the variable out must be set to the value 11 (= 1+2+8).

For more detailed information to PDO mapping please refer to the system manual, chapter 34 - bus link module CECX-B-CO.

CAN Master [SLOT]

Configuration entry for a CAN Master for operating CAN slaves.

If the CAN master is set on "unused" or on "Businterface", then the libraries "3S_CANDrv.lib", "3S_CANOpenManager.lib" and "3S_CANOpenMaster.lib" that have been inserted automatically must be removed manually, otherwise conflicts could arise during the compilation of the project.

Bus diagnosis

The library BusDag.lib is used for bus diagnosis (see BusDiag.lib). For this the DEVICENUMBER must be set as follows.

CAN Master that is used first: DEVICENUMBER = 3, CAN Master that is used second: DEVICENUMBER = 4.

Information on application

A Start telegram is sent to each CAN participant as standard. However, a "Start All Nodes" telegram, NodeID = 0, can be sent from the IEC application. For the second CAN master the NodeID = 1. This requires that at the start-up of the control the application always sets the flag bUseStartAllNodes of the master once, e.g. as follows (bInit is defined by the application):

IF NOT bInit THEN pCanOpenMaster[0].bUseStartAllNodes := TRUE; bInit := TRUE;

CECX-I 35


END_IF

Attention: This flag must not be set cyclically, since the individual nodes ca no longer be started after a failure.

Application example for usage of library „BusDiag_Lib“:

Declaration of variables:

PROGRAM BusDiag_Lib_CAN VAR DiagGBS : DiagGetBusState; DiagGS : DiagGetState; Diag : BOOL:= FALSE; NodeID: DWORD; //node number of the CAN slaves CANMaster: INT; //First used CAN master: DEVICENUMBER = 3, //Second used CAN master: DEVICENUMBER = 4 END_VAR

Program code:

DiagGBS(ENABLE := TRUE, DRIVERNAME := 0, DEVICENUMBER := CANMaster); // Initial situation: In the case of an error the bus has the state 7. // (DiagGBS.EXTENDEDINFO[NodeID] := 7). // For requesting the diagnosis information in the case of an error // (DiagGBS.EXTENDEDINFO[NodeID] := 7) the variable Diag must be set manually // to TRUE. // The emergency telegram is displayed in DiagGS.EXTENDEDINFO IF Diag THEN DiagGS(ENABLE := TRUE, DRIVERNAME := 0, DEVICENUMBER := CANMaster, BUSMEMBERID := NodeID); Diag := FALSE; END_IF;

Bus interface [SLOT] (for Controller CECX-X-M1)

Configuration entry of a bus interface for SoftMotion drives.

When the bus interface and CAN master are operated simultaneously the following information must be adhered to:

The bus interface must always be configured first in CoDeSys.

As soon as a CAN master is configured it occupies the first CAN circuit (Onboard CAN) and the bus interface then occupies the plug-in module CECX-F-CO. The controller number at the AxisGroup parameterization must in this case be set on 1 (see illustration).

CECX-I 36


Information on application

The cycle time for the motion task is configured depending on the used drives. If you use CMMS-AS, CMMS-ST, SFC-LAC oder SFC-LACI the minimal cycle time is 8 ms.

For more information see the systemdescription of the drives.

Unused [SLOT]

Not used at the moment.

Notes on system behavior

The system behavior can, in certain cases, be influenced via application programming e.g. for:

Watchdog exception

Watchdog exception

A watchdog exception occurs when during a task in CoDeSys it is determined that the current cycle of the maximum allowed time according to task configuration has been exceeded. This leads to the watchdog exception callback of the Iec application being executed.

The system stops the task in which the exception has occured and the execution of al assigned programms. The tasks subsequently execute no further cycle until an application reset was performed. Other tasks of the taskconfiguration are not stopped. When the whole application is stopped, a start is only possible after an application reset.

If a reaction is desired from the user, a watchdog exception handler must be added (Task configuration->System events):

The system behavior can be influenced as desired in this e.g. by call of a callback function. The name of the called function must begin with "callback".

The behavior for a watchdog exception must be considered with the application design, e.g.: switching from automatic to manual mode or reboot of the control. It is dependent on the device function and the effects which the failure of the affected task can trigger.

The called callback function may not contain long continuing procedures (e.g. writing of files, etc.) since otherwise the control will be totally blocked.

If a task with assigned programmcall is not defined in the project, a default task (realtime, priority 10) with 10 ms cyle-time and active watchdog (time: t#11ms / sensitivity: 1) is used.

CECX-I 37


CECX-I 38

System manual CECX

CECX-II

Content System Manual CECX

Product design ....................................................................................................................1-1

1 Introduction ..................................................................................................................1-1

1.1 Purpose of the document....................................................................................1-1 1.2 Target groups, preconditions ..............................................................................1-1 1.3 Intended use of the CECX modular control system............................................1-2 1.4 Notes on this document ......................................................................................1-3 1.5 General product-specific terms and abbreviation ...............................................1-3 1.6 Application and registrations...............................................................................1-4

2 Safety notes ..................................................................................................................2-1

2.1 Representation ...................................................................................................2-1 2.2 General safety instructions .................................................................................2-2 2.3 Safety instructions for programming ...................................................................2-4 2.4 Safety instructions for maintenance work ...........................................................2-5 2.5 Requirement for UL508 and use conforming to EN 61131.................................2-5

3 System overview ..........................................................................................................3-1

3.1 Structure of the modular control .........................................................................3-1 3.2 Working mode of the control ...............................................................................3-4 3.3 Start-up and programming (overview) ................................................................3-5

4 General assembly and installation instructions........................................................4-1

4.1 General instructions on assembly and removal ..................................................4-1 4.2 Mounting rail .......................................................................................................4-1 4.3 Footprint..............................................................................................................4-2 4.4 Adding modules ..................................................................................................4-2 4.5 Mounting/dismounting the boards and modules .................................................4-3 4.6 Air conditioning, ventilation .................................................................................4-7

5 Power supply of modules............................................................................................5-1

5.1 Connection..........................................................................................................5-1 5.2 Power consumption of modules..........................................................................5-2 5.3 Example power calculation .................................................................................5-3

6 Operation and displays................................................................................................6-1

6.1 Setting the module address ................................................................................6-1 6.2 Control key (Ctrl).................................................................................................6-1 6.3 Power LED (Power) ............................................................................................6-1 6.4 Diagnosis display (Diagnostics)..........................................................................6-2 6.5 Compact Flash Card...........................................................................................6-2

7 Commissioning of CoDeSys and control...................................................................7-1

7.1 Installing CoDeSys and starting development environment ...............................7-1 7.2 Installation of a Target Support Package (TSP) .................................................7-1

I


7.3 Switch-on control ................................................................................................7-4 7.4 Creating a CoDeSys project ...............................................................................7-4 7.5 Establishing the connection to the PC/control ....................................................7-5 7.6 Configuring modules.........................................................................................7-15 7.7 Connecting an FED ..........................................................................................7-16 7.8 First programming steps ...................................................................................7-20

8 Operating behavior ......................................................................................................8-1

8.1 Button and display, general information .............................................................8-1 8.2 Start-up ...............................................................................................................8-2 8.3 Operating states .................................................................................................8-3

9 Diagnosis ......................................................................................................................9-1

9.1 Display of errors in the 7-segment display..........................................................9-1 9.2 Touch control at error display during operations: ...............................................9-1 9.3 Error codes .........................................................................................................9-2

10 Disposal ......................................................................................................................10-1

10.1 Disposal of the module .....................................................................................10-1 10.2 Disposal of the battery ......................................................................................10-1

11 Technical data ............................................................................................................11-1

12 EC directives and standards .....................................................................................12-1

12.1 Why EMC-compatible wiring?...........................................................................12-2

13 Connections and wiring.............................................................................................13-1

13.1 General information on interfaces.....................................................................13-1 13.2 General information on inputs / outputs............................................................13-7 13.3 General limits for wire cross sections .............................................................13-11 13.4 Test of interference immunity .........................................................................13-12

14 CPU module ................................................................................................................14-1

14.1 Introduction .......................................................................................................14-1 14.2 Safety notes......................................................................................................14-1 14.3 Description of the module .................................................................................14-4 14.4 Operating elements and displays .....................................................................14-6 14.5 Mounting and installation instructions...............................................................14-7 14.6 Air conditioning and ventilation .......................................................................14-10 14.7 Connections and wiring ..................................................................................14-11 14.8 Configuration ..................................................................................................14-19 14.9 Operating behavior of the CPU module..........................................................14-20 14.10 Diagnosis ........................................................................................................14-20 14.11 Maintenance ...................................................................................................14-21 14.12 Disposal ..........................................................................................................14-23 14.13 Technical data ................................................................................................14-24 14.14 EC directives and standards...........................................................................14-25

15 Digital input module CECX-D-16E ............................................................................15-1

II


15.1 Introduction .......................................................................................................15-1 15.2 Safety notes......................................................................................................15-1 15.3 Description of the module .................................................................................15-3 15.4 Connections and wiring ....................................................................................15-4 15.5 Configuration ....................................................................................................15-9 15.6 Operating behavior .........................................................................................15-11 15.7 Disposal ..........................................................................................................15-11 15.8 Technical data ................................................................................................15-12 15.9 EC directives and standards...........................................................................15-13

16 Digital output module CECX-D-14A-2.......................................................................16-1

16.1 Introduction .......................................................................................................16-1 16.2 Safety notes......................................................................................................16-1 16.3 Description of the module .................................................................................16-3 16.4 Connections and wiring ....................................................................................16-5 16.5 Configuration ....................................................................................................16-8 16.6 Operating behavior ...........................................................................................16-9 16.7 Disposal ..........................................................................................................16-12 16.8 Technical data ................................................................................................16-13 16.9 EC directives and standards...........................................................................16-14

17 Digital input/output module CECX-D-8E8A-NP-2 ....................................................17-1

17.1 Introduction .......................................................................................................17-1 17.2 Safety notes......................................................................................................17-1 17.3 Description of the module .................................................................................17-3 17.4 Connections and wiring ....................................................................................17-4 17.5 Configuration ..................................................................................................17-11 17.6 Operating behavior .........................................................................................17-12 17.7 Disposal ..........................................................................................................17-14 17.8 Technical data ................................................................................................17-15 17.9 EC directives and standards...........................................................................17-17

18 Digital input/output module CECX-D-6E8A-PN-2 ....................................................18-1


19 Analog input module CECX-A-4E-V..........................................................................19-1

19.1 Introduction .......................................................................................................19-1 19.2 Safety notes......................................................................................................19-1 19.3 Description of the module .................................................................................19-3 19.4 Connections and wiring ....................................................................................19-5 19.5 Configuration ..................................................................................................19-10 19.6 Operating behavior .........................................................................................19-11

III


19.7 Disposal ..........................................................................................................19-12 19.8 Technical data ................................................................................................19-13 19.9 EC directives and standards...........................................................................19-15

20 Analog output module CECX-A-4A-V .......................................................................20-1

20.1 Introduction .......................................................................................................20-1 20.2 Safety notes......................................................................................................20-1 20.3 Description of the module .................................................................................20-3 20.4 Connections and wiring ....................................................................................20-5 20.5 Configuration ....................................................................................................20-8 20.6 Operating behavior ...........................................................................................20-9 20.7 Disposal ............................................................................................................20-9 20.8 Technical data ................................................................................................20-10 20.9 EC directives and standards...........................................................................20-11

21 Analog input/output module CECX-A-4E4A-V.........................................................21-1


22 Analog input/output module CECX-A-4E4A-A.........................................................22-1


23 Temperature module CECX-E-4E-T-P1.....................................................................23-1

23.1 Introduction .......................................................................................................23-1 23.2 Safety notes......................................................................................................23-1 23.3 Description of the module .................................................................................23-3 23.4 Connections and wiring ....................................................................................23-5 23.5 Configuration ....................................................................................................23-9 23.6 Operating behavior .........................................................................................23-10 23.7 Disposal ..........................................................................................................23-10 23.8 Technical data ................................................................................................23-11 23.9 EC directives and standards...........................................................................23-13

24 Temperature module CECX-E-6E-T-P2.....................................................................24-1

IV


24.1 Introduction .......................................................................................................24-1 24.2 Safety notes......................................................................................................24-1 24.3 Description of the module .................................................................................24-3 24.4 Connections and wiring ....................................................................................24-5 24.5 Configuration ....................................................................................................24-9 24.6 Functional description.....................................................................................24-10 24.7 Operating behavior .........................................................................................24-13 24.8 Disposal ..........................................................................................................24-13 24.9 Technical data ................................................................................................24-14 24.10 EC directives and standards...........................................................................24-16

25 PROFIBUS Master interface module CECX-F-PB-V1 ..............................................25-1

25.1 Introduction .......................................................................................................25-1 25.2 Safety notes......................................................................................................25-1 25.3 Description of the module .................................................................................25-3 25.4 Operating elements and displays .....................................................................25-4 25.5 Connections and wiring ....................................................................................25-5 25.6 Configuration ....................................................................................................25-7 25.7 Operating behavior ...........................................................................................25-7 25.8 Disposal ............................................................................................................25-8 25.9 Technical data ..................................................................................................25-9 25.10 EC directives and standards...........................................................................25-10

26 PROFIBUS Slave interface module CECX-F-PB-S-V1.............................................26-1

26.1 Introduction .......................................................................................................26-1 26.2 Safety notes......................................................................................................26-1 26.3 Description of the module .................................................................................26-3 26.4 Operating elements and displays .....................................................................26-4 26.5 Connections and wiring ....................................................................................26-5 26.6 Configuration ....................................................................................................26-8 26.7 7 Operating behavior ........................................................................................26-8 26.8 Disposal ............................................................................................................26-8 26.9 Technical data ..................................................................................................26-9 26.10 EC directives and standards...........................................................................26-10

27 Incremental encoder interface module CECX-C-2G2..............................................27-1

27.1 Introduction .......................................................................................................27-1 27.2 Safety notes......................................................................................................27-1 27.3 Description of the module .................................................................................27-3 27.4 Connections and wiring ....................................................................................27-5 27.5 Configuration ..................................................................................................27-11 27.6 Functional description.....................................................................................27-13 27.7 Operating behavior .........................................................................................27-18 27.8 Disposal ..........................................................................................................27-19 27.9 Technical data ................................................................................................27-20 27.10 EC directives and standards...........................................................................27-22

28 Serial interface module CECX-S-2S1........................................................................28-1

28.1 Introduction .......................................................................................................28-1 28.2 Safety notes......................................................................................................28-1

V


28.3 Description of the module .................................................................................28-3 28.4 Operating elements and displays .....................................................................28-4 28.5 Connections and wiring ....................................................................................28-5 28.6 Configuration ....................................................................................................28-7 28.7 Disposal ............................................................................................................28-8 28.8 Technical data ..................................................................................................28-9 28.9 EC directives and standards...........................................................................28-10

29 SSI Interface module CECX-C-2G1 ...........................................................................29-1

29.1 Introduction .......................................................................................................29-1 29.2 Safety notes......................................................................................................29-1 29.3 Description of the module .................................................................................29-3 29.4 Operating elements and displays .....................................................................29-5 29.5 Connections and wiring ....................................................................................29-5 29.6 Configuration ....................................................................................................29-9 29.7 Operating behavior .........................................................................................29-10 29.8 Disposal ..........................................................................................................29-10 29.9 Technical data ................................................................................................29-11 29.10 EC directives and standards...........................................................................29-12

30 CAN option module CECX-F-CO...............................................................................30-1

30.1 Introduction .......................................................................................................30-1 30.2 Safety notes......................................................................................................30-1 30.3 Description of the module .................................................................................30-3 30.4 Installation instructions .....................................................................................30-4 30.5 Display and operating elements .......................................................................30-6 30.6 Connections and wiring ....................................................................................30-7 30.7 Configuration ..................................................................................................30-10 30.8 Operating behavior .........................................................................................30-10 30.9 Disposal ..........................................................................................................30-10 30.10 Technical data ................................................................................................30-11 30.11 EC directives and standards...........................................................................30-12

31 Serial option module CECX-C-S1 .............................................................................31-1

31.1 Introduction .......................................................................................................31-1 31.2 Safety notes......................................................................................................31-1 31.3 Description of the module .................................................................................31-3 31.4 Installation instructions .....................................................................................31-4 31.5 Connections and wiring ....................................................................................31-7 31.6 Operating behavior ...........................................................................................31-9 31.7 Disposal ............................................................................................................31-9 31.8 Technical data ................................................................................................31-10 31.9 EC directives and standards...........................................................................31-11

32 Serial option module CECX-S-S4..............................................................................32-1

32.1 Introduction .......................................................................................................32-1 32.2 Safety notes......................................................................................................32-1 32.3 Description of the module .................................................................................32-3 32.4 Installation instructions .....................................................................................32-4 32.5 Connections and wiring ....................................................................................32-7

VI


32.6 EMC and wiring guidelines .............................................................................32-10 32.7 Operating behavior .........................................................................................32-11 32.8 Disposal ..........................................................................................................32-11 32.9 Technical data ................................................................................................32-12 32.10 EC directives and standards...........................................................................32-13

33 Ethernet option module CECX-C-ET ........................................................................33-1

33.1 Introduction .......................................................................................................33-1 33.2 Safety notes......................................................................................................33-1 33.3 Description of the module .................................................................................33-3 33.4 Installation instructions .....................................................................................33-4 33.5 Connections and wiring ....................................................................................33-7 33.6 Configuration ....................................................................................................33-8 33.7 Operating behavior ...........................................................................................33-8 33.8 Disposal ............................................................................................................33-8 33.9 Technical data ..................................................................................................33-9 33.10 EC directives and standards...........................................................................33-10

34 Bus link module CECX-B-CO ....................................................................................34-1

34.1 Introduction .......................................................................................................34-1 34.2 Safety notes......................................................................................................34-1 34.3 Description of the module .................................................................................34-3 34.4 CANOpen protocol............................................................................................34-4 34.5 Operating elements and displays .....................................................................34-8 34.6 Connections and wiring ....................................................................................34-9 34.7 Configuration ..................................................................................................34-12 34.8 Operating behavior .........................................................................................34-21 34.9 Application example........................................................................................34-26 34.10 Object directory...............................................................................................34-28 34.11 Disposal ..........................................................................................................34-60 34.12 Technical data ................................................................................................34-61 34.13 EC directives and standards...........................................................................34-62

VII


VIII

System manual CECX / Product design

Product design

The unit is available in the following designs:

Product design Description CONTROLLER CECX-X-C1

Modular controller CECX Software: CoDeSys

CONTROLLER CECX-X-M1

Modular controller CECX Software: CoDesys with SoftMotion

In the following the unit is described as CECX modular control system or simply as control.

CECX-II 0-1

System manual CECX / Product design

CECX-II 0-2

System manual CECX / Introduction

1 Introduction

1.1 Purpose of the document

This document describes the structure of the CECX modular control sys-tem. It further describes the assembly and installation, the wiring, the operation and displays of the modules. The installation and configuration is described to the extent that the user has a CECX modular control system that is ready for operation. "Ready for operation" means that the CECX modular control system or the respective CPU modules are ready for the synchronization of the applica-tion.

1.2 Target groups, preconditions

The system manual is intended for all those using a CECX modular control system that consists of CPU modules and I/O modules added in line or those who plan to use such a system:

Target group Prerequisite knowledge and ability Project engineer Technical basic education (university of applied science, engi-

neering degree or corresponding professional experience), Knowledge in:

- working mode of a PLC, safety instructions, the application.

Electrician Specialized training in the electro-technical field (in accordance with industrial training guidelines).

Knowledge in: safety instructions, wiring guidelines, circuit diagrams, correct installation of electrical connections.

Programmer Technical training (university of applied science, engineering training or corresponding professional experience).

Knowledge in: - working mode of a PLC, safety instructions, programming a PLC (IEC61131).

Operator Technical basic education (vocational high school, engineering degree or corresponding professional experience),

Knowledge in: safety instructions, working mode of machine or plant, principle functions of the application, system analysis and troubleshooting, setting options at the operating installations.

CECX-II 1-1


CECX-II 1-2

Target group Prerequisite knowledge and ability Service technician Technical basic education (vocational high school, engineering

degree or corresponding professional experience), Knowledge in:

working mode of a PLC, safety instructions, working mode of machine or plant, diagnosis possibilities, systematic error analysis and troubleshooting.

1.3 Intended use of the CECX modular control system

A CECX modular control system may only be used for the type of use de-scribed in the technical description and only in conjunction with recom-mended/approved third-party equipment/installations. All modules of the CECX modular control system have been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to other property or equipment under normal circumstances, provided that the instructions and safety precautions relating to the intended use are properly observed. The CECX modular control system is intended for installation in a switch cabinet. CoDeSys supports the programming languages described in the IEC-61131 standard. The CECX modular control system is to be used as follows:

Only in the industrial sector

Only as directed

In original state without unauthorized modifications. Authorized are the alterations or modifications described in the accom-panying documentation.

In a faultless technical condition.


1.4 Notes on this document

Information If necessary, also adhere to the documentation accompanying the mod-ules.

1.4.1 Contents of the document

System overview

Start-up description

Operating behavior

Diagnosis

EMC and wiring guidelines

Technical data

1.4.2 Not contained in this document

Programming instruction

Application diagnosis

Firmware description

1.5 General product-specific terms and abbreviation

The following product-specific abbreviations are used in this document: Term/abbreviation Significance Terminating resistor Resistor for minimizing signal reflections. Terminal resistors must

be installed or joined at the line end of bus segments.

Modules Modules, also termed peripheral modules, establish the connection with the process. Modules can be plugged into the right-hand side of the CPU module to extend the range of functions. Signal trans-ducers and actuators, for example, are linked with the I/O modules.

CPU module Central module of the CECX modular control system.

CANopen A field bus protocol based on CAN which has been standardized as European standard.

Ethernet Physical protocol and network for linking different devices.

Incremental encoder Encoder Option module Option modules serve for inserting in CPU modules. Optional mod-

ules for serial interfaces or different field bus links are available.

CECX-II 1-3


CECX-II 1-4

Term/abbreviation Significance PROFIBUS PROcess Field BUS; process and field bus standard which has

been defined in IEC 61158 Type 3.

PROFIBUS address Serves for the clear identification of a bus participant in the PROFIBUS

Project engineering manual

Project engineering manuals are those documents that provide the machine and plant project engineer with the necessary information on the selection of the appropriate hardware. The project engineer-ing manuals also provide information for the servicing and operating personnel on the structure of the hardware components.

Retain data Data that are written from the application into the memory of the control system. These are normally quantities, time information, etc. Retain data retain their value when the unit is switched on or off. The stored data are used when the program is re-started. The data are not stored on the compact flash memory card.

Status report Files which the unit can store for analyzing errors. They contain important information on the state of the unit at the time the error occurred. They can be read out for service purposes.

1.6 Application and registrations

The product conforms to EU guidelines and carries the CE symbol.

Standards and test values which the product conforms to and meets are contained in chapter Technical Data. For the EU guidelines relevant to the product please see the declaration of conformity.

System manual CECX / Safety notes

2 Safety notes

2.1 Representation

At various points in this manual you will see notes and precautionary warn-ings regarding possible hazards. The symbols used have the following meaning:

!

DANGER!

indicates an imminently hazardous situation which will result in death or serious bodily injury if the corresponding precautions are not taken.

!

WARNING!

indicates a potentially hazardous situation which, if not avoided, can result in death or serious injury.

!

ATTENTION!

means that if the corresponding safety measures are not taken, a po-tentially hazardous situation can occur that may result in property in-jury or slight bodily injury.

CAUTION

CAUTION used without the safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in damage to property.

This symbol reminds you of the possible consequences of touching electrostatically sensitive components.

Information on use of equipment and useful practical tips are identified by the “Informa-tion” symbol. Notes do not contain any information that draws attention to potentially dangerous or harmful functions.

CECX-II 2-1


2.2 General safety instructions

The documentation contains information necessary for planning the use of the CECX hardware. Familiarity with and correct application of the information contained in these manuals is a prerequisite for successful planning and safe installation, commissioning and maintenance of automation systems. Only properly qualified personnel have the required specialist knowledge to correctly in-terpret and implement the instructions given in this manual. For reasons of clarity, not every single detail of every version of the prod-ucts described is listed nor can every conceivable practical situation be taken into consideration. Should you require additional information, please contact the manufacturer. When installing, commissioning and servicing CECX-products, adhere to the instructions in the respective chapters of the hardware modules.

!

WARNING!

The following application areas are expressly excluded:

Use in explosive or fire-risk areas Use in mining Outdoor use Other products without additional measures are to be used for these applications!

The modules of the CECX modular control system are not designed for safety-relevant control tasks (e.g.: shutdown in case of an emergency).For safety-relevant control tasks or personnel safety, additional exter-nal safety measures must be implemented to ensure the system re-mains in a safe operating condition even in the event of a fault.

For additional information see EN 954-1 (EN ISO 13849/1).

CECX-II 2-2


!

ATTENTION! Fire danger for component failure!

Ensure adequate fuse protection of the 24 V DC power supply of the CECX modular control system in the end usage! The max. permitted fuse is 10A!

The 24V power supply for the equipment must be safeguarded by safe separation of the extra low voltage circuits from any hazardous voltage circuits.

CAUTION Improper handling will destroy the module or the control system!

Turn off the power supply before inserting or removing the module. Otherwise, the module can be destroyed or undefined signal states can lead to damage of the control system.

When removed from the rack, the modules used in the system are sen-sitive to electrostatic discharge. Before handling modules, touch a grounded metal object in order to discharge any static electricity from your body.

2.2.1 Personnel safety

!

WARNING!

Unqualified interventions in the control may cause abnormal behavior of the machine/plant or personal injury or damage to the equipment. Only especially qualified staff may perform interventions in the control system.

Protective earthing The protective earthing is specified for all equipment with conductive hous-ing if high voltage can occur inside the equipment. Relevant official direc-tives (e.g. ÖVE, VDE) control the version of the protective earthing in most countries. If a fault occurs in the equipment, a short circuit to earth will be caused and the power supply will be interrupted via the series connected protection de-vice (fuse, fault-current circuit breaker,...).

CECX-II 2-3


!

WARNING!

All parts of the system that must be supplied with a voltage higher than safety extra-low voltage (SELV according to EN 61131-2) and has touchable metal parts, must be earthed. Otherwise, the series con-nected protection devices are ineffective.

2.2.1.1 Safety extra-low voltage

!

WARNING! Danger of personal injury due to electric shock!

Supply the KEBA control exclusively from power sources that have a protective low voltage (e.g. SELV or PELV according to EN 61131-2)

Connect only voltages and power circuits to connections, terminals and interfaces up to 50 V rated voltage that have a secure disconnect for hazardous voltages (e.g. with sufficient isolation and voltage-proof).

2.3 Safety instructions for programming

!

ATTENTION!

The instructions contained in these manuals must be precisely fol-lowed in all circumstances. Failure to do so could result in the creation of potential sources of danger or the disabling of safety features inte-grated in the CECX modular control system.

Apart from the safety instructions given in these manuals, the safety precautions and accident prevention measures appropriate to the situ-ation in question must also be observed.

Measures must be taken to ensure that in the event of power dips or power failures, an interrupted program can be properly restarted. In such situations, no dangerous operating conditions must be allowed to occur even temporarily.

In all situations where faults occurring on the automation system could cause personal injury or significant damage to machinery and equip-ment, additional external safety measures must be taken in order to ensure the system as a whole remains in a safe operating condition even in the event of a fault.

CECX-II 2-4


2.4 Safety instructions for maintenance work

Before opening the device: 1. Disconnect the power supply 2. Disconnect the interface connections

!

ATTENTION!

The device may only be opened by qualified personnel and only main-tenance activities expressly approved by Festo may be performed (see chapter “Service notes”). Any other manipulations to the device will result in loss of warranty.

2.5 Requirement for UL508 and use conforming to EN 61131

The modules of the CECX modular control system are defined as "open type" equipment (according to UL508) or as "offenes Betriebsmittel” (ac-cording to EN 61131) and must therefore be installed in a switch cabinet.

CECX-II 2-5


CECX-II 2-6

System manual CECX / System overview

3 System overview

3.1 Structure of the modular control

The CECX modular control system is based on a modular concept and can be structured according to specific functional requirements. It consists es-sentially of a selection of CPU modules, I/O modules and operating and display units. CPU- and I/O-modules are joined together and form a control block that can then be installed into a control cabinet. The operating and display devices can be arranged at a suitable located somewhere on the machine/plant. For the adoption to different interfaces, option modules are slotted into the CPU-module. The casing provides mechanical protection, the inner construction of the module guarantees EMC shielding. During the start of the system the CoDeSys compares the current hardware configuration (actual configuration) with the hardware configuration stored in the IEC project (setpoint configuration). Deviations in configuration or faulty modules can be identified via the inquiry of the module status in the IEC application. The response is there fixed programmatically (e.g. error output on the visualization, restricted function in the optional I/O modules, etc.) A description of the CPU and I/O modules is contained in chapter "Hard-ware programming" at the end of this description.

CECX-II 3-1


3.1.1 Structure of field bus systems

Field bus systems can be assembled by means of plug-in option modules or add-on field bus modules. This enables communication with remote de-vices (filed bus slaves) and control systems. The installation of different op-tion modules in the CECX modular control system makes coupling or a ga-teway function possible. For example, this makes cross-linking a CANopen field bus system with a PROFIBUS-DP field bus system possible.

Ethernet

CECXwith option modules

and I/Omodules

FED CAN - Bus

CPX / MPA

CPV

CPIMachine Vision

CMMP-AS oder CMMS-STMTR-DCI SFC-DC

CAN - Bus

Profibus-DP

Ethernet

CECXwith option modules

and I/Omodules

FED CAN - Bus

CPX / MPA

CPV

CPIMachine Vision

CMMP-AS oder CMMS-STMTR-DCI SFC-DC

CAN - Bus

Profibus-DP

Example of a system structure with CPU module and periphery

CECX-II 3-2


3.1.2 Display of data

3.1.2.1 CoDeSys

To enable the data of the CECX modular control system to be operated and monitored does not require an additional tool apart from the CoDeSys pro-gramming system (data are displayed on the CECX modular control system via LEDs, display or the activated visualization). The Front End Display (FED) is available for the visualization and monitor-ing of processes and sequences in connection with the CECX modular con-trol system.

3.1.2.2 Linking of Front End Displays (FED)

Festo front end displays can communicate with the CECX modular control system via a serial connection or an Ethernet connection. The scope of supply from the designer of the FED includes appropriate drivers which support the easy variable exchange on the basis of the sym-bol files (see also online Help of CoDeSys). Attention: Is in CECX a variable declared as BYTE, WORD or DWORD an bit wise access via the FED is not possible. In general it is recommended to access via variable names.

CA

N0

RXTX

1 2

RS

-485

-A

Eth

ernet

1 ........ CECX modular control system 2.........Front End Display FED

CECX modular control system and FED

RS-485-A connection cable

This cable can be ordered from Festo. Designation: NEBC-S1G15-K-2.5-N-B-S1G9-V, Order no. 563782. See also chapter 7.6 "Connecting an FED".

CECX-II 3-3


3.2 Working mode of the control

3.2.1 Program processing

The control operates according to the following principle: “Reading Inputs, Processing, writing Outputs”. The CECX modular control system carries out the following tasks during processing of each task defined with CoDeSys:

Reading inputs: The actual states of the inputs are read at the start of a cycle and writ-ten into the process map of the inputs.

Processing: The user program is being executed. The target state of the outputs is copied into the process map.

Writing outputs: At the end of the cycle the target states of the outputs stored in the process map are transferred to the physical outputs.

3.2.2 Configuration and addressing

The CECX modular control system can be made up of a host of modules and linked with additional external devices. The expansion of the CECX modular control system and its connected de-vices is fixed during configuration in CoDeSys. The available I/O channels are displayed in the control configuration of CoDeSys and can be used in the CoDeSys application. The CECX modular control system can be expanded with add-on modules. External devices can be connected via serial interfaces and field buses (onboard or via option modules).

CECX-II 3-4


3.2.3 Internal memory of the CECX modular control system

The available memory of the CECX modular control system is divided au-tomatically under CoDeSys. Please adhere to the following maximum sizes: Memory Description Value Code Working memory to execute the user

programs 6,144 KByte

Global data Data memory for IEC project 18,432 KByte Marker Marker memory 8 KByte Inputs Input map memory 8 KByte Outputs Output map memory 8 KByte Retain Battery-buffered SRAM 128 KByte

Marker-variables and retain-data are stored in different memories. Because of this it is not possible to mark a retain variable.

3.3 Start-up and programming (overview)

The CoDeSys 2.3 development environment serves for the start-up and programming of the CECX modular control system. CoDeSys offers a comfortable user interface with the following functions:

Configuration and parameterization of the CECX modular control sys-tem (with the control configuration)

Programming according to EN 61131-3 (see chapter Programming lan-guages)

Integrated module libraries (see Description of library)

Library administrator for integrating additional libraries

Simulation mode (enables projects to be tested on the PC without PLC)

Documentation (integrated project documentation)

Debugging function (testing program sequence, monitoring and modify-ing variables, error search).

To enable a control (target system) to be used under CoDeSys a so-called target support package is required for the respective target system. This enables the system functions of the target system to be accessed (and con-tains appropriate information in the form of online Help). CoDeSys is supplied with the target support package for the CECX modu-lar control system.

CECX-II 3-5


3.3.1 Programming languages

CoDeSys offers all 5 programming languages standardized in EN 61131-3. There are two textual and three graphic programming languages. Each of these languages has specific characteristics that are ideally suited for car-rying out specific tasks. Programming lan-guages

Type Description

Instruction List (IL):

The instruction list enables the programmer to describe the work processes of control tasks with simple instruc-tions. The structure of the language enables complex tasks to be carried out efficiently.

Structured text (ST)

Textual pro-gramming lan-guage

The structured text comes closest to the programming languages Pascal and C used for the PC. It consists of a series of instructions that can be executed in high-level language ("IF..THEN..ELSE") or in loops (WHILE..DO).

Sequential Function Chart (SFC)

Enables programming of sequences and is therefore suited for structuring and arranging of projects. The Sequential Function Chart describes the temporal sequence of the various steps within the program with transitions and connections.

Function plan (FUP) and/or Free graphic function plan (CFC)

The function chart works with a list of networks where each network receives a structure which represents a logical or arithmetical statement, the call-up of a function block, a jump or a return instruction. In addition, based on the function chart there is the con-tinuous graphic function chart (CFC) in which elements can be placed freely and feedback can be inserted di-rectly.

Ladder Diagram (LD)

Graphic pro-gramming lan-guage

The ladder diagram was developed from the circuit dia-gram. The representation of a ladder diagram resembles a circuit diagram - relative to the representation of the logi-cal links.

3.3.2 Libraries

To facilitate programming, CoDeSys makes it possible to organize objects that are not related to projects into libraries, such as modules, declarations and visualizations. For this purpose a library administrator is available for integrating and viewing of libraries. See online Help, key word "Libraries".

CECX-II 3-6


3.3.3 Specific target system online Help

The specific target system online Help for the CECX modular control sys-tem is displayed only when the CECX modular control system has been set as target system. Access to the Help is gained via the online Help table of contents under "Target system". This system manual is a component part of the specific target system Help (see online Help).

CECX-II 3-7


CECX-II 3-8

System manual CECX / General assembly and installation instructions

4 General assembly and installation instructions

4.1 General instructions on assembly and removal

CAUTION

Improper handling can damage the modules, option modules and the control sys-tem.

Switch off the operating and on-load power supply before carrying out assembly, installation or maintenance work.

CAUTION

Damage to components! Handle all modules and components with care. Please ensure the following:

Clean contact surfaces (to avoid contact faults).

Bus plugs that are not bent.

Ensure that no pieces of wires, fillings or swarf fall into the unit when you are drilling holes or connecting wires.

4.2 Mounting rail

A steel rail TS 35x7.5 is to be used as mounting rail for the control. For the sake of stability the screw distance, as shown in the illustration, must not exceed 100 - 120 mm.

TS 35x7,5100 - 120 mm

Fixing of the mounting rail.

CECX-II 4-1


4.3 Footprint

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0V

+24V

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NC

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NC

NC

NC

NC

NC

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-

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AO1

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AGND

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+

-AI1

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03

03

0

50

70

22,5

TS 35x7,5

CA

N0

RXTX

Mounting sketch

To ensure air circulation, a free space of at least 30 mm must be main-tained over and underneath the modules.

4.4 Adding modules

Up to 12 modules (I/O, technology or field bus modules) can be lined up next to each other in any order on the right side of the CPU module. The connection between the CPU module and the added modules is estab-lished via a parallel K-Bus. The entire package is snapped onto a mounting rail (mounting rail TS 35x7.5). For the calculation of the number of modules that can be added, the speci-fied performance value given in the technical specifications under "power consumption 5 V on the K-Bus" and under "power consumption 24 V on the K-Bus" must be used. This value must not exceed the value made available for added modules of the CPU modules or the bus coupling modules.

CECX-II 4-2


Apart from the following exceptions up to 12 modules of the same kind can be placed in line on a CPU module or on a bus link module allowing for the power consumption and the bus load.

CECX-F-PB -V1: Max. 1 pieces can be added on

CECX-F-PB-S-V1: Max. 1 pieces can be added on

CECX-C-2G2:

A maximum of 8 pieces can be added on to a CPU module

CECX-C-2S1: Max. 4 pieces can be added on

CECX-C-2G1:

A maximum of 4 pieces can be added on to a CPU module

4.5 Mounting/dismounting the boards and modules

The individual modules are lined up next to each other and connected to one another via the K-Bus plug. Each line is completely prepared this way before being installed on the mounting rail (TS 35x7.5) as complete pack-age.

Preparing for installing on the mounting rail:

1) Unpack modules.

2) Remove all side lids on the K-Bus plug except for the one on the module to the extreme right.

3) Set address switch with a suitable screwdriver to the setting config-ured in the application software. The same modules (i.e. those with the same type designation) must be differentiated by the setting of the address switch.

!

ATTENTION!

Attention must be given when setting the address switch with the screwdriver that none of the surrounding components is damaged.

CECX-II 4-3


4) Plug together the modules with the CPU module to form one control block. The CPU module must be positioned to the extreme left, the add-on modules are added on to the right.

1 ... Remove the side cover 2 ... Press on the module until both locking pins are engaged.

Plugging modules together

CECX-II 4-4


Information When adding extension modules to a CPU module or to an existing group of add-on modules ensure that the locking pins are properly engaged. Furthermore, ensure that the entire package (CPU module and add-on modules) is secured on either side with the end clamps to prevent it from being displaced and to protect it against vibration. If the package is not mounted accordingly its functionality may be impaired.

Installing the CECX modular control system

This is how the CECX modular control system is installed on the mounting rail:

1) Pull out (unlock) all locking levers on the mounting rail.

2) Slightly incline the module(s) and place on the fixture of the mounting rail.

3) Press the lower half of the module onto the mounting rail.

4) Lock all locking levers on the mounting rail one after the other.

5) Secure the module with end brackets (see next chapter: "End brack-ets") against slipping or loosening due to vibration.

The module is now installed on the mounting rail. You can now start wiring up the interfaces and the inputs/outputs.

CECX-II 4-5


Removing the CECX modular control system

CAUTION

Risk of damaging components during installation work under voltage.

Therefore, switch off the power supply and remove all cable connec-tions prior to starting dismantling work.

This is how the CECX modular control system is removed from the mount-ing rail:

1) Turn off power supply

2) Remove all cable connections from the CECX modular control sys-tem.

3) Pull out (unlock) all locking levers on the mounting rail.

4) Remove the modules from the mounting rail.

4.5.1 End fixture

To prevent the modules from slipping or loosening through vibration, an end plate must be mounted on the left and right side of the mounting rail. Standard type end fixtures regularly included in the delivery program of the manufacturer can be used.

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AGND

AI0

+

-AI1

1

CA

N0

RXTX

1 ........ End brackets

End fixture plates

CECX-II 4-6


4.6 Air conditioning, ventilation

Ventilation holes for dissipating the heat are placed at the top and under-side of the module. If the permissible ambient temperature is not exceeded, no external fan will be needed. Make sure that the ventilation holes are not covered. Information To guarantee the dissipation of heat, it is advisable to leave a free space of at least 30 mm above and below the modules.

!

ATTENTION!

The operating temperature inside the control cabinet must not exceed the permissible ambient temperature of the modules. If this cannot be guaranteed through natural heat dissipation, an air conditioning of the control cabinet must be provided.

When installed in a control cabinet attention must be given that the area around the temperature inputs is not exposed to any temperature changes. (e.g. no air conditioners with intermittent operating hours)

For further information about the calculation of the total power loss in the control cabinet: In chap. Power consumption of the modules.

4.6.1 Use of air filters

Information The user must ensure, by means of installation in a suitable housing, that no pollution greater than pollution degree 2 occurs. It is recommended to install the control modules in a dustproof, closed con-trol cabinet. The ventilation holes of the control cabinet must be equipped with air filters. The filter elements must be cleaned or replaced regularly.

CECX-II 4-7


CECX-II 4-8

System manual CECX / Power supply of modules

5 Power supply of modules

5.1 Connection

The modules are supplied with voltage via the K-Bus plug. For a module formation with a CPU module this is done via the bus supply of the module row. Within the decentralized module clusters this function is allocated to the input transceiver. Each of these couplers has its own DC/DC-converter that will convert voltages to the appropriate internal voltage.

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+24V

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CO

MP

AC

T F

LA

SH

USB

ETHCAN1SI1

Pxxxxx-xxxxx

24 V DC

10 A

10

A

10

A

10

A

0 V

Connection diagram for +24 V power supply

Recommended fuse protection: circuit line breaker LSS 10A – type B

!

WARNING!

The supply voltages must comply with SELV in accordance with EN 61131-2.

!

ATTENTION!

The supply voltages must be secured with max. 10 A in the end usage (see graphic "Connection diagram for +24 V power supply")

Always turn off the power supply before mounting and dismounting the module package.

CECX-II 5-1


5.2 Power consumption of modules

For correct configuration of the system the technical data of the modules must be used to calculate the required electric capacity for the power sup-ply unit. The power consumption of the modules available for the CECX modular control system is contained in the following table:

Festo description Festo part number

Power consump-tion 24 V

Power consump-tion 5 V

CECX-X-C1 553852 14 -

CECX-X-M1 553853 14 -

CECX-C-S1 553855 - 0.25

CECX-C-ET 553856 - 0.5

CECX-F-CO 553854 - 0.25

CECX-S-S4 553979 - 0.25

CECX-D-16E 552096 1 0.4

CECX-D-14A-2 552097 2.1 0.4

CECX-D-8E8A-NP-2 552099 1.9 0.4

CECX-D-6E8A-PN-2 553972 1.9 0.4

CECX-A-4E4A-V 552100 3.3 0.3

CECX-A-4E4A-A 552101 3.6 0.3

CECX-C-2G2 552117 - 0.6

CECX-F-PB-V1 553981 1.6 -

CECX-F-PB-S-V1 552102 - 1.4

CECX-E-4E-T-P1 553973 2.5 0.3

CECX-E-6E-T-P2 553974 1.6 0.6

CECX-A-4E-V 553975 2 0.3

CECX-A-4A-V 553976 1.9 0.3

CECX-C-2G1 553977 - 0.65

CECX-S-2S1 553978 - 0.4

CECX-B-CO 553980 - 4.5

The following chapter contains an example for calculating the capacity for the power supply unit.

CECX-II 5-2


5.3 Example power calculation

Calculation of the power input required for the following instrumentation.

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UREF

GND

GND

GND

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GND

AO2

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Pxxxxx-xxxxx

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Pxxxxx-xxxxx

SI0

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USB

ETHCAN1SI1

CO

MP

AC

T F

LA

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Pxxxxx-xxxxx

ETHERNET

SI1

CA

N1

RXTX

Power supplyof control

5.3.1 Calculation of the load

The following table lists the power required from the CPU module (called CPU for short in the following) for the option modules and the add-on mod-ules. The CPU itself has a consumption of 14 W.

5 V sided / [W] 24 V sided / [W] Comment CPU module 10 45 Source (this power the CPU

module can provide on the K-Bus)

Option module 1 0.25 0 Sink Option module 2 0.25 0 Sink Option module 3 0.5 0 Sink Output module 0.4 1 Sink Analog module 0.3 3.3 Sink

Subtotal 1.7 4.3 Subtotal of the option mod-ules and the add-on mod-ules.

The power consumption determined in the subtotal is less than the power that could be made available by the CPU. This calculation check is required especially when many add-on modules are to be operated together with a CPU.

5.3.2 Power supply design

The power supply unit must be designed for:

the power requirement of the CPU, the option modules, the add-on modules and

the power required for all other connected loads (e.g. outputs that are supplied by the module).

Power requirement for CPU + modules + assemblies = 14 + 1.7 + 4.3 = 20 W.

CECX-II 5-3


CECX-II 5-4

Power requirement of loads = Number of outputs * capacity * coincidence factor, e.g. for 14 x 2 A - outputs: 14 * 2 A * 24 V * 0.5 = 336 W. Total power requirement for the power supply unit: 20 + 336 = 356 W.

System manual CECX / Operation and displays

6 Operation and displays

6.1 Setting the module address

The modules in the system are addressed by means of a 16-position ad-dress switch. This enables all modules within a control package (consisting of CPU module and a maximum of 12 add-on modules) to be differentiated. The address switch is located on the side of the modules, underneath the K-Bus plug. The address must be set prior to the assembly of the package. See also the project engineering handbook of the components and the modules. Information Modules of the same type must have different address switch positions within one control package. Different modules in different control packages may have the same address switch positions.

6.2 Control key (Ctrl)

The Ctrl key on the CPU modules is located next to the 7-segment display. The Ctrl key is used to execute the following functions:

Start application

Stop application

Writing the status report

Deleting of retain data

Deleting the application and the configuration (create default status)

6.3 Power LED (Power)

The green Power LED on the CPU module is located above the CTRL key. Display: green illuminated: supply voltage given dark: no supply voltage

CECX-II 6-1


6.4 Diagnosis display (Diagnostics)

A single-digit 7-segment display on the front side of the CPU module indi-cates the start-up modes and operating states. For details, refer to chapter Operational behavior.

Diagnosis display

6.5 Compact Flash Card

To operate the CECX modular control system a Compact Flash Card with the respective firmware and the application must be plugged into the Com-pact Flash slot. Depending on the application used the Compact Flash Card can be used for storing machine data (e.g. mold data and recipes). The Compact Flash Card cannot be used as removable medium since it al-so has system programs stored on it. The Compact Flash Cards supported by the CECX modular control system can be requested and ordered from FESTO.

CAUTION

The Compact Flash Card can sustain damage if handled incorrectly!

Do not remove or plug in the memory card during operation.

Do not switch the unit off while it is writing on the memory card.

Do not use force when inserting the card into the slot.

Do not drop the card nor bend it.

Do not expose the memory card to humidity, heat and direct sunlight.

Keep the memory card away from electrostatic sources or magnetic fields.

The slot is designed so that the Compact Flash Card can only be slotted in-to the slot in the one direction. The card should slide easily into the slot. The status LED next to the eject key lights up when the control accesses the card for writing or reading.

CECX-II 6-2


CO

MP

AC

T F

LA

SH

USB

CA

N0

RXTX

1 2

3

1 ........ LED 2.........Eject key 3 ........ Slot

Position of the slot and the operating elements

CECX-II 6-3


CECX-II 6-4

Inserting the memory card

How to slot in a Compact Flash Card:

1) Turn off the power supply.

2) Carefully slot in the Compact Flash Card with slight pressure in the di-rection of the arrow until it engages.

Removing the memory card


2) Carefully press the eject key with a suitable object (e.g. blunt stylus). The card is ejected by a few millimeters.

3) Carefully pull the card from the slot.

System manual CECX / Commissioning of CoDeSys and control

7 Commissioning of CoDeSys and control

Use the CoDeSys development environment to configure and commission the CECX modular control system. The following paragraphs describe the most important commissioning steps.

7.1 Installing CoDeSys and starting development environment

CoDeSys is installed on your PC with an installation program. Information: Administrator rights are required for the installation of CoDeSys. How to install the CoDeSys from the CD-ROM:

1) Close all programs.

2) Insert the enclosed CD-ROM into your CD-ROM drive. If auto-run is activated on your system the installation starts automatically and you can skip steps 3 and 4.

3) Select Execute in the Start menu.

4) Enter D:\setup (if necessary replace D with the letter of your CD-ROM drive).

5) Follow the instructions on the screen.

During the installation process CoDeSys and a Target Support Package is installed for the CECX modular control system. That completes the installation. The control can now be switched on.

7.2 Installation of a Target Support Package (TSP)

To be able to install the TSP on the development PC the CoDeSys 2.3 de-velopment environment with the Install Target must be available on the PC. To install the TSP proceed as follows:

1) Execute Install Target (Start -> Programs -> FESTO Software -> CoDeSys V2.3 by Festo -> Install Target).

Window Install Target is displayed:

CECX-II 7-1


InstallTarget window for installing the Target Support Package on the PC

2) Click on Open and select the file corresponding to your system(E.g. CECX-X-C1.tnf or CECX-X-M1.tnf) and click on Open.

3) On the left under Possible target systems select Festo SE u. Co. KG and

4) Click on Install. If necessary, you may have to confirm the creation of an installation directory.

Festo SE u. Co. KG will then be displayed on the right under Installed tar-get systems.

CECX-II 7-2


InstallTarget window with installed target system

5) Click on Close.

The files of the target Support Package are now installed.

CECX-II 7-3


7.3 Switch-on control

1) Install the CECX modular control system with the necessary compo-nents, as described in chapter Installation.

2) Plug a network cable into the Ethernet connection of the control and connect it either directly to the development PC (with the CoDeSys development system installed) or via a network. See also chapter Es-tablishing Ethernet connection to PC/control.

3) Ensure that the power supply has been properly connected.

4) Switch on the power supply. The LED on the central processor mod-ule lights up and the 7-segment display starts showing the start-up steps.

When the 7-segment display shows 0, the start-up is complete and the con-trol is ready for operation. For further information on the display of the start-up procedure see chapter Diagnosis.

7.4 Creating a CoDeSys project

1) Start the CoDeSys by clicking on the CoDeSys icon on the desktop or with the command Start -> Programs -> Festo Software -> CoDe-Sys V2.3 by Festo -> CoDeSys V2.3 or via a shortcut on the desk-top.

2) Creat a new Codesys project via File -> New and select the Festo control in the Configuration field. The window for a new module is now opened.

Example for creating a new CoDeSys project

CECX-II 7-4


3) Switch on the control as described above.

7.5 Establishing the connection to the PC/control

There are two options for establishing a connection between the PC and the control:

TCP/IP connection via Ethernet and

Connection via serial interface.

To establish a connection between PC and control, a project in CoDeSys must first be created. See Creating a CoDeSys project.

7.5.1 TCP/IP connection

During the initial start-up of the CoDeSys and the CECX modular control system the IP addresses of the devices have probably not yet been syn-chronized. That is why the network settings have to be established once again. The communication connection between the development PC and the con-trol can be established as follows:

Direct connection via crossover Ethernet cable or

Connection via network with a 1:1 wired cable.

The network setting is therefore only marginally different and must be car-ried out in accordance with the instructions in the following paragraphs. The network address can be automatically obtained if a DHCP server is available in the network. If no DHCP server is present or there is a direct connection between control and PC, a fixed network address is assigned. For basic information on addressing in the Ethernet see Addressing in the Ethernet (basics). Information: For questions related the network addresses please contact your network administrator. If the network settings are to be monitored or altered, this can be done in CoDeSys.

1) In CoDeSys on tab Resources select PLC configuration.

2) In the navigation tree, click on Communication[SLOT].

One or multiple entries are shown under the FindPLC tab.

CECX-II 7-5


3) Select the control under the Find PLC tab and press Config.

The Communication parameters window opens for entering the network settings. After here, the network configuration only differs slightly depending on the obtainment of the IP address. Select the appropriate one for you from the following instructions.

7.5.1.1 Obtain IP address automatically via DHCP

If no DHCP server is present, activate DHCP in the network configuration first before you start the control. The control will then automatically be as-signed an IP address. To do so, apply the following steps:

Example dialog 'IP config' for connection over network with active DHCP

1) Select in IP config Enable DHCP in order to facilitate an automatic addressing by the DHCP server.

2) Close the Communication parameters dialog.

3) With Set as active PLC, the network settings of the selected control (PLC) are taken over into the communication settings of CoDeSys.

4) Start up the control.

CECX-II 7-6


7.5.1.2 IP address fixed assignment

1) In the IP config tab, locate the parameter for entering in the network setting.

If the control has already been entered as active PLC, the network parame-ters in IP config can no longer be modified (Communication [Slot] - Set as active PLC).

Example dialog 'IP config' for the fixed assignment of an IP address

The following parameters can be entered: Name Description PLC name Name of the control in the network IP IP address *) Subnet Subnet mask *) Gateway Gateway entry *) Enable DHCP Enable automatic addressing by DHCP server. If selected

and there is no DHCP server available in the network, then the set IP address is used.

Answer on find requests Relevant for network operation. When selected, the con-trol answers to search requests.

Reboot on OK When selected. A reboot is carried out after OK, to take over the settings.

Synchronize RTC with PC When selected. After confirmation with OK the selected control takes over the date and time from the PC.

*) see network configuration examples.

2) With Set as active PLC, the network settings of the selected control (PLC) are taken over into the communication settings.

CECX-II 7-7


7.5.1.3 Entering a new control

Via connections over the network, you can add new controls from the net-work in the control configuration.

1) Click on Communication[SLOT] in the navigation tree of the Control configuration window.

2) Press the button Add PLC

The 'Add PLC' window opens.

3) Specify a name or an IP address of the control.

CoDeSys searches for the control. When it has been found:

4) Select the control and then press Config button.

See chapter IP address fixed assignment for possible parameters

7.5.1.4 Network configuration examples

Example: Stand-alone operation with a PC and a control

IP addr. 192.168.181.1

IP addr. 192.168.181.2

Stand-alone operation with a PC and a control

The last digit (Host ID) of the IP entry for the control must be different to the IP address of the PC, and the first part (Net ID) must be the same. Information: The IP address and subnet mask of the PC can be read by entering ip-config in the command line. Subnet is set on 255.255.255.0. This makes 254 different addresses pos-sible. A Gateway entry is not required here (can be 0.0.0.0). If Reboot on OK is checked in theCommunication parameters mask, the control is automatically re-booted when the OK button is pressed. The con-trol must be re-booted to take over the setting.

CECX-II 7-8


Example: Development PC and control in the same network.

hub / switch

IP addr. 192.168.181.1subnet m. 255.255.255.0

IP addr. 192.168.181.3subnet m. 255.255.255.0

IP addr. 192.168.181.2subnet m. 255.255.255.0

IP addr. 192.168.181.4subnet m. 255.255.255.0

Development PC and control in the same network

A free IP address must be selected for the control.

Information: Check with a ping command whether the IP address selected for the con-trol is free (= no reaction to ping command).

Subnet mask can be taken over by the PC (readable with command ipconfig)

A Gateway entry is not required (can be 0.0.0.0).

CECX-II 7-9


Example: Separate network for development PCs and controls.

hub / switch

hub / switch

GatewayIP addr. 172.25.0.1subnet m. 255.255.0.0 IP addr. 172.25.10.10

subnet m. 255.255.0.0gateway 172.25.0.1

IP addr. 172.25.10.11subnet m. 255.255.0.0gateway 172.25.0.1

Control network with network address 172.25.x.x, subnet mask 255.255.0.0, gateway 172.25.0.1

Subnet mask must be taken over by the network (subnet mask from gateway.

Gateway: here the address of the gateway nearest the control must be entered.

7.5.2 Addressing in the Ethernet (basics)

Due to the separation of logic and physical protocol levels (Ethernet and TCP/IP) two types of addresses exist in the network:

A fixed Ethernet address (MAC-ID) for each unit and

an IP address, which is allocated to each unit in the network.

The application always sends data to or receives data from an IP address. To ensure their arrival at the receiver a connection must be established be-tween the logic IP address and the physical Ethernet address. The Address Resolution Protocol ARP serves this purpose. An ARP table is stored in each network PC, which specifies the corresponding physical Ethernet ad-dress for the IP addresses of the network. If the ARP table does not list an Ethernet address, the IP driver can generally determine it via an ARP re-quest.

Ethernet address (MAC-ID)

CECX-II 7-10


MAC-ID is the fixed address that clearly identifies an Ethernet device (Me-dia Access Control).

IP address

An IP address according to the standard IPv4 is generally specified with 4 decimal numbers divided by points (each 1 byte). Example for an IP address: 192.168.181.1 Both a network and an individual participant are allocated an IP address in the network. The IP address contains:

the Net ID (specifies a network address) and

the Host ID (specifies the address of an individual participant in the network). It must be clearly defined, i.e. no two terminal devices can be operated with the same Host ID in the network.

A so-called net mask (subnet mask) is used to determine which numbers of an IP address represent the Net ID and the Host ID.

Net classes

With a "0" as wildcard the net mask for IP addresses defines which bits are used for addressing the participant (Host ID). A 1 as wildcard defines which bits the network address (Net ID) contains. The number of these bits de-termines which classes the networks belong to: Net class Net mask Description A 255.0.0.0 Large network B 255.255.0.0 Medium-sized network C 255.255.255.0 Small network with a maximum of

254 participants

Example: In a small network with the net mask 255.255.255.0, at the IP address 192.168.181.1 the Net ID is 192.168.181 and the Host ID is 1. If (in a different, medium-sized network) net mask 255.255.0.0 is set, then at IP address 192.169.100.1, the Net ID is 192.169 and the Host ID is 100.1.

Gateway

Networks with different Net IDs are connected together via routers or gate-ways. If a network participant is to send data to a participant in a different network, the IP address of the gateway must be additionally specified. For addressing in the IP three details must be specified:

IP address

IP net mask

IP address of the gateway

CECX-II 7-11


Information on the addresses of your in-house network is available from the network administrator.

Setting the IP address

The settings for IP addressing can be manually configured for each termi-nal unit. In large networks this is done centrally and automatically by means of DHCP (Dynamic Host Configuration Protocol). Here a DHCP server ad-ministers the IP addresses and allocates them to the DHCP-capable termi-nal units. The CECX modular control system is DHCP-capable. For this the com-mand (use DHCP) in the control configuration of CoDeSys must be active. The IP address is then allocated by the DHCP server in the network. During the boot-up the CECX modular control system then requests its IP address from the DHCP server via the network. Information is also provided in the following chapters.

7.5.3 Serial connection

As an alternative to the TCP/IP connection, it is also possible to establish a connection between a PC and the control via a crossover RS-232 cable. Information This is only possible if the control has an RS-232 interface (e.g. with option module CECX-C-S1). A serial connection can also be established when no Ethernet connection is possible.

7.5.3.1 Establishing a serial connection

1) Connect an RS-232 interface of the control with a COM port of your PC.

2) Open the Communication parameters item in the Online menu in CoDeSys.

3) Create a new connection channel using New.

4) Select under Device Serial (RS232). A new connection channel ap-pears in the Communication parameters dialog.

CECX-II 7-12


"Communication parameters" dialog

5) Under Port, select that serial interface to your PC that was connected with the control. The standard values must be used for the remaining parameters (see graphic) or those values that were configured for this (see chapter "Configuration of the serial connection settings").

Information The parameter Motorola byteorder must be set to Yes.

7.5.3.2 Configuration of the serial connection settings

Information A TCP/IP connection to the control must be available for the configuration of the serial connection settings.

1) Connect an RS-232 interface of the control with a COM port of your PC.

2) In KeStudio, under the Resources tab, open the Control configura-tion.

3) Click on Configuration[SLOT] in the configuration tree.

One or multiple entries are shown under the Find PLC tab.

4) Select your control under Find PLC and press Config.

The Communication parameters window opens for the entering of con-nection settings.

5) In the Communication parameters window, switch to the SIO Con-fig tab.

CECX-II 7-13


Example dialog "serial connection settings"

6) The following parameters can be entered in SIO Config:

Parameter Description Port: Specification of the serial interface at the control, with which the

connection to the PC is established. COM1 is the first interface of a plugged-in serial option module.

Baud rate: Specification in the transmission rate in Baud. Possible values are from 300 to 115200 Baud. The operable Baud rate depends on the cable length and the electric environmental conditions. See literature on RS-232 connections (e.g. 57600 Baud for a cable length up to approx. 5 m).

Parity: Activate/deactivate the parity check, to be set equal on both communication sides.

Data bits and Stop bits: Number of the data and stop bits per data word, to be set equal on both communication sides.

Reboot on OK: If selected, a reboot is carried out after confirmation with OK, to take over the settings.

Synchronize RTC with PC:

If selected, the selected control takes over the date and time from the PC after confirmation with OK.

CECX-II 7-14


7.6 Configuring modules

With the configuration the interconnection of the modules carried out during installation of the hardware is replicated in CoDeSys.

1) At the bottom left select tab Resources

2) Double click on Control configuration

3) With the right mouse button click on ExtModules(SLOT) and attach the modules required for your project one after the other via Attach subelement.

The modules are then displayed in the configuration tree.

Configuring external modules

CECX-II 7-15


7.7 Connecting an FED

7.7.1 Configuration

For communication between the CECX and a Front End Display (FED) you must specify which PLC variables are to be exchanged between the units. For this CoDeSys makes available the so-called symbol file. It contains the PLC variables of the CoDeSys project. The symbol file can be imported with the Tag Editor of the FED Designer and used as tag dictionary. This makes the PLC variables used in the CoDeSys project also available in the FED Designer. Without the dictionary only markers (PLC Memory), inputs (PLC Input), outputs (PLC Output), retain (PLC Retain) and parameters (PLC Parameter) can be transferred.

Creating symbol files

If you have enabled the creation of symbol entries in the project options, the symbol file is automatically created by CoDeSys during the compilation of the project. However, you should first specify which PLC variables are to be stored in the symbol file. The symbol file is created as text file <Pro-jektname>.sym) or binary file (<Projektname>.sdb) in the project di-rectory. To create the symbol file proceed as follows:

1) In CoDeSys provided by Festo enter the command [Pro-ject][Options]. Now the dialog "Options" is displayed.

Dialog "Options"

CECX-II 7-16


2) Ensure that in category "Symbol configuration" the option "Create symbol entries" has been selected. The symbol file is then automati-cally created each time the project is compiled.

3) Click on button "Configure symbol file". The dialog "Set object at-tributes" then opens and displays the variables used in the project as a tree structure.

Dialog "Set object attributes" (example)

Please note that the selection of variables not required unnecessarily occupies valuable memory of the control. All variables contained in the project are selected as default - also all variables of the connected libraries. In the following select only those variables that are actu-ally to be exchanged between the units.

4) Remove the tick at "Output object variables" if all objects contained in the project are selected. Otherwise symbol entries will be created for all variables contained in the project.

5) Select only those variables for which symbol entries are to be cre-ated. Here you can mark overriding objects, which automatically se-lects the corresponding variables. Or select specific individual vari-able entries. For the selection made then select "Output object vari-

CECX-II 7-17


ables" in the lower dialog section (replace tick) and, if required, set additional options.

Additional information on this procedure and possible options are contained in the online Help on dialog "Set object attributes".

Dialog "Set object attributes" (example of a selection)

6) Repeat item 5 if you wish to add further variables with other options.

7) Close the dialog "Set object attributes" with OK. All configurations are then taken over.

8) If you wish to create the symbol file, compile the project. The symbol file is then stored in the project directory. You can now use the Tag Editor of the FED Designer to import the symbol file.

CECX-II 7-18


Importing a symbol file with the Tag Editor

The Tag Editor of the FED Designer can be used to import tags from exter-nal sources. The external sources also include symbol files created with CoDeSys. The Tag Editor is started in the FED Designer with the command [Tools][Tag Editor]. After a new tag data base has been created you can import the symbol file created with CoDeSys. An appropriate dialog will guide you step by step through the process. Please adhere to the following when importing:

Select the communication driver you wish to use when importing the symbol file.

Import the symbol file as "Special tag file" (*.sym)

Select "Use Motorola byte order“ when importing.

7.7.2 Connection

The FED is connected to the serial interface of the CPU module (X1, Serial Interface, RS-485-A). (See also hardware programming, CPU module, connections and wiring).

Establishing connections

Connection of PINs to the connecting plugs: CECX side: 9-core

DSUB plug FED side: 15-core

DSUB plug Comment

1 1 2 bridge to PIN 7 - 3 14 4 - leave open 5 5 GND 6 - not connected 7 bridge to PIN 2 - 8 6 9 - leave open

For Selection of connecting cables see also connections and wiring, general information on interfaces, chapter 13.1.3 RS-485/422.

Additional detailed information for connecting a FED to the CECX is contained on the CD Festo Software Tools FED Designer (from Version 6.06).

CECX-II 7-19


CECX-II 7-20

7.8 First programming steps

1) Start the CoDeSys by clicking on the CoDeSys icon on the desktop or with the command Start -> Programs -> Festo Software -> CoDe-Sys V2.3 by Festo -> CoDeSys V2.3.

2) If you have already stored a new project, CoDeSys opens the project and you can continue with the next action. If you have not yet created a project or wish to create one, continue as follows:

7.8.1 Creating a new project

1) Start with the command File -> New.

CoDeSys opens the window Target system settings.

2) Under Configuration select the desired control and confirm with OK.

A window for creating the first PLC_PRG module opens. Confirm with OK. Now you can start with the coding of a new program. Additional information: See CoDeSys online Help, chapter "We are writing a small program".

System manual CECX / Operating behavior

8 Operating behavior

8.1 Button and display, general information

Each CPU module has a 7-segment display and a CTRL key. CPU modules Display Power LED,

7-segment Button CTRL-key Start-up sequence Boot system

Firmware Application

8.1.1 General rules

In general the following applies to the 7-segment display (on CPU-modules):

Numbers >0 during the start-up denote the progress

Different characters (e.g. , II, ...) or capital letters denote the operating status after start-up

The decimal point serves as load display. A flashing decimal point signals that the CPU’s load capacity is not fully exhausted.

Errors are displayed parallel to the states.

The error display is always triggered with switching-through the status and a double- or triple-digit error/info sequence (e.g. “-,0,-,E,1,0”). Every character is displayed for 1 second.

8.1.2 Touch control during operation:

The CTRL key serves as simple operating element of the control. With this key the control can be switched into different operating modes and/or dif-ferent commands can be issued.

There are short (<500ms) and long keystrokes (>500ms).

Short keystrokes allow the user to switch and select between the indi-vidual commands, while these commands are displayed by flashing in the 7-segment display. Once the initial status has been reached again this will be indicated without flashing.

Long keystrokes are used to execute a command and to change into the new status.

CECX-II 8-1


8.2 Start-up

The start-up of a CPU is divided up into three main stages:

Boot system start-up

Start-up of control firmware

Start-up of application

The progress in each stage is signaled via the 7-segment display. If errors are detected during the start-up an error message is activated. A short stroke of the CTRL-key will interrupt the start-up operation.

8.2.1 Display during start-up of the firmware

Status dis-played

Description

Voltage supply is available (Power-On), hardware initialization of CPU module occurs. If this state is maintained for an extended period a hardware error ex-ists. (Check CF card, if needed change CF card (part from Festo), oth-erwise send module to Festo)

Hardware initialization; the consistency of the bootblock is being checked.

Power On Self Test, check of the consistency of the CPU module oc-curs. The extended boot system is being loaded and started.

Firmware is loaded from the Compact Flash into the DRAM.

Firmware is being started.

Start-up of the bootblock is completed, the operating system is initial-ized and started.

Various firmware components (services, I/O-system, communication) are started.

Autostart query: If the autostart function has been deactivated, a keystroke (CTRL key) is expected at this point.

Start-up of the firmware has been completed. The CPU module is now ready for operation. If an application is already on the Compact Flash, this will be loaded.

CECX-II 8-2


8.3 Operating states

During operation the control can be switched into the following operating states:

Main operating states:

Init

The state "Init" is a service mode in which the start-up is stopped due to a serious system error (e.g. hardware error, etc.). In this service mode it is possible to execute certain actions (e.g. "clear-retain"). Under normal circumstances this state is switched through during the start-up. A CoDeSys runtime system has not been loaded in the "Init" state.

Stop

In this operating state the IEC application program is loaded, but there is no cyclical processing of the application. This is a safety state in which no application ((CoDeSys IEC or robotics) can set outputs. That is why this state can only be exited locally via the CTRL key on the control but not remote via the CoDeSys programming tool.

Run

The application programs can be processed in this operating state.

Note: Operation via CoDeSys has no influence on the operating states of the con-trol. These can be changed exclusively with the CTRL key.

CECX-II 8-3


8.3.1 Switching between operating states

Explanation of the table:

The current status is shown to the left. If the Control key is pressed for more than 0.5 sec, the function that has been specified under "long key-stroke" will be executed. "Short keystroke" specifies the status that is selected when the control key is pressed for less than 0.5 sec.

INIT:

Display short keystroke long keystroke

INIT: The control is in the status INIT

To next action: Load application

Load application

To next action: Delete retain data

The control will enter the status "STOP".

Delete retain data and re-initialize

To next action: Delete application

The retain data are deleted and afterwards the system is newly initialized.

Delete application

To next action: Write status report

The application is being deleted.

Write status report

To next action: Trigger new start

Status report is being written.

Trigger new start Continue to main operating status INIT

A new start is being executed.

STOP:


STOP The control is in the status STOP

To next action: Starting the applica-tion

Starting the applica-tion

To next action: Application unloaded

The control will enter the status RUN.

Application unloaded


The control enters the status INIT.

Delete retain data and re-initialize

To next action: Delete application

The retain data are deleted and afterwards the system is newly initialized.

CECX-II 8-4


CECX-II 8-5


Delete application


The application is being deleted.

Write status report

To next action: Trigger new start


Trigger new start Continue to main operating status STOP

A new start is being executed.

RUN:


RUN: The control is in the status RUN

To next action: stop control.

Stop control


The control will enter the status STOP

Write status report Continue to main operating status RUN


Example: Write status report:

The function "Write status report" can be triggered from any main operating mode (INIT, STOP, RUN). Sequence: 1. Click through the functions by using short keystrokes, until the diagno-

sis display is shown. 2. Activate Write status report by using a long keystroke. 3. Once the status report has been triggered, the system will automatically

return into the previous main operating mode.

Example: Delete retain data:

The function "Delete retain data" can only be triggered in the main operat-ing status INIT. Sequence: 1. Click through the functions by using short keystrokes, until the diagno-

sis display is shown. 2. Confirm deletion of retain data by a long keystroke. 3. Once the retain data has been deleted, the system will automatically re-

turn to the main operating mode INIT.


CECX-II 8-6

System manual CECX / Diagnosis

9 Diagnosis

9.1 Display of errors in the 7-segment display

Errors can occur and/or be pending in and/or during the transition between the different operating modes of the control (e.g. STOP on RUN).These er-rors are signalized in the 7-segment display parallel to the status display. The latest error in a character sequence is always displayed at full second intervals. It consists of the status and the error status. Display during the start-up of the boot block or the firmware:

status

, , , ,

error

, ,

signals, for example, the error 31 in status "Hardware initialization" ("FPGA could not be loaded") Display during the start-up of the application:

status

, , , , ,

error

, ,

signals, for example, the error 103 in Status Init ("no 3S license or initializa-tion error 3S runtime system") The display of the error can be confirmed by activating the CTRL-key after which the normal status display re-appears. Given the limited range of display options the errors are summarized into main- and sub-groups, so as to enable the user to make an initial diagnosis without having to read out the full error log.

9.2 Touch control at error display during operations:

If the 7-segment display indicates an error, the CTRL-key can be used to confirm this with a short keystroke.

CECX-II 9-1

System manual CECX / Diagnosis

CECX-II 9-2

9.3 Error codes

9.3.1 Startup error

Error display

Cause Measure

1 – E 31 FPGA could not be loaded (Missing or incorrect FPGA data programmed in the OnBoard flash)

Contact Festo (Re-program FPGA data or have hardware repaired)

3 – E 51 Firmware could not be loaded (no Compact Flash available or no firm-ware on the Compact Flash)

Check whether a Compact Flash with valid firmware is available and, if necessary, restart Compact Flash.

9.3.2 Operating error

Error display

Cause Measure

o – E 103 No 3S license or initialization error of 3S runtime system

Contact Festo

o – E 401 Error during starting of the IO sys-tem

Check add-on modules

o – E 501 Error during writing of the status report.

Contact Festo

o – E 701 Error message class 3 Remedy cause for error message class 3 and confirm the error

o – E 901 No or invalid license information A license update may be required. Please contact your supplier.

o – E 902 Invalid license version A license update may be required. Please contact your supplier.

II – E 501 Error during writing of the status report.

Contact Festo

II – E 701 Error message class 3 Remedy cause for error message class 3 and confirm the error

O – E 501 Error during writing of the status report.

Contact Festo

System manual CECX / Disposal

10 Disposal

10.1 Disposal of the module

The symbol with the crossed-out waste container means that electrical and electronic devices including their accessories must not be dis-posed of in the household garbage.

The materials are recyclable in accordance with their labeling. By dis-posing of such used devices correctly, you can ensure that they can be reused, their raw materials recycled or put to another use, and you will be making an important contribution to the protection of our environ-ment!

10.2 Disposal of the battery

ATTENTION

Batteries and accumulators are hazardous waste and must be properly disposed of.

Although batteries have a low voltage, they can provide enough cur-rent when short-circuited to ignite flammable material. They should not be disposed of together with conductive material (e.g. iron filings, wire wool contaminated with oil, etc.)

CECX-II 10-1

System manual CECX / Disposal

CECX-II 10-2

System manual CECX / Technical data

11 Technical data

Detailed information about technical data can be found in the project engi-neering manual of your modules.

In general

Nominal supply voltage: 24 V DC Supply voltage range: 19.2 V to 30 V (-15 % / +20 %, plus a maximum ripple of 5%

AC) Equipment class: III (according to IEC 61131-2) Ingress protection rating IP 20 for modules and open modules

Environmental conditions

Operating temperature: 5 °C to 55 °C, Average temperature over 24 h: Open devices: 50 °C Storage temperature: -40 °C up to + 70 °C (except displays) Relative humidity of air: 10 – 95 % Vibration resistance: 3.5 mm amplitude for 5 f < 9 Hz and 1.0 g for 9 f < 150 Hz Shock resistance: Max. 15 g, 11 ms (half-sine) Pollution degree: 2, not conductive pollution, when moistened conductive for a

short time Altitude: 2.000 m for operations, 3.000 m for storage and transport

CECX-II 11-1

System manual CECX / Technical data

CECX-II 11-2

System manual CECX / EC directives and standards

12 EC directives and standards

Detailed information about EC directives and standards can be found in the project engineering manual of your modules.

CECX-II 12-1


12.1 Why EMC-compatible wiring?

The interference immunity of an electrical system is crucially dependent on EMC-compatible wiring and shielding. Experience in service shows that in-adequate wiring and shielding of plant components are the most frequent causes of faults and plant failures. Faults caused by EMC are much more difficult to deal with than "conven-tional" malfunctions:

Due to the type of symptom that occurs, they are often not recognized as such and often resemble a fault in a module that is actually working correctly.

They typically occur intermittently and are difficult to reproduce.

Troubleshooting is correspondingly complex and expensive.

Thus, from the very beginning, make sure you pay attention to careful wiring and shielding in accordance with the guidelines described be-low.

12.1.1 Basic structure of EMC measures

The EMC concept for the entire CECX modular control system is designed in such a way that each module can independently withstand the influences that occur in an electro-magnetically affected industrial environment. A closed shield casing is assumed. This shield cover is correspondingly expanded by shielded interfaces or, if unshielded interfaces are used, the open shield cover is “closed” again via a filter (see figure).

GND

Shield connected toGND via connector

shielded interface

unshielded interface

"Closed"shield casing

prin

t

filte

r

Corresponding connections on the modules are provided for shielded inter-faces. It is therefore not necessary to connect this cable shield with the sys-tem via additional shield clamps. Unshielded interfaces are filtered at their connection points according to their useful signal. Thus, it is not necessary to additionally filter these lines.

CECX-II 12-2


12.1.2 Which EMC measures must be taken?

EMC measures are focused on the areas of:

Shielding

Potential equalization between plant components

It is important to carry out the practical measures described in the following sections correctly. The most frequent causes of failures are poor contact of the ground (GND) and shield connections. For this reason you must pay at-tention to all of the following generally accepted points:

Contacting of ground and shield connections

Low impedance connection of the parts. This also means good conduc-tance at high frequencies and is achieved through: - large connection areas, - grounding conductors that are as short as possible, - use of wide grounding ribbons instead of wires if possible.

Surface contact of bare metal must be available.

Contact surfaces must be protected against corrosion.

Use toothed washers on all connection points as much as possible for connecting parts with unclean or rough surfaces.

Information The grounding of an electrical system is not an adequate EMC measure and serves mainly to protect against electric shock when touching conduc-tive parts.

CECX-II 12-3


CECX-II 12-4

12.1.3 Checklist of EMC measures

Shielded communication lines (CAN, USB, ... )

Shield at both cable ends connected in a plane with metal plugs?

Shield present throughout? (Caution in the case of wall ducts!)

Is the communication partner used suitable for industrial environments with interference?

Analog lines

Twisted pair wire used?

Cable shield connected via line with 0 V clamp of the analog module in order to shield the 50 Hz fields?

System manual CECX / Connections and wiring

13 Connections and wiring

13.1 General information on interfaces

The fact that no special laying of cables is necessary applies to all inter-faces of the CECX modular control system.

13.1.1 CAN

CAN cable between CPU module and additional CAN modules

A CPU module can be connected to further bus modules via a CAN cable. Decentralized module clusters in the CECX modular control system are connected to the CAN circuit via a bus link module.

Cable type

The CAN connection must be made with a suitable line. We recommend a data cable in accordance with ISO/DIS 11898 (CAN norm).

Structure

Twisted pair, shielded wiring with signal ground (SGND).

twisted 2-wire conductor (CAN+, CAN-)

Signal ground (SGND)

Shield with signal ground

A multi-core twisted cable can also be used. At the same time, it is impor-tant to note that the CAN+ and the CAN- lines are guided in a common twisted pair of wires. Surge impedance: min. 108 , type. 120 , max. 132 . Line resistance: type. 70 m/m Specific line delay: typically 5 ns/m

Plug type

9-pole D-SUB socket connector with completely conductive shell. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.

CECX-II 13-1


Cable manufacture

See the corresponding project engineering handbook for the CAN-modules.

Cable length

The maximum cable length is dependent on the baud rate of the CAN bus transmission.

Minimum bend radius

Minimum bend radius during installation: 48 mm Minimum bend radius for installed cable: 24 mm

Connecting CAN modules with modules (without an optocoupler)

Baud rate Max. cable length typical

Max. cable length guaranteed

6 ns/m run time 5.2 ns/m run time

6 ns/m run time 5.2 ns/m run time

125 kbit/s 561 m 647 m 542 m 625 m 250 kbit/s 269 m 311 m 250 m 289 m 500 kbit/s 124 m 143 m 104 m 120 m 800 kbit/s 61 m 70 m 42 m 48 m 1 Mbit/s 40 m 46 m 21 m 24 m

Information The length specifications in the table are maximum values based on ideal conditions. The practical cable length is reduced by poor shielding contact, strong interference, stub lines and poor cable quality. Furthermore, the cable length is dependent on the properties of the remain-ing CAN bus modules and on the optocouplers used (if present). We recommend dimensioning the CAN cable so that it is only as long as absolutely necessary.

13.1.2 RS-232-C (CECX-C-S1)

Cable type

Shielded standard cable.

Plug type


CECX-II 13-2


Cable manufacture

See the corresponding project engineering handbook for the interface-modules.

Cable length

Max. 15 m.

Minimum bend radius


13.1.3 RS-485/422 (CECX-C-S4)

Cable type

Shielded, twisted pair data cables with a characteristic impedance of 100 – 120 Ohm.

Plug type


Cable manufacture

See the corresponding project engineering handbook for the interface-modules.

Cable length

Maximum cable length is dependent on the transmission rate: 115 kbit/s: max. 1200 m.

Minimum bend radius


CECX-II 13-3


13.1.4 SSI (CECX-C-2G1)

Cable type

The shielded connection was tested with the following cable type:

Hard-wired cable (oil-resistant): Manufacturer: LAPP cable Designation: Etherline P-Cat

Flexible cable (oil-resistant): Manufacturer: LAPP cable Designation: Etherline P Flex 5e

Flexible cable (not oil-resistant): Manufacturer: DRAKA Multimedia Designation: "Silverline Gold" Cat. 7 patch cable, S/STP 4x2x0.14qmm

This (or a qualitatively equivalent) cable must be used for the connection.

Plug type

RJ45 plug (Modular plug, 8-pin, shielded) with a blue protective cap. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.

CECX-II 13-4


Baud rate / maximum cable length

The baud rate can be set individually by software. The maximum possible baud rate depends on the cable length. The values specified in the table were determined by measurements with the following equipment:

Transducer: SE 010/A

Cable: DRAKA Multimedia "Silverline Gold" Cat.7 patch cable, S/STP 4x2x0,14mm2

Baud rate Max. cable length [m] 125 kBaud 125 250 kBaud 100 500 kBaud 75 1 Mbaud 50

Information The length specifications in the table can be guaranteed with use of the suggested cable under industrial EMC environment according to EN61131 with the transducer SE 010/A for the SSI interfaces. The values for the baud rate-specific cable lengths can deviate for use of transducers of other manufacturers and the interference resistance of the transducer is to be observed respectively. We recommend dimensioning the SSI cable so that it is only as long as absolutely necessary.

Minimum bend radius


13.1.5 Ethernet (CECX-C-ET)

Cable type

The shielded connection was tested with the following cable type: Manufacturer: DRAKA Multimedia Designation: "Silverline Gold" Cat. 7 patch cable,� S/STP 4x2x0.14qmm This, or a qualitatively equivalent, cable must be used for the connection (twisted pair and shielded data cables with a characteristic impedance of 100 Ohm +/- 15%).

CECX-II 13-5


Plug type

RJ45 plug (Modular plug, 8-pin, shielded) with a yellow protective cap. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.

Cable length

A 100 Mbit/s Ethernet transmission is specified up to a maximum of 50 m (guaranteed) according to IEEE 802.3. The maximum possible transmis-sion distance can be shorter in an EMC-interfered industrial environment.

Minimum bend radius


13.1.6 USB

The USB-interfaces are used to connect different media (e.g. in the context of maintenance work). They are, however, not suited for unmonitored con-tinuous operation as the connection plug does not have a strain relief. Information The use of USB-enabled devices from the computer world may result in unexpected system behavior or system failures, as these devices are not normally designed for operation in an environment with industrial interfer-ence.

Cable type

Shielded USB cable, twisted pair data cables with a surge impedance of 90 Ohm +/- 15%.

Plug type

Standard USB connector with fully conductive shell. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.

Cable length

Max. 5 m.

CECX-II 13-6


13.2 General information on inputs / outputs

13.2.1 Front panel connectors

The modules of the CECX modular control system are designed with male connectors on the front panels.

Female connectors for the CECX modules

Suitable female connectors must be used as counter plugs for the male connectors. The female connectors can be ordered from Festo. Part number Name Connection

553857 NECC-L1G2-C1 2-pole cage clamp





Grids

The grid 5.08 mm is used. Only standard female connectors by Phoenix Contact and Weidmüller may be used for the CECX modular control sys-tem. Connectors of other manufacturers may only be used if the manufac-turer can guarantee a reliable connection.

13.2.2 24 V power supply

Cable type

Unshielded cable. The cable cross section must match the power require-ments of the module.

Plug type

Standard female connectors with grid dimension 5.08 mm.

CECX-II 13-7


PW

RC

TR

L

DIA

G

SI0

0V

+24V

CA

N0

RXTX

CO

MP

AC

T F

LAS

H

USB

ETHCAN1SI1

Pxxxxx-xxxxx

1

1 ........ Female connectors (two-block)

Power supply

Only female connectors from the manufacturers Phoenix Contact and Weidmüller are permitted for connection to the CECX modular control sys-tem. All other types may only be used if the manufacturer can guarantee a reliable connection.

13.2.3 Digital input

Cable type

Unshielded cable.

Plug type

Standard female connectors with a grid dimension of 5.08 mm as in the 24V power supply. It is recommended to arrange the sub-units in such a way that the corresponding signals are positioned each on one plug.

13.2.4 Digital output

Cable type

Unshielded cable.

Plug type

Standard female connectors with a grid dimension of 5.08 mm as in the 24V power supply. It is recommended to arrange the sub-units in such a way that the corresponding signals are positioned each on one plug.

13.2.5 Analog input (current or voltage input)

Cable type

CECX-II 13-8


Twisted cable pair with shielding. The shield can be carried via a single wire (see figure). The connection length of 0 V must be < 1 m.

0001

0203

0405

0607

0809

1011

1213

1415

1617

0V

+24V

DO0

DO1

DO2

DO3

DI0

DI1

DI2

DI3

+

-

AO0

AO1

AGND

AGND

AI0

+

-AI1

0V

+24V

STATUS

ADRH

ADRL

BAUD

01

23456789

A

BCDE

F0

123456789

A

BCDE F0

12345678

9A

BCDE

F

CA

N

RXTX

24 V -+

1

1 ........ 0 V – connection length: max. 1 m

Example: Connection of the analog inputs

Plug type

Female connectors with a grid dimension of 5.08 mm as in the 24V power supply. It is recommended to arrange the sub-units in such a way that the corresponding signals are positioned each on one plug.

Short-circuiting unused pre-cabled inputs

In the case of already pre-cabled inputs that are not yet used, the wires at the end of the cable must be short-circuited to avoid noise injection.

13.2.6 Analog output (current or voltage output)

Cable type

Twisted pair cable, with shielding. See chapter "Analog input (current or voltage input)".

Plug type

Female connectors with a grid dimension of 5.08 mm as in the 24V power supply. It is recommended to arrange the sub-units in such a way that the corresponding signals are positioned each on one plug.

CECX-II 13-9


13.2.7 Transducer supply output and reference voltage output

Cable type

Twisted cable pair, with shielding. See chapter "Analog input (current or voltage input)".

Plug type

Female connectors with a grid dimension of 5.08 mm as in the 24V power supply.

13.2.8 Thermal input

Cable type

The following thermocouples can be connected to these inputs in both iso-lated and in non-isolated configurations:

Type J (Fe-CuNi) according to IEC 548-1

Type K (NiCr-Ni) according to DIN 43710/1977 and IEC 548-1

Plug type

Female connectors with gold contacts and a grid dimension of 5.08 mm.

13.2.9 Incremental encoder input

Cable type

Shielded standard cable.

Plug type

9-pole D-SUB connector with completely conductive shell. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.

CECX-II 13-10


13.3 General limits for wire cross sections

13.3.1 Minimum cross section according to norm

The minimum cross sections in mechanical engineering are defined in EN60204 "Electrical and electronic equipment and systems" in chapter "Conductors, cables, wires" and in chapter 14 "Wiring technology", particu-larly under "Wiring outside of housings". Extract from EN60204-1:1997: "... 13.6 Minimum cross section To guarantee sufficient mechanical strength, the conductor cross section should not be smaller than that given in table 6. Wherever it is regarded as necessary, conductors with smaller cross sections as given in table 6 may be used in the equipment, under the condition that, sufficient mechanical strength is achieved in another way and trouble free function is not im-paired. Table 6: Minimum cross sections for copper conductors

Description of conductors, cables and lines

Order Application One core, multi-core

One core, solid

Two-core, shielded

Two-core, unshielded

Three or more core, shielded or not

Outside the housing

Not flexible, Main circuit Connection to ma-chine parts that are subject to frequent movement Connection in con-trol circuit Wiring in data transmission system

1 1 1 -

1.5 - 1.5 -

0.75 1 0.3 -

0.75 1 0.5 -

0.75 1 0.3 0.08

Inside the housing

Not flexible, Main circuit Connection in con-trol circuit Wiring in data transmission system

0.75 0.2 -

0.75 0.2 -

0.75 0.2 -

0.75 0.2 -

0.75 0.2 0.08

NOTE: all cross sections are listed in mm².

..." For the minimum cross sections in plant construction, the constructions of EN50178: "Equipping power plants with electronic apparatus" must be ob-served. Further instructions for wiring are stated in EN61131 "Programmable con-trollers" Part 4 "User guidelines".

CECX-II 13-11


CECX-II 13-12

13.3.2 Minimum cross sections from the guidelines of terminal manufacturers

Spacing 5.08 mm: 0.2 mm2 (AWG 24)

13.3.3 Minimum cross sections from electrical general conditions

The actual reliable wire cross section is given by the electrical conditions of the connected equipment:

maximum load current and possible heat dissipation

permissible voltage drop for error-free operation of the connected equipment.

These limits must be taken into consideration for the calculation of wire cross sections in the respective application.

13.3.4 Maximum cross section

The maximum conductor cross section is limited by the female connectors used as follows: Spacing 5.08 mm: 2.5 mm2 (AWG 12)

13.4 Test of interference immunity

Immunity interference is tested according to EN61000-4-2. See also the technical data in the individual descriptions for the corre-sponding modules.

System manual CECX / CPU module

14 CPU module

14.1 Introduction

14.1.1 Intended use

The CPU module was developed for control applications in industrial ma-chines. It must only be used in connection with recommended or approved third-party equipment. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

14.2 Safety notes

14.2.1 Representation


!

DANGER! indicates an imminently hazardous situation which, if not avoided, will

result in death or serious injury.

!

WARNING! indicates a potentially hazardous situation which, if not avoided, can


!

CAUTION! means that if the corresponding safety measures are not taken, a poten-

tially hazardous situation can occur that may result in property injury or slight bodily injury.

CECX-II 14-1


CAUTION CAUTION used without the safety alert symbol indicates a potentially

hazardous situation which, if not avoided, may result in damage to property.



14.2.2 General safety notes

!

WARNING! It is absolutely essential that you also observe the safety instructions

in the system manual for your automation system. The following areas of application are expressly excluded for the CPU

module: Use in areas where there is a risk of explosion or fire Use in the mining sector Use in the open air Other products are to be used for these applications!

The CPU module is not designed for safety-relevant control tasks (e.g.: shutdown in case of an emergency). For safety-relevant control tasks and personnel security, additional external safety measures must be implemented to ensure the system remains in a safe operating condi-tion even in the event of a fault. According to EN ISO 13849-1, the CPU module complies with category B and is therefore alone insufficient for the realization of safety func-tions for the protection of personnel.

For further information, please see EN ISO 13849-1.

The module is defined as "open type" equipment (according to UL 508) or as "offenes Betriebsmittel" (according to EN 61131) and must there-fore be installed in a switch cabinet.

For additional information on programming the module, please see the system manual.

CECX-II 14-2


CAUTION! Improper use of the assembly or the control system leads to irreparable damage!


14.2.3 Safety instructions for personal safety

!

WARNING! Danger of personal injury due to electric shock! Supply the control exclusively from power sources that have a protec-

tive low voltage (e.g. SELV or PELV according to EN 61131-2). Connect only voltages and power circuits to connections, terminals and

interfaces up to 50 V rated voltage that have a secure disconnect for hazardous voltages (e.g. with sufficient isolation and voltage-proof).

!

CAUTION! Fire hazard during module failure! Provide suitable fuses for the 24 V DC power supply of the control sys-

tem for the final application! (for details, refer to the Power supply sec-tion).

14.2.4 Safety instructions for maintenance work

Before opening the device:

1. Disconnect the power supply. 2. Disconnect the interface connections.

!

CAUTION! The device may only be opened by qualified personnel and only main-

tenance activities expressly approved by Festo may be performed (see chapter “Service notes”). Any other manipulations to the device will re-sult in loss of warranty.

CECX-II 14-3


14.3 Description of the module

The CPU module is an intelligent master module designed for the medium range of the performance spectrum for use in the CECX modular control system. It is fitted with one RS -485-A interface, a USB port, a Compact Flash slot and one CAN interface. For extension purposes three plug-in slots for option modules are available which may already be fitted when the control is supplied.

14.3.1 Front view S

eria

l In

terf

ace

0V

+24V

CA

N

RXTX

USB

EthernetCANSerial Interface

Co

mp

act F

lash

Pow

erC

trl

Dia

gno

stic

X3

X3

X4

X4

X5

X5

X1

X2

X6

X7

X8

21 3 4 5 6 7

Front view

1 .... Diagnosis display 2 .... RS-485-A interface 3 .... Power supply 4 .... 3 slots for option modules 5 .... USB port 6 .... Compact Flash slot 7 .... CAN interface

CECX-II 14-4


14.3.2 Side view

2

1

3

4

5

Locking lever unlocking locking

Side view

1 .... Upper snap-on fixture for mechanical connection of modules 2 .... K-Bus plug 3 .... Recess for mounting rail 4 .... Address switch 5 .... Lower snap-on fixture for mechanical connection of modules

14.3.3 Accessories

14.3.3.1 Connector strip

A 2-pole female connector is used for the power supply of the CPU module. Female connector Color Number Order no. Weidmüller

2-pole sw 1 BLZF 5.08/2 SN SW - 170769

Information Larger terminal blocks may be used to group multiple signals. The current carrying capacity of the terminal block is thus, however, reduced (according to derating curve of the terminal block manufacturer.) The technical data for the terminals are contained in the technical data sheet of the manufacturer of the female connectors.

CECX-II 14-5


14.4 Operating elements and displays

14.4.1 Diagnosis display (Diagnostics)

The diagnosis display shows the states during startup.

Pow

er

Ctr

lDia

gno

stic

Diagnosis display and CTRL key

14.4.2 Power LED (Power)

A green power LED:

LED is lit: Supply voltage is present,

LED is dark No supply voltage.

14.4.3 Program loading button (Ctrl)

The program load key (Ctrl) is located next to the 7-segment display. The program load key is used to perform various functions, such as switch-over of operating mode. See chapter Operating behavior.

14.4.4 CAN status LEDs

The module is fitted with two status LEDs (RX- and TX-LEDs at the front side of the module), which are activated from the Microcontroller. RX-LED (green): briefly lights up on receipt of a CAN-message TX-LED (yellow): briefly lights up on transmission of a CAN-message.

CECX-II 14-6


14.5 Mounting and installation instructions

14.5.1 Inserting option modules

The front side of the CPU module provides 3 slots for the option modules. The following modules can be inserted in the slots.

Left slot Middle slot Right slot CECX-C-S1 for RS 232 or CECX-S-S4 for RS-485-A, RS-422-A

CECX-F-CO for CAN CECX-C-ET for Ethernet

CECX-C-S1CECX-S-S4 CECX-F-CO CECX-C-ET

X3

X3

X4

X4

X5

X5

Serial Interface CAN Ethernet

Assignment of the slots

CECX-II 14-7


Slots not used must be closed with reserve modules to secure contact protection of the ESD-sensitive parts.

�Information The option modules may not be plugged or removed, if the CPU module is activated.

Inserting option module into slot:

1. Turn off power supply

2. Remove reserve module

3. Insert module in the right position (labeling of option module must on the right) into the intended position.

EthernetCAN

SI1

X4X3 X5

CA

N

X4

RXTX

Inserting an option module into slot

CECX-II 14-8


Removing an option module:

In reverse order:


2. Remove module from slot (see illustration).

3. Insert dummy module.

EthernetCAN

SI1

CA

N

X4

RXTX

X4X3 X5

Removing an option module

14.5.2 Adding modules

The CPU module makes available the following output for up to 12 add-on modules.

Power consumption 5 V on the K-Bus: 10 W

Power consumption 24 V on the K-Bus: 45 W

To guarantee stable functioning of the module cluster the power demand on the added-on modules must not exceed the above-specified power val-ues. Information For the calculation of the number of modules that can be added, the speci-fied performance values given in the respective project engineering hand-book under "power consumption 5 V on the K-Bus" AND under "power con-sumption 24 V on the K-Bus" must be used.

CECX-II 14-9


14.6 Air conditioning and ventilation

Ventilation holes for dissipating the heat are placed at the top and under-side of the module. If the permissible ambient temperature is not exceeded, no external fan will be needed. Make sure that the ventilation holes are not covered.

!

CAUTION! High temperatures may destroy the module! The operating temperature inside the control cabinet must not be

higher than the permissible ambient temperature of the module. If this cannot be guaranteed through natural heat dissipation, an air condi-tioning of the control cabinet must be provided.

When installed in a control cabinet attention must be given that the area around the temperature inputs is not exposed to any temperature changes (e.g. no air conditioners with intermittent operating hours).

Information To guarantee the dissipation of heat, it is advisable to leave a free space of at least 30 mm above and below the modules

14.6.1 Use of air filters

To ensure that the contamination does not exceed contamination level 2 (according to EN 61131-2), the control must be installed in a dustproof, closed control cabinet. Fan openings of the control cabinet must be equipped with air filters. The filter elements must be cleaned or replaced regularly.. Information Contamination level 2, description according to standard: "The occurring contamination is generally not conductive. However, tempo-rary conductivity must be expected due to condensation."

CECX-II 14-10


14.7 Connections and wiring

14.7.1 Power supply

The 24 V terminal supplies the CPU module and all add-on modules.

!

WARNING! Danger of personal injury due to electric shock! Supply the control exclusively from power sources that have a protec-

tive low voltage (e.g. SELV or PELV according to EN 61131-2). Connect only voltages and power circuits to connections, terminals and

interfaces up to 50 V rated voltage that have a secure disconnect for hazardous voltages (e.g. with sufficient isolation and voltage-proof).

!

CAUTION! Fire hazard during module failure! Provide suitable fuses for the 24 V DC power supply of the control sys-

tem for the final application! (for details, refer to the Power supply sec-tion).

Section Refer to the manufacturer-specific data sheet of the of the female connec-tors used for type, cross-section and material. For further information: See chapter Accessories. The actual permissible wire cross-section is specified by the electrical con-ditions of the connected equipment an the female connectors used: Max. load current and required heat dissipation through the connected

wire at maximum ambient temperature. Permissible voltage drop for error-free operation of the connected

equipment.

CECX-II 14-11


14.7.1.1 Connection example

0V

+24V

USB

+24 V10 A

0 V

Power input

Recommended fuse protection: circuit line breaker LSS 10A – type B

14.7.2 Grounding

If required for reasons of electrical safety for the end usage, the metal parts of the module can be grounded via the threaded bushing (M4) that is lo-cated on the underside of the casing (grounding point). Material: electrolytic galvanized sheet steel, blue galvanized self-clinching standoff

Position of the grounding point

CECX-II 14-12


14.7.3 RS-485-A interface

This serial communication interface can be used for the connection of in-put/output devices.

14.7.3.1 Pin assignment

n.c.: not connected do not connect: do not connect anything to this pin.

Pin assignment RS-485-A, DSUB plug connection seen from front

RS-485-A Signal designation PIN no. Input / output

A / A' Transmit / receive - 8 Input or Output B / B' Transmit / receive + 3 Input or Output TERM A Terminating resistor 7 --- TERM B Terminating resistor 2 --- SGND Signal Ground 1, 5 ---

14.7.3.2 Cable and plug specification

See chapter "General information about interfaces".

14.7.3.3 RS-485-A terminal resistance

To activate the bus termination at the last participant during RS-485 opera-tion, the pins 2 and 7 (TERM A, TERM B) must be connected.

n.c.: not connected do not connect: do not connect anything to this pin.

RS-485-A with activated bus termination

CECX-II 14-13


14.7.4 CAN interface

The CAN interface is used to connect the CPU module with CAN partici-pants via CANOpen protocol..


2

37 23

7

CP 232/Z(End-participant)

CAN+CAN-

SGND

CAN+CAN-

SGND

Contact the shieldwith the connectorat both sides andat a large surfacearea.

2 3

7

Twisted wire pairs

CAN-participant

Example for connecting a CPU module via CAN

For more information: See chapter "General information about interfaces"


6

15

9

ReservedReserved

CAN +GND

ReservedReservedSGNDCAN -Reserved

9-pol. DSUB female connector

Pin assignment, DSUB plug connection from front

Information Both SGND (Signal Ground) and GND (optional ground) connections are connected internally. The designation was selected to correspond with the standard CiA (CAN in Automation). For more information: See chapter "General information about interfaces"

CECX-II 14-14



See chapter "General information about interfaces"

14.7.4.4 CAN bus termination

To activate the Bus termination at the first and last participant, pins 4 and 5 (TERM1) and pins 8 and 9 (TERM2) must be connected.

6

15

9

GNDCAN +

TERM2TERM2

ReservedCAN -SGNDTERM1TERM1

CAN interface with activated bus termination

14.7.5 Compact Flash slot

14.7.5.1 Position of the Compact Flash slot

To operate the CPU module a Compact Flash disk with the firmware and the application must be plugged into the Compact Flash slot.

CECX-II 14-15


Ser

ial I

nter

face

0V

+24V

CA

N

RXTX

USB


Com

pact

Fla

sh

Pow

erC

trlDia

gnos

tic

X3

X3

X4

X4

X5

X5

X1

X2

X6

X7

X8

Position of the Compact Flash slot

14.7.5.2 Precautions when using Compact Flash cards

Do not use force when inserting the card in the slot. It is constructed so that it can only be inserted in one direction. The card should slide easily in the slot.

Keep the card away from moisture, heat and direct sunlight.

Keep the card away from electrostatic sources or magnetic fields.

Do not let the card fall and do not bend it.

Do not remove the card and do not turn off the device while it is writing on to the card.

14.7.5.3 Inserting the Compact Flash card

!

CAUTION! The Compact Flash card may neither be plugged in nor unplugged dur-

ing operation.

CECX-II 14-16


Ser

ial I

nter

face

0V

+24V

CA

N

RXTX

USB


Com

pact

Fla

sh

Pow

erC

trlDia

gnos

tic

X3

X3

X4

X4

X5

X5

X1

X2

X6

X7

X8

CO

MP

AC

TF

LA

SH


2. Insert the Compact Flash card in the direction of the arrow.

!

CAUTION! Insert the Compact Flash card as shown in the diagram with the arrow

to the front. Improper insertion can cause damage to the contact pins.

14.7.5.4 Removing the Compact Flash card

!

CAUTION! The Compact Flash card may neither be plugged in nor unplugged dur-

ing operation.

1. Turn off the power supply.

2. Press the key above the card slot and pull out the Compact Flash card.

1

RXTX

USB

Com

pac

t Fla

sh

X7

X8

1 ... Button for unlocking the Compact Flash card

CECX-II 14-17


14.7.6 USB Port

A USB port is available for connecting a USB stick.

Ser

ial I

nte

rfac

e

0V

+24V

CA

N

RXTX

USB


Com

pact

Fla

sh

Pow

erC

trlDia

gnos

tic

X3

X3

X4

X4

X5

X5

X1

X2

X6

X7

X8

Location of the USB-port

CAUTION The use of USB-enabled devices from the computer world may result in

unexpected system behavior or system failures, as these devices are not normally designed for operation in an environment with industrial interference.

Never keep USB-devices constantly connected, as the USB-ports are not operationally reliable (danger of unplugging).

For constant operations use a strain relief. The USB-ports are LowPowerPorts (≤ 100 mA). Larger loads such as

those from devices with HDD, DVD, ... must be self-powered as they will otherwise trigger non-valid operating states.


For more information: See chapter "General information about interfaces"

14.7.7 EMC and wiring guidelines

See chapter EU guidelines and standards. Pay attention from the outset to careful wiring and shielding. Further information: See system manual.

CECX-II 14-18


14.8 Configuration

14.8.1 General information

A CECX-system needs data for the configuration of system performance, its I/O-devices and interfaces. The system reads this data during the start-up operation and allocates them to its components and devices. Configuration data is created by included configuration tools.

14.8.2 Setting the address

The station address of the CPU module is entered via 2 rotary switches. (Front address switch: HIGH; back address switch: LOW) The address switches are located on the top right hand side of casing.

01

F2

34567

89

A

BCDE0

1F

2

34567

89

ABCDE

Position of address switches

On leaving the factory all modules are set to address 0. Information Modules of the same type must have different address switch positions within one CAN bus line. Different modules may have the same address switch positions.

CECX-II 14-19


14.9 Operating behavior of the CPU module

14.9.1 Behavior during failure of power supply

In case of a complete power supply failure a Reset is triggered. All lined-up modules are also set into Reset-status and all outputs are reset. Data in the battery-buffered SRAM remain intact, except during battery change. See chapter "Replacing the battery". The real-time-clock contin-ues.

14.9.2 Response to module errors

In case an error occurs, this error will be displayed on the diagnosis display on the front side of the CPU module. For further information: See chapter "Display of errors in the 7-segment display"

14.10 Diagnosis

Display of the 7-segment display and error codes: See chapter "Display of errors in the 7-segment display".

CECX-II 14-20


14.11 Maintenance

14.11.1 Battery

Position of the battery

14.11.1.1 Battery type and service life

Battery type: CR2032 (Lithium-Mn, 3 V/220 mAh). Service life: At least 3 years, typically 5 years. The battery can be ordered from a dealer.

CECX-II 14-21


14.11.1.2 Replacing the battery

The battery that is located underneath the cover on the right side of the de-vice may only be replaced with a battery of the same type. Information The buffered retain data are lost during a battery change. They must there-fore be saved first if they are to be available during the next start-up. Do not use force! Otherwise the contact springs might be twisted and result in short-circuited battery. It is recommended to exchange the battery every 3 years. An indication for the end of the battery’s life cycle is the case where the control is switched off and on again and the time indicated on the control no longer corresponds with the actual time. If this is the case replace the bat-tery immediately.

Remove the lower cover on the right side of the casing.

Remove old batteries with anti-static plastic pincers (insert pincers at position indicated by the arrow).

1

2

Insert battery

Insert new battery in position 1 as shown above and let it engage at po-sition 2.

CECX-II 14-22


Make sure that the battery is properly clicked into place at the upper and lower holding clamp.

Close battery cover again.

14.12 Disposal

14.12.1 Disposal of the module



14.12.2 Disposal of the battery

CAUTION! Pay attention to hazardous waste regulations when disposing of batter-

ies.

Although batteries have a low voltage, they can provide enough current when short-circuited to ignite flammable material. They should not be disposed of together with conductive material (e.g. iron filings, wire wool contaminated with oil, etc.)

CECX-II 14-23


14.13 Technical data

General

Nominal supply voltage: 24 V DC from front Supply voltage range: 19.2 V to 30 V, according to EN 61131-2 Max. switch-on current: 12 A Equipment class: III according to EN 61131-2 Galvanic isolation: No Max. total power consumption: 69 W Power consumption own consump-tion:

14 W

Max. power output K-Bus 24 V: 45 W Max. power output K-Bus 5 V: 10 W Ventilator: No outside ventilation, no ventilator


Operating temperature: +5 °C to +55 °C Storage temperature: -40 °C to +70 °C Relative humidity of air: 10 % to 95 % (non condensing) Vibration resistance: According to EN 61131-2:2007 Shock resistance: According to EN 61131-2:2007

Computer kernel

Processor: Embedded Processor ~400 MHz Memory: 64 MB Buffered SRAM: 512 kB

Interfaces

CAN interface onboard: Communication with periphery components CAN bus Baud rates: To be set via software Serial interface onboard: RS-485-A RS-485-A Baud rates: To be set via software Extension for one: Serial interface: Via CECX-C-S1 or CECX-S-S4 CAN interface: Via CECX-F-CO Ethernet interface: Via CECX-C-ET USB: USB 1.1, 10 Mbit / 0.5 Mbit Compact Flash: Type 1

Dimensions:

Footprint: Height: 120 mm Width: 180 mm Depth: 100 mm Weight: 580 g Type of assembly: Mounting rail Protection class: IP20

CECX-II 14-24


CECX-II 14-25

14.14 EC directives and standards

14.14.1 EC directives

Guideline 2004/108/EC EC guideline on electromagnetic compatibility Guideline 2002/95/EC RoHS guideline

14.14.2 Standards

To check the conformity of the CECX modular control system with the guidelines the following legally non-binding European standards have been applied.

14.14.2.1 General procedures and safety principles

EN 61131-1:2003 Programmable Controllers – Part 1

Information This product was developed for the use in industrial areas and can cause radio interference when used in residential areas.

14.14.2.2 EMC guidelines


14.14.2.3 Electrical safety and fire protection


14.14.2.4 Requirements on environment and ambience conditions


14.14.3 Standards for the American market

14.14.3.1 UL test for industrial control equipment

UL 508, 2005 Industrial Control Equipment

System manual CECX / Digital input module CECX-D-16E

CECX-II 15-1

15 Digital input module CECX-D-16E

15.1 Introduction

15.1.1 Intended use

The CECX-D-16E module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

15.2 Safety notes



!

DANGER! • indicates an imminently hazardous situation which, if not avoided, will


!

WARNING! • indicates a potentially hazardous situation which, if not avoided, can


!

CAUTION! • means that if the corresponding safety measures are not taken, a poten-



CECX-II 15-2

CAUTION • CAUTION used without the safety alert symbol indicates a potentially


• This symbol reminds you of the possible consequences of touching electrostatically sensitive components.



The unit is defined as "open type" equipment (according to UL 508) or as "offenes Betriebsmittel" (according to EN 61131) and must therefore be installed in a switch cabinet.

The system manual is additionally required for programming of the module.

CAUTION Improper use of the assembly or the control system leads to irreparable damage!

• Turn off the power supply before inserting or removing the module. Otherwise, the module can be destroyed or undefined signal states can lead to damage of the control system.


CECX-II 15-3


The CECX-D-16E constitutes a digital input module for use in the CECX modular control system.

15.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

n.c.

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DI10

DI11

DI12

DI13

DI14

DI15

Pxxxxx-xxxxx

2

1

CECX-D-16E front view

1 .... Reference potential 2.....16 digital inputs (DI0 and DI1 interruptible)

Information The type plate is stored on the module in an EEPROM and can be read out by the application.


CECX-II 15-4

15.3.2 Accessories


Input-/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required: 2 blocks with 8 connections 1 block with 2 connections Female connector Color Number Order no. Weidmüller 8-pole sw 2 BLZF 5.08/8 SN SW - 170775 2-pole sw 1 BLZF 5.08/2 SN SW - 170769



15.4.1 Power Supply

!


• Supply the device exclusively from power sources that have an extra low voltage (e.g. SELV or PELV according to EN 61131 2:2007)

• Connect only voltages and power circuits to connections, terminals and interfaces up to 50 V rated voltage that have a secure disconnect for hazardous voltages (e.g. with sufficient isolation).

!

CAUTION! Fire hazard during module failure!

• Provide suitable fuses for the 24 V DC power supply for the final appli-cation. Only fuses with a maximum nominal disconnecting current of 10 A may be used.


CECX-II 15-5

15.4.2 Digital inputs

For the processing of external digital signals, 16 digital inputs of type 1 (ac-cording to EN 61131-2) are available. They share a common ground poten-tial but are isolated for the evaluation logic. The switching status "high" is indicated by green LEDs on the left side of the connector strip.


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

n.c.

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DI10

DI11

DI12

DI13

DI14

DI15

Pxxxxx-xxxxx

0 V

24 V

10 A

Connection example for digital inputs

Information • The reference potential for the isolated digital inputs is the 0 V terminal

that is located on the front side. • For operation of the digital inputs the 0 V- terminal located on the front

side must be connected.

15.4.2.2 Status display

16 green LEDs to indicate the signal status:

LED is lit: Input on "1"

LED is dark Input on "0"


CECX-II 15-6

15.4.2.3 Connection diagram

Input diagram

15.4.3 Interrupt inputs

The digital inputs DI0 and DI1 can also be used as interrupt inputs for the speedy processing of external digital signals.


CECX-II 15-7


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

n.c.

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DI10

DI11

DI12

DI13

DI14

DI15

Pxxxxx-xxxxx

0 V

24 V

10 A

Connection example for interrupt inputs

CAUTION • Interfering impulses over 10 V may trigger an unwanted interrupt event.


CECX-II 15-8


Input diagram for interrupt inputs


Information: See chapter EC directives and standards Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 15-9

15.5 Configuration




The modules are addressed via the address switch. A maximum of 12 modules of the same type can be distinguished on one line. The address switch is located on the right side underneath the lower cover. The K-Bus plug is located underneath the upper cover.

0

4

8

C

1

235679A

B DE

F 1

Position of the address switch

1 .... Address switch

On leaving the factory all modules are set to address 0 and both covers are closed.


CECX-II 15-10

Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-D-16E may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line. (to protect it against dirt and damage through electrostatic discharge on contact)


CECX-II 15-11

15.6 Operating behavior

15.6.1 Debouncing

The inputs are filtered with a default debouncing time of 1 ms. To suppress interference signals from switches, keys etc, a debouncing time of 100 ms can be set in the configuration. The signal must therefore be applied for at least 100 ms at the input, for it to be recognized and proc-essed by the system. Information The debouncing function is possible only when the digital input is not used as interrupt input. If the input is configured as interrupt input, debouncing takes automatically place with 34 μs.

15.7 Disposal


• The symbol with the crossed-out waste container means that electrical and electronic devices including their accessories must not be dis-posed of in the household garbage.

• The materials are recyclable in accordance with their labeling. By dis-posing of such used devices correctly, you can ensure that they can be reused, their raw materials recycled or put to another use, and you will be making an important contribution to the protection of our environ-ment!


CECX-II 15-12

15.8 Technical data

General

Supply voltage I/Os: 24V DC from the front (19.2 V to 30 V, acc. to EN 61131-2) 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimensions 5.08 mm Max. power consumption K Bus 24 V: 1 W Max. power consumption K Bus 5 V: 0.4 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Digital inputs

Number of inputs: 16 Input type: Type 1 (according to EN 61131-2) Voltage range for "1": 15 V ≤ UH ≤ 30 V Voltage range for "0": -3 V ≤ UH ≤ 5 V Filter: Adjustable: 500 Hz, 50 Hz Cycle time: 1 ms

Galvanic isolation: Yes, Electric strength: 707 V with unsewed ground connection

Status display: Green LED

Interrupt inputs

Number of inputs: 2 (DI0, DI1) of the digital inputs Input type: Type 1 (according to EN 61131-2) Voltage range for "1": 15 V ≤ UH ≤ 30 V Voltage range for "0": -3 V ≤ UH ≤ 5 V Filter: Adjustable: 5 kHz, 500 Hz, 50 Hz Response time of the K-Bus Interrupt: 100 μs at 5 kHz input filter Galvanic isolation: Yes Status display: Green LED

Interfaces

System bus-interface: Parallel bus interfaces, plug-in on side

Dimensions:

Footprint: Module height: 120 mm Mounting depth: 100 mm Front panel width: 22.5 mm Module width: (incl. K-Bus plug)

32.5 mm

Weight: 130 g


CECX-II 15-13




15.9.2 Standards














System manual CECX / Digital output module CECX-D-14A-2

CECX-II 16-1

16 Digital output module CECX-D-14A-2

16.1 Introduction

16.1.1 Intended use

The CECX-D-14A-2 module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

16.2 Safety notes



!



!



!




CECX-II 16-2











CECX-II 16-3


The CECX-D-14A-2 constitutes a digital output module for use in the CECX modular control system.

16.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DO8

DO9

DO10

DO11

DO12

DO13

Pxxxxx-xxxxx

2

1

3

3

CECX-D-14A-2 front view

1 .... Voltage supply for DO0 – DO7 2.....Voltage supply for DO8 – DO13

3 .... 14 digital outputs


CECX-II 16-4

16.3.2 Accessories


Input-/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required: 2 block with 8 connections 1 block with 2 connections

Socket board CECX-D-14A-2 Order no. Weidmüller 8-pole 2 BLZF 5.08/8 SN SW - 170775 2-pole 1 BLZF 5.08/2 SN SW - 170769



CECX-II 16-5


16.4.1 Power Supply

!




!



16.4.2 Digital outputs

There are 14 digital outputs available to activate the digital actors. They share a common ground potential but are isolated for the evaluation logic. CECX-D-14A-2: 2 A rated current, 50 % coincidence per group The rated voltage supplying the group is 24 V DC. The status of the corresponding output is indicated by the orange status LEDs.


CECX-II 16-6


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DO8

DO9

DO10

DO11

DO12

DO13

Pxxxxx-xxxxx

0 V

24 V

10 A

Connection example for digital outputs

!

CAUTION! • Wrongly plugging the supply terminal blocks one position downwards,

can lead to the destruction of the module.

• Even if one of the 0V pins is not connected, the digital outputs still func-tion. However, the LEDs do not light up in this case and the status of the digital outputs is not correctly indicated.


14 orange LEDs to indicate the signal status:

LED is lit: Output is active

LED is dark Output is not active


CECX-II 16-7


Output diagram


Information: See chapter Fehler! Verweisquelle konnte nicht gefunden werden. Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 16-8

16.5 Configuration





01

F2

345678

9A

BCDE 1





CECX-II 16-9

Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-D-14A-2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


16.6.1 Short-circuit

The behavior of the module in the event of a short circuit is determined by the configuration.

16.6.1.1 Short circuit scan not activated (default configuration):

When a short circuit occurs, all active output of the affected group are switched off, the system variables system.DOx_stat are set to TRUE and an error message is generated. If the control continues to signal a logical 1 (output switched on) there is a cyclical test to see whether the blocked outputs are still short circuited. The periodic attempts to switch on can be set via a configuration entry "Error acknowledgement cycle time". After the short circuit has been rectified the system.Dox_stat flags are reset, information about the rectification of the error is generated, and the outputs become available again. The outputs that were not active when the short circuit occurred continue to function without any restriction. If after a short circuit another short circuit occurs on a further output, the same procedure as for existing faulty outputs applies.

16.6.1.2 Short circuit scan activated:

In order to clearly identify the output that is causing the short circuit, the short circuit scan can be activated in the configuration. In this case the out-puts that were active during the short circuit are switched on in succession for approx. 10 ms and tested for a short circuit. The output affected is switched off, the system.DOx_stat - flag is set on TRUE and the output is blocked. An error message for the short-circuited output is generated. The behavior during re-activation is the same as the one described above without a short-circuit scan.


CECX-II 16-10

After the short circuit has been rectified the system.DOx_stat flag is re-set, information about the rectification of the error is generated, and the output becomes available again.


CECX-II 16-11

16.6.2 Switching inductive loads

The module contains no internal freewheeling diode to take up the inductive energy when switching off the inductive loads. The inductive load capability for each channel is 1 J at 0.2 Hz. The inductive energy is transformed into heat by the switching transistor. It sets itself a voltage of -60 V. This allows for a swifter breakdown of the en-ergy than would be possible when using the freewheeling diode. Information The load capacity of the outputs for inductive loads can be raised by adding an external freewheeling diode, which will, however, significantly increase the switch-off time. In the case of high load currents, higher values of inductance or greater switching frequency, a freewheeling diode must always be used.


Schematic diagram for the use of a freewheeling diode

16.6.3 Parallel arrangement of outputs

Outputs can be shunted parallel; two outputs can be shunted parallel.


CECX-II 16-12

This will not increase the load capacity of the digital outputs through induc-tive loads.

16.7 Disposal





CECX-II 16-13

16.8 Technical data

General

Power supply voltage: 24 V DC from the front (19.2 V to 30 V, acc. to EN 61131-2) 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimensions 5.08 mm Max. power consumption K Bus 24 V: 2.1 W Max. power consumption K Bus 5 V: 0.4 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Digital outputs

Number of outputs: 14 Rated voltage: 24 V DC Processing time: 1 ms Rated current: 2 A at 50 % coincidence per group


Status display: Orange LED Protection device: Short circuit protection Max. inductive load: 1 J at max. 0.2 Hz

Interfaces


Dimensions:

Footprint: Height: 120 mm Width: 22.5 mm Width: (incl. K-Bus plug)

32.5 mm

Depth: 100 mm Weight: 135 g


CECX-II 16-14




16.9.2 Standards














System manual CECX / Digital input/output module CECX-D-8E8A-NP-2

CECX-II 17-1

17 Digital input/output module CECX-D-8E8A-NP-2

17.1 Introduction

17.1.1 Intended use

The CECX-D-8E8A-NP-2 module was developed for control applications in industrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

17.2 Safety notes



!



!



!




CECX-II 17-2











CECX-II 17-3


The CECX-D-8E8A-NP-2 constitutes a digital input/output module for use in the CECX modular control system.

17.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

Pxxxxx-xxxxx

2

1

3

CECX-D-8E8A-NP-2 front view

1 Voltage supply 2 8 digital outputs 3 8 digital inputs

(DI0 and DI1 interruptible)



CECX-II 17-4

17.3.2 Accessories


Input-/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required: 2 blocks with 8 connections 1 block with 2 connections Female connector Color Number Order no. Weidmüller 8-pole sw 2 BLZF 5.08/8 SN SW - 170775 2-pole sw 1 BLZF 5.08/2 SN SW - 170769



CAUTION! • When switching off the control, the power supply of the module must be

disconnected before or at the same time as the power supply of the CPU module. In case of non-observance the outputs of the module may have undefined states for a short time

17.4.1 Power Supply

!





CECX-II 17-5

!




For the processing of external digital signals, 8 digital inputs of type 1 (ac-cording to EN 61131-2:) are available. They share a common ground po-tential but are isolated for the evaluation logic. The switching status HIGH is indicated by green LEDs on the left side of the connector strip.




CECX-II 17-6


that is located on the front side. • For operation of the digital inputs the 0 V- terminal located on the front

side must be connected.



LED is lit: input is on HIGH

LED is dark input is on LOW


Input diagram


CECX-II 17-7


The digital inputs DI0 and DI1 can also be used as interrupt inputs for the speedy processing of external digital signals. They share a common ground potential but are isolated for the evaluation logic. The switching status HIGH is indicated by green LEDs on the left side of the connector strip.





CECX-II 17-8




There are 8 digital outputs available to activate the digital actors. They share a common ground potential but are isolated for the evaluation logic. CECX-D-8E8A-NP-2: 2 A rated current at 50% coincidence The rated voltage supplying the group is 24 V DC. The status of the corresponding output is indicated by the orange status LEDs.


CECX-II 17-9


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

Pxxxxx-xxxxx

0 V

24 V

10 A


!

CAUTION • Wrongly plugging the supply terminal blocks by one position down-

wards can lead to the destruction of the module.







CECX-II 17-10


Output diagram


Information: See chapter EC guidelines and standards Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 17-11

17.5 Configuration





0

4

8

C

1

235679A

B DE

F 1





CECX-II 17-12

Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-D-8E8A-NP-2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).




17.6.1.1 Short circuit scan not activated (default configuration)

When a short circuit occurs, all active output of the affected group are switched off, the system variables system.DOx_stat are set to TRUE and an error message is generated. If the control continues to signal a logical 1 (output switched off) there is a cyclical test to see whether the blocked outputs are still short circuited. The periodic attempts to switch on can be set via configuration entry "Error ac-knowledgement cycle time". After the short circuit has been rectified the system.Dox_stat flags are reset, information about the rectification of the error is generated, and the outputs become available again. The outputs that were not active when the short circuit occurred continue to function without any restriction. If after a short circuit another short circuit occurs on a further output, the same procedure as for existing faulty outputs applies.

17.6.1.2 Short circuit scan activated

In order to clearly identify the output that is causing the short circuit, the short circuit scan can be activated in the configuration. In this case the out-puts that were active during the short circuit are switched on in succession for approx. 10 ms and tested for a short circuit. The output affected is switched off, the system.DOx_stat - flag is set on TRUE and the output is blocked. An error message for the short-circuited output is generated. The behavior during re-activation is the same as the one described above without a short-circuit scan.


CECX-II 17-13

After the short circuit has been rectified the system.DOx_stat flag is re-set, information about the rectification of the error is generated, and the output becomes available again.

17.6.2 Debouncing





CECX-II 17-14



Outputs can be shunted parallel; two outputs can be shunted parallel. This will not increase the load capacity of the digital outputs through induc-tive loads.

17.7 Disposal





CECX-II 17-15

17.8 Technical data

General





Digital inputs

Number of inputs: 8 Input type: Type 1 (according to EN 61131-2) Voltage range for HIGH: 15 V ≤ UH ≤ 30 V Voltage range for LOW: -3 V ≤ UL ≤ 5 V Filter: Configurable 500 Hz, 10 Hz Cycle time: 1 ms Status display: Green LED


Interrupt inputs

Number of inputs: 2 (DI0, DI1) of the 8 digital inputs Input type: Type 1 (according to EN 61131-2) Voltage range for HIGH: 15 V ≤ UH ≤ 30 V Voltage range for LOW: -3 V ≤ UL ≤ 5 V Filter: 12 kHz Response time of the K-Bus Interrupt: 50 µs Status display: Green LED Galvanic isolation: Yes

Digital outputs

Number of outputs: 8 Rated voltage: 24 V DC Processing time: 1 ms Rated current: 2 A at 50% coincidence Protection device: Short circuit protection Max. inductive load: 1 J at max. 0.2 Hz Status display: Orange LED


Interfaces

System bus interface: Parallel bus interfaces, plug-in on side


CECX-II 17-16

Dimensions:


32.5 mm



CECX-II 17-17




17.9.2 Standards














System manual CECX / Digital input/output module CECX-D-6E8A-PN-2

CECX-II 18-1

18 Digital input/output module CECX-D-6E8A-PN-2

18.1 Introduction

18.1.1 Intended use

The CECX-D-6E8A-PN-2 module was developed for control applications in industrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

18.2 Safety notes



!



!



!




CECX-II 18-2






The device is defined as "open type" equipment (UL508) or as "offenes Betriebsmittel" (EN 61131-2) and must therefore be installed in a control cabinet.





CECX-II 18-3


The CECX-D-6E8A-PN-2 constitutes a digital input/output module for use in the CECX modular control system.

18.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DI0

DI1

DI2

DI3

DI4

DI5

2

1

4

3

CECX-D-6E8A-PN-2 front view

1.... Power supply of the digital outputs

2.....8 digital outputs

3.... Power supply of the digital inputs

4 6 digital inputs (DI0 and DI1 interruptible)



CECX-II 18-4

18.3.2 Accessories


Input-/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required: 1 block with 8 connections 1 block with 6 connections 1 block with 2 connections

Socket board CECX-D-6E8A-PN-2 Order no. Weidmüller 8-pole 1 BLZF 5.08/8 SN SW - 170775 6-pole 1 BLZF 5.08/6 SN SW - 170773 2-pole 1 BLZF 5.08/2 SN SW - 170769



CECX-II 18-5


CAUTION! • When switching off the control, the power supply of the module must be

disconnected before or at the same time as the power supply of the CPU module. In case of non-observance the outputs of the module may have undefined states for a short time

Digital inputs and outputs are supplied separately:

Terminals 00 and 01: Supply of the 8 digital outputs

Terminals 10 and 11: Supply of the 6 digital inputs

18.4.1 Power Supply

!




!




For the processing of external digital signals, 6 digital inputs of type 1 (according to EN 61131-2: 1994) are available. They share a com-mon ground potential but are isolated for the evaluation logic. The switching status HIGH is indicated by green LEDs on the left side of the connector strip.


CECX-II 18-6


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DI0

DI1

DI2

DI3

DI4

DI5

0 V

24 V

F1



that is located on the front side. • For operation of the digital inputs the 0 V- terminal and the 24 V termi-

nal located on the front side must be connected.






CECX-II 18-7


Input diagram


CECX-II 18-8


The digital inputs DI0 and DI1 can also be used as interrupt inputs for the speedy processing of external digital signals. They share a common ground potential but are isolated for the evaluation logic. The switching status HIGH is indicated by green LEDs on the left side of the connector strip.


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DI0

DI1

DI2

DI3

DI4

DI5

Pxxxxx-xxxxx

0 V

24 V

F1




CECX-II 18-9




There are 8 digital outputs available to activate the digital actors. They share a common ground potential but are isolated for the evaluation logic. CECX-D-6E8A-PN-2: 2 A rated current at 50% coincidence The rated voltage supplying the group is 24 V DC. The switching status HIGH is indicated by orange LEDs on the left side of the connector strip.


CECX-II 18-10


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

0V

+24V

DI0

DI1

DI2

DI3

DI4

DI5

Pxxxxx-xxxxx

0 V

24 V

F1


!

CAUTION • Wrongly plugging the supply terminal blocks by one position down-

wards can lead to the destruction of the module.




LED is lit: Output HIGH

LED is dark Output LOW


CECX-II 18-11


Output diagram


Information: See chapter Fehler! Verweisquelle konnte nicht gefunden werden.. Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 18-12

18.5 Configuration





0

4

8

C

1

235679A

B DE

F 1





CECX-II 18-13

Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-D-6E8A-PN-2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 18-14




18.6.1.1 Short circuit scan not activated (default configuration)

When a short circuit occurs, all active output of the affected group are switched off, the system variables system.DOx_stat are set to TRUE and an error message is generated. If the control continues to signal a logical 1 (output switched off) there is a cyclical test to see whether the blocked outputs are still short circuited. The periodic attempts to switch on can be set via configuration entry "Error ac-knowledgement cycle time". After the short circuit has been rectified the system.Dox_stat flags are reset, information about the rectification of the error is generated, and the outputs become available again. The outputs that were not active when the short circuit occurred continue to function without any restriction. If after a short circuit another short circuit occurs on a further output, the same procedure as for existing faulty outputs applies.

18.6.1.2 Short circuit scan activated

In order to clearly identify the output that is causing the short circuit, the short circuit scan can be activated in the configuration. In this case the out-puts that were active during the short circuit are switched on in succession for approx. 10 ms and tested for a short circuit. The output affected is switched off, the system.DOx_stat - flag is set on TRUE and the output is blocked. An error message for the short-circuited output is generated. The behavior during re-activation is the same as the one described above without a short-circuit scan. After the short circuit has been rectified the system.DOx_stat flag is re-set, information about the rectification of the error is generated, and the output becomes available again.


CECX-II 18-15

18.6.2 Debouncing





CECX-II 18-16




Outputs can be shunted parallel; two outputs can be shunted parallel. This will not increase the load capacity of the digital outputs through induc-tive loads.

18.7 Disposal





CECX-II 18-17

18.8 Technical data

General





Digital inputs

Number of inputs: 6 Input type: Type 1 (according to EN 61131-2) Voltage range for HIGH: 15 V ≤ UH ≤ 30 V Voltage range for LOW: -3 V ≤ UL ≤ 5 V Filter: Configurable 500 Hz, 10 Hz Cycle time: 1 ms Status display: Green LED


Circutry: Source

Interrupt inputs

Number of inputs: 2 (DI0, DI1) of the 6 digital inputs Input type: Type 1 (according to EN 61131-2) Voltage range for HIGH: 15 V ≤ UH ≤ 30 V Voltage range for LOW: -3 V ≤ UL ≤ 5 V Filter: 12 kHz Response time of the K-Bus Inter-rupt:

50 µs

Status display: Green LED Galvanic isolation: Yes

Digital outputs

Number of outputs: 8 Rated voltage: 24 V DC Processing time: 1 ms Rated current: 2 A at 50% coincidence Protection device: Short circuit protection Max. inductive load: 1 J at max. 0.2 Hz Status display: Orange LED


Circutry: Sink


CECX-II 18-18

Interfaces

System bus interface: Parallel bus interfaces, plug-in on side

Dimensions:


32.5 mm



CECX-II 18-19




18.9.2 Standards














System manual CECX / Analog input module CECX-A-4E-V

CECX-II 19-1

19 Analog input module CECX-A-4E-V

19.1 Introduction

19.1.1 Intended use

The CECX-A-4E-V module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

19.2 Safety notes



!



!



!




CECX-II 19-2











CECX-II 19-3


The CECX-A-4E-V is an analog module for use in the CECX modular con-trol system.

19.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

+

-AI0

+

-AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

1

CECX-A-4E-V front view

1 .... 4 analog inputs



CECX-II 19-4

19.3.2 Accessories


Input/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required: 2 blocks with 8 connections 1 block with 2 connections Female connector Color Number Order no. Weidmüller 8-pole sw 2 BLZF 5.08/8 SN SW - 170775 2-pole sw 1 BLZF 5.08/2 SN SW - 170769



CECX-II 19-5


19.4.1 Connection of the shield-rail for analog signals

0001

0203

0405

0607

0809

1011

1213

1415

1617

UREF

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

Pxxxxx-xxxxx

0001

0203

0405

0607

0809

1011

1213

1415

1617

UREF

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

Pxxxxx-xxxxx

GND - connectionagainst 50 Hz field,length: max. 1 m

shield rail

STA

TC

TR

LDIA

G

SI0

0V

+24V

CA

N0

RXTX

CO

MP

AC

T F

LAS

H

USB

ETHCAN1SI1

Connection of the shield-rail for analog signals

19.4.1.1 Notes on wiring the analog lines

• Analog lines and reference voltage must be connected with a shielded cable.

• The shield rail must be connected to the GND terminal at one point.

• The shield must be placed on the shield rail as shown above.

• To attain optimum interference immunity, analog lines and reference voltage should not be laid out parallel to strong interfering lines (e.g. lines of converters for motors).


CECX-II 19-6

19.4.2 Analog inputs (single ended)

There are 4 analog inputs with 14-bit resolution available. These inputs can either be used "differentially" or "single-ended". These inputs have been designed for ratiometric measurement, and cali-bration is standardized to UREF. For further information on wiring and shielding of the analog inputs: See System manual.

!

WARNING! Unintentional switching on of a drive possible!

• If the power supply for the modules is not switched on, but a voltage is applied to the analog inputs (e.g. by the external supply of an encoder), there may still be a voltage on the analog outputs. This enables drives to be switched on even though they have not re-ceived an ON-command. Remedy: The drives must only switch after the activation of an enable output. This must only be switched on after the system startup has been completed (e.g. via the output of a digital output module)


00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

+

-AI0

+

-AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

Pxxxxx-xxxxx

shield rail

Sensor

Connection example for analog inputs (single ended)

The transducer supply Uref can provide a maximum of 20 mA. Number and selection of the sensors must take account of the maximum current.


CECX-II 19-7

Example 1:

An analog input with a resistance sensor shall be used and shall be sup-plied by the reference voltage: Iref max = 20 mA this results in an Rmin >= 500 Ω

Example 2:

All 4 analog inputs shall be used with a resistance sensor and shall be sup-plied by the reference voltage: Iref max = 20 mA this results in an Rmin >= 4 x 500 Ω = 2 kΩ


Connection diagram for analog inputs (single ended)

1 .... Sensor 2 Shield rail

Information on the hardware endpoints: See System manual.

19.4.3 Analog inputs (differential)

There are 4 analog inputs with 14-bit resolution available. These inputs can either be used "differentially" or "single-ended". For further information on wiring and shielding of the analog inputs: See System manual.


CECX-II 19-8

!




00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

Pxxxxx-xxxxx

shield rail

+-

Sensor

Connection example for analog inputs (differential)


CECX-II 19-9


Connection diagram for analog inputs (differential)




Information: See chapter EC directives and standards. Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 19-10

19.5 Configuration





01

F2

3 4 5 67

89

A

BCDE

1



On leaving the factory all modules are set to address 0 and both covers are closed. Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-A-4E-V) may have the same address switch positions.


CECX-II 19-11

The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


19.6.1 Response of the analog inputs

The input switch has a usable input voltage range of ± 10.4 V. The range +10.0 V …+10.4 V or -10.4 V... -10.0 V can be used as saturation region. The module returns concrete measurement values at the full input range of ±10.4 V. For sensor failure detection the input pins are fitted with expansion resis-tance, which in case of an open input pin will bring the analog inputs to in-put differential voltage of >10.4 V. Once the upper transducer limit value has been reached through voltages above 10.4 V the sensor failure bit will be set. If the lower transducer limit value has been undercut the sensor failure bit will be automatically reset. The expansion resistance (1 MΩ) allows the measure of approx. 30 V at the analog inputs.

19.6.2 Behavior during a fault

19.6.2.1 Module errors

In case of a module error an internal watchdog monitor will be triggered. In this case the outputs will be set to 0V, the module is reset and signals the module error to the CPU module. The CECX-A-4E-V module is no longer operative after a watchdog reset and should therefore be replaced.

19.6.2.2 Sensor failure

In case of sensor failure the expansion resistance will bring the input to an input difference voltage of > 10.3 V. The sensor failure is communicated to the CPU. Once the sensor failure has been corrected the status "Sensor failure" will be automatically reset.


CECX-II 19-12

19.7 Disposal





CECX-II 19-13

19.8 Technical data

General

Power supply voltage: 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimension: 5.08 mm Max. power consumption K Bus 24 V: 2 W Max. power consumption K Bus 5 V: 0.3 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Analog inputs

Number of inputs: 4 Type: Voltage input Resolution: 14 Bit Signal range: ± 10 V or 0 – Uref (10 V) Maximum measurement signal: ± 10.4 V Input type: Differential or single-ended Galvanic isolation: No Reference voltage output: 10 V ± 2.5 %, max. 20 mA Scan repeat cycle: 1 ms Input impedance at signal range: 10 MΩ Input filter characteristic – Order: First order Input filter characteristic – transfer impedance:

250 Hz

Converter method: Successive approximation Monotonicity without error codes: Yes Synchroneity control: ± 13.5 V Synchroneity suppression: >80 dB Value of the lowest-value Bit (LSB): 1.3 mV Maximum permitted continuous overload (without damage): ± 30 V

Typ. temp. coefficient measurement error: ± 5 ppm of FSV* / °C

Max. temp. coefficient measurement error: ± 20 ppm of FSV* / °C

Biggest error at 77.00° F: ± 0.01 % of FSV* *FSV … Scale end value

Interfaces



CECX-II 19-14

Dimensions:


32.5 mm

Weight: 132 g


CECX-II 19-15




19.9.2 Standards














System manual CECX / Analog output module CECX-A-4A-V

CECX-II 20-1

20 Analog output module CECX-A-4A-V

20.1 Introduction

20.1.1 Intended use

The CECX-A-4A-V module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

20.2 Safety notes



!



!



!




CECX-II 20-2











CECX-II 20-3


The CECX-A-4A-V is an analog module for use in the CECX modular con-trol system.

20.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17 GND

AO0

AO1

GND

AO2

AO3

NC

NC

NC

NC

NCNC

NC

NC

NC

NC

NC

NC

GND

1

CECX-A-4A-V front view

1 .... 4 analog outputs


CECX-II 20-4

20.3.2 Accessories





CECX-II 20-5



0001

0203

0405

0607

0809

1011

1213

1415

1617 GND

AO0

AO1

GND

AO2

AO3

NC

NC

NC

NC

NCNC

NC

NC

NC

NC

NC

NC

GND

0001

0203

0405

0607

0809

1011

1213

1415

1617 GND

AO0

AO1

GND

AO2

AO3

NC

NC

NC

NC

NCNC

NC

NC

NC

NC

NC

NC

GND

GND - connectionagainst 50 Hz field,length max. 1 m

shield rail

ST

AT

CT

RL

DIA

G

SI0

0V

+24V

CA

N0

RXTX

CO

MP

AC

T F

LAS

H

USB

ETHCAN1SI1



Analog lines and reference voltage must be connected with a shielded cable.

The shield rail must be connected to the GND terminal at one point.

The shield must be placed on the shield rail as shown above.

To attain optimum interference immunity, analog lines and reference voltage should not be laid out parallel to strong interfering lines (e.g. lines of converters for motors).


CECX-II 20-6

20.4.2 Analog outputs

4 analog outputs with 12-bit resolution and a voltage range of ±10 V are available.


0001

0203

0405

0607

0809

1011

1213

1415

1617 GND

AO0

AO1

GND

AO2

AO3

NC

NC

NC

NC

NCNC

NC

NC

NC

NC

NC

NC

GND

Pxxxxx-xxxxx

shield rail

Actor

IN+

IN-/GND

Connection example for analog outputs

For further information on wiring and shielding of the analog outputs: See System manual.


CECX-II 20-7


Connection diagram for analog output

1 .... Actor 2 Shield rail





CECX-II 20-8

20.5 Configuration



20.5.1.1 Setting the address


01

F2

3 4 5 67

89

A

BCDE

1



On leaving the factory all modules are set to address 0 and both covers are closed. Note Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-A-4A-V) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 20-9




In case of a module error an internal watchdog monitor will be triggered. In this case the outputs will be set to 0V, the module is reset and signals the module error to the CPU module. The CECX-A-4A-V module is no longer operative after a watchdog reset and should therefore be replaced.



20.7 Disposal





CECX-II 20-10

20.8 Technical data

General


Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimension: 5.08 mm Max. power consumption K Bus 24 V: 1.9 W Max. power consumption K Bus 5 V: 0.3 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Analog outputs

Number of outputs: 4 Type: Voltage output Resolution: 12 Bit Signal range: ± 10 V Galvanic isolation: No Conversion cycle: 1 ms Value of the lowest-value Bit (LSB): 5.32 mV Monotonicity: Yes Load resistance: ≥ 1000 Ω Highest capacitive load: ≤ 10 nF Differential non-linearity: ≤ 1 LSB Settling time at change over the full range (at ohmic load): ≤ 50 s μs

Typ. temp. coefficient analog output error: ± 20 ppm of FSV* / °C

Max. temp. coefficient analog output error: ± 30 ppm of FSV* / °C


Interfaces


Dimensions:


32.5 mm

Weight: 132 g


CECX-II 20-11




20.9.2 Standards














System manual CECX / Analog input/output module CECX-A-4E4A-V

CECX-II 21-1

21 Analog input/output module CECX-A-4E4A-V

21.1 Introduction

21.1.1 Intended use

The CECX-A-4E4A-V module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

21.2 Safety notes



!



!



!




CECX-II 21-2











CECX-II 21-3


The CECX-A-4E4A-V is an analog module for use in the CECX modular control system.

21.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

GND

+

-AI0

+

-AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND

2

1

CECX-A-4E4A-V front view

1 .... 4 analog inputs 2 4 analog outputs



CECX-II 21-4

21.3.2 Accessories





CECX-II 21-5



00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17 GND

AO0

AO1

GND

AO2

AO3

NC

NC

NC

NC

NCNC

NC

NC

NC

NC

NC

NC

GND

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

NC

NC

NC

NC

NC

GND

GND

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND

GND -connectionagainst 50 Hz field,length max. 1 m

shield rail

ST

AT

CT

RL

DIA

G

SI0

0V

+24V

CA

N0

RXTX

CO

MP

AC

T F

LAS

H

USB

ETHCAN1SI1


21.4.2 Notes on wiring the analog lines

Analog lines and reference voltage must be connected with a shielded cable.

The shield-rail must be connected to the GND-terminal.


To attain optimum interference immunity, analog lines should not be laid out parallel to strong interfering lines (e.g. lines of converters for mo-tors).


CECX-II 21-6

21.4.3 Analog inputs (single ended)

There are 4 analog inputs with 14-bit resolution available. These inputs can either be used "differentially" or "single-ended". These inputs have been designed for ratiometric measurement, and cali-bration is standardized to UREF. For further information on wiring and shielding of the analog inputs: See System manual.

!




00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

GND

+

-

AI0

+

-AI1

+

-AI2

+

-AI3

AO0

AO1

GND

AO2

AO3

GND

shield rail

Sensor

Connection example for analog inputs (single ended)


CECX-II 21-7

The transducer supply UREF can provide a maximum of 20 mA. Number and selection of the sensors must take account of the maximum current.

Example 1:

An analog input with a resistance sensor shall be used and shall be sup-plied by the reference voltage: Iref max = 20 mA this results in an Rmin >= 500 Ω

Example 2:

All 4 analog inputs shall be used with a resistance sensor and shall be sup-plied by the reference voltage: Iref max = 20 mA this results in an Rmin >= 4 x 500 Ω = 2 kΩ


Connection diagram for analog inputs (single ended)


Information on the hardware endpoints: See System manual


CECX-II 21-8

21.4.4 Analog inputs (differential)

There are 4 analog inputs with 14-bit resolution available. These inputs can either be used "differentially" or "single-ended". For further information on wiring and shielding of the analog inputs: See System manual.

!




0001

0203

0405

0607

0809

1011

1213

1415

1617

UREF

GND

GND

GND

+

-

AI0

+

-

AI1

+

-AI2

+

-AI3

AO0

AO1

GND

AO2

AO3

GND

shield rail

+-

Sensor

Connection example for analog inputs (differential)


CECX-II 21-9


Connection diagram for analog inputs (differential)




CECX-II 21-10


4 outputs with 12-bit resolution and a voltage range of ±10 V are available.





CECX-II 21-11


Connection diagram for analog output

1 .... Actorr 2 Shield rail





CECX-II 21-12

21.5 Configuration





01

F2

3 4 5 67

89

A

BCDE

1



On leaving the factory all modules are set to address 0 and both covers are closed. Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-A-4E4A-A) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against pollution and damage through electrostatic discharge on contact).


CECX-II 21-13



The input switch has a usable input voltage range of ± 10.4 V. The range +10.0 V …+10.4 V or -10.4 V... -10.0 V can be used as saturation region. The module returns concrete measurement values at the full input range of ±10.4 V. For sensor failure detection the input pins are fitted with expansion resis-tance, which in case of an open input pin will bring the analog inputs to in-put differential voltage of >10.4 V. Once the upper transducer limit value has been reached through voltages above 10.4 V the sensor failure bit will be set. If the lower transducer limit value has been undercut the sensor failure bit will be automatically reset. The expansion resistance (1 MΩ) allows the measure of approx. 30 V at the analog inputs.



In case of a module error an internal watchdog monitor will be triggered. In this case the outputs will be set to 0V, the module is reset and signals the module error to the CPU module. The CECX-A-4A-V module is no longer operative after a watchdog reset and should therefore be replaced.




CECX-II 21-14

21.7 Disposal





CECX-II 21-15

21.8 Technical data

General





Analog inputs

Number of inputs: 4 Type: Voltage input Resolution: 14 Bit Signal range: ± 10 V or 0 – Uref (10 V) Maximum measurement signal: ± 10.4 V Input type: Differential or single-ended Galvanic isolation: No Reference voltage output: 10 V ± 2.5 %, max. 20 mA Scan repeat cycle: 1 ms Input impedance at signal range: 10 MΩ Input filter characteristic – Order: First order Input filter characteristic – transfer impedance:

250 Hz

Converter method: Successive approximation Monotonicity without error codes: Yes Synchroneity control: ± 13.5 V Synchroneity suppression: >80 dB Value of the lowest-value Bit (LSB): 1.3 mV Maximum permitted continuous overload (without damage): ± 30 V

Typ. temp. coefficient measurement error: ± 5 ppm of FSV* / °C




CECX-II 21-16

Analog outputs

Number of outputs: 4 Type: Voltage output Resolution: 12 Bit Signal range: ± 10 V Galvanic isolation: No Conversion cycle: 1 ms Value of the lowest-value Bit (LSB): 5.32 mV Monotonicity: Yes Load resistance: ≥ 1000 Ω Highest capacitive load: ≤ 10 nF Differential non-linearity: ≤ ± 1 LSB Settling time at change over the full range (at ohmic load): ≤ 50 s μs

Typ. temp. coefficient analog output error: ± 20 ppm of FSV* / °C



Interfaces


Dimensions:


32.5 mm

Weight: 135 g


CECX-II 21-17




21.9.2 Standards














System manual CECX / Analog input/output module CECX-A-4E4A-A

CECX-II 22-1

22 Analog input/output module CECX-A-4E4A-A

22.1 Introduction

22.1.1 Intended use

The CECX-A-4E4A-A module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

22.2 Safety notes



!



!



!




CECX-II 22-2











CECX-II 22-3


The CECX-A-4E4A-A is an analog input/output module with 4 analog power inputs and 4 analog power outputs.

22.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

NC

GND

GND

GND

+

-AI0

+

-AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND

2

1

CECX-A-4E4A-A front view

1 .... 4 analog power inputs 2.....4 analog power outputs



CECX-II 22-4

22.3.2 Accessories





CECX-II 22-5



0001

0203

0405

0607

0809

1011

1213

1415

1617

NC

GND

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND


shield rail

ST

AT

CT

RL

DIA

G

SI0

0V

+24V

CA

N0

RXTX

CO

MP

AC

T F

LAS

H

USBSer.No.Pxxxxx-xxxxx

ETHCAN1SI1


22.4.2 Notes on wiring the analog lines

• Analog lines and reference voltage must be connected with a shielded cable.

• The shield rail must be connected to the GND terminal at one point.

• The shield must be placed on the shield rail as shown above.

• To attain optimum interference immunity, analog lines and reference voltage should not be laid out parallel to strong interfering lines (e.g. lines of converters for motors).


CECX-II 22-6

22.4.3 Analog inputs

There are 4 analog inputs with 14-bit resolution available. For further information on wiring and shielding of the analog outputs: See System manual.

!




0001

0203

0405

0607

0809

1011

1213

1415

1617

NC

GND

GND

GND

+

-

AI0

+

-

AI1

+

-AI2

+

-AI3

AO0

AO1

GND

AO2

AO3

GND

shield rail

Iout

Sensor0 - 20 mA or4 - 20 mA

Connection example for analogue inputs


CECX-II 22-7


Connection diagram analog inputs




CECX-II 22-8


4 analog outputs with 12-bit resolution and a voltage range of ±10 V are available.


0001

0203

0405

0607

0809

1011

1213

1415

1617

NC

GND

GND

GND

+

-

AI0

+

-

AI1

+

-AI2

+

-AI3

AO0

AO1

GND

AO2

AO3

GND

shield rail

Actor




CECX-II 22-9


Connection diagram for analog outputs

1 .... Actor 2 Shield rail





CECX-II 22-10

22.5 Configuration





0

4

8

C

1

235679A

B DE

F 1



On leaving the factory all modules are set to address 0 and both covers are closed. Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-A-4E4A-A) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 22-11



The input switch has a usable input range from -0.8 mA – 20.8 mA. The range -0.8 mA … 0 mA and/or 20 mA …20.8 mA is available as satura-tion range.



In case of a module error an internal watchdog monitor will be triggered. In this case the outputs will be set to 0 mA, the module is reset and signals the module error to the CPU module. The CECX-A-4E4A-A module is no longer operative after a watchdog reset and should therefore be replaced.


If the module is configured for an input range from 4 – 20 mA, the range from 0 – 4 mA is used for the sensor failure monitoring. The response thre-shold of the sensor failure is at 2 mA, if the incoming current falls below this response threshold, a sensor failure is triggered and transmitted to the CPU. Once the sensor failure has been corrected the status "Sensor failure" will be automatically reset.


CECX-II 22-12

22.7 Disposal





CECX-II 22-13

22.8 Technical data

General

Supply voltage logic: 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimensions 5.08 mm Ratings 24V at K-Bus: 3.6 W Ratings 5V at K-Bus: 0.3 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Analog inputs

Number of inputs: 4 Type: Current input Signal range: 0 – 20 mA or 4 – 20 mA Maximum measurement signal: -0.8 mA to 20.8 mA Input type: Differential Galvanic isolation: No Scan repeat cycle: 1 ms Input impedance at signal range: < 200 Ω Input filter characteristic: First order (Order) Input filter characteristic: 250 Hz (Transition impedance) Digital resolution: 14 Bit Transformation method: Successive approximation Monotonicity without error codes: Yes Synchroneity control: ± 13.5 V Synchroneity suppression: >80 dB Value of the lowest-value Bit (LSB): 1.35 μA Maximum permitted continuous overload: ± 30 V

(without damage) Typ. temp. coefficient measurement error: ± 5 ppm of FSV* / °C


Biggest error at 25° C: ± 0,01% of FSV* *FSV … Scale end value


CECX-II 22-14

Analog outputs

Number of outputs: 4 Type: Current output Signal range: 0 – 20 mA Galvanic isolation: No Conversion cycle: 1 ms Digital resolution: 12 Bi Value of the lowest-value Bit (LSB): 5.39 μA Monotonicity: Yes Load resistance: ≤ 600 Ω Differential non-linearity: ≤ ± 1 LSB Settling time at change over ≤50 μs the full range (at ohmic load): Typ. temp. coefficient analog output error: ± 20 ppm of FSV* / °C


Biggest error at 25° C: ± 0.15% of FSV* * FSV … Scale end value

Interfaces


Dimensions:


32.5 mm

Weight: 135 g


CECX-II 22-15




22.9.2 Standards














System manual CECX / Temperature module CECX-E-4E-T-P1

CECX-II 23-1

23 Temperature module CECX-E-4E-T-P1

23.1 Introduction

23.1.1 Intended use

The CECX-E-4E-T-P1 module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

23.2 Safety notes



!



!



!




CECX-II 23-2






The device is defined as "open type equipment" and must therefore be installed in a control cabinet.





CECX-II 23-3


The CECX-E-4E-T-P1 is a temperature module for use in the CECX modu-lar control system. The CECX-E-4E-T-P1 module allows direct connection of PT100 resistance sensors. Up to 4 temperature measurement modules can be operated in 2- or 4-conductor technique.

23.3.1 Front view

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

IRF0

GND

IRF1

+

-

TI1

+

-TI0

GND

IRF2

GND

IRF3

+

-TI3

+

-TI2

GND

GND

GND

CECX-E-4E-T-P1 front view



CECX-II 23-4

23.3.2 Accessories


Input-/output signals: Standard male connectors with grid dimension 5.08 mm The following female connectors are required for the CECX-E-4E-T-P1: 2 blocks with 8 connections 1 block with 2 connections

Socket board CECX-E-4E-T-P1 Order no. Weidmüller 8-pole 2 BLZF 5.08/8 SN SW - 170775 2-pole 1 BLZF 5.08/2 SN SW - 170769



CECX-II 23-5



0001

0203

0405

0607

0809

1011

1213

1415

1617

IRF0

GND

IRF1

+

-TI1

+

-TI0

GND

IRF2

GND

IRF3

+

-

TI3

+

-TI2

GND

GND

GND


shield rail



Analog lines and reference current must be connected with a shielded cable.

The shield-rail must be connected to the GND-terminal.

Lines must be shielded (shield connection to GND-potential at both ends).


To attain optimum interference immunity, analog lines should not be laid out parallel to strong interfering lines (e.g. lines of converters for mo-tors).


CECX-II 23-6

23.4.2 Temperature inputs

4 measurement inputs are available for the PT100 resistance sensors. These can be operated in 2- or 4-conductor technique. The resolution of the measuring procedure on the inputs is 14 Bit. Each of these inputs is equipped with sensor failure monitoring.

23.4.2.1 Connection example (2-conductor measurement)

0001

0203

0405

0607

0809

1011

1213

1415

1617

IRF0

GND

IRF1

+

-TI1

+

-TI0

GND

IRF2

GND

IRF3

+

-

TI3

+

-

TI2

GND

GND

GND

shield rail

Connection example for 2 conductor measurement

With the 2-conductor measurement the reference current is applied via two wire straps. The measurement result is influenced by the line resistance.


CECX-II 23-7

23.4.2.2 Connection example (4-conductor measurement)

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

IRF0

GND

IRF1

+

-TI1

+

-

TI0

GND

IRF2

GND

IRF3

+

-TI3

+

-TI2

GND

GND

GND

shield rail

Connection example for 4 conductor measurement

With the 4-conductor measurement the reference current is directly applied at the sensor. This way the line resistance has no influence on the meas-urement result.


IREF

GND

shield railGND

GND

GND

TI0

+

-

+

GND GND

LogicADC-

Measurement input, 2 conductor technique


CECX-II 23-8

IREF

GND

shield railGND

GND

GND

TI0-

+

GND GND

LogicADC-

+

Measurement input, 4 conductor technique




CECX-II 23-9

23.5 Configuration


The modules are addressed via the address switch. A maximum of 12 modules of the same type can be distinguished on one line. The address switch is located on the right side and underneath the lower cover. The K-Bus plug is located underneath the upper cover.



On leaving the factory all modules are set to address 0 and both covers are closed. Note Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-E-4E-T-P1 and CECX-C-2G2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 23-10


23.6.1 Response by the measurement inputs

Internally the CECX-E-4E-T-P1 measures the temperature value every 1 ms. The sliding mean value from the last 100 measurements (100 ms) is calculated every 2 ms. This value is available for the application at the hardware end point sys-tem.TI0.



In case of a module error an internal watchdog monitor will be triggered. The module signals the module error to the CPU module. The CECX-E-4E-T-P1 module is no longer operative after a watchdog reset and should therefore be replaced.


The module identifies both a failure in the measurement line, as well as in the reference currency line. The sensor failure is communicated to the CPU Once the sensor failure has been corrected the status "Sensor failure" will be automatically reset.

23.7 Disposal





CECX-II 23-11

23.8 Technical data

General




Operating temperature: +5 °C to +55 °C Storage temperature: -40 °C to +70 °C Relative humidity of air: 10 % to 95 % (non condensing) Vibration resistance: according to IEC 61131-2:2007 Shock resistance: according to IEC 61131-2:2007

Temperature inputs

Number: 4 Sensor type: PT100 Resolution: 14 Bit Measurement ranges: -100 °C to 850 °C Linearization method: Internal Input type: 4-conductor or 2-conductor measurement Galvanic isolation: No Calibration: Yes Sensor failure detection: Yes Constant current output: 600 μA (each type) Scan repeat cycle: 2 ms Input impedance at signal range: 10 MΩ Input filter characteristic – order: First order Input filter characteristic – transition frequency:

15 Hz

Transformation method: Successive approximation Monotonicity without error codes: Yes Synchroneity control: ≤ 13.5 V Synchroneity suppression: >80 dB Value of the lowest-value Bit (LSB): 0.058 °C Maximum permitted continuous over-load (without damage): ≤ 30 V

Typ. temp. coefficient measurement error: ≤ 10 ppm of FSV* / °C

Max. temp. coefficient measurement error: ≤ 40 ppm of FSV* / °C

Biggest error at 77.00° F: ≤ 0.02 % of FSV* / °C Mean value formation: Sliding mean value formation over 100 ms

*FSV … Scale end value

Interfaces



CECX-II 23-12

Dimensions:


32.5 mm

Weight: 135 g


CECX-II 23-13




23.9.2 Standards















CECX-II 24-1

24 Temperature module CECX-E-6E-T-P2

24.1 Introduction

24.1.1 Intended use

The CECX-E-6E-T-P2 module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

24.2 Safety notes



!



!



!




CECX-II 24-2






The device is defined as an "open type equipment" so that it must be installed in a control cabinet.





CECX-II 24-3


The CECX-E-6E-T-P2 is a temperature measurement module for use in the CECX modular control system with inputs for 6 thermocouples.

24.3.1 Front view

+

-TI0

+

-TI1

+

-TI2

+

-TI3

+

-TI4

+

-TI5

1

2

CECX-E-6E-T-P2 front view

1 6 temperature inputs TI0 ... TI5 2 Sensor interface (optional)



CECX-II 24-4

24.3.2 Accessories

24.3.2.1 TE 220/A terminal temperature sensor (option)

The terminal temperature sensor TE 220/A is used for the external cold junctioncompensation. It must be used when the temperature lines have in-termediate connections with Cu-wires.

View TE 220/A


The temperature measurement inputs of the CECX-E-6E-T-P2 are designed as male connectors with gold contacts, with grid dimension of 5.08 mm. As counterpart, female connectors with gold contacts (e.g. 2 blocks with each 6 connections from Weidmüller) are therefore required.

Socket board CECX-E-6E-T-P2 Order no. Weidmüller 6-pole 2 BLZF 5.08/6 SN SW - 170773



CECX-II 24-5


24.4.1 Temperature inputs

There are 6 isolated measuring inputs available for thermocouples. The following thermocouples can be connected to these inputs in both iso-lated and in non-isolated configurations:

Type J (Fe-CuNi) according to IEC 548-1 The following measuring range is available: Measuring point temperature -100 °C to 700 °C

Type K (NiCr-Ni) according to IEC 548-1 The following measuring range is available: Measuring point temperature -100 °C to 1,000 °C

The thermocouple type must be software-configured. Information A thermocouple type that is incorrectly entered in the configuration can cause measurement errors! The resolution of the measuring procedure on the inputs is 14 Bit. Each of these inputs is equipped with sensor failure monitoring. If the measuring range is undercut, a sensor failure is output. The cold junction compensation can be made internally or externally. All inputs are isolated against the logic and against one another. The terminals are fitted with gold contacts. Consequently, the plugs are used must have gold contacts.


CECX-II 24-6


Connection example for measuring input

1 ... 6 inputs for thermocouples 2 ... Sensor interface (see chapt. 'Measuring with external compensation)


TI

TI0

+

-

U

f

GND_EXT0

GND

TI5

+

-

U

f

GND_EXT5

1

Temperature input diagram

1 ... Counter and Logic


CECX-II 24-7

24.4.1.3 Extension of the thermocouple line

Extension using thermo-compensation line:

If the signal line to the thermocouple has to be extended, the thermo-compensation line used must be made from the appropriate material to the thermocouple. If an interim terminal is required, appropriate plug-in terminal systems must be used for the thermocouples. Information With thermo compensation lines, the possible temperature measurement range can be reduced (e.g. to 0°C to 200°C).

Extension with Cu-wire:

If no thermocompensation line is used, and the line coming from thermo-couple is extended with Cu-wire, then a temperature measurement sensor (TE 220/A) must be used, to avoid large measurement deviations. See chapt. "Measurements with external compensation".

24.4.2 Interface for temperature measurement sensor (SENSOR)

For measurement with external compensation the temperature measure-ment sensor TE 220/A must be used.

24.4.2.1 Connection

SE

NS

OR

Data cable CAT5

Connection of a temperature measurement sensor (TE 220/A)

24.4.2.2 Cable specification

To connect temperature measurement sensor with the temperature meas-urement module a shielded, non-crossed (1:1 connection) data cable of category CAT5 must be used.

24.4.2.3 Plug specification

RJ45 connector, modular 8-pole plug, shielded. The cable shielding must be connected plane with the shield cover of the plug. An additional connection of the shield and the ground (GND) is not necessary.


CECX-II 24-8




CECX-II 24-9

24.5 Configuration


The modules are addressed via the address switch. A maximum of 12 modules of the same type can be distinguished on one line. The address switch is located on the right side and underneath the lower cover. The K-Bus plug is located underneath the upper cover.

01

F2

3 4 5 67

89

A

BCDE

1



On leaving the factory all modules are set to address 0 and both covers are closed. Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 24-10

24.6 Functional description

24.6.1 General functions for measuring temperatures with thermocouples

24.6.1.1 Principle of temperature measurements

θw

Cu

Cu

Uθ

θu

U θ = ( θw - θ u ) . k

k... [μV/K]

.NiCr

Ni

Temperature measurement

The thermocouple supplies (active) a voltage Uθ, which depends on the temperature difference between the measuring point (w) and the compari-son point (u, terminal). k is the temperature coefficient of the thermocouple. It is dependent on the material and the temperature. Therefore a change in the thermo-voltage is not proportional to the temperature change. The soft-ware executes the linearization. To enable evaluation of the temperature at the measuring point, the tem-perature of the comparison point must be known. The latter is measured by a terminal temperature sensor that is integrated into the module.

24.6.1.2 Temperature data sampling

TI0

+

-

U

f

GND_EXT0

Zähler+

Logik

GND

Block diagram

The thermo voltage at the input terminals is amplified and converted into a proportional frequency in the voltage-to-frequency converter. The meas-urement period lasts 100 ms. Due to the integrating measurement procedure used, any interference that occurs at the AC line -frequency (50 Hz, 60 Hz) is filtered out.


CECX-II 24-11

100 ms

60 Hz

50 Hz

Line frequency

24.6.2 Operating modes

You can select between the following configurable operating modes:

Thermocouple measurement with internal cold junction compensation (standard application as factory setting).

Thermo-voltage operation with external cold junction compensation.

24.6.2.1 Measurements with internal compensation

With this measuring process, the thermocouple is connected directly or via a thermo-compensation line to the temperature measurment module. The compensation of the terminal temperature is achieved with an internal tem-perature measurement sensor. The measurement value is linearized and forwarded to the CPU in °C.

No temperature measurement sensor must be connected to the sensor interface.

Information: To ensure the highest possible accuracy it is recommended to install the CECX-E-6E-T-P2 in a calm air environment and away from power electron-ics, heating and ventilation elements.

24.6.2.2 Measurements with external compensation

In case the thermocouple wires are extended with Cu-wires, the tem-perature of the terminal point (point of comparison) must be measured with the temperature measurement sensor TE 220/A.


CECX-II 24-12

In this case, all temperature inputs must be attached at one terminal point, because by using a TE 220/A all channels are operated with ex-ternal terminal temperature compensation.

The measurement value is linearized and forwarded to the CPU in°C. With the optimized positioning of the external sensor a better measuring accuracy can be reached, as with internal compensation. Information: To ensure highest exactness it is recommended • to install the terminal point and thus the TE 220/A in a calm air environ-

ment and away from power electronics, heating and ventilation ele-ments,

• to mount the temperature measurement sensor close by the terminal point.

The temperature measurement sensor must be fixed with cable binder or attached via adherents. Maximum cable length for the data cable is 10 m.

SE

NS

OR

+

-TI0

+

-TI1

+

-TI2

+

-TI3

+

-TI4

+

-TI5

TE 220

1 2 3

4

5

Measuring environment for external compensation

1 ... Cu-wire (extension) 2 ... terminal point 3 ... Thermocouple wires 4 ... temperature measurement sensor 5 ... Data cable (SENSOR)


CECX-II 24-13


24.7.1 Operating mode of the module

24.7.1.1 Response to module errors

The CECX-E-6E-T-P2 is monitored via a watchdog that is triggered at a module error. The activation of the watchdog will be forwarded to the CPU- or bus link module.

24.7.1.2 Response to sensor failure

The sensor failure is recognized by the firmware. An appropriate message is issued to the application. Information The sensor failure is either triggered by a cable break in the thermocouple line or by a measurement value less than –100 °C. In the case of configured thermocouples that are not connected, a sensor failure is indicated at this input.

24.8 Disposal





CECX-II 24-14

24.9 Technical data

General


Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimensions 5.08 mm Max. power consumption K Bus 24 V: CECX-E-6E-T-P2: 1.6 W Max. power consumption K Bus 5 V: CECX-E-6E-T-P2: 0.6 W



Temperature inputs

Number of inputs: 3 Diagnosis: Sensor failure detection

Galvanic ilolation: Yes, for control electronics and between inputs Electric strength: 707 V DC

Resolution of the measurement proc-ess:

14 Bit

Thermocouple types: J, K

Measurement ranges: Type J (Fe-CuNi): -100 °C to +700 °C, Linearization according to IEC 548-1

Type K (NiCr-Ni): -100 °C to +1000 °C Linearization according to IEC 548-1

Measurement principle: integrating Measuring time: 100 ms Input resistance: > 10 kΩ

Connections: Plug-in connection terminals, gold-plated contacts, nominal cross section: 1.5 mm2

Intrinsic deviation: ± 1.0 °C max. absolute measurement deviation at 25 °C ambient temperature at the module 1) over the entire measuring range (± 0.5 °C typical)

Error temperature measurement sensor: ± 1.0 °C max. absolute measurement deviation at 0 °C to 70 °C ambient temperature (± 0.5 °C typical)

Operational deviation: ± 1.5 °C max. absolute measurement deviation at 0 °C to 55 °C ambient temperature at the module 1) over the entire measurement range (± 1.0 °C typical)

Thermal settling time: The measurement result is stable after 20 min and is within the specified tolerances.

Error at external compensation with TE 220/A:

With the optimized positioning of the external sensor TE 220/A, the error of the measurement system can be mini-mized to ± 0.5 °C.

1) discounting external parasitic couplings

Interfaces



CECX-II 24-15

Dimensions:


32.5 mm

Weight: 142 g


CECX-II 24-16




24.10.2 Standards














System manual CECX / PROFIBUS Master interface module CECX-F-PB-V1

CECX-II 25-1

25 PROFIBUS Master interface module CECX-F-PB-V1

25.1 Introduction

25.1.1 Intended use

The CECX-F-PB-V1 module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

25.2 Safety notes



!



!



!




CECX-II 25-2











CECX-II 25-3


The CECX-F-PB-V1 is a Profibus master module with the Profibus func-tionality according to DPV-1. The connection occurs via K-Bus.

25.3.1 Front view

PR

OF

IBU

S

RUN

STA

RDY

ERR

CECX-F-PB-V1 front view



CECX-II 25-4


25.4.1 Ready LED (RDY)

State Function Illuminated yellow Device is ready. Blinking yellow with 5 Hz Firmware download being executed. Blinking yellow with 1 Hz Device waiting on firmware download. Blinking yellow irregularly

Severe hardware or system error detected.

Dark Supply voltage missing or hardware defect.

25.4.2 Communication LED (RUN)

State Function

Illuminated green Communication running, at least one connection to a con-figured participant is present.

Blinking green with 5 Hz (ERR LED off)

No error in the communication, communication stopped.

Blinking green with 5 Hz (ERR LED illuminated)

Ready for communication but no connection to a participant present.

Blinking green irregularly

During start-up: Missing or faulty configuration, start-up required. During the operation: Watchdog time error

Dark No communication

25.4.3 Bus error LED (ERR)

State Function Illuminated red (STA LED off)

Short-circuit detected

Illuminated red (STA LED lights up):

Device has a communication problem to at least one PROFIBUS DP slave participant

Dark No error

25.4.4 Status LED (STAT)

State Function

Illuminated yellow Device holds the PROFIBUS token and can transmit tele-grams

Blinking yellow irregularly

Device is in PROFIBUS ring and shares the token with other PROFIBUS master devices

Dark Device is not configured or has not received the Token and is thus not in the PROFIBUS network


CECX-II 25-5


25.5.1 PROFIBUS interface


D-SUB 9-pinmale connector

+5 V

GND

6385

390E

215E

390E

390E

215E

390E

6385

+5 V

GND

A-line

B-line

GND


1

5

6

9

1

5

6

9

frontview

frontview

Connection cable with connection plug for PROFIBUS-DP


PROFIBUS D-SUB male connector, front view

PIN no. Name Additional information 3 RS-485-A: B-line 5 GND Galvanic isolation 6 +5V Galvanic isolation 8 RS-485-A: A-line


The bus line is specified according to IEC 50170 as cable type A with the following properties: Type: Twisted pair cable, shielded Characteristic impedance: 135 Ω - 165 Ω Capacity load: < 30 pF/m Loop impedance: 110 Ω/km


CECX-II 25-6

Wire dimensions: 0.64 mm Wire cross section: > 0.35 mm2

25.5.1.4 Cable length

The specified line parameters result in the following lengths for the bus segment (max. 32 participants per segment):

Baud rate (kBit/s)

Max. length (m)

9.6 1200 19.2 1200 45.45 1200 93.75 1200 187.5 1000 500 400

1500 200 3000 100 6000 100 12000 100


To establish connection with the plug, the following shielded plug is rec-ommended: Phönix plug SUBCON-PLUS-PROFIB/AX/SC Material number: 2744380

25.5.1.6 Bus termination

To ensure smooth operations, the PROFIBUS line must be terminated on either end. When using a plug designed for PROFIBUS the termination can be switched on/off via a switch at the connector shell.

PR

OF

IBU

S -

pa

ritic

ipan

t

Bus termination active( switch ON )

Bus termination inactive( switch OFF )

PR

OF

IBU

S -

pa

ritic

ipan

t

PR

OF

IBU

S -

pa

ritic

ipan

t


Connection example of profibus cabling with 3 participants


CECX-II 25-7

Information Plugs with active bus terminating board must be plugged to modules, be-cause otherwise there would be no 5V-supply for the terminating resistors. The plug must not remain unconnected.



25.6 Configuration

For configuration of the module, please see CoDeSys help under 'Configu-ration of PROFIBUS modules'.


Since only one CECX-F-PB-V1 may be added to a CP module, no address setting is required.


25.7.1 Start-up after Power-On

The module is passive and is configured and activated through the HOST.

25.7.2 Error response

In case of error, the module will transmit telegrams, if it is still able to do so, to the HOST and signals the status via the bus error LED. See chapter 25.4 Operating elements and displays


CECX-II 25-8

25.8 Disposal





CECX-II 25-9

25.9 Technical data

General

Power supply voltage: 24 V from K-Bus 5 V from K-Bus

Equipment class: III according to EN 61131-2

Displays on the front panel: Ready LED (RDY), Communication LED (RUN), Bus error LED (ERR) and Status LED (STAT)

Max. number of cecx-F-PB-V1 to be operated at one CP module:

1

Max. power consumption K Bus 24 V: 2.5 W Max. power consumption K Bus 5 V: 0.6 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



PROFIBUS-DP Interface

Data transmission rates: 9.6 kBit/s to 12 Mbit/s Max. cable length: 100 m (at 12 Mbit/s) up to 1200 m (at 9.6 kBit/s) Galvanic isolation: Yes, signaling lines

Dimensions:


32.5 mm

Weight: 140 g


CECX-II 25-10




25.10.2 Standards














System manual CECX / PROFIBUS Slave interface module CECX-F-PB-S-V1

CECX-II 26-1

26 PROFIBUS Slave interface module CECX-F-PB-S-V1

26.1 Introduction

26.1.1 Intended use

The CECX-F-PB-S-V1 module was developed for control applications in in-dustrial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

26.2 Safety notes



!



!



!




CECX-II 26-2






• The module is defined as "open type equipment" (UL508) or as

"offenes Betriebsmittel" (EN 61131-2) and must therefore be installed in a control cabinet.

• The system manual is additionally required for programming of the module.




CECX-II 26-3


The CECX-F-PB-S-V1 module is used to connect the modular control sys-tem CECX to the PROFIBUS-DP as slave participant.

26.3.1 Front view

STATUS

BUS FAULT

PR

OF

IBU

SA

DR

ES

SOFF ON

0

12

3

45

6

CECX-F-PB-S-V1 front view

1 Bus connection 2 Address switch for PROFIBUS-address



CECX-II 26-4


26.4.1 Status LED (STATUS)

Color Function Orange Start-up Green Firmware is in status "RUN" Flashing red Fatal error

Flashing green (approx. 2 Hz) The superior system (Profibus Master) has signaled a Reset and is still in Reset status.

Flashing green (approx. 4 Hz) The set address is invalid (> 125)

26.4.2 Bus error LED (BUS FAULT)

Color Function

Dark Device is exchanging data with the DP-master (Data-Exchange status)

Red No Baud rate or no master identified

Flashing red (approx. 4 Hz) Device has identified the Baud-rate, but is not ad-dressed by the master. The device was not or wrongly projected by the master.

26.4.3 DIP-switch for PROFIBUS-address

The PROFIBUS-station address is set via the DIP-switch. PROFIBUS supports the address range 3 … 125. A change of the PROFIBUS-station address via the DIP-switch cannot occur during running operation. Only after the CPU has been restarted will the changed station address become effective.

OFF ON

20

21

22

23

24

25

26

nc

1: * 0 = +02: * 0 = +04: * 1 = +48: * 0 = +0

16: * 0 = +032: * 0 = +064: * 0 = +0

= 4

Example for the setting of the PROFIBUS-station address


CECX-II 26-5


26.5.1 PROFIBUS interface



+5 V

GND

6385

390E

215E

390E

390E

215E

390E

6385

+5 V

GND

A-line

B-line

GND


1

5

6

9

1

5

6

9

frontview

frontview

Connection cable with connection plug for PROFIBUS-DP


PROFIBUS D-SUB male connector, front view

PIN-No. Name Additional information 3 RS-485-A: B-line 5 GND Galvanic isolation 6 +5V Galvanic isolation 8 RS-485-A: A-line


The bus line is specified according to IEC 50170 as cable type A with the following properties: Type: Twisted pair cable, shielded Characteristic impedance: 135 Ω - 165 Ω Capacity load: < 30 pF/m Loop impedance: 110 Ω/km Wire dimensions: 0.64 mm Wire cross section: > 0.35 mm2


CECX-II 26-6

26.5.1.4 Cable length

The specified line parameters result in the following lengths for the bus segment (max. 32 participants per segment):

Baud rate (kBit/s)

Max. length (m)

9.6 1200 19.2 1200 45.45 1200 93.75 1200 187.5 1000 500 400

1500 200 3000 100 6000 100 12000 100


To establish connection with the plug, the following shielded plug is rec-ommended: Phönix plug SUBCON-PLUS-PROFIB/AX/SC Material number: 2744380

26.5.1.6 Bus termination

To ensure smooth operations, the PROFIBUS line must be terminated on either end. When using a plug designed for PROFIBUS the termination can be switched on/off via a switch at the connector shell.

PR

OF

IBU

S -

par

itici

pant


Bus termination inactive( switch OFF )

PR

OF

IBU

S -

par

itici

pant

PR

OF

IBU

S -

par

itici

pant


Connection example of profibus cabling with 3 participants


CECX-II 26-7

Information Plugs with active bus terminating board must be plugged to modules, be-cause otherwise there would be no 5V-supply for the terminating resistors. The plug must not remain unconnected.




CECX-II 26-8

26.6 Configuration

For configuration of the module, please see CoDeSys help under 'Configu-ration of PROFIBUS modules'.


Since only one CECX-F-PB-S-V1 may be added to a CPU module, no ad-dress setting is required.

26.7 7 Operating behavior



26.7.2 Error response

Any module error is indicated by the STATUS-LED. Possible errors: See chapter 26.4.1 Status LED (STATUS).

26.7.3 Watchdog

The CECX-F-PB-S-V1 has a internal watchdog. The process data must be collected by the PROFIBUS-master within 50 ms. That implies a maximum cycle time of 50 ms.

26.8 Disposal





CECX-II 26-9

26.9 Technical data

General

Power supply voltage: 24 V from K-Bus 5 V from K-Bus

Equipment class: III in accordance with IEC 61131-2 Displays on the front panel: STATUS LED and BUSFAULT LED Max. number of modules to be oper-ated at one CP module:

1

Max. power consumption K Bus 24 V: 0 W Max. power consumption K Bus 5 V: 1.4 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



PROFIBUS-DP Interface

Data transmission rates: 9.6 kBit/s to 12 Mbit/s Max. cable length: 100 m (at 12 Mbit/s) up to 1200 m (at 9.6 kBit/s) Galvanic isolation: Yes, signaling lines

Dimensions:


32.5 mm

Weight: 140 g


CECX-II 26-10




26.10.2 Standards














System manual CECX / Incremental encoder interface module CECX-C-2G2

CECX-II 27-1

27 Incremental encoder interface module CECX-C-2G2

27.1 Introduction

27.1.1 Intended use

The CECX-C-2GC module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

27.2 Safety notes



!



!



!




CECX-II 27-2





27.2.2 General safety instructions






CECX-II 27-3


The CECX-C-2G2 is an incremental encoder interface module for the CECX modular control system with 2 incremental encoder inputs. It has two latch inputs for recording events.

27.3.1 Front view

INC

0IN

C1

0V

+24V

DI0

DI1

00

01

02

03 2

1

3

4

CECX-C-2G2 front view

1 Voltage supply 2 2 latch inputs 3 Encoder input 0 4 Encoder input 1

Information • The incremental interface module CECX-C-2G2 is not designed for

drive control. • The type plate is stored on the module in an EEPROM and can be read

out by the application.


CECX-II 27-4

27.3.2 Accessories


Input/output signals: Standard male connectors with grid dimension 5.08 mm. The following female connector are required: 1 block with 2 connections (module supply) 1 block with 2 connections (latch inputs) Female connector Color Number Order no. Weidmüller 2-pole sw 2 BLZF 5.08/2 SN SW - 170769



CECX-II 27-5


27.4.1 Power supply

!




!



27.4.1.1 Module supply

The module is supplied by the CPU via K-Bus. The max. permitted fuse is 10A. (recommended fuse protection: circuit line breaker LSS 10A – type B).

27.4.1.2 Supply for connected transducers

The CECX-C-2G2 provides a 24 V and 5 V supply voltage for the con-nected incremental encoders. Power supply is via the 24 V terminal at the front. The 24 V are looped through secured, in addition, 5 V are generated inter-nally from the 24 V that are fed in. The 5 V transducer supply can carry loads of up to 100 mA each.

27.4.2 Latch inputs

The latch inputs can be operated in 2 operating modes:

as SINK input

as SOURCE input

The configuration is carried out by software.


CECX-II 27-6


SINK input: SOURCE input:

Connection example for latch inputs


Input diagram latch input (SINK configuration)


CECX-II 27-7

Input diagram latch input (SOURCE configuration)

27.4.3 Encoder interface

The module is connected to the encoder via a 9-pole DSUB socket of the module. The encoder inputs can be operated in 2 operating modes:

5 V differential

24 V single-ended

The configuration is carried out by software. Information If only one encoder is used, it must be connected to the upper interface (INC0).

Mode: 5 V differential

The specifications from chapter "General information about interfaces" are to be adhered to. The specifications from the system manual on the topic Interfaces RS-485/422 are to be observed.

Mode: 24 V single-ended

Wiring can be unshielded.

Lines of an encoder input not to be laid out in separately.


CECX-II 27-8

Ground (collar of shield of DSUB socket or Pin 1 of DSUB socket) must be laid out together with other lines, routed to the respective encoder and used as reference voltage of the encoder signal there.


INC

0IN

C1

0V

+24V

DI0

DI1

0001

0203

track A

track Btrack 0

0 V

24 V

Incrementalencocer

RS

42

2In

terf

ace

5VGND

24V

In

terf

ace

24VGND

10 A

Incrementalencocer

track A

track Btrack 0

Connection example, encoder inputs with transducer supply and latch

INC0 is connected to a transducer via a 5V differential interface. The transducer is supplied with 5V operating voltage via the CECX-C-2G2.

INC0 is connected to a transducer with 24V interface. The transducer is also supplied by the CECX-C-2G2.

The latch function is used for both transducers. The latch inputs are configured to Sink.


CECX-II 27-9


5

16

9 A+

B+

0+

24V

GND

A-

B-

0-

5V

Assignment Encoder interface, 9-pole DSUB socket connection, seen from front

PIN-No. Signal designation 5 V diff. Signal designation 24 V

05 A+ Track A+ Track A+

09 A- Track A- Do not connect

04 B+ Track B+ Track B+

08 B- Track B- Do not connect

03 0+ Zero track+ Zero track+

sign

als

07 0- Zero track- Do not connect

02 24 V Transducer supply Transducer supply

06 5 V Transducer supply Transducer supply

Pow

er

supp

ly

01 GND Ground Ground


Incrementalencoder

5 V

dif

f.In

terf

ace

5VGND

5

16

9

INC0

track A

track B

track 0

Connection diagram for incremental encoder with 5 V power supply, differential operation, signal volt-age 5 V


CECX-II 27-10

track A

track B

track 0

Incrementalencoder

5 V

dif

f.In

terf

ace

24V

GND

5

16

9

INC0

Connection diagram for incremental encoder with 24 V power supply, differential operation, signal volt-age 5 V

5

16

9

24V

In

terf

ace

24V

GND

INC0

Incrementalencoder

track A

track B

track 0

Connection diagram for incremental encoder with 24 V power supply, single-ended, signal voltage 24 V






CECX-II 27-11

27.5 Configuration




The modules are addressed via the address switch. It is possible to connect a maximum of

8 only CECX-C-2G2 to a CPU module (permissible address switch po-sitions: 0 – 7),

2 only CECX-C-2G2 to a CECX-B-CO (permissible address switch posi-tions: 0 – 1)

The address switch is located on the right side and underneath the lower cover. The K-Bus plug is located underneath the upper cover.

01

F2

3 4 5 67

89

A

BCDE

1





CECX-II 27-12

Note Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-A-4E4A-A and CECX-C-2G2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against dirt and damage through electrostatic discharge on contact).


CECX-II 27-13

27.6 Functional description

27.6.1 Overview of functions

The CECX-C-2G2 provides the following functions:

Position measurement: Forward/backward counter of increments (posi-tion measurement) via A and B track, 1-fold, 2-fold, 4-fold evaluation, 32 Bit resolution

Pulse counter on track A, 32 Bit resolution

Pulse counter on track A with direction evaluation track B, 32-Bit resolu-tion

Velocity measurement through sampling with internal time basis

Rotary position transducer monitor via zero track information

Latch function of counter status via an external latch input 24V (Sink and Source)

Latch function of counter status via zero pulse

Sensor failure monitor of tracks A, B and zero (in 5 V diff. mode)

Simulation mode for testing the application when incremental encoder is not connected

27.6.2 Position measurement

Position measurements are taken from the evaluation of an incremental pulse position transducer with 2 pulse signals (A, B), which are phase-shifted by 90°. All edges can be evaluated. In an ideal case the possible resolution would be 1/4 of the period's duration (position measurement 4-fold).- The type of evaluation is determined by the configuration.


CECX-II 27-14

Position measurement 1-fold:

Q

P

A

1

B

Impulse signals of the position transducer, resolution 1-fold

A, B Pulse signals of the position trans-ducer

P Cycle time

Q Resolution 1-fold


Q

P

A

1 2

B



P Cycle time

Q Resolution 2-fold


CECX-II 27-15


QP

B

A

1 2 3 4



P Cycle time

Q Resolution -fold

The actual direction of the movement is identified from the evaluation of the phase position of the pulse signals A and B (see following image):

B

A

B

A

foreward

backward

Pulse signals of the position transducer, identification of the movement direction

27.6.3 Position counter

The position counter is a relative counter, that starts at Zero and is updated permanently.


CECX-II 27-16

27.6.4 Speed measurement

The velocity measurement function can be used to obtain a good accuracy of the evaluation when using a rotary encoder with a low resolution. This is done by measuring the period duration between two incremental encoder pulses by means of an internal time basis. The velocity measurement can be made in either direction. The velocity value is measured four times for each period duration. If the direction is changed during an ongoing measurement, the measure-ment is started anew. Once the measurement is completed the value is marked as new. The input pulses are scanned with an internal tact of 50 MHz. At a maxi-mum input frequency of 250 kHz this will result in a resolution of at least 8 Bit. Frequencies that are smaller than 3 pulses per second are evaluated as ze-ro velocity.

27.6.5 Pulse counter without direction evaluation

This function provides a pulse counter at track A (edgeCount=4). Direction information will not be taken into consideration. Track B and Zero are not evaluated.

27.6.6 Pulse counter with direction evaluation

This function provides a pulse counter at track A. The status of track B de-cides on the direction of counting. Track B = 0 -> forward Track B = 1 -> backward Track Zero is not evaluated.


CECX-II 27-17

27.6.7 Zero pulse monitoring

When a rotary encoder with Zero pulse is used, the configuration of the number of pulses per rotation will activate the monitoring, which compares the number of counted pulses with the number of configured pulses. If the numbers of pulses differ, an error message will be triggered. This allows monitoring the correct function of the connected transducer.

27.6.8 Latch function digital input

A latch function is available to record the counter status when an edge oc-curs at one of the latch inputs (DI0, DI1) of the CECX-C-2G2. The current counter status is recorded at the first edge. When the counter status is read out at the next update cycle the trigger will be activated again. If another latch event (edge change) occurs before the next update, the information of the first event will be retained. A time stamp on each latch event is recorded within the update cycle. The time stamp has a resolution of 1µs. This time stamp is unique up to an up-date cycle of 65ms. The possibility of an overflow exists for longer cycle times of the application program, so that update cycles of the incremental encoder inputs of >65ms should be avoided. The latch inputs are firmly assigned to the incremental encoder inputs: INC0 – DI0, INC1 – DI1. Information To avoid faulty triggering of the latch inputs, attention should be given that the wiring is done appropriately.

27.6.9 Latch function Zero pulse

Another latch function is available (zeroLatchMode=1) to record the counter status when a Zero pulse occurs at an incremental encoder. The current counter status is recorded when the Zero pulse occurs. When the counter status is read out at the next update cycle the trigger will be ac-tivated again.

27.6.10 Simulation mode

During simulation mode ( simulate=1), the transducer signals are simulated by internal software test signals and evaluated instead of the transducer signals. The simulation mode can be selected through the configuration.


CECX-II 27-18

The application has to provide the actual values, which are then read out via the standard interface. This way application tests can be conducted without the incremental en-coder being connected.


27.7.1 Response to sensor failure

This monitor checks the signal level of transducers with 5 V diff. interface. Both, the open signal lines as well as the short-circuited transducer lines are identified.

27.7.2 Behavior at transducer error

If the Zero pulse monitor is activated through configuration of the number of increments per rotation, the CECX-C-2G2 will internally monitor the number of pulses between two Zero pulses. If the number deviates, an error will be triggered.

27.7.3 Behavior at short circuit of transducer supply

Both outputs for the transducer supply are sustained short-circuit proof and protected against overload.

27.7.4 Monitoring track errors

If the maximum input frequency is exceeded, or if the edges of the incre-mental encoders are too close to one another (e.g. if there is no 90° phase difference between the tracks), this will be identified as error and output as such.


CECX-II 27-19

27.8 Disposal





CECX-II 27-20

27.9 Technical data

General


Addressing at K-Bus: Via 16-digit address switch, on the side Connection terminals: Open terminals, grid dimensions 5.08 mm Max number of add-on modules to CPU-modules: 8 to a CECX-B-CO: 2 Max. power consumption K Bus 24 V: 0 W Max. power consumption K Bus 5 V: 0.6 W Overvoltage category: II Equipment class III according to EN 61131-2:2007

Incremental encoder inputs

Number of inputs: 2 Entrance area: configurable 5V differential and 24V Max. input frequency: 250kHz (differential)

Interpretation: configurable 1-fold, 2-fold, 4-fold Counter function with and without interpretation of direction

Max. impuls rate 1 MHz when using 4-fold interpretation (differential) Resolution: 32 bit Galvanically isolated: No



Speed measurement

Measurement process: Dead time measurement with internal 50 MHz cycle Counter depth: 24 Bit Minimum recordable velocity: Pulse duration over 0.33s = velocity 0

Position counter

Counter depth: 32 Bit

Transducer supply

Supply 24 V: Looped through from 24 V input terminal Load capacity: 100 mA per transducer Secured against: overload and short circuit Supply 5 V: Generated from 24 V input terminal Rated voltage: 5.05 V ± 4 %


CECX-II 27-21

Latch inputs

Number of inputs: 2 Response time latch input: 20 μs Input type: Configuration as sink (acc. to EN 61131) or source input Galvanic isolation: No

Time stamp for latch event

Resolution: 1 μs Max. cycle time: 16 Bit counter -> unique up to 65ms cycle time

System interface

K-Bus Parallel bus interfaces, plug-in on side

Diagnosis possibilities

Sensor failure and sensor short circuit at 5 V differential input configuration Zero pulse monitoring Counter overflow Track error: Signal frequence at inputs outside specifications (max. 250 kHz)

Dimensions:


32.5 mm

Weight: 135 g


CECX-II 27-22




27.10.2 Standards














System manual CECX / Serial interface module CECX-S-2S1

CECX-II 28-1

28 Serial interface module CECX-S-2S1

28.1 Introduction

28.1.1 Intended use

The CECX-S-2S1 module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

28.2 Safety notes



!



!



!




CECX-II 28-2






The device is defined as an "open type equipment" so that it must be installed in a control cabinet.





CECX-II 28-3


The CECX-S-2S1 is a serial interface module for use in the modular control system. It makes two serial interfaces available:

Type: RS-232-C according to PC standard,

Transmission data rate: up to 115200 Baud.

28.3.1 Front view

SI0

STATUS

SI1

CECX-S-2S1 front view

Information The CECX-S-2S1 module is not designed for drive integration


CECX-II 28-4


28.4.1 Status LED (STATUS)

Color Significance Comment ON: LED is lit) Green OK ON: Ready for operation Orange Initialization ON: Start-up Red Switching on ON: Switching on

Red Module errors ON: Wrong address switch position (0x04 – 0x0F)


CECX-II 28-5


28.5.1 General information on wiring and shielding

This section covers issues that concern in particular the serial interface connections. For all serial interfaces holds true:

Use shielded cables

Contact shield directly at metallic interface plug casing.

Required cable

(must be shielded in all cases)

Take account of line termination

Current loop Twisted paired wiring No

RS 232 C Twisted pair wiring with signal ground (SGND)

No

RS-422-A unidirectional Twisted pair wiring with signal ground (SGND)

Yes

RS-422-A bidirectional 2* twisted pair wiring with 1 signal ground (SGND)

Yes

RS-485-A Twisted pair wiring with signal ground (SGND)

Yes

verdrillte 2-Drahtleitung

Signalmasse

Schirm mit Schirmmasse

Twisted 2-pair line

Signal ground

Shield with shield ground

Structure of a shielded twisted pair wiring with signal ground (SGND)

28.5.2 Interface of theCECX-S-2S1 (RS-232-C)


The module is connected to the bus with a 9-pole DSUP male connector.


CECX-II 28-6

1

59

6 n.c.RXDTXDn.c.

GND

n.c.RTSCTSn.c.

Assignment RS-232-C interface, DSUB-plug connection seen from front

PIN-No. Signal designation Input / Output

2 RXD Receive Data Input 3 TXD Transmit Data Output 5 GND Ground --- 7 RTS Request To Send Output 8 CTS Clear To Send Input






CECX-II 28-7

28.6 Configuration




The modules are addressed via the address switch. A maximum of 4 simi-lar modules (switch position 0 – 3) can be differentiated within one line, the switch position 4 – F is invalid. In case of an invalid address switch, the module will not log-on at the K-Bus, which means that it cannot be config-ured either. The address switch is located on the right side and underneath the lower cover. The K-Bus plug is located underneath the upper cover.





CECX-II 28-8

Information Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-S-2S1 and CECX-C-2G2) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against pollution and damage through electrostatic discharge on contact).

28.7 Disposal





CECX-II 28-9

28.8 Technical data

General

Supply voltage logic: 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side Max. 4 modules possible (address switch position 4-F invalid)

Max. power consumption K Bus 24 V:

0 W

Max. power consumption K Bus 5 V: 0.4 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



Interfaces

Interface type: RS-232-C, 9-pole male connector Transmission media: shielded cable Galvanic isolation: No

RS-232-C baud rates: Adjustable via software, Permitted Baud rates: 1200, 2400, 4800, 9600, 19200, 38400, 57600 and 115200 Baud

Dimensions:


32.5 mm

Weight: 132 g


CECX-II 28-10




28.9.2 Standards














System manual CECX / SSI Interface module CECX-C-2G1

CECX-II 29-1

29 SSI Interface module CECX-C-2G1

29.1 Introduction

29.1.1 Intended use

The CECX-C-2G1 module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

29.2 Safety notes



!



!



!




CECX-II 29-2






The device is defined as "open type equipment" and must therefore be installed in a control cabinet.





CECX-II 29-3


The CECX-C-2G1 is a serial interface module for use in the modular control system CECX. It makes 4 SSI interfaces available (SSI = 'Synchronous Serial Interface' is an interface for absolute stroke measuring systems).

29.3.1 Front view

0V

+24V

00

01

SS

I0S

SI1

SS

I2S

SI3

CECX-C-2G1 front view



CECX-II 29-4

29.3.2 Accessories


Voltage supply: Standard male connectors with grid dimension 5.08 mm. The following female connectors are required for the CECX-C-2G1:

Socket board CECX-C-2G1 Order no. Weidmüller 2-pole 1 BLZF 5.08/2 SN SW - 170769

The technical data for the terminals are contained in the technical data sheet of the manufacturer of the female connectors.


CECX-II 29-5


29.4.1 SSI status LEDs

To the left of each respective SSI interface socket (RJ-45) there is one supply LED (green) and one data status LED (yellow). Green: Lights up as soon as the power supply is present. Yellow: Lights up when receiving data.


29.5.1 Power supply

!

WARNING! Risk to persons by electric shock!

• Supply the device exclusively from power sources that have a safety extra low voltage (e.g. SELV or PELV according to EN 61131-2)

• Connect only voltages and power circuits to connections, terminals and interfaces with a rated voltage of up to 50 V that have a safe separation from hazardous voltages (e.g. with sufficient isolation and voltage-proof).

!

CAUTION! Fire danger for component failure!

• Provide suitable fuses for the 24 V DC power supply for the final appli-cation. The maximum permitted fuse is 10A.

Section

Refer to the manufacturer-specific data sheet of the female connectors used for type, cross-section and material. For further information: See chapter Accessories The actual permissible wire cross-section is specified by the electrical con-ditions of the connected equipment and the female connectors used:

Max. load current and required heat dissipation through the connected wire at maximum ambient temperature


CECX-II 29-6

Permissible voltage drop for error-free operation of the connected equipment.


0V

+24V

00

01

0 V

24 V

F1

Power supply

The power consumption of the transducers amounts to 24 W when all 4 SSI interfaces are operated at a full load of 250 mA.

Fuse F1

The rated current for fuse F1 is dependent on the number of SSI interfaces used and their power consumption. Each interface has its own internal resettable fuse with a rated current of 300 mA.

29.5.2 SSI interface

The Synchronous Serial Interface is an interface for absolute stroke meas-uring systems.


CECX-II 29-7


0V

+24V

00

01

SS

I0S

SI1

SS

I2S

SI3

CK+ / CK-

DI+ / DI-

0 V

24 V

transducer

24 V0 V

DI+/DI-

CK+/CK-

F1

Connection example for transducer

Information The voltage drop between the supply terminal and the voltage output on the SSI interface socket amounts to 1 V at 250 mA.


PIN-No. Name

1 n.c. 2 n.c. 3 DI+ Data input + 4 CK- Clock input - 5 CK+ Clock input + 6 DI- Data input - 7 24 V Transducer supply output

81

8 0 V Transducer supply output


CECX-II 29-8


For more information: See chapter "General information about interfaces" The cable shielding must be connected plane with the shield cover of the plug.

29.5.2.4 Baud rate / maximum cable length

For more information: See chapter Connections and wiring, general information about interfaces.


EMC guidelines: See chapter Fehler! Verweisquelle konnte nicht gefun-den werden.. Wiring guidelines: See chapter Connections and wiring, General information about interfaces. Pay attention from the outset to careful wiring and shielding. Further information: See system manual.


CECX-II 29-9

29.6 Configuration




The modules are addressed via the address switch. It is possible to connect a maximum of

4 only CECX-C-2G1 to a CPU module (permissible address switch positions: 0 – 3),

2 only CECX-C-2G1 to a CECX-B-CO (permissible address switch positions: 0 – 1)

Information If an inadmissible address is set, the module will not be recognized on the K-Bus. The address switch is located on the right side and underneath the lower cover. The K-Bus plug is located underneath the upper cover.




CECX-II 29-10

On leaving the factory all modules are set to address 0 and both covers are closed. Note Modules of the same type that are installed within the same line must have different address switch positions. Different modules (e.g. CECX-C-2G2 and CECX-C-2G1) may have the same address switch positions. The lids for the K-Bus plug and the address switch must remain locked at the last module in the line (to protect it against pollution and damage through electrostatic discharge on contact).


29.7.1 Operating mode of the module

29.7.1.1 Failure of supply voltage

If the supply voltage fails, the Module Status variable is set to TRUE.

29.7.1.2 Response to sensor failure

In case of sensor failure, the Channel Status variable of the affected channel is set to TRUE. When the fault is corrected the following status variable is again set to FALSE.

29.8 Disposal





CECX-II 29-11

29.9 Technical data

General

Power supply voltage: 24 V DC from the front (19.2 V to 30 V, acc. to IEC61131-2) 24 V DC from K Bus 5 V DC from K Bus

Addressing at K-Bus: Via 16-digit address switch, on the side

Max. power consumption: 24 W when all 4 SSI interfaces are operated at a full load of 250 mA (24 V DC supply from front)

Power consumption of 24 V K-Bus: 0 W Power consumption of 5 V K-Bus: 0.65 W Overvoltage category: II Equipment class III according to EN 61131-2:2007



SSI interfaces

Number of interfaces: 4 Output voltage for transducer supply: +24 V DC Maximum current for transducer supply:

250 mA (per channel)

Baud rate: 125 kBit/s, 250 kBit/s, 500 kBit/s, 1 MBit/s Galvanic isolation: No Sensor failure detection: Yes

Dimensions:


32.5 mm

Weight: 140 g


CECX-II 29-12




29.10.2 Standards














System manual CECX / CAN option module CECX-F-CO

CECX-II 30-1

30 CAN option module CECX-F-CO

30.1 Introduction

30.1.1 Intended use

The CECX-F-CO may only be used for the type of use described in the technical description and only in conjunction with supplied CPU module. The CECX-F-CO has been developed, manufactured, tested and docu-mented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of dam-age to other property or equipment under normal circumstances, provided that the instructions and safety precautions relating to the intended use are properly observed.

30.2 Safety notes



!



!



!




CECX-II 30-2






WARNING It is absolutely essential that you also observe the safety instructions in the sys-tem manual..

The unit is defined as "open type" equipment (according to UL 508) or as "offenes Betriebsmittel" (according to EN 61131) and must therefore be installed in a CPU module.



• Turn off the power supply before mounting and dismounting the mod-ule. Otherwise the module can be destroyed or undefined signal states can lead to damage of the control system.

When removed from its casing this module is sensitive to electrostatic discharge. Before handling the modules, touch a grounded metal object in order to discharge any static electricity from your body.


CECX-II 30-3


The CECX-F-CO is an option module for inserting in CPU modules. The CAN option module CECX-F-CO contains the CAN-connection for the CAN Controller integrated into the CPU. Information: The module’s function is guaranteed only if it used in a CPU module. The module is not designed for connection with foreign modules.

30.3.1 Front view

CA

N

RXTX

X4

CECX-F-CO front view


CECX-II 30-4

30.4 Installation instructions

The module has been designed for operation with a CPU module. It is in-serted into the middle slot.

CA

N

RXTX

X3 X4 X5

X4

CANSerial Interface Ethernet

Information The option modules must not be plugged or removed, if the CPU module is activated.


CECX-II 30-5

30.4.1 Inserting an option module


2) Remove dummy module.

3) Insert module in the right position (labeling X4 and CAN) left into the middle slot.

EthernetCAN

SI1

X4X3 X5

CA

N

X4

RXTX

Inserting the CECX-F-CO option module into CP 23x module


CECX-II 30-6

30.4.2 Removing an option module


2) Pull module from the slot.

3) Insert dummy module.

EthernetCAN

SI1

CA

N

X4

RXTX

X4X3 X5

Removing the CECX-F-CO option module from CP 23x module

30.5 Display and operating elements

30.5.1 CAN-status-LEDs

The module has two CAN-status-LEDs (RX- and TX-LEDs) per CAN inter-face, which are activated from the Microcontroller. Name Color Description RX-LED Green Briefly lights up on receipt of a CAN message. TX-LED Yellow Briefly lights up on transmission of a CAN message.


CECX-II 30-7


30.6.1 Interface CAN


CAN connection at the module: 9-pole D-SUB male connector

2

37 23

7

CECX-F-CO(end station)

CAN+CAN-

SGND

CAN+CAN-

SGND

2 3

7

Contact the shieldwith the connectorat both sides and at a large surfacearea.

twisted pairs of wires

CAN station

Example for connecting a CECX-F-CO via CAN


6

15

9

ReservedReserved

CAN +GND


9-pin DSUB female connector



CECX-II 30-8

Information Both SGND (Signal Ground) and GND (optional ground) connections are connected internally. The designation was selected to correspond with the standard CiA (CAN in Automation). Further information: See system manual.


See chapter "General information about interfaces" Further information: See system manual.

30.6.1.4 Maximum cable length

The maximum cable length depends mainly on the set baud rate. The Baud rate can be software adjusted individually for each CAN bus line. With the modules currently in use the specific line delay in the lines results in the following ratio between Baud rate and maximum cable length:

Baud rate Max. cable length typical

Max. cable length guaranteed

6 ns/m run time

5.2 ns/m run time

6 ns/m run time

5.2 ns/m run time


Information The length specifications in the table are maximum values based on ideal conditions. The practical cable length is reduced by poor shielding contact, strong interference, stub lines and poor cable quality. In addition, the cable length depends on the properties of the other CAN bus line participants. We recommend dimensioning the CAN cable so that it is only as long as absolutely necessary.


CECX-II 30-9

30.6.1.5 CAN bus termination

To activate the Bus termination at the first and last participant, both the pins 4 and 5 (TERM1) must be connected as well as the pins 8 and 9 (TERM2).

6

15

9

GNDCAN +

TERM2TERM2






CECX-II 30-10

30.7 Configuration


A Kemro-system needs data for the configuration of system performance, its I/O-devices and interfaces. The system reads this data during the start-up operation and allocates them to its components and devices. Configuration data is created by included configuration tools or by editing configuration files.




30.8.2 Resetting

The module can be reset by the HOST without the HOST itself having to be reset.

30.9 Disposal





CECX-II 30-11


Envirionmental conditions

Operating temperature: +5 °C bis +55 °C Storage temperature: -40 °C bis 70 °C Relative humidity of air: 10 % bis 95 % (nicht kondensierend) Vibration resistance: Gemäß EN 61131-2:2007 Shock resistance: Gemäß EN 61131-2:2007

Interface to CPU module

Interface type: Media Independent Interface Connection: CHAMP plug 30-pole Power supply: 5 V Module recognition: YES (Module given, YES/NO, no type recognized)

CAN interface

Baud rate: 125 kbit/s, 250 kbit/s, 500 kbit/s, 800 kbit/s, 1 Mbit/s Terminating resistor: YES, can be bridged in plug Galvanic isolation: NO Connection: DSUB 9-pin connector plug Signaling: 2 LEDs: yellow...transmit, green...receive

Mechanics

Structure: No casing; only front plate mounted on print

Protection class: When the module is plugged into the CPU module, the CPU module meets IP20

Weight: 27 g


CECX-II 30-12




30.11.2 Standards














System manual CECX / Serial option module CECX-C-S1

CECX-II 31-1

31 Serial option module CECX-C-S1

31.1 Introduction

31.1.1 Intended use

The CECX-C-S1 may only be used for the type of use described in the technical description and only in conjunction with recommended/approved third-party equipment/installations. The CECX-C-S1 has been developed, manufactured, tested and docu-mented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of dam-age to other property or equipment under normal circumstances, provided that the instructions and safety precautions relating to the intended use are properly observed.

31.2 Safety notes



!



!



!




CECX-II 31-2






!

WARNING! It is absolutely essential that you also observe the safety instructions in the system manual..







CECX-II 31-3


The CECX-C-S1 (RS-232-C) is a serial option module for inserting in CPU modules. Information: The module’s function is guaranteed only if it used in a CPU module. The module is not designed for connection with foreign modules.

31.3.1 Front view

X3

RS

232

CECX-C-S1 front view


CECX-II 31-4


The module has been designed for operation with a CPU module. It is in-serted into the left slot.

Use in a CP module

Information The option modules may not be plugged or removed, if the CPU module is activated.


CECX-II 31-5




3) Insert module in the correct position in the left slot (labeling X3 and "Serial Interface").

PWR

CTRL

SI0

0V

+24V

X3 X4 X5

Serial Interface CAN

RS

232

X3

Ethernet

Inserting the CECX-C-S1 option module


CECX-II 31-6





PWR

CTRL

SI0

0V

+24V

X3 X4 X5

Serial Interface CAN Ethernet

RS

232

X3

Removing the CECX-C-S1 option module


CECX-II 31-7


31.5.1 Wiring and shielding


Use shielded cables

Contact shield directly at metallic interface plug casing

Required cable (must be shiel-

ded in all cases) Take account of line

termination RS 232 C Standard line no


Signalmasse


Twisted 2-pair line

Signal ground


Structure of a shielded twisted pair wiring with signal ground


CECX-II 31-8

31.5.2 Interface RS-232-C


1

59

6 n.c.RXDTXDn.c.

GND

n.c.RTSCTSn.c.

Assignment RS-232-C interface, DSUB-plug connection seen from front

PIN-No. Name Input / Output 1 n.c. Not connected --- 2 RXD Receive Data Input 3 TXD Transmit Data Output 4 n.c. Not connected --- 5 GND Ground --- 6 n.c. Not connected --- 7 RTS Request To Send Output 8 CTS Clear To Send Input 9 n.c. Not connected ---






CECX-II 31-9


31.6.1.1 Start-up after Power-On


31.6.1.2 Resetting


31.7 Disposal





CECX-II 31-10

31.8 Technical data




Interface type: 3.3 V TTL output of the UART Connection: CHAMP plug 30-pole Power supply: 5 V Module recognition: YES (Module given, YES/NO, no type recognized)

CECX-C-S1

Interface type: RS-232-C, 9-pole connector plug Transmission media: shielded cable Galvanic isolation: no RS-232-C baud rates: To be set via software (from 1200 Baud to 115000 Baud)

Mechanics



Weight: 31 g


CECX-II 31-11




31.9.2 Standards














System manual CECX / Serial option module CECX-S-S4

CECX-II 32-1

32 Serial option module CECX-S-S4

32.1 Introduction

32.1.1 Intended use

The CECX-S-S4 may only be used for the type of use described in the technical description and only in conjunction with recommended/approved third-party equipment/installations. The CECX-S-S4 has been developed, manufactured, tested and docu-mented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of dam-age to other property or equipment under normal circumstances, provided that the instructions and safety precautions relating to the intended use are properly observed.

32.2 Safety notes



!



!



!




CECX-II 32-2












CECX-II 32-3


The CECX-S-S4 (RS-485-A/RS-422-A) is a serial option module for inserting in CPU modules. Information: The module’s function is guaranteed only if it used in a CPU module. The module is not designed for connection with foreign modules.

32.3.1 Front view

SI1

CECX-S-S4 front view


CECX-II 32-4


The module has been designed for operation with a CPU module. It is in-serted into the left slot.

Use in a CP module

Information The option modules may not be plugged or removed, if the CPU module is activated.


CECX-II 32-5



2. Remove dummy module.

3. Insert module in the right position (labeling "SI1" left) into the left slot.

PWR

CTRL

SI0

0V

+24V

SI1

Inserting the CECX-S-S4 option module


CECX-II 32-6



2. Pull module from the slot.

3. Insert dummy module.

PWR

CTRL

SI0

0V

+24V

SI1

Removing the CECX-S-S4 option module


CECX-II 32-7


32.5.1 Wiring and shielding


Use shielded cables

Contact shield directly at metallic interface plug casing

Required cable (must be shiel-

ded in all cases) Take account of line

termination RS-422-A unidirec-tional

twisted pair wiring with signal ground (SGND)

yes

RS-422-A bidirecti-onal

2x twisted pair wiring + 1 signal ground (SGND)

yes

RS-485-A twisted pair wiring with signal ground (SGND)

yes


Signalmasse


Twisted 2-pair line

Signal ground


Structure of a shielded twisted pair wiring with signal ground

32.5.2 Interface RS-485-A/RS-422-A

The CECX-S-S4 module can be configured via software on to the RS-422-A or RS-485-A.


The following connection examples show two possible configurations of the serial option module CECX-S-S4.


CECX-II 32-8

Example 1: RS-422-A wiring connection at the CECX-S-S4 CECX-S-S4

R

3

GND

transmitter

G

R G

8

9

5

4

transmitter

A

receiver

communication participant

receiver

ground

transmit +

B

A'

B'

receive +

A'

B'

A

B

transmit -

receive -

receive +

receive -

transmit +

transmit -

tR

2TERM B

7TERM A

tR

G .... transmitter R .... receiver Rt .... terminating resistor

Example 1: RS-422-A interface

Example 2: RS-485-A wiring connection at the CECX-S-S4

CECX-S-S4

8

B/B'

A/A'

GND

B/B'

A/A'

G/R

3

5

G/R

ground

to otherparticipants

transmitter/receivertransmit/

receive -

transmit/receive +

2TERM B

7TERM A

tR

communication participant

transmitter/receiver transmit/

receive -

transmit/receive +

to otherparticipants

G .... transmitter R .... receiver Rt .... terminating resistor (if required)

Example 2: RS-485-A interface

The following applies for both, RS-422-A as well as for RS-485-A: The maximum number of participants is limited to 32.


CECX-II 32-9


RS-422-A RS-485-A

1

59

6n.c.

TERM AA'A

GNDTERM BB'BGND

1

59

6n.c.

TERM AA/A'

do not connect

GNDTERM BB/B'do not connectGND

n.c.: not connected

Assignment RS-422-A/RS-485-A, DSUB-plug connection seen from front

RS-422-A:

PIN-No. Signal designation Input / Output 9 A Transmit - Output 8 A' Receive - Input 4 B Transmit + Output 3 B' Receive + Input 7 TERM A Terminating resistor --- 2 TERM B Terminating resistor --- 1 GND Ground --- 5 GND Ground ---

RS-485-A:

PIN-No. Signal designation Input / Output 8 A / A' Transmit / receive - Input or Output 3 B / B' Transmit / receive + Input or Output 7 TERM A Terminating resistor --- 2 TERM B Terminating resistor --- 1 GND Ground --- 5 GND Ground ---


CECX-II 32-10

32.5.2.3 Line terminating board

To activate the bus termination at the last participant during RS-485 opera-tion the pins 2 and 7 (TERM A, TERM B) must be connected. During RS-422-A operation, pins 2 and 7 (TERM A, TERM B) must always be connected.

RS-422-A RS-485-A

1

59

6n.c.

TERM AA'A

GNDTERM BB'BGND

1

59

6n.c.

TERM AA/A'

do not connect

GNDTERM BB/B'do not connectGND

n.c.: not connected

RS-422-A/RS-485-A with activated bus termination board



32.6 EMC and wiring guidelines



CECX-II 32-11




32.7.1.2 Resetting


32.8 Disposal





CECX-II 32-12

32.9 Technical data




Interface type: 3.3 V TTL output of the UART Connection: CHAMP plug 30-pole Power supply: 5 V Module recognition: YES (Module given, YES/NO, no type recognized)

CECX-S-S4

Interface type: RS-485-A/RS-422-A, 9-pole connector plug Transmission media: shielded cable Galvanic isolation: No RS-485-A/RS-422-A Baud rates: To be set via software (from 1200 Baud to 115000 Baud) Switching between RS-485-A and RS-422-A:

To be set via software

Mechanics



Weight: 31 g


CECX-II 32-13




32.10.2 Standards














System manual CECX / Ethernet option module CECX-C-ET

CECX-II 33-1

33 Ethernet option module CECX-C-ET

33.1 Introduction

33.1.1 Intended use

The CECX-C-ET may only be used for the type of use described in the technical description and only in conjunction with recommended/approved third-party equipment/installations. The CECX-C-ET has been developed, manufactured, tested and docu-mented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of dam-age to other property or equipment under normal circumstances, provided that the instructions and safety precautions relating to the intended use are properly observed.

33.2 Safety notes



!



!



!




CECX-II 33-2






WARNING It is absolutely essential that you also observe the safety instructions in the sys-tem manual..

The unit is defined as "open type" equipment (according to UL 508) or as "offenes Betriebsmittel" (according to EN 61131) and must therefore be installed in a CPU module.



• Turn off the power supply before mounting and dismounting the mod-ule. Otherwise the module can be destroyed or undefined signal states can lead to damage of the control system.



CECX-II 33-3


The CECX-C-ET is an option module for inserting in CPU modules. The CECX-C-ET Ethernet option module can be integrated into a 10Mbit/s as well as a 100Mbit/s Ethernet. Information: The module’s function is guaranteed only if it is used in a CPU module. The module is not designed for connection with foreign modules. The MAC-ID (unique physical address of a network card) is attached to the inside of the module as sticker.

33.3.1 Front view

Eth

ern

et

X5

CECX-C-ET front view


CECX-II 33-4


The module has been designed for operation with a CPU module. It is in-serted into the right-hand slot.

X3 X4 X5

CANSerial Interface Ethernet

Eth

ern

et

X5

Information The option modules must not be plugged or removed, if the CPU module is activated.


CECX-II 33-5




3) Insert module in the correct position (labeling X5 and "Ethernet") into the right slot.

Eth

erne

t

X5

X3 X4 X5

EthernetSerial Interface

Inserting the CECX-C-ET option module into CP 23x module


CECX-II 33-6





X3 X4 X5

EthernetSerial Interface CANE

ther

net

X5

Removing the CECX-C-ET option module from CP 23x module


CECX-II 33-7


33.5.1 Ethernet interface


Ethernet connection

PIN-No. Name 01 Transmit data+ (pair 1) 02 Transmit data- (pair 1) 03 Transmit data+ (pair 2) 04 n.c. 05 n.c. 06 Receive data- (pair 2) 07 n.c. 08 n.c.

33.5.1.2 Ethernet status LEDs

2 status LEDs are located below the Ethernet socket (RJ-45): Name Color Description Activity LED Yellow Lights up when sending and receiving data. Link status LED Green Lights up as soon as an Ethernet connection is alive.






CECX-II 33-8

33.6 Configuration

No configuration is required for this module.




33.7.1.2 Resetting


33.8 Disposal





CECX-II 33-9

33.9 Technical data

Envirionmental conditions

Operating temperature: +5 °C bis +55 °C Storage temperature: -40 °C bis 70 °C Relative humidity of air: 10 % bis 95 % (nicht kondensierend) Vibration resistance: Gemäß EN 61131-2:2007 Shock resistance: Gemäß EN 61131-2:2007


Interface type: Media Independent Interface Connection: CHAMP plug 30-pole Power supply: 5 V Module recognition: YES (Module given, YES/NO, no type recognized)

Ethernet interface

Ethernet interface: 10/100 Mbit/s LAN Number: 1 Connection: Modular plug, 8-pin (RJ45 plug)

Mechanics



Weight: 23 g


CECX-II 33-10




33.10.2 Standards














System manual CECX / Bus link module CECX-B-CO

34 Bus link module CECX-B-CO

34.1 Introduction

34.1.1 Intended use

The CECX-B-CO module was developed for control applications in indus-trial machines. It may only be used in connection with the supplied CPU module. The module has been developed, manufactured, tested and documented in accordance with the appropriate safety standards. Therefore, the products do not pose any danger to the health of persons or a risk of damage to oth-er property or equipment under normal circumstances, provided that the in-structions and safety precautions relating to the intended use are properly observed.

34.2 Safety notes



!

DANGER! indicates an imminently hazardous situation which, if not avoided, will


!

WARNING! indicates a potentially hazardous situation which, if not avoided, can


!

CAUTION! means that if the corresponding safety measures are not taken, a poten-


CECX-II 34-1


CAUTION CAUTION used without the safety alert symbol indicates a potentially





The device is defined as "open type" equipment (UL508) or as "offenes Betriebsmittel" (IEC 61131-2) and must therefore be installed in a con-trol cabinet.




CECX-II 34-2



The CECX-B-CO is a bus link module of the CECX modular control system. It is used to operate CECX modules as decentralized I/O clusters at other controls. The CECX-B-CO is connected with a host control via CAN. A maximum of 12 modules can be supplied and operated.

34.3.1 Front view

CECX-B-CO front view

1 Address switch 2 Baud rate switch

3 CAN interface 4 Voltage supply


CECX-II 34-3


34.3.2 Adding modules

The CECX-B-CO makes 8.5 W available for the supply of up to 12 add-on modules. To guarantee stable functioning of the module cluster the power demand on the added-on modules must not exceed 8.5 W. Information For the calculation of the number of modules that can be added, the speci-fied performance value given in the technical specifications under "Power consumption 5 V on the K-Bus" must be used.

34.3.3 Accessories


Voltage supply: The module uses standard male connectors with grid dimension 5.08 mm.

Required socket board: 1 block with 2 connections. CAN connection 9-pole DSUB connector Female connector Color Number Order no. Weidmüller

2-pole sw 1 BLZF 5.08/2 SN SW - 170769


34.4 CANOpen protocol

34.4.1 Definitions

CAN:

Controller Area Network is an internationally standardized serial Bus sys-tem.

CECX-II 34-4


NMT:

Network Management Telegram. One of the operating elements of the CA-NOpen-specification. The network management is used to initialize the network and to monitor the nodes.

SDO:

Service data objects make a service for the access to the object directory available. Each CANOpen device requires at least one SDO server which accepts and processes SDO requirements from other devices.

PDO:

Process data objects make available a faster option for transporting proc-ess data when compared to SDO transfers with low priority and which are overloaded with protocol data.

Bus load:

The bus load [%] specifies the temporal load on the bus line with telegrams. It is recommended that the calculated bus load does not exceed 50%, to re-tain sufficient reserves for the SDOs and the other messages.

34.4.2 CANOpen short description

CANOpen is a widely used CAN-application layer that was developed by the association CAN-in-Automation (CiA, http://www.can-cia.org) and which meanwhile has been accepted as international standard. The CECX-B-CO supports CAN-protocols CANOpen in accordance with DS301 V4.01 and device profiles in accordance with DS401 V2.0. These can be downloaded at the address listed above.

34.4.2.1 Device model

CANOpen consists of the protocol definition (communication profile) and the device profiles that standardize the data content for the respective de-vice class. The Process Data Objects (PDO) are used for swift communica-tion of the input and output data. The CANOpen device parameter and process data are structured in an object directory. The access on any data of this object directory is made via these service data objects (SDO). Fur-ther to these, there are a number of special objects (and/or telegram types) for the network management (NMT), synchronization, error messages etc.

CECX-II 34-5


CA

N b

us s

yste

m

Pro

cess

(I/O

s)NMT-Object

I/O-Object

I/O-Object

I/O-Object

I/O-Object

Communication I/OsObject libary

SDO

PDO

PDO

PDO

SYNC

Entry 1 - Index - Subindex - ValueEntry 2 . . . . . .Entry n

State query

Communication model

34.4.2.2 Communication modes

CANOpen defines multiple communication modes for the input/output data (PDOs):

Event-driven: Telegrams are sent out as soon as their content has changed. In this case not the process image is constantly transferred but only the changes thereof.

Cyclical, synchronous: A SYNC telegram triggers the modules to adopt the previously received output data and to send new input data.

Required: The modules are triggered to send their input data via a CAN data re-quest telegram.

The requested communication mode is set via the parameter "Trans-mission Type".

34.4.2.3 Transmission rates

Transmission rates from 125 kBaud to 1MBaud are available to cater for the different lengths of the Bus. The effective utilization of the bus band-width means that CANOpen attains short system reaction times at com-paratively now data rates.

34.4.3 CANOpen services

The following CANOpen-services are supported (for CanOpen-Slave):

NMT (Netzwerk Management Nachricht)

Boot Up Message

CECX-II 34-6


Node monitoring (Nodeguarding/Heartbeat)

SDO-transfer (expedited/segmented)

SYNC - Consumer

Emergency

PDO

CECX-II 34-7



34.5.1 Status LED (STAT)

Status display

!

CAUTION! As long as one of the Status LEDs is still on after deactivation of the

system, do not remove or insert modules or options modules in the sys-tem. Otherwise, charging and discharging of back-up capacitors may lead to a thermal overload (electric arc) of the contacts.

34.5.2 CAN-status-LEDs

2 status LEDs are located below the CAN interface:

Name Color Description RX-LED Green Briefly lights up on receipt of a CAN message. TX-LED Yellow Briefly lights up on transmission of a CAN message.

CECX-II 34-8



34.6.1 Power supply

The CECX-B-CO makes 5.5 W available for the supply of up to 12 add-on modules. The CECX-B-CO itself requires 1.5 W To guarantee stable functioning of the module cluster the power demand on the added-on modules must not exceed 5.5W. Information For the calculation of the number of modules that can be added, the speci-fied performance value given in the technical specifications under "Power consumption 5 V on the K-Bus" must be used.


The CECX-B-CO supplies the I/O-modules added-on with 5 V (logic supply) and additionally with 24 V (analog support voltage).

Voltage supply of the CECX-B-CO and the added-on modules

CECX-II 34-9


34.6.2 CAN interface

0V

+24V

STATUS

ADRL

ADRH

BAUD

01

23456789

A

BCDEF0

1234567

89

A

BCDEF0

1234567

89

A

BCDEF

CA

N

RXTX

Position of the CAN interface


Position shield on both sides and covering large connection areas provided in the plug.

2

37 23

7

CECX-B-CO

CAN+CAN-

SGND

CECX-B-CO(end participiant)

2

37

CPU module(end participant)

CAN+CAN-

SGND

twisted pairtwisted pair

Connection example bus coupler / CPU module

CECX-II 34-10



6

15

9

ReservedReserved

CAN +GND


9-pin DSUB female connector


34.6.2.3 Maximum cable length

The maximum cable length depends mainly on the set baud rate. The Baud rate can be software adjusted individually for each CAN bus line. With the modules currently in use the specific line delay in the lines results in the following ratio between Baud rate and maximum cable length:

Baud rate Max. cable length

typical Max. cable length

guaranteed 6 ns/m

run time 5.2 ns/m run time

6 ns/m run time

5.2 ns/m run time


Information The length specifications in the table are maximum values based on ideal conditions. The practical cable length is reduced by poor shielding contact, strong interference, stub lines and poor cable quality. In addition, the cable length depends on the properties of the other CAN bus line participants. We recommend dimensioning the CAN cable so that it is only as long as absolutely necessary.

34.6.2.4 Bus termination interface

The Bus termination must be activated at the first and last participant. To do this, pins 4 and 5 (TERm1) and pins 8 and 9 (TERm2) must be con-nected.

CECX-II 34-11


6

15

9

GNDCAN +

TERM2TERM2





34.7 Configuration

Node address

It is mandatory that the node address is set. No node address can be as-signed twice in the CAN-network. For further information: See the chapter "Baud rates and address settings".

Baud-rate

The Baud-rate must set selected in keeping with the length of the cable. For further information: See the chapter "Baud rates and address settings".

Heartbeat/Guarding

In case the module is not operated in synchronous-cyclical mode, this mon-itoring function is used to detect a module failure.

34.7.1 Baud rates and address setting

The Baud rate and the CAN address are set via a rotary switch on the front panel of the module. The set Baud rate must match the configured Baude rate or an error is is-sued.

CECX-II 34-12


0V

+24V

STATUS

ADRL

ADRH

BAUD

0

4

0

4

0

4

CA

N

RXTX

baud rate setting

CAN address setting

Position of the CAN address switch and the Baud rate switch

34.7.2 Defined Baud rates

The Baud rate must be selected according to the length of the cable. See "Maximum cable length". The following Baud rates can be set via rotary switch: Switch position Baud rate 0 Delivery condition, not allowed during operation, see infor-

mation.

1 125 kbit/s

2 250 kbit/s

3 500 kbit/s

4 800 kbit/s

5 1 Mbit/s

6 - F not allowed.

The firmware adopts the adjusted Baud rate once during start-up of the CECX-B-CO. Changing the Baud rate during operation is not possible. Information The CECX-B-CO is delivered with the Baud-switch position 0. It is manda-tory that it is set accordingly. If the Baud-switch position is invalid, the communication with the CECX-B-CO is disabled (Status LED illuminates red). To increase the robustness of the CAN-network, the Baud rate should be selected accordingly lower. The set Baud rate must be set using the con-figuration tool Match the Baude rate, otherwise an error is issued.

CECX-II 34-13


Data transfer time

The data transfer time is required to calculate the bus load. It also specified how long the transfer of a single Bit takes.

Baud rate Data transfer time per Bit 125 kbit/s 8 s 250 kbit/s 4 s 500 kbit/s 2 s 800 kbit/s 1,25 s 1 Mbit/s 1 s

Address

The CAN-address (Node ID) is set via the two address switches in the range from 1 (0x01) to 127 (0x7F) of the CECX-B-CO. The addresses 0x00 and 0x80 to 0xFF are invalid.

Example:

Node ID = 29 (Ox1C) ADRH: 1 ADRL: C The firmware adopts the set address once during start-up of the CECX-B-CO. It is not possible to change the address during operation. Information If the address setting is invalid, the communication with the CECX-B-CO is disabled (Status LED illuminates red).

34.7.3 Creation of the default PDO mapping

In principle the Default PDO-Mapping contains a type-pure PDO-structure; i.e. analog and digital data are not mixed in one PDO. The Default PDO-Mapping is created according to the CANOpen specifica-tions of the DS 401 2.0. Due to the type-purity the PDOs can also remain unused and/or have omissions. To establish a connection between the data objects mapped in the PDOs and the IO-connections of the hardware, the K-Bus module mapping is used. Information The CECX-B-CO sorts the modules on the bus in the following order: 1 CECX-E-6E-T-P2 2. CECX-A-4E4A-V 3. CECX-A-4E4A-A 4. CECX-A-4E-V 5. CECX-A-4A-V 6. CECX-E-4E-T-P1 7. CECX-D-16E 8. CECX-D-14A-2 9. CECX-D-8E8A-NP-2 10. CECX-D-6E8A-PN-2 11. CECX-C-2G2 12. CECX-C-2G1

CECX-II 34-14


The objects for the K-Bus module mapping are located in the object direc-tory of the indices 0x2010 to 0x201b. Thus, each one of the maximally 12 K-bus modules has one object available. These objects describe as off Sub-Index 2 the objects that are assigned to the K-Bus module (data ob-jects), which in turn are assigned to the IO-connections. Information Exception: CECX-C-2G2, details see chapter "Mapping of add-on modules – CECX-C-2G2" The PDO-Mapping also refers to these data objects, so that it is possible to determine which data of a PDO correspond with which IO-connection.

According to above image the following assignment follows:

the first TxPDO consists of: Byte 1: 8 Bit digital inputs (1) Byte 2 and Byte 3: 1 analog input 16 Bit (2)

The 8 Bit digital inputs come from the K-Bus module which is described in object 0x2010 (3).

The analog input comes from the K-Bus module which is described in object 0x2011 (4).

34.7.4 Mapping of add-on modules

If you access a digital input from IEC directly bitwise (f.e. %IX) and not per name the byte order (endianness) has to be considered. The CAN open standard supports only little-endian-format. The signal of devices which use big-endian-format must be converted before sending. In-tel-processors work with little-endian-format, Motorola-processors use nor-mally big-endian-format.

CECX-II 34-15


If you access a variable from IEC per name this manually conversion is not applicable, because the system automatically converts.

CECX-A-4E-V

4 analog voltage inputs, resolution 14-bit

possible errors: Sensor failure

For each CECX-A-4E-V, the object 0x5013 is extended by one Sub-Index, the object 0x6401 by 4 Sub-indices. Objects used: 0x5013 (CECX-A-4E4A-V or -A - configuration) 0x6401 (Read analog inputs) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-A-4E4A-V

4 analog voltage inputs, resolution 14-bit

4 analog voltage outputs, resolution 12-bit


For each CECX-A-4E4A-V, the object 0x5013 is extended by one Sub-Index, the objects 0x6401 and 0x6411 by 4 Sub-indices. Objects used: 0x5013 (CECX-A-4E4A-V or -A - configuration) 0x6401 (Read analog inputs) 0x6411 (Write analog outputs) For details about the objects used: See chapter "K-Bus module-specific objects"

CECX-A-4E4A-A

4 analog power inputs, resolution 14-bit

4 analog power outputs, resolution 12-bit


For each CECX-A-4E4A-A , the object 0x5013 is extended by one Sub-Index, the objects 0x6401 and 0x6411 by 4 Sub-indices. Objects used: 0x5013 (CECX-A-4E4A-V or -A - configuration) 0x6401 (Read analog inputs)

CECX-II 34-16


0x6411 (Write analog outputs) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-A-4A-V

4 analog voltage outputs, resolution 12-bit


For each CECX-A-4A-V, the object 0x5013 is extended by one Sub-Index and object 0x6411 by 4 Sub-indices. Objects used: 0x5013 (CECX-A-4E4A-V or -A - configuration) 0x6411 (write analog outputs). For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-D-16E

16 digital inputs

2 inputs can be configured as interruptible (DI0 and/or DI1)

possible errors: None

For each CECX-D-16E the objects 0x6100/0x6103/0x6107/0x6108 are ex-tended by one Sub-Index. The 16 inputs of a CECX-D-16E can therefore only be mapped as a group of 8 inputs (DI0 – DI7 and DI8 – DI15). From the K-Bus-side the two Interrupt-inputs share one Interrupt line. Objects used: 0x6005 (Activate Interrupt) 0x6100 (read digital inputs) 0x6103 digital modules configuration, debouncing) 0x6107 (interrupt mask rising edge) 0x6108 (interrupt mask falling edge) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-D-8E8A-NP-2

8 digital inputs

8 digital outputs


CECX-II 34-17


possible errors: none.

For each CECX-D-8E8A-NP-2, the objects 0x5020, 0x5021, 0x6000, 0x6003, 0x6007, 0x6008 and 0x6200 are extended by one Sub-Index. The 8 inputs and/or outputs can therefore be mapped only as a group. From the K-Bus-side the two Interrupt-inputs share one Interrupt line. Objects used: 0x5020 (CECX-D-8E8A-NP-2 reset short-circuit) 0x5021 (CECX-D-8E8A-NP-2 configuration short-circuit) 0x6000 (Read digital inputs) 0x6003 (CECX-D-8E8A-NP-2 configuration debouncing) 0x6005 (Activate Interrupt) 0x6007 (Interrupt-mask rising edge) 0x6007 (Interrupt-mask falling edge) 0x6200 (Write digital outputs) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-D-6E8A-PN-2

6 digital inputs

8 digital outputs


possible errors: none.

For each CECX-D-6E8A-PN-2, the objects 0x5020, 0x5021, 0x6000, 0x6003, 0x6007, 0x6008 and 0x6200 are extended by one Sub-Index. The 6 inputs or 8 outputs can therefore only be mapped together as a group. From the K-Bus-side the two Interrupt-inputs share one Interrupt line. Objects used: 0x5020 (CECX-D-6E8A-PN-2 reset short-circuit) 0x5021 (CECX-D-6E8A-PN-2 configuration short-circuit) 0x6000 (Read digital inputs) 0x6003 (CECX-D-6E8A-PN-2 configuration debouncing) 0x6005 (Activate Interrupt) 0x6007 (Interrupt-mask rising edge) 0x6007 (Interrupt-mask falling edge) 0x6200 (Write digital outputs) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-D-14A-2

CECX-II 34-18


14 digital outputs, resolution: 14 Bit


For each CECX-D-14A-2 the objects 0x5020, 0x5021 and 0x6300 are ex-tended by one Sub-Index. The 14 inputs of a CECX-D-14A-2 can therefore only be mapped as a group of 8 inputs or 6 outputs (DO0 – DO7 and DO8 – DO13). Object used: 0x5020 (reset short-circuit) 0x5021 (short-circuit configuration) 0x6300 (write digital outputs) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-C-2G2

2 Encoder inputs

2 Latch inputs


For each CECX-C-2G2, the following objects are extended by two Sub-indices: 0x5030, 0x5031, 0x5032, 0x5033, 0x5034, 0x5035 and 0x6402 Objects used: 0x5030 (CECX-C-2G2 configuration) 0x5031 (CECX-C-2G2 zero impulse initialization) 0x5032 (CECX-C-2G2 Period Counter) 0x5033 (CECX-C-2G2 Status) 0x5034 (CECX-C-2G2 Impulse Counter) 0x5035 (CECX-C-2G2 Timestamp) 0x6402 (CECX-C-2G2 Counter) For details about the objects used: See chapter "K-Bus module-specific objects" For the module mapping (0x201x) this results in: 0x201x/0: 0x06 0x201x/1: K-Bus-ID 0x201x/2: Interrupt PDO number (channel 1), consists of: 0x5036 (Timestamp) first 4 bytes 0x5034 (Latched Counter) last 4 bytes 0x201x/3 – 0x201x/8: Mapping for application objects 0x201x/9: Interrupt PDO number (channel 2) 0x201x/10 – 0x201x/8: Mapping for application objects.

CECX-II 34-19


Difference between latch or zero impulse event:

To differentiate whether a latch or zero impulse event has occurred, the value of the timestamp is used (zero impulse does not have a timestamp): Timestamp = 0xffffffff -> zero impulse Timestamp = 0xffffffff -> latch impulse A simultaneous occurrence of zero impulse and latch event on a single channel cannot be transmitted in one PDO. In this case the zero impulse event is transmitted in the next cycle.

CECX-II 34-20


CECX-C-2G1

4 SSI interfaces


For each CECX-C-2G1 the objects 0x5040, 0x5041, 0x5042, 0x5043 and 0x5045 are extended by 4 Sub-Indices. The object 0x5046, is extended by one index. Objects used: 0x5040 (Sample Offset) 0x5041 (Frame Configuration) 0x5042 (Value Mask) 0x5043 (Error Mask) 0x5045 (Value) 0x5046 (State) For details about the objects used: See chapter "K-Bus module-specific objects".

CECX-E-6E-T-P2

6 temperature inputs


For each CECX-E-6E-T-P2, the objects 0x5010, 0x5011 and 0x5014 are extended by one Sub-Index. The object 0x6401, is extended by 6 Sub-indices. Objects used: 0x5010 (CECX-E-6E-T-P2 configuration) 0x5011 (CECX-E-6E-T-P2 PDO Status) 0x5014 (CECX-E-6E-T-P2 Temperature sensor configuration) 0x6401 (Read analog inputs). For details about the objects used: See chapter "K-Bus module-specific objects".

Functionality:

The CECX-E-6E-T-P2 has an internal measurement cycle of 100 ms. To optimize the Bus load the measurement values of the individual channels are transmitted one after another (1 value for each SYNC). For this the temperature value in object 0x6401 is transmitted and the corresponding channel number is transmitted in object 0x5011. The highest value Bit in object 0x5011 signals whether an external terminal temperature sensor is connected.

CECX-II 34-21


CECX-E-4E-T-P1

4 measuring inputs for PT100 resistance sensors


For each CECX-E-4E-T-P1, the object 0x6401 is extended by 4 Sub-Indices. Objects used: 0x6401 (Read analog inputs) For details about the objects used: See chapter "K-Bus module-specific objects".


34.8.1 Response to module errors

Any module error is indicated by the STATUS-LED (red). The CECX-B-CO will send a status message to the Bus master. Once the module error has been removed the system must be newly initial-ized (new start-up).

34.8.1.1 Emergency Message

To signal error states the CECX-B-CO sends out Emergency Messages.

34.8.1.2 Telegram structure:

Example: Emergency Message (sensor failure)

Bus address CECX-B-CO: 0x07 CAN-Identifier: Bus address + 128 (0x80) = 0x87 Error register: 0x1001, Bit 2 set (voltage error) Error code: 0x3000 (see Error Codes) Module ID: 0x04

CANIdentifier

ErrorRegister

Errorcode Modul ID Statuswort11bit 8bit 8bit 8bit 8bit 8bit 8bit

Structure of the Emergency-Message

CECX-II 34-22


34.8.1.3 Error codes

The following table lists the meaning of the Error-Codes (according to DS301) The error buffer can be read out via object 0x1003:

Error Code (hex)

Significance Reaction

0x0000 Error Reset or No Error 0x2320 Short circuit at output

0x3000 Voltage error, �input voltage out-side permitted range or sensor failure

according to 0x1029/3 change to XXX_ERROR The manufacturer-specific Error Field contains the K-Bus ID and the status byte of the AM299/X

0x5000 Device Hardware (Error message triggered through K-Bus module)

Change to PRE_OPERATIONAL _ERROR The manufacturer-specific Error Field contains the K-Bus ID and the status byte of the AM299/X

0x5001 Device Hardware (K-Bus) Change to PRE_OPERATIONAL_ERROR

0x5002 Device Hardware (K-Bus): Error at Power-Down Line (remains active after start-up)

Change to PRE_OPERATIONAL_ERROR

0x5003 Device Hardware (K-Bus): Error at Power-Down Line (remains active after start-up)


0x5004 The K-bus has more modules than permitted


0x5005 K-Bus WAIT-Line is blocked by a device


0x5007 A K-Bus module was unplugged from the K-Bus


0x5008 SERR-Line active Change to PRE_OPERATIONAL_ERROR

0x5009 At least one unknown module is attached to the K-Bus

Change to PRE_OPERATIONAL

0x500A Several modules of the same type detected with the same address (hex-switch position)


0x5030 HW-counter overflow before the previous counter was reset


0x5031 Sensor failure line A Change to PRE_OPERATIONAL_ERROR

0x5032 Sensor failure line B Change to PRE_OPERATIONAL_ERROR

0x5033 Sensor failure zero impulse line Change to PRE_OPERATIONAL_ERROR

0x5034 Track error Change to PRE_OPERATIONAL_ERROR

0x5035 Zero impulse error A Change to PRE_OPERATIONAL_ERROR

0x6000 Device Software (Assertion Failure, Watchdog)

Module Reset

0x8100 Communication (Sync-Timeout) according to 0x1029/1 change to XXX_ERROR

CECX-II 34-23


CECX-II 34-24

Error Code (hex)

Significance Reaction

0x8101 Communication (PDO lost, missing setpoints, message in case two sequential PDO’s are missing)

according to 0x1029/1 change to XXX_ERROR

0x8110 CAN Overrun (Objects lost, overrun in CAN-Controller)

according to 0x1029/1 change to XXX_ERROR

0x8120 CAN in Error Passive Mode

according to 0x1029/1 change to XXX_ERROR Reset CAN-Controller -> recover from bus off

0x8130 Life Guard Error or Heartbeat Error according to 0x1029/1 change to XXX_ERROR

0x8140 recovered from bus off

0x8210 PDO not processed due to length error

The manufacturer-specific Error Field contains the CAN-ID of the PDO (PDO will be treated as failed and therefore the same reaction as with error 0x8101)

34.8.2 Network Management

Module states

The states of the module are orientated at the DS301 CANOpen standard.

Status transitions

The CECX-B-CO module knows the following communication states (ac-cording to CanOpen Minimal Boot-Up):

INITIALIZATION:

Implementing the basic initialization


PRE_OPERATIONAL:

This status is adopted independently by the module after the initialization phase. In this status the parameterization, but not the process data com-munication is executed. Outputs are switched off in this status and/or will be switched off during transition into this status.

OPERATIONAL:

Operating status, process and parameter data transmission permitted. PDO-parameter cannot be changed in this status anymore.

STOPPED:

No process and parameter data transmission, module does not send error messages.

Status transitions

The module states are changed via the NMT (Network Management Ser-vice) The corresponding CAN-message is structured the following way (2 Byte data content): CAN-Identifier: 0x00 Data byte: Command-Specifier (cs) Data byte: Node address (0 address all nodes = Broadcast).

Status-transition

Command Specifier cs

Explanation

(1) - The initialization status us attained independently when switched-on.

(2) - Initialization completed – transition into the status PRE_OPERATIONAL occurs automatically.

(3), (6) 0x01 Start_Remote_Node. Starts the module, releases outputs and starts the transmission of PDOs.

(4), (7) 0x80 Enter PRE_OPERATIONAL. Stops the PDO transmission, SDOs continue to be active.

(5), (8) 0x02 Stop_Remote_Node. Outputs change into error status, SDO and PDO are switched off.

(9), (10), (11) 0x81 Reset_Node. Executes a reset. All objects are reset to Power-On default.

(12), (13), (14) 0x82

Reset_Communication. A reset of the communication functions is executed. Objects 0x1000 – 0x1FFF are reset to Power-On default.

Example 1:

The following telegram can be used to bring all modules throughout the en-tire network into a stop status (outputs with safe status): CAN-Identifier: 0x00 cs=0x02 Node address 0x00 (Broadcast).

CECX-II 34-25


Example 2:

The following telegram is used to reset node 29 (reset): CAN-Identifier: 0x00 cs=0x81 Node address 0x1C (node 29)

Boot Up Message

After the transition from the status INITIALIZATION to PRE-OPERATIONAL the CECX-B-CO automatically sends a Boot Up message. With this it signals that it is now ready to receive SDOs und NMTs and that it can be started. Structure of the Boot Up message according to DS 301 V4.01: Identifier: 0x700 +node address (hex) Date: 0

Example:

Boot Up message from node 29: Identifier: 0x71C Date: 0x00

Node monitoring

The CANOpen specification describes two mechanisms for node monitor-ing; Guarding and Heartbeat. Both mechanisms are supported by the CECX-B-CO. Only one of the two mechanisms can be active at any one time.

Guarding

The master monitors the connected periphery via Node Guarding. Hereto the Master sets Remote Frames (message requirement telegrams). With the assistance of Life Guarding the periphery can recognize whether or not a master has failed in which case all outputs are set to 0. The pe-riphery replies to the Master’s Remote Frames with the guarding message. This contains the Status-code and a toggle Bit. If this message does not conform with the message that the Master expects, or in case the master receives no answer at all, the master assumes that an error occurred at the periphery.

Heartbeat

At the heartbeat process the periphery and the master transmit the mes-sages cyclically. This can be done without Remote Frames so that less Bus load is generated than during the Guarding process. If the node monitoring is activated by heartbeat, the CECX-B-CO works as heartbeat producer exclusively.

CECX-II 34-26


34.9 Application example

For transmission via CAN 8 RxPDOs, 8 TxPDOs and 4 Interrupt-PDOs are available for each cycle; 1 PDO (Process Data Object) consists of 8 bytes. RxPDOs: Input value (DI, AI, TI) of the modules TxPDOs: Output values (DO, AO, PWM) of the modules Interrupt-PDOs: Interrupt values of the modules CECX-C-2G2, CECX-D-16E and CECX-D-8E8A-NP2/CECX-D-6E8A-PN-2.

34.9.1 Example of a configuration

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

UREF

GND

GND

GND

+

-

AI0

+

-

AI1

+

-

AI2

+

-

AI3

AO0

AO1

GND

AO2

AO3

GND

SE

NS

OR

+

-TI0

+

-TI1

+

-

TI2

+

-

TI3

+

-TI4

+

-TI5

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

0V

+24V

DO0

DO1

DO2

DO3

DO4

DO5

DO6

DO7

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

CAN

0V

+24V

STATUS

ADRL

ADRH

BAUD

0123456

789

A

BCD

F0

123456

789

A

BCD

F0

123456

78

9AB

CD

F

CA

N

RXTX

CAN

Ext. CAN-Device

typical application example for a bus link module

Advantage: flexible extension of a branch system (KePlast)

34.9.1.1 Calculation of the power consumption:

The CECX-B-CO makes 8.5 W available for add-on modules. Add-on modules: CECX-D-8E8A-NP-2: 0.4 W CECX-D-8E8A-NP-2: 0.4 W CECX-E-6E-T-P2: 0.6 W CECX-A-4E4A-V: 0.3 W Total: 1.7 W < 8.5 W

34.9.1.2 Calculation of the bus load:

Determined: Baud rate: 500 kBit Cycle time: 10 ms Data volume: Input Output CECX-D-8E8A-NP-2: 1 Byte 1 Byte CECX-D-8E8A-NP-2: 1 Byte 1 Byte CECX-E-6E-T-P2: 3 Byte - CECX-A-4E4A-V: 8 Byte 8 Byte Ext. Device: 8 Byte 8 Byte Total: 21 Byte 18 Byte This results in the following suggestion for a PDO-mapping:

CECX-II 34-27


RxPDO1 8 Byte TxPDO1 8 Byte (CECX-A-4E4A-V) RxPDO2 2 Byte (DIs) TxPDO2 2 Byte (DOs) RxPDO3 8 Byte TxPDO3 8 Byte (Ext. Dev.) RxPDO4 3 Byte (CECX-E-6E-T-P2) The PDO is set together of one data overhead (addressing, object num-bers,...) with 8 Byte and the user data specified above. The data transfer time is 2 s per Bit. (For further information: see the chapter "Baud-rates- and address settings") Overhead RxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data RxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Overhead RxPDO2: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data RxPDO2: 2 Byte * 8 Bit = 16 Bit * 2 s = 32 s Overhead RxPDO3: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data RxPDO3: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Overhead RxPDO4: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data RxPDO4: 3 Byte * 8 Bit = 24 Bit * 2 s = 48 s Overhead TxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data TxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Overhead TxPDO2: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data TxPDO2: 2 Byte * 8 Bit = 16 Bit * 2 s = 32 s Overhead TxPDO3: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data TxPDO3: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Overhead Sync-Signal: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Total: 1648 s At a cycle time of 10 ms this corresponds with a bus load of 16.48%.

34.9.1.3 Calculation of the power consumption:

The CECX-B-CO makes 8.5 W available for add-on modules. Add-on modules: CECX-D-8E8A-NP-2: 0.4 W CECX-D-8E8A-NP-2: 0.4 W Total: 0.8 W < 8.5 W

34.9.1.4 Calculation of the bus load:

Determined: Baud rate: 500 kBit Cycle time: 2 ms Data volume: Input Output CECX-D-8E8A-NP-2: 1 Byte 1 Byte CECX-D-8E8A-NP-2: 1 Byte 1 Byte Total: 2 Byte 2 Byte This results in the following suggestion for a PDO-mapping: RxPDO1 2 Byte TxPDO1 2 Byte

CECX-II 34-28


The PDO is set together of one data overhead (addressing, object num-bers,...) with 8 Byte and the user data specified above. The data transfer time is 2 s per Bit. (For further information: see the chapter "Baud-rates- and address settings") Overhead RxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data RxPDO1: 2 Byte * 8 Bit = 16 Bit * 2 s = 32 s Overhead TxPDO1: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s User data TxPDO1: 2 Byte * 8 Bit = 16 Bit * 2 s = 32 s Overhead Sync-Signal: 8 Byte * 8 Bit = 64 Bit * 2 s = 128 s Total: 448 s At a cycle time of 2 ms this corresponds with a bus load of approx. 25%.

34.10 Object directory

All communication objects and all application objects are grouped together in the object directory. In the CANOpen device model the object directory forms the link between the application and the CANOpen communication unit. Each entry in the object directory represents an object and is identified by a 16-bit index. An index in turn can contain up to 256 sub-indices. This en-ables the differentiation of 254 element up to 65536 * independent of the "11-bit identifiers". (The sub-indices 0 and 255 cannot be freely used.) In profiles the assignment of communication and device objects to a re-spective index is precisely defined; this means that with the object directory a unique interface is defined between the application and communication toward the outside. For example, every CANOpen node in the network knows that at index 1017h the heartbeat interval is located, and every node or configuration program has access to it for reading or writing. The object directory contains all objects that exist independent of the K-Bus configuration, but whose properties are partly dependent on the K-Bus con-figuration. In addition, every type of supported K-Bus module contains a set of objects, which will only be displayed in case a corresponding K-Bus module exists.

CECX-II 34-29


34.10.1 General Objects

Index: 16-bit entry Sub-Index: Max. 256 modules possible Attr.: Access via SDO transfer. The following attr. are possible: ro...read only rw...read/write const...constants PDO mapping: 0 ... No PDO mapping possible 1 ... PDO mapping possible

Index Sub-Index

Designation Type Attr. Value PDO

mapping 0x1000 0x00 device type UNSIGNED32 ro 0x000?0191 0 0x1001 0x00 error register UNSIGNED8 ro 0 0x1002 manufacturer status register UNSIGNED32 ro 0 0x1003 Pre-defined Error Field 0x00 Number of error states recorded UNSIGNED8 rw 0x00 0 0x01 Current error UNSIGNED32 ro - 0 0x02 Standard Error Field UNSIGNED32 ro - 0 … … … … … 0 0xA Standard Error Field UNSIGNED32 ro - 0 0x1005 COB-ID SYNC message UNSIGNED32 rw 0x80000080 0 0x1008 manufacturer device name VISIBLE_STRING const "CECX-B-CO" 0 0x100a manufacturer software version VISIBLE_STRING const "BL210 Vx.xx" 0 0x100c Guard Time UNSIGNED16 rw 0 0x100d Life Time Factor UNSIGNED8 rw 0 0x1014 COB-ID EMCY UNSIGNED32 ro 0x00000080 0 0x1015 Inhibit Time EMCY UNSIGNED16 rw 0 0 0x1017 Producer Heartbeat Time UNSIGNED16 rw 0 0 0x1018 Identity Object 0x00 Number of Entries UNSIGNED8 ro 2 0 0x01 Vendor ID UNSIGNED32 ro 0x 00000105 0 0x1029 Error Behavior 0x00 Largest subindex supported UNSIGNED8 ro 3 0 0x01 Communication Error UNSIGNED8 rw 0 0 0x02 Output Error UNSIGNED8 rw 1 0 0x03 Input Error UNSIGNED8 rw 1 0

0x1400 1st Receive PDO Communica-tion Parameter

0x00 largest sub-index supported UNSIGNED8 ro 2 0

0x01 COB-ID used by PDO UNSIGNED32 rw 0x200+Node ID

0

0x02 Transmission Type UNSIGNED8 rw 1 0

0x1401 2nd Receive PDO Communica-tion Parameter



0


0x1402 3rd Receive PDO Communica-tion Parameter



0


CECX-II 34-30


CECX-II 34-31

Index Sub-Index


mapping

0x1403 4th Receive PDO Communica-tion Parameter



0



0x00 largest sub-index supported UNSIGNED8 ro 2 0 0x01 COB-ID used by PDO UNSIGNED32 rw 0x80000000 0 0x02 Transmission Type UNSIGNED8 rw 1 0







0x1600 1st Receive PDO Mapping Pa-rameter

0x00 Number of Mapped Application Objects in PDO

UNSIGNED8 rw 0

0x01 .. 0x08

PDO mapping for the nth Application object to be mapped

UNSIGNED32 rw 0

0x1601 2nd Receive PDO Mapping Parameter

0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1602 3rd Receive PDO Mapping Parameter

0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1603 4th Receive PDO Mapping Parameter

0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0


0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0


0


CECX-II 34-32

Index Sub-Index


mapping


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0


0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0


0


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1800 1st Transmit PDO Communica-tion Parameter



0


0x1801 2nd Transmit PDO Communica-tion Parameter



0


0x1802 3rd Transmit PDO Communica-tion Parameter



0


0x1803 4th Transmit PDO Communica-tion Parameter



0











CECX-II 34-33

Index Sub-Index


mapping 0x01 COB-ID used by PDO UNSIGNED32 rw 0x80000000 0 0x02 Transmission Type UNSIGNED8 rw 1 0

0x1810

17th Transmit PDO Interrupt Line 1 Communication Parame-ter Interrupt Line 1


0x1811



0x1812



0x1813



0x1a00 1st Transmit PDO Mapping Parameter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1a01 2nd Transmit PDO Mapping Parameter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1a02 3rd Transmit PDO Mapping Parameter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1a03 4th Transmit PDO Mapping Parameter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0



UNSIGNED8 rw 0


CECX-II 34-34

Index Sub-Index


mapping

0x01 .. 0x08


UNSIGNED32 rw 0



UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0



UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0



UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

0x1a10 17th Transmit PDO Interrupt Line 1 Mapping Parameter Interrupt Line 1


UNSIGNED8 rw 2 0

0x01 Interrupt Status UNSIGNED32 rw 0x50000108 0 0x02 Timestamp UNSIGNED32 rw 0x50000220 0


0


UNSIGNED8 rw 2 0



0


UNSIGNED8 rw 2 0



0


UNSIGNED8 rw 2 0

0x01 Interrupt Status UNSIGNED32 rw 0x50000108 0 0x02 Timestamp UNSIGNED32 rw 0x50000220 0 0x2001 Firmware update OCTET_STRING wo 0 0x2002 Status Info 0x00 largest sub-index supported UNSIGNED8 ro 12 0 0x01 1st K-Bus Module Status Info UNSIGNED8 ro 1 0x02 2nd K-Bus Module Status Info UNSIGNED8 ro 1 0x03 3rd K-Bus Module Status Info UNSIGNED8 ro 1 0x04 4th K-Bus Module Status Info UNSIGNED8 ro 1 0x05 5th K-Bus Module Status Info UNSIGNED8 ro 1 0x06 6th K-Bus Module Status Info UNSIGNED8 ro 1 0x07 7th K-Bus Module Status Info UNSIGNED8 ro 1


Index Sub-Index


mapping 0x08 8th K-Bus Module Status Info UNSIGNED8 ro 1 0x09 9th K-Bus Module Status Info UNSIGNED8 ro 1 0x0A 10th K-Bus Module Status Info UNSIGNED8 ro 1 0x0B 11th K-Bus Module Status Info UNSIGNED8 ro 1 0x0C 12th K-Bus Module Status Info UNSIGNED8 ro 1 0x2010 1st K-Bus Modul Mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0

0x01 K-Bus ID + Address Switch Position

UNSIGNED16 ro 0

0x02 1st Interrupt PDO Number UNSIGNED8 rw 0

0x03 Mapping for the nth Application Object to be mapped

UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

0x0A Mapping for the nth Application Object to be mapped

UNSIGNED32 ro 0

0x2011 2nd K-Bus module mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

0x2012 3rd K-Bus module mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

CECX-II 34-35


Index Sub-Index


mapping


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

0x2013 4th K-Bus module mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0



UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0



UNSIGNED16 ro 0


CECX-II 34-36


Index Sub-Index


mapping


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0



UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0



UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

CECX-II 34-37


Index Sub-Index


mapping 0x2018 9th K-Bus module mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0



UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

0x201a 11th K-Bus module mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

CECX-II 34-38


Index Sub-Index


mapping


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

0x201b 12th K-Bus module mapping

0x2020 1st K-Bus Module Hardware Information

0x00 largest sub-index supported UNSIGNED8 ro 10 0 0x01 Name VISIBLE_STRING ro 0 0x02 Version UNSIGNED8 ro 0 0x03 Hardware revision UNSIGNED8 ro 0 0x04 Not relevant UNSIGNED8 ro 0 0x05 Print Number UNSIGNED32 ro 0 0x06 Serial number UNSIGNED32 ro 0 0x07 Order Number UNSIGNED32 ro 0 0x08 Device Number UNSIGNED32 ro 0 0x09 Initiation Time UNSIGNED32 ro 0 0x0A Runtime UNSIGNED32 ro 0

0x2021 2nd K-Bus Module Hardware Information


0x2022 3rd K-Bus Module Hardware Information


0x2023 4th K-Bus Module Hardware Information

0x00 largest sub-index supported UNSIGNED8 ro 10 0 0x01 Name VISIBLE_STRING ro 0 0x02 Version UNSIGNED8 ro 0 0x03 Hardware revision UNSIGNED8 ro 0 0x04 Not relevant UNSIGNED8 ro 0 0x05 Print Number UNSIGNED32 ro 0 0x06 Serial number UNSIGNED32 ro 0 0x07 Order Number UNSIGNED32 ro 0 0x08 Device Number UNSIGNED32 ro 0

CECX-II 34-39


Index Sub-Index


mapping 0x09 Initiation Time UNSIGNED32 ro 0 0x0A Runtime UNSIGNED32 ro 0











CECX-II 34-40


Index Sub-Index


mapping 0x01 Name VISIBLE_STRING ro 0 0x02 Version UNSIGNED8 ro 0 0x03 Hardware revision UNSIGNED8 ro 0 0x04 Not relevant UNSIGNED8 ro 0 0x05 Print Number UNSIGNED32 ro 0 0x06 Serial number UNSIGNED32 ro 0 0x07 Order Number UNSIGNED32 ro 0 0x08 Device Number UNSIGNED32 ro 0 0x09 Initiation Time UNSIGNED32 ro 0 0x0A Runtime UNSIGNED32 ro 0



0x202A 11th K-Bus Module Hardware Information


0x202B 12th K-Bus Module Hardware Information


0x2030 CECX-B-CO Hardware Informa-tion

0x00 largest sub-index supported UNSIGNED8 ro 10 0 0x01 Name VISIBLE_STRING ro 0 0x02 Version UNSIGNED8 ro 0 0x03 Hardware revision UNSIGNED8 ro 0 0x04 Not relevant UNSIGNED8 ro 0 0x05 Print Number UNSIGNED32 ro 0

CECX-II 34-41


Index Sub-Index


mapping 0x06 Serial number UNSIGNED32 ro 0 0x07 Order Number UNSIGNED32 ro 0 0x08 Device Number UNSIGNED32 ro 0 0x09 Initiation Time UNSIGNED32 ro 0 0x0A Runtime UNSIGNED32 ro 0 0x2200 SYNC Timeout UNSIGNED16 rw 0 0

Object 0x1000 – device type

Index Sub-Index


mapping 0x1000 0x00 device type UNSIGNED32 ro 0x000?0191 0

The 32Bit-value is divided up into two 16Bit-fields 1. 16Bit-field (additional information): 0000 0000 0000 wxyz w=1 analog outputs given x=1 analog inputs given y=1 digital outputs given z=1 digital inputs given 2. 16Bit-field (device profile number): 0x191 The device type provides only a rough classification of the device.

Object 0x1001 – Error register

Index Sub-Index


mapping 0x1001 0x00 error register UNSIGNED8 ro 0

The 8Bit value is structured the following way: Bit 0: an error that is not specified any further occurred Bit 1: Power failure Bit 2: Voltage error Bit 3: temperature error Bit 4: Communication error (Overrun CAN) Bit 5: device profile-specific Error Bit 6: reserved (always 0) Bit 7: Manufacturer-specific error (specified in more detail in object 1003)

CECX-II 34-42


CECX-II 34-43

Object 0x1002 – Status register

Index Sub-Index


mapping 0x1002 manufacturer status register UNSIGNED32 ro 0

The 32Bit-value provides information on the current status of the trans-ceiver.

State Value INITIALISATION 0x00000001 PRE_OPERATIONAL 0x00000002 OPERATIONAL 0x00000004 STOPPED 0x00000008 INITIALISATION_ERROR 0x00000081 PRE_OPERATIONAL_ERROR 0x00000082 OPERATIONAL_ERROR 0x00000084 STOPPED _ERROR 0x00000088

Object 0x1003 – Error memory

Index Sub-Index


mapping 0x1003 Pre-defined Error Field 0x00 Number of error states recorded UNSIGNED8 rw 0x00 0 0x01 Current error UNSIGNED32 ro - 0 0x02 Standard Error Field UNSIGNED32 ro - 0 … … … … … 0 0xA Standard Error Field UNSIGNED32 ro - 0

The Sub-Index 0x00 contains the number of error states that are stored. By writing a 0 on to the Sub-Index 0x00 the entire error memory will be de-leted. The 32Bit-value is divided up into two 16Bit-fields MSB: Additional information (is not used and set to 0) LSB: Error Code (description of error) According to DS301 a maximum of 16 error messages can be stored.

Object 0x1005 –Sync message (Sync Identifier)

Index Sub-Index


mapping 0x1005 COB-ID SYNC message UNSIGNED32 rw 0x80000080 0

Bit 30 of the 32Bit-value specifies whether the CAN-device sends out (1) or receives (0) SYNC-telegrams. The CECX-B-CO is a SYNC – consumer, which is why Bit 30 = 0.


CECX-II 34-44

Object 0x1008 – device name

Index Sub-Index


mapping 0x1008 manufacturer device name VISIBLE_STRING const "CECX-B-CO" 0

Object 0x100A – Software version

Index Sub-Index


mapping

0x100A manufacturer software version VISIBLE_STRING const "CECX-B-CO Vx.xx"

0

Object 0x100C – Guard Time

Index Sub-Index


mapping 0x100C Guard Time UNSIGNED16 rw 0

Specifies the distance between two Guard-telegrams and is set by the NMT-Master or the configuration tool. In case the Guard Time = 0 the node will not execute a Lifeguarding, but can be monitored by the Master via Node Guarding.

Object 0x100D – Life Time Factor

Index Sub-Index


mapping 0x100D Life Time Factor UNSIGNED8 rw 0

Life Time [ms] = Life Time Factor * Guard Time [ms] If no Guarding-telegram was received during the Life Time, the node will switch into error mode. In case the Life Time Factor = 0 the node will not execute a Lifeguarding, but can be monitored by the Master via Node Guarding.

Object 0x1014 – Emergency Identifier

Index Sub-Index


mapping 0x1014 COB-ID EMCY UNSIGNED32 ro 0x00000080 0

The MSBit of the Emergency Identifier can be adjusted to have the device send out (1) or not send out (0) an Emergency-telegram.


Object 0x1015 – Inhibit Time EMCY (Emergency delay timer)

Index Sub-Index


mapping 0x1015 Inhibit Time EMCY UNSIGNED16 rw 0 0

Object 0x1017 – Heartbeat producer

Index Sub-Index


mapping 0x1017 Producer Heartbeat Time UNSIGNED16 rw 0 0

Specifies the time in ms between two Heartbeat-telegrams that are sent out.

Object 0x1018 – Device identification (Identity Object)

Index Sub-Index


mapping 0x1018 Identity Object 0x00 Number of Entries UNSIGNED8 ro 2 0 0x01 Vendor ID UNSIGNED32 ro 0x 00000105 0

Object 0x1029 – Error behavior

Index Sub-Index


mapping 0x1029 Error Behavior 0x00 Largest subindex supported UNSIGNED8 ro 3 0 0x01 Communication Error UNSIGNED8 rw 0 0 0x02 Output Error UNSIGNED8 rw 1 0 0x03 Input Error UNSIGNED8 rw 1 0

This object determines the behavior of the CECX-B-CO during error states:

Communication Error: defines the behavior at Bus-Off, Nodeguarding, Sync-failure (0). Default behavior: switches to pre-operational

Output Error: at present not used� Default behavior: no state change

Input Error: used for the definition of the behavior at sensor failure� Default behavior: no state change

CECX-II 34-45


Object 0x1400 .. 0x1407 – Communication parameter RxPDO

Object 0x1400: 1. Receive PDO .... Object 0x1407: 8. Receive PDO The minimum number of PDO-configuration objects is determined by the necessary Receive-PDOs for the K-Bus-modules

Index Sub-Index


mapping

0x140x Receive PDO Communication Parameter



0


The Sub-Index 0x00 specifies the number of the following parameters. The 32Bit-value of the Sub-Index 0x01 (Communication Object Identifier) can be freely defined and is coded in the following way: Bit 0 – Bit 10: CAN Identifier Bit 11 – Bit 29: reserved Bit 30: Specifies whether or not access to this PDO is permitted (0) or not (1) Bit 31: Specifies whether the PDO exists (0) or not (1) It is not permitted to change the Identifier (Bit 0 – Bit 10) while the object exists (Bit 31 = 0). Unlike DS401 the value 1 is used as default value for the Transmission Type (Sub-Index 2). Permitted configuration values for Transmission Type: 0, 1 .. 240, 254

Object 0x1600 .. 0x1607 – Mapping RxPDO

Index Sub-Index


mapping

0x160x Receive PDO Mapping Parame-ter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

The respective Default-Mapping depends on the K-Bus configuration:

Number

Module types

The Default-Mapping differs from DS401 and provides socalled type-pure PDOs.

CECX-II 34-46


Mapping changes:

To change the mapping the following order must be observed: Delete PDO: Set the communication parameters in object 0x140x Bit 31 in the identifier-entry (Sub-Index0x01) to 1 Deactivate mapping: Set the Sub-Index 0x00 of the Mapping entry in object 0x160x to 0 Change mapping entries: Change the Sub-Index 0x01 – 0x08 in object 0x160x Activate Mapping: Set the Sub-Index 0x00 of the Mapping entry in object 0x160x to the correct number of mapped objects Create PDO: Assign MessageID in object 0x140x (0x200 + Node-ID) and set Bit 31 in the Identifier-entry (Sub-Index0x01) of the communication pa-rameter to 0.

Object 0x1800 .. 0x1807 – Communication parameter TxPDO

Object 0x1800: 1. Transmission PDO Object 0x1801: 2. Transmission PDO .... Object 0x1807: 8. Transmission PDO The minimum number of PDO-configuration objects is determined by the necessary Transmission-PDOs for the K-Bus-modules

Index Sub-Index


mapping

0x180x Transmit PDO Communication Parameter



0


The Sub-Index 0x00 specifies the number of the following parameters. The 32Bit-value of the Sub-Index 0x01 (Communication Object Identifier) can be freely defined and is coded in the following way: Bit 0 – Bit 10: CAN Identifier Bit 11 – Bit 29: reserved Bit 30: Specifies whether or not access to this PDO is permitted (0) or not (1) Bit 31: Specifies whether the PDO exists (0) or not (1) It is not permitted to change the Identifier (Bit 0 – Bit 10) while the object exists (Bit 31 = 0). Unlike DS401 the value 1 is used as default value for the Transmission Type (Sub-Index 2). Permitted configuration values for Transmission Type: 0, 1 .. 240, 254 (Value 0 … interrupt-triggered PDOs)

CECX-II 34-47


Object 0x1810 .. 0x1813 – Configuration parameter TxPDO

These PDO-configuration parameters are used for Interrupt-PDOs.

Index Sub-Index


mapping

0x181x Transmit PDO Interrupt Line 1 Communication Parameter Interrupt Line 1


The Sub-Index 0x00 specifies the number of the following parameters. The 32Bit-value of the Sub-Index 0x01 (Communication Object Identifier) can be freely defined and is coded in the following way: Bit 0 – Bit 10: CAN Identifier Bit 11 – Bit 29: reserved Bit 30: Specifies whether or not access to this PDO is permitted (0) or not (1) Bit 31: Specifies whether the PDO exists (0) or not (1) It is not permitted to change the Identifier (Bit 0 – Bit 10) while the object exists (Bit 31 = 0). Only Mode 0 (interrupt-triggered) is permitted as Transmission Type (Sub-Index 2).

Object 0x1A00 .. 0x1A07 – Mapping TxPDO

Index Sub-Index


mapping

0x1A0x Transmit PDO Mapping Pa-rameter


UNSIGNED8 rw 0

0x01 .. 0x08


UNSIGNED32 rw 0

The respective Default-Mapping depends on the K-Bus configuration:

Number

Module types

The Default-Mapping differs from DS401 and provides so-called type-pure PDOs.

Mapping changes:

To change the mapping the following order must be observed: Delete PDO: Set the communication parameters in object 0x180x Bit 31 in the Identifier-entry (Sub-Index0x01) to 1 Deactivate mapping: Set the Sub-Index 0x00 in object 0x1A0x of the Map-ping entry to 0

CECX-II 34-48


Change mapping entries: Change the Sub-Index 0x01 – 0x08 in object 0x1A0x Activate Mapping: Set the Sub-Index 0x00 of the Mapping entry in object 0x1A0x to the correct number of mapped objects Create PDO: Assign MessageID in object 0x180x (0x180 + Node-ID) and set Bit 31 in the Identifier-entry (Sub-Index0x01) of the communication pa-rameter to 0.

Object 0x1a10 .. 0x1a13 – Interrupt PDO

There are 4 Interrupt lines that can be assigned exclusively to the individual modules. Each module can occupy only one line. The firmware determines the allocation. In case more than 4 modules want to cover one Interrupt an error will be issued.

Index Sub-Index


mapping

0x1A1x 17th Transmit PDO Interrupt Line 1 Mapping Parameter Interrupt Line 1


UNSIGNED8 rw 2 0


The Sub-Index 0x00 specifies the number of the following parameters. If a module triggers an Interrupt during normal operations, the CECX-B-CO will secure a time stamp and the Interrupt status register, which shall be transmitted via PDO in the next cycle. This way no asynchronous PDO will be transmitted. The Interrupt-function of the K-Bus-module is switched off in the default sta-tus.

Object 0x2002 – Status Info

Index Sub-Index


mapping 0x2002 Status Info 0x00 largest sub-index supported UNSIGNED8 ro 12 0 0x01 1st K-Bus Module Status Info UNSIGNED8 ro 1 0x02 2nd K-Bus Module Status Info UNSIGNED8 ro 1 0x03 3rd K-Bus Module Status Info UNSIGNED8 ro 1 0x04 4th K-Bus Module Status Info UNSIGNED8 ro 1 0x05 5th K-Bus Module Status Info UNSIGNED8 ro 1 0x06 6th K-Bus Module Status Info UNSIGNED8 ro 1 0x07 7th K-Bus Module Status Info UNSIGNED8 ro 1 0x08 8th K-Bus Module Status Info UNSIGNED8 ro 1 0x09 9th K-Bus Module Status Info UNSIGNED8 ro 1 0x0A 10th K-Bus Module Status Info UNSIGNED8 ro 1 0x0B 11th K-Bus Module Status Info UNSIGNED8 ro 1 0x0C 12th K-Bus Module Status Info UNSIGNED8 ro 1

CECX-II 34-49


The state of each connected module can be read out via this object.

Object 0x2010 .. 0x201B – K-Bus Module Mapping

Index Sub-Index


mapping 0x2010 1st K-Bus Modul Mapping 0x00 largest sub-index supported UNSIGNED8 ro 10 0


UNSIGNED16 ro 0



UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0


UNSIGNED32 ro 0

This object contains the K-Bus-configuration and represents it on the profile specific objects starting as of 0x6000. The PDO-Mapping can be used to establish an assignment between the IO's of the K-Bus-modules and the PDO-structure. Sub-Index 0: biggest supported Sub-Index In case the object does not describe a module (module is not given) the value 0 is entered Sub-Index 1: K-Bus ID and address switch position of the module (higher Byte: K-Bus ID + lower Byte: address switch position) Sub-Index 2: Mapping of the module: Structure like PDO mapping: Index, Sub-Index, Object length With the help of these objects the representation can be established be-tween the PDO Mapping and the physical I/O of the K-Bus module.

CECX-II 34-50


K-Bus ID list:

Identifier Module Description 0xA CECX-E-6E-T-P2 Thermo module: 6 channels

0xB CECX-A-4E4A-V 4 analog In 14bit + 4 analog Out 12bit �Voltage in-puts/outputs

0xC CECX-A-4E4A-A 4 analog In 14bit + 4 analog Out 12bit �Currency inputs/outputs

0xE CECX-A-4E-V 4 analog In 14bit voltage inputs 0xF CECX-A-4A-V 4 analog Out 12bit voltage outputs 0x15 CECX-D-16E 16 digital inputs 0x16 CECX-D-14A-2 14 digital outputs 0x17 CECX-D-8E8A-NP-2 Digital mixing module: 8 inputs/ 8 outputs (2A) 0x18 CECX-D-6E8A-PN-2 Digital mixing module: 6 inputs/ 8 outputs (2A)

0x19 CECX-C-2G2 Incremental module with 2 encoder inputs and 2 digi-tal inputs

0x1A CECX-C-2G1 4 SSI inputs 0x1F CECX-E-4E-T-P1 4 PT100 temperature inputs

Information Field bus modules are not supported.

Object 0x2020 .. 0x202B – K-Bus Module Hardware Information

Index Sub-Index


mapping

0x2020 1st K-Bus Module Hardware Information


This object contains the hardware information of the connected modules. Sub-Index 0: biggest supported Sub-Index In case the object does not describe a module (module is not given) the value 0 is entered Sub-Index 1: Name of the K-Bus module Sub-Index 2: Version number of the K-Bus module Sub-Index 3: Hardware revision number Sub-Index 4: Not relevant Sub-Index 5: Print number Sub-Index 6: Serial number Sub-Index 7: Order number Sub-Index 8: Device number

CECX-II 34-51


Sub-Index 9: Point in time of the initial start-up [Sec. after 1.1.1970] (is currently not used) Sub-Index A: Operating hours [h]

Object 0x2030 – CECX-B-CO Hardware Information

Index Sub-Index


mapping

0x2030 CECX-B-CO Hardware Informa-tion


This object contains the hardware information of the CECX-B-CO. Sub-Index 0: biggest supported Sub-Index In case the object does not describe a module (module is not given) the value 0 is entered Sub-Index 1: Name of the K-Bus module Sub-Index 2: Version number of the K-Bus module Sub-Index 3: Hardware revision number Sub-Index 4: Not relevant Sub-Index 5: Print number Sub-Index 6: Serial number Sub-Index 7: Order number Sub-Index 8: Device number Sub-Index 9: Point in time of the start-up [Sec. after 1.1.1970] (is currently not used) Sub-Index A: Operating hours [h]

Object 0x2200 – SYNC Timeout

Index Sub-Index


mapping 0x2200 SYNC Timeout UNSIGNED16 rw 0 0

This object is used to set the maximum permitted time interval in ms to monitor the income of the SYNC-telegram. Default: 0 -> monitoring deactivated Value: Time in ms In case the SYNC-telegram does not arrive within the specified time a cor-responding object 0x1029/01 reacts.

CECX-II 34-52


34.10.2 K-Bus module-specific objects

Index Sub-Index


mapping0x5000 Interrupt Status Line 1 0x00 Number of Subindizes UNSIGNED8 ro 2 0 0x01 Interrupt Status 1 UNSIGNED8 ro 1 0x02 Interrupt Timestamp 1 UNSIGNED32 ro 1 0x5001 Interrupt Status Line 2 0x00 Number of Subindizes UNSIGNED8 ro 2 0 0x01 Interrupt Status 2 UNSIGNED8 ro 1 0x02 Interrupt Timestamp 2 UNSIGNED32 ro 1 0x5002 Interrupt Status Line 3 0x00 Number of Subindizes UNSIGNED8 ro 2 0 0x01 Interrupt Status 3 UNSIGNED8 ro 1 0x02 Interrupt Timestamp 3 UNSIGNED32 ro 1 0x5003 Interrupt Status Line 4 0x00 Number of Subindizes UNSIGNED8 ro 2 0 0x01 Interrupt Status 4 UNSIGNED8 ro 1 0x02 Interrupt Timestamp 4 UNSIGNED32 ro 1 0x5010 CECX-E-6E-T-P2 config 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED16 rw 1 0x5011 CECX-E-6E-T-P2 PDO-Status 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 PDO-Status UNSIGNED8 ro 1 0x5013 CECX-A-4E4A-x config 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED16 rw 1 0x5014 CECX-E-6E-T-P2 ConfigL 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED16 rw 1

0x5020 CECX-D-8E8A-NP-2/CECX-D-6E8A-PN-2 Reset Short circuit

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Reset-Register UNSIGNED16 rw 1

0x5021 CECX-D-8E8A-NP-2/CECX-D-6E8A-PN-2 Config Short circuit

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED8 rw 1 0x5030 CECX-C-2G2 Config 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Command Register Interface UNSIGNED16 rw 0 0x5031 CECX-C-2G2 Zero impulse init 0x00 Number of Subindizes UNSIGNED8 ro 0

0x01 Zero impulse init register inter-face

UNSIGNED16 rw 0

0x5032 CECX-C-2G2 Period Counter 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Period Counter Interface SIGNED32 ro 1 0x5033 CECX-C-2G2 Status 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Status Interface UNSIGNED8 rw 1 0x5034 CECX-C-2G2 Impulse Counter 0x00 Number of Subindizes UNSIGNED8 ro 0

CECX-II 34-53


CECX-II 34-54

Index Sub-Index


mapping 0x01 Impulse Counter Interface UNSIGNED32 rw 1 0x5035 CECX-C-2G2 Timestamp 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Timestamp Interface UNSIGNED32 rw 1

0x5040 CECX-C-2G1 Sample Configu-ration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Sample Configuration UNSIGNED32 rw 1

0x5041 CECX-C-2G1 Frame Configura-tion

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Frame Configuration UNSIGNED32 rw 1

0x5042 CECX-C-2G1 Value Mask Con-figuration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Value Mask Configuration UNSIGNED32 rw 1

0x5043 CECX-C-2G1 Error Mask Con-figuration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Error Mask Configuration UNSIGNED32 rw 1 0x5045 CECX-C-2G1 Value 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Value UNSIGNED32 rw 1 0x5046 CECX-C-2G1 State 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 State UNSIGNED32 rw 1 0x6000 Read Input 8-Bit 0x00 Number of Input 8 Bit UNSIGNED8 ro 0 0x01 Read Input 1 to 8 UNSIGNED8 ro 1

0x6003 CECX-D-8E8A-NP-2/CECX-D-6E8A-PN-2 Config Debounce 8-Bit

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED8 rw 1

0x6005 Global Interrupt Enable Digital 8-Bit

BOOLEAN rw TRUE 0

0x6007 Interrupt Mask Low-to-High 8-Bit

0x00 Number of Input 8-Bit UNSIGNED8 ro 0 0x01 Interrupt Low to High 1 to 8 UNSIGNED8 rw 0x00 1

0x6008 Interrupt Mask High to Low 8-Bit

0x00 Number of Input 8-Bit UNSIGNED8 ro 0 0x01 Interrupt High to Low 1h to 8h UNSIGNED8 rw 0x00 1 0x6100 Read Input 16-Bit 0x00 Number of Input 16-Bit UNSIGNED8 ro 0 0x01 Read Input 1 to 16 UNSIGNED16 ro 1






CECX-II 34-55

Index Sub-Index


mapping


0x00 Number of Input 16-Bit UNSIGNED8 ro 0 0x01 Interrupt High to Low 1 to 16 UNSIGNED16 rw 0x00 0 0x6200 Write Output 8-Bit 0x00 Number of Output 8-Bit UNSIGNED8 ro 0 0x01 Write Output 1 to 8 UNSIGNED8 rw 1 0x6300 Write Output 16-Bit 0x00 Number of Output 16-Bit UNSIGNED8 ro 0 0x01 Write Output 1 to 16 UNSIGNED16 rw 1 0x6401 Read Analogue Input 16-Bit

0x00 Number of Analogue Input 16-Bit

UNSIGNED8 ro 0

0x01 Analogue Input SIGNED16 ro 1 0x6402 CECX-C-2G2 Counter 32-Bit 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Counter Interface UNSIGNED32 ro 1 0x6411 Write Analogue Output 16-Bit

0x00 Number of Analogue Output 16-Bit

UNSIGNED8 ro 0

0x01 Analogue Output SIGNED16 rw 1

0x6414 Write Manufacturer-specific Analogue Output

0x00 Number of Analogue Output UNSIGNED8 ro 0 0x01 Analogue Output SIGNED16 rw 1

Object 0x5000 .. 0x5003 – Interrupt Status Leitung 1 bis 4

Index Sub-Index


mapping0x5000 Interrupt Status Line 1 0x00 Number of Subindizes UNSIGNED8 ro 2 0 0x01 Interrupt Status 1 UNSIGNED8 ro 1 0x02 Interrupt Timestamp 1 UNSIGNED32 ro 1

The Sub-Index 0x00 specifies the number of the following parameters. The Timestamp is also transmitted with the Interrupt-PDO in the cyclical operation (see description "Object 0x1a10 – 0x1a13 - Interrupt-PDO"). The unique identification of the Timestamp is given up to a cycle time of 100 ms. Information At cycle times in excess of 100 ms the internal timer can overrun.


Object 0x5013 – CECX-A-4E4A Configuration

Index Sub-Index


mapping0x5013 CECX-A-4E4A Config 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Config register UNSIGNED16 rw 1

Object 0x5014 – CECX-E-4E-T-P1/CECX-E-6E-T-P2 ConfigL

Index Sub-Index


mapping

0x5014 CECX-E-4E-T-P1/CECX-E-6E-T-P2 ConfigL


Object 0x5020 – CECX-D-6E8A-PN-2 reset short-circuit

Index Sub-Index


mapping

0x5020 CECX-D-6E8A-PN-2 reset short-circuit

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Reset-Register UNSIGNED16 rw 1

Object 0x5021 – CECX-D-6E8A-PN-2 configuration short-circuit

Index Sub-Index


mapping

0x5021 CECX-D-6E8A-PN-2 config short-circuit


Object 0x5030 – CECX-C-2G2 configuration

Index Sub-Index


mapping0x5030 CECX-C-2G2 Config 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Command Register Interface UNSIGNED16 rw 0

Object 0x5031 – CECX-C-2G2 initialization zero impulse

Index Sub-Index


mapping0x5031 CECX-C-2G2 Zero impulse init 0x00 Number of Subindizes UNSIGNED8 ro 0

0x01 Zero impulse init register inter-face

UNSIGNED16 rw 0

CECX-II 34-56


Object 0x5032 – CECX-C-2G2 Period Counter

Index Sub-Index


mapping0x5032 CECX-C-2G2 Period Counter 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Period Counter Interface SIGNED32 ro 1

Object 0x5033 – CECX-C-2G2 Status

Index Sub-Index


mapping0x5033 CECX-C-2G2 Status 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Status Interface UNSIGNED8 rw 1

Object 0x5034 – CECX-C-2G2 Impulse Counter

Index Sub-Index


mapping0x5034 CECX-C-2G2 Impulse Counter 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Impulse Counter Interface UNSIGNED32 rw 1

Object 0x5035 – CECX-C-2G2 Timestamp

Index Sub-Index


mapping0x5035 CECX-C-2G2 Timestamp 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Timestamp Interface UNSIGNED32 rw 1

Object 0x5040 – CECX-C-2G1 Sample Configuration

Index Sub-Index


mapping

0x5040 CECX-C-2G1 Sample Configu-ration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Sample Configuration UNSIGNED32 rw 1

Object 0x5041 – CECX-C-2G1 Frame Configuration

Index Sub-Index


mapping

0x5041 CECX-C-2G1 Frame Configura-tion

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Frame Configuration UNSIGNED32 rw 1

CECX-II 34-57


CECX-II 34-58

Object 0x5042 – CECX-C-2G1 Valuemask Configuration

Index Sub-Index


mapping

0x5042 CECX-C-2G1 Value Mask Con-figuration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Value Mask Configuration UNSIGNED32 rw 1

Object 0x5043 – CECX-C-2G1 Errormask Configuration

Index Sub-Index


mapping

0x5043 CECX-C-2G1 Error Mask Con-figuration

0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Error Mask Configuration UNSIGNED32 rw 1

Object 0x5045 – CECX-C-2G1 Access to transducer value

Index Sub-Index


mapping0x5045 CECX-C-2G1 Value 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Value UNSIGNED32 rw 1

Object 0x5046 – CECX-C-2G1 Access to transducer status

Index Sub-Index


mapping0x5046 CECX-C-2G1 State 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 State UNSIGNED32 rw 1

Object 0x6000 – Read digital inputs 8-Bit

Index Sub-Index


mapping0x6000 Read Input 8-Bit 0x00 Number of Input 8 Bit UNSIGNED8 ro 0 0x01 Read Input 1 to 8 UNSIGNED8 ro 1

Object 0x6003 – CECX-D-8E8A-NP-2/CECX-D-6E8A-PN-2 Configuration Debouncing 8-Bit

Index Sub-Index


mapping




Object 0x6005 – Interrupt on/off

Index Sub-Index


mapping

0x6005 Global Interrupt Enable Digital 8-Bit

BOOLEAN rw TRUE 0

Object 0x6007 – Interrupt Mask Low-to-high 8-Bit

Index Sub-Index


mapping



Object 0x6008 – Interrupt Mask High-to-Low 8-Bit

Index Sub-Index


mapping


0x00 Number of Input 8-Bit UNSIGNED8 ro 0 0x01 Interrupt High to Low 1h to 8h UNSIGNED8 rw 0x00 1

Object 0x6100 – Read digital inputs 16-Bit

Index Sub-Index


mapping0x6100 Read Input 16-Bit 0x00 Number of Input 16-Bit UNSIGNED8 ro 0 0x01 Read Input 1 to 16 UNSIGNED16 ro 1

Object 0x6103 – CECX-D-8E8A-NP-2/CECX-D-6E8A-PN-2 Configuration debouncing 16-Bit

Index Sub-Index


mapping



Object 0x6107 – Interrupt Mask Low-to-high 16-Bit

Index Sub-Index


mapping



CECX-II 34-59


Object 0x6108 – Interrupt Mask High-to-Low 16-Bit

Index Sub-Index


mapping


0x00 Number of Input 16-Bit UNSIGNED8 ro 0 0x01 Interrupt High to Low 1 to 16 UNSIGNED16 rw 0x00 0

Object 0x6200 – Write digital outputs 8-Bit

Index Sub-Index


mapping0x6200 Write Output 8-Bit 0x00 Number of Output 8-Bit UNSIGNED8 ro 0 0x01 Write Output 1 to 8 UNSIGNED8 rw 1

Object 0x6300 – Write digital outputs 16-Bit

Index Sub-Index


mapping0x6300 Write Output 16-Bit 0x00 Number of Output 16-Bit UNSIGNED8 ro 0 0x01 Write Output 1 to 16 UNSIGNED16 rw 1

Object 0x6401 – Read analog inputs

Index Sub-Index


mapping0x6401 Read Analogue Input 16-Bit

0x00 Number of Analogue Input 16-Bit

UNSIGNED8 ro 0

0x01 Analogue Input SIGNED16 ro 1

Object 0x6402 – CECX-C-2G2 Counter 32-Bit

Index Sub-Index


mapping0x6402 CECX-C-2G2 Counter 32-Bit 0x00 Number of Subindizes UNSIGNED8 ro 0 0x01 Counter Interface UNSIGNED32 ro 1

Object 0x6411 – Write analog outputs

Index Sub-Index


mapping0x6411 Write Analogue Output 16-Bit

0x00 Number of Analogue Output 16-Bit

UNSIGNED8 ro 0

0x01 Analogue Output SIGNED16 rw 1

CECX-II 34-60


Object 0x6414 – Write PWM-outputs

Index Sub-Index


mapping

0x6414 Write Manufacturer-specific Analogue Output

0x00 Number of Analogue Output UNSIGNED8 ro 0 0x01 Analogue Output SIGNED16 rw 1

34.11 Disposal




CECX-II 34-61



General

Power supply voltage: 24 V DC from the front (19.2 V to 30 V, acc. to IEC61131-2)*) Max. switch-on current at 25°C: 5 A Max. switch-on current at 50°C: 7 A Max. power consumption 5 V: 4.5 W Power availability K-Bus 5 V: 8.5 W Power availability K-Bus 24 V: 45 W Protected against: Reversed polarity, overload, revered feed-in, short circuit Supply connection terminals: Open terminals, grid dimensions 5.08 mm CAN addressing on the K-Net: 16-digit address switch on front side

Displays on the front panel: 2-color Status LED for module status Send and receive LED on the CAN interface

Overvoltage category: II Equipment class III according to EN 61131-2:2007



CAN interface

CAN interface: DSUB plug 9-pole

Baud rate: Adjustable via rotary switch: 1 MBit/s, 800 kBit/s, 500 kBit/s, 250 kBit/s, 125 kBit/s

Galvanic isolation No Number: 1 Send/receive display: Send LED, Receive LED Bus termination: To be connected via connector bridge

Dimensions:

Footprint:

Module height: 120 mm Mounting depth: 100 mm Front panel width: 22.5 mm Module width: (incl. K-Bus plug)

32.5 mm

Weight: 121 g

Information *) to power supply voltage: chapter 5.1.1.3 of EN61131-2 2007 is fulfilled with severity level PS1. To reach severity level PS2, a power supply unit must be selected, which meets the necessary requirements.

CECX-II 34-62





34.13.2 Standards














CECX-II 34-63


CECX-II 34-64

The library Ethernet.lib



Table of contents

The library Ethernet.lib............................................................................................................................... 1 Functions ............................................................................................................................................... 1

EthGetIPConfig ........................................................................................................................... 1 EthSetIPConfig ........................................................................................................................... 2

CECX-III ii



The functions of the Ethernet library support the handling of IP configurations. Similar to the settings in 'Network Configuration', the network settings can be made per function call.

Functions

The Ethernet library contains the following functions:

EthGetIPConfig: For reading of the IP configuration

EthSetIPConfig: For setting of the IP configuration

EthGetIPConfig

This function reads out the IP configuration values set per 'Network Configuration'.

In/Out Variable Data type Description

pIPConfig T_IPConfig *)

*) T_IPConfig

The structure contains the following variables:

Variable Data type Description

Name STRING(15) Name of the control, e.g. 'myPLC'

IP STRING(15) IP address, e.g. '192.168.5.20'

SubnetMask STRING(15) Subnet mask, e.g. '255.255.255.0'

Gateway STRING(15) Gateway address, e.g. '192.168.5.1'

DHCP BOOL If TRUE then the IP address is automatically polled by the DHCP server. The current IP address of the control can then be differently from the configured one.

See also the topic 'Ethernet connection' in the system manual.

Output variable Data type Description

EthGetIPConfig BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

CECX-III 1


EthSetIPConfig

This function sets the IP configuration of the control.

Since this is a synchronous function, this may not be called from the Default_Task (no task assignment from PLC_PRG), since otherwise the task monitoring takes effect.

The changes of the setting are first adopted after the next startup. A restart of the control can be initiated with the PLCReboot function from the PLCService.lib.

In/Out variable Data type Description

pIPConfig T_IPConfig *)

*) T_IPConfig



Name STRING(15) Name of the control, e.g. 'myPLC'

IP STRING(15) IP address, e.g. '192.168.5.20'

SubnetMask STRING(15) Subnet mask, e.g. '255.255.255.0'

Gateway STRING(15) Gateway address, e.g. '192.168.5.1'

DHCP BOOL If TRUE then the IP address is automatically polled by the DHCP server. The current IP address of the control can then be differently from the configured one.

See also the topic 'Ethernet connection' in the system manual.

CECX-III 2

The library EventData.lib



Table of contents

The library EventData.lib ............................................................................................................................ 1 Functions ............................................................................................................................................... 1

GetLastIntrEdge.......................................................................................................................... 1 Examples ............................................................................................................................................... 3

Event-driven task ‘interrupt enabled DI edge detected’............................................................... 3 System event ‚DI_edge’ .............................................................................................................. 3

CECX-IV ii



The functions of the EventData library support the handling of data from system events, that are triggered by interrupts from inputs of digital input modules.

The following measures are necessary in order to receive the data generated from these system events:

1. The interrupt-capable inputs must be configured in the control configuration so that events for rising and / or falling edge are triggered in the system.

2. The evaluation can be carried out in two different ways:

a) By creating a task that is triggered by an external event. See example: Event-driven task ‘interrupt enabled DI edge detected’.

b) By direct evaluation of the data from the system event. A block is created here which starts with the name 'Callback' and which must be inserted in the task configuration under 'System events'. See example: System event ‚DI_edge’.

Functions

The EventData library contain(s) the following function(s):

GetLastIntrEdge: Returns interrupt data.

GetLastIntrEdge

This function returns data of the last triggered interrupt from the digital input module. When using these events in the SysLibCallCallBack library then the constant EVENT_DI_edge ( = 1500) can be used.

Input variable Data type Description

pIntrEdgeData POINTER TO IntrEdgeData

Pointer to a data range *), which is described by the system.

*) IntrEdgeData



structID BYTE 100 ... For interrupts from digital add-on modules.

Reserved BYTE Intended for future expansion.

moduleType BYTE **)

moduleAddr BYTE Position of the address switch of the module.

eventMask DWORD ***)

eventCounter UDINT Counts the occurred events since the last system start.

CECX-IV 1


**) moduleType

Index number for the input/output module:

CECX-D-8E8A-NP = 6,

CECX-D-6E8A-PN = 7,

CECX-D-16E = 8,

CECX-D-14A-2 = 9.

***) EventMask

The data of both interrupt-capable digital inputs are available (bit-coded) and can be masked out with the following bit mask:

DI0 Falling Edge = 0x00000001, DI0 Rising Edge = 0x00000002, DI1 Falling Edge = 0x00000004, DI1 Rising Edge = 0x00000008;

Example:

In order to determine if the last interrupt was triggered by a rising edge on the digital input DI0, the EventMask parameter must be masked with 0x00000002.

IF (lastValidIntrEdge.eventMask AND 2) = 2 THEN ...


GetLastIntrEdge BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

CECX-IV 2


Examples

The following examples explain the use of the library functions.

Event-driven task ‘interrupt enabled DI edge detected’

This example uses a task which reacts to the interrupt of a correspondingly configured digital input. Therein, the data from the last occurring interrupt is evaluated and the interrupt per digital input are counted according to their type (rising / falling edge).

PROGRAM DI_Edge VAR A: INT; eventcount: UDINT; IntrEdge: IntrEdgeData; lastValidIntrEdge: IntrEdgeData; DI0Falling: DINT; DI0Rising: DINT; DI1Falling: DINT; DI1Rising: DINT; END_VAR eventcount := eventcount + 1; IF GetLastIntrEdge(ADR(IntrEdge)) THEN A:=A+1; lastValidIntrEdge := IntrEdge; IF (lastValidIntrEdge.eventMask AND 1) = 1 THEN DI0Falling := DI0Falling +1; END_IF; IF (lastValidIntrEdge.eventMask AND 2) = 2 THEN DI0Rising := DI0Rising +1; END_IF; IF (lastValidIntrEdge.eventMask AND 4) = 4 THEN DI1Falling := DI1Falling +1; END_IF; IF (lastValidIntrEdge.eventMask AND 8) = 8 THEN DI1Rising := DI1Rising +1; END_IF; END_PROGRAM

System event ‚DI_edge’

As with the above example, the data of the last occurring interrupt is evaluated, however, directly in the interrupt context. The name of the function inserted in the task configuration under 'System events' must begin with 'Callback'.

Global variables were created in order to have access to the evaluated data outside of the interrupt processing.

This function runs in the interrupt context. No waiting loops may be programmed therein and the program code should be as short as possible since otherwise the system can be blocked.

VAR_GLOBAL int_eventcount: UDINT; int_lastValidIntrEdge: IntrEdgeData; int_DI0Falling: DINT; int_DI0Rising: DINT; int_DI1Falling: DINT; int_DI1Rising: DINT; END_VAR FUNCTION Callback_DI: DWORD VAR_INPUT dwEvent: DWORD; pData: POINTER TO IntrEdgeData; dwOwner: DWORD; END_VAR

CECX-IV 3


CECX-IV 4

int_eventcount := int_eventcount + 1; int_lastValidIntrEdge := pData^; IF (pData^.eventMask AND 1) = 1 THEN int_DI0Falling := int_DI0Falling +1; END_IF; IF (pData^.eventMask AND 2) = 2 THEN int_DI0Rising := int_DI0Rising +1; END_IF; IF (pData^.eventMask AND 4) = 4 THEN int_DI1Falling := int_DI1Falling +1; END_IF; IF (pData^.eventMask AND 8) = 8 THEN int_DI1Rising := int_DI1Rising +1; END_IF; END_FUNCTION

The library IncEnc.lib



Table of contents

The library IncEnc.lib.................................................................................................................................. 1 Function blocks...................................................................................................................................... 1

IncEnc_SetCount ........................................................................................................................ 1 IncEnc_Latch_Zero ..................................................................................................................... 3 IncEnc_Latch_DI......................................................................................................................... 4

CECX-V ii



The function blocks of the IncEnc.lib support the latch functionality of the incremental encoder interface module CECX-C-2G2. The latch function uses a digital input on the encoder (latch input) in order to save data of the encoder during change of edge of the input.

The following figure shows the position of the latch input on the front of the module.

1 Power supply 2 2 Latch inputs 3 Encoder input 0 4 Encoder input 1

Front view of the incremental encoder interface module

Function blocks

The IncEnc library contains the following function blocks:

IncEnc_SetCount: For setting of a counter status at the occurrence of an event

IncEnc_Latch_Zero: Returns the counter status at zero impulse

IncEnc_Latch_DI: Returns the counter status and time stamp when setting the latch input

IncEnc_SetCount

This block is used for setting of a counter status (Count) at the occurrence of a special event (Mode).


Execute BOOL The input must be set to TRUE to start the block. -> Edges triggering.

Mode IncEnc_SetCount_Mode *)

Count DINT Specifies the counter status that is to be set.

CECX-V 1


Port UINT Specifies the port number (address) of the encoder input used. **)

*) Mode

The input parameter mode describes the event. It can take the following values:

Value Description

IncEnc_Set_PLCtick For the next PLC tick (1 ms)

IncEnc_Set_Zero For the processing of the encoder zero track

IncEnc_Set_DI When setting a latch input

**) Port

The port number is made up of the set address on the module and the encoder input used. It is determined as follows:

Port = <Constant> + 0 with use of encoder input 0 or Port = <Constant> + 1 with use of encoder input 1, whereby for <Constant> one of the following enumeration values is used.

<Constant> Description

INCENC_PORT_ADDR0 For address switch position 0


... up to ... ...


Example for module address 3 and encoder input 1:

Port = INCENC_PORT_ADDR3 + 1;


Done BOOL The variable is set to TRUE by the function block if the processing is completed.

Error BOOL The error code can take the following values: FALSE (0): Call of blocks was successful, TRUE (1): Call of blocks was not successful.

CECX-V 2


IncEnc_Latch_Zero

The block reads the counter status (Count) of an incremental encoder during processing of the zero impulse.


Execute BOOL The variable must be set to TRUE to start the block (reacts to rising edge).

Port UINT Specifies the port number (address) of the encoder input used. See description of the function block IncEnc_SetCount.




Count DINT Counter status read.

CECX-V 3


IncEnc_Latch_DI

The block is used for reading out of the counter status (Count) when setting and the time period after the setting of a latch input (TimeStamp).


Execute BOOL The variable must be set to TRUE to start the block (reacts to rising edge).

Port UINT Specifies the port number (address) of the encoder input used. See description of the function block IncEnc_SetCount.




Count DINT The read counter status when the latch event occurs.

TimeStamp UDINT Time duration since the latch event in [µs].

CECX-V 4

The Festo_EasyIP.lib library

ii

Table of Contents

1 The Festo_EasyIP.lib library .............................................................................................................. 1 1.1 What is EasyIP? ........................................................................................................................... 1 1.2 Initialisation of EasyIP .................................................................................................................. 2

1.2.1 Programs and functions for initialising EasyIP .................................................................. 2 1.2.2 Easy_SetIPAddr ................................................................................................................ 3 1.2.3 Easy_SetTimeOut ............................................................................................................. 3

1.3 Communication functions ............................................................................................................. 4 1.3.1 Functions for communicating via EasyIP .......................................................................... 4 1.3.2 Easy_S ............................................................................................................................. 4 1.3.3 Easy_R ............................................................................................................................. 5 1.3.4 Easy_SR ........................................................................................................................... 7

1.4 Internally used variables, constants and Help functions ............................................................... 9 1.4.1 Global variables ................................................................................................................ 9 1.4.2 Global constants ............................................................................................................. 10 1.4.3 IPFrom4Chars ................................................................................................................ 10

1.5 Programming ............................................................................................................................. 11 1.5.1 Initialisation ..................................................................................................................... 11 1.5.2 Sending telegrams .......................................................................................................... 12 1.5.3 Requesting telegrams ..................................................................................................... 12 1.5.4 Programming instructions ............................................................................................... 13

2 Index .................................................................................................................................................. 15

3 Glossary ............................................................................................................................................ 16

1

1 The Festo_EasyIP.lib library

1.1 What is EasyIP?

EasyIP is a proprietary Ethernet protocol from Festo. EasyIP allows the simple connection of different Festo controllers to form a network. EasyIP is a UDP-based point-to-point Ethernet protocol that uses port 995. EasyIP controllers can usually operate as both a client and server. Even devices that cannot function as a server such as diagnostic devices or visualisation computers can operate with EasyIP. In theory, any number of devices can be connected to an EasyIP network because it does not contain any logical connections. Only the performance of the hardware determines the number of packages that can be sent simultaneously or processed by the server. EasyIP is implemented as an IEC library. The following table shows which operands are defined in EasyIP and which can be exchanged via EasyIP in combination with a CoDeSys-based controller. Supported operands

Description Supported Access via Operand type Range

Flags Yes %MW 1 [Target settings] [Memory division] [Memory]

Inputs Yes %IW 2 [Target settings] [Memory division] [Input]

Outputs Yes %QW 3 [Target settings] [Memory division] [Output]

Registers No -- 4 --

Timers No -- 5 --

Strings Yes String table 11 Global declared constant: MAX_STRING

Use the network variable exchange (see online Help, keyword "Network variables") to link several CoDeSys-compatible controllers (e.g. several Festo CoDeSys controllers).


2

1.2 Initialisation of EasyIP

1.2.1 Programs and functions for initialising EasyIP

The library Festo_EasyIP.lib contains all the functions a CoDeSys controller requires to use EasyIP. You must therefore add the Festo_EasyIP.lib library to your project using the library manager (see command [Window] [Library manager]). If you wish to use EasyIP on a CoDeSys controller, a cyclic task (e.g. 10 ms) must be created in the task configuration. The program Easy_Server() must be appended to this task. Fig.: Easy_Server task configuration (example)

In addition to the EasyIP stack, the Easy_Server program also contains the initialisation and deinitialisation functions. When the IEC project starts, the initialisation process runs automatically whereby a new socket opens and is linked to UDP port 995. The socket closes again when the IEC project stops. Once EasyIP has initialised, the IP address of the remote station is assigned to the index of the IP table (shortcut list) using the Easy_SetIPAddr function. The timeout, which monitors communication between two EasyIP stations, can be set using the Easy_SetTimeOut function. Overview

Module Description

Easy_SetIPAddr This function adds the IP addresses of the other stations to the IP table.

Easy_SetTimeOut This function sets the timeout time to a multiple of the set task cycle time.


3

1.2.2 Easy_SetIPAddr

The IP address of a remote station is assigned to the index of the IP table (shortcut list) using the Easy_SetIPAddr function. The IP table allows 32 remote stations. The communication functions use the index (shortcut) from the IP table to communicate with a remote station.


TableIndex WORD Index in the IP shortcut table. Permitted range of values 0...31 (constant MAXIPTABLEINDEX).

BYTE1 BYTE IP address part 1 (nnn.xxx.xxx.xxx)

BYTE2 BYTE IP address part 2 (xxx.nnn.xxx.xxx)

BYTE3 BYTE IP address part 3 (xxx.xxx.nnn.xxx)

BYTE4 BYTE IP address part 4 (xxx.xxx.xxx.nnn)


Easy_SetIPAddr BOOL FALSE = Processing was successful, IP address has been added to the table at the specified index TRUE = Error, invalid index

1.2.3 Easy_SetTimeOut

The timeout, which monitors communication between two EasyIP stations, is set using this function. The default setting is 1 and the basic pulse is the task cycle time in the Easy_Server() program. The function parameter is a multiplier for the default setting. The timeout time is therefore calculated as follows: Timeout time = TimeOut * task cycle time


TimeOut WORD Timeout time in multiples of the task cycle time in the Easy_Server() program; permitted range of values 1...65535


Easy_SetTimeOut WORD Always supplies 0.


4

1.3 Communication functions

1.3.1 Functions for communicating via EasyIP

Communication with the remote stations entered in the IP table can be established directly from the IEC program using the following communication functions. The index (shortcut) from the IP table at which the IP address was entered is used to select the remote station instead of the IP address of the remote station. Overview

Functions Description

Easy_S The function sends an EasyIP package to an EasyIP station.

Easy_R The function sends a request to a station.

Easy_SR The function sends data and a request to an EasyIP station.

1.3.2 Easy_S

Sends an EasyIP telegram containing data to a remote station.



OpType WORD Operand type. Refer to the table "Supported operand types" for a list of available operands.

NumToSend WORD Number of data words to send (16-bit). Permitted range of values 0...255, for operand type string (STRING_SIZE+1)/2.

OpOffLoc WORD Offset in the local EasyIP memory, index in the string table for strings.

OpOffRem WORD Target offset EasyIP memory of the remote station, index in the string table for strings.

Status INT -1 = Send without confirming, no timeout. > -1 = Offset in the flag area (%MWx) where the communication status is saved (see Communication status table).


Easy_S WORD 0 = Processing was successful. > 0 = Error code (see Error code table).


5

Communication status

0 OK, remote station replied to package.

1 Incorrect operand type. Remote does not support the operand type.

2 Incorrect offset. Memory area overflow with remote.

4 Incorrect number of operands. Data quantity excessive.

128 Timeout. No response received from the remote within the timeout time.

65535 A communication process is still running on the specified IP.

Error code

0 OK

99 EasyIP data memory overflow.

100 EasyIP is not installed.

102 Invalid table index.

103 Invalid IP address.

112 Incorrect operand type.

113 EasyIP data package size exceeded.

115 Waiting for a response from the server.

117 Package could not be sent.

1.3.3 Easy_R

Sends an EasyIP telegram for requesting data to a remote station.



OpType WORD Operand type. Refer to the table "Supported operand types" for a list of available operands.

NumToRequest WORD Number of data words to request (16-bit). Permitted range of values 0...255, for operand type string (STRING_SIZE+1)/2.

OpOffLoc WORD Offset in the local EasyIP memory, index in the string table for strings.

OpOffRem WORD Target offset EasyIP memory of the remote station, index in the string table for strings.


6




Easy_R WORD 0 = Processing was successful. > 0 = Error code (see Error code table).








Error code

0 OK










7

1.3.4 Easy_SR

Sends an EasyIP telegram for sending and requesting data to a remote station.



OpTypeSend WORD Operand type. Refer to the table "Supported operand types" for a list of available operands.

NumToSend WORD Number of data words to send (16-bit). Permitted range of values 0...255, for operand type string (STRING_SIZE+1)/2.

OpOffLocSend WORD Offset in the local EasyIP memory, index in the string table for strings.

OpOffRemSend WORD Target offset EasyIP memory of the remote station, index in the string table for strings.

OpTypeReq WORD Requested operand type. Refer to the table "Supported operand types" for a list of available operands.

NumToRequest WORD Number of operands to request. Permitted range of values 0..255.

OpOffLocReq WORD Offset in the local EasyIP memory, index in the string table for strings.

OpOffRemReq WORD Target offset EasyIP memory of the remote station, index in the string table for strings.



Easy_SR WORD 0 = Processing was successful. > 0 = Error code (see Error code table).






8





Error code

0 OK










9

1.4 Internally used variables, constants and Help functions

1.4.1 Global variables

The following global variables for internal library functions are created in the Festo_EasyIP.lib library and cannot be modified.

Identifier Data type Value Description

IPTable ARRAY[0..MAXIPTABLEINDEX] OF DINT

EasyIP address table (short addresses assigned to IP addresses)

EasyIPInit INT 0 EasyIP initialisation status

EasySockDesc DINT 0 EasyIP socket descriptor (assigned by the library when the socket is opened)

EasyState ARRAY[0..MAXIPTABLEINDEX] of EasyStatus

EasyIP status field for every IP address

TimeOutTime UINT 1 EasyIP timeout time (set by the timeout function)

MaxFlags DWORD Size of the flag area (set when the Easy_Server program is initialised)

MaxInp DWORD Size of the input area (set when the Easy_Server program is initialised)

MaxOutp DWORD Size of the output area (set when the Easy_Server program is initialised)

pFlag DWORD Pointer indicating the start (offset 0) of the flag area (set when the Easy_Server program is initialised)

pInput DWORD Pointer indicating the start (offset 0) of the input area (set when the Easy_Server program is initialised)

pOutput DWORD Pointer indicating the start (offset 0) of the output area (set when the Easy_Server program is initialised)

StringTable ARRAY[0..MAX_STRING_IDX] OF STRING(STRING_SIZE)

String table

UdpRcvBuffer ARRAY [0..1023] OF BYTE Receive buffer for UDP package

UdpRcvBufferSize DINT 1000

UdpSendBuffer ARRAY[0..1023] OF BYTE Send buffer for UDP packet

UdpSendBufferSize DINT 1000

BigEndian BOOL FALSE Byte order in the target system (set when the Easy_Server program is initialised)

NonBlockingSocket BOOL TRUE Changes the mode of the socket to non blocking, can be overwritten in the system event 'Start'.


10

1.4.2 Global constants

The following constants for internal library functions are created in the Festo_EasyIP.lib library and cannot be modified.

Name Type Value Description

EASY_IP_PORT UINT 995 EasyIP port.

MAXIPTABLEINDEX INT 31 Size of the EasyIP address table.

EASY_IP_HDR DINT 20 Size of the EasyIP package header.

MAXEASYDATA INT 256 Size of the EasyIP package data memory.

WORD_SIZE INT 2 Size of a data word.

STRING_SIZE WORD 256 Length of a string in bytes.

MAX_STRING 50 Maximum number of strings (size of string table).

MAX_STRING_IDX WORD 49 Maximum index within the string table.

Magic WORD 1234 Used to check the byte order (BigEndian or LittleEndian) of the processor.

1.4.3 IPFrom4Chars

This function is used internally by functions of the Festo_EasyIP.lib library and converts an IP address saved in several bytes into DWORD data format.


BYTE1 BYTE IP address part 1 (nnn.xxx.xxx.xxx)

BYTE2 BYTE IP address part 2 (xxx.nnn.xxx.xxx)

BYTE3 BYTE IP address part 3 (xxx.xxx.nnn.xxx)

BYTE4 BYTE IP address part 4 (xxx.xxx.xxx.nnn)


IPFrom4Chars DWORD IP address packed in DWORD for the socket function. The order of the bytes is inverted and returned in DWORD (see following illustration).

DWORD

BYTE4 BYTE3 BYTE2 BYTE1


11

1.5 Programming

1.5.1 Initialisation

The IP table should be filled with the Easy_SetIPAddr function and the timeout time set with the Easy_SetTimeout function once when the IEC program starts. A module can be appended to the system event start for this purpose.

Note

In order to use EasyIP on a CoDeSys controller, a cyclic task must be created in the task configuration to which the Easy_Server() program must be appended.

Initialisation modules

The task configuration provides an easy way of assigning modules to the possible system events. 1. To append a function to a system event, select the check box in the first column next to the event. A

checkmark then appears. 2. Enter a module name in the "called POU" column and press Enter to confirm the entry. 3. Click on the "Create POU" button to create the module in the project. The module then appears in the

Object Organizer and definitions for transfer parameters that the event may require are included automatically in the declaration section. Start the function call of system events with the prefix "callback".

Fig.: Configuration of system events (example)

Performing initialisations

The Easy_SetIPAddr and Easy_SetTimeout functions can then be called in the initialisation module. Example: Initialisation of EasyIP

Easy_SetIPAddr(0,192,168,0,2); (*enter the IP address of a remote station

in index 0 in the IP table*)

Easy_SetIPAddr(1,192,168,0,3); (*enter the IP address of a remote station

in index 1 in the IP table*)

Easy_SetTimeout(10); (*increase the timeout time for EasyIP

communication (10*task cycle time) *)

In the example, the IP address 192.168.0.2 is assigned to the short address 0 (index 0 in the IP table). The IP address 192.168.0.3 is assigned to the short address 1 (index 1 in the IP table). All other functions use short addresses in order to address the correct IP address (remote control).


12

1.5.2 Sending telegrams

In the following example, a flag (operand type 1) is increased by 1 during each cycle and sent to the remote station with the short address 0 (IP = 192.168.0.2). The flag is located at the address %MW500 and is written to the address %MW520 of the remote station. The communication status is written to flag word %MW600. Example: Sending a telegram - EasySend (PRG-ST)

PROGRAM EasySend

VAR

Flag AT %MW500: WORD; (*flag variable *)

CommStatus AT %MW600: WORD; (*communication status *)

FunctionStatus: WORD; (*return value from Easy_SR function*)

END_VAR

Flag:= Flag +1; (*increase flag by 1 *)

FunctionStatus := Easy_S(0,1,1,500,520,600),

(*send 1 flag word from the address %MW500 to the address %MW520 of the remote

station *)

1.5.3 Requesting telegrams

When requesting values that will be written to the input area, a pointer is always required because writing to inputs from the application is not permitted. In the example, an input value from the address %IW2 of the remote station is requested and written to the input word %IW10. Make sure that an I/O module does not occupy the input word %IW10 in the control configuration. Example: Requesting a telegram - EasyRecv (PRG-ST)

PROGRAM EasyRecv

VAR

pInput: POINTER TO WORD; (*pointer variable*)

CommStatus AT %MW600: WORD; (*communication status*)

FunctionStatus: WORD; (*return value from Easy_SR function *)

END_VAR

pInput := pInput + 20; (*add offset of 20 bytes in the input area =

IW10*)

pInput^ := pInput^ +1; (* increase the content of pInput by 1 *)

FunctionStatus := Easy_R(0,2,1,10,2,600);

(*request 1 input word from address %IW2 of the remote station and write it to

the local address %IW10 *)

Sending and requesting in a single telegram

This function allows you to send data to a remote station and request data from a remote station at the same time. When requesting values that will be written to the input area, a pointer is always required because the IEC does not allow writing to inputs from the application. In the example, an input value from the address %IW2 of the remote station is requested and written to the input word %IW10. Make sure that an I/O module does not occupy the input word %IW10 in the control configuration. At the same time, the output word %QW3 is written to the output word %QW10 of the remote station. The communication status is written to the flag word %MW600. Example: Sending and requesting a telegram - EasySendRecv (PRG-ST)

PROGRAM EasySendRecv

VAR

pInput: POINTER TO WORD; (*pointer variable*)

Output AT %QW3: WORD; (* analogue output defined in control

configuration *)

CommStatus AT %MW600: WORD; (*communication status*)

FunctionStatus: WORD; (*return value from Easy_SR function *)

END_VAR

pInput := pInput + 20; (*add offset of 20 bytes in the input area =

IW10*)

pInput^ := pInput^ +1; (* increase the content of pInput by 1 *)

FunctionStatus := Easy_SR(0,3,1,3,10,2,1,10,2,600);


13

(*send 1 output word from address %QW3 to the address %QW10 of the remote

station and request 1 input word from address %IW2 of the remote station and

write it to the local address %IW10. The communication status is written to

%MW600*)

1.5.4 Programming instructions

Access to input and output area

In certain circumstances, access to the input and output area is only possible via a pointer. This is necessary in the following cases: – write access to an input – word access to 2 outputs/inputs created consecutively in the control configuration The global variable list contains variables that specify the start of the input, output and flag area for this.

15

2 Index

C

Communication status ......................... 4, 5, 7

E

Easy_R ........................................................ 5 Easy_S ........................................................ 4 Easy_SetIPAddr ........................................... 3 Easy_SetTimeOut ........................................ 3 Easy_SR ...................................................... 7 Error code ............................................ 4, 5, 7

G

Global constants ........................................ 10 Global variables ........................................... 9

I

Initialisation and deinitialisation .................... 2 Initialisation of EasyIP .................................. 2 IPfromChars ............................................... 10

P

Performing deinitialisation .......................... 11 Programming instructions ........................... 11 Programming with EasyIP .......................... 11

R

Requesting telegrams................................. 11

S

Sending and requesting in a single telegram ................................ 11

Sending telegrams...................................... 11 Supported operands ..................................... 1

16

3 Glossary

E

EasyIP: The EasyIP protocol enables the simple exchange of data between controllers. EasyIP is a UDP-based point-to-point Ethernet protocol that uses port 995. EasyIP controllers can usually operate as both a client and server. Even controllers that cannot function as a server such as diagnostic devices or visualisation computers can operate with EasyIP. In theory, any number of controllers can be connected to an EasyIP network because it does not contain any logical connections. Only the performance of the hardware determines the number of packages that can be sent simultaneously or processed by the server.

I

IP address: An IP address is used to address a network as well as an individual slave in the network. For this the IP address contains the net ID (specifies the address of a network) and the host ID (specifies the address of an individual station in this network). The numbers in an IP address which represent the net ID and the host ID are defined by the specification of a so-called "net mask".

T

TCP/IP: Combination of the protocols TCP and IP, the most-widely used protocol for communication via Ethernet.

U

UDP: A minimal, connection-free network protocol that has a lower protocol overhead than TCP. This has the advantage of a faster exchange of data. Due to the lack of a reply, the correct transmission must be ensured, for example by means of a user program.

The library PLCService.lib



Table of contents

The library PLCService.lib ......................................................................................................................... 1 Functions ............................................................................................................................................... 1

PLCGetCPUClock....................................................................................................................... 1 PLCGetCPUClockRate ............................................................................................................... 2 PLCGetDeviceName................................................................................................................... 2 PLCGetFirmwareVersion ............................................................................................................ 3 PLCGetHoursCounter ................................................................................................................. 3 PLCGetLicenceOption ................................................................................................................ 4 PLCGetSerialNo ......................................................................................................................... 4 PLCGetSystemVersion ............................................................................................................... 5 PLCGetVendorName .................................................................................................................. 5 PLCReboot ................................................................................................................................. 5

CECX-VII ii



The functions of the library PLCService.lib return data from the control with the exception of PLCReboot.

Functions

The PLCService library contains the following functions:

PLCGetCPUClock: Returns counter value of the CPU clock

PLCGetCPUClockRate: Returns CPU clock frequency

PLCGetDeviceName: Returns device description

PLCGetFirmwareVersion: Returns firmware version.

PLCGetHoursCounter: Returns operating hours counter

PLCGetLicenceOption: Returns license options

PLCGetSerialNo: Returns serial number of the control

PLCGetSystemVersion: Returns system version

PLCGetVendorName: Returns vendor name

PLCReboot: Triggers reboot of the control.

PLCGetCPUClock

This function returns a 64-bit counter value of the CPU cycle, divided into two UDINT (32 bit) values. If the value of pClkLo overruns, the value of pClkHi is incremented by one.

The cycle frequency of the CPU can be determined using the PLCGetCPUClockRate function. The time differences can be determined in this way, by the linking of both values.


pClkHi UDINT High-value part of the number.

pClkLo UDINT Low-value part of the number.


PLCGetCPUClock BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

CECX-VII 1


PLCGetCPUClockRate

This function returns the CPU cycle frequency in Hertz as 64-bit value.

The cycle frequency of the CPU can be determined using the PLCGetCPUClockRate function. The time differences can be determined in this way, by the linking of both values.


pClkHi UDINT High-value part of the number.

pClkLo UDINT Low-value part of the number.


PLCGetCPUClockRate BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

Example:

The value of the cycle frequency of 33 MHz is returned e.g. as pClkLo = 33,000.000 and pClkHi = 0.

PLCGetDeviceName

This function returns the device description of the control.


PLCGetDeviceName STRING(80) Return value: Device description of the control (e.g. CECX-X-C1).

CECX-VII 2


PLCGetFirmwareVersion

This function returns the firmware version of the control package.


PLCGetFirmwareVersion STRING(80) Return value: Firmware version of the control package (e.g. P2005CP23x_02.00).

PLCGetHoursCounter

This function returns the operating hours counter of the control. 15 minutes after switching on of the control, the operating hours counter is incremented by 1 and subsequently every additional hour. If the result is 0, then the control has not yet been in operation for ¼ hour since the first switching on or the hardware is faulty.


PLCGetHoursCounter UDINT Return value: Operating hours counter of the control, in hours.

CECX-VII 3


PLCGetLicenceOption

This function returns the values of the individual license options. The value is internally used for protection of Festo applications and is not relevant for customer applications.


optName STRING(15) Name of the license option, e.g. 'CustVar' (customer version), 'CustAppl' (customer application).


optVal UDINT Value of the license option.


PLCGetLicenceOption BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

PLCGetSerialNo

This function returns the serial number of the control.


PLCGetSerialNo STRING(80) Return value: Serial number of the PLC, e.g. P64366-00012

CECX-VII 4


PLCGetSystemVersion

This function returns the system version of the control package.


PLCGetSystemVersion STRING(80) Return value: System version of the control package, e.g. "Kemro-2100-FESTO-CECX-X_02.00".

PLCGetVendorName

The function returns the vendor name. The name is stored in the control and cannot be changed by the application.


PLCGetVendorName STRING(80) Return value: Vendor name, e.g. "Festo".

PLCReboot

This function triggers a restart of the control.


xForce BOOL TRUE: Reboot is triggered immediately, FALSE: orderly reboot is triggered after approx. 100 ms (after time for task completion, etc.).


PLCReboot BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

CECX-VII 5


CECX-VII 6

The library SysLibComEx.lib



Table of contents

The library SysLibComEx.lib ..................................................................................................................... 1 Global constants for the port addressing ............................................................................................... 1 Functions ............................................................................................................................................... 2

SysComSetMode ........................................................................................................................ 2

CECX-VIII ii



The SysLibComEx library is an extension for the handling of serial interfaces.

All serial interfaces can in principle be operated via the SysLibCom.lib. A special port must be specified when opening the interface of a serial interface module.

The library SysLibComEx contains prepared global constants for the addressing of the ports and makes a function for the switching between RS-422 and RS-485 available.

Global constants for the port addressing

(* COM port numbers *) COM_PORT_ONBOARD : UINT := 1; COM_PORT_SLOT : UINT := 2; (* COM port numbers for extension modules (add 3 parts) *) (* 1) module type *) COM_PORT_EXT_RS232 : UINT := 21000; COM_PORT_EXT_CURRENTLOOP : UINT := 22000; COM_PORT_EXT_RS4XX : UINT := 23000; (* 2) module address *) COM_PORT_EXT_ADDR0 : UINT := 0; COM_PORT_EXT_ADDR1 : UINT := 10; COM_PORT_EXT_ADDR2 : UINT := 20; COM_PORT_EXT_ADDR3 : UINT := 30; (* 3) interface *) COM_PORT_EXT_UPPER : UINT := 0; COM_PORT_EXT_LOWER : UINT := 1;

Examples:

The port number for the serial interface on the CPU Baugruppe is determined as follows:

PortNo = COM_PORT_ONBOARD;

The port number for the upper port of a serial RS-232-C interface module with address 0 is calculated as follows:

PortNo = COM_PORT_EXT_ADDR0+COM_PORT_EXT_UPPER+COM_PORT_EXT_RS232;

CECX-VIII 1


Functions

The SysLibComEx library contains the following functions:

SysComSetMode: For the switching over to RS-485 and vice versa.

SysComSetMode

This function must be used in order to switch between RS-485 and RS-422.

The parameters for the serial communication module are set.


dwHandle DWORD Handle for the COM port (is received by calling of SysComOpen). See functions of the library SysLibCom.lib.

dwMode DWORD Option for COM port (COM_MODE_xxx *)

*) Global constant for the switching On/Off of the RS-485 operation.

(* RS4xx module operating mode: RS422/RS485 *) COM_MODE_RS485_ENABLE : DWORD := 1; COM_MODE_RS485_DISABLE : DWORD := 2;


SysComSetMode BOOL Return value: TRUE ... Function successfully executed, FALSE ... Function was not successfully completed.

Example:

Setting of the serial interface module to RS-485 operating mode.

Handle := SysComOpen( COM_PORT_EXT_ADDR0+COM_PORT_EXT_UPPER+COM_PORT_EXT_RS4XX); SysComSetMode(Handle, COM_MODE_RS485_ENABLE);

CECX-VIII 2

The Festo_Motion.lib library

ii

Table of Contents

1 The Festo_Motion.lib library .............................................................................................................. 1 1.1 Overview ...................................................................................................................................... 1

1.1.1 Architecture ....................................................................................................................... 1 1.2 Requirements ............................................................................................................................... 3

1.2.1 I/O configuration for PROFIBUS ....................................................................................... 3 1.3 Designated use ............................................................................................................................ 4 1.4 Target group ................................................................................................................................. 4 1.5 Service ......................................................................................................................................... 4 1.6 Safety instructions ........................................................................................................................ 5 1.7 General information on Festo motor controllers ........................................................................... 6

1.7.1 Documentation on Festo motor controllers ....................................................................... 6 1.8 Festo Handling and Positioning Profile (FHPP) ........................................................................... 7

1.8.1 Operating modes .............................................................................................................. 7 1.9 Function blocks for Festo motor controllers ................................................................................. 8

1.9.1 Control function blocks ..................................................................................................... 8 1.9.2 Organisation function blocks ........................................................................................... 19 1.9.3 Parameterisation function blocks .................................................................................... 20

1.10 Examples ................................................................................................................................... 28 1.10.1 Example for controlling a Festo motor controller ............................................................. 28 1.10.2 Example for parameterising a Festo motor controller ..................................................... 31

2 Glossary ............................................................................................................................................ 33

3 Index .................................................................................................................................................. 35

1

1 The Festo_Motion.lib library

1.1 Overview

Festo_Motion.lib is an internal library for CoDeSys 2.3. This library can be used to control the following types of Festo motor controller (drive controller): – CMMD-AS-... – CMMP-AS-... – CMMS-AS-... – CMMS-ST-... – SFC-DC-... – MTR-DCI-... – SFC-LAC-... – SFC-LACI-... Communication is established via a fieldbus and one of the following communication protocols: – CANopen – PROFIBUS The Festo motor controllers are controlled using the Festo Handling and Positioning Profile (FHPP). The library contains function blocks for controlling and parameterising the individual drives. Refer to the relevant motor controller documentation for information on operating and setting up the motor controller types in question.

1.1.1 Architecture

Each motor controller is integrated into the CoDeSys project using a controller-specific hardware configuration. – All function blocks that access I/O data directly to control a motor controller require the first address of

the output data and the first address of the input data as an input/output variable. – All function blocks that access I/O data directly to parameterise a motor controller require the first

address of the Festo Parameter Channel (FPC) output data and the first FPC address of the input data as an input/output variable.

For each motor controller instance that exists, an instance of the function blocks used for control purposes must also be created. As a result, function blocks used for control purposes cannot be used for two different motor controllers.

Motor units/ motor controllers Control block Parameterisation blocks

CMMD-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB)

CMMP-AS-... CMMP_AS_CTRL (FB) CMMP_AS_PRM_INIT (FB) CMMP_AS_PRM_SINGLE (FB)

CMMS-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB) CMMS_AS_PRM_SINGLE (FB)

CMMS-ST-... CMMS_ST_CTRL (FB) CMMS_ST_PRM_INIT (FB) CMMS_ST_PRM_SINGLE (FB)

MTR-DCI-... MTR_DCI_CTRL (FB) MTR_DCI_PRM_INIT (FB) MTR_DCI_PRM_SINGLE (FB)

SFC-DC-... SFC_DC_CTRL (FB) SFC_DC_PRM_INIT (FB) SFC_DC_PRM_SINGLE (FB)


2

Motor units/ motor controllers Control block Parameterisation blocks

SFC-LAC-... SFC_LAC_CTRL (FB) SFC_LAC_PRM_INIT (FB) SFC_LAC_PRM_SINGLE (FB)

SFC-LACI-... SFC_LACI_CTRL (FB) SFC_LACI_PRM_INIT (FB) SFC_LACI_PRM_SINGLE (FB)

The following screenshots show how the input and output data is transferred from the fieldbus to the function blocks.

Figure: Control configuration

Figure: Link between drive controller and function block

The Festo Parameter Channel input and output data is offset by 8 bytes behind the FHPP Standard data.


3

1.2 Requirements

The relevant files for the Festo motor controllers are required for communication via fieldbus:

Motor controller Element name in CoDeSys Filename for CANopen Filename for PROFIBUS

CMMD-AS-… CMMD-AS-… (FHPP) (EDS) CMMD-AS_CAN_FHPP.eds --

CMMD-AS… -- D-AS0B68.gsd

CMMP-AS-… CMMP-AS-… (FHPP) (EDS) CMMP-AS-…-…_CAN_FHPP.eds

--

CMMP-AS… -- P-AS0B06.gsd

CMMS-AS-… CMMS-AS (FHPP) (EDS) CMMS-AS_CAN_FHPP.eds --

CMMS-AS… -- S-AS0B67.gsd

CMMS-ST-… CMMS-ST (FHPP) (EDS) CMMS-ST_CAN_FHPP.eds --

CMMS-ST… -- S-ST0AB7.gsd

MTR-DCI-...-CO MTR-DCI-…-CO (FHPP) (EDS) MTR-DCI-…-FHPP.eds --

MTR-DCI-...-PB Festo MTR-DCI… -- MTR00974.gsd

SFC-DC-...-CO SFC-DC-VC-3-E-…-CO (FHPP) (EDS)

SFC-DC-…-CO-FHPP.eds --

SFC-DC-...-PB Festo SFC-DC… -- SFC00973.gsd

SFC-LAC-…-CO SFC-LAC-…-CO-FHPP SFC-LAC-…-CO-FHPP.eds --

SFC-LAC-…-PB Festo SFC-LAC… -- SFC00972.gsd

SFC-LACI-…-CO SFC-LACI-…-CO-FHPP SFC-LACI-…-CO-FHPP.eds --

SFC-LACI-…-PB Festo SFC-LACI -- SFC00BCE.gsd

During the installation of CoDeSys provided by Festo, the accompanying configuration files are installed automatically and stored in the following directory: ...\CoDeSys V2.3\Targets\Festo\...\IOCONFIG\ Configuration files that are not supplied with CoDeSys provided by Festo can be installed via the standard CoDeSys dialog "Add configuration file".

In order to use the function blocks, the library Festo_Motion.lib must be integrated into the software package "CoDeSys provided by Festo".

Refer to the "Library Manager" section in the "Resources" chapter of the general CoDeSys Help for instructions on how to integrate a library.

1.2.1 I/O configuration for PROFIBUS

For I/O configuration, the two following settings are supported by the GSD files:

Setting Meaning Profile

FHPP Standard Use of the control function block alone Festo Handling and Positioning Profile Standard

FHPP Standard + FPC

Use of control, organisation and parameter function blocks

Festo Handling and Positioning Profile with parameter channel


4

Figure: I/O configuration (example)

• After completing the configuration, save the data in your project.

Refer to the Help for the CoDeSys programming system for more information on base and DP parameters. The documentation for the relevant PROFIBUS station contains special information on configuration and parameterisation.

1.3 Designated use

The function blocks (FBs) described are used to control and parameterise the associated device. You can use them to conveniently integrate the many functions of the relevant device into your program. They are integrated into the user program for each motor unit or motor controller (each axis) and called there cyclically using a separate instance. Simultaneous use of other function blocks for controlling the same device is not permitted. Read the "Safety instructions" and instructions on the designated use of the relevant devices, components and modules. If additional commercially available components such as sensors and actuators are connected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not be exceeded.

1.4 Target group

This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems and the relevant fieldbuses.

1.5 Service

Please contact your local Festo service centre or write to the following e-mail address if you have any technical problems: – [email protected]


5

1.6 Safety instructions

When commissioning and programming positioning systems, you must observe the safety regulations in the manuals and operating instructions for the components used. The user must make sure that there is nobody within the positioning range of the connected actuators or axis systems. Access to the possible danger area must be prevented by suitable measures such as barriers and warning signs.

Warning

Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components.

• Make sure that nobody can place their hand in the positioning range of the axes or other connected actuators and that there are no objects in the positioning path while the system is still connected to a power supply.

Warning

Parameterisation errors can cause injury to people and damage to property.

• Only enable the controller if the axis system has been installed and parameterised by technically qualified staff.


6

1.7 General information on Festo motor controllers

The following sections contain information on the motion modules for Festo motor controllers. The following additional manuals are required for a complete understanding:

1.7.1 Documentation on Festo motor controllers

Documentation Contents

Brief description and manuals on CD-ROM (see catalogue)

Brief description: Important instructions on commissioning and preliminary information. Manuals: Contents as described below.

Manuals P.BE-... Installation, commissioning and diagnosis of electric axes with the relevant Festo motor controller.

Operating instructions for accessories Assembly and commissioning of the electric mini slide SLTE as an actuator.

Help system for the Festo Configuration Tool (contained in FCT software)

Functional descriptions for the Festo Configuration Tool configuration software.

Help system for CoDeSys provided by Festo (this Help)

Use of the motion modules for Festo motor controllers described here.

Note

• Always read the information and safety instructions contained in this documentation.


7

1.8 Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especially tailored to the target applications for handling and positioning tasks, the "Festo Handling and Positioning Profile (FHPP)". The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo. In the FHPP, the user can create a uniform definition for ... – operating modes, – I/O data structure, – parameter objects, – sequence control.

Figure: Principle of FHPP

Control and status bytes

Control via the fieldbus is achieved via 8 bytes of I/O data. Control functions are usually triggered and status messages for the block evaluated by means of single bit operations. Parameter channel

The control system can access all controller parameter values via the parameter channel. A further 8 bytes of I/O data are used for this purpose.

1.8.1 Operating modes

Record selection

Saved positioning records can be executed in record selection mode. Positioning records are parameterised using the Festo Configuration Tool or taught in via the control panel for this purpose during commissioning. Direct mode

In direct mode, the most important positioning data is transferred directly via the control bytes. – Target positions and speeds can be ascertained and specified by the controller at execution time as a

function of the operating status. – No limitations because of the number of saved positioning records. Values can be taught in/parameterised via the PLC in both operating modes. The following direct operating modes can be selected: – Direct mode position control – Direct mode force control – Direct mode velocity control


8

1.9 Function blocks for Festo motor controllers

The names of function blocks for Festo motor controllers start with the designation of the motor controller, e.g. CMMP-AS, followed by the function of the relevant block, e.g. CTRL for control block. The library Festo_Motion.lib contains the following function blocks (FBs): – Control FBs for controlling the relevant Festo motor controller – Organisation FBs for parameterising the relevant Festo motor controller types – Parameter FBs for transferring individual parameters to the relevant Festo motor controller

Function block Explanation

xxx_xx_CTRL Function block for controlling the motor controller

xxx_xx_PRM_INIT Organisation function block for parameterising the motor controller

xxx_xx_PRM_SINGLE Transfers individual parameters

xxx_xx_PRM_MULTI Transfers a parameter list (parameter array)

xxx_xx_PRM_DIAG Reads out the diagnostic memory

xxx_xx_PRM_DIRMP Transfers the parameters for direct mode position control

xxx_xx_PRM_KO Transfers communication objects

Notes

– The function blocks can vary depending on the drive. – The blocks belonging to the CMMS-AS can be used for the motor controller CMMD-AS.

1.9.1 Control function blocks

Control function blocks

1. Inputs and outputs The following table contains all the inputs and outputs that a FHPP function block can potentially provide for controlling a motor controller. The actual number depends on which control modes are supported by the motor controller. Refer to the relevant motor controller documentation ( section "Limited selection of inputs and outputs") for information on which motor controller supports which control modes. Key: – Input/output: Designation of an input or output from the CoDeSys function block ..._CTRL. – Type: Data type expected by the relevant input or issued at an output. – Description: Name and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE).

Input Type Description

FB_CFG WORD FB configuration Bit 0 = FALSE: Low byte first Bit 0 = TRUE: High byte first Bit 1 = Reserved etc. Bit 31 = Reserved

Pos_Factor_numerator DINT Numerator value for converting from position to increments

Pos_Factor_denumerator DINT Denominator value for converting from position to increments

AxisType INT Connected axis type


9


EnableDrive BOOL Enable drive = 1: Enable drive = 0: Drive blocked

Stop BOOL Stop = 1: Enable operation. = 0: Stop active (discard emergency ramp + positioning task). The drive stops with maximum braking ramp, the positioning task is reset.

Brake BOOL Release brake = 1: Release brake = 0: Engage brake Note: Releasing the brake is only possible if the controller is blocked. As soon as the controller is enabled, it has control of the brake control system.

ResetFault BOOL Reset fault A fault is acknowledged with a rising edge and the fault value is deleted.

HMIAccessLocked BOOL Software access locked Controls access to the local (integrated) diagnostic interface of the controller. = 1: The FCT software can only monitor the controller, it cannot assume control of the device (HMI control). = 0: The FCT software can assume control of the device (to change parameters or control inputs).

OPM INT FHPP operating mode + control mode = 0: Record selection = 1: Direct mode position control = 5: Direct mode force control = 9: Direct mode velocity control = 13: Reserved = 17: Track mode

Halt BOOL Halt = 1: Halt is not active = 0: Halt activated (do not discard braking ramp + positioning task). The axis stops with a defined braking ramp, the positioning task remains active (the remaining distance can be deleted with ClearRemainingPosition).

StartTask BOOL Start positioning task A rising edge transfers the current nominal data and starts a positioning process (also e.g. record 0 = homing).

StartHoming BOOL Start homing A rising edge starts homing with the preset parameters.

JoggingPos BOOL Jog positive The drive moves at the specified speed or rotational speed in the direction of larger actual values, providing the bit is set. The movement begins with the rising edge and ends with the falling edge.

JoggingNeg BOOL Jog negative The drive moves at the specified speed or rotational speed in the direction of smaller actual values, see JoggingPos.


10


TeachActualValue BOOL Teach value With a falling edge, the current actual value is transferred to the setpoint value register of the currently addressed positioning record. Actual values can be e.g. position, pressure or torque.

ClearRemainingPosition BOOL Delete remaining distance In the "Halt" state, a rising edge causes the positioning task to be deleted and a transition to the "Ready" state.

AbsoluteRelative BOOL Absolute/relative = 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value

SetFunction BOOL Cam disc = 0: Cam disc not active = 1: Cam disc active

DeactivateStrokeLimit BOOL Force limit value not active (with force control only) = 0: Force monitoring active = 1: Force monitoring not active

RecordNo SINT Record number Preselection of record number for record selection.

SetFuncNumber USINT Cam disc function = 0: Reserved = 1: Synchronisation to external input = 2: Synchronisation to external input with cam disc function (i.e. slave with physical master) = 3: Synchronisation to virtual master with cam disc function

SetFuncGroup USINT Cam disc group = 0: Synchronisation with/without cam disc = 1: Reserved = 2: Reserved = 3: Reserved

SetValuePosition DINT Position Position in the position unit

SetValueForceRamp USINT Force ramp Value of the force ramp in % of the nominal value or maximum value

SetValueVelocity USINT Speed Speed in % of the maximum speed

SetValueForce DINT Force Force in % of the maximum force

SetValueRotRamp SINT Speed ramp Speed ramp in % of the maximum ramp

SetValueRotSpeed DINT Speed Speed in speed unit


11

Input/output Type Description

b_FHPP_In VAR_IN_OUT FHPP input data First address of the input data (output data of the motor controller)

b_FHPP_Out VAR_IN_OUT FHPP output data First address of the output data (input data of the motor controller)

Output Type Description

OPMString STRING(80) Acknowledge selected FHPP operating mode + control mode Record selection = 'Record Mode selected' Direct mode position control = 'Directmode Positioncontrol selected' Direct mode force control = 'Directmode Forcecontrol selected' Direct mode velocity control = 'Directmode Velocitycontrol selected' Operating mode and control mode invalid = 'not specified'

StateOPMString STRING(80) Acknowledge active FHPP operating mode + control mode Record selection = 'Record Mode active' Direct mode position control = 'Directmode Positioncontrol active' Direct mode force control = 'Directmode Forcecontrol active' Direct mode velocity control = 'Directmode Velocitycontrol active' Operating mode and control mode invalid = 'not specified'

DriveEnabled BOOL Controller enabled = 0: Drive blocked, controller not active = 1: Drive (controller) enabled

Ready BOOL Operation enabled = 0: Stop active = 1: Operation enabled, positioning possible

Warning BOOL Warning = 0: Warning not present = 1: Warning present

Fault BOOL Fault = 0: No fault = 1: Fault present or fault reaction active. Fault code in the diagnostic memory.

SupplyVoltagePresent BOOL Load voltage present = 0: No load voltage = 1: Load voltage present

ControlFCT_HMI BOOL Device control software = 0: Device control free (e.g. PLC/fieldbus) = 1: Device controlled by software (PLC control is locked)

StateOPM INT Acknowledge FHPP operating mode + control mode = 0: Record selection = 1: Direct mode position control = 5: Direct mode force control = 9: Direct mode velocity control = 13: Reserved = 17: Track mode


12


HaltActive BOOL Halt = 0: Halt is active = 1: Halt is not active, axis can be moved

AckStart BOOL Acknowledge start = 0: Ready for start (homing, jogging) = 1: Start executed (homing, jogging)

MC BOOL Motion complete = 0: Positioning task active = 1: Positioning task completed, if applicable with fault Note: MC is set after device is switched on (state "Drive blocked").

AckTeach BOOL Acknowledge teach = 0: Ready for teaching = 1: Teaching carried out, actual value has been adopted

DriveIsMoving BOOL Axis is moving = 0: Axis speed < limit value = 1: Axis speed >= limit value

DragError BOOL Drag error = 0: No following error = 1: Following error active

StandstillControl BOOL Standstill monitoring = 0: Axis remains in tolerance window after MC = 1: Axis left tolerance window after MC

DriveIsReferenced BOOL Drive homed = 0: Homing must be carried out = 1: Homing information exists, homing must not be carried out

RC1 BOOL 1st record continuation carried out = 0: A continuation condition has not been configured or not achieved = 1: The first continuation condition has been achieved

RCC BOOL Record continuation complete - valid as soon as MC is available = 0: Record linking terminated. At least one continuation condition has not been achieved = 1: Record sequence has been processed to the end.

ActualFuncActive BOOL Cam disc active = 0: Cam disc not active = 1: Cam disc active

VelocityLimitReached BOOL Speed limit value reached (with force control only) = 1: Speed limit value reached = 0: Speed limit value not reached

StrokeLimitReached BOOL Force limit value reached (with force control only) = 0: Force monitoring achieved = 1: Force monitoring not achieved

ActualRecordNo SINT Record number Acknowledgement of record number for record selection


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ActualFuncNumber USINT Acknowledgement of cam disc function = 0: Reserved = 1: Synchronisation to external input = 2: Synchronisation to external input with cam disc function (i.e. slave with physical master) = 3: Synchronisation to virtual master with cam disc function

ActualFuncNumber USINT Acknowledgement of cam disc group = 0: Synchronisation with/without cam disc = 1: Reserved = 2: Reserved = 3: Reserved

ActualPosition DINT Position Acknowledgement of position in position unit

ActualVelocity SINT Speed Acknowledgement of speed in % of the maximum speed

ActualForce INT Force Acknowledgement of force in % of the maximum force

ActualRotRamp SINT Speed ramp Acknowledgement of speed ramp in % of the maximum ramp

ActualRotSpeed DINT Speed Acknowledgement of speed in speed unit

2. Limited selection of inputs and outputs with CoDeSys function blocks ..._CTRL The following table contains a list of the inputs and outputs that are only supported by certain Festo motor controllers and if applicable only for specific operating modes.

Input/output Type Motor controller Operating mode

Pos_Factor_numerator DINT MTR_DCI SFC_DC

All operating modes

Pos_Factor_denumerator DINT MTR_DCI SFC_DC

All operating modes

AxisType INT SFC_LACI All operating modes

Brake BOOL CMMD_AS CMMP_AS CMMS_AS CMMS_ST SFC_LACI

All operating modes

StartHoming BOOL All Record selection Direct mode position control

TeachActualValue BOOL All Record selection

AbsoluteRelative BOOL All Direct mode position control

SetFunction BOOL CMMP_AS_CAM Direct mode position control

DeactivateStrokeLimit BOOL MTR_DCI SFC_DC SFC_LAC SFC_LACI

Direct mode force control


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RecordNo SINT All Record selection

SetFuncNumber USINT CMMP_AS_CAM Direct mode position control

SetFuncGroup USINT CMMP_AS_CAM Direct mode position control

SetValuePosition DINT All Direct mode position control

SetValueForceRamp USINT CMMP_AS Direct mode force control

SetValueVelocity USINT All Direct mode position control

SetValueForce DINT All Direct mode force control

SetValueRotRamp SINT CMMD_AS CMMP_AS CMMS_AS CMMS_ST

Direct mode velocity control

SetValueRotSpeed DINT CMMD_AS CMMP_AS CMMS_AS CMMS_ST


AckTeach BOOL All Record selection

DriveIsReferenced BOOL All Record selection Direct mode position control

RC1 BOOL CMMD_AS CMMP_AS CMMS_AS CMMS_ST SFC_LAC SFC_LACI

Record selection

RCC BOOL CMMD_AS CMMP_AS CMMS_AS CMMS_ST SFC_LAC SFC_LACI

Record selection

ActualFuncActive BOOL CMMP_AS_CAM Direct mode position control

VelocityLimitReached BOOL MTR_DCI SFC_DC SFC_LAC SFC_LACI


StrokeLimitReached BOOL MTR_DCI SFC_DC SFC_LAC SFC_LACI


ActualRecordNo SINT All Record selection

ActualFuncNumber USINT CMMP_AS_CAM Direct mode position control

ActualFuncGroup USINT CMMP_AS_CAM Direct mode position control

ActualPosition DINT All Direct mode position control

ActualVelocity SINT All Direct mode position control

ActualForce INT All Direct mode force control


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ActualRotRamp SINT CMMD_AS CMMP_AS CMMS_AS CMMS_ST


ActualRotSpeed DINT CMMD_AS CMMP_AS CMMS_AS CMMS_ST


Linking function blocks

To control a Festo motor controller, the respective fieldbus data must be transferred to the function block. The following screenshot shows an example of a control configuration with a CMMP-AS CANopen slave.

Figure: Control configuration (example)


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The best way to perform the transfer is using an array variable, which means that only the first element in the array has to be transferred to the block.

Figure: Linking addresses

To parameterise a motor controller, a further eight bytes (the Festo Parameter Channel data (FPC data)) are transferred to a special function block. This "transfer" function block supplies all parameterisation function blocks needed in the project with data.


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Visualising function blocks

For each motor controller, there is one function block for controlling and several function blocks for parameterising. A visualisation element is also provided to make initial start-up easier.

Figure: Visualisation element for the Festo motor controller CMMP-AS-... (example)

The input data of a function block linked to the visualisation is displayed in the left half of the visualisation and output data is displayed in the right half. TRUE inputs and outputs are blue and FALSE inputs and outputs are grey. Connecting the visualisation

The visualisation element compatible with the selected function block is inserted in a visualisation object.

Refer to the general CoDeSys Help in the chapter "CoDeSys visualisation" for information on how to create a visualisation object.

Proceed as follows: 1. Open the editing window of the visualisation object by double-clicking the name of the object in the

'Visualizations' tab. 2. Click the 'Insert' menu item and select the 'Visualizations' command. You can also click the

'Visualizations' icon in the function bar. 3. Move the mouse pointer over the editing window. The mouse pointer is identified with the relevant

symbol in the window. 4. Click in the editing field and hold the mouse button pressed. Then drag the mouse over the editing

field to create a placeholder for the visualisation element. Release the mouse button when the placeholder reaches the required size.

5. Search for the correct visualisation element in the "Select visualization" dialog window and press "OK" to confirm your selection.


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The required visualisation element appears in the editing window of the visualisation object. • If necessary, adapt the size and position of the visualisation element by clicking and moving the

element or dragging the borders. • Double-click the visualisation element to open the dialog window and configure the element. Here you

can modify different settings for displaying and connecting the visualisation element.

Figure: Linking the visualisation

6. Select the "Visualization" category in the "Visualization" dialog window. 7. Click the "Placeholder..." button to open the "Replace placeholders" dialog window. 8. Connect the visualisation element with the associated instance (axis name). To do this, combine the

name of the function block with the name of the higher-level program and enter in the "Replacement" column.


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1.9.2 Organisation function blocks

Inputs and outputs of the organisation function blocks

When parameterisation function blocks are used, type …_PRM_INIT function blocks control access to the I/O data. Data is exchanged via the Festo Parameter Channel (FPC).

..._PRM_... parameterisation function blocks always require an instance of the ..._PRM_INIT organisation function block.

The following table contains a list of the outputs and inputs of an organisation function block. Key: – Input/output: Designation of an input or output from the CoDeSys function block ..._PRM_INIT. – Type: Data type expected by the relevant input or issued at an output. – Description: Name and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE).


FB_CFG WORD FB configuration Bit 0 = FALSE: Low byte first Bit 0 = TRUE: High byte first Bit 1 = Reserved etc. Bit 31 = Reserved

DATA_REF VAR_IN_OUT FPC data structure of data type FHPP_PRM_REF Contents of the data structure are identical to the I/O data of the FPC

b_FPC_In VAR_IN_OUT FHPP FPC input data First address of the CAN input data of the FPC (output data of the motor controller)

b_FPC_Out VAR_IN_OUT FHPP FPC output data First address of the CAN output data of the FPC (input data of the motor controller)


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1.9.3 Parameterisation function blocks

Function block xxx_PRM_SINGLE

The xxx_PRM_SINGLE block transfers an individual parameter to the relevant drive controller.

Figure: Example of function block CMMP_AS_PRM_SINGLE

1. Inputs and outputs The following table contains a list of inputs and outputs that the function block xxx_PRM_SINGLE has to parameterise a motor controller.


Execute BOOL Start transfer 0->1: A rising edge starts transfer of a parameter

Write BOOL Read/write = 0:Read parameter = 1:Write parameter Prerequisite: UpperLimit = 0, LowerLimit = 0

UpperLimit BOOL Read upper limit value = 1: Read upper limit value Prerequisite: Write = 0, LowerLimit = 0

LowerLimit BOOL Read lower limit value = 1: Read lower limit value Prerequisite: Write = 0, UpperLimit = 0

PNU WORD Number of the corresponding parameter

Subindex SINT Subindex of the corresponding parameter

DatatypeWR USINT Data type of the parameter to be written = 1: Byte = 2: Word = 4: Double word

ParamValueWR DINT Parameter value when writing a parameter

DATA_REF VAR_IN_OUT FPC data structure Data structure provided by FB ..._PRM_INIT

Done BOOL Transfer status = 0: Transfer has not been initiated = 1: Transfer has been initiated

Err BOOL Error = 0: No error during parameter transfer = 1: Error during parameter transfer

ErrStr STRING(80) Outputs an error message as a string

ActPNU WORD Current number of the corresponding parameter

ActSubindex SINT Current subindex of the corresponding parameter


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DatatypeRD USINT Data type of the read parameter = 1: Byte = 2: Word = 4: Double word

ParamValueRD DINT Parameter value when reading a parameter

RETVAL UINT Current status of the FB instance When using several instances of the FB, the current internal status of the relevant FB is output.

Table: xxx_PRM_SINGLE, inputs and outputs Key: – Input/output: Designation of an input or output from the CoDeSys function block. – Type: Data type expected by the relevant input or issued at an output. – Description: Name and brief description of the CoDeSys function block (0 = FALSE, 1 = TRUE). 2. Limited selection of function blocks The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and outputs are present in all CoDeSys function blocks ..._PRM_SINGLE depending on the type of the motor controller.

Input/output Type Motor controller

UpperLimit BOOL CMMD_AS CMMP_AS CMMS_AS CMMS_ST

LowerLimit BOOL

DatatypeWR USINT MTR_DCI SFC_DC SFC_LAC SFC_LACI

DatatypeRD USINT

The position factor must be taken into consideration when using the following inputs and outputs with the specified motor controllers.


ParamValueWR DINT MTR_DCI SFC_DC SFC_LAC SFC_LACI

ParamValueRD DINT

Function block xxx_PRM_MULTI

The xxx_PRM_MULTI block transfers a list of parameters to the relevant motor controller.

Figure: Example of function block CMMP_AS_PRM_MULTI


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Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_MULTI has to parameterise a motor controller.



SizeOfParam USINT Size of the parameter field (array) designated for transfer

AdrOfParam POINTER_TO_BYTE Address of the parameter field (array) designated for transfer


Done BOOL Transfer status = 0: Transfer has not been initiated = 1: Transfer has been initiated The result of the read operation is available in the parameter field array in Value.

ParamNr USINT Number of the parameter currently being transferred




Example of a parameter field (array)

MultiParam : ARRAY [1..5] OF FHPP_PRM_DESCRIPTION :=

(PNU:=404, SUBINDEX:=2, ACCESS:= 1, LENGTH:= 4, VALUE:=100),




(PNU:=404, SUBINDEX:=6, ACCESS:= 0, LENGTH:= 4, VALUE:=500);

Composition of the structure FHPP_PRM_DESCRIPTION

TYPE FHPP_PRM_DESCRIPTION :

STRUCT

PNU : UINT ; (* parameter number of the specified parameter *)

SUBINDEX : USINT; (* subindex of the specified parameter *)

ACCESS : USINT; (* 0 = read parameter / 1 = write parameter *)

LENGTH : USINT; (* parameter length in number of bytes *)

(* (always 4 for CMM... controllers, otherwise see *)

(* FB xxx_PRM_Single input datatype WR) *)

VALUE : DINT ; (* result read out or value written *)

(* with these blocks: *)

(* MTR_DCI_PRM_MULTI, SFC_DC_PRM_MULTI, *)

(* SFC_LAC_PRM_MULTI, SFC_LACI_PRM_MULTI *)

(* the position factor must be taken into consideration. *)

END_STRUCT

ENT_TYPE


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Function block xxx_PRM_DIAG

The xxx_PRM_DIAG block reads the error memory or if applicable the warning memory of the relevant motor controller.

Figure: Example of function block CMMP_AS_PRM_DIAG

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIAG has to parameterise a motor controller.


ReadLatest BOOL Read the most recent entry 0->1: A rising edge reads out the most recent message

ReadAll BOOL Read all entries 0->1: A rising edge reads out all messages

Warning BOOL Switch between warnings = 0: Rear errors = 1: Read warnings



ParamNr USINT Parameter number of the error memory Number of the parameter currently being transferred ReadLatest: ParamNr = 1 ReadAll: ParamNr of the error memory currently being processed



DiagBuff ARRAY [1..n] OF FHPP_PRM_DIAGMESSAGE

Diagnostic buffer The read messages are stored in the diagnostic buffer (array). The completeness of the entries and number of parameters depend on the relevant device.



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Limited selection of function blocks

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and outputs are present in all CoDeSys function blocks ..._PRM_DIAG depending on the type of the motor controller.


Warning BOOL CMMP_AS CMMP_AS_CAM

Composition of the field structure of the diagnostic buffer

DiagBuff ARRAY [1..32] OF FHPP_PRM_DIAGMESSAGE;

TYPE FHPP_PRM_DIAGMESSAGE :

STRUCT

DiagEvent : DINT ; (* diagnostic event PNU 200 / PNU 210 *)

DiagMsgNumber : DINT ; (* fault number PNU201 / PNU 211 *)

DiagTimeStamp: : TOD ; (* timestamp of the diagnostic message *)

DiagMsgDescription : STRING; (* description of the diagnostic message *)

END_STRUCT

ENT_TYPE

Since the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such as DiagEvent and DiagTimeStamp are not supported by all drives. The size of the diagnostic buffer is also dependent on the relevant motor controller.

Function block xxx_PRM_DIRMP

The xxx_PRM_DIRMP block writes or reads the dynamic values for direct mode (position control).

Figure: Example of function block CMMP_AS_PRM_DIRMP

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_DIRMP has to parameterise a motor controller.


AxisType INT Connected axis type


Write BOOL Read/write = 0: Read parameter = 1: Write parameter

Velocity DINT Basic speed: PNU 540

Acceleration DINT Acceleration: PNU 541

Deceleration DINT Deceleration: PNU 542


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JerkLimit DINT SFC_LACx: Jerk limit: PNU 543 CMMx_xxx: Jerk limit: PNU 546

DampingTime DINT Filter time: PNU 1023

Load DINT Additional weight: PNU 544





ActVelocity DINT Current basic speed: PNU 540

ActAcceleration DINT Current acceleration: PNU 541

ActDeceleration DINT Current deceleration: PNU 542

ActJerkLimit (Pos/Neg)

DINT SFC_LACx: Current jerk limit: PNU 543 CMMx_xxx: Current jerk limit: PNU 546

ActDampingTime DINT Current filter time: PNU 1023

ActLoad DINT Current additional load: PNU 544


Limited selection of function blocks

The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and outputs are present in all CoDeSys function blocks ..._PRM_DIRMP depending on the type of the motor controller.


DampingTime DINT SFC_LAC SFC_LACI ActDampingTime DINT

Load DINT SFC_LAC SFC_LACI

ActLoad DINT


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Function block xxx_PRM_KO

The xxx_PRM_KO block transfers a list of communication objects (KO) to the relevant motor controller.

Figure: Example of function block CMMP_AS_PRM_KO

Note

Communication with the Festo Configuration Tool (FCT) is not possible when using the function block xxx_PRM_KO.

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_PRM_KO has to parameterise a motor controller.



Write BOOL Read/write = 0: Read communication object = 1: Write communication object Prequisite: UpperLimit = 0, LowerLimit = 0 Further information on communication objects can be obtained from your local Festo service centre.

KO DINT Communication object Further information on communication objects can be obtained from your local Festo service centre.

ParamValueWR DINT Parameter value when writing a communication object





ParamValueRD DINT Parameter value when reading a communication object



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Function block xxx_CAM_PRM_CAMNUMBER

With the xxx_CAM_PRM_CAMNUMBER block you can: – select a cam disc by specifying the cam disc number in the drive – have the current cam disc read out with the help of the read command.

The function for using cam discs is optional. Please contact your local Festo service centre.

Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER

Note

Repeat the function after resetting the controller.

Inputs and outputs

The following table contains a list of inputs and outputs that the function block xxx_CAM_PRM_CAMNUMBER has to parameterise a motor controller.



Write BOOL Read/write = 0: Read PNU 700 Subindex 1 = 1: Write PNU 700 Subindex 1

CamNumber DINT Preselection of the cam disc number





ActCamNumber DINT Number of the currently selected cam disc



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1.10 Examples

1.10.1 Example for controlling a Festo motor controller

Festo motor controller CMMP-AS with associated function block CMMP_AS_CTRL

Figure: Example of function block CMMP_AS_CTRL

Type CMMP-AS-... motor controllers can be controlled in the following four combinations of operating and control mode using this block: – Record selection – Direct mode position control – Direct mode force control – Direct mode velocity control

The preset operating and control mode is only adopted and displayed when a movement is initiated, i.e. a rising edge at the "StartTask" input.

Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13, etc. Refer to the manual for the motor controller being used for more detailed information. – Motor controller is switched on – Load voltage is present – PLC has control priority

Achieving ready status

Action by the user Feedback

-- SupplyVoltagePresent = 1

EnableDrive = 1 DriveEnabled = 1 MC = 1

Stop = 1 Ready = 1

Halt = 1 HaltActive = 0


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Homing


StartHoming = 0->1 AckStart = 1 MC = 0 DriveIsMoving = 1 HaltActive = 1

-- (homing complete)

DriveIsMoving = 0 MC = 1 DriveIsReferenced = 1 HaltActive = 1

Setting and "Record selection" mode


OPM = 0 OPMString = 'Record Mode selected' StateOPMString = 'Record Mode active' StateOPM = 0

RecordNo = 1 --

StartTask 0->1 OPMString = 'Record Mode selected' StateOPMString = 'Record Mode active' StateOPM = 0 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualRecordNo = 1 ActualPosition = ...

-- (positioning complete)

DriveIsMoving = 0 MC = 1

Setting and "Direct mode position control" mode


OPM = 1 OPMString = 'Directmode Positioncontrol selected' StateOPMString = 'Directmode Positioncontrol active' StateOPM = 1

SetValueVelocity = ... --

SetValuePosition = ... --

StartTask = 1 OPMString = 'Directmode Positioncontrol active' StateOPMString = 'Directmode Positioncontrol active' StateOPM = 1 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualVelocity = ... ActualPosition = ...

-- (positioning complete)



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Setting and "Direct mode force control" mode


OPM = 5 OPMString = 'Directmode Forcecontrol selected' StateOPMString = previous operating and control mode as a STRING StateOPM = previous operating and control mode as an INT

SetValueForce = ... --

StartTask = 1 OPMString = 'Directmode Forcecontrol active' StateOPMString = 'Directmode Forcecontrol active' StateOPM = 5 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualForce = ... ActualPosition = ...

-- (force specification reached)


Setting and "Direct mode velocity control" mode


OPM = 9 OPMString = 'Directmode Velocitycontrol selected' StateOPMString = previous operating and control mode as a STRING StateOPM = previous operating and control mode as an INT

SetValueRotRamp = ... --

SetValueRotSpeed = ... --

StartTask = 1 OPMString = 'Directmode Velocitycontrol active' StateOPMString = 'Directmode Velocitycontrol active' StateOPM = 9 AckStart = 1 MC = 0 DriveIsMoving = 1 ActualRotRamp = ... ActualRotSpeed = ...

-- (velocity specification reached)



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1.10.2 Example for parameterising a Festo motor controller

Festo motor controller CMMP-AS with associated function block CMMP_AS_PRM_SINGLE.

Figure: Example of function block CMMP_AS_PRM_SINGLE

Type CMMP-AS-... motor controllers can be parameterised in all four combinations of operating and control mode using this block: – Record selection – Direct mode position control – Direct mode force control – Direct mode velocity control

Note

A description of the parameters according to FHPP supported by the different motor controllers can be found in the relevant product documentation.

Prerequisites for operational readiness

Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13, etc. Refer to the manual for the motor controller being used for more detailed information. – Motor controller is switched on – Load voltage is present – PLC has control priority

Achieving ready status


-- SupplyVoltagePresent = 1

EnableDrive = 1 DriveEnabled = 1 MC = 1

Stop = 1 Ready = 1

Halt = 1 HaltActive = 0

Read parameters (e.g. homing method)


Write = 0 No feedback

UpperLimit Read upper limit value

PNU = 1011 No feedback

Subindex = 1 No feedback

Execute = 0->1 Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 1011 ActSubindex = 1 ParamValueRD = ... RETVAL = 0


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Write parameters (e.g. homing method acceleration)





ParamValueWR = ... No feedback

Execute = 0->1 Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 1013 ActSubindex = 1 ParamValueRD = ... RETVAL = 0

The values written to the motor controller using the type ..._PRM_SINGLE function block are stored in a volatile memory and only remain valid until the control voltage of 24 V on the motor controller is interrupted. The values can be permanently transferred to a non-volatile memory by writing the value 1 to the PNU 127 subindex 2. The following steps must be taken to permanently adopt written parameters:





ParamValueWR = 1 No feedback

Execute = 0->1 Done = TRUE Err = FALSE ErrStr = 'no Error' ActPNU = 127 ActSubindex = 2 ParamValueRD = 0 RETVAL = 0

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2 Glossary

C

COB-ID: Communication object identifier.

Consistency: A data range which is defined as consistent is transmitted complete, i.e. in one bus cycle.

Controller: Control electronics which evaluate the control signals and provide the voltage supply for the motor via the power electronics (power electronics + controller + positioning controller).

E

EDS file: Electronic data sheet which describes the functions and features of a CANopen device in standardised form.

F

Festo Configuration Tool (FCT): Commissioning software with uniform project and data management for all supported device types. The special requirements of a device type are supported with the necessary descriptions and dialogs by means of plug-ins.

Festo Handling and Positioning Profile (FHPP): Uniform fieldbus data profile for positioning controllers from Festo.

Festo Parameter Channel (FPC): FHPP-specific parameter channel version.

FHPP: Uniform fieldbus data profile for positioning controllers from Festo (Festo Handling and Positioning Profile).

FPC: FHPP-specific parameter channel version (Festo Parameter Channel).

G

GSD file: Device master data file in which all specific features of the slave are saved (e.g. number of I/Os, number of diagnostic bytes, etc.).

H

Homing: Homing defines the reference position and thereby the origin of the measuring reference system of an axis.

Homing method: Method for defining the reference position: against a fixed stop (overcurrent/speed evaluation) or with reference switch.

Homing mode: Operating mode in which homing is carried out.

J

Jog mode: Manual movement in positive or negative direction.

N

Node ID: Used for unique identification of a bus station.

P

PDO: Process Data Object.

PKE: Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK) and the parameter number (PNU).

PKW: Telegram part used for transmitting parameters. PKW refers to a parameter identification value (see also "Festo Parameter Channel (FPC)").


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PNU: Parameters which can be transmitted via the parameter channel are addressed with the parameter number (PNU). The parameter number is an integral part of the parameter identifier (PKE) and serves for identifying or addressing the individual parameter.

Position set: Positioning command defined in the position set table, consisting of target position, positioning mode, positioning speed and accelerations.

Profile position mode: Operating mode for executing a position set or a direct positioning task.

Project zero point (PZ): Measuring reference point for all positions in positioning tasks. The project zero point forms the basis for all absolute position specifications (e.g. in the position set table or with direct control via the control interface or diagnostic interface). The basis point for the project zero point is the axis zero point. With the MTR-DCI, the project zero point PZ and the axis zero point AZ are identical.

R

Reference point (REF): Basis point for the incremental measuring system. The reference point defines a known orientation or position within the positioning path of the drive.

S

Subindex (IND): Integral part of the parameter channel (PKW) which addresses an element of an array parameter (subparameter number).

T

Target Support Package: The Target Support Package enables the installation of target system-specific files for controlling Festo CoDeSys motor controllers. The program is located in the start menu under "Programs" and the option "Festo Software\CoDeSys V2.3 by Festo".

Teach mode: Operating mode for setting positions by moving to the target position, e.g. when creating position sets.

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3 Index

D Direct mode.................................................. 7

F FHPP ........................................................... 7

P Parameter channel ....................................... 7

R Record selection ........................................... 7

S Safety instructions for Festo_Motion.lib ........ 5

The Festo_PartDetector.lib library

ii

Table of Contents

1 The Festo_PartDetector.lib library .................................................................................................... 1 1.1 Overview ...................................................................................................................................... 1

1.1.1 Architecture ....................................................................................................................... 1 1.1.2 Configuration .................................................................................................................... 1 1.1.3 Operating method ............................................................................................................. 2

1.2 Requirements ............................................................................................................................... 3 1.2.1 Libraries ............................................................................................................................ 3 1.2.2 Camera ............................................................................................................................. 3 1.2.3 Designated use ................................................................................................................. 3 1.2.4 Target group ...................................................................................................................... 3 1.2.5 Service .............................................................................................................................. 3

1.3 Safety instructions ........................................................................................................................ 4 1.4 Visualisations ............................................................................................................................... 5

1.4.1 General ............................................................................................................................. 5 1.4.2 Single blocks ..................................................................................................................... 5 1.4.3 Entire module .................................................................................................................... 6 1.4.4 Visualisation of the conveyor ............................................................................................ 6

1.5 Preparations ................................................................................................................................. 7 1.5.1 Compact Vision System SBO...-Q .................................................................................... 7 1.5.2 CheckOpti project ............................................................................................................. 8

1.6 Interfaces – Inputs...................................................................................................................... 10 1.6.1 Settings for the detection of parts detected multiple times .............................................. 10 1.6.2 Settings for the Telnet connection ................................................................................... 11 1.6.3 Settings for the encoder card .......................................................................................... 11 1.6.4 Parameters for the graphical display of the conveyor ..................................................... 12

1.7 Interfaces – Outputs ................................................................................................................... 13

1

1 The Festo_PartDetector.lib library

1.1 Overview

The PartDetector (PD) is a software module for CoDeSys 2.3 for the detection of conveyed parts on a moving conveyor with the Festo Compact Vision System SBO...-Q. The main tasks of the PartDetector are as follows: – Communicating with the SBO...-Q camera – Taking pictures and reading characteristic values – Preventing repeated sensing of a part – Communicating with the next module, which is responsible for management of the detected positions.

This module is called PartManager (PM); its library is not included in this documentation.

1.1.1 Architecture

The Festo_PartDetector.lib library contains the PartDetector functional module. This functional module can be instantiated a number of times. You must ensure, however, that each Compact Vision System SBO...-Q is activated by precisely one instance. Each instance must be accessed cyclically. A cycle time of 8 ms is recommended. The PartDetector uses the "Festo_CameraControl.lib" library for communication with SBO...-Q via Telnet. The module uses the "IncEnc.lib" library to read encoder values from the latch of the encoder card. The downstream PartManager is an application-specific CoDeSys module, which is responsible for data preparation between the PartDetector and subsequent modules. This "PartManager" should preferably be created by the user.

PartDetector PartManager Kinematic system

1.1.2 Configuration

The Compact Vision System SBO...-Q is connected to the PLC via Ethernet. A PartDetector instance runs on the PLC. The digital output O2 of the internal I/O interface of the SBO...-Q is connected to the latch input of the encoder card. The position values of the conveyor are transmitted to the controller via the encoder card.

Figure: Positional sketch


2

1.1.3 Operating method

Initialisation

The "PartDetector" functional module must be initialised before normal operation. • Establish a Telnet connection to the Compact Vision System SBO...-Q. • Set the encoder to a fixed value. This is necessary to ensure that all components which access the

encoder value receive the same value. • Optional: Reset the counter for the part ID. • Optional: Clear the internal buffer. The module can then be started.

Step-by-step procedure

The following sequence of steps is carried out when the module is started: 1. Taking of a picture. 2. Loading of the characteristics of all found parts (X/Y coordinates or angles in the global coordinate

system). 3. Loading of the encoder value from the latch when the picture is taken. 4. Synchronisation of the newly detected parts with parts already detected. 5. Output of the new parts. 6. Deletion of parts that have reached the end of the conveyor from the internal buffer. 7. A new picture is taken in accordance with the settings.


3

1.2 Requirements

The following hardware modules are required on the PLC controller for execution: – Encoder card with latch input CECX-C-2G2 – Ethernet

1.2.1 Libraries

Additional libraries are required for execution: – Standard.lib – IncEnc.lib – CameraControl.lib (Version 1.10 or higher) – SysLibSocketsAsync.lib

1.2.2 Camera

The library is designed for communication with Festo Compact Vision Systems SBO...-Q with firmware version 3.5 or higher. An operational Ethernet connection to the camera is required for communication and the camera must have been suitably configured in advance using the "Festo CheckKon …" and "Festo CheckOpti …" programs. For further information, see the "Compact Vision System SBO...-Q" manual and the Help for the "Festo CheckKon …" and "Festo CheckOpti …" software packages.

1.2.3 Designated use

The functional modules described here are used for the control and parameterisation of Compact Vision Systems SBO...-Q. The modules allow you to conveniently incorporate the various functions of the respective device into the program. Read the "Safety instructions" and instructions on the designated use of the relevant devices, components and modules. If additional commercially available components such as sensors and actuators are connected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not be exceeded.

1.2.4 Target group

This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems and the relevant fieldbuses.

1.2.5 Service

Please contact your local Festo service centre or write to the following e-mail address if you have any technical problems: – [email protected]


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1.3 Safety instructions

When commissioning and programming positioning systems, you must observe the safety regulations in the manuals and operating instructions for the components used. The user must make sure that there is nobody within the positioning range of the connected actuators or axis systems. Access to the possible danger area must be prevented by suitable measures such as barriers and warning signs.

Warning

Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components.

• Make sure that nobody can place their hand in the positioning range of the axes or other connected actuators and that there are no objects in the positioning path while the system is still connected to a power supply.

Warning

Parameterisation errors can cause injury to people and damage to property.

• Only enable the controller if the axis system has been installed and parameterised by technically qualified staff.


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1.4 Visualisations

1.4.1 General

All visualisations are linked to the PartDetector module instances using placeholders. The names of all visualisations begin with VISU_PD_xxx.

Figure: Linking the visualisation

1.4.2 Single blocks

The module visualisation is split into a number of single blocks. This means that you have the option of using only the block that is of interest to you in your own project. The single blocks are located in the "SingleBlocks" visualisation folder of the library.

Figure: Selecting the visualisation


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1.4.3 Entire module

For commissioning purposes it may be useful to view all visualisation modules. For this case there is a visualisation containing all available modules. This visualisation is called VISU_PD_ALL.

Figure: VISU_PD_ALL visualisation

1.4.4 Visualisation of the conveyor

The conveyor can be visualised using the visualisations VISU_PD_Conveyor_Full and VISU_PD_Conveyor_Opt.

Figure: Conveyor visualisation

All parts that were found in the last picture are shown as circles. New parts are shown in blue. Parts that were previously detected are shown in grey.


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1.5 Preparations

1.5.1 Compact Vision System SBO...-Q

The Compact Vision System SBO...-Q must be prepared in order to use the PartDetector. • Establish a connection to the Compact Vision System SBO...-Q using the CheckKon program. • Set the following parameters in the "System parameter" window: 1. Activate Telnet Server. Figure: Setting the system parameters

2. Use output O2 for "External lighting" signal. Figure: Setting the system parameters


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1.5.2 CheckOpti project

After preparing the Compact Vision System SBO...-Q, use the CheckOpti program to create a check program for detecting parts ( CheckOpti documentation). Configuring the characteristics for detecting the part position

• Add tools to the check program so that the required (characteristic) values are calculated. Figure: Setting the system parameters

These characteristics can be calculated using the "Blobfinder" or "Patternmatching" tool, for example. Converting the part position characteristics to global coordinates

The part position (i.e. characteristics of X/Y coordinates or rotation angles) is first determined (in pixels) by the Compact Vision System in the camera coordinate system. These characteristics must then be converted to the global coordinate system (e.g. unit mm) for use in the "PartDetector" module. These characteristics are converted automatically if: – the project property "Project with automatic transformation of features" is activated or – the "Coordinate transformation" tool was added to the check program. Configuring the data output "Telnet – SBOx-Q Part Detector"

A data output of type "Telnet – SBOx-Q Part Detector" must be configured for the creation and transfer of the dataset (part position etc.) to the "PartDetector" module. This is added to the check program and configured in the "Data output" window during creation of the check program. The "Settings" tab contains basic configuration settings that must be made, e.g. the byte order setting "Big-Endian" for controllers of type CECX and CMXR.


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Figure: Data output - "Settings" tab

On the "Data" tab, the calculated characteristics are assigned to the datasets of the data output of type "Telnet – SBOx-Q Part Detector". Figure: Data output - "Data" tab

Note

Data transmission via the Telnet Streaming Server of the device is not supported.

Configuring the encoder card

The encoder card must be parameterised in CoDeSys in such a way that it matches the encoder and the latch mechanism works with the flash signal of the camera (rising edge). Figure: Data output - "Data" tab


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1.6 Interfaces – Inputs


Connect BOOL If there is a rising edge, the module takes the created access data and attempts to log in. If there is a falling edge, the module attempts to log out.

StartDetection BOOL The taking of pictures and processing runs continuously as long as this input is TRUE.

SinglePicture BOOL If there is a rising edge, a single picture is taken.

MinPictureDistance LREAL Specifies the minimum distance between two successive pictures. The frequency of the pictures is thus also specified indirectly. If the distance between two pictures is significantly greater than MinPictureDistance, the maximum frame rate could be used.

ResetIDCounter BOOL If there is a rising edge, the counter for the part ID is set to the value IDResetValue+1. The part ID is an identification number, which is assigned to each newly detected part.

IDResetValue DINT ResetIDCounter.

ClearInternalBuffer BOOL A rising edge causes clearing of the internal buffer for duplicate part detection.

1.6.1 Settings for the detection of parts detected multiple times

Input Type Brief description

DuplicateDetectionEnabled Default: TRUE

BOOL Default for the recognition of parts on the conveyor.

PositionTolerance Default: 1

LREAL Tolerance range for the recognition of parts on the conveyor.

ConveyorLimit Default: 1000

LREAL Maximum distance for saved parts on the conveyor in the allPartsList array.

DuplicateDetectionEnabled

If the DuplicateDetectionEnabled parameter is TRUE, parts are only output as "new parts" if they were not already detected at the same position on the conveyor. Previously detected parts are saved in the allPartsList array. If the DuplicateDetectionEnabled is FALSE, all detected parts are output as "new parts" for each picture. Furthermore, they are not saved in the allPartsList array.

PositionTolerance

Given the fact that the part position when detected by the Compact Vision System can vary slightly (particularly if the conveyor position is changed), a tolerance range must be specified. The tolerance range specifies the maximum value (e.g. in mm) by which the part position can deviate from the assumed part position without the part being interpreted as a new part. The tolerance range is set in global coordinate units. Example

A part is detected at the position (X= 40 mm / Y= 50 mm). The conveyor moves 100 mm in the X direction. (X= 140 mm / Y= 50 mm) is expected as the new position for the part. However, due to visual effects and inaccuracies in the calculation, the part is detected at the position (X= 142 mm / Y= 49 mm). – If the PositionTolerance parameter = 1 (mm) or less, the part is detected as a new part, as the

tolerance range for X extends from 139 mm to 141 mm (40 mm + 100 mm +/– 1 mm). The part is thus incorrectly detected as a second (new) part and output.

– If the PositionTolerance parameter = 2 (mm) or more, the tolerance range extends from 138 mm to 142 mm (40 mm + 100 mm +/– 2 mm). The part position is thus within the tolerance range, whereby it assumed that only the part has moved. Only one part is then correctly output.


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ConveyorLimit

To prevent an overflow of the allPartsList array ( DuplicateDetectionEnabled), parts that have moved by more than the value for ConveyorLimit are deleted from the buffer. The value is calculated in units of the Compact Vision System. Example

– Unit of the Compact Vision System: mm. – ConveyorLimit is 2000. If the conveyor is moved by more than 2 metres in any direction, the parts that were already detected are deleted from the buffer. When the conveyor moves back, the parts are once again detected as new parts.

1.6.2 Settings for the Telnet connection


IPaddress STRING IP address or URL of the SBO...-Q camera. Example: "192.168.2.10"

Port WORD Telnet port specified in the Compact Vision System SBO...-Q. The default port is 9999. For CECX-X: Port number > 15000

Username STRING Username set for the Telnet connection. The default name is "root".

Password STRING Password set for the Telnet connection. The default password is "Festo".

1.6.3 Settings for the encoder card


EncoderPort UINT Selection of the encoder card port used. The port number is made up of the address set on the module and the encoder input used. – Port = <module address> + 0 (if using encoder input 0) or – Port = <module address> + 1 (if using encoder input 1) ( Documentation for the IncEnc.lib library, section IncEnc_SetCount)

ActualEncoderValue UINT Is required for taking a picture ( MinPictureDistance). Example

ActualEncoderValue := %ID4;

IncToPosNum DINT Counter for the conversion of encoder units to camera units.

IncToPosDenom DINT Denominator for the conversion of encoder units to camera units. Calculation example

Camera unit: mm. If the conveyor moves by 10 cm, the encoder value changes in 900 increments ( IncToPosNum = 900, IncToPosDenom = 100)


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InvertEncoderValue BOOL If this flag has the value TRUE, the encoder value is multiplied by –1 during loading. Example

If the conveyor moves in the direction in which the position value of the camera is increased and the encoder value is reduced, InvertEncoderValue = TRUE should be set. Alternatively, a negative conversion factor (IncToPosNum / IncToPosDenom) can also be selected.

ResetEncoder BOOL If there is a rising edge, the current encoder value of the encoder card is set to the value EncoderResetValue. This is important in order to synchronise all system components that work with the encoder card signal.

EncoderResetValue DINT ResetEncoder

1.6.4 Parameters for the graphical display of the conveyor

Note

These values are required solely for visualisation of the conveyor. The easiest way to determine them is using the CheckOpti program. All values use the unit of the Compact Vision System (e.g. mm).


CamXPosMinValue LREAL Range of the field of vision in the operating direction of the conveyor. Default values: – CamXPosMinValue: 0 – CamXPosMaxValue: 500

CamXPosMaxValue LREAL

CamYPosMinValue LREAL Range of the field of vision orthogonal to the operating direction of the conveyor. Default values: – CamYPosMinValue: 0 – CamYPosMaxValue: 500

CamYPosMaxValue LREAL


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1.7 Interfaces – Outputs


Connected BOOL This output is TRUE if there is a Telnet connection to the camera.

PictureDone BOOL This output is TRUE for a cycle if a new picture has been taken and processed. If the module is accessed a further time, it is FALSE again.

NewPartsCount INT This output shows how many new parts were found in the last picture. • Evaluate this output if PictureDone is TRUE. Example

myPartDetector();

IF myPartDetector.PictureDone THEN

FOR i:=0 TO (myPartDetector.NewPartsCount-1) DO

myID := myPartDetector.NewPartsList[i].ID;

myX := myPartDetector.NewPartsList[i].vector[PD_X];

END_FOR

END_IF

NewPartsCumulated DINT Total of all newly detected parts since the last program reset.

NewPartsList ARRAY[0..15] OF PD_PART

Output of the newly found parts. ( PD_Part structure)

LastFrameTime DWORD Time between the taking of the last and the penultimate picture (unit: ms).

PictureDistance LREAL Movement of the conveyor between the last and the penultimate picture in the unit of the Compact Vision System. If this value is greater than ½ x camera field of vision, the module no longer operates reliably. • Increase the frame rate or

• reduce the speed of the conveyor.

Error BOOL Displays an internal error. This error is reset when the Compact Vision System is connected to the PLC again.

ErrorID WORD Number of the error. For the meaning of the error numbers, refer to the documentation for the "Festo_CameraControl.lib" library(additional errors Error list table).

PD_PART structure

Component Data type Description

EntireVectorValid BOOL TRUE if none of the vector scales have an invalid value.

ID DINT ID of the new part.

EncoderValue DINT Value of the encoder, which was buffered when taking the picture.

Vector ARRAY[0..7] OF LREAL

Vector with received values. Default values: (representation in CoDeSys) – Scales not used: 3.4e+38 – Scales not allocated in the data output: 1.#INF (+∞)


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The vector for the values can be accessed with the enumeration PD_FEATURE.

TYPE PD_FEATURE: (PDPD_X:=0, PD_Y:=1, PD_Z:=2, PD_A:=3, PD_B:=4, PD_C:=5, PD_M1:=6, PD_M2:=7);

Note

The scales Z, B and C are reserved.

Example

X := myPartDetector.NewPartsList.vector[PD_X];

Y := myPartDetector.NewPartsList.vector[PD_Y];

Error list

Value Constant Note

1000 PD_ENCODER_NOT_READY No value was saved in the encoder latch. • Check the connection between the flash output of

the camera and the input on the encoder card. • Check the settings of the encoder card.

1010 PD_IMPLAUSIBLE_PART A part with implausible values was received: only one of the two scales X and Y has a valid value.

• Check the camera program.

1020 PD_WRONG_CAMERA_VERSION Incorrect version found on the camera: at least Version 3.5.x is expected ( "Version" field of "cam" output).

FED/VipWin interface

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Table of Contents

1 FED/VipWin interface ......................................................................................................................... 1 1.1 Overview ...................................................................................................................................... 1 1.2 Data exchange with the Front End Display (FED) ........................................................................ 1

1.2.1 Basic information on exchanging data with FEDs .......................................................... 1 1.2.2 Exporting PLC variables (symbol configuration and Tag Editor) .................................... 1 1.2.3 Configuring the communication connection (FED Designer).......................................... 5 1.2.4 Importing PLC variables in FED Designer.................................................................... 10

1.3 Exchanging data with VipWin via OPC ...................................................................................... 15 1.3.1 Basic information on exchanging data with VipWin via OPC ....................................... 15 1.3.2 Installing the OPC and the gateway server .................................................................. 19 1.3.3 Configuring the OPC server ......................................................................................... 20 1.3.4 Configuring drivers and importing variables with VipWin ............................................. 23

2 Index .................................................................................................................................................. 29

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1 FED/VipWin interface

1.1 Overview Festo offers the following products for visualising and monitoring processes and sequences in combination with the Festo CoDeSys controller:

– Front End Displays (FEDs)

Front End Displays from Festo can be connected to the Festo CoDeSys controller via a serial or Ethernet connection. FED Designer software provides a simple solution for creating projects for FEDs. Compatible drivers included in the scope of delivery of FED Designer support communication between an FED and the Festo CoDeSys controller.

– VipWin software

VipWin software installed on a standard PC can be used to create graphic representations of systems and dynamic process visualisations. Recipe management, reporting, fault transmission and similar features can be integrated if required. The PC is connected to VipWin via OPC (OLE for Process Control).

Version 2.3, 31.07.2009, en 0709NH

1.2 Data exchange with the Front End Display (FED)

1.2.1 Basic information on exchanging data with FEDs Communication between an FED and a Festo CoDeSys controller is configured using "FED Designer" software.

Note

Use Version 6.07 or later of the "FED Designer" software.

FED Designer offers the following drivers for the Festo CoDeSys controller:

Driver name Connection type Description

CoDeSys ETH Ethernet connection Driver for communicating via TCP/IP (using TCP Port 1200)

CoDeSys Serial connection Driver for serial communication with CoDeSys-compatible controllers.

1.2.2 Exporting PLC variables (symbol configuration and Tag Editor) Before communication between the Festo CoDeSys controller and a Front End Display (FED) can be established, you have to specify which PLC variables must be exchanged between the devices.

– CoDeSys enables the export of PLC variables, which are saved in a symbol file. All PLC variables from the CoDeSys project are made available.

– The symbol file can be imported using the Tag Editor in FED Designer and used as a tag dictionary so that FED Designer recognises the PLC variables used in the CoDeSys project.

Creating a symbol file

If you have enabled the function for creating symbol entries in the project options, CoDeSys generates the symbol file automatically when the project is compiled. You should specify in advance which PLC variables should be included in the symbol file. The symbol file is saved as a text file (<project_name>.sym) and a binary file (<project_name>.sdb).

Generate the symbol file as follows:

1. Select the command [Project][Options] in CoDeSys provided by Festo. The "Options" dialog box then appears.


2

Fig.: "Options" dialog box

2. Make sure that the "Dump symbol entries" option is selected in the "Symbol configuration" category. The symbol file is then generated automatically every time the project is compiled.

3. Click on the "Configure symbol file" button. The "Set object attributes" dialog box then opens, displaying a tree structure of the variables used in the project.


3

Fig.: "Set object attributes" dialog box (example)

Note

Remember that selecting unrequired variables occupies valuable storage space on the controller. Initially, all variables included in the project as well as all variables from associated libraries are selected by default.

• Only variables that actually have to be exchanged between the devices should be selected.

4. Remove the checkmark next to "Export variables of object" once all objects included in the project have been selected. Otherwise symbol entries will be generated for all variables included in the project.

5. Now select the variables for which you would like to generate symbol entries. You can mark higher-level objects here, whereby all associated variables are also selected automatically. Alternatively, you can select individual variable entries. In this case, select "Export variables of object" in the bottom section of the dialog box for the selection you have made (enable checkmark again) and set any other required options.

Refer to the online help for the "Set object attributes" dialog box for more information on the procedure and available options.


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Fig.: "Set object attributes" dialog box (sample selection)

6. Repeat point 5 if you would like to add more variables with other options.

7. Click OK to close the "Set object attributes" dialog box. All modified configurations are then applied.

8. When you want to generate the symbol file, simply compile the project. The symbol file is created and stored in the project directory.

You can now use the Tag Editor from FED Designer to import the symbol file.


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1.2.3 Configuring the communication connection (FED Designer)

Configuring the TCP/IP connection (CoDeSys ETH driver)

To configure a TCP-based Ethernet connection, select the CoDeSys ETH driver in FED Designer first and then configure the communication parameters.

Configure the Ethernet connection for the Festo CoDeSys controller as follows:

1. Open an existing FED project from the menu [File] [Open...] or create a new project with [File] [New].

2. Select the command [Project][Configure Controller] in FED Designer. The "Configure Controllers" dialog box then appears.

Fig.: "Configure Controllers" dialog box

3. Select the correct controller mode for the controller type:

Festo CoDeSys controller

Controller mode

FED CEC Internal controller

CPX-CEC CPX-CEC-...

External controller

CECX External controller

4. Click on the "Select protocol" button. The "Select Controller" dialog box then appears.


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Fig.: "Select Controller" dialog box

5. Select the Ethernet driver "CoDeSys ETH".

6. Click on the "Controller Setup" button. The "CoDeSys ETH Controller Setup" dialog box then appears.

Fig.: "CoDeSys ETH Controller Setup" dialog box

7. Set the IP address of the Festo CoDeSys controller.

8. Use port number 1200.

9. Select other settings specified in the following table according to the Festo CoDeSys controller used.

Festo CoDeSys Controller

Byte order PLC Model

CPX-CEC CPX-CEC-...

Intel (low byte - high byte)

• Disable the option "Use Motorola byte order"

TCP/IP Level 2 Route

CECX Motorola (low byte - high byte)

• Enable the option "Use Motorola byte order"

TCP/IP Level 2 Route

10. Click OK to close all dialog boxes again. All settings are then applied.


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Configure the Ethernet connection for the Front End Display (FED) as follows:

1. Now select the command [Project][Panel Setup].

2. Set the IP address of the FED in the "External Devices" tab.

Fig.: "Panel Setup" dialog box

3. Click on the "OK" button to confirm your entry. This concludes the configuration of the communication connection.

The IP address of the Front End Display must be set in FED configuration mode (command menu).

The description of the FED contains help for activating configuration mode.

Configuring the serial connection (CoDeSys driver)

To configure a serial connection, select the correct communication driver in FED Designer first of all and then configure the parameters of the serial interface.

Configure the serial connection to FED Designer as follows:

1. Open an existing FED project from the menu [File] [Open...] or create a new project with [File] [New].

2. Select the command [Project][Configure Controller] in FED Designer. The "Configure Controllers" dialog box then appears.


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Fig.: "Configure Controllers" dialog box

3. Click on the "Select protocol" button. The "Select Controller" dialog box then appears.

Fig.: "Select Controller" dialog box

4. Select the communication driver for the "CoDeSys" serial interface.

5. Click on the "Controller Setup" button. The "CoDeSys Controller Setup" dialog box then appears.

Fig.: "CoDeSys Controller Setup" dialog box (example)


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6. Select other settings specified in the following table according to the Festo CoDeSys controller used.

Festo CoDeSys controller

Byte order 'Retain" segment no.

CPX-CEC Intel (low byte - high byte)


3



3

7. Click on the "PLC Comm..." button. The "Communication Parameters Setup" dialog box then appears.

Fig.: "Communication Parameters Setup" dialog box

8. Configure appropriate serial interface communication parameters for the Festo CoDeSys controller you intend to use. Refer to the relevant online help for information on available settings.

Parameter Default

Baud Rate 19200

Parity None

Data bits 8

Stop bits 1

9. Click OK to close all dialog boxes again. All settings are then applied.


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1.2.4 Importing PLC variables in FED Designer Tags from external sources can be imported using the Tag Editor in FED Designer. Symbol files generated using CoDeSys are also classed as external sources. These files contain the PLC variables that can be visualised in an FED project.

1. Start the Tag Editor in FED Designer using the menu command [Tools] [Tag Editor].

2. Select the menu command [File] [New] to create a new tag database.

Fig.: "Tag Editor" dialog box

The tag dictionary (FED Designer)

A tag dictionary is linked to each FED project. The tag dictionary defines the model and the properties of the controller in use. The tags correspond to the PLC variables of the controller in use.

The symbol file generated using CoDeSys can now be imported as a tag dictionary. A corresponding dialog box guides you through the process step by step.

1. Select the menu command [File] [Import tags].

Fig.: "Import tags - Step 1" dialog box


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2. Enter a name for a new tag dictionary that refers to the project.

3. Select the correct controller driver from the list. Click on the "Refresh Controller List" button if necessary.

4. Select the relevant communication driver (TCP/IP Level 2 Route)

5. Click on the "Next" button.

Fig.: "Import tags - Step 2" dialog box

6. Open the exported symbol file from the CoDeSys project directory as a "Native Driver Tags format" file.

7. Click on the "Next" button.

8. Click on the "Finish" button to create the dictionary with tag groups and import the tags.

9. Then select the appropriate byte order for the controller type:

Fig.: "Tag import choice" dialog box

Festo CoDeSys Controller Byte order

FED CEC Intel (low byte - high byte)


CPX CEC Intel (low byte - high byte)





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The tags are created in the new tag dictionary in a group named "New Dictionary 1". This name can be modified at a later time.

Refer to the online help for FED Designer for detailed information on importing tags.

Activating TAGs (FED Designer)

1. Select the menu command [Project] [Configure tag dictionary].

Fig.: "Select Tag Dictionary" dialog box

2. Set the "Enable Tags" option by clicking with the mouse.

3. Open the created database file *.mdb as a "Tag database file".

4. Click on the "OK" button.


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Assigning PLC variables (FED Designer) and downloading the project

1. Select the menu command [INSERT] [Data field] [e.g. numerical/ASCII].

Fig.: "Numeric Field Properties" dialog box (example)

2. Drag open the field in the workspace in FED Designer. The [... Field Properties] dialog box appears.

3. Select PLC as a reference.

4. The [Data Field Properties] dialog box appears.


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Fig.: "Data Field Properties" dialog box (example)

5. Assign a tag variable to the variable.

6. Click on the "OK" button.

7. Click on "OK" to close the [Data Field Properties] dialog box.

8. Connect the panel to the controller (Ethernet or serial).

9. Load the finished project into the FED using the menu command [Transfer] [Download].


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1.3 Exchanging data with VipWin via OPC

1.3.1 Basic information on exchanging data with VipWin via OPC OPC (OLE for Process Control) is a standardised software interface that provides access to process data. You can establish a connection between VipWin and one or more Festo CoDeSys controllers via this software interface.

Communication between an OPC server and an OPC client is established via OPC in combination with Festo CoDeSys controllers and VipWin. The OPC server requests the process data for the controllers and transfers it to the OPC client (VipWin with OPC client driver). An OPC server is included in the scope of delivery of the CoDeSys provided by Festo as an executable program. The CoDeSys gateway server (gateway) supports this OPC server. VipWin includes an OPC client driver that enables communication with the OPC server. The following system structure is supported in combination with the Festo CoDeSys controller and VipWin:

Fig.: System structure "OPC connection with VipWin"

VipWin (as an OPC client), the OPC server and the gateway server must be installed on the same PC. The OPC server must be started before a connection can be established between the client and controller. The controller variables are activated based on the symbol file generated using CoDeSys, which specifies which variables are available in the controller. The OPC server requests the contents of the symbol file from the gateway. In order that the gateway can provide the correct symbol files for the connected controllers, the symbol files must be stored in the relevant controller.

After installing the OPC server, refer to the document OPC_20_how_to_use_d.pdf or OPC_20_how_to_use_E.pdf in the directory "...\Program Files\Festo\CoDeSysOPC" for more information on the OPC server included in the scope of delivery of CoDeSys provided by Festo.

Note

Remember that communication between the OPC client (VipWin) and OPC server is only supported if both applications (OPC client and server) are running on the same PC.

Target settings "Download symbol file"

The "Download symbol file" option in the "General" tab under the target settings must be selected so that the gateway can provide the symbol file.

1. Select the "Resources" tab in the "Object Organizer".

2. Double-click on "Target Settings" in the "Resources" tab. The "Target Settings" dialog box then opens.

3. Select the option "Download symbol file" in the "General" tab. If a symbol file is generated when a project is compiled, this file is transferred to the controller during the download process.


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Fig.: "Download symbol file" dialog box

Generating a symbol file

If you have enabled the option for creating symbol entries in the project options, CoDeSys generates the symbol file automatically when a project is compiled. You should specify in advance which PLC variables should be included in the symbol file. The symbol file is saved as a text file (<project_name>.sym) or a binary file (<project_name>.sdb) in the project directory.

1. Select the command [Project][Options] in CoDeSys provided by Festo. The "Options" dialog box then appears.

Fig.: "Options" dialog box

2. Make sure that the "Dump symbol entries" option is selected in the "Symbol configuration" category. The symbol file is then generated automatically every time the project is compiled.

3. Click on the "Configure symbol file" button. The "Set object attributes" dialog box then opens, displaying a tree structure of the variables used in the project.


17

Fig.: "Set object attributes" dialog box (example)

Note

Remember that selecting unrequired variables occupies valuable storage space on the controller. Initially, all variables included in the project as well as all variables from associated libraries are selected by default.

– Only variables that actually have to be exchanged between the devices should be selected.

4. Remove the checkmark next to "Export variables of object" once all objects included in the project have been selected. Otherwise symbol entries will be generated for all variables included in the project.

5. Now select the variables for which you would like to generate symbol entries. You can mark higher-level objects here, whereby all associated variables are also selected automatically. Alternatively, you can select individual variable entries. In this case, select "Export variables of object" in the bottom section of the dialog box for the selection you have made (checkmark) and set any other required options.

Refer to the online help for the "Set object attributes" dialog box for more information on the procedure and available options.


18

Fig.: "Set object attributes" dialog box (sample selection)

6. Repeat point 5 if you would like to add more variables with other options.

7. Click OK to close the "Set object attributes" dialog box. All modified configurations are then applied.

8. When you want to generate the symbol file, simply compile the project. The symbol file is created and stored in the project directory.


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1.3.2 Installing the OPC and the gateway server The OPC server and gateway server are installed using the CoDeSys installation program.

Install the OPC and gateway server on the visualisation PC as follows:

1. Start the CoDeSys installation program (setup.exe) and follow the instructions. Select the CoDeSys OPC server V2.0 as a component (see illustration below).

Fig.: "Select Components" dialog box

2. Then click the "Next>" button and follow the instructions of the installation program until installation is complete.


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1.3.3 Configuring the OPC server Configure the OPC server as follows:

1. Start the OPC configurator (e.g. with [Start][Programs][Festo software][CoDeSys V2.3 by Festo][Communication][CoDeSys OPC configurator]). The "Single-PLC Configuration" window appears by default when the configurator starts:

Fig.: "Single-PLC Configuration" window

Do not modify the default settings.

2. If you would like to configure a connection with several controllers, disable the option "Single PLC" in the "File" menu (remove checkmark). You can then add other controllers to the tree structure using the commands in the [Edit] menu. The settings described below must be configured for each controller added.

3. Adapt the project name and the 'Motorola byte order' selection in the PLC settings ('PLC' component) based on the communication parameter settings. Select the entry "Connection" from the tree structure to configure the communication parameters for the connection.


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Fig.: "PLC Configuration - Connection" window (Single-PLC here)"

4. Click on the "Edit" button. The "Communication parameters" window then appears.

Fig.: "Communication Parameters" dialog box

5. Select "New" to set up a new communication connection. The "Communication Parameters: New Channel" dialog box then appears.

6. Enter the name of the Festo CoDeSys controller you are using in the "Name" field and select the entry "TCP/IP (Level 2)" in the "Device" field. The "Communication Parameters" dialog box then appears again.


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Fig.: "Communication Parameters: New Channel" dialog box

7. Click on "localhost" in the "Address" line and enter the IP address of the controller (192.168.0.28 here). Adapt the line 'Motorola byte order' according to your controller (CECX: 'Motorola', CPX-CEC: 'Intel').

Fig.: "Communication Parameters, Set IP Address" dialog box (example)

8. For connections with several controllers (Multi-PLC): If required, add another controller to the tree structure using the command [Edit][Add PLC] and repeat points 3 to 7 for this controller.

9. Save the OPC configuration using the command [File][Save].

This concludes the configuration of the OPC server.


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1.3.4 Configuring drivers and importing variables with VipWin To configure an OPC connection, select the required communication driver (OPC client driver) in VipWin first of all and then specify which OPC server should be used to exchange data. You can then import the required variables and link them with graphic objects.

Configure the driver and import the variables with VipWin as follows:

1. Start VipWin and select the command [Driver new…] from the context menu in the right half of the "Project Manager" window.

Fig.: Driver installation under VipWin

The "Definition of driver" window then appears.

2. Open the "FESTO" folder and select the entry "OPC client driver for OPC V1.0a, V2.03".


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Fig.: Selecting the OPT client driver

3. Confirm your selection with OK. The "OPC Client" window then opens.

4. Open the local computer folder in the "OPC Server" tab. All OPC servers installed on the PC are displayed.

Fig.: Selecting the OPC server


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5. Select the entry "FestoCoDeSys.OPC.02" and click "OK" to confirm your selection. The "OPC Client" window then closes.

6. Select the command [Import variables online…] from the context menu in the right half of the "Project Manager" window.

Fig.: Importing variables online

The OPC server becomes active after this selection is made. The OPC symbol in the right half of the taskbar indicates that the OPC server is active.

Fig.: OPC symbol in the taskbar

The "Import OPC variable" window opens.

7. Select the entry "FestoCoDeSys.OPC.02" in the "Resources" field in the bottom half of the left window. The "Tag list" field in the bottom half of the right window displays all variables saved in a symbol file for the controller via the CoDeSys programming interface.


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Fig.: "Import OPC Variables" dialog box

8. Mark the variables you wish to visualise in the "Tag List" field and click on the "Add Selected" button. The relevant variables then appear in the "VipWin Address Space" field (top half of window).


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Fig.: "Import OPC Variables" dialog box

9. Click on the "Import" button. The variables then become available in the visualisation project of the project manager so that they can be linked with graphic objects.

Fig.: Imported OPC variable in the VipWin project manager"

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2 Index

C CoDeSys driver ............................................ 7

CoDeSys ETH driver .................................... 5

Configuring drivers and importing variables ................................. 23

Configuring the OPC server ....................... 20

D Downloading the symbol file ...................... 15

G Generating the symbol file ...................... 1, 15

I Importing the symbol file

using the Tag Editor ................................. 1

Installing the OPC and the gateway server .......................... 19

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