Electronics Manual

CoDeSys Controller
Type
CPXCEC
CPXCECC1/M1
CPX Terminal
Manual
569 122
en 1004a
[753 482]
Contents and general instructions
I Festo P.BECPXCECEN en 1004a
Original de . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 1004a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BECPXCECEN . . . . . . . . . . . . . . . . . . . . . . . .
Orderno. 569 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(Festo AG&Co. KG, D73726 Esslingen, Germany, 2010)
Internet: http://www.festo.com
Email: service_international@festo.com
The reproduction, distribution and utilisation of this docu
ment as well as the communication of its contents to others
without explicit authorisation is prohibited. Offenders will
be held liable for the payment of damages. All rights re
served in the event of the grant of a patent, utility module
or design.
Contents and general instructions
II Festo P.BECPXCECEN en 1004a
CANopen

, CoDeSys

, MODBUS

and TORX

are registered trade names of the respective

trademark holders in certain countries.
This product uses opensource software which issubject to the "GNU General Public License,
Version 2". The licensing conditions of the GPL arelocated either in the products engineering
tool or at the following addresses:
http://<IP address of the device>/productinformation.html
http://www.gnu.org/copyleft/gpl.html
Contents and general instructions
III Festo P.BECPXCECEN en 1004a
Contents
Designated use V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CoDeSys controller CPXCEC/CPXCEC... 13 . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 16 . . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming environment 19 . . . . . . . . . . . . .
1.4.1 Programming languages 111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Libraries 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Meaning of the LED displays 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 CPXspecific LEDs 114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Installation 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and fitting 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Fitting 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Connection and display elements 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Setting the switches of the CoDeSys controller 27 . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 RUN/STOP rotary switch 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 DIL switches 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Ethernet interface 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Ethernet cable 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Communication interfaces 212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 CANopen interface (CPXCECC1/M1) 212 . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 RS232 interface (CPXCEC) 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
IV Festo P.BECPXCECEN en 1004a
2.7 Connection of an operator unit type FED 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Connection of a handheld type CPXMMI 219 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9 Complying with protection class IP65/IP67 220 . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Prerequisites for commissioning 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 First steps 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Configuration of the CPX modules 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Configuration of the CANopen slaves 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Parameterisation of the CPX terminal 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Parameterisation via control configuration in CoDeSys 310 . . . . . . . . .
3.5.2 Parameterisation via the handheld type CPXMMI 313 . . . . . . . . . . . . .
3.6 Forcing 314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Diagnosis 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General error response of the CoDeSys controller 43 . . . . . . . . . . . . . . . . . . . . .
4.2 Diagnosis via controller LEDs 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Further diagnostic options 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
V Festo P.BECPXCECEN en 1004a
Designated use
The type CPXCEC/CPXCEC... CoDeSys controller docum
ented in this manual is intended exclusively for use in Festo
CPX terminals for installation in a machine or an automation
control system.
In combination with a CPX terminal, the CPXCEC/CPXCEC...
is used for
controlling pneumatic and electric actuators (valves, out
put modules and motor controllers via CANopen)
interrogating electric sensor signals through the input
modules
communication via Ethernet.
The CPX terminal with the CPXCEC/CPXCEC... may only be
used as follows:
as designated in industrial applications
without any modifications by the user. Only the conver
sions or modifications described in the documentation
supplied with the product are permitted
in faultless technical condition
only in combination with approved components
(e.g.valves, drive/displacement encoder combinations).
The limit values specified for pressures, temperatures, electri
cal data, torques etc. should be observed.
Please comply with the regulations of the workers com
pensation insurance association, the German Technical Con
trol Board (TV) and the electrical requirements of the VDE or
the corresponding national and local safety regulations.
Contents and general instructions
VI Festo P.BECPXCECEN en 1004a
Safety instructions
Protection against dangerous movements
Warning
High acceleration forces at the connected actuators! Unde
sired movements can cause collisions and severe injuries.
Dangerous movements can occur through faulty control
ling of connected actuators, e.g. via:
unsafe or faulty circuitry or cabling,
faulty operation of the components,
errors in the measured value and signal generators,
defects or nonEMCcompliant components,
errors in the higherorder control system,
programming errors in user programs and projects.
Simply switching off the compressed air supply or load
voltage is not suitable for locking procedures. In the event
of a fault, this could lead to unintentional movement of the
drive.
Before doing mounting, installation and service work,
bring the system into a safe condition (e.g. by bringing
the drive into a safe position and deactivating the
controller).
Always make sure that the compressed air supply and
power supply are switched off and locked when working
in the machine area.
Make sure that no persons are in the operating range of
the drives or any other connected actuators.
Do not switch on the compressed air supply until the
system is correctly installed and parameterised.
Contents and general instructions
VII Festo P.BECPXCECEN en 1004a
Brakes controlled by the drive controller are alone not
suitable to ensure personal protection!
Secure vertical axes from falling or sliding down when
the compressed air and load voltages are switched off,
as follows:
mechanical locking of the vertical axis,
external braking/safety catch/clamping device or
sufficient counterbalance of the axis.
Additional measures are required for use in safetyre
lated applications; in Europe, for example, the standards
listed under the EC Machinery Directive must be ob
served. Without additional measures in accordance with
statutory minimum requirements, the product is not
suitable for use in safetyrelated sections of control
systems.
Protection from pressurised tubing
Caution
Danger of injury through inappropriate handling of pres
surised tubing!
Undesired movements of the connected actuators and
uncontrolled movements of loose tubing can cause injury
to human beings or damage to property.
Do not connect, disconnect or open pressurised tubing.
The tubing must always be vented before removal
(release compressed air).
Use suitable protective equipment (e.g. safety goggles,
safety shoes, etc.).
Contents and general instructions
VIII Festo P.BECPXCECEN en 1004a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.
Service
Please consult your local Festo Service if you have any techni
cal problems.
Contents and general instructions
IX Festo P.BECPXCECEN en 1004a
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a
pictogram.
A distinction is made between the following danger warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or property damage.
Caution
... means that failure to observe this instruction may result
in personal injury or property damage.
Note
... means that failure to observe this instruction may result
in damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive
components:
Electrostatically sensitive devices: Improper handling can
result in damage to components.
Contents and general instructions
X Festo P.BECPXCECEN en 1004a
Identifying special information
The following pictograms mark passages in the text which
contain special information.
Pictograms
Information:
Recommendations, tips and crossreferences to other in
formation sources.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally friendly use of Festo
products.
Text markings
The bullet indicates activities which may be carried out in
any order.
1. Numerals denote activities which must be carried out in
the numerical order specified.
Hyphens designate general lists.
Brackets designate menu entries.
Example: [Scan module configuration].
Arrow brackets mark placeholders for designations. Example:
"Status of <Your Connection>".
Quotation marks designate names of windows, dialogues and
buttons. Example: "Control configuration".
Contents and general instructions
XI Festo P.BECPXCECEN en 1004a
Notes on the use of this manual
This manual refers to the following firmware and software
versions:
CoDeSys controller CPXCECC1 from Rev 01
CoDeSys controller CPXCEC and CPXCECM1 from
Rev 05
Programming environment CoDeSys provided by Festo
from Version 2.3
This manual contains information on the function, fitting,
installation and commissioning of the CoDeSys controller.
Further information on the device can be found in the
following documentation:
Type Title Description
Short
manual
"CoDeSys controller"
type P.BEKCPXCEC
Connection and display elements, mounting,
installation and technical data
Onlinehelp Online.Help for the
CoDeSys controller
CPXCEC...
Configuration, commissioning, operationand
error diagnosis
Tab.0/1: Additional documentation on the device
General basic information on the mode of operation, on fit
ting, installing and commissioning CPX terminals can be
found in the CPX system manual, type P.BECPXSYS...
Observe also the user documentation of the components
used in the CPX terminal.
Contents and general instructions
XII Festo P.BECPXCECEN en 1004a
The following productspecific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0 signal 0 V applied at input, or output supplies 0 V
1 signal 24 V applied at input, or output supplies 24 V
0x01 (A0
h
) Hexadecimal numbers are marked by a prefixed "0x" or by a subscript
"h"
CANopen Fieldbus protocol based on CAN, which is standardised as a European
standard
CoDeSys provided by Festo
(= CoDeSys pbF)
CoDeSys =Controller Development System
CoDeSys provided by Festo permits configuration, commissioning and
programming of various components and devices by Festo. In this
documentation, called "CoDeSys pbF" for short
CPXterminal Complete system consisting of CPX modules with or without
pneumatics
CPX modules Common term for the various modules which can be integrated in a CPX
terminal
DHCP (Dynamic Host
Configuration Protocol)
Dynamic protocol for automatic assignment of IP addresses
DIL switch Dualinline switches consist of several switch elements with which
settings can be made
I/O modules Collective term for the CPX modules which provide digital inputs and
outputs
I/Os Digital inputs and outputs
EasyIP Protocol for fast exchange of operands between Festo controllers
EDS file Electronic data sheet, which describes the function and characteristics
of a CANopen device in standardised form (e.g. number of I/Os,
number of diagnosis bytes, etc.).
Ethernet Physical protocol and network for connecting various devices
Fieldbus node Provides the connection to specific fieldbuses. Transmits control
signals to the connected modules and monitors their ability to function
Contents and general instructions
XIII Festo P.BECPXCECEN en 1004a
Term/abbreviation Meaning
FHPP (Festo Handling and
PositioningProfile)
Uniform fieldbus data profile for positioning controllers from Festo
FTP (File Transfer Protocol) Protocol for file transfer via TCP/IP
Handheldtype CPXMMI Handheld terminal for commissioning and service purposes
HTTP (Hyper Text Transfer
Protocol)
Protocol for data transfer via TCP/IP
IP (Internet Protocol) Protocol for addressing and delivering data
Login/Logout Programming system is logged out/logged out
MAC address (Media
Access Control address)
Fixed assigned address for Ethernet device
Modbus/TCP Communication standard via TCP/IP in automation technology
Node ID Provides unique identification of a bus slave on the CANopenfieldbus
OLE Object Linkingand Embedding
OPC OLE for Process Control; standardised software interface that permits
access to process data
PLC/IPC Programmable logic controller/industrial PC
Pneumatic interface Interface between the modular electric peripherals and the pneumatics
SoftMotion Motion functionality integrated in the CoDeSys pbF programming and
runtime system. The following motion control models are offered as
modules:
Single/multiaxis positioningmovements with PLCopen Motion
modules
2.5D CNC control
TCP/IP Combination of the protocols TCP and IP, the mostwidely used protocol
in communication via Ethernet
TFTP (Trivial File Transfer
Protocol)
Protocol for file transfer via TCP/IP
TSP
(Target Support Package)
A target support package combines all configuration and expansion
files that are needed to make a specific controller (target) usable for
the programming environment (CoDeSys provided by Festo)
Contents and general instructions
XIV Festo P.BECPXCECEN en 1004a
Term/abbreviation Meaning
UDP (User Datagram
Protocol)
A minimal, connectionless network protocol that has a lower protocol
overhead compared to TCP. This has the advantage of a faster
exchange of data. Due to the lack of a reply, the correct transmission
must be ensured, e.g.by means of a user program
User data Telegramdata without protocol frame data. The length of the user data
is defined in the configuration of the fieldbus slave
www World Wide Web
Tab.0/2: Productspecific terms and abbreviations
System summary
11 Festo P.BECPXCECEN en 1004a
Chapter 1
1. System summary
12 Festo P.BECPXCECEN en 1004a
Contents
1. System summary 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The CoDeSys controller CPXCEC/CPXCEC... 13 . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Supported motor controllers 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The operating modes of the CoDeSys controllers 16 . . . . . . . . . . . . . . . . . . . . .
1.4 The CoDeSys provided by Festo programming environment 19 . . . . . . . . . . . . .
1.4.1 Programming languages 111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Libraries 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Parameterisation 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Meaning of the LED displays 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 CPXspecific LEDs 114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary
13 Festo P.BECPXCECEN en 1004a
1.1 The CoDeSys controller CPXCEC/CPXCEC...
The controller is available in the following variants:
Variant Characteristics
CPXCECC1 CoDeSys controller with CANopen interface
CPXCECM1 CoDeSys controller with CANopen interface
and function library for SoftMotion
CPXCEC CoDeSys controller with RS232 interface
Tab.1/1: Variants of the CoDeSys controller
All variants offer...
Programming with CoDeSys provided by Festo as per
IEC 611313
Programming and communication via Ethernet
Process visualisation within CoDeSys provided by Festo,
with a type FED operator unit or with the software VipWin
via Ethernet
Additional process visualisation systems can be con
nected via the supplied OPC server if they have an OPC
client.
The CoDeSys controller controls a CPX terminal in the
Stand Alone or Remote Controller operating mode.
Communication over fieldbus in connection with the use
of the respective fieldbus node in the CPX terminal
Control configuration of CoDeSys provided by Festo for
commissioning, programming and diagnosis of the
system
Connection of a handheld of type CPXMMI. The handheld
is used to display status and diagnostic information and
for fast commissioning of the CPX modules in the CPX
terminal.
1. System summary
14 Festo P.BECPXCECEN en 1004a
CPXCECC1 offers...
A CANopen interface to which up to 31 CANopen slaves
can be connected
CPXCECM1 offers...
The CoDeSys software package SoftMotion for
coordinated multiaxis movements.
CPXCECM1 can alternatively also be operated as a
CANopen master. The SoftMotion functions are then not
available.
CPXCEC offers...
An RS232 interface (SubD, 9pin) for connecting a type
FED operator unit or for operating external devices.
With external devices, data communication must be
programmed by the user.
1. System summary
15 Festo P.BECPXCECEN en 1004a
1.2 Supported motor controllers
The CoDeSys controllers CPXCECC1/M1 as CANopen
masters support all motor controllers from Festo.
CPXCECM1 with SoftMotion functions supports the
following motor controllers:
Motor controller Required firmware
1
fromVersion...
CMMPAS 3.5.1501.2.1
CMMSAS 1.3.0.1.11
CMMSST 1.3.0.1.7
(the versions 1.3.0.1.10 and 1.3.0.1.12 are
not supported)
SFCLAC 1.0.5
SFCLACI 1.0
CMMD 1.4
1) See rating plate for FCT plugin of the motor controller
Tab.1/2: Supported motor controllers with CPXCECM1
(date: June 2010)
CPXCECC1/M1 support up to 31 axes. We recommend
operating the CPXCECM1 with a maximum of eight axes.
1. System summary
16 Festo P.BECPXCECEN en 1004a
1.3 The operating modes of the CoDeSys controller
The CoDeSys controllers can be operated in various operating
modes, depending on the demand:
Stand Alone
Remote Controller Ethernet
Remote Controller Fieldbus (fieldbus node required)
The individual operating modes are briefly presented in the
following:
Stand Alone operating mode
1 2
1 CPXCEC/CPXCEC...
2 CPX terminal controlled by the CPXCEC/CPXCEC...
Fig.1/1: Stand Alone operating mode
1. System summary
17 Festo P.BECPXCECEN en 1004a
Remote Controller Ethernet operating mode
Ethernet
1 2
1 CPXCEC/CPXCEC... connected to an Ethernet network
for communication
2 CPX terminal controlled by the CPXCEC/CPXCEC...
Fig.1/2: Remote Controller Ethernet operating mode
1. System summary
18 Festo P.BECPXCECEN en 1004a
Remote Controller Fieldbus operating mode
2 1 3
1 CPXCEC/CPXCEC... connected to the fieldbus for
communication over the fieldbus node
2 CPX fieldbus node, here: CPXFB13
3 CPX terminal controlled by the CPXCEC/CPXCEC...
Fig.1/3: Remote Controller Fieldbus operating mode
(fieldbus node required)
1. System summary
19 Festo P.BECPXCECEN en 1004a
1.4 The CoDeSys provided by Festo programming environment
Use CoDeSys provided by Festo to commission and program
the CoDeSys controller. CoDeSys provided by Festo offers a
convenient user interface with the following functions:
Configuration and parameterisation of the CPXCEC/
CPXCEC... with control configuration
Programming as per IEC 611313
Integrated module libraries
Library administrator to integrate additional libraries
Simulation mode, permits testing of projects on the PC,
without PLC
Visualisation with the integrated visualisation editor
Documentation with the integrated project
documentation
Debugging functions: testing program sequence,
observing and changing variables, error search
CPXCECM1: SoftMotion programming editors are
integrated.
To be able to use a controller (target) under CoDeSys
provided by Festo, a socalled Target Support Package is
needed for the corresponding target. This permits access to
the system functions of the target and contains
corresponding information in the form of online help. The
Target Support Package makes CoDeSys functions usable for
the respective device or limits them, if necessary.
With the Target Support Package, CoDeSys can support all
these characteristics and functions of these devices.
And so CoDeSys provided by Festo contains many functions
that are available only on certain devices.
1. System summary
110 Festo P.BECPXCECEN en 1004a
CoDeSys provided by Festo is supplied with the Target
Support Package for the CoDeSys controller. It also contains
additional functions that are specially adapted to the
CoDeSys controller.
Information about which functions of CoDeSys provided by
Festo are supported by the CoDeSys controller and which
additional functions are available can be found in the online
help (key word"Functional Overview").
1. System summary
111 Festo P.BECPXCECEN en 1004a
1.4.1 Programming languages
CoDeSys provided by Festo offers five of the programming
languages standardised in IEC 611313, see Tab.1/3. Each of
these programming languages has certain characteristics
that are especially suited for solving specific tasks.
Programming
languages
Type Description
Statement list (STL) Textbased
programming
language
The statement list enables the programmer to de
scribe the working steps of controller functions with
simple instructions. The language structure supports
the efficient handling of complex tasks.
Structured text (ST) Structured text comes closest to the programming
languages used for the PC, such as Pascal and C.
It consists of a number of statements that can be
performed conditionally ("IF..THEN..ELSE") or in loops
(WHILE..DO), as in highlevel languages.
Sequential function chart
(SFC)
Graphic
programming
languages
Enables programming of sequences and so is suited
for structuring and organising projects. With transi
tions and connections, the sequential function chart
describes the time sequence of the various steps
within the program.
Function diagram (FUN)
or
Freegraphic function
diagram(CFQ)
The function diagram works with a list of networks,
whereby each network contains a structure that de
picts a logical or arithmetic expression, calls up a
function module, a jump or a return instruction.
In addition, based on the function diagram, there is
the freegraphic function diagram (CFC), in which the
elements are freely placed and feedback can be
directly added.
Ladder diagram (LDR) The ladder diagram was developed from the circuit
diagram. The diagram of a LDR program is therefore
similar to the diagram of a circuit diagram in relation
to the diagram of logical links.
Tab.1/3: Programming languages of CoDeSys provided by Festo
1. System summary
112 Festo P.BECPXCECEN en 1004a
1.4.2 Libraries
To make programming easier, CoDeSys provided by Festo
makes it possible to organise into libraries objects that are
usable independently of projects, such as modules, declar
ations and visualisations. A library administrator, with which
you can integrate and view libraries, is available for this
purpose.
Detailed descriptions on the libraries and programming can
be found in the online help.
1.4.3 Parameterisation
Information on parameterisation of the entire system via the
CoDeSys controller can be found in the online help.
1. System summary
113 Festo P.BECPXCECEN en 1004a
1.5 Meaning of the LEDdisplays
The LEDs on the cover indicate the operating status of the
device and are arranged in two groups.
1 Controller LEDs
(see section 4.2)
RUN
STOP
ERROR
TP
2 CPXspecific LEDs
PS
PL
SF
M
1 2
Fig.1/4: LED displays of the device (here CPXCECC1/M1 as an example)
1. System summary
114 Festo P.BECPXCECEN en 1004a
1.5.1 CPXspecific LEDs
The displays of the CPXspecific LEDs are described in the
following. Information on the controller LEDs can be found in
section 4.2.
PS (Power System) supply to the electronics
LED (green) Sequence Meaning Error treatment
LED lights up
ON
OFF
No error. Operating volt
age/sensor supply applied

LED flashes
ON
OFF
Operating voltage/sensor
supply outside the toler
ance range
Eliminate undervoltage
LED flashes
ON
OFF
Internal fuse for the
operating voltage/sensor
supply has responded
1. Eliminate short circuit/overload on
module side
2. Depends on the parameterisation
of the module (module parameter):
The sensor supply voltage will
be switched on again automati
cally when the short circuit has
been eliminated (default)
Power OFF/ON is necessary
LED is off
ON
OFF
The operating voltage/
sensor supply is not
applied
Check the operating voltage
connection of the electronics
Tab.1/4: Displays of PS LED
1. System summary
115 Festo P.BECPXCECEN en 1004a
PL (Power Load) load supply (outputs/valves)
LED (green) Sequence Meaning Error treatment
LED lights up
ON
OFF
No error. Load voltage
applied

LED flashes
ON
OFF
Load voltage at the system
supply or additional supply
outside the tolerance range
Eliminate undervoltage
Tab.1/5: Displays of PL LED
SF (System Failure) System error
LED (red) Sequence
1)
Meaning Error treatment
LED is off
ON
OFF
No error
LED flashes
ON
OFF
Simple error/information
(error class 1)
See description of error numbers in
the CPX system manual
LED flashes
ON
OFF
Error (error class 2)
LED flashes
ON
OFF
Serious error
(error class 3)
1)
The system error LED flashes depending on the class of error which has occurred.
Error class 1 (minor error): flash once, pause
Error class 2 (error): flash twice, pause
Error class 3 (serious error): flash three times, pause
Tab.1/6: Displays of SF LED
1. System summary
116 Festo P.BECPXCECEN en 1004a
M (Modify) Modify/force active
LED (yellow) Sequence Meaning Error treatment
LED is off
ON
OFF
Force is not active
LED flashes
ON
OFF
Force is active The Force function is enabled
(see CPX system manual, system
parameter Force mode;
function no. 4402).
Tab.1/7: Displays of M LED
Information on the controller LEDs can be found in
section 4.2.
Installation
21 Festo P.BECPXCECEN en 1004a
Chapter 2
2. Installation
22 Festo P.BECPXCECEN en 1004a
Contents
2. Installation 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General installation instructions 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dismantling and fitting 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Dismantling 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Fitting 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Connection and display elements 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Setting the switches of the CoDeSys controller 27 . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 RUN/STOP rotary switch 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 DIL switches 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Ethernet interface 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Ethernet cable 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Communication interfaces 212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 CANopen interface (CPXCECC1/M1) 212 . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 RS232 interface (CPXCEC) 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 Connection of an operator unit type FED 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Connection of a handheld type CPXMMI 219 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9 Complying with protection class IP65/IP67 220 . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Installation
23 Festo P.BECPXCECEN en 1004a
2.1 General installation instructions
Warning
Danger of injury from electric shock.
Always switch off the power supply before fitting or
removing CPX modules.
Caution
The CoDeSys controller contains electrostatically sensitive
components.
Therefore, do not touch any contacts.
Observe the handling specifications for electrostatically
sensitive devices.
Note
Check within the framework of your EMERGENCY STOP
concept to ascertain the measures necessary for putting
your machine/system into a safe state in the event of an
EMERGENCY STOP (e.g. switching off power sources,
load voltage supply, compressed air, etc.).
Information on fitting the CPX terminal can be found in the
CPX system manual type P.BECPXSYS... .
2. Installation
24 Festo P.BECPXCECEN en 1004a
2.2 Dismantling and fitting
The controller is fitted in an interlinking block of the CPX
terminal (see Fig.2/1).
2.2.1 Dismantling
Dismantle the controller as follows:
1. Loosen the four screws of the controller with a TORX
screwdriver size T10.
2. Pull the controller carefully and without tilting away from
the contact rails of the interlinking block.
1 CPXCEC/
CPXCEC...
2 Interlinking block
3 Contact rails
4 Screws
3
4
1
2
Fig.2/1: Dismantling/fitting of the controller (here CPXCECC1/M1 as an example)
2. Installation
25 Festo P.BECPXCECEN en 1004a
2.2.2 Fitting
Note
Fit the controller to the left end position of the CPX
terminal (position 0).
Fit the controller as follows:
1. Check the seal and seal surfaces.
2. Insert the controller in the interlinking block. Make sure
that the grooves with the power contact terminals on the
bottom of the controller lie above the contact rails.
3. Push the controller carefully and without tilting as far as
possible into the interlinking block.
4. Place the screws so that the selfcutting threads can be
used. Tighten the screws by hand.
5. Tighten the screws with a TORX screwdriver size T10 with
torque 0.9 ... 1.1 Nm.
2. Installation
26 Festo P.BECPXCECEN en 1004a
2.3 Connection and display elements
2
3 4
6
7
5
1
1 Status LEDs
2 RUN/STOP rotary switch
3 Ethernet interface
(10/100BaseT, RJ45)
4 CPXCECC1/M1:
CANopen interface
(plug, 9pin, SubD )
CPXCEC:
RS232 interface
(socket, 9pin, SubD)
5 DIL switch 1
6 DIL switch 2
7 Connection for a handheld of type
CPXMMI
Fig.2/2: Connection and display elements (here for CPXCECC1/M1 as an example)
2. Installation
27 Festo P.BECPXCECEN en 1004a
2.4 Setting the switches of the CoDeSys controller
2.4.1 RUN/STOP rotary switch
Note
Leave the RUN/STOP rotary switch at position "0" (STOP)
during installation.
The switch setting of the RUN/STOP rotary switch with
fourinternal digital inputs is passed on to the controller and
can be evaluated there.
Rotary switch Setting Meaning
0 STOP
CoDeSys controller stopped
The STOP LED lights up yellow
1 ... F RUN
CoDeSys controller started
The RUN LED lights up green
Tab.2/1: Switch settings of the RUN/STOP rotary switch
2. Installation
28 Festo P.BECPXCECEN en 1004a
2.4.2 DIL switches
The DIL switches must be accessible in order to make
settings:
Remove, if applicable, the cover or an IP65/IP67 plug
from the SubD interface.
DIL switch 1
DIL switch 1 is reserved. Leave the two switch elements of
DIL switch 1 at OFF.
CPXCEC/CPXCEC... DIL switch 1
Reserved DIL 1.1: OFF
DIL 1.2: OFF
Tab.2/2: Setting the DIL switch 1
2. Installation
29 Festo P.BECPXCECEN en 1004a
DIL switch 2
For CPXCECC1/M1, you can switch the CAN bus termination
(120 ) on or off.
CPXCECC1/M1 DIL switch 2
Termination switched off DIL 2.1: OFF
DIL 2.2: OFF
Termination switched on DIL 2.1: ON
DIL 2.2: OFF
All further switch settings are reserved.
The DIL switch 2 on the CPXCEC has no function.
Tab.2/3: Setting the DIL switch 2
2. Installation
210 Festo P.BECPXCECEN en 1004a
2.5 Ethernet interface
The Ethernet interface permits connection of a programming
device, PC or type FED operator unit to the CoDeSys
controller.
The Ethernet interface is designed as an RJ45 socket.
Socket Pin Signal Explanation
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
Housing
TD+
TD
RD+
n.c.
n.c.
RD
n.c.
n.c.
Shield
Transmitted data+
Transmitted data
Received data+
not connected
not connected
Received data
not connected
not connected
Screening
Tab.2/4: Pin assignment of the Ethernet interface
If the Ethernet interface is not used, close it with the AKRJ45
cover. In this way you will comply with protection class
IP65/IP67.
2.5.1 Ethernet cable
Use as connecting cable:
Cable specification Screened flexible Ethernet round cable of category 5
Max. outer diameter: 5.4 mm
Core diameter: 0.89 ... 1.0 mm AWG2426
Ready made: Crimping pliers on RJ45
2. Installation
211 Festo P.BECPXCECEN en 1004a
Note
If the CPX terminal is fitted onto a moving part of a
machine, the Ethernet cable on the moving part must be
provided with strain relief.
Network connection In order to connect your CoDeSys controller to a network or
PC, you will require a patch or crossover cable. The interface
automatically recognises which cable is connected and
automatically converts the signals.
Note
Use the RJ45 plug from Festo in order to comply with the
protection class IP65/IP67:
Type FBSRJ458GS
Observe the fitting instructions for the plug.
Fig.2/3: RJ45 plug type FBSRJ458GS
2. Installation
212 Festo P.BECPXCECEN en 1004a
2.6 Communication interfaces
2.6.1 CANopen interface (CPXCECC1/M1)
On the CPXCECC1/M1, there is a CANopen interface for
connection of CAN bus slaves.
The CANopen interface is designed as a 9pin SubD plug.
Plug Pin Signal Internal
contacts
Explanation
5
1
9
6
1
2
3
4
5
6
7
8
9
Housing
(plug)
n.c.
CAN_L
CAN_GND
n.c.
CAN_SHLD
CAN_GND
CAN_H
n.c.
n.c.
FE
not connected
CAN low
CAN ground
not connected
Connection to functional earth (FE)
2)
CAN ground (optional)
1)
CAN high
not connected
not connected
The plug housing must be connected
to FE
2)
.
1)
If a motor controller with external voltage supply is connected,
CAN ground (optional), pin 6 cannot be used on the CPXCECC1/M1.
2)
FE: Functional earthing
Tab.2/5: Pin assignment for the CANopen interface
The connected CAN bus slaves are not supplied with power
over the CANopen interface.
2. Installation
213 Festo P.BECPXCECEN en 1004a
Connecting the CAN bus
CAN bus line
Note
Faulty installation or high transmission rates may cause
data transmission errors as a result of signal reflections
and attenuations.
Transmission errors can be caused by:
missing or incorrect terminating resistor
incorrect screened connection
branches
large distances
unsuitable cables.
Use a twisted, screened 4core cable as a CAN bus line. The
CoDeSys controller communicates with the drive controllers
via the CAN bus line.
If the Festo CAN bus plug is used, a cable diameter of 5 ... 8
or 7 ... 10 mm is permitted.
Note
If the CPX terminal is fitted onto the moving part of a
machine, the CAN bus line on the moving part must be
provided with strain relief. Also observe the relevant
regulations in EN60204 part 1.
2. Installation
214 Festo P.BECPXCECEN en 1004a
Connection with Festo CAN bus plug
Note
Use protective caps or blanking plugs to seal unused
connections.
You will then comply with protection class IP65/IP67.
Note the fitting instructions for the CAN bus plug. Tighten
the two fastening screws at first by hand and then with
max. 0.4 Nm.
You can connect the CPXCECC1 easily to the CAN bus
with the CAN bus plug from Festo,
type FBSSUB9BU2x5POLB. You can disconnect
the plug from the node without interrupting the bus line
(TTap function).
Note
The clamp strap in the Festo CAN bus plug is connected
only capacitively internally with the metal housing of the
subD socket. This prevents equalising currents from
flowing via the screening of the CAN bus line (Fig.2/4).
Clamp the screening of the CAN bus line under the clamp
strap in the CAN bus plug.
2. Installation
215 Festo P.BECPXCECEN en 1004a
1 Folding cover
with inspection
window
2 Clamp strap
for screened
connection
1)
3 Protective cap if
connection is not
used
4 CAN bus
outgoing (OUT)
5 CAN bus
incoming (IN)
6 SUBD plug
1)
1)
connected
capacitively
V
+
G
N
DHL
S
L
D
V
+
G
N
DHL
S
L
D
2 1 3
4 5 6
Fig.2/4: CAN bus plug from Festo, type FBSSUB9BU2x5POLB
2. Installation
216 Festo P.BECPXCECEN en 1004a
Further connection possibilities for the CAN bus
with adapters
Caution
Make sure of the correct polarity when you connect the
CAN bus interface.
Connect the screen.
There are further ways of connecting the CAN bus with
adapters, which can be ordered separately from Festo. These
adapters and additional accessories can be found under:
www.festo.com/catalogue
M12 adapter 5pin (protection class IP65),
type FBA2M125POL
Screw terminal adapter 5pin (protection class IP20),
type FBA1SL5POL
2. Installation
217 Festo P.BECPXCECEN en 1004a
2.6.2 RS232 interface (CPXCEC)
The RS232 interface enables a type FED operator unit or
external devices to be connected to the CPXCEC.
When using external devices, data communication must be
programmed by the user.
Socket Pin Signal Explanation
1
2
3
4
5
6
7
8
9
Screen
n.c.
RxD
TxD
n.c.
GND
n.c.
n.c.
n.c.
n.c.
Screen
not connected
Received data
Transmitted data
not connected
Data reference potential
not connected
not connected
not connected
not connected
Connection to functional earth (FE)
Tab.2/6: Pin assignment of the RS232 interface (CPXCEC)
2. Installation
218 Festo P.BECPXCECEN en 1004a
2.7 Connection of an operator unit type FED
The operator unit type FED is a display for operating and
observing automation tasks at the field level.
Follow the accompanying user documentation when
installing the device.
Fig.2/5: CPX terminal with CPXCECC1 and operator unit
type FED incl. optional Ethernet interface
Connect an operator unit of type FED with Ethernet interface
to the CoDeSys controller using an Ethernet cable. With the
CPXCEC, connection can also take place over the RS232
interface.
2. Installation
219 Festo P.BECPXCECEN en 1004a
2.8 Connection of a handheld type CPXMMI
The 5pin M12 socket serves to connect a CPXMMI for fast
preliminary commissioning, diagnosis or parameterising.
Fig.2/6: CPX terminal with handheld type CPXMMI
The connection with the CPXMMI is interrupted during a
program download if parameters have been changed via the
CoDeSys provided by Festo software. This guarantees the
consistency of the displayed data.
Use only the following original cables
( www.festo.com/catalogue) for connecting the CPXMMI:
Type Cable length in [m]
KVM12M123,5 3.5
KVM12M121,5 1.5
Tab.2/7: Connection cable for handheld type CPXMMI
Further information on parameterisation via CPXMMI can be
found in the section 3.5.2.
General information on the CPXMMI can be found in the
manual P.BECPXMMI1...
2. Installation
220 Festo P.BECPXCECEN en 1004a
2.9 Complying with protection class IP65/IP67
In order to comply with protection class IP 65/IP67, seal un
used sockets and the switch with the appropriate covers.
Connection/
switch
Connection
IP65/IP67
Cover
1)
IP65/IP67
Ethernet, RJ45 Plug
type FBSRJ458GS
Cover
2)
type AKRJ45
SubD (CANopen/
RS232) and
DIL switch
Plug type FBS
SUB9BU
2X5POLB
Transparent cover
2)
type AKSUB9/15B
Service interface,
M12
Connecting cable and
plug of the CPXMMI
Protective cap
2)
type ISKM12
Rotary switch Cover
2)
type AKRJ45
1)
If connection is not used
2)
Included in scope of delivery
Tab.2/8: Connections and covers for protection class
IP65/IP67
Commissioning
31 Festo P.BECPXCECEN en 1004a
Chapter 3
3. Commissioning
32 Festo P.BECPXCECEN en 1004a
Contents
3. Commissioning 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Prerequisites for commissioning 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 First steps 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Configuration of the CPX modules 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Configuration of CANopen slaves 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Parameterisation of the CPX terminal 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Parametrisation via control configuration in CoDeSys 310 . . . . . . . . . .
3.5.2 Parametrisation via the handheld type CPXMMI 313 . . . . . . . . . . . . . .
3.6 Forcing 314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Commissioning
33 Festo P.BECPXCECEN en 1004a
3.1 Prerequisites for commissioning
Caution
Danger of injury due to undesired movements of the
connected actuators.
Test projects and programs at first without active
actuators and without compressed air.
1. Install the program environment CoDeSys provided by
Festo on a PC on which you carry out commissioning,
configuration and programming.
Detailed installation instructions can be found on the
accompanying CDROM. Observe the instructions on the
cover of the CDROM.
2. Connect the PC to the CoDeSys controller.
3.2 First steps
The commissioning procedure described in the following
sections uses the example of the CPXCECC1 or CPXCECM1
as a CANopen master. Further information on commissioning
the variants CPXCECM1 with SoftMotion and CPXCEC can
be found in the online help.
1. Start CoDeSys provided by Festo.
2. Create a new project.
1. Select the target system.
2. If necessary, change the settings for the target
system.
3. Create the program module "PLC_PRG".
Select the language of the module, e.g. STL.
3. Commissioning
34 Festo P.BECPXCECEN en 1004a
4. In the "Object Organizer", change to "Resources".
5. Open the "PLC Configuration".
6. Select the Root node, if applicable.
7. Open the "Network configuration" tab.
8. Carry out the "Search network" function.
9. Select the desired CoDeSys controller.
10. Carry out the "Set as active PLC" function.
11. Save the project.
You can now log in to the controller, if necessary.
Fig.3/1: Network configuration using the example of the CPXCECC1
3. Commissioning
35 Festo P.BECPXCECEN en 1004a
3.3 Configuration of the CPX modules
Detailed information on configuration of the CPX modules
can be found in the online help.
After you have created a new project in section 3.2 and
selected the desired CoDeSys controller, now continue
commissioning with configuration of the CPX modules.
1. Click in the window "PLC Configuration" on the nodes to
the left of the CPXCEC...
2. Click with the right mouse button on the element
"IOModules[FIX]".
Fig.3/2: Configuration of the CPX modules
Now you can perform module configuration automatically
or manually.
3. Commissioning
36 Festo P.BECPXCECEN en 1004a
Automatic module configuration
Perform the [Scan module configuration] function if you
want to perform module configuration automatically.
The I/O modules of a CPI module are not included in auto
matic module configuration. In this case, carry out a manual
module configuration (see next section) or perform the
"Scan" function in the "CP Modules" tab.
Fig.3/3: "CP Modules" tab
3. Commissioning
37 Festo P.BECPXCECEN en 1004a
Manual module configuration
Select [Append Subelement] if you want to perform
module configuration manually.
Attach the CPX modules from left to right in the physical
sequence on the CPX terminal. The modules are added at the
bottom in the tree structure. The CoDeSys controller sits in
the CPX terminal to the far left at position 0.
From the list of the CPX modules, select the CPX module
to the right of CPXCEC...
Repeat [Append Subelement] until you have selected all
CPX modules.
Addressing of inputs and outputs takes place automatically
(preset in the delivery condition of the device). For each mod
ule, at least 4 bytes of inputs or outputs are reserved.
The rotary switch of the CPXCECC1, for example, occupies
only 4 bits of inputs, but 4 bytes are reserved.
Alternatively, you can also manually address the inputs
and outputs. Information can be found in the online help.
3. Save the project.
3. Commissioning
38 Festo P.BECPXCECEN en 1004a
3.4 Configuration of the CANopen slaves
Now continue commissioning with configuration of the
CANopen slaves.
Addressing of the inputs and outputs takes place automati
cally. For each CANopen slave, at least 4 bytes of inputs or
outputs are reserved.
The input and output addresses of the CANopen slaves are
attached to the input and output addresses of the CPX mod
ules. When the "Automatic addresses" option is selected,
a change of configuration of the CPX modules results in a
change of the address assignment of the CANopen slaves.
1. In the "PLC Configuration" window, click with the right
mouse button on the Root node of the CoDeSys con
troller.
2. In the [Append Subelement] menu option, choose the
option [CANopen master].
The [CANopen master] appears in the Control
configuration after the [IOModules].
3. Click on [CANopenMaster[VAR]] with the right mouse
button.
4. Choose [Append Subelement].
5. Select a CANopen slave.
6. Repeat steps 3 to 5 until you have selected all CANopen
slaves.
Detailed information on configuration of the CANopen slaves
can be found in the online help and in the file "CANopen for
3S Runtime Systems V2_...pdf" in the installation directory of
CoDeSys provided by Festo.
3. Commissioning
39 Festo P.BECPXCECEN en 1004a
3.5 Parameterisation of the CPX terminal
The CPX terminal is supplied from the factory with preset
parameters. If required, you can set the reaction of the CPX
terminal as well as the reaction of individual modules and
channels by parameterising.
A distinction is made between the following parameterisa
tions:
system parameters,e.g.: switching off fault messages,
setting reaction times, etc.
module parameters (module and channelspecific),e.g.:
monitoring, settings in the event of faults, settings for
forcing
diagnostic memory parameters.
Detailed specifications on the parameters and data as well as
basic information on parameterisation of the CPX terminal
can be found in the CPX system manual type P.BECPXSYS....
Detailed information on the module parameters can be found
in the user documentation of the respective modules.
The following parameterisation options are available:
Parameterisation via ... Description Properties
Control configuration in
CoDeSys: logout
Access to all parameters of
the CPX terminal
Convenient parameterisation via a PC
Parameterisation is stored in the
project, i.e. the parameters remain
after Power OFF/ON
Handheldtype CPXMMI Parameterisation is carried
out via menulisted entries
with the handheld
Parameterisation is saved only locally
in the CPX terminal and is lost with
Power OFF/ON
Tab.3/1: Parameterisationoptions
3. Commissioning
310 Festo P.BECPXCECEN en 1004a
3.5.1 Parameterisation via control configuration in CoDeSys
Detailed information on parameterisation can be found in the
online help.
You can easily parameterise the CPX terminal with the control
configuration. Parameterisation can be undertaken for:
the setpoint configuration (logout): parameters are
transferred when the project is loaded.
When the relevant dialogue has been opened, you can view
and modify the individual parameters.
Parameters cannot be changed in the online mode.
In the following, parameterisation is described using the
example of the Root node:
Click in "PLC Configuration" on the symbol for the
CPXCEC.
Settings
Set the following parameters in the "Settings" tab,
if necessary:
Fig.3/4: "Settings" tab
3. Commissioning
311 Festo P.BECPXCECEN en 1004a
Module #0
In the "Module #0" tab, you receive the following information
on the CoDeSys controller:
Fig.3/5: "Module #0" tab
Network configuration (logout)
Look for the controller for which you want to prepare the
new CoDeSys project in the "Network configuration" tab:
Fig.3/6: "Network configuration" tab
3. Commissioning
312 Festo P.BECPXCECEN en 1004a
System parameters
Set the system parameters in the "System Parameters"
tab:
Fig.3/7: "System Parameters" tab
Trace parameters
Set the following parameters in the "Trace Parameters"
tab:
Fig.3/8: "Trace Parameters" tab
3. Commissioning
313 Festo P.BECPXCECEN en 1004a
3.5.2 Parameterisation via the handheld type CPXMMI
The parameters of the CPX terminal can be read and modified
via a connected handheld.
Transfer of the parameterisation to the CPX modules
Note
Parameterisations via the handheld are saved only
locally in the CPX terminal and are lost with Power
OFF/ON.
The connection with the CPXMMI is interrupted during a
program download if parameters have been changed via
the CoDeSys provided by Festo software.
Parameters changed by the CPXMMI and Festo_CPX.lib
are only then overwritten during the project download if
parameter changes have also been made in the CoDeSys
project.
Further information on parameterisation via CPXMMI can be
found in the manual P.BECPXMMI1...
3. Commissioning
314 Festo P.BECPXCECEN en 1004a
3.6 Forcing
Through forcing, you can compel input and output signals.
Actual input signals or status changes by program are
ignored and replaced by the force values.
Warning
High acceleration forces at the connected actuators!
Undesired movements of the actuators can cause
collisions and severe injuries.
Be very careful when forcing in order to avoid undesired
movements of the actuators.
Make sure that no persons are in the operating range of
the drives or any other connected actuators.
Forcing of inputs with
handheld type CPXMMI
Forcing an input does not modify the input signal itself and
cannot be observed at the relevant status LED. The logical
status of the input changes internally and in some cases has
an effect on the program. The forced input status is trans
ferred to the image table of the inputs. The online display in
CoDeSys provided by Festo therefore shows the forced input
signal.
Forcing of outputs with
handheld type CPXMMI
Forcing an output does modify the actual output signal and
can be observed at the relevant status LED. However, the
forced output signal is not transferred to the image table of
the outputs. The online display in CoDeSys provided by
Festo does not show the forced, physical output signal,
but the status from the image table.
3. Commissioning
315 Festo P.BECPXCECEN en 1004a
Note
The online display in CoDeSys provided by Festo always
shows the signal status valid in the process diagram. When
forcing with the handheld type CPXMMI, observe the
following:
Forced input states are transferred to the image table
and therefore recognised by the controller. They are
visible in the online display.
Forced output states are not transferred to the image
table and are therefore not recognised by the controller.
They are not therefore represented in the online display.
You have various ways of temporarily influencing input or
output signals, e.g. for test purposes:
Forcing via the handheld type CPXMMI
Forcing with the online display in CoDeSys provided by
Festo.
Further information on forcing can be found in the CPX
system manual type P.BECPXSYS... and in the online help.
If several functions are active at the same time, the following
applies:
Force signals have the highest priority
Forcing via the handheld has higher priority than forcing
with the online display.
3. Commissioning
316 Festo P.BECPXCECEN en 1004a
Diagnosis
41 Festo P.BECPXCECEN en 1004a
Chapter 4
4. Diagnosis
42 Festo P.BECPXCECEN en 1004a
Contents
4. Diagnosis 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General error response of the CoDeSys controller 43 . . . . . . . . . . . . . . . . . . . . .
4.2 Diagnosis via controller LEDs 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Further diagnostic options 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Diagnosis
43 Festo P.BECPXCECEN en 1004a
4.1 General error response of the CoDeSys controller
Warning
If an error occurs, the controller does not stop but
continues with the program processing. Undesired
movements of the actuators can cause collisions and
severe injuries.
Include error handling mechanisms for all error
categories in the user program.
Make sure that no persons are in the operating range of
the drives or any other connected actuators.
The CoDeSys controller makes available the following error
handling mechanisms in user programs:
System event CPX_system_fault
Channel/module diagnosis in the flag words
Module support in the Festo_CPX.lib
Detailed information on error handling in user programs can
be found in the online help.
4. Diagnosis
44 Festo P.BECPXCECEN en 1004a
For the CoDeSys controller, the following diagnostics options
are available:
Diagnosis via ... Advantages Description
Status LEDs Fast onthespot
recognition of faults
Controller LEDs, see section 4.2
CPXspecific LEDs, see section 1.5.
Handheld type CPXMMI Fast onthespot
recognition of faults
See CPX system manual
Control configuration Online diagnosis without
programming
See online help
User program Detailed diagnostic
evaluation:
Systemevent
CPX_system_fault
Channel/module diag
nosis in the flag words
Module support in the
Festo_CPX.lib
See online help
Tab.4/1: Diagnostic options of the CoDeSys controller
4. Diagnosis
45 Festo P.BECPXCECEN en 1004a
4.2 Diagnosis via controller LEDs
The controller LEDs have the following meaning:
RUN PLC status: started
LED (green) Sequence Status Error number Error handling
LED lights up
ON
OFF
PLC program started
(RUN/STOP switch is in
position "1 ... F")

LED is off
ON
OFF
PLC program stopped
(RUN/STOP switch is in
position "0")
Set RUN/STOP
switch to position
"1 ... F"
Tab.4/2: Displays of RUN LED
STOP PLC status stopped
LED (yellow) Sequence Status Error number Error handling
LED lights up
ON
OFF
PLC program stopped
(RUN/STOP switch is in
position "0")

LED is off
ON
OFF
PLC program started
(RUN/STOP switch is in
position "1 ... F")
Set RUN/STOP
switch to position
"0"
Tab.4/3: Displays of STOP LED
4. Diagnosis
46 Festo P.BECPXCECEN en 1004a
ERROR PLC runtime error
LED (red) Sequence Status Error number Error handling
LED lights up
ON
OFF
PLC program error CPX error Read out error
code over
handheld or
CoDeSys pbF
LED is off
ON
OFF
No error
Tab.4/4: Displays of ERROR LED
TP Ethernet connection: link/traffic
LED (green) Sequence Status Error number Error handling
LED lights up
ON
OFF
Ethernet connection OK
LED flashes
ON
OFF
Data transfer active
(LED flashes irregularly)

LED is off
ON
OFF
Ethernet connection to the
parameterisation PC not OK
Check
the connection
the IP address
Tab.4/5: Displays of TP LED
4. Diagnosis
47 Festo P.BECPXCECEN en 1004a
4.3 Further diagnostics options
Further information on diagnosis via the control configuration
in CoDeSys provided by Festo and via user programs can be
found in the online help.
Further information on diagnostics with SoftMotion
(CPXCECM1) can be found in the online help.
4. Diagnosis
48 Festo P.BECPXCECEN en 1004a
Technical appendix
A1 Festo P.BECPXCECEN en 1004a
Appendix A
A. Technical appendix
A2 Festo P.BECPXCECEN en 1004a
Contents
A. Technical appendix A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Technical data A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix
A3 Festo P.BECPXCECEN en 1004a
A.1 Technical data
CPXCEC/CPXCEC...
General technical data for the CPX terminal See CPX system manual:
Manual P.BECPXSYS...
Total number of axes
CPXCECC1
CPXCECM1
31
31 (recommended: max. 8)
CPU data Processor 400 MHz, 32MB RAM, 32MB flash
Configurationsupport CoDeSys
Parameterisation CoDeSys
Programmingsoftware CoDeSys provided by Festo
Programminglanguage As per IEC 611313
LDR, STL, ST, FUN, SFC, also CFC
Programmemory 4 MB user program
Protocol CoDeSys Level 2, EasyIP, ModbusTCP, TCP/IP
Devicespecific diagnostics Channel and moduleorienteddiagnostics
Undervoltage/short circuit of modules
Diagnostic memory
Additional functions
CPXCEC/CPXCEC...
CPXCECC1
CPXCECM1
CPXCEC
Diagnostic functions
Motion functions for electric drives
SoftMotion functions for electric drives
RS232 communication function
Baud rate 10/100 bit/s as per IEEE802.3 (10BaseT)
or 802.3u (100BaseTx)
Processing time Approx. 200 s/1k instructions
LED display (busspecific) TP: Ethernet connection: link/traffic
A. Technical appendix
A4 Festo P.BECPXCECEN en 1004a
CPXCEC/CPXCEC...
LED display (productspecific) RUN: PLC status: started
STOP: PLC status: stopped
ERR: PLC runtime error
PS: Electronic supply,
sensor supply
PL: Load supply
SF: System fault
M: Modify/forcingactive
Fieldbus interface (CPXCECC1/M1)
Type
Connectiontechnology
CPXCECC1transmission rate
CPXCECM1transmissionrate
Electrical isolation
CAN bus
Plug, SubD, 9pin
125; 250; 500; 800; 1,000 kbps
(adjust. via software)
125; 250; 500; 1,000 kbps
(adjust. via software)
Yes
Data interface (CPXCEC)
Type
Connectiontechnology
Transmissionspeed
Electrical isolation
RS232 interface
Socket, SubD, 9pin
9.6 ... 230.4kbps
Yes
Ethernet
Number
Connector plug
Transmissionspeed
Supported protocols
1
RJ45, socket, 8pin
10/100mbps
TCP/IP, EasyIP, Modbus TCP
Protection class
only in conjunction with plugs and covers in
protection class IP65/IP67
IP65/IP67
Nominal operating voltage 24V DC
Loadvoltage
without pneumatics
with pneumatics type Midi/Maxi
with pneumatics type CPA
with pneumatics type MPA
18 ... 30V DC
21.6 ... 26.4V DC
20.4 ... 26.4V DC
18 ... 30V DC
Intrinsic current consumption
at rated voltage Typically 85 mA
A. Technical appendix
A5 Festo P.BECPXCECEN en 1004a
CPXCEC/CPXCEC...
Power failure bridging 10 ms
Storage temperature 20 ... +70C
Ambient temperature 5 ... +50C
Relative air humidity 95%, noncondensing
Product weight 155 g
Dimensions W x L x H 50 mm x 107 mm x 55 mm
A. Technical appendix
A6 Festo P.BECPXCECEN en 1004a
Index
B1 Festo P.BECPXCECEN en 1004a
Appendix B
B. Index
B2 Festo P.BECPXCECEN en 1004a
B. Index
B3 Festo P.BECPXCECEN en 1004a
A
Abbreviations XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessories 216 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C
Cable
Ethernet 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handheld type CPXMMI 219 . . . . . . . . . . . . . . . . . . . . . . .
CAN bus
Connecting 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection 216 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Line 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Termination 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CoDeSys provided by Festo XII , 19 . . . . . . . . . . . . . . . . . . . .
Commissioning 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration
CANopen slaves 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPX modules 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection and display elements 26 . . . . . . . . . . . . . . . . . . .
CPXMMI 219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D
Designated use V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dismantling 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F
Firmware XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fitting 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Forcing 314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Front end display (FED) 218 . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index
B4 Festo P.BECPXCECEN en 1004a
H
Handheld type CPXMMI 219 . . . . . . . . . . . . . . . . . . . . . . . . .
I
Installation 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces
CANopen 212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ethernet 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RS232 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L
LEDs
Controller LEDs 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPXspecific 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
M
Motor controllers, supported 15 . . . . . . . . . . . . . . . . . . . . . .
O
Operating modes 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operator unit type FED 218 . . . . . . . . . . . . . . . . . . . . . . . . . .
P
Parameterisation
Via control configuration 310 . . . . . . . . . . . . . . . . . . . . . . .
Via handheld type CPXMMI 313 . . . . . . . . . . . . . . . . . . . .
Parameterisation of the CPX terminal 39 . . . . . . . . . . . . . . . .
Pin assignment
CANopen interface 212 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ethernet interface 210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RS232 interface 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index
B5 Festo P.BECPXCECEN en 1004a
Protection class IP65/IP67 220 . . . . . . . . . . . . . . . . . . . . . . .
S
Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SoftMotion 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Meaning XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Strain relief 213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch
DIL switch 28 , 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RUN/STOP rotary switch 27 . . . . . . . . . . . . . . . . . . . . . . . .
System parameters 312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T
Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Technical data A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
U
User instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .