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- 笈岭窃 堵
- 5 years ago
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1 CPX CPX-FB14 CANopen zh 1411d
2
3 ... de... zh 1411d... P.BE-CPX-FB14-ZH (Festo AG & Co. KG,:73726 Esslingen,,2013) : : service_international@festo.com,, Festo P.BE-CPX-FB14-ZH zh 1411d I
4 CANopen TORX CiA II Festo P.BE-CPX-FB14-ZH zh 1411d
5 VI VII VII VIII IX DIL DIL DIL Festo CANopen CANopen Layer Setting Service (LSS) LSS LSS CPX Festo P.BE-CPX-FB14-ZH zh 1411d III
6 CPX PDO ( PDO 1) ( PDO 1) ( PDO 2) ( PDO 2) ( PDO 3) ( PDO 3) I/O (PDO 4) Manufacturer Specific Profile CPX , LED CPX LED PS PL SF M CANopen LED MS NS IO I/O IV Festo P.BE-CPX-FB14-ZH zh 1411d
7 3.5 CANopen CPX A.... A-1 A.1 CPX-FB14... A-3 A.2 :... A-5 A.2.1 1: CANopen... A-5 A.2.2 2:... A-5 A.2.3 3: Node guard... A-6 A.2.4 4:... A-7 A.2.5 5:... A-8 B.... B-1 Festo P.BE-CPX-FB14-ZH zh 1411d V
8 CPX-FB14 CANopen CPX : ;,:,,; IEC/EN ( Protective Extra-Low Voltage, PELV) PELV IEC/EN PELV IEC/EN , VI Festo P.BE-CPX-FB14-ZH zh 1411d
9 PELV,IEC/EN () CANopen, Festo Festo P.BE-CPX-FB14-ZH zh 1411d VII
10 CANopen CPX : 1) Rev 26 ( ) Rev 24 ( ) Rev 20 ( ) Rev 14 ( ) Layer Setting Service ( 2.2.1) ( ) CPX-FEC CPX-CP EDS 1) (SW) (Rev) Tab. 0/1: CPX-FB14 CPX, CPX CPX, CPX CPX VIII Festo P.BE-CPX-FB14-ZH zh 1411d
11 (,), :...:...:...:, : : Festo P.BE-CPX-FB14-ZH zh 1411d IX
12 : : Festo : Festo 1. X Festo P.BE-CPX-FB14-ZH zh 1411d
13 : / AO,AI CEC COB-ID CODESYS CPX DIL F0 h FEC I/O, CODESYS,:CPX CEC/CPX CEC..., CPX Communication object identifier; COB-ID Controller Development System,: CPX : CPX-M: CPX-L: CPX-P: P,, ;, h Front-End-Controller,:CPX-FEC,: (PLC,Stand Alone ) (PLC,Remote Controller ) (Remote I/O ) I/O CPX I/O IPC IW / OW KZÜ KZS KZA KZV I/O I/O, CPX PC / / / Festo P.BE-CPX-FB14-ZH zh 1411d XI
14 / O,I PLC (MMI), Programmable Logic Controller, (PLC) CPX ; CPX,,:CP Front-End-Controller (CPX-FEC) CODESYS (CPX-CEC); (,CPX-MMI), CPX (Man-Machine Interface,MMI) CPX, Tab. 0/2: XII Festo P.BE-CPX-FB14-ZH zh 1411d
15 1 Festo P.BE-CPX-FB14-ZH zh 1411d 1-1
16 DIL DIL DIL Festo Festo P.BE-CPX-FB14-ZH zh 1411d
17 :,:: : CPX, Festo P.BE-CPX-FB14-ZH zh 1411d 1-3
18 1. CPX, CPX (P.BE-CPX-SYS-...) 1-4 Festo P.BE-CPX-FB14-ZH zh 1411d
19 1. CANopen CPX : 4 MS NS IO PS PL SF M CPX LED 4 2 (9 D-Sub ) 3 DIL Fig. 1/1: CPX IP65/IP67 Festo P.BE-CPX-FB14-ZH zh 1411d 1-5
20 1. CPX ( Fig. 1/2) : 1. T10 TORX, 4 2., 1 CPX-FB TORX T Fig. 1/2: /,() : : : 1-6 Festo P.BE-CPX-FB14-ZH zh 1411d
21 1., : 1. 2., 3.,, T10 TORX Nm Festo P.BE-CPX-FB14-ZH zh 1411d 1-7
22 DIL CPX, DIL CPX, DIL :,,! 0.4 Nm 1-8 Festo P.BE-CPX-FB14-ZH zh 1411d
23 DIL DIL, 5 DIL ( Fig. 1/3) DIL : /Layer Setting Service CPX : DIL ( 1.2.1) 3.,(DIL 1, :Remote I/O) 4. (DIL 2) 5. CPX : Layer Setting Service(8 DIL 3, 1 7) 6. Layer Setting Service, (DIL 4) 7. RemoteI/O : CPX (DIL 5) Remote Controller : CPX-FB14 I/O (DIL 5) 8. ( 1.2.1) Festo P.BE-CPX-FB14-ZH zh 1411d 1-9
24 1. 1 DIL 1: 2 DIL 2: 3 DIL 3: 4 DIL 4: 5 DIL 5: CPX Remote Controller I/O Fig. 1/3: DIL ( 1 5 ) 1-10 Festo P.BE-CPX-FB14-ZH zh 1411d
25 1. DIL 1 DIL 1 1 : Remote I/O CPX CANopen CPX FEC CEC, Remote Controller CPX FEC CEC I/O FEC CEC CPX, DIL 1 DIL 1.1: DIL 1.2: () DIL 1.1: DIL 1.2: Tab 1/1: DIL 1() Festo P.BE-CPX-FB14-ZH zh 1411d 1-11
26 1. DIL 2 2 DIL 2 1 : DIL 2 2.1: () 2.1: 2.2: Tab 1/2: DIL 2( ), DIL, 1-12 Festo P.BE-CPX-FB14-ZH zh 1411d
27 1. DIL 3 8 DIL 3 CPX : 1 ( 1 7) Fig. 1/4: DIL 3() : CANopen 1;...; 127 Tab 1/3: : Festo P.BE-CPX-FB14-ZH zh 1411d 1-13
28 1. ::05 :: = = = = 38 Tab 1/4: (), 1-14 Festo P.BE-CPX-FB14-ZH zh 1411d
29 LSS (V1.26 ) Tab 1/5: 1 31 :DIL Festo P.BE-CPX-FB14-ZH zh 1411d 1-15
30 Tab 1/6: :DIL 1-16 Festo P.BE-CPX-FB14-ZH zh 1411d
31 Tab 1/7: :DIL Festo P.BE-CPX-FB14-ZH zh 1411d 1-17
32 Tab 1/8: :DIL 1-18 Festo P.BE-CPX-FB14-ZH zh 1411d
33 1. DIL 3 Layer Setting Service (LSS) CPX-FB14 CiA DSP-305 Layer Setting Service (LSS) Layer Setting Service (LSS),LSS CANopen LSS 8 DIL 3 LSS DIL ( = 0) 1 LSS ( 1 7) Fig. 1/5: DIL 3() DIL 3 DIL 3 8 CPX 1. DIL CPX (Power on) Boot up 3. DIL 3 8 Festo P.BE-CPX-FB14-ZH zh 1411d 1-19
34 1. DIL 4 2 DIL 4 : DIL kbaud 4.1: 4.2: () 250 kbaud 4.1: 4.2: 500 kbaud 4.1: 4.2: 1000 kbaud 4.1: 4.2: Tab 1/9: DIL 4() DIL 1-20 Festo P.BE-CPX-FB14-ZH zh 1411d
35 1. DIL 5 I/O () DIL 5 CPX ( Tab 1/1): Remote I/O : CPX PDO 4 8 Bit,I/O 16 Bit(Bit , Fig. 2/1) Remote Controller : PDO 1 64 I/O, FEC/CEC ( Fig. 2/2) Remote I/O Remote Controller I/O () DIL 5 I/O (+ 0 I/O Bits) 1) (+ 8 (16) I Bit) 3.1: 3.2: () 3.1: 3.2: I/O 1) (+ 16 I/O Bits) 3.1: 3.2: 8 Byte I/8 Byte O CPX-FEC CPX-CEC 3.1: 3.2: 1) ( I/O ) 2 Byte 4 Byte (16 I Bit 16 I/O Bit; 8 I Bit ) Tab 1/10: DIL 5( Remote Controller I/O ) Festo P.BE-CPX-FB14-ZH zh 1411d 1-21
36 1. (1),PDO 4 ( I/O ) PDO 4 16 I 16 I/O Bit, I/O Bit,, CPX (2) ( I/O ), CPX I/O Power / CPX 1-22 Festo P.BE-CPX-FB14-ZH zh 1411d
37 , :! 4 CPX CANopen Festo, mm CPX, EN Festo P.BE-CPX-FB14-ZH zh 1411d 1-23
38 ,, T,, 1-24 Festo P.BE-CPX-FB14-ZH zh 1411d
39 CPX /, (D-Sub 3 9) CPX (D-Sub 3/ 9): U = 30.0 V U = 11.0 V : Festo P.BE-CPX-FB14-ZH zh 1411d 1-25
40 1. Festo T ( Fig. 1/6) T (T-Tap) 6, T Fig. 1/6: 1-26 Festo P.BE-CPX-FB14-ZH zh 1411d
41 D-Sub, CPX FBS-SUB-9-BU-2x5POL-B Festo CPX, Festo IP65 : (UNC4-40/M3x6 ) CPX CANopen () n.c. CAN_L CAN_GND n.c. CAN_SHLD GND CAN_H n.c. CAN_V+ CAN Low (0 V) () GND CAN High (24 V) FE Tab 1/11: CPX Festo P.BE-CPX-FB14-ZH zh 1411d 1-27
42 Festo IP65, 0.4 Nm! Festo (FBS-SUB-9-BU-2x5POL-B), CPX (T-Tap ), Festo D-Sub (Fig. 1/7) 1-28 Festo P.BE-CPX-FB14-ZH zh 1411d
43 IN OUT 4 (OUT) 5 (IN) 6 GND HL V+ SLD GND HL V+ SLD Fig. 1/7: Festo, FBS-SUB-9-BU-2x5POL-B Festo P.BE-CPX-FB14-ZH zh 1411d 1-29
44 , CPX, Festo : M12,5 ( IP65) FBA-2-M12-5POL,5 ( IP20) FBA-1-SL-5POL 1-30 Festo P.BE-CPX-FB14-ZH zh 1411d
45 1. M12 (IP65), PG9 5 M12 IP65 Festo (FBA-2-M12-5POL) M VDC ( 4 A) V 4.CAN_H 5.CAN_L IN OUT, Fig. 1/8: (5 M12 ) M12 T ( Fig. 1/6) Festo P.BE-CPX-FB14-ZH zh 1411d 1-31
46 1. (IP20) 2x5 4A 0.34 mm 2 Festo FBSD-KL-2x5POL (FBA-1-SL-5POL) V 2.CAN_L 3. 4.CAN_H 5.24 VDC ( 4 A) 2x5 Fig. 1/9: (,5 ) Festo FBSD-KL-2x5POL, T 1-32 Festo P.BE-CPX-FB14-ZH zh 1411d
47 CPX, T, T : Festo (120 Ω, 0.25 W, Fig. 1/10) 1 2 (120 Ω, 0.25 W) SLD GND HL V+ SLD GND HL V+ 1 2 SLD L H GND V+ Fig. 1/10: Festo CPX, (120 Ω,0.25 W) CAN_H CAN_L Festo P.BE-CPX-FB14-ZH zh 1411d 1-33
48 IEC/EN (Protective Extra- Low Voltage,PELV) PELV IEC/EN PELV IEC/EN , PELV, IEC/DINEN (,)( ) CPX CPX,, CPX CPX, CPX CPX 1-34 Festo P.BE-CPX-FB14-ZH zh 1411d
49 2 Festo P.BE-CPX-FB14-ZH zh 1411d 2-1
50 CANopen CANopen Layer Setting Service (LSS) LSS LSS CPX CPX PDO ( PDO 1) ( PDO 1) ( PDO 2) ( PDO 2) ( PDO 3) ( PDO 3) I/O (PDO 4) Manufacturer Specific Profile Festo P.BE-CPX-FB14-ZH zh 1411d
51 CPX , Festo P.BE-CPX-FB14-ZH zh 1411d 2-3
52 CANopen CANopen CANopen CPX : CANopen CiA 201, V1.1.0 CiA 207 CiA 301, V4.2.0 CiA 305 DSP V2.2 CiA 401, V3.0.0 Tab. 2/1: CAN Application Layer CAL CiA 301 CAL Draft Standard Proposal Layer Setting Service (LSS) CiA 401 CANopen CPX CANopen, CANopen CiA 301 CIA DSP 305 CiA Festo P.BE-CPX-FB14-ZH zh 1411d
53 CANopen CANopen, CANopen (SDO) CANopen Process Data Object (PDO), CAN Process Data Object Service Data Object (SDO), Festo P.BE-CPX-FB14-ZH zh 1411d 2-5
54 Layer Setting Service (LSS) Layer Setting Service (LSS),LSS CAN LSS () LSS LSS LSS LSS LSS CiA DSP-305,LSS : Vendor-ID Product-Code Revision-Number Serial-Number CPX-FB38 Layer Setting Service, DIL ( Fig. 1/5) LSS Stopped Pre-Operational, LSS LSS LSS LSS COB-ID 0x7E5 (Communication Objekt Identifier) LSS COB-ID 0x7E4 LSS CPX-FB14, LSS : 2-6 Festo P.BE-CPX-FB14-ZH zh 1411d
55 2. LSS Switch Mode Global LSS COB-ID 0x7E5 Byte x04 Mode 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/2: Switch Mode Global Mode: 0x01 LSS 0x00 LSS () LSS Switch Mode Global LSS,LSS (hex.) 1. Vendor-ID ID( CiA ) D 2. Product-Code CD 3. Revision-Number xx xx xx xx 4. Serial-Number xx xx xx xx Tab. 2/3: Festo P.BE-CPX-FB14-ZH zh 1411d 2-7
56 2. 1) Vendor-ID Switch Mode Selective Vendor-ID Vendor-ID LSS COB-ID 0x7E5 Byte x40 VendorID 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/4: Switch Mode Selective Vendor-ID LSS Switch mode selective Vendor-ID 2) Product-Code Switch Mode Selective Product-Code Product-Code LSS COB-ID 0x7E5 Byte x41 ProdCode 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/5: Switch Mode Selective Product-Code LSS Switch mode selective Product-Code 2-8 Festo P.BE-CPX-FB14-ZH zh 1411d
57 2. 3) Revision-Number Switch mode selective Revision- Number LSS COB-ID 0x7E5 Byte x42 Revision 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/6: Switch Mode Selective Revision-Number LSS Switch Mode Selective Revision-Number 4) Serial-Number Switch Mode Selective Serial-Number LSS COB-ID 0x7E5 Byte x43 Serial 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/7: Switch Mode Selective Serial-Number, LSS (Vendor-ID Product- Code Revision-Number Serial-Number LSS ) Festo P.BE-CPX-FB14-ZH zh 1411d 2-9
58 2. COB-ID Acknowledge 0x7E4 Byte x44 Mode 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/8: Switch Mode Selective Serial-Number Mode: 0x01 0x00 () 2-10 Festo P.BE-CPX-FB14-ZH zh 1411d
59 2. Configure Node-ID LSS COB-ID 0x7E5 Byte x11 Node ID 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/9: Configure Node-ID Node-ID: LSS Node-ID( 1 127) COB-ID Acknowledge 0x7E4 Byte x11 Error code Error extension 0x00 0x00 0x00 0x00 0x00 Tab. 2/10: Configure Node-ID Error code: 0 Node-ID 1 Node-ID 0xFF DIP LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-11
60 2. Bit Timing Parameter Configure Bit Timing Parameters LSS COB-ID 0x7E5 Byte x13 Bit timing table Table entry 0x00 0x00 0x00 0x00 0x00 Tab. 2/11: Configure Bit Timing Parameters Bit timing table: 0 Table entry: kbaud kbaud kbaud kbaud 2-12 Festo P.BE-CPX-FB14-ZH zh 1411d
61 2. COB-ID Acknowledge 0x7E4 Byte x13 Error code Error extension 0x00 0x00 0x00 0x00 0x00 Tab. 2/12: Configure Bit Timing Parameters Error code: 0 1 () 0xFF DIP LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-13
62 2. Bit Timing Activate Bit Timing COB-ID 0x7E5 Byte x15 Delay 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/13: Activate Bit Timing Delay: ms LSS 2-14 Festo P.BE-CPX-FB14-ZH zh 1411d
63 2. Store Configuration ID COB-ID 0x7E5 Byte x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/14: Store Configuration COB-ID Acknowledge 0x7E4 Byte x17 Error code Error extension 0x00 0x00 0x00 0x00 0x00 Tab. 2/15: Store Configuration Error code: 0 1 LSS 2 0xFF DIP LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-15
64 2. ID Inquire Vendor-ID LSS ID COB-ID 0x7E5 Byte x5A 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/16: Inquire Vendor-ID COB-ID Acknowledge 0x7E4 Byte x5A Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/17: Inquire Vendor-ID 2-16 Festo P.BE-CPX-FB14-ZH zh 1411d
65 2. Inquire Product-Code LSS COB-ID 0x7E5 Byte x5B 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/18: Inquire Product-Code COB-ID Acknowledge 0x7E4 Byte x5B Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/19: Inquire Product-Code Festo P.BE-CPX-FB14-ZH zh 1411d 2-17
66 2. Inquire Revision Number LSS COB-ID 0x7E5 Byte x5C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/20: Inquire Revision Number COB-ID Acknowledge 0x7E4 Byte x5C Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/21: Inquire Revision Number 2-18 Festo P.BE-CPX-FB14-ZH zh 1411d
67 2. Inquire Serial Number LSS COB-ID 0x7E5 Byte x5D 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/22: Inquire Serial Number COB-ID Acknowledge 0x7E4 Byte x5D Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/23: Inquire Serial Number Festo P.BE-CPX-FB14-ZH zh 1411d 2-19
68 2. Inquire Node-ID LSS COB-ID 0x7E5 Byte x5E 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/24: Inquire Node-ID COB-ID Acknowledge 0x7E4 Byte x5E Node ID 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/25: Inquire Node-ID 2-20 Festo P.BE-CPX-FB14-ZH zh 1411d
69 2. Identify Vendor-ID LSS COB-ID 0x7E5 Byte x46 Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/26: Identify Vendor-ID LSS Identify Product-Code LSS COB-ID 0x7E5 Byte x47 Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/27: Identify Product-Code LSS Festo P.BE-CPX-FB14-ZH zh 1411d 2-21
70 2. (Low) Identify Revision-Number Low LSS COB-ID 0x7E5 Byte x48 Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/28: Identify Revision-Number Low LSS (High) Identify Revision-Number High LSS COB-ID 0x7E5 Byte x49 Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/29: Identify Revision-Number High LSS 2-22 Festo P.BE-CPX-FB14-ZH zh 1411d
71 2. (Low) Identify Serial-Number Low LSS COB-ID 0x7E5 Byte x4A Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/30: Identify Serial-Number Low LSS (High) Identify Serial-Number High LSS COB-ID 0x7E5 Byte x4B Low word Low byte Low word High byte High word Low byte High word High byte 0x00 0x00 0x00 Tab. 2/31: Identify Serial-Number High COB-ID Acknowledge 0x7E4 Byte x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/32: Identify Serial-Number High Festo P.BE-CPX-FB14-ZH zh 1411d 2-23
72 2. Identify Non-Configured Slave LSS COB-ID 0x7E5 Byte x4C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/33: Identify Non-Configured Slave COB-ID Acknowledge 0x7E4 Byte x50 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/34: Identify Non-Configured Slave LSS LSS Stopped Pre-Operational, LSS 1: LSS 1. LSS : Switch Mode global (Mode = 0x01) Tab. 2/2 2. : Inquire Node-ID Tab. 2/25 3. : Configure Node-ID Tab. 2/ Festo P.BE-CPX-FB14-ZH zh 1411d
73 2. 4. : Configure Bit Timing Parameters Tab. 2/11 5. : Store Configuration Tab. 2/14 6. LSS : Switch Mode Global (Mode = 0x00) Tab. 2/2 2: LSS 1. LSS : Vendor-ID Tab. 2/4 (Festo = 0x1D) Product Code Tab. 2/5 (CPX-FB14 = 0xCD) Revision Number Tab. 2/6 Serial Number Tab. 2/7 2. : Inquire Node-ID Tab. 2/24 3. Configure Node-ID Tab. 2/9 4. Configure Bit Timing Parameters Tab. 2/11 5. Store Configuration Tab. 2/14 Festo P.BE-CPX-FB14-ZH zh 1411d 2-25
74 2. 6. LSS Switch Mode Global (Mode = 0x00) Tab. 2/ CPX,/,CPX I/O CPX, I/O ( ) : , DIL 5 ( 1.2.2),CPX I/O, PDO 4 8 Bit() 16 Bit I/O, PDO 4 16 Bit () 2-26 Festo P.BE-CPX-FB14-ZH zh 1411d
75 2. Remote I/O PDO I/O 8 I/O Byte, Mapping I/O Byte PDO, Mapping 8 PDO, PDO 1 I0 I7 I8 I15 I16 I23 I24 I31 I32 I39 I40 I47 I48 I55 I56 I63 PDO 1 O0 O7 O8 O15 O16 O23 O24 O31 O32 O39 O40 O47 O48 O55 O56 O63 PDO 2 AI0 AI1 AI2 AI3 PDO 2 AO0 AO1 AO2 AO3 PDO 3 AI4 AI5 AI6 AI7 PDO 3 AO4 AO5 AO6 AO7 PDO 4 IW0 / 1) IW1 IW2 IW3 PDO 4 OW0 / I/O 2) OW1 OW2 OW3 1) : :I0 - I7, I/O :I0 I15 2) : I/O O0 O15( ) Fig. 2/1: PDO 1 4 I/O PDO 1 4: CPX, 1 8 Byte,, Festo P.BE-CPX-FB14-ZH zh 1411d 2-27
76 2. Remote Controller Remote Controller (DIL 1), PDO 1 64 Remote Controller I/O PDO 1 I0 I7 I8 I15 I16 I23 I24 I31 I32 I39 I40 I47 I48 I55 I56 I63 PDO 1 O0 O7 O8 O15 O16 O23 O24 O31 O32 O39 O40 O47 O48 O55 O56 O63 PDO 2 4 PDO 2 4 Fig. 2/2: Remote Controller PDO 1 64 I/O 2-28 Festo P.BE-CPX-FB14-ZH zh 1411d
77 T-PDO 4 IW0 (I/O ) T-PDO 1 I0 I7 I8 I15 I16 I23 : DI 8DI 8DO 4DO 8DI 8DO 8O 8O R-PDO 1 O0 O7 O8 O15 O16 O23 O24 O31 O32 O39 R-PDO 4 OW0 (I/O ) Fig. 2/3: I/O MPA I/O CPX PDO (, Tab. 2/35) Festo P.BE-CPX-FB14-ZH zh 1411d 2-29
78 2. 0 CANopen CPX-FB14 I/O 1 8 CPX-8DE 2 I/O CPX-8DE-8DA T-PDO 4: IW T-PDO 1: I0 I T-PDO 1:I8 I R-PDO 4: OW R-PDO 1:O0 O CPX-4DA R-PDO 1:O8 O I/O CPX-8DE-8DA T-PDO 1:I16 I R-PDO 1:O12 O MPA 5 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA 6 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA R-PDO 1:O20 O R-PDO 1:O28 O Tab. 2/35: Fig. 2/3 1, Festo P.BE-CPX-FB14-ZH zh 1411d
79 2. 2 T-PDO 2 AI0 AI1 T-PDO 1 I0 I7 I8 I15 I16 I23 : DI 8DI 4DO 8DI 8DO 2AI 2AO 8O R-PDO 1 O0 O7 O8 O15 O16 O23 R-PDO 2 AO0 AO1 Fig. 2/4: I/O VTSA (DIL 8O) CPX PDO (, Tab. 2/36) Festo P.BE-CPX-FB14-ZH zh 1411d 2-31
80 2. 0 CPX-FB CPX-8DE 2 8 CPX-8DE T-PDO 1: I0 I T-PDO 1:I8 I CPX-4DA R-PDO 1::O0 O I/O CPX-8DE-8DA 5 2 CPX-2AE-U-I T-PDO 1:I16 I T-PDO 2:AI0 AI R-PDO 1:O4 O CPX-2AA R-PDO 2:AO0 AO VTSA ISO Plug-In(44 ) DIL 1 8 (8DO) R-PDO 1:O12 O Tab. 2/36: Fig. 2/ Festo P.BE-CPX-FB14-ZH zh 1411d
81 2. 3 T-PDO 4 IW0 IW1 T-PDO 1 I0 I7 I8 I15 : DI 4DO 8DI 8DO 8 O 8 O R-PDO 1 O0 O7 O8 O15 O16 O23 O24 O31 R-PDO 4 OW0 OW1 OW2 OW3 1 4, 1 Fig. 2/5: I/O CPX-CP MPA CPX PDO (, Tab. 2/37) Festo P.BE-CPX-FB14-ZH zh 1411d 2-33
82 2. 0 CPX-FB CPX-8DE T-PDO 1: I0 I CPX-4DA R-PDO 1::O0 O CPX-CP CPX-CP 1 4 Byte I (32I) Byte O (128O) 4 I/O CPX-8DE-8DA T-PDO 4: IW0 IW T-PDO 1:I8 I R-PDO 4: OW0 OW OW4 OW7 1) R-PDO 1:O4 O MPA 5 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA 6 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA R-PDO 1:O12 O R-PDO 1:O20 O ) : CPX-CP 16 Byte (128O) PDO 4 8 Byte (64O), CPX PDO (OW4 OW7 Fig. 2/5 ) Tab. 2/37: Fig. 2/ Festo P.BE-CPX-FB14-ZH zh 1411d
83 Boot up Communication Profile CiA : SDO 4 : /Transmit PDO : /Receive PDO 1 4 Node guarding Heart beat CiA 301 (predefined connection set) Layer Setting Service (LSS) Festo P.BE-CPX-FB14-ZH zh 1411d 2-35
84 (hex) PDO PDO PDO A00 1A03 PDO Manufacturer specific (2000 5FFF): () FFF , 6100 Input Array , 6300 Output Array /6306 Fault Mode Array 6207/6307 Error State Array 64xx Tab. 2/38: CPX 2-36 Festo P.BE-CPX-FB14-ZH zh 1411d
85 CPX Power-On Pre-Operational 1 2 Operational Stopped Fig. 2/6: CPX ( Tab. 2/39) Festo P.BE-CPX-FB14-ZH zh 1411d 2-37
86 2. (cs) 0 Boot up FFF 1) 1 Start_Remote_ Node_Indication 2 Enter_Pre_ Operation_State_ Indication 3 Stop_Node_ Indication 4 Reset_ Communication_ Indication 5 Reset_Node_ Indication 01 h Operational Mode CPX : SDO PDO () Node guarding / Heart beat (Node guard response: Toggle + 05 h ) 80 h Pre-Operational Mode CPX : SDO PDO ( 2) ) Node guarding / Heart beat (Node guard response: Toggle + 7F h ) 02 h Stopped Mode CPX : SDO PDO ( 2) ) Node guarding / Heart beat (Node guard response: Toggle + 04 h ) 82 h : ( FFF) 81 h : ( FFF) (2000 5FFF) 1) ) Operational Mode Stopped Pre-Operational Mode Tab. 2/39: 2-38 Festo P.BE-CPX-FB14-ZH zh 1411d
87 : Broadcast CPX COB SYNC 080 h 128 d Tab. 2/40: Broadcast Festo P.BE-CPX-FB14-ZH zh 1411d 2-39
88 2. Peer-to-Peer COB EMERGENCY,: 081 h 0FF h 129 d 255 d PDO 1 PDO1 (tx) 181 h 1FF h 385 d 511 d PDO 1 PDO1 (rx) 201 h 27F h 513 d 639 d PDO 2 PDO2 (tx) 281 h 2FF h 641 d 767 d PDO 2 PDO2 (rx) 301 h 37F h 769 d 895 d PDO 3 PDO3 (tx) 381 h 3FF h 897 d 1023 d PDO 3 PDO3 (rx) 401 h 47F h 1025 d 1151 d PDO 4 PDO4 (tx) 481 h 4FF h 1153 d 1279 d PDO 4 PDO4 (rx) 501 h 57F h 1281 d 1407 d SDO SDO1 (tx) 581 h 5FF h 1409 d 1535 d SDO SDO1 (rx) 601 h 67F h 1537 d 1663 d Node guarding / Heart beat Guarding 701 h 77F h 1793 d 1919 d Tab. 2/41: CPX-FB14 Peer to Peer 2-40 Festo P.BE-CPX-FB14-ZH zh 1411d
89 (: ID = 1) : U = unsigned ro = read only rw = read/write Map. = Attr. = Mapping CiA 301 :, (: 1A00, 3 8: 0 0 ), (hex) (hex) Device type U32 ro 00 0F V1.10 : OF = CPX 00 0x V1.10 : = x = CPX : Bit 16: Bit 17: Bit 18: Bit 19: : CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-41
90 2. (hex) (hex) U8 ro 00 no error xx Generic/Manufacturer error ( 3.5.1) Pre-defined Error Field 1 Standard Error Field U32 ro ( 3.5.1) U8 rw 00 0A ( 00 ) ( 3.5.1) U32 ro xx xx xx xx (n) Byte 0 1 = Error Code ( 3.5.1) Byte 2 = 1002 Byte 0 Byte 3 = 1002 Byte 1 2 xx xx xx xx (n+1) 3 xx xx xx xx (n+2) A h xx xx xx xx n COB-ID SYNC Message Manufacturer Device Name U32 rw 80 Default SYNC Message COB-ID 80 h Str. ro FB Manufacturer Hardware Version Str. ro 0810 () 100O 0 Manufacturer Software Version Str. ro V2.0 () 100C 0 Guard Time U16 rw [ms] 2-42 Festo P.BE-CPX-FB14-ZH zh 1411d
91 2. (hex) (hex) 100D 0 Life Time Factor COB-ID Emergency Object Inihibit Time Emergency Message Consumer Heart beat Time U8 rw 00 (Guard-Time x Life Time Factor = Node Guard ) U32 rw 80 + Node-ID Default Emergency Object COB-ID 80 h + Node-ID U16 rw [100 μs] U8 ro 6 1 C.-H. Time 1 U32 rw Heart beat ID Heart beat Time [ms] 2 C.-H. Time C.-H. Time Producer Heart beat Time Identity Object U16 rw Heart beat Time [ms] COB-ID = Node guard ID (Pre-Operational, Operational, Stopped) U8 ro 4 1 Vendor ID U D ID (CiA) 2 Product code 3 Revision number CD xx xx.xx xx ( 100A) 4 Serial number xx xx xx xx ( ) Festo P.BE-CPX-FB14-ZH zh 1411d 2-43
92 2. (hex) (hex) U8 ro 1 CPX 1 0 U16 CPX 0 1) ) ) Error Behaviour, Number oferror classes 1 Communica tion Error U8 ro 3 rw 00 (Timeout/Heart beat) 0 = Pre-Operational 1 = No state change 2 = Stopped :8130, 8140 V1.10 :8100, 8130, Output Error 01 / 0 = Pre-Operational 1 = No state change 2 = Stopped :23xx, 33xx 3 Input Error 01 / 0 = Pre-Operational 1 = No state change 2 = Stopped :21xx, 31xx 1) CPX 2-44 Festo P.BE-CPX-FB14-ZH zh 1411d
93 2. (hex) (hex) Server SDO Parameter (SDO ) 1 COB_ID Client () } Server () (rx) 2 COB_ID Server () } Client () (tx) U8 ro 2 U Node-ID Default COB-ID + Node-ID Node-ID Default COB-ID + Node-ID U = unsigned Map. = ro = read only Attr. = rw = read/write Tab. 2/42: Festo P.BE-CPX-FB14-ZH zh 1411d 2-45
94 PDO Default Mapping PDO 1 PDO 2 PDO 3 PDO 4 Tab. 2/43: /(/) 0 3 /(/) 4 7 /(/) I/O PDO, SDO PDO ( PDO Communication Mapping Parameter, 1A00 h 1A03 h, 1600 h 1603 h ) 2-46 Festo P.BE-CPX-FB14-ZH zh 1411d
95 ( PDO 1) (hex) (hex) 181 1FF PDO 1 xx xx 1 8 Byte Byte 0: I0 I7 Byte 1: I8 I15... Byte 7: I56 I PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission type ( ) U8 FF : 1 ) 3 Inhibit Time U [100 μs] 4 5 Event-Timer [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write Festo P.BE-CPX-FB14-ZH zh 1411d 2-47
96 2. (hex) (hex) 1O00 0 PDO Communication U8 rw Mapping U I0 I7 2 Parameter I8 I I16 I I24 I I32 I I40 I I48 I I56 I Read Input U8 ro Bit 1 xx xx xx xx xx xx xx xx xx A h xx B h xx C h xx U = unsigned Map. = ro = read only Attr.= rw = read/write 2-48 Festo P.BE-CPX-FB14-ZH zh 1411d
97 2. (hex) (hex) 6000 D h Read Input U8 ro xx Bit E h xx F h xx h xx D xx E xx F xx h xx U = unsigned Map. = ro = read only Attr.= rw = read/write 1) Pre-Operational Operational, SDO (: ) Remote Transmission Request (RTR), (: Interrupt Enable) Tab. 2/44: Festo P.BE-CPX-FB14-ZH zh 1411d 2-49
98 ( PDO 1) (hex) (hex) F PDO 1 xx xx xx xx 1 8 Byte 1) Byte 0: O0 O7 Byte 1: O8 O15... Byte 7: O56 O PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : PDO Communication U8 rw Mapping U O0 O7 2 Parameter O8 O O16 O O24 O O32 O O40 O O48 O O56 O63 U = unsigned ro = read only rw = read/write Map. = Attr.= 1) Festo P.BE-CPX-FB14-ZH zh 1411d
99 2. (hex) (hex) Write U8 ro Output 8Bit 1 rw xx xx xx xx xx xx xx xx xx A h xx B h xx C h xx D h xx E h xx F h xx h xx D xx E xx F xx h xx Festo P.BE-CPX-FB14-ZH zh 1411d 2-51
100 2. (hex) (hex) Fault Mode U8 ro Output 8Bit rw FF FF FF FF FF FF FF FF FF A h FF B h FF C h FF D h FF E h FF F h FF h FF D FF E FF F FF FF Festo P.BE-CPX-FB14-ZH zh 1411d
101 2. (hex) (hex) Error State U8 ro Output 8Bit rw A h B h C h D h E h D E F h U = unsigned Map. = ro = read only Attr.= rw = read/write Tab. 2/45: Festo P.BE-CPX-FB14-ZH zh 1411d 2-53
102 2. CPX 6206, 6207, CPX Operational Mode, (),, : (hex) h Bit h Bit = 1 = = 1 = Tab. 2/46: 2-54 Festo P.BE-CPX-FB14-ZH zh 1411d
103 ( PDO 2) CANopen 32 Bit 16 Bit : 6422, 6424, 6425, 6426, 6444, 5444, 5434, PDO : Enable( 6423) ( 6421), ( 6424, 6425, 6426) 6422, 1801 PDO(FF h, FD h, FC h 0 F0 h ) Festo P.BE-CPX-FB14-ZH zh 1411d 2-55
104 2. (hex) (hex) 281 2FF PDO 2 xx 2, 4, 6 8 Byte Byte 0, 1: 0 (AI0) Byte 2, 3: 1 (AI1) Byte 4, 5: 3 (AI2) Byte 6, 7: 4 (AI3) PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw 280 h + Node-ID COB-ID 2 Transmission Type U8 FF : 1) 3 Inhibit Time U F (= 50 ms) [100 μs] 4 5 Event-Timer [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write 1) Festo P.BE-CPX-FB14-ZH zh 1411d
105 2. (hex) (hex) 1O01 0 PDO U8 rw Communication U AI0 2 Mapping Parameter AI AI AI Read U8 ro Analogue Input I16 xx AI0 2 xx AI1 3 xx AI2 4 xx AI Analogue Input Global Interrupt Enable Analogue Input Number of Interrupt Source Banks 1 Interrupt Source Bank 1 B rw 00 0 = Disable 1 = Enable U8 ro 1 Interrupt Source Bank U32 00 Interrupt Source Bank 1 1) ( 0 15) 1) Festo P.BE-CPX-FB14-ZH zh 1411d 2-57
106 2. (hex) (hex) Analogue Input Interrupt Trigger Selection 1 Analogue Input U8 ro 0 10 rw 00 AI0 Bit 0: 1) Bit 1: 2) Bit 2: Delta 3) Bit 3 7: 2 00 AI AI AI Analogue Input Interrupt Upper Limit Integer U8 ro Analogue I32 rw 00 AI0 1) Input 2 00 AI1 1) 3 00 AI2 1) 4 00 AI3 1) 1) Bit 0: Upper limit exceeded ( CiA 401) 2) Bit 1: Input below lower limit ( CiA 401) 3) Bit 2: Input changed by more than delta ( CiA 401) 2-58 Festo P.BE-CPX-FB14-ZH zh 1411d
107 2. (hex) (hex) Analogue Input Interrupt Lower Limit Integer U8 ro Analogue I32 rw 00 AI0 2) Input 2 00 AI1 2) 3 00 AI2 2) 4 00 AI3 2) Analogue Input Interrupt Delta Unsigned U8 ro Analogue U32 rw 00 AI0 3) Input 2 00 AI1 3) 3 00 AI2 3) 4 00 AI3 3) 2) Bit 1: Input below lower limit ( CiA 401) 3) Bit 2: Input changed by more than delta ( CiA 401) Tab. 2/47: 0 3 Festo P.BE-CPX-FB14-ZH zh 1411d 2-59
108 ( PDO 2) (hex) (hex) F PDO 2 xx 2, 4, 6 8 Byte Byte 0, 1: 0 (AO0) Byte 2, 3: 1 (AO1) Byte 4, 5: 2 (AO2) Byte 6, 7: 3 (AO3) PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : PDO Communication U8 rw Mapping U AO0 2 Parameter AO AO AO Festo P.BE-CPX-FB14-ZH zh 1411d
109 2. (hex) (hex) Write U8 ro 0 10 Analogue 1 Output 16 Bit I16 rw xx xx AO0 2 xx xx AO1 3 xx xx AO2 4 xx xx AO Analogue U8 ro 0 10 Output Fault 1 Mode rw 1 Default Mode AO0 2 1 Default Mode AO1 3 1 Default Mode AO2 4 1 Default Mode AO Analogue U8 ro 0 10 Output Error 1 Integer 32 Bit I32 rw 1 Error Value AO0 2 2 Error Value AO1 3 3 Error Value AO2 4 4 Error Value AO3 U = unsigned Map. = ro = read only Attr. = rw = read/write Tab. 2/48: 0 3 Festo P.BE-CPX-FB14-ZH zh 1411d 2-61
110 ( PDO 3) (hex) (hex) 381 3FF PDO 3 xx 2, 4, 6 8 Byte Byte 0, 1: 4 (AI4) Byte 2, 3: 5 (AI5) Byte 4, 5: 6 (AI6) Byte 6, 7: 7 (AI7) PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : 1) 3 Inhibit Time U16 01 F4 (= 50 ms) [100 μs] 4 5 Event-Timer [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write 1) Festo P.BE-CPX-FB14-ZH zh 1411d
111 2. (hex) (hex) 1O02 0 PDO Communication U8 rw Mapping U AI4 2 Parameter AI AI AI Read U8 ro Analogue Input I16 xx xx AI4 6 xx xx AI h xx xx AI Analogue Input Number of Interrupt Source Banks 1 Interrupt Source Bank 1 U8 ro 1 Interrupt Source Bank ( PDO 2) U32 ro 00 Interrupt Source Bank 1 1) ( 1 16) 1) Festo P.BE-CPX-FB14-ZH zh 1411d 2-63
112 2. (hex) (hex) Analogue Input Interrupt Trigger Selection Number of Analogue Input U8 ro Analogue rw 00 AI4 Input 6 00 AI h 00 AI Analogue Input Interrupt Upper Limit Integer U8 ro Analogue I32 rw 00 AI4 Input 6 00 AI h 00 AI Analogue Input Interrupt Lower Limit Integer U8 ro Analogue I32 rw 00 AI4 Input 6 00 AI h 00 AI Festo P.BE-CPX-FB14-ZH zh 1411d
113 2. (hex) (hex) Analogue Input Interrupt Delta Unsigned U8 ro Analogue U32 rw 00 AI4 Input 6 00 AI h 00 AI15 Tab. 2/49: 4 15 (Transmit PDO 3) ( PDO 3) (hex) (hex) F PDO 3 xx 2, 4, 6 8 Byte Byte 0, 1: 5 (AO4) Byte 2, 3: 6 (AO5) Byte 4, 5: 7 (AO6) Byte 6, 7: 8 (AO7) PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : Festo P.BE-CPX-FB14-ZH zh 1411d 2-65
114 2. (hex) (hex) PDO Communication U8 rw Mapping U AO4 2 Parameter AO AO AO Write U8 ro Analogue Output 16 Bit I16 rw xx AO4 6 xx AO h xx AO Analogue U8 ro Output Fault Mode rw 1 Default Mode AO4 6 1 Default Mode AO h 1 Default Mode AO Festo P.BE-CPX-FB14-ZH zh 1411d
115 2. (hex) (hex) Analogue U8 ro Output Error Integer 32 Bit I32 rw Error Value AO Error Value AO h Error Value AO15 Tab. 2/50: 4 15 (Receive PDO 3) Festo P.BE-CPX-FB14-ZH zh 1411d 2-67
116 I/O (PDO 4) I/O, DIL ( 1.2.2) I/O, PDO 4 (hex) (hex) 481 4FF PDO 4 xx 2, 4, 6 8 Byte Byte 0, 1: I/O () Byte 2, 3: Byte 4, 5: Byte 6, 7: PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : 1) 3 Inhibit Time U [100 μs] 4 5 Event-Timer [ms] 1) Festo P.BE-CPX-FB14-ZH zh 1411d
117 2. (hex) (hex) 1O03 0 PDO Communication U8 rw Mapping U IW0 2 Parameter IW IW IW Read Input U8 ro 0 20 IW 16 Bit 1 U16 xx IW0, 1) : I/O 1 2 xx IW1:: 1 2 1) 3 xx IW h xx IW31 1) Tab. 2/51: Transmit PDO 4 Festo P.BE-CPX-FB14-ZH zh 1411d 2-69
118 2. PDO 4 I/O, CPX (hex) (hex) F PDO 4 xx 1 8 Byte Byte 0, 1: I/O () Byte 2, 3: Byte 4, 5: Byte 6, 7: PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw Node-ID COB-ID 2 Transmission Type U8 FF : PDO Communication U8 rw Mapping U OW0 2 Parameter OW OW OW Festo P.BE-CPX-FB14-ZH zh 1411d
119 2. (hex) (hex) Write Output U8 ro Bit 1 U16 rw xx : I/O Write Output U8 rw 0 20 OW 16 Bit 1 U16 xx OW0 2 xx OW1 3 xx OW h xx OW Fault Mode U8 ro 0 20 OW Output 16 Bit 1 U16 rw FF FF Fault-Mode OW0 2 FF FF... OW1 3 FF FF... OW FF FF... OW Error State U8 ro 0 20 OW Output 16 Bit 1 U16 rw Fault-Mode OW OW OW OW31 Tab. 2/52: Receive PDO 4 Festo P.BE-CPX-FB14-ZH zh 1411d 2-71
120 , 6307, CPX Operational Mode, (),, Manufacturer Specific Profile, CPX (P.BE-CPX-SYS-...) (hex) 2000 (), Tab. 2/ Tab. 2/ Tab. 2/ Tab. 2/57 Tab. 2/53: Manufacturer Specific Profile Area 2-72 Festo P.BE-CPX-FB14-ZH zh 1411d
121 2. (hex) (hex) U8 ro xx CPX Bit 0 3:CPX Bit 4: CPX Bit 5: Bit 6: Bit 7: 2 xx 6206, 6207, 6306, CPX xx CPX : Bit 0 3:// Bit 4 7: 0002 Tab. 2/54: Festo P.BE-CPX-FB14-ZH zh 1411d 2-73
122 2. (hex) (hex) U8 ro xx 1) 1 0 U16 xx xx 1) ( + ) 2 1 xx xx 1) ( + ) 3 2 xx xx 1) ( + ) U8 ro xx 1) U32 1) 1 0 xx xx xx xx 2 1 U32 xx xx xx xx ) : CPX Tab. 2/55: 2-74 Festo P.BE-CPX-FB14-ZH zh 1411d
123 2. (hex) (hex) U8 ro FF ,40, (Bit 0 5) (Bit 6) FF Tab. 2/56: ( PDO ) (hex) (hex) U8 ro U32 ro 00 FF 00 FF FF 00 FF I/O / I/O / xx 1) ) : CPX Tab. 2/57: Festo P.BE-CPX-FB14-ZH zh 1411d 2-75
124 2. (hex) (hex) U8 ro 8 / 1 rw xx rw 00 ( 0 ) ro 00 / rw 00 (/ 2,,,/ ) (MN) (KN) (FN) U8 ro ( ) h 40. ( ) Oct.- string 00 FF B 00 3B (+ 80) 00 FF 00 2F 00 FF 00 FF 00 FF 10 ms ( 1 ) 3488, Tab. 2/58: 2-76 Festo P.BE-CPX-FB14-ZH zh 1411d
125 2. (hex) (hex) U8 ro rw 0 FF FF (/) FF Bit 0, 1: 1) Bit 2, 3: Bit 4, 5: Bit 6, 7: 2) ) : Faultmode Assume fault mode ( Festo Maintenance Tool) , ( Tab. 2/46) 2), FFF 6000 Tab. 2/59:, CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-77
126 2. (hex) (hex) U8 ro rw 0 FF 0 FF CPX / 4828, 40 h FF U8 ro 40 h h 63 1 rw 0 FF 0 FF CPX / xx 1) 2412, 0 40 h U CPX B xx 1) 1), CPX Tab. 2/60: 2-78 Festo P.BE-CPX-FB14-ZH zh 1411d
127 : (hex) (hex) Error Register U8 ro 00 U32 ro U8 ro xx Read Input 1 8 U8 ro xx () I0 I h Read Input Read Input 16Bit I120 I127 U16 ro xx ( I/O ) IW h IW31 Festo P.BE-CPX-FB14-ZH zh 1411d 2-79
128 2. (hex) (hex) Write Output 1 8 U8 rw xx () O0 O h Write Output Write Output 16 Bit O120 O127 U16 rw xx () OW h OW Read Analogue Input 1 I16 ro xx Default Mapping AI h Read Analogue Input Write Analogue Output 1 AI15 I16 rw xx AO h Write Analogue Output 16 AO15 Tab. 2/61: 2-80 Festo P.BE-CPX-FB14-ZH zh 1411d
129 ,,, CPX (P.BE-CPX-SYS-...) CANopen 32 Bit 16 Bit (hex) (hex) Force enable U8 ro 0 Bit 0: 1) ( 2400,3 Bit 2, 3) Bit U8 ro rw 0 I0 I7 2 0 I8 I h 0 I120 I Bit U8 ro rw 0 I0 I7 2 0 I8 I h 0 I120 I127 Festo P.BE-CPX-FB14-ZH zh 1411d 2-81
130 2. (hex) (hex) Bit U8 ro U16 rw 0 IW0 2 0 IW h 0 IW Bit U8 ro U16 rw 0 IW0 2 0 IW h 0 IW U8 ro rw 0 0 1) (AI0) (AI1) h 0 15 (AI15) U8 ro I32 rw 0 0 (AI0) (AI1) h 0 15 (AI15) 1) : 0 = 1 = 2-82 Festo P.BE-CPX-FB14-ZH zh 1411d
131 2. (hex) (hex) Bit U8 ro rw 0 O0 O7 2 0 O8 O h 0 O120 O Bit U8 ro rw 0 O0 O7 2 0 O8 O h 0 O120 O Bit U8 ro U16 rw 0 OW0 2 0 OW h 0 OW Bit U8 ro U16 rw 0 OW0 2 0 OW h 0 OW31 Festo P.BE-CPX-FB14-ZH zh 1411d 2-83
132 2. (hex) (hex) U8 ro rw 0 0 1) (AO0) (AO1) h 0 15 (AO15) U8 ro I32 rw 0 0 1) (AO0) (AO1) h 0 15 (AO15) 1) : 0 = 1 = Tab. 2/62: 2-84 Festo P.BE-CPX-FB14-ZH zh 1411d
133 , PLC CPX () CPX, 4800:,, CPX 4800, 4801 CPX I/O,: CPX-FB14 Pre-Operational Mode = 0 Festo P.BE-CPX-FB14-ZH zh 1411d 2-85
134 2. (hex) (hex) 4000 Function Assignment Mask Enable Bool rw Function U8 rw 0 10 Assignment 1 Mask xx 0 = 6000 (Input 10 h Inputs Array) Bit 1 = 6000 (Input Array) Bit() Function U8 rw 0 10 Assignment 1 Mask xx 0 = 6200 (Output 10 h Outputs Array) Bit 1 = 6200 (Output Array) Bit() Set Module Config Function Assignment U8 rw 0 30h U32 Byte 0: Bit ( )() Byte 1: Byte 0, Byte 2:CPX ( 0 = ) Byte 3: Bit 7: 0 =, 1 = Bit : Bit : :00 =, 01 =,10 = 2-86 Festo P.BE-CPX-FB14-ZH zh 1411d
135 2. (hex) (hex) 4801 Check Module Function Assignment 0 Set Module Config ff oo mm ff: () oo: 4800 mm: ff ( 4801 ): 01 = 02 = 04 = 08 = (:) 10 = (> 128 Bit) 20 = (> 128 Bit) 40 = Tab. 2/63: Function Assignment() Festo P.BE-CPX-FB14-ZH zh 1411d 2-87
136 2.,: 1. CPX-FB14 Pre-Operational Mode CPX (: = = 0): : : x () : , 4801 CPX 29 : ( ) ( 6200) , 5., PDO ( 160x 1A0x) 2-88 Festo P.BE-CPX-FB14-ZH zh 1411d
137 2., Function Assignment CPX : A= CPX B= 5 (8DE) 8(MPA,8Da) CPX A A B PLC, B, A CPX : DI 8DI 8DO 4DO 8DI 8DO 8DI 8 O 8 O 8 O B CPX ( A, 5 8) : DI 8DI 8DO 4DO 8DI 8DO 8 O 8 O Fig. 2/7: CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-89
138 2. 1) 2) Fkt. A Fkt. B A B CPX-FB14 I/O T-PDO 4: IW R-PDO 4: OW : CPX-8DE T-PDO 1: I0 I : CPX-8DE-8DA T-PDO 1: I8 I R-PDO 1: O0 O : CPX-4DA R-PDO 1: O8 O : CPX-8DE-8DA T-PDO 1: I16 I R-PDO 1: O12 O : CPX-8DE T-PDO 1: I24 I : : MPA1S... (8DA) R-PDO 1: O20 O MPA1S... (8DA) R-PDO 1: O28 O MPA1S... (8DA) R-PDO 1: O36 O ) 1A00 2) Tab. 2/64: Festo P.BE-CPX-FB14-ZH zh 1411d
139 CPX Remote I/O :,: (),: : Pre-Operational Mode SDO CPX, CPX (P.BE-CPX-SYS-...) CPX I/O CPX, CPX-I/O (P.BE-CPX-EA-...) Fig. 2/8: Festo P.BE-CPX-FB14-ZH zh 1411d 2-91
140 CPX,, ÓÓÓ 1 2 Fig. 2/9: ( ),: 3 ms() 0.1 ms: () 50 ms: ( 2 ) 2-92 Festo P.BE-CPX-FB14-ZH zh 1411d
141 CPX : 1. CPX 2. :, CPX 3. : /, ( 1 2) CPX CPX, Festo P.BE-CPX-FB14-ZH zh 1411d 2-93
142 ,, LED : LED MS NS IO PS PL SF M LED : MS NS IO PS PL LED : SF M Fig. 2/10: LED 2-94 Festo P.BE-CPX-FB14-ZH zh 1411d
143 3 Festo P.BE-CPX-FB14-ZH zh 1411d 3-1
144 LED CPX LED PS PL SF M CANopen LED MS NS IO I/O CANopen CPX Festo P.BE-CPX-FB14-ZH zh 1411d
145 CPX,: LED LED 3.2, 8 PDO 4 8 Bit ( Fig. 2/1), 3.3 CPX (P.BE-CPX- SYS-...) I/O I/O, CPX (16 Bit, PDO 4) I/O 3.4 CPX (P.BE-CPX- SYS-...) CANopen SDO (: 22xx) 3.5 CPX,, Tab. 3/1: Festo P.BE-CPX-FB14-ZH zh 1411d 3-3
146 , CPX ( 1.2.2)( 2.5) 3.2 LED LED CPX LED, MS PS NS IO PL SF M MS NS PS PL 1 IO SF M MS NS IO PS PL SF M 2 1 CPX LED : PS () PL () SF () M () 2 CANopen LED (/): MS() NS() IO(I/O ) Fig. 3/1: CPX LED 3-4 Festo P.BE-CPX-FB14-ZH zh 1411d
147 3. LED,: 3.2.1, LED : LED MS NS PS PL LED : MS NS IO PS PL IO SF M LED : SF M Tab. 3/2: LED Festo P.BE-CPX-FB14-ZH zh 1411d 3-5
148 CPX LED PS PL SF M PS (Power System) / LED () / LED, / LED / / 1./ 2. ():, () / LED / Tab. 3/3: LED PS 3-6 Festo P.BE-CPX-FB14-ZH zh 1411d
149 3. PL (Power Load) (/) LED () / LED, LED Tab. 3/4: LED PL SF (System Fail) LED () 1) / LED LED 1 / ( 1) CPX ( 2) LED 2 LED 3 ( 3) 1) LED 1(): 1, 2(): 2, 3(): 3, Tab. 3/5: LED SF Festo P.BE-CPX-FB14-ZH zh 1411d 3-7
150 3. M (Modify) LED () / LED ( ) CPX ; () ( ; 4402) LED LED CPX ; CPX ; CPX! CPX, PLC/IPC, Tab. 3/6: LED M 3-8 Festo P.BE-CPX-FB14-ZH zh 1411d
151 CANopen LED MS NS IO MS() LED (/) LED LSS LSS LED Operational LED 0.5 Hz Pre-Operational CPX Operational LED 2 Hz Stopped CPX Operational LED Tab. 3/7: LED MS Festo P.BE-CPX-FB14-ZH zh 1411d 3-9
152 3. NS() LED (/) LED LED LED LED : 24 V CAN : () Tab. 3/8: LED NS 3-10 Festo P.BE-CPX-FB14-ZH zh 1411d
153 3. I/O(I/O ) LED (/) LED I/O LED I/O / LED Node guard Heart beat ( Pre-Operational ) 1. 2.CPX Operational Tab. 3/9: LED I/O Festo P.BE-CPX-FB14-ZH zh 1411d 3-11
154 (), DIL ( 1.2.2) SDO, PDO 4 8 Bit( 2.4.9) Bit / 4 5 / 6 7 Tab. 3/10: CPX-FB14 () 3-12 Festo P.BE-CPX-FB14-ZH zh 1411d
155 I/O CPX 16 Bit I/O I/O PDO 4 Bit 0 15( 2.4.9) I/O, DIL ( 1.2.2) I/O, CPX P.BE-CPX-SYS-... Festo P.BE-CPX-FB14-ZH zh 1411d 3-13
156 CANopen? ( 23xx) ( 2210) ( 1001) ( 1002)? ( 2200) ( A) ( ) LED MS NS IO Fig. 3/2: CPX, Festo P.BE-CPX-FB14-ZH zh 1411d
157 , CPX : Byte 0, 1: ( CiA 301/CiA 401) Byte 2: ( 1001) Byte 3 7: () Byte 3 6 ( 1002) Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX Fig. 3/3: Emergency Object ( Tab. 3/11 Tab. 3/16),( 1003) : CPX 10 ( 2.4.1, 1003, 1 A h ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-15
158 3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Byte 1 Byte Load dump() () CAN Overrun CAN in error passive mode Node guard Heart beat CAN recovered from Bus PDO Tab. 3/11: CiA Festo P.BE-CPX-FB14-ZH zh 1411d
159 3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Bit 0 Generic Error Bit 1 Current KZS(/) KZA(/) 2 Voltage U AUS () U VEN () CPX CPX 3 4 Communication Error Node guard Heart beat CAN Manufacturer specific = CPX Bit Tab. 3/12: ( 1001 CiA 301/401 Bit ) CPX Emergency Object Byte (, 1002) Festo P.BE-CPX-FB14-ZH zh 1411d 3-17
160 3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Bit / 4 5 / 6 7 Tab. 3/13: Byte 0() 3-18 Festo P.BE-CPX-FB14-ZH zh 1411d
161 3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Bit 0 7 CPX- Tab. 3/14: Byte 1(CPX ) Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Bit 0 7 CPX CPX ( 3.5.2) Tab. 3/15: Byte 2(CPX ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-19
162 3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX () Bit 0 7 : Heart beat error Node-Id( ) Tab. 3/16: Emergency Object Byte CPX CPX, CPX 3-20 Festo P.BE-CPX-FB14-ZH zh 1411d
163 (KZS) (KZA) / 3 // 4 /() 5 () (Open load) / I/O (:CPX-CP ) 18 I/O 19 Tab. 3/17: CPX ( 1 ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-21
164 3. 20 : 21 : 22 : 23 :/ 24 : 25 : Life Guard 41 Heart Beat CAN Overrun 44 Invalid PDO received 45 CAN warn limit reached 46 Recovered from Bus off 47 Bus Power lost CPX CPX ( ) Tab. 3/18: CPX ( 2 ) 3-22 Festo P.BE-CPX-FB14-ZH zh 1411d
165 () 202 :not ready Tab. 3/19: CPX ( 3 ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-23
166 Festo P.BE-CPX-FB14-ZH zh 1411d
167 A Festo P.BE-CPX-FB14-ZH zh 1411d A-1
168 A. A.... A-1 A.1 CPX-FB14... A-3 A.2 :... A-5 A.2.1 1: CANopen... A-5 A.2.2 2:... A-5 A.2.3 3: Node guard... A-6 A.2.4 4:... A-7 A.2.5 5:... A-8 A-2 Festo P.BE-CPX-FB14-ZH zh 1411d
169 A. A.1 CPX-FB14 CPX P.BE-CPX-SYS-... 1) IP65/IP67 IEC/EN 60529,CPX-FB14, IEC/EN PELV (Protected Extra-Low Voltage) (CPX ) Remote I/O: CD h Remote Controller: 9C h () Remote I/O: FB14-RIO CANopen Remote I/O Remote Controller: FB14-RC CANopen bus node 1) Tab. A/1: Festo P.BE-CPX-FB14-ZH zh 1411d A-3
170 A. / CPX P.BE-CPX-SYS-... CPX-FB14 / (U SEN ) 200 ma( CPX-FB14) D-Sub : 3, 9 M12 : 2, 3 : 1, 5 30 ma 24 V DC(,) V, Tab. A/2:, A-4 Festo P.BE-CPX-FB14-ZH zh 1411d
171 A. A.2 : ID = 1,: CPX = 1 A.2.1 1: CANopen PLC/PC/IPC COB-ID 000 : xx = (00 = ) 01 xx () MS PS NS PL IO SF M Fig. A/1: 1, CANopen A.2.2 2: CPX, PDO 0, COB-ID () MS PS NS PL IO SF M PLC/PC/IPC 201 : Fig. A/2: 2, CPX 0 Festo P.BE-CPX-FB14-ZH zh 1411d A-5
172 A. A.2.3 3: Node guard SDO 100C 100D ( 5) Node guard CPX Node guard : = Guard Time Life Time Factor = 100C 100D,/ Fail-Safe Node guard,cpx :, COB-ID MS PS NS PL 701 1) IO SF M PLC/PC/IPC 701 : 05 Node guard response COB-ID Bit 7 = Toggle Bit 1) () Fig. A/3: 3: Node guard (Remote request) A-6 Festo P.BE-CPX-FB14-ZH zh 1411d
173 A. A.2.4 4: SDO CPX : CPX : COB-ID Initiate Domain Upload Request 4 MS PS NS PL IO SF M 601 : PLC/PC/IPC 581 : COB-ID Initiate Domain Upload Response 4 () Fig. A/4: 4: 1000 h, 0(: ) Festo P.BE-CPX-FB14-ZH zh 1411d A-7
174 A. A.2.5 5: CPX, SDO : CPX : () COB-ID Initiate Domain Upload Request 4 MS PS NS PL IO SF M 601 : 2B 0C F PLC/PC/IPC 581 : 60 0C COB-ID Initiate Domain Upload Response (4 ) () Fig. A/5: 5: 100C h, 0 (Guard Time) A-8 Festo P.BE-CPX-FB14-ZH zh 1411d
175 B Festo P.BE-CPX-FB14-ZH zh 1411d B-1
176 B. B.... B-1 B-2 Festo P.BE-CPX-FB14-ZH zh 1411d
177 B. C CANopen COB CEC D DIL , 1-10 F FEC H Heart beat , 2-43, 3-16, 3-17 L Layer Setting Service LED LSS, LSS M M Manufacturer Specific Profile Festo P.BE-CPX-FB14-ZH zh 1411d B-3
178 B. N Node guard , 2-43, 3-16, 3-17 P PDO PDO , PDO PDO PDO PDO , PELV S SDO , 3-3, 3-12 service... VII VI B-4 Festo P.BE-CPX-FB14-ZH zh 1411d
179 B , , PDO PDO PDO PDO Festo P.BE-CPX-FB14-ZH zh 1411d B-5
180 B A-3 PDO PDO PDO PDO , , 1-27, B-6 Festo P.BE-CPX-FB14-ZH zh 1411d
181 B , , , VII A Festo P.BE-CPX-FB14-ZH zh 1411d B-7
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