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CPX CPX-FB14 CANopen 8041142 zh 1411d

... de... zh 1411d... P.BE-CPX-FB14-ZH... 8041142 (Festo AG & Co. KG,:73726 Esslingen,,2013) : http://www.festo.com : service_international@festo.com,, Festo P.BE-CPX-FB14-ZH zh 1411d I

CANopen TORX CiA II Festo P.BE-CPX-FB14-ZH zh 1411d

............... VI VII VII VIII IX 1.... 1-1 1.1... 1-3 1.2 DIL... 1-8 1.2.1 DIL... 1-8 1.2.2 DIL... 1-9 1.3... 1-23 1.3.1... 1-23 1.3.2... 1-24 1.3.3... 1-25 1.3.4... 1-27 1.3.5 Festo... 1-28 1.3.6... 1-30 1.4... 1-33 1.4.1... 1-33 1.5... 1-34 2.... 2-1 2.1 CANopen... 2-4 2.1.1 CANopen... 2-5 2.2... 2-6 2.2.1 Layer Setting Service (LSS)... 2-6 2.2.2 LSS... 2-6 2.2.3 LSS... 2-24 2.2.4 CPX... 2-26 2.2.5... 2-29 Festo P.BE-CPX-FB14-ZH zh 1411d III

2.3... 2-35 2.3.1... 2-35 2.3.2... 2-36 2.3.3 CPX... 2-37 2.3.4... 2-39 2.4... 2-41 2.4.1... 2-41 2.4.2 PDO... 2-46 2.4.3 ( PDO 1)... 2-47 2.4.4 ( PDO 1)... 2-50 2.4.5 0 3 ( PDO 2)... 2-55 2.4.6 0 3 ( PDO 2)... 2-60 2.4.7 4 15 ( PDO 3)... 2-62 2.4.8 4 15 ( PDO 3)... 2-65 2.4.9 I/O (PDO 4)... 2-68 2.4.10 Manufacturer Specific Profile... 2-72 2.4.11... 2-79 2.4.12... 2-81 2.4.13... 2-85 2.5... 2-91 2.5.1... 2-91 2.5.2... 2-92 2.5.3... 2-92 2.6 CPX... 2-93 2.6.1,... 2-94 3.... 3-1 3.1... 3-3 3.2 LED... 3-4 3.2.1... 3-5 3.2.2 CPX LED PS PL SF M... 3-6 3.2.3 CANopen LED MS NS IO... 3-9 3.3... 3-12 3.4 I/O... 3-13 IV Festo P.BE-CPX-FB14-ZH zh 1411d

3.5 CANopen... 3-14 3.5.1... 3-15 3.5.2 CPX... 3-20 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

CPX-FB14 CANopen CPX : ;,:,,; IEC/EN 60204-1 ( Protective Extra-Low Voltage, PELV) PELV IEC/EN 60204-1 PELV IEC/EN 60204-1, VI Festo P.BE-CPX-FB14-ZH zh 1411d

PELV,IEC/EN 60204-1 () CANopen, Festo Festo P.BE-CPX-FB14-ZH zh 1411d VII

CANopen CPX : 1) Rev 26 (05.06.13) Rev 24 (19.11.08) Rev 20 (10.10.07) Rev 14 (12.07.05) Layer Setting Service ( 2.2.1) ( 2.4.13) CPX-FEC CPX-CP 2013 04 23 EDS 1) (SW) (Rev) Tab. 0/1: 2013 06 CPX-FB14 CPX, CPX CPX, CPX CPX VIII Festo P.BE-CPX-FB14-ZH zh 1411d

(,), :...:...:...:, : : Festo P.BE-CPX-FB14-ZH zh 1411d IX

: : Festo : Festo 1. X Festo P.BE-CPX-FB14-ZH zh 1411d

: / 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

/ 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

1 Festo P.BE-CPX-FB14-ZH zh 1411d 1-1

1. 1.... 1-1 1.1... 1-3 1.2 DIL... 1-8 1.2.1 DIL... 1-8 1.2.2 DIL... 1-9 1.3... 1-23 1.3.1... 1-23 1.3.2... 1-24 1.3.3... 1-25 1.3.4... 1-27 1.3.5 Festo... 1-28 1.3.6... 1-30 1.4... 1-33 1.4.1... 1-33 1.5... 1-34 1-2 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1.1 :,:: : CPX, Festo P.BE-CPX-FB14-ZH zh 1411d 1-3

1. CPX, CPX (P.BE-CPX-SYS-...) 1-4 Festo P.BE-CPX-FB14-ZH zh 1411d

1. CANopen CPX : 4 MS NS IO PS PL SF M 1 2 3 1 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

1. CPX ( Fig. 1/2) : 1. T10 TORX, 4 2., 1 CPX-FB14 4 2 3 1 4 TORX T10 3 2 Fig. 1/2: /,() : : : 1-6 Festo P.BE-CPX-FB14-ZH zh 1411d

1., : 1. 2., 3.,, 4. 5. T10 TORX 0.9 1.1 Nm Festo P.BE-CPX-FB14-ZH zh 1411d 1-7

1. 1.2 DIL CPX, DIL CPX, 1.2.1 DIL :,,! 0.4 Nm 1-8 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1.2.2 DIL DIL, 5 DIL ( Fig. 1/3) DIL : /Layer Setting Service CPX : 1. 2. 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

1. 1 DIL 1: 2 DIL 2: 3 DIL 3: 4 DIL 4: 5 DIL 5: CPX Remote Controller I/O 1 2 3 4 5 1 2 1 2 1 2 3 4 5 6 7 8 1 2 1 2 Fig. 1/3: DIL ( 1 5 ) 1-10 Festo P.BE-CPX-FB14-ZH zh 1411d

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

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

1. DIL 3 8 DIL 3 CPX : 1 ( 1 7) 1 1 2 3 4 5 6 7 8 Fig. 1/4: DIL 3() : CANopen 1;...; 127 Tab 1/3: : Festo P.BE-CPX-FB14-ZH zh 1411d 1-13

1. ::05 ::38 1 2 3 4 5 6 7 8 2 0 + 2 2 = 1 + 4 = 5 1 2 3 4 5 6 7 8 2 1 + 2 2 + 2 5 = 2 + 4 + 32 = 38 Tab 1/4: (), 1-14 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 0 LSS (V1.26 ) 16 1 17 2 18 3 19 4 20 5 21 6 22 7 23 8 24 9 25 10 26 11 27 12 28 13 29 14 30 15 31 Tab 1/5: 1 31 :DIL Festo P.BE-CPX-FB14-ZH zh 1411d 1-15

1. 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 32 48 33 49 34 50 35 51 36 52 37 53 38 54 39 55 40 56 41 57 42 58 43 59 44 60 45 61 46 62 47 63 Tab 1/6: 32 63 :DIL 1-16 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 64 80 65 81 66 82 67 83 68 84 69 85 70 86 71 87 72 88 73 89 74 90 75 91 76 92 77 93 78 94 79 95 Tab 1/7: 64 95 :DIL Festo P.BE-CPX-FB14-ZH zh 1411d 1-17

1. 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 96 112 97 113 98 114 99 115 100 116 101 117 102 118 103 119 104 120 105 121 106 122 107 123 108 124 109 125 110 111 126 127 Tab 1/8: 96 127 :DIL 1-18 Festo P.BE-CPX-FB14-ZH zh 1411d

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 3 1 7 ( = 0) 1 LSS ( 1 7) 1 1 2 3 4 5 6 7 8 Fig. 1/5: DIL 3() DIL 3 DIL 3 8 CPX 1. DIL 3 8 2. CPX (Power on) Boot up 3. DIL 3 8 Festo P.BE-CPX-FB14-ZH zh 1411d 1-19

1. DIL 4 2 DIL 4 : DIL 4 125 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

1. DIL 5 I/O () DIL 5 CPX ( Tab 1/1): Remote I/O : CPX PDO 4 8 Bit,I/O 16 Bit(Bit 0 7 0 15, 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

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

1. 1.3 1.3.1, :! 4 CPX CANopen Festo, 5 8 7 10 mm CPX, EN60204 1 Festo P.BE-CPX-FB14-ZH zh 1411d 1-23

1. 1.3.2,, T,, 1-24 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1.3.3 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

1. Festo T ( Fig. 1/6) 1 2 3 6 5 4 1 2 3 4 5 T (T-Tap) 6, T Fig. 1/6: 1-26 Festo P.BE-CPX-FB14-ZH zh 1411d

1. 1.3.4 9 D-Sub, CPX FBS-SUB-9-BU-2x5POL-B Festo CPX, Festo IP65 : (UNC4-40/M3x6 ) CPX CANopen 6 9 1 5 1 2 3 4 5 6 7 8 9 () 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

1. 1.3.5 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

1. 1 2 3 1 2 3 IN OUT 4 (OUT) 5 (IN) 6 GND HL V+ SLD GND HL V+ SLD 6 5 4 Fig. 1/7: Festo, FBS-SUB-9-BU-2x5POL-B Festo P.BE-CPX-FB14-ZH zh 1411d 1-29

1. 1.3.6, 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

1. M12 (IP65), PG9 5 M12 IP65 Festo (FBA-2-M12-5POL) M12 3 2 4 1 5 1 2 1. 2.24 VDC ( 4 A) 4 3 5 3.0 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

1. (IP20) 2x5 4A 0.34 mm 2 Festo FBSD-KL-2x5POL (FBA-1-SL-5POL) 1 2 3 4 5 1.0 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

1. 1.4 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 1.4.1 CPX, (120 Ω,0.25 W) CAN_H CAN_L Festo P.BE-CPX-FB14-ZH zh 1411d 1-33

1. 1.5 IEC/EN 60204-1(Protective Extra- Low Voltage,PELV) PELV IEC/EN 60204-1 PELV IEC/EN 60204-1, PELV, IEC/DINEN60204-1 (,)( ) CPX CPX,, CPX CPX, CPX CPX 1-34 Festo P.BE-CPX-FB14-ZH zh 1411d

2 Festo P.BE-CPX-FB14-ZH zh 1411d 2-1

2. 2.... 2-1 2.1 CANopen... 2-4 2.1.1 CANopen... 2-5 2.2... 2-6 2.2.1 Layer Setting Service (LSS)... 2-6 2.2.2 LSS... 2-6 2.2.3 LSS... 2-24 2.2.4 CPX... 2-26 2.2.5... 2-29 2.3... 2-35 2.3.1... 2-35 2.3.2... 2-36 2.3.3 CPX... 2-37 2.3.4... 2-39 2.4... 2-41 2.4.1... 2-41 2.4.2 PDO... 2-46 2.4.3 ( PDO 1)... 2-47 2.4.4 ( PDO 1)... 2-50 2.4.5 0 3 ( PDO 2)... 2-55 2.4.6 0 3 ( PDO 2)... 2-60 2.4.7 4 15 ( PDO 3)... 2-62 2.4.8 4 15 ( PDO 3)... 2-65 2.4.9 I/O (PDO 4)... 2-68 2.4.10 Manufacturer Specific Profile... 2-72 2.4.11... 2-79 2.4.12... 2-81 2.4.13... 2-85 2-2 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.5... 2-91 2.5.1... 2-91 2.5.2... 2-92 2.5.3... 2-92 2.6 CPX... 2-93 2.6.1,... 2-94 Festo P.BE-CPX-FB14-ZH zh 1411d 2-3

2. 2.1 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 401 2-4 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.1.1 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

2. 2.2 2.2.1 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 3 1 7 ( Fig. 1/5) LSS Stopped Pre-Operational, LSS 2.2.2 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

2. LSS Switch Mode Global LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x04 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 ) 00 00 00 1D 2. Product-Code 00 00 00 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

2. 1) Vendor-ID Switch Mode Selective Vendor-ID Vendor-ID LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x40 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 0 1 2 3 4 5 6 7 0x41 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

2. 3) Revision-Number Switch mode selective Revision- Number LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x42 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 0 1 2 3 4 5 6 7 0x43 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

2. COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x44 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

2. Configure Node-ID LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x11 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 0 1 2 3 4 5 6 7 0x11 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 3 1 7 LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-11

2. Bit Timing Parameter Configure Bit Timing Parameters LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x13 Bit timing table Table entry 0x00 0x00 0x00 0x00 0x00 Tab. 2/11: Configure Bit Timing Parameters Bit timing table: 0 Table entry: 0 1000 kbaud 2 500 kbaud 3 250 kbaud 4 125 kbaud 2-12 Festo P.BE-CPX-FB14-ZH zh 1411d

2. COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x13 Error code Error extension 0x00 0x00 0x00 0x00 0x00 Tab. 2/12: Configure Bit Timing Parameters Error code: 0 1 () 0xFF DIP 3 1 7 LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-13

2. Bit Timing Activate Bit Timing COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x15 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

2. Store Configuration ID COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/14: Store Configuration COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x17 Error code Error extension 0x00 0x00 0x00 0x00 0x00 Tab. 2/15: Store Configuration Error code: 0 1 LSS 2 0xFF DIP 3 1 7 LSS Error extension: Festo P.BE-CPX-FB14-ZH zh 1411d 2-15

2. ID Inquire Vendor-ID LSS ID COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x5A 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/16: Inquire Vendor-ID COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x5A 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

2. Inquire Product-Code LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x5B 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/18: Inquire Product-Code COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x5B 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

2. Inquire Revision Number LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x5C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/20: Inquire Revision Number COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x5C 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

2. Inquire Serial Number LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x5D 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/22: Inquire Serial Number COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x5D 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

2. Inquire Node-ID LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x5E 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/24: Inquire Node-ID COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x5E Node ID 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/25: Inquire Node-ID 2-20 Festo P.BE-CPX-FB14-ZH zh 1411d

2. Identify Vendor-ID LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x46 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 0 1 2 3 4 5 6 7 0x47 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

2. (Low) Identify Revision-Number Low LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x48 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 0 1 2 3 4 5 6 7 0x49 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

2. (Low) Identify Serial-Number Low LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x4A 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 0 1 2 3 4 5 6 7 0x4B 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 0 1 2 3 4 5 6 7 0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/32: Identify Serial-Number High Festo P.BE-CPX-FB14-ZH zh 1411d 2-23

2. Identify Non-Configured Slave LSS COB-ID 0x7E5 Byte 0 1 2 3 4 5 6 7 0x4C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/33: Identify Non-Configured Slave COB-ID Acknowledge 0x7E4 Byte 0 1 2 3 4 5 6 7 0x50 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tab. 2/34: Identify Non-Configured Slave 2.2.3 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. 2/9 2-24 Festo P.BE-CPX-FB14-ZH zh 1411d

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

2. 6. LSS Switch Mode Global (Mode = 0x00) Tab. 2/2 2.2.4 CPX,/,CPX I/O CPX, I/O ( ) : 0 8 16, 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

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( 1.2.2 ) 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

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

2. 2.2.5 1 T-PDO 4 IW0 (I/O ) T-PDO 1 I0 I7 I8 I15 I16 I23 : 0 1 2 3 4 5 6 8DI 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

2. 0 CANopen CPX-FB14 I/O 1 8 CPX-8DE 2 I/O CPX-8DE-8DA T-PDO 4: IW0 6100.1 T-PDO 1: I0 I7 6000.1 T-PDO 1:I8 I15 6000.2 R-PDO 4: OW0 6300.1 R-PDO 1:O0 O7 6200.1 3 4 CPX-4DA R-PDO 1:O8 O11 6200.2 4 I/O CPX-8DE-8DA T-PDO 1:I16 I23 6000.3 R-PDO 1:O12 O19 6200.2 6200.3 MPA 5 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA 6 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA R-PDO 1:O20 O27 6200.3 6200.4 R-PDO 1:O28 O35 6200.4 6200.5 Tab. 2/35: Fig. 2/3 1, 2.4.13 2-30 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2 T-PDO 2 AI0 AI1 T-PDO 1 I0 I7 I8 I15 I16 I23 : 1 2 3 4 5 6 7 8DI 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

2. 0 CPX-FB14 1 8 CPX-8DE 2 8 CPX-8DE T-PDO 1: I0 I7 6000.1 T-PDO 1:I8 I15 6000.2 3 4 CPX-4DA R-PDO 1::O0 O3 6200.1 4 I/O CPX-8DE-8DA 5 2 CPX-2AE-U-I T-PDO 1:I16 I23 6000.3 T-PDO 2:AI0 AI1 6401.1 6401.2 R-PDO 1:O4 O11 6200.1 6200.2 6 2 CPX-2AA R-PDO 2:AO0 AO1 6411.1 6411.2 7 VTSA ISO Plug-In(44 ) DIL 1 8 (8DO) R-PDO 1:O12 O19 6200.2 6200.3 Tab. 2/36: Fig. 2/4 2 2-32 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 3 T-PDO 4 IW0 IW1 T-PDO 1 I0 I7 I8 I15 : 0 1 2 3 4 5 6 8DI 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

2. 0 CPX-FB14 1 8 CPX-8DE T-PDO 1: I0 I7 6000.1 2 4 CPX-4DA R-PDO 1::O0 O3 6200.1 3 CPX-CP CPX-CP 1 4 Byte I (32I) 1 4 16 Byte O (128O) 4 I/O CPX-8DE-8DA T-PDO 4: IW0 IW1 6100.1 6100.2 T-PDO 1:I8 I15 6000.2 R-PDO 4: OW0 OW3 6300.1 6300.2 6300.3 6300.4 OW4 OW7 1) R-PDO 1:O4 O11 6200.1 6200.2 MPA 5 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA 6 MPA (8DO) MPA1S: VMPA1-FB-EMS-8 MPA R-PDO 1:O12 O19 6200.2 6200.3 R-PDO 1:O20 O27 6200.3 6200.4 1) : CPX-CP 16 Byte (128O) PDO 4 8 Byte (64O), CPX PDO (OW4 OW7 Fig. 2/5 ) Tab. 2/37: Fig. 2/5 3 2-34 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.3 2.3.1 Boot up Communication Profile CiA 301 1 : SDO 4 : /Transmit PDO 1 4 4 : /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

2. 2.3.2 (hex) 1000 1200 2.4.1 1400 1403 PDO 1 4 2.4.4 1800 1803 PDO 1 4 2.4.3 1600 1603 PDO 1 4 2.4.4 1A00 1A03 PDO 1 4 2.4.3 Manufacturer specific (2000 5FFF): 2000 2110 2.4.10 2200 2210 2300 2310 2400 2421 4000 4801 () 2.4.13 5000 5FFF 2.4.12 6000, 6100 Input Array 2.4.3 6200, 6300 Output Array 2.4.4 6206/6306 Fault Mode Array 6207/6307 Error State Array 64xx 2.4.5 Tab. 2/38: CPX 2-36 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.3.3 CPX Power-On 0 5 4 0 Pre-Operational 1 2 Operational 3 3 2 1 Stopped Fig. 2/6: CPX ( Tab. 2/39) Festo P.BE-CPX-FB14-ZH zh 1411d 2-37

2. (cs) 0 Boot up 2000 5FFF 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 : ( 1000 1FFF) 81 h : ( 1000 1FFF) (2000 5FFF) 1) 6000 2) Operational Mode Stopped Pre-Operational Mode Tab. 2/39: 2-38 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.3.4 : Broadcast CPX COB SYNC 080 h 128 d Tab. 2/40: Broadcast Festo P.BE-CPX-FB14-ZH zh 1411d 2-39

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

2. 2.4 2.4.1 (: ID = 1) : U = unsigned ro = read only rw = read/write Map. = Attr. = Mapping CiA 301 :, (: 1A00, 3 8: 0 0 ), (hex) (hex) 1000 0 Device type U32 ro 00 0F 91 01 V1.10 : OF = CPX 00 0x 91 01 V1.10 : 91 01 = x = CPX : Bit 16: Bit 17: Bit 18: Bit 19: : 00 03 91 01 CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-41

2. (hex) (hex) 1001 0 U8 ro 00 no error xx Generic/Manufacturer error ( 3.5.1) 1002 0 1003 0 Pre-defined Error Field 1 Standard Error Field U32 ro 00 00 00 00 ( 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+9 1005 0 COB-ID SYNC Message 1008 0 Manufacturer Device Name U32 rw 80 Default SYNC Message COB-ID 80 h Str. ro FB14 1009 0 Manufacturer Hardware Version Str. ro 0810 () 100O 0 Manufacturer Software Version Str. ro V2.0 () 100C 0 Guard Time U16 rw 00 00 [ms] 2-42 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 100D 0 Life Time Factor 1014 0 COB-ID Emergency Object 1015 0 Inihibit Time Emergency Message 1016 0 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 00 00 [100 μs] U8 ro 6 1 C.-H. Time 1 U32 rw 00 00 00 00 Heart beat ID Heart beat Time [ms] 2 C.-H. Time 2 00 00 00 00......... 6 C.-H. Time 6 00 00 00 00 1017 0 Producer Heart beat Time 1018 0 Identity Object U16 rw 00 00 Heart beat Time [ms] COB-ID = Node guard ID (Pre-Operational, Operational, Stopped) U8 ro 4 1 Vendor ID U32 00 00 00 1D ID (CiA) 2 Product code 3 Revision number 00 00 00 CD xx xx.xx xx ( 100A) 4 Serial number xx xx xx xx ( ) Festo P.BE-CPX-FB14-ZH zh 1411d 2-43

2. (hex) (hex) 1027 0 U8 ro 1 CPX 1 0 U16 CPX 0 1) 2 1 1 1) 3 2 2 1)......... 1029 0 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, 8140 2 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

2. (hex) (hex) 1200 0 Server SDO Parameter (SDO ) 1 COB_ID Client () } Server () (rx) 2 COB_ID Server () } Client () (tx) U8 ro 2 U32 600 + Node-ID Default COB-ID + Node-ID 580 + 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

2. 2.4.2 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

2. 2.4.3 ( PDO 1) (hex) (hex) 181 1FF PDO 1 xx xx 1 8 Byte Byte 0: I0 I7 Byte 1: I8 I15... Byte 7: I56 I63 1800 0 PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw 180 + Node-ID COB-ID 2 Transmission type ( ) U8 FF : 1 ) 3 Inhibit Time U16 00 00 [100 μs] 4 5 Event-Timer 00 00 [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write Festo P.BE-CPX-FB14-ZH zh 1411d 2-47

2. (hex) (hex) 1O00 0 PDO Communication U8 rw 0 8 1 Mapping U32 60 00 01 08 I0 I7 2 Parameter 60 00 02 08... I8 I15 3 60 00 03 08... I16 I23 4 60 00 04 08... I24 I31 5 60 00 05 08... I32 I39 6 60 00 06 08... I40 I47 7 60 00 07 08... I48 I55 8 60 00 08 08... I56 I63 6000 0 Read Input U8 ro 0 40 8 8Bit 1 xx 0 7 2 xx... 8 15 3 xx... 16 23 4 xx... 24 31 5 xx... 32 39 6 xx... 40 47 7 xx... 48 55 8 xx... 56 63 9 xx... 64 71 A h xx... 72 79 B h xx... 80 87 C h xx... 88 95 U = unsigned Map. = ro = read only Attr.= rw = read/write 2-48 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6000 D h Read Input U8 ro xx... 96 103 8Bit E h xx... 104 111 F h xx... 112 119 10 h xx... 120 127 3D xx... 480 487 3E xx... 488 495 3F xx... 496 503 40 h xx... 504 511 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

2. 2.4.4 ( PDO 1) (hex) (hex) 201 27F PDO 1 xx xx xx xx 1 8 Byte 1) Byte 0: O0 O7 Byte 1: O8 O15... Byte 7: O56 O63 1400 0 PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw 200 + Node-ID COB-ID 2 Transmission Type U8 FF : 1600 0 PDO Communication U8 rw 0 8 1 Mapping U32 62 00 01 08 O0 O7 2 Parameter 62 00 02 08... O8 O15 3 62 00 03 08... O16 O23 4 62 00 04 08... O24 O31 5 62 00 05 08... O32 O39 6 62 00 06 08... O40 O47 7 62 00 07 08... O48 O55 8 62 00 08 08... O56 O63 U = unsigned ro = read only rw = read/write Map. = Attr.= 1) 2.2.4 2-50 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6200 0 Write U8 ro 0 10 8 Output 8Bit 1 rw xx 0 7 2 xx 8 15 3 xx 16 23 4 xx 24 31 5 xx 32 39 6 xx 40 47 7 xx... 48 55 8 xx... 56 63 9 xx... 64 71 A h xx... 72 79 B h xx... 80 87 C h xx... 88 95 D h xx... 96-103 E h xx... 104 111 F h xx... 112 119 10 h xx... 120 127 3D xx... 480 487 3E xx... 488 495 3F xx... 496 503 40 h xx... 504 511 Festo P.BE-CPX-FB14-ZH zh 1411d 2-51

2. (hex) (hex) 6206 0 Fault Mode U8 ro 0 40 8 1 Output 8Bit rw FF 0 7 2 FF... 8 15 3 FF... 16 23 4 FF... 24 31 5 FF... 32 39 6 FF... 40 47 7 FF... 48 55 8 FF... 56 63 9 FF... 64 71 A h FF... 72 79 B h FF... 80 87 C h FF... 88 95 D h FF... 96 103 E h FF... 104 111 F h FF... 112 119 10 h FF... 120 127 3D FF... 480 487 3E FF... 488 495 3F FF... 496 503 40 FF... 504 511 2-52 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6207 0 Error State U8 ro 0 40 8 1 Output 8Bit rw 00 0 7 2 00... 8 15 3 00... 16 23 4 00... 24 31 5 00... 32 39 6 00... 40 48 7 00... 48 55 8 00... 56 63 9 00... 64 71 A h 00... 72 79 B h 00... 80 87 C h 00... 88 95 D h 00... 96 103 E h 00... 104 111 3D 00... 480 488 3E 00... 489 495 3F 00... 496 503 40 h 00... 504 511 U = unsigned Map. = ro = read only Attr.= rw = read/write Tab. 2/45: Festo P.BE-CPX-FB14-ZH zh 1411d 2-53

2. CPX 6206, 6207, CPX Operational Mode, (),, : (hex) 6206 1 10 h Bit 0 7 6207 1 10 h Bit 0 7 0 = 1 = 6207 0 = 1 = Tab. 2/46: 2-54 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.4.5 0 3 ( 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

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) 1801 0 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 U16 01 4F (= 50 ms) [100 μs] 4 5 Event-Timer 00 00 [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write 1) 2-49 2-56 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 1O01 0 PDO U8 rw 0 8 1 Communication U32 64 01 01 10 AI0 2 Mapping Parameter 64 01 02 10... AI1 3 64 01 03 10... AI2 4 64 01 04 10... AI3 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00... 8 6401 0 Read U8 ro 0 10 1 Analogue Input I16 xx AI0 2 xx AI1 3 xx AI2 4 xx AI3 6423 0 Analogue Input Global Interrupt Enable 6422 0 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

2. (hex) (hex) 6421 0 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 AI1 3 00 AI2 4 00 AI3 6424 0 Analogue Input Interrupt Upper Limit Integer U8 ro 0 10 1 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

2. (hex) (hex) 6425 0 Analogue Input Interrupt Lower Limit Integer U8 ro 0 10 1 Analogue I32 rw 00 AI0 2) Input 2 00 AI1 2) 3 00 AI2 2) 4 00 AI3 2) 6426 0 Analogue Input Interrupt Delta Unsigned U8 ro 0 10 1 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

2. 2.4.6 0 3 ( PDO 2) (hex) (hex) 301 37F 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) 1401 0 PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw 300 + Node-ID COB-ID 2 Transmission Type U8 FF : 1601 0 PDO Communication U8 rw 0 8 1 Mapping U32 64 11 01 10 AO0 2 Parameter 64 11 02 10... AO1 3 64 11 03 10... AO2 4 64 11 04 10... AO3 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00... 8 2-60 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6411 0 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 AO3 6443 0 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 AO3 6444 0 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

2. 2.4.7 4 15 ( 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) 1802 0 PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw 380 + Node-ID COB-ID 2 Transmission Type U8 FF : 1) 3 Inhibit Time U16 01 F4 (= 50 ms) [100 μs] 4 5 Event-Timer 00 00 [ms] U = unsigned Map. = ro = read only Attr.= rw = read/write 1) 2-49 2-62 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 1O02 0 PDO Communication U8 rw 0 8 1 Mapping U32 64 01 05 10 AI4 2 Parameter 64 01 06 10... AI5 3 64 01 07 10... AI6 4 64 01 08 10... AI7 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00 8 6401 0 Read U8 ro 0 10 5 Analogue Input I16 xx xx AI4 6 xx xx AI5......... 10 h xx xx AI15 6422 0 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

2. (hex) (hex) 6421 0 Analogue Input Interrupt Trigger Selection Number of Analogue Input U8 ro 0 10 5 Analogue rw 00 AI4 Input 6 00 AI5......... 10 h 00 AI15 6424 0 Analogue Input Interrupt Upper Limit Integer U8 ro 0 10 5 Analogue I32 rw 00 AI4 Input 6 00 AI5......... 10 h 00 AI15 6425 0 Analogue Input Interrupt Lower Limit Integer U8 ro 0 10 5 Analogue I32 rw 00 AI4 Input 6 00 AI5......... 10 h 00 AI15 2-64 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6426 0 Analogue Input Interrupt Delta Unsigned U8 ro 0 10 5 Analogue U32 rw 00 AI4 Input 6 00 AI5... 00... 10 h 00 AI15 Tab. 2/49: 4 15 (Transmit PDO 3) 2.4.8 4 15 ( PDO 3) (hex) (hex) 401 47F 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) 1402 0 PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw 400 + Node-ID COB-ID 2 Transmission Type U8 FF : Festo P.BE-CPX-FB14-ZH zh 1411d 2-65

2. (hex) (hex) 1602 0 PDO Communication U8 rw 0 8 1 Mapping U32 64 11 05 10 AO4 2 Parameter 64 11 06 10... AO5 3 64 11 07 10... AO6 4 64 11 08 10... AO7 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00... 8 6411 0 Write U8 ro 0 10 5 Analogue Output 16 Bit I16 rw xx AO4 6 xx AO5......... 10 h xx AO15 6443 0 Analogue U8 ro 0 10 5 Output Fault Mode rw 1 Default Mode AO4 6 1 Default Mode AO5......... 10 h 1 Default Mode AO15 2-66 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6444 0 Analogue U8 ro 0 10 5 Output Error Integer 32 Bit I32 rw 00 00 00 00 Error Value AO4 6 00 00 00 00 Error Value AO5......... 10 h 00 00 00 00 Error Value AO15 Tab. 2/50: 4 15 (Receive PDO 3) Festo P.BE-CPX-FB14-ZH zh 1411d 2-67

2. 2.4.9 I/O (PDO 4) I/O, DIL ( 1.2.2) I/O, 3.3 3.4 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: 1803 0 PDO Communication Parameter Record U8 ro 05 1 PDO COB-ID U32 rw 480 + Node-ID COB-ID 2 Transmission Type U8 FF : 1) 3 Inhibit Time U16 00 00 [100 μs] 4 5 Event-Timer 00 00 [ms] 1) 2-49 2-68 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 1O03 0 PDO Communication U8 rw 0 8 1 Mapping U32 61 00 01 10 IW0 2 Parameter 61 00 02 10... IW1 3 61 00 03 10... IW2 4 61 00 04 10... IW3 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00... 8 6100 0 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 IW2......... 20 h xx IW31 1) Tab. 2/51: Transmit PDO 4 Festo P.BE-CPX-FB14-ZH zh 1411d 2-69

2. PDO 4 I/O, CPX (hex) (hex) 501 57F PDO 4 xx 1 8 Byte Byte 0, 1: I/O () Byte 2, 3: Byte 4, 5: Byte 6, 7: 1403 0 PDO Communication Parameter Record U8 ro 02 1 PDO COB-ID U32 rw 500 + Node-ID COB-ID 2 Transmission Type U8 FF : 1603 0 PDO Communication U8 rw 0 8 1 Mapping U32 63 00 01 10 OW0 2 Parameter 63 00 02 10... OW1 3 63 00 03 10... OW2 4 63 00 04 10... OW3 5 00 00 00 00... 5 6 00 00 00 00... 6 7 00 00 00 00... 7 8 00 00 00 00... 8 2-70 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 6300 0 Write Output U8 ro 0 8 16 16 Bit 1 U16 rw xx : I/O 2 8 6300 0 Write Output U8 rw 0 20 OW 16 Bit 1 U16 xx OW0 2 xx OW1 3 xx OW2......... 20 h xx OW31 6306 0 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... OW2......... 20 FF FF... OW31 6307 0 Error State U8 ro 0 20 OW Output 16 Bit 1 U16 rw 00 00 Fault-Mode OW0 2 00 00... OW1 3 00 00... OW2......... 20 00 00... OW31 Tab. 2/52: Receive PDO 4 Festo P.BE-CPX-FB14-ZH zh 1411d 2-71

2. 6306, 6307, CPX Operational Mode, (),, 2.4.10 Manufacturer Specific Profile, CPX (P.BE-CPX-SYS-...) (hex) 2000 (), Tab. 2/54 2010 Tab. 2/55 2200 Tab. 2/56 2210 Tab. 2/57 Tab. 2/53: Manufacturer Specific Profile Area 2-72 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 2000 0 U8 ro 3 1 1 xx CPX Bit 0 3:CPX Bit 4: CPX Bit 5: Bit 6: Bit 7: 2 xx 6206, 6207, 6306, 6307 0000 0001 3 CPX xx CPX : Bit 0 3:// Bit 4 7: 0002 Tab. 2/54: Festo P.BE-CPX-FB14-ZH zh 1411d 2-73

2. (hex) (hex) 2010 0 U8 ro 1 16 + xx 1) 1 0 U16 xx xx 1) ( + ) 2 1 xx xx 1) ( + ) 3 2 xx xx 1) ( + )............ 2110 0 U8 ro 1 784 + xx 1) U32 1) 1 0 xx xx xx xx 2 1 U32 xx xx xx xx............ 1) : CPX Tab. 2/55: 2-74 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 2200 0 U8 ro 8 1 0 FF 1936 2 0,40, (Bit 0 5) (Bit 6) 1937 3 0 FF 1938 4 8 Tab. 2/56: 1939 1943 ( PDO ) (hex) (hex) 2210 0 U8 ro 1 1 0 U32 ro 00 FF 00 FF 00 00 2 1 00 FF 00 FF 00 00 I/O / I/O / 2008 + xx 1)............ 1) : CPX Tab. 2/57: Festo P.BE-CPX-FB14-ZH zh 1411d 2-75

2. (hex) (hex) 2300 0 U8 ro 8 / 1 rw xx 3480 2 3 rw 00 ( 0 ) 3482 4 ro 00 / 3483 5 rw 00 (/ 2,,,/ ) 3484 6 00 (MN) 3485 7 00 (KN) 3486 8 00 (FN) 3487 2310 0 U8 ro 0 28 1 1 ( ) 2 2 3 3...... 28 h 40. ( ) Oct.- string 00 FF 00 17 00 3B 00 3B 00 63 (+ 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

2. (hex) (hex) 2400 0 U8 ro 8 1 0 rw 0 FF 4400 2 1 0 FF (/) 4401 3 2 0 FF Bit 0, 1: 1) Bit 2, 3: Bit 4, 5: Bit 6, 7: 2) 4402 4 8 1) : Faultmode Assume fault mode ( Festo Maintenance Tool) 6206 6207, ( Tab. 2/46) 2), 2000 5FFF 6000 Tab. 2/59:, CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-77

2. (hex) (hex) 2410 0 U8 ro 40 1 0 0 2 1 0......... rw 0 FF 0 FF CPX / 4828, 40 h 63 0 2411 0 0 FF U8 ro 40 h 1 0 1......... 40 h 63 1 rw 0 FF 0 FF CPX / xx 1) 2412, 0 40 h 0 63 2 U8...... CPX B xx 1) 1), CPX Tab. 2/60: 2-78 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.4.11 : (hex) (hex) 1001 0 Error Register 1002 0 U8 ro 00 U32 ro 00 00 00 00 2200 1 U8 ro xx 2 3 6000 1 Read Input 1 8 U8 ro xx () I0 I7......... 10 h Read Input 121 128 6100 1 Read Input 16Bit I120 I127 U16 ro xx ( I/O ) IW0...... 20 h IW31 Festo P.BE-CPX-FB14-ZH zh 1411d 2-79

2. (hex) (hex) 6200 1 Write Output 1 8 U8 rw xx () O0 O7......... 10 h Write Output 121 128 6300 1 Write Output 16 Bit O120 O127 U16 rw xx () OW0...... 20 h OW31 6401 1 Read Analogue Input 1 I16 ro xx Default Mapping AI0......... 10 h Read Analogue Input 16 6411 1 Write Analogue Output 1 AI15 I16 rw xx AO0......... 10 h Write Analogue Output 16 AO15 Tab. 2/61: 2-80 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.4.12,,, CPX (P.BE-CPX-SYS-...) CANopen 32 Bit 16 Bit (hex) (hex) 5000 0 Force enable U8 ro 0 Bit 0: 1) ( 2400,3 Bit 2, 3) 5006 0 8 Bit U8 ro 0 10 1 rw 0 I0 I7 2 0 I8 I15......... 10 h 0 I120 I127 5007 0 8 Bit U8 ro 0 10 1 rw 0 I0 I7 2 0 I8 I15......... 10 h 0 I120 I127 Festo P.BE-CPX-FB14-ZH zh 1411d 2-81

2. (hex) (hex) 5106 0 16 Bit U8 ro 0 20 1 U16 rw 0 IW0 2 0 IW1......... 20 h 0 IW31 5107 0 16 Bit U8 ro 0 20 1 U16 rw 0 IW0 2 0 IW1......... 20 h 0 IW31 5433 0 U8 ro 0 10 1 rw 0 0 1) (AI0) 2 0 1 (AI1)......... 10 h 0 15 (AI15) 5434 0 U8 ro 0 10 1 I32 rw 0 0 (AI0) 2 0 1 (AI1)......... 10 h 0 15 (AI15) 1) : 0 = 1 = 2-82 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 5206 0 8 Bit U8 ro 0 10 1 rw 0 O0 O7 2 0 O8 O15......... 10 h 0 O120 O127 5207 0 8 Bit U8 ro 0 10 1 rw 0 O0 O7 2 0 O8 O15......... 10 h 0 O120 O127 5306 0 16 Bit U8 ro 0 20 1 U16 rw 0 OW0 2 0 OW1......... 20 h 0 OW31 5307 0 16 Bit U8 ro 0 20 1 U16 rw 0 OW0 2 0 OW1......... 20 h 0 OW31 Festo P.BE-CPX-FB14-ZH zh 1411d 2-83

2. (hex) (hex) 5443 0 U8 ro 0 10 1 rw 0 0 1) (AO0) 2 0 1 (AO1)......... 10 h 0 15 (AO15) 5444 0 U8 ro 0 10 1 I32 rw 0 0 1) (AO0) 2 0 1 (AO1)......... 10 h 0 15 (AO15) 1) : 0 = 1 = Tab. 2/62: 2-84 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.4.13, PLC CPX () CPX, 4800:,, CPX 4800, 4801 CPX I/O,: CPX-FB14 Pre-Operational Mode 4800.0 4000 = 0 Festo P.BE-CPX-FB14-ZH zh 1411d 2-85

2. (hex) (hex) 4000 Function Assignment Mask Enable Bool rw 0 1 4001 0 Function U8 rw 0 10 Assignment 1 Mask xx 0 = 6000 (Input 10 h Inputs Array) Bit 1 = 6000 (Input Array) Bit() 4200 0 Function U8 rw 0 10 Assignment 1 Mask xx 0 = 6200 (Output 10 h Outputs Array) Bit 1 = 6200 (Output Array) Bit() 4800 0 1 48 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 6... 2: Bit 1... 0: :00 =, 01 =,10 = 2-86 Festo P.BE-CPX-FB14-ZH zh 1411d

2. (hex) (hex) 4801 Check Module Function Assignment 0 Set Module Config 01 00 00 00 80 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

2.,: 1. CPX-FB14 Pre-Operational Mode 2. 4800 CPX (:4800.0 = 0 4000 = 0): 4800.1: 0 4800.2: 1 3. 4800.0 4800.1 4800.x () : 4800.0 0, 4801 CPX 29 : ( 4001 4200) ( 6200) 4. 4000 1, 5., PDO ( 160x 1A0x) 2-88 Festo P.BE-CPX-FB14-ZH zh 1411d

2., Function Assignment CPX : A= CPX B= 5 (8DE) 8(MPA,8Da) CPX A A B PLC, B, 4800 5 8 A CPX : 0 1 2 3 4 5 6 7 8 8DI 8DI 8DO 4DO 8DI 8DO 8DI 8 O 8 O 8 O B CPX ( A, 5 8) : 0 1 2 3 4 5 6 8DI 8DI 8DO 4DO 8DI 8DO 8 O 8 O Fig. 2/7: CPX Festo P.BE-CPX-FB14-ZH zh 1411d 2-89

2. 1) 2) Fkt. A Fkt. B A B 4800 4800 0 0 CPX-FB14 I/O T-PDO 4: IW0 6100.1 R-PDO 4: OW0 6300.1 4800.1: 02 00 02 02 1 1 CPX-8DE T-PDO 1: I0 I7 6000.1 4800.2: 00 00 08 00 2 2 CPX-8DE-8DA T-PDO 1: I8 I15 6000.2 R-PDO 1: O0 O7 6200.1 4800.3: 00 00 08 08 3 3 CPX-4DA R-PDO 1: O8 O11 6200.2 4800.4: 00 00 00 04 4 4 CPX-8DE-8DA T-PDO 1: I16 I23 6000.3 R-PDO 1: O12 O19 6200.2 6200.3 4800.5: 00 00 08 08 5 CPX-8DE T-PDO 1: I24 I31 6000.4 4800.6: 00 00 08 00 4800.6: 80 00 08 00 6 5 MPA1S... (8DA) R-PDO 1: O20 O27 6200.3 6200.4 7 6 MPA1S... (8DA) R-PDO 1: O28 O35 6200.4 6200.5 4800.7 00 00 00 08 4800.8 00 00 00 08 8 MPA1S... (8DA) R-PDO 1: O36 O43 6200.5 6200.6 1) 1A00 2) 1600 4800.9 00 00 00 08 4800.9 80 00 00 08 Tab. 2/64: 1 2-90 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.5 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-...). 2.5.1 1 2 1 2 Fig. 2/8: Festo P.BE-CPX-FB14-ZH zh 1411d 2-91

2. 2.5.2 CPX,, 2.5.3 1 1 2 2 ÓÓÓ 1 2 Fig. 2/9: ( ),: 3 ms() 0.1 ms: () 50 ms: ( 2 ) 2-92 Festo P.BE-CPX-FB14-ZH zh 1411d

2. 2.6 CPX : 1. CPX 2. :, CPX 3. : /, ( 1 2) CPX CPX, Festo P.BE-CPX-FB14-ZH zh 1411d 2-93

2. 2.6.1,, 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

3 Festo P.BE-CPX-FB14-ZH zh 1411d 3-1

3. 3.... 3-1 3.1... 3-3 3.2 LED... 3-4 3.2.1... 3-5 3.2.2 CPX LED PS PL SF M... 3-6 3.2.3 CANopen LED MS NS IO... 3-9 3.3... 3-12 3.4 I/O... 3-13 3.5 CANopen... 3-14 3.5.1... 3-15 3.5.2 CPX... 3-20 3-2 Festo P.BE-CPX-FB14-ZH zh 1411d

3. 3.1 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 1001 1003 SDO (: 22xx) 3.5 CPX,, Tab. 3/1: Festo P.BE-CPX-FB14-ZH zh 1411d 3-3

1 6 9 5 3., 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

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

3. 3.2.2 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

3. PL (Power Load) (/) LED () / LED, LED Tab. 3/4: LED PL SF (System Fail) LED () 1) / LED LED 1 / ( 1) CPX 3.5.2 ( 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

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

3. 3.2.3 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

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

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

3. 3.3 (), DIL ( 1.2.2) SDO, PDO 4 8 Bit( 2.4.9) Bit 1 0 1 2 3 / 4 5 / 6 7 Tab. 3/10: CPX-FB14 () 3-12 Festo P.BE-CPX-FB14-ZH zh 1411d

3. 3.4 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

3. 3.5 CANopen? ( 23xx) ( 2210) ( 1001) ( 1002)? ( 2200) ( 1003 1... A) ( 1003 1) LED MS NS IO Fig. 3/2: CPX, 2.4 3-14 Festo P.BE-CPX-FB14-ZH zh 1411d

3. 3.5.1, 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

3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX 1001 1002() Byte 1 Byte 0 00 00 10 00 23 20 23 30 Load dump() 31 20 33 20 50 00 81 00 () 81 10 CAN Overrun 81 20 CAN in error passive mode 81 30 Node guard Heart beat 81 40 CAN recovered from Bus 82 10 PDO Tab. 3/11: CiA 401 3-16 Festo P.BE-CPX-FB14-ZH zh 1411d

3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX 1001 1002() 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 5 6 7 Manufacturer specific = CPX Bit Tab. 3/12: ( 1001 CiA 301/401 Bit ) CPX Emergency Object Byte 3... 6 (, 1002) Festo P.BE-CPX-FB14-ZH zh 1411d 3-17

3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX 1001 1002() Bit 0 1 2 3 / 4 5 / 6 7 Tab. 3/13: Byte 0() 3-18 Festo P.BE-CPX-FB14-ZH zh 1411d

3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX 1001 1002() 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 1001 1002() Bit 0 7 CPX CPX ( 3.5.2) Tab. 3/15: Byte 2(CPX ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-19

3. Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 CPX CPX 1001 1002() Bit 0 7 : Heart beat error Node-Id( ) Tab. 3/16: Emergency Object Byte 7 3.5.2 CPX CPX, CPX 3-20 Festo P.BE-CPX-FB14-ZH zh 1411d

3. 0 1 2 (KZS) (KZA) / 3 // 4 /() 5 () 6 8 9 10 11 12 13 (Open load) 14 15 / 16 17 I/O (:CPX-CP ) 18 I/O 19 Tab. 3/17: CPX ( 1 ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-21

3. 20 : 21 : 22 : 23 :/ 24 : 25 : 26 27 28 29 30 39 40 Life Guard 41 Heart Beat 42 43 CAN Overrun 44 Invalid PDO received 45 CAN warn limit reached 46 Recovered from Bus off 47 Bus Power lost 48 127 CPX 128 199 CPX ( ) Tab. 3/18: CPX ( 2 ) 3-22 Festo P.BE-CPX-FB14-ZH zh 1411d

3. 200 201 () 202 :not ready 203 204 205 Tab. 3/19: CPX ( 3 ) Festo P.BE-CPX-FB14-ZH zh 1411d 3-23

3. 3-24 Festo P.BE-CPX-FB14-ZH zh 1411d

A Festo P.BE-CPX-FB14-ZH zh 1411d A-1

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

A. A.1 CPX-FB14 CPX P.BE-CPX-SYS-... 1) IP65/IP67 IEC/EN 60529,CPX-FB14, IEC/EN 60204-1 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

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(,) 11 30 V, Tab. A/2:, A-4 Festo P.BE-CPX-FB14-ZH zh 1411d

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 : 01 00 Fig. A/2: 2, CPX 0 Festo P.BE-CPX-FB14-ZH zh 1411d A-5

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

A. A.2.4 4: SDO CPX : CPX : COB-ID Initiate Domain Upload Request 4 MS PS NS PL IO SF M 601 : 40 00 10 00 00 00 00 00 PLC/PC/IPC 581 : 43 00 10 00 91 01 02 00 COB-ID Initiate Domain Upload Response 4 () Fig. A/4: 4: 1000 h, 0(: ) Festo P.BE-CPX-FB14-ZH zh 1411d A-7

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 10 00 04 7F 00 00 PLC/PC/IPC 581 : 60 0C 10 00 00 00 00 00 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

B Festo P.BE-CPX-FB14-ZH zh 1411d B-1

B. B.... B-1 B-2 Festo P.BE-CPX-FB14-ZH zh 1411d

B. C CANopen COB... 2-39... 2-36... 2-5... 2-37 CEC... 1-11 D DIL... 1-9, 1-10 F FEC... 1-11 H Heart beat... 2-38, 2-43, 3-16, 3-17 L Layer Setting Service... 2-6... 1-19 LED... 3-4 LSS,... 1-19 LSS... 2-6 M M12... 1-31 Manufacturer Specific Profile... 2-72 Festo P.BE-CPX-FB14-ZH zh 1411d B-3

B. N Node guard... 2-38, 2-43, 3-16, 3-17 P PDO... 2-5 PDO 1... 4,... 2-27 PDO 1... 2-47... 2-50 PDO 2... 2-55... 2-60 PDO 3... 2-62... 2-65 PDO 4... 3-3, 3-12... 2-68... 2-70 PELV... 1-34 S SDO... 2-5, 3-3, 3-12 service... VII... 1-6... VI... 1-20 B-4 Festo P.BE-CPX-FB14-ZH zh 1411d

B.... 2-91... 2-92... 1-6... 2-26,... 1-23... 1-5,... 2-36 PDO 1... 2-47 PDO 2... 2-55 PDO 3... 2-62 PDO 4... 2-68... 1-34... 1-34 Festo P.BE-CPX-FB14-ZH zh 1411d B-5

B.... 2-85... 1-34... 3-20... 3-15... A-3 PDO 1... 2-50 PDO 2... 2-60 PDO 3... 2-65 PDO 4... 2-70,... 1-8... 1-34... 1-23, 1-27, 1-30... 1-32 B-6 Festo P.BE-CPX-FB14-ZH zh 1411d

B.... 2-60, 2-65... 2-55, 2-62... 1-11, 1-21... VII... 2-6... 2-81... 1-20... 1-11... 1-13... 1-21... A-5... 2-68... 2-50... 2-47 Festo P.BE-CPX-FB14-ZH zh 1411d B-7