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CPX-E ���
�� �� CPX-E-EC
���
����
EtherCAT
��
���� ��
8071155
2017-07
[8075310]
�� CPX-E-EC
2 Festo – CPX-E-EC-KO – 2017-07 –
�� ����� ���
CPX-E-EC-KO
EtherCAT®, TwinCAT® �(�) �� ���� �� � ���� �� ����.
�� ��:
����
! "� #� �� "$
�% &�� � �, ' ()
�� CPX-E-EC
Festo – CPX-E-EC-KO – 2017-07 – �* 3
�
1 � ��� 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 +� , &� 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 -� �. 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 +� �/ 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 +� �0 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 �1� 2 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 � 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 34 � 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 5�� 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 6) �� �3 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3 �7 8(Auto-MDI/MDI-X) 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.4 Distributed Clocks 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.5 +� �9 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.6 1: 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.7 (;: 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.8 <�: 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 =� �� 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 =� 8� 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 =� 8�� �� �> 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 =� 8� ? 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 @A BC 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 LED 1: 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 �� D� 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 I/O @A E��F� 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 EtherCATG � @A 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 SDO HI�J F� @A 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 @A ���KJ F� @A 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 Emergency Message 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 ���� 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 �L MN�K(Modular Device Profile) 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A �� �� 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B �� �� 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
�� 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 F &�� �O
4 Festo – CPX-E-EC-KO – 2017-07 – �*
1 � ���
F &���� +P� ��� +�� ��� ���� ��G �����. Q/ �R� �% &��
��S* TU�� � 1.1 +� , &�.
1.1 �� �� �
� ��
CPX-E 1��(CPX-E-SYS) ��� CPX-E 1��� - �I ��
CPX-E 1��(CPX-E-SYS) � ��� CPX-E 1��� VW�� /�: �), �8XY
A� , 8Z ' [\ �X
�� CPX-E-EC(CPX-E-EC) � ��� +�� �R ' Q/ � , 8Z ' [\
�X
CPX-E 1�� ' O�� <�S� =]6)�
�9� , &�
�9� � , �X
�^ _�`a ' �� ��b� McF� ,
&�
�9�� 1W/ ' ���� �� , �X
Tab. 1.1
+�� - � �� d &� � www.festo.com/pk.
1.2 �� ��
F &�� ��G �e /&EfG ^ ����. F &�J F��� g�� EtherCAT-��b�� -
��F /+h��.
1.3 �� ��
F &�� ��� �i +� �/� ����:
�� ��
CPX-E-EC �� CPX-E-EC �� �/ 1 F�
Tab. 1.2
+� �/� +� �0F� Festo�� +��� �� ���j*J �� �E� Y TU��.
+� �/ �E� !� ���j*� Festo Support Portal� TU�� � www.festo.com/sp.
���j* � , �X� �6� klm ��� TU��.
F �/ F�� +�� -��� F &�� ngF� �/F TG Y TU��.
� F &�� o� �/F T�8 �E�p1q � www.festo.com/sp.
1 F &�� �O
Festo – CPX-E-EC-KO – 2017-07 – �* 5
1.4 �� ��
+� �0� rst� :uS* TU��. Ev� Data Matrix CodeJ !� 6)� �w�t +��
o� &�� T� Festo Support PortalF $�h��. � -x +� �(+� �0� T� 11�K-y�z
�{)J Support Portal� �|}� �f�k h��.
1 �~2 :� ��/3, ��3 �� !4 Data Matrix Code5 +� �6 E� �X/� ��7 <� ��
1
2
3
4
5
7
6
Fig. 1.1
1.5 ��� ��
�� ��
EN 60529:2013-10 IEC 61784:2014-08
EN 61000-6-2:2009-04 IEC 61918:2013-08
EN 61000-6-4:2011-09 IEEE 802.3:2014-00
IEC 60204-1:2014-10 ISO/IEC 8802-3:2000-10
IEC 61158:2014-07 NE 21:2015-05
Tab. 1.3
2 ��
6 Festo – CPX-E-EC-KO – 2017-07 – �*
2 �
2.1 ����
F +�� EtherCAT ��b��� CPX-E 1��G ;��� �k� +;� 6)���. gF� /��
IEEE 802.3 ���� 2� �% �n� EthernetG �4�� F�*���.
F +�� Ethernet E��F�(RJ45) � �J �� T*� *� �"�8k 8����.
EtherCAT =�(0 … 4095)J DIL �^)� Y��� ��� Y T��� “Hot Connect” ��(;� [ 6)
<� ' �K�)k �� Y TU��.
2.1.1 ���
�� 5����� CPX-E 1���� �6 [\ ����� @A ��� ���O FJ �G Y
TU��.
5��� “Ethernet over EtherCAT(EoE)” ����G �� ��� Y T��, _�`a�� !��
�9S*� ���.
IP =�� ��� V��� ��!�� ��S*� ���.
5��� ��� Y T��t �i� !F ���� ���:
– PC� IP =�(z. B. 192.168.2.100)
– PC <�� �^ _�`a� IP =�(?: 192.168.2.10)
– �� <�� �^ _�`a� IP =� ' ��� V��
(?: 172.16.1.1; 255.255.0.0).
– �^ _�`a��� “Ethernet over EtherCAT(EoE)” ' “IP ���” #9$
– �� �� IP =�� ��� V�� "" �� ��S*� ���.
(?: 172.16.1.100; 255.255.0.0)
�� � ��� V��� �� G �^ _�`a� <��� ^ ��� V���
3)�� ���.
– Windows ���� “cmd.exe”�� �i� !� ��� ��G �f�� ���:
“route add 172.16.0.0 mask 255.255.0.0 192.168.2.10”
2.1.2 � �� �
�^ _�`a� +* ���j*�� �� G ������ �� 6) �� �3(ESI �3)G ��
F�*���. F �3� +* ���j*J � CPX-E 1�� ���� ��G ^� %\ d �X�
&'S* TU��(?: Beckhoff TwinCAT).
6) �� �3� Festo Support Portal� TU��
� www.festo.com/sp.
2.1.3 �� �!(Auto-MDI/MDI-X)
F +�� �7 8(Auto-MDI/MDI-X) ��G 8���� () �E� ���q� �E [ �)�O
�� Y TU��.
�3 ��b��� () �E� ���q� �EG ��� �� �^ _�`a��� �7
8 ��F #9$S* T*� ���.
2.1.4 Distributed Clocks
F +�� EtherCAT ��b��� McF��G ���# ��$�� “Distributed Clocks” ��G
8����. ��� �1� ��!�� $�S� HCF %\ **K+FCG � � Y TU��.
�i CPX-E G ��t “Distributed Clocks” � 1 �� ;�F �����:
– M8, �f CPX-E-16DI(-P)
– M8, �f CPX-E-8DO(-P)
– W� CPX-E-1CI
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 7
2.1.5 �� �"
1 LED 1:2 -/ �^) ' DIL �^)3 ;� /¡ �$ UEL/SEN [XD] A�-4 A�- ¢%6)5 ��b� <�: [OUT]6 <� ��7 ��b� <�: [IN]
1
2
34
7
6
5
Fig. 2.1
2.1.6 ���
1 ��b� � LED 1::– EtherCAT ;� �� [Run]
(£�|, =!|)
– EtherCAT q¤ [Error](¥&|, =!|)
– <� �� [LA IN]/[LA OUT](£�|)
2 1�� � LED 1::– ;� /¡ �$ UEL/SEN [PS](£�|)
– :� /¡ �$ UOUT [PL](£�|)
– 1�� q¤ [SF](¥&|)
– Force mode [M]('}|)
1
2
Fig. 2.2
2 ��
8 Festo – CPX-E-EC-KO – 2017-07 – �*
2.1.7 �#�
$�/DIL �% �
-/ �^) 3�� �� � EtherCAT “Explicit Device ID”� 16@ �{�
��h��.
�� �� ?
0 = ¦6� EtherCAT =�, “Explicit Device ID”J §8 ¨'
1 … 4095(1h … fffh) = .�� =� ©�
0 ����� EtherCAT V���:� �� � =�J ���� §U��(��
��).
�6 ��: 0
DIL �^)� �: 1�� @A #� :���ª �«� ��h�� � Tab. 2.2.
Tab. 2.1
DIL �% �
DIL 1: OFF
DIL 2: OFF
@A ¬i1)
DIL 1: OFF
DIL 2: ON
�� D�� #9$
DIL 1: ON
DIL 2: OFF
I/O @A E��F�� #9$
DIL 1: ON
DIL 2: ON
:���ª �«� #9$2)
1) �6 ��
2) Festo Field Device Tool(FFT)G � /j* ngF� $( 0 ®��� ^'.
Tab. 2.2
-/ �^)� DIL �^)� ]� �� �� G �1 1;�� !�h��.
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 9
2.1.8 &!�
&!� [IN], [OUT] '( �)
1 TD+ /� gF� +
2 TD– /� gF� –
3 RD+ Yx gF� +
4 n.c. –
5 n.c. –
6 RD– Yx gF� –
7 n.c. –
8 n.c. –1) ${ �� �8
1) ��¯
Tab. 2.3
&!� [XD]1) '(
0 +24 V DC ;� /¡ �$ UEL/SEN
1
2 0 V DC ;� /¡ �$ UEL/SEN
3
1) <�: XD.0� XD.1, XD.2� XD.3� "" A�-�� �� <�S* TU��.
Tab. 2.4
2 ��
10 Festo – CPX-E-EC-KO – 2017-07 – �*
2.2 *+ ,"
CPX-E 1��� �S� CPX-E � �Y� �1 ' �� � ���� ��� �� �� �%
��f �Y� �9h��. ��f� CPX-E 1�� ��� ���� ��h��.
1W/ /� CPX-E 1��� =� ��(��� ��f �Y)G �E�� ���.
– CPX-E 1����� °- 10�� I/O + �� F .�h��.
– CPX-E 1��� =� �&� +S* TU��. �� � CPX-E 1��� 64cF� �f
' 64cF� �f� °- =� �&G +����.
– �� D�� I/O @A E��F�� !� @A ��F #9$St �� Y T� =� �&
�Y� ����.
2.3 *+ !-
2.3.1 *+ !-. �# $/
– �f =� ��� �f =� ��� �� ±²!���.
– �Y� ³´�� q%´�� @�S� µ¶���.
– �� D�� I/O @A E��F�� D#9$S* T�t �� � �f 0�, �f 0�E �
�Yh��.
– #9$� �� D�� 16� �f(8� �f· �)G 78���.
– #9$� I/O @A E��F�� 16� �f� 16� �fG 78���.
– �� �% ��� ��f� �� �� ��h��.
– I/O =�� ��-� ¸¹7º�� =*���.
2.3.2 *+ !- 0
1 �� CPX-E-EP(�� D� &')– �� D�� #9$
– I/O @A E��F�� D#9$
2 M8, �f CPX-E-16DI3 M8, �f CPX-E-8DO4 M8, �f CPX-E-8DO5 »*�� �f CPX-E-4AI-U-I6 »*�� �f CPX-E-4AO-U-I
��: 0 1 2 3 4 5
1 2 3 4 5 6
Fig. 2.3
?� d CPX-E 1��� =� �� ��� Tab. 2.5� !U��.
�� %( �� 1& *+ 2& *+
0 �� CPX-E-EP(�� D� &') E0 … E15 –
1 M8, �f CPX-E-16DI E16 … E31 –
2 M8, �f CPX-E-8DO – A0 … A7
3 M8, �f CPX-E-8DO – A8 … A15
4 »*�� �f CPX-E-4AI-U-I E32 … E95 –
5 »*�� �f CPX-E-4AO-U-I – A16 … A79
Tab. 2.5
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 11
2.4 3' 45
F � CPX-E 1��� �9� ���� ��� �� �¼ @A BCG 8����.
3' 45 �� �67 -*
LED 1:
1�� � 1: 1�� ��� q¤� LED 1:J
�� �� c� 1h��.
� CPX-E 1�� � ���
� CPX-E 1�� ��
��b� � 1: ��b� ��� q¤� LED 1:J
�� �� c� 1h��.
� 2.4.1
� CPX-E-PN � ���
�� D� �A @A ½18� =�!�� �:
�f 1�� E��F�� /¾h��.
HI�� E��F� ' V���
¿�# +* ���j*J ��
F�*���.
� 2.4.2
� CPX-E 1�� ���
I/O @A E��F� I/O Y2�� CPX-E 1��� �:
gF�� ���O �G Y Tk�
�=� ��b� ±²1 @A
E��F�.
� 2.4.3
� CPX-E 1�� ���
Festo ���j* q;�F� q¤� À� PCJ ��
1S�� « <� ��$ Y2�
@Ak �����.
� ���j* , Á�E klm
EtherCAT EtherCAT ��� 32�� ��b�J
�� $�S� @A.
+* ���j*J F� '
+FÂ , I: q¤ E¶.
� 2.5
Tab. 2.6
2 ��
12 Festo – CPX-E-EC-KO – 2017-07 – �*
2.4.1 LED ���
F &���� ��b� � LED 1:J �����. 1�� � LED 1:� -���
CPX-E 1�� , &��� �����>� 1.1 +� , &�.
&! �8 [LA IN], [LA OUT]
LED
(9+�)
.� �
�
��b� <� �� –
?Ä@¹1)
gF� /� [(��3) –
off
��b� <� ¬i � ��b� <� ��J Ã����.
1) ÅÆ# ?Ä@K� �� ÇF 4@�� �G ��G��. ÇÈ I�� gF� ��3� �� �É��.
Tab. 2.7
EtherCAT #0 �8 [Run]
LED
(9+�,
*��)
.� �
£�| ÇF
4Ê
Operational
�� ;� ��
–
£�| ÇF
?ÄË
Pre-operational
EtherCAT ��b�� �9.
–
£�| ÇF
?ÄË1)
Safe-operational
�f x�(Ì� gF� �)· ngF�h��.
�f� Í ��J �8���.
–
£�| ÇF
?Ä@¹
Bootstrap
�� F /j* ngF�J Y����.
–
=!| ÇF
4Ê
Bootloader #� /j* ngF� #9 �� –
off
Init
6)J 5@� Í1; 0� �� ��.
–
1) Single Flash: � Î# ?ÄË(1x ÃÏ, �8, 1x ÃÏ ��)
Tab. 2.8
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 13
EtherCAT :: [Error]
LED
(;<�,
*��)
.� �
¥&| ÇF
4Ê
Ð" �x q¤
(Application Controller Failure)
�� �E:
– Application Controller� ÑÒ�8 Ói
– ESCJ � Watchdog Timeout
� Festo �D�� &����
� www.festo.com.
¥&| ÇF
?ÄË
�9 q¤(Invalid Configuration)
��b� <� ¬i.
�� �E:
– �E/<�F K*Ê
– V�� ´ <� ¬i
– V��� #9 ��� »Q
� ��b� <�G ����.
� �� � �9 ' =� 8�G
����.
¥&| ÇF
?ÄË1)
EtherCAT �� ]�(Unsolicited State Change)
��$ q¤� E� Operational��
Safe-operational�� �� ]�.
–
¥&| ÇF
?ÄË2)
^)± �Ë»Ô **K+FC
Sync ManagerJ � Watchdog Timeout
–
¥&| ÇF
?ÄË3)
?Õ –
¥&| ÇF
?Ä@¹
:� q¤(Booting Error)
Application Controller Flash ½K �
q¤(L�Ö)
–
=!| ÇF
4Ê
Bootloader #� /j* ngF� #9 �� –
off
q¤ ¬i –
1) Single Flash: � Î# ?ÄË(1x ÃÏ, �8, 1x ÃÏ ��)
2) Double Flash: � � Î# ?ÄË(2x ÃÏ, �8, 2x ÃÏ ��)
3) Tripple Flash: I � Î# ?ÄË(3x ÃÏ, �8, 3x ÃÏ ��)
Tab. 2.9
2 ��
14 Festo – CPX-E-EC-KO – 2017-07 – �*
2.4.2 �8 =;
CPX-E 1��� Z�× �A @A ½18 1��� �� D� 8�J +����.
�� D�� �fØÙ �9S� :�$� @A �XJ x� 0 #� 1� 1�� /¾���. d ��
D�� x� 0G +��t q¤� ¬� ����. 4-� �� D� ��� x� 1G +��t q¤� T�
����. �� D�� ��G F�� Y T��t CPX-E 1��� �� G �� yo# �9��
���.
�¼ ���� Oa �8 q¤� �1� ÚÛ�� ���� q¤� *M�� Û\�8
�E� Y ¬U��. q¤J ���# �E�� ^� I/O @A E��F�J �� Y TU��
� 2.4.3 I/O @A E��F�.
�I �� D� , �X� “CPX-E 1�� ���”� TU�� � 1.1 +� , &�.
2.4.3 I/O 3' ��<�
CPX-E 1��� I: @A �X 6±G ^� I/O @A E��F�J 16 �f D�� 16 �f D�� 1��
+����. I/O @A E��F�J �� ?J �* *� � Ü^� q¤� ÚÛ7�8 �G ���#
y»_ Y TU��. I/O @A E��F�J F�� Y T��t CPX-E 1��� �� G �� yo#
�9�� ���.
�I I/O @A E��F� , ��� “CPX-E 1�� ���”� TU��
� 1.1 +� , &�.
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 15
2.5 EtherCAT= >7 3'
EtherCAT ��b�J � @A �X � �� O:� DIL �^) ��� ���� ��� ��
���.
CPX-E 1��� q¤ ½18� �$�# +* ���j*� ���� 1S# ��t I/O @A
E��F�� #9$S* T*� ���.
2.5.1 SDO ?6�> �7 3'
@A �X� �^ _�`a�� SDO HI�J �� �E� Y TU��.
�� �L� Ý:� P��� +�h�� � 3.1 �L MN�K(Modular Device Profile).
2.5.2 3' @�A?> �7 3'
@A �L 0x10F3G �� �� � °� V8Þ @A ½18 64�J 1� Y TU��. ß��
Fà�(�, q¤, �X)� -� �{� á(S� q¤ ½18� �fh��.
@A ½18� ESI �3G �� ��S�� +* ���j*� 6±� Y TU��.
3' @B 0x10F3. ��
��(hex) ��� �� H� C1 J ?6�1)
0x10F3 0 Diagnosis History U8 RO
1 Maximum Messages U8 64 RO
2 Newest Message U8 RO
3 Newest Acknowledged Message U8 RW
4 New Message Available BOOL RO P
5 Flags U16 0x0000 RW
6 … 70 Subindex 006 … 070 BYTE [23] RO
1) RO = read only; RW = read/write; RO P = read only(PDO mappable)
Tab. 2.10
�� � @A ½18� @A ���K� ¦6h��.
02 00 00 E1 02 02 02 37 1F C5 9D 61 31 00 00 00 05 00 02 05 00 80
@A ½18 ?:
1 2 3 4 5 6 7 8
»���� @A ½18� �� `G �����.
3' K�! J
�)1) 0. J(hex) ��
1 Diag Code 02 00 00 E1 CPX-E q¤ ½18(2 = Aâ)2)
E1 = CPX-E q¤ ��
E8 = DS401� �% Error Code
2 Flags 02 02 @A ½18(2)� @A �1 2(Error Message)�
T� ���� �Y
3 Text-ID 02 37 @A ½18� 34 8��� ;9� ESI �3 á(
81(<TextId>#x3702)
4 Time Stamp 1F C5 9D 61 31 00 00 00 �ã �Ë�9� �8 DC �Ë�9�
(_�`a 1; 0 8� 1&)
5 Flags Parameter 1 05 00 ���� 1� �1(UNSIGNED8)
6 ���� 1 02 CPX ��
7 Flags Parameter 2 05 00 ���� 2� �1(UNSIGNED8)
8 ���� 2 80 Ü^ 80h(Ü^ 128d)
1) ETG.1020� 2'
2) � CPX-E 1�� ���
Tab. 2.11
2 ��
16 Festo – CPX-E-EC-KO – 2017-07 – �*
Text-IDs 3700h … 37FFh� CPX q¤ ��(0 … 255)� �����. �I �X� “CPX-E 1��
���”� TU�� � 1.1 +� , &�.
ESI �3�� CPX � Text-ID ä� EtherCAT � Text-IDk TU��.
ESI �� QDE EtherCAT VF Text-ID
Text-ID(hex) �� G�;(7W�) �� G�;(H�)
3800 ¶� $( Ident check failed for configured module
3801 ¶� � J $1�8 Ói –
_�`a� �L 0xF030G ;9�8 Ói
Ident check skiped – PLC has not written
to Object 0xF030
000F �� F: 1& �� $((�ã �Få�
~¿ �¹)
Calculate bus cycle time failed(Local timer
too slow)
0011 Sync Manager =�� �;�8 Ói Sync Manager invalid address
0012 Sync Manager I/O Fæ� �;�8
Ói
Sync Manager invalid size
0013 Sync Manager �9F �;�8 Ói Sync Manager invalid settings
Tab. 2.12
@A ½18� �< ½K(80cF�)� ;9h��.
@A ½18J ØK� Y T� ;� {� 2�8���:
– Overwrite �Y:
@A ½18� 64� T�t � ç1 F/ @A ½18J è*é��.
– Acknowledge �Y:
�� @A ½18J ê @A ½18� è*ë�t 3A � @A ½18J �E�� ���. �E�8
Ó� @A ½18� 64� T�t ê @A ½18� ¦6S8 Ó��� �$h��.
3' K�! #0 �Y �-
@A ½18� ;� {� @A �L 0x10F3(Subindex 5, Bit 4)J �� 6±�� ;9� Y TU��.
#0 �Y =; 4. J
Overwrite { 0
Acknowledge { 1
Tab. 2.13
“New Message Available” K�! \I
F � @A =�J �F�# ��� ^� ê @A ½18� T�� �G ��I� gF�J �� x��
y�ì Y TU��. FJ ^� BC�� “New Message Available” �LJ ��I� gF�� ß>� Y
TU��.
Emergency Message =J"�/J"�
Emergency Message(� 2.5.3 Emergency Message)� @A �L 0x10F3(:|E 5, D� 0)G �� D#9$
' #9$í Y TU��.
Emergency Message =; 0. J
D#9$ 0
#9$ 1
Tab. 2.14
2 ��
Festo – CPX-E-EC-KO – 2017-07 – �* 17
2.5.3 Emergency Message
CPX-E 1��� q¤ ÚÛ 1 �i� !F �9S� Emergency MessageJ /����:
Emergency Message. ��
^; 0 ^; 1 ^; 2 ^; 3 ^; 4 ^; 5 ^; 6 ^; 7
Error Code1) Error
Register
�� D� CPX-E
��
CPX-E q¤
��
?Õ �� q¤
�X2)
Index 1001 Index 1002(Manufacturer Status Register)2)
1) DS301/DS401� 2'
2) 6) � q¤ ½18
Tab. 2.15
Emergency Message. �� – Error Code(^; 1, ^; 0)
^; 1 ^; 0 ��
00 00 q¤ ¬i
10 00 34 q¤
23 20 �f: Aâ
23 30 Load dump(A�)
31 20 �f /¡ ~¿ �i
33 20 �f /¡ ~¿ �i
50 00 �{j* q¤(d q¤ , 128)
Tab. 2.16
Emergency Message. �� – Error Register(^; 2)
=; .� ��
0 Generic Error q¤V� D�� ��
1 Current SCS(Ì� /� Aâ/�:�)
SCO(�f: Aâ/�:�)
2 Voltage �f:(UOUT) :î/¡
�f #� �f :� /¡ 6
3 – –
4 Communication Error Node guard, Heart beat, %{���· ��
5 … 6 – –
7 Manufacturer specific A�, �� q¤
Tab. 2.17
Emergency Message. �� – �8 =;(^; 3)
=; .� ��
0 ï� q¤ q¤� ÚÛ�� ��
1 �f: q¤
2 �f: q¤
3 »*�� #�
�� q¤
4 :î/¡ q¤ �1
5 Aâ/�:�
6 A�
7 �� q¤
Tab. 2.18
Emergency Message. �� – CPX-E �� %((^; 4)
=; .� ��
0 … 7 CPX-E �� @A ½18� T� � ��
Tab. 2.19
2 ��
18 Festo – CPX-E-EC-KO – 2017-07 – �*
Emergency Message. �� – CPX-E :: %((^; 5)
=; .� ��
0 … 7 CPX-E q¤ �� CPX-E q¤ ��1)
1) � CPX-E 1�� ���
Tab. 2.20
Emergency Message. �� – KQ :: -*(^; 7)
=; .� ��
0 … 7 �� q¤ �X ?:
– Heart beat error(*� McF�� �Ë»ÔG �Ú7��?)
� '{ ID
– q¤� T� ð �ñ Ü^� Ü^ ��
Tab. 2.21
3 ����$
Festo – CPX-E-EC-KO – 2017-07 – �* 19
3 ����
CPX-E 1��� @� ����� !� Festo ���j*� �^ _�`a�� ��� Y TU��. Fò
�i �/�F �� ��h��:
– 1�� ����
– ����( ' Ü^ �)
– @A ½K ���� ��
�� ����� - �I ��� “CPX-E 1�� ���”� �� � ���� TU��
� 1.1 +� , &�.
�� � ����� �L� �h�� � 3.1 �L MN�K(Modular Device Profile).
3.1 @B _`A?(Modular Device Profile)
@B _`A?(Modular Device Profile)
��(hex) ��� �� H� C1 J ?6�1)
0x1000 0 Device Type U32 0x04561389 RO
0x1001 0 Error Register U8 RO
0x1008 0 Device Name String CPX-E-EC RO
0x1009 0 Hardware Version String RO
0x100A 0 Software Version String RO
0x1018 0 Identify U8 4 RO
1 Vendor ID U32 0x0000001D RO
2 Product Code U32 RO
3 Revision U32 RO
4 Serial Number U32 RO
0x10F1 0 Error Settings U8 2 RO
1 Local Error Reaction U32 RO
2 Sync Error Counter Limit U32 RO
0x10F3 0 Diagnosis History U8 RO
1 Maximum Messages U8 64 RO
2 Newest Message U8 RO
3 Newest Acknowledged Message U8 RW
4 New Message Available BOOL RO P
5 Flags U16 0x0000 RW
6 … 26 Subindex 006 … 026 BYTE[23] RO
0x16xx 0 Module xx – RxPDO U8 yy RO
yy Output Mapping yy U32 0x70xx:yy,s RW
0x1Axx 0 Module xx – TxPDO U8 yy RO
yy Input Mapping yy U32 0x60xx:yy,s RW
0x1A40 0 Diag History – TxPDO U8 1 RO
1 Input Mapping 01 U32 0x10F3:00,1 RW
0x20xx 0 Module Parameter – Module xx U8 xy RO
yy Parameter yy ? 2)
0x21xx 0 Failsafe Values – Module xx U8 xy RO
yy Channel yy ? RW
1) RO = read only, RO P = read only(PDO mappable), RW = read/write, RW P = read/write(PDO mappable)
2) ����� �� �ó
3) IO-Link V�� CPX-E-4IOL-…�· ��
3 ����$
20 Festo – CPX-E-EC-KO – 2017-07 – �*
@B _`A?(Modular Device Profile)
��(hex) ?6�1)JH� C1�����
0x22xx3) 0 ISDU Access – Module xx U8 7 RO
1 Direction(0 = Read, 1 = Write) U8 RW
2 Channel(Start at 0) U8 RW
3 ISDU Index From IO-Link Device U16 RW
4 ISDU Subindex From IO-Link Device U8 RW
5 ISDU Error U16 RW
6 Length Of Data U8 RW
7 Data ARRAY OF
BYTE
RW
0x2400 0 Global CPX Settings U8 8 RO
1 Filter Alarm VOUT/VSEN U8 0x00 RW
2 Monitor SCS BOOL TRUE RW
3 Monitor SCO BOOL TRUE RW
4 Monitor VOUT BOOL TRUE RW
5 Monitor VVEN BOOL TRUE RW
6 Monitor SCV BOOL TRUE RW
7 Fail safe U8 0x00 RW
8 System Start U8 0x00 RW
0x2401 0 Diagnosis History – Filter No Error U8 RW
0x5000 0 Generic Terminal Information U8 3 RO
1 Modules Count U8 xx RO
2 Input Length U8 xx RO
3 Output Length U8 xx RO
0x5001 0 Build Hash STRING RO
0x5002 0 Unique ID STRING RO
0x60xx 0 Module Inputs U8 xx RO
yy Input yy ? RO P
0x70xx 0 Module Outputs U8 xx RO
yy Output yy ? RW P
0xF000 0 Modular Device Profile U8 2 RO
1 Index Distance U8 1 RO
2 Maximum Number Of Modules U16 48 RO
0xF050 0 Detected Module List U16 0 … 48 RO
1 Subindex 001 U32 RO
… … U32 RO
48 Subindex 048 U32 RO
1) RO = read only, RO P = read only(PDO mappable), RW = read/write, RW P = read/write(PDO mappable)
2) ����� �� �ó
3) IO-Link V�� CPX-E-4IOL-…�· ��
Tab. 3.1
A �ô �õ
Festo – CPX-E-EC-KO – 2017-07 – �* 21
A �� ��
����
LM ��/J
CPX-E 1�� 34 �ô �õ CPX-E 1�� ��� � 1.1 +� , &�
)Y(�F x ~D x <F) [mm] 125.8 x 37.8 x 76.5
+� [ö1) [g] 145
�) ^) YÀ/Y=
=] Ák [°C] –5 … +60 (–5 … +50)2)
X Ák [°C] –20 … +70
Uk(�Ñ÷) [%] 0 … 95
��� =� �&(�f/�f)
@A �&' [D�] –/–
�� D� &' [D�] 163)/–
I/O @A E��F� &' [D�] 16/16
�{/�: �{(CPX-E�· ��) 222/37
�{ E-EC
EN 60529� �% X� �$ IP20
/ ^�� - X�(IEC 60204-1� �%
À&�! �ø� �% ^�� - X�)
PELV(Protected extra-low voltage) -� �
/�� !�9 EN 61000-6-2/-4 ' NE 21� �ó
1) <� �� &'
2) Y= �)� ��
3) 8D�· �S8·(�å8 8D�� �S8 Ói) �� D�� 2cF� =� �&G 78���.
Tab. A.1
�N
LM ��/J
/�6)/Ì� ;� /¡ �$(UEL/SEN) [V DC] 24 ± 25%
UEL/SEN�� �$S� �� ;� /¡F 24VE
��� �L �D /f
[mA] 50
24 V UEL/SEN - 0 V UEL/SEN ��9 X� ?
/� �<ù �Ë [ms] 20
Tab. A.2
j;OP VF L"
LM ��/J
���� EtherCAT1)
�ô �I2) IEC 61158, IEC 61784, IEC 61918,
ISO/IEC 8802-3
/�ú [MBit/s] 100
�7 8 Auto-MDI/MDI-X
I�û� � °- +FÂ �F [m] 100
+FÂ �I
+F �� �E ü� Ethernet +FÂ, 7?
/� �$ @K Cat 5 F�
+F À� [mm] 6 … 8
�F* At! [mm²] 0.14 … 0.75; 22AWG3)
1) Ethernet ���� IEEE 802.3 �4, ��I� gF�J ^� °!$, $1& ��
2) EtherCAT , 2
3) ��b� McF� & °- <� �F� %\'
Tab. A.3
B �* ��
22 Festo – CPX-E-EC-KO – 2017-07 – �*
B �� ��
��/Q� ���
CPX-E CPX-E 1��� ��S� d �� &�!�� !�S� �*.
CPX-E 1�� CPX-E � �9S� 3L1 1��.
DIL �^) ��G $��� g �S� �^) \� Oa �� �9S�
�^)(Dual-In-Line).
ESI �3 EtherCAT� 6) �� �3(EtherCAT ýþF� �X)
Ethernet �^ _{`a� CPX-E 1�� #� ��b� � �� 6)� �x� Y
T# �=� ����.
I/O �f ' �f
I/O @A E��F� CPX-E 1��� �: gF�� ��� Y Tk� �=� I/O Y2�
��b� ±²1 @A E��F�.
I/O »*�� #� M8, �/�f:J +��� d � &�!��
!�S� �*.
�� CPX-E 1��G ��b�� <�� +* x�J <�� CPX-E �
/¾�O � �� ;� O:J 1���.
6) �� �3 �^ _�`a� +* ���j*�� �� G ������ g
%\ ���� � �3. F �3�� +* ���j*� CPX-E 1��
����J ���� g %\ d �X� TU��.
�� D� ��b�J �� �f x�� +�S� CPX-E 1�� �: �� �X
(�� @A ½18).
Tab. B.1
�� CPX-E-EC
Festo – CPX-E-EC-KO – 2017-07 – �* 23
��
D
Distributed Clocks, 6
E
Emergency Message, 17
ESI �3, 6
EtherCAT q¤, 13
EtherCAT ;� ��, 12
EtherCATG � @A, 15
– Emergency Message, 17
– SDO HI�, 15
–@A ���K, 15
I
I/O @A E��F�, 14
L
LED 1:, 12
– EtherCAT q¤, 13
– EtherCAT ;� ��, 12
–<� ��, 12
M
Modular Device Profile, 19
S
SDO HI�, 15
@
�L MN�K, 19
�
�7 8(Auto-MDI/MDI-X), 6
�
�ô �õ, 21
�
-� �., 4
�
�� D�, 14
Q
Õ*, 22
&
<� ��, 12
�
�* ��, 22
�
5��, 6
�
6) �� �3, 6
�
+� , &�, 4
+� �0, 5
+� �/, 4
*
=� 8�, 10
– �� �>, 10
–?, 10
=� ��, 10
3
@A BC, 11
– EtherCAT F�, 15
– I/O @A E��F�, 14
– LED 1:, 12
–�� D�, 14
@A ���K, 15
F &�� ¼k, ® , � ��� � ' /¾� �1!��.�S8 Ó� ���# %8S* TU��. FJ ^4�t��E� ÚÛ "�� - �ËG 8# h��. �., $� xQ,�6 ��� ,� d �� � � ��S* TU��.
Copyright:Festo SE & Co. KGRuiter Straße 8273734 Esslingen±3
Phone:+49 711 347-0
Fax:+49 711 347-2144
e-mail:service_international@festo.com
Internet:www.festo.com
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