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CPX-E 시스템 瞄技 CPX-E-EC 鑄睉鐶 토콜 EtherCAT 䖒圳 라미설정 8071155 2017-07 [8075310]

CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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Page 1: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

CPX-E ���

�� �� CPX-E-EC

���

����

EtherCAT

��

���� ��

8071155

2017-07

[8075310]

Page 2: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

�� CPX-E-EC

2 Festo – CPX-E-EC-KO – 2017-07 –

�� ����� ���

CPX-E-EC-KO

EtherCAT®, TwinCAT® �(�) �� ���� �� � ���� �� ����.

�� ��:

����

! "� #� �� "$

�% &�� � �, ' ()

Page 3: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

�� 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 4: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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.

Page 5: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

Page 6: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

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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

Page 8: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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��.

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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

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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

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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

Page 12: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

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

Bootloader #� /j* ngF� #9 �� –

off

Init

6)J 5@� Í1; 0� �� ��.

1) Single Flash: � Î# ?ÄË(1x ÃÏ, �8, 1x ÃÏ ��)

Tab. 2.8

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2 ��

Festo – CPX-E-EC-KO – 2017-07 – �* 13

EtherCAT :: [Error]

LED

(;<�,

*��)

.� �

¥&| ÇF

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

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

Page 14: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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 +� , &�.

Page 15: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

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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

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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

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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

Page 19: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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-…�· ��

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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

Page 21: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

Page 22: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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

Page 23: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

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Festo – CPX-E-EC-KO – 2017-07 – �* 23

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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

Page 24: CPX-E-EC BES C 2017-07 8075310k1 · 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 Portal F $˛h ˚

F &�� ¼k, ® , � ��� � ' /¾� �1!��.�S8 Ó� ���# %8S* TU��. FJ ^4�t��E� ÚÛ "�� - �ËG 8# h��. �., $� xQ,�6 ��� ,� d �� � � ��S* TU��.

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