Festo - CPX-FB37 - 2014-06 - 8029675g1

Terminal CPX
Bus node CPX-FB37
Description
Network protocol
EtherCAT
8029675
1406NH
[8029664]
CPX-FB37
Translation of the original instructions

P.BE-CPX-FB37-EN
EtherCAT®, TwinCAT®, CANopen®, SPEEDCON®, Torx®, Windows® are registered trademarks of the
respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.
2 Festo – P.BE-CPX-FB37-EN – 1406NH –

CPX-FB37
Table of Contents – CPX-FB37
1 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Requirements for product use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3.1 Technical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3.2 Qualification of specialists (personnel requirements) . . . . . . . . . . . . . . . . . . . . 9
1.3.3 Range of application and certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1 Function range (brief overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.2 Connections and display components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Mounting and installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1 Dismantling and mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.1.1 Dismantling the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1.2 Mounting the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2 Setting the DIL switches on the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.1 Removing and fitting the cover over the DIL switches . . . . . . . . . . . . . . . . . . . . . 15
3.2.2 Arrangement of the DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.3 Setting the DIL switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.4 Setting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.5 Configuring the EtherCAT addressing type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.6 Setting the diagnostics mode (Remote I/O operating mode) . . . . . . . . . . . . . . . 18
3.2.7 Setting the I/O mode (remote controller operating mode) . . . . . . . . . . . . . . . . . 19
3.2.8 Starting the bootloader mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2.9 Setting the EtherCAT address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Connecting to the EtherCAT network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.1 General notes on EtherCAT networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.2 Network interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3.3 Network connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3.4 Cable specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4 Complying with degree of protection IP65/IP67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4.1.1 Switching on the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1.2 Addressing, configuration and parameterisation . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2 Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Festo – P.BE-CPX-FB37-EN – 1406NH – English 3

CPX-FB37
4.3 Addressing the inputs and outputs, data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.3.1 Basic rules for addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3.2 Differences in addressing between the modular device profile and fixed I/O size 27
4.3.3 Data access (data objects) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4 Addressing the devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4.1 Assigning an independent EtherCAT device address via DIL switch . . . . . . . . . . 28
4.4.2 Assigning an independent EtherCAT device address using the configuration tool 28
4.5 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.5.1 Registering station properties in the configuration program . . . . . . . . . . . . . . . 30
4.5.2 Configuration in the Modular Device Profile (MDP) . . . . . . . . . . . . . . . . . . . . . . . 32
4.5.3 Configuration with fixed I/O size (CPX-FB38 mode) . . . . . . . . . . . . . . . . . . . . . . 35
4.5.4 Configuration in the remote controller operating mode . . . . . . . . . . . . . . . . . . . 35
4.6 Parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.6.1 Introduction to parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.6.2 Methods of parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.6.3 Parameterisation with the operator unit CPX-MMI . . . . . . . . . . . . . . . . . . . . . . . 38
4.6.4 Parameterisation with the Festo Maintenance Tool (CPX-FMT) . . . . . . . . . . . . . . 38
4.6.5 Parameterisation via EtherCAT in the Modular Device Profile (MDP) . . . . . . . . . 39
4.7 Remarks on parameters of the CPX system settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.7.1 Sequence of start parameterisation during switch-on (system start) . . . . . . . . 41
4.7.2 Parameterisation of the fail-safe mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.8 Web server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.8.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.9 Firmware update/restoring the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.9.1 Updating the firmware via FoE (File Access over EtherCAT) . . . . . . . . . . . . . . . . 50
4.9.2 Restoring the firmware with the Festo Field Device Tool (FFT) . . . . . . . . . . . . . . 52
4.10 Checklist for commissioning a CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.11 Replacing the bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.1 Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.2 Diagnostics via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.2.1 LEDs at the bus node CPX-FB37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.2.2 Normal operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.2.3 CPX-specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.2.4 EtherCAT-specific LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.3 Diagnostics via status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.4 Diagnostics via the I/O diagnostic interface (STI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4 Festo – P.BE-CPX-FB37-EN – 1406NH – English

CPX-FB37
5.5 Diagnostics via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.5.1 Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5.2 Diagnostics via SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5.3 Diagnostics via diagnostics history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5.4 Die Emergency Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.5.5 Error characteristics (fail-safe mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.5.6 Error types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
A Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
A.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

A.2 Object directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
A.2.1 Object directory CPX-FB37 mode (Modular Device Profile) . . . . . . . . . . . . . . . . . 78
A.2.2 Object directory CPX-FB38 mode (fixed I/O size) . . . . . . . . . . . . . . . . . . . . . . . . 81
B Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

CPX-FB37
Notes on this documentation

This description contains information regarding the installation and configuration of the CPX bus node,
as well as EtherCAT-specific information regarding parameterisation, commissioning and diagnostics of
a CPX terminal in an EtherCAT network.
CPX-FB37 Description Connection technology

Ethernet-based CPX bus 2 x M12 socket, D-coded, 4-pin,
node for EtherCAT corresponding to
IEC 61076-2-101,
SPEEDCON®-compatible
Tab. 1 Overview
Additional information regarding EtherCAT can be found online ( www.ethercat.org).
Product-specific information about the control system (IPC, PLC or I/O controller) can be
found in the manufacturer’s documentation accompanying the product.
General basic information about the mode of operation, mounting, installation and
commissioning of CPX terminals can be found in the CPX system description
(P.BE-CPX-SYS-...).
Information about additional CPX modules can be found in the description for the respect-
ive module.
An overview of the structure of the CPX terminal user documentation is contained in the
CPX system description.
All documents are also available on the Festo website
( www.festo.com/sp).
Service
Please consult your regional Festo contact if you have any technical problems.

1 Safety and requirements for product use
1 Safety
1.1 General safety information

• Observe the general safety information in the corresponding chapters.
Specific safety regulations can be found immediately before the task instructions.
Note
Damage to the product from incorrect handling.
• Switch off the supply voltage before mounting and installation work. Switch on sup-
ply voltage only when mounting and installation work are completely finished.
• Never unplug or plug in a product when powered!
• Observe the handling specifications for electrostatically sensitive devices.
1.2 Intended use

The bus node CPX-FB37 is intended exclusively for use in CPX terminals, as a participant in the EtherCAT
fieldbus system, and it may only be used as follows:
– in excellent technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data ( Appendix A.1)
– in an industrial environment
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
Warning
Danger of electric shock from voltage sources without protective measures.
• Use only PELV circuits in accordance with IEC/EN 60204-1 (Protective Extra-Low
Voltage, PELV) for the electric logic supply.
• Observe also the general requirements for PELV circuits in accordance with
IEC/EN 60204-1.
• Use only voltage sources that ensure a reliable electric separation of operating
voltage in accordance with IEC/EN 60204-1.

Through the use of PELV circuits, protection against electric shock (protection against direct and indir-
ect contact) is ensured in accordance with IEC/EN 60204-1.
In the CPX system description (P.BE-CPX-SYS-…), read the information on power supply as
well as on the earthing measures to be carried out.

1.3 Requirements for product use

• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Consider also the
documentation for other components and modules (e.g. CPX system descriptionP.BE-CPX-SYS-…).
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards
– regulations of the testing organizations and insurers
– national specifications
1.3.1 Technical requirements

General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
product ( Appendix A.1) and of all connected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the notes and warnings in this documentation.
1.3.2 Qualification of specialists (personnel requirements)

The product may only be commissioned by trained control and automation technology professionals,
who have experience with:
– the installation, commissioning, programming and diagnostics of participants in the EtherCAT field-
bus system
– the applicable regulations for operating safety-engineered systems
– the applicable regulations for accident protection and operational reliability
– the documentation for the product
1.3.3 Range of application and certifications

Standards and test values, which the product complies with and fulfils, can be found in the “Technical
data” section ( Appendix A.1). The product-relevant EU directives can be found in the declaration of
conformity.
Certificates and the declaration of conformity for this product can be found on the Festo
website ( www.festo.com/sp ).
The bus node CPX-FB37 successfully passed the test with the “EtherCAT Conformance Test Tool” (CTT).

2 Overview
2 Overview
2.1 Function range (brief overview)

– Real-time Ethernet communication (EtherCAT)
– Deterministic data transmission
– Master-slave system architecture
– Modular valve terminal configuration (MDP)
– Diagnostic data via CoE
– Parameterisation in plain text via CoE
– Hot Connect function for connecting and disconnecting devices during operation
– Module address can be altered via DIL switch
– Activation of the compatibility mode for the bus node CPX-FB38 via DIL switch
– Activation of the bootloader mode via DIL switch
– Adjustable fail-safe behaviour
– Adjustable CPX diagnostics mode

2 Overview
2.2 Connections and display components

The bus node has the following connections and display components:
4 2
1 EtherCAT-specific network status LEDs and 4 Cover for DIL switches

CPX-specific LEDs 5 Service interface for operator unit CPX-MMI
2 Network connection 1 (input “X1 In”) and USB adapter (for CPX-FMT)
3 Network connection 2 (output “X2 Out”) 6 Rating plate
Fig. 2.1 Connections and display components of the bus node
Note
• Use cover caps to seal unused connections. You will then comply with the degree of
protection IP65/IP67 ( Section 3.4).

3 Mounting and installation
3.1 Dismantling and mounting

Warning
Danger of injury to people, damage to the machine and system resulting from uncon-
trolled movements of the actuators and undefined switching states
• Switch off the operating and load voltage supply.
• Switch off the compressed air supply.
• Exhaust the pneumatics valve terminal.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Do not touch any components.
Note
Malfunction or damage to the bus node
Mounting /dismantling of the bus node must always take place in a de-energised state.
• To do this, disconnect the corresponding CPX terminal completely from the related
voltage supply or switch off the voltage supply.
Information about mounting of the CPX terminal can be found in the CPX system descrip-
tion (P.BE-CPX-SYS-...).

When built-in, the bus node is located in an interlinking block of the CPX terminal.
3
2
1 Bus node 3 Contact rails

2 Interlinking block 4 Torx T10 screws
Fig. 3.1 Mounting/dismantling the bus node
Note
Loss of settings
If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal
is saved locally in the bus node. In this case, parameterisation is lost if the bus node is
replaced.
• Save the required settings before replacing the bus node and restore the settings
after replacement.
3.1.1 Dismantling the bus node

1. Loosen the 4 screws of the bus node with a Torx screwdriver size T10.
2. Pull the bus node carefully and without tilting away from the contact rails of the interlinking block.

3.1.2 Mounting the bus node

Note
Damage to the interlinking block
• Always use the correct screws for the interlocking block, which depend on whether
the block is made of metal or plastic:
– For plastic interlinking blocks: Self-tapping screws
– For metal interlinking blocks: Screws with metric thread
Both types of screws are enclosed when the bus node is ordered as a single part.
1. Check the seal and the sealing surfaces. Replace the damaged parts.
2. Insert the bus node into the interlinking block as far as possible without tilting it.
3. Turn the screws into the existing thread.
4. Tighten the screws in diagonally opposite sequence. Tightening torque: 0.9 … 1.1 Nm.

3.2 Setting the DIL switches on the bus node

In order to set the CPX bus node, you must first remove the cover for the DIL switches.
Note
Malfunction or damage to the electronics
The CPX bus node for EtherCAT contains electrostatically sensitive devices.
• Do not touch any components.
3.2.1 Removing and fitting the cover over the DIL switches
You need a TORX screwdriver size T10 to remove or attach the DIL switch cover.
Note
Observe the following notes when removing or fitting the cover:
• Disconnect the power supply before removing the cover.
• Make sure the seal is seated correctly when attaching the cover.
• Tighten the two mounting screws with a max. torque of 0.4 Nm.

3.2.2 Arrangement of the DIL switches

There are 3 DIL switches available for configuring the bus node. They are located underneath the DIL
switch cover.
1 2
1 DIL switch 1: Bus node operating mode 3 DIL switch 3: EtherCAT address of the bus
2 DIL switch 2: Diagnostics mode, number of node
I/O bytes, bootloader
Fig. 3.2 DIL switches on the bus node
3.2.3 Setting the DIL switches

1. Switch off the power supply.
2. Remove the cover ( Section 3.2.1).
3. Perform the required settings ( Tab. 3.1 … Tab. 3.6).
4. Replace the cover ( Section 3.2.1).
Changes to the DIL switches only take effect when the bus node is restarted.

3.2.4 Setting the operating mode

You can set the operating mode of the bus node with switch element 1.1 of DIL switch 1.
Operating mode Setting DIL switch 1
Remote I/O DIL 1.1: OFF
All functions of the CPX terminal are controlled directly by (factory setting)
the EtherCAT controller or a higher-level PLC.
The bus node thereby takes over the connection to the
EtherCAT network.
Remote controller DIL 1.1: ON
A CPX-FEC or CPX-CEC integrated into the terminal
controls all functions.
The bus node thereby takes over the connection to the
EtherCAT network.
Tab. 3.1 Setting the operating mode
3.2.5 Configuring the EtherCAT addressing type

Use switch element DIL 1.2 of DIL switch 1 to switch between Modular Device Profile and fixed I/O size
( Section 4.5.1).
EtherCAT addressing type Setting DIL switch 1
Modular Device Profile (MDP) active DIL 1.2: OFF
(factory setting)
Fixed I/O size active (64 byte I/O) DIL 1.2: ON

(compatible with the bus node CPX-FB38)
Tab. 3.2 Configuring the EtherCAT addressing type

3.2.6 Setting the diagnostics mode (Remote I/O operating mode)

The diagnostic mode is available only in the remote I/O operating mode.
Note
1. The diagnostics mode reduces the available address space.
Use of the diagnostics mode (status bits or I/O diagnostics interface) occupies 16 I or
16 I/O bits and thus reduces the number of I/O bits which are available for module
communication. In this way, the number of addressable modules is reduced in favour of
additional status or diagnostic information.
2. When using the fixed I/O size (CPX-FB38 mode), subsequent activation of the dia-
gnostics mode requires a reconfiguration.
A detailed description of the addressing process and various addressing examples for the
CPX-FB38 mode can be found in the description of the bus node CPX-FB38
( P.BE-CPX-FB38).
Set the diagnostics mode of the bus node with DIL switch 2.
Diagnostics mode (remote I/O operating mode) Setting DIL switch 2
I/O diagnostics interface and status bits are switched off DIL 2.1: OFF
(+ 0 I/O bits) DIL 2.2: OFF
(factory setting)
Status bits are switched on DIL 2.1: OFF

(+ 8 (16) I bits)1) DIL 2.2: ON
I/O diagnostics interface is switched on DIL 2.1: ON

(+ 16 I/O bits)1) DIL 2.2: OFF
1) The diagnostics mode (status bits or I/O diagnostics interface) occupies 2 bytes or 4 bytes of address space (16 I-bits or 16
I/O-bits; 8 I-bits remain unused in the status bits mode)
Tab. 3.3 Setting the diagnostics mode (Remote I/O operating mode)

3.2.7 Setting the I/O mode (remote controller operating mode)

The I/O mode is available only in the remote controller operating mode.
Set the I/O mode of the bus node with DIL switch 2.
Number of I/O bytes (remote controller operating mode) Setting DIL switch 2
8 bytes I/8 bytes O DIL 2.1: OFF
for communication of the bus node with the CPX-FEC or DIL 2.2: OFF
CPX-CEC (factory setting)
16 bytes I/16 bytes O DIL 2.1: OFF

for communication of the bus node with the CPX-FEC or DIL 2.2: ON
CPX-CEC
Reserved for future extensions DIL 2.1: ON

DIL 2.2: OFF
Tab. 3.4 Setting the number of I/O bytes (remote controller operating mode)
3.2.8 Starting the bootloader mode

The bootloader mode is available in any operating mode.
Start the bootloader mode with DIL switch 2.

The bootloader mode can be used to restore the operational capability of the bus node (e.g. after a
failed firmware download via FoE) ( Section 4.9.2).
Starting the bootloader Setting DIL switch 2
for firmware restore DIL 2.1: ON
DIL 2.2: ON
Tab. 3.5 Starting the bootloader.

3.2.9 Setting the EtherCAT address

You can assign a free EtherCAT address (Explicit Device ID) to the bus node by using DIL switch 3.
Setting an EtherCAT address is optional (e.g. for the Hot-Connect function).
You can set the EtherCAT address in binary coded format by using switch elements 1 to 8.
If the EtherCAT address 0 is set, the programmed address in the EEPROM is used (factory
setting).
1 to 255 are thereby available as possible EtherCAT addresses.
Example: Set EtherCAT address 77

DIL switch 3
1 2 3 4 5 6 7 8
DIL switch element 1 2 3 4 5 6 7 8

Switch position ON Off ON ON Off Off ON Off
Binary 1 0 1 1 0 0 1 0
Potency (significance) 20 21 22 23 24 25 26 27
Numerical value (decim- 1 0 4 8 0 0 64 0
al)
EtherCAT address 1 + 0 + 4 + 8 + 0 + 0 + 64 + 0 = 77
Tab. 3.6 Setting the EtherCAT address with DIL switch 3
The set EtherCAT address (Explicit Device ID) must be activated.

To do this in the TwinCAT 3.x configuration tool, select the following:
EtherCAT Advanced settings General Identification Explicit Device Identi-
fication (ADO 0x0134) ( Fig. 3.3).
Fig. 3.3 Selecting “Explicit Device Identification (ADO 0x0134)” (TwinCAT 3.x)

The set Explicit Device ID of the bus node appears in TwinCAT 3.x under the tab “CoE Online”.
Fig. 3.4 Explicit Device ID of the bus node (TwinCAT 3.x)
Another way of permanently assigning an EtherCAT address to the bus node is to write the
device address to the EEPROM using a configuration tool ( Section 4.4.2).

3.3 Connecting to the EtherCAT network
3.3.1 General notes on EtherCAT networks

Note
Components with EtherCAT interfaces may be operated only in networks where all con-
nected network components are supplied with PELV power supplies or integrated power
supplies with similar protection.
Installation instructions
You can obtain specifications, installation notes and instructions through the EtherCAT
user organisation ( www.ethercat.org).
Note
Unauthorised access to the device can cause damage or malfunctions.
When connecting the device to a network:
• Protect your network from unauthorised access.
Measures for protecting the network include:
– Firewall
– Intrusion Prevention System (IPS)
– Network segmentation
– Virtual LAN (VLAN)
– Virtual Private Network (VPN)
– Security at a physical access level (Port Security).
For further notes, please refer to the guidelines and standards for security in informa-
tion technology, e.g. IEC 62443, ISO/IEC 27001.
Note
Faulty installation and high transmission rates may cause data transmission errors as a
result of signal reflections and attenuations.

3.3.2 Network interface

To connect to the network, there are two 4-pin M12 sockets with D-coding on the bus node (for industri-
al Ethernet use, corresponding to IEC 61076-2-101). The sockets are compatible with SPEEDCON®
plugs.
M12 socket, Pin Signal Explanation
D-coded
1 TD+ Transmission data (transmit data, TD) +
2 RD+ Receive data (receive data, RD) +
3 TD- Transmitted data –
4 RD- Received data –
Housing FE Screening/functional earth (FE)
Tab. 3.7 Pin allocation of the network interfaces
3.3.3 Network connectors

Note
To comply with degree of protection IP65/IP67:
• Use Festo plugs.
• Seal unused interfaces ( Section 3.4).
Accessories for the bus node can be found on the Festo website
( www.festo.com/catalogue).
3.3.4 Cable specification

Use shielded Industrial Ethernet cables of category Cat 5 or higher. You can find details regarding cable
specification in Tab. 3.8.
The CPX bus node FB37 supports crossover detection:
To connect your bus node to the network, the control system or a PC, you can either use
patch cables or crossover cables (Auto-MDIX).
Note
If the CPX terminal is fitted onto the moving part of a machine, the network cable on the
moving part must be provided with strain relief. Also observe the corresponding regula-
tions in IEC/EN 60204 Part 1.

Cable specification
Cable type Ethernet twisted pair cable, shielded (Shielded Twisted Pair, STP)
Transmission class Category Cat 5 or higher
Cable diameter 6 … 8 mm
Core cross section 0.14 … 0.75 mm2; 22 AWG1)
Connection length Maximum 100 m
1) Required for maximum connection length between network participants
Tab. 3.8 Cable specification overview
3.4 Complying with degree of protection IP65/IP67

In order to comply with degree of protection IP65/IP67, seal the ports with the following plugs or cover
caps:
Port Plug Cover cap1)
X1 In, X2 Out (M12) NECU-M-S-D12G4-C2-ET ISK-M12
Service interface (M12) – Plug of the operator unit ISK- M122)
(CPX-MMI)
– Plug of the USB adapter for
CPX-FMT
1) if connection is unused
2) included in the scope of delivery
Tab. 3.9 Ports, plugs and cover caps for degree of protection IP65/IP67
3.5 Voltage supply

Warning
Danger of electric shock from voltage sources without protective measures.
• Only use PELV circuits in accordance with IEC/EN 60204-1 (protective extra-low
voltage, PELV) for the electrical power supply.
• Also observe the general requirements for PELV circuits in accordance with
IEC/EN 60204-1.
• Only use voltage sources which ensure reliable electrical isolation of the operating
voltage in accordance with IEC/EN 60204-1.
Through the use of PELV circuits, protection against electric shock (protection against direct and indir-
ect contact) is ensured in accordance with IEC/EN 60204-1.
The current consumption of a CPX terminal depends on the number and type of integrated modules and
components.

In the CPX system description (P.BE-CPX-SYS…), read the information on power supply as
well as on the earthing measures to be carried out.
The CPX terminal is supplied with operating and load power via the manifold base with system, addi-
tional and valve supply.
The pin allocation of the CPX interlinking blocks can be found in the CPX system descrip-
tion and the package insert for the CPX interlinking block.

4 Commissioning
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4.1 General instructions
4.1.1 Switching on the power supply

Note
• Please observe the switch-on instructions in the manual of your control system
(PLC/IPC).
If the control system and fieldbus station have separate voltage supplies, the devices must be switched
on in the following sequence:
1. Switch on the operating voltage supply of all bus stations (I/O devices).
2. The power supply for the controller.
4.1.2 Addressing, configuration and parameterisation

Addressing, configuration and parameterisation differ depending on whether the modular
device profile (MDP) or the fixed I/O size (CPX-FB38 mode) is used.
4.2 Address assignment

Note
– In MDP the bus node automatically determines the number of inputs and outputs of
the modules installed in the CPX terminal.
– The bus node provides the CPX terminal with an address space of up to 64 bytes for
inputs (I) and 64 bytes for outputs (O).
– Each module of the CPX terminal occupies a certain number of I/O bits, I/O bytes or
words in the context of module communication.
– Certain functions, such as the I/O diagnostics interface (STI), also reduce the num-
ber of available I/O bytes (in favour of status or diagnostic functions).
The address assignment within the individual CPX modules are found in the description
for the relevant CPX module.
On the basis of the CPX module type, you can ascertain the number of inputs and outputs
occupied by the CPX module.
In the CPX FMT or CPX MMI, the individual modules are displayed with the respective
module identifiers. In the I/O modules, the module indicator is depicted in the upper
region of the module besides the LEDs (for example, 8DI for a module with 8 digital in-
puts).

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Detailed information on the electric and pneumatic CPX modules can be found on the
Festo website ( www.festo.com/sp).
4.3 Addressing the inputs and outputs, data access
4.3.1 Basic rules for addressing

– The bus node counts as a module with 0 inputs and 0 outputs when the status bits and the I/O dia-
gnostic interface are deactivated.
– Observe the notes regarding address assignment in section 4.2.
– Modules with less than 8 bits occupy 8 bits or 1 byte of address space, but do not use all this space.
– The addressing sequence differs between MDP and a fixed I/O size (CPX-FB38 mode).
If necessary, status bits or the I/O diagnostics interface can be activated via DIL switch
( Tab. 3.3):
– If the 8 status bits are activated, they will occupy 16 inputs in the address range
(8 used).
– If the I/O diagnostics interface is activated, it will occupy 16 inputs and outputs in the
address range.
4.3.2 Differences in addressing between the modular device profile and fixed I/O size
Sequence of addressing — Modular Device Profile (CPX-FB37 mode)

The I/O addresses are assigned in ascending order according to the module position.
Sequence of addressing — fixed I/O size (CPX-FB38 mode)

If the bus node is set to a fixed I/O size using DIL switch 2 ( Section 3.2.5), the following rules shall
apply ( Tab. 4.1):
Sequence of addressing Description
1. Status bits or I/O diagnostics Delivers status and diagnostic information; activate through
interface DIL switches; occupies the first 16 inputs or inputs and
outputs
2. Analogue modules Modules with analogue inputs/outputs
3. Technology modules e. g. CP interface, front end controller (CPX-FEC), CoDeSys
controller (CPX-CEC)
4. Digital modules Modules with digital inputs/outputs
Tab. 4.1 Sequence of addressing in CPX-FB38 mode
A detailed description of the addressing process and various addressing examples for the
CPX-FB38 mode can be found in the description of the bus node CPX-FB38
( P.BE-CPX-FB38).

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4.3.3 Data access (data objects)

Asynchronous information can be exchanged with the EtherCAT devices via a mailbox mechanism.
Known data object models are used in part here, e. g. CoE (CAN over EtherCAT).
EtherCAT devices (I/O devices) have an object directory with all accessible objects.
An EtherCAT system can be configured by accessing the object directory of the individual participants.
The access mechanism is provided by Service Data Objects (SDOs).
There are two different communication mechanisms in an EtherCAT system.
The Process Data Objects (PDO) provide fast transfer of process data and are transmitted by simple
EtherCAT messages with no protocol overhead. Process Data Objects may be transmitted based on
event control, synchronised to a system clock, or on request.
The Service Data Objects (SDO) form a point-to-point connection and permit access to every entry in
the object directory of a node.
Access these data objects with the help of user programs created according to your specific require-
ments.
4.4 Addressing the devices

The higher-order controller is responsible for addressing the individual modules: The EtherCAT master
determines the position of the EtherCAT devices within the network.
The controller uses the following for local addressing:
– The physical position of the device in the EtherCAT network (“Auto Increment Address”)
– An independent EtherCAT device address (“EtherCAT Address”).
4.4.1 Assigning an independent EtherCAT device address via DIL switch

The bus node can be assigned an EtherCAT address using DIL switch 3 ( Section 3.2.9).
4.4.2 Assigning an independent EtherCAT device address using the configuration tool
The EtherCAT device address can be changed in the EEPROM using the configuration tool
(e.g. TwinCAT 3.x).
1. Remove the bus node from the EtherCAT network.
2. Write the new address into the EEPROM ( Fig. 4.1).
EtherCAT Advanced Settings ESC Access Configured Station Alias

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Fig. 4.1 Writing a new EtherCAT device address
3. Switch the power supply off and back on again (cold start).
The new device address is saved in the EEPROM.
Fig. 4.2 New EtherCAT device address

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4.5 Configuration
4.5.1 Registering station properties in the configuration program

When you place a new EtherCAT participant, i.e. an EtherCAT device, into operation for the first time,
you must inform the configuration and programming software about certain properties of the parti-
cipant.
The properties of the various participants are managed in a configuration file - the EtherCAT slave in-
formation file (ESI file).
EtherCAT Slave Information File (ESI file)

The file/its contents are available in Extensible Markup Language (XML).
The ESI file serves to identify the bus node in the EtherCAT network. The ESI file sends basic properties
of the EtherCAT device, and manufacturer information, to the configuration program.
The ESI file contains all the information needed for the configuration and settings of the higher-order
controller using configuration and programming software, e.g. Beckhoff TwinCAT.
The current EtherCAT configuration file (ESI file) for the CPX terminal and bus node can be
found on the Festo website ( www.festo.com/sp).
• To expand the ESI library of your configuration program, copy the bus node-specific XML file into the
program directory of your configuration program – e.g. for Beckhoff TwinCAT 3.x under: C:\Twin-
CAT\3.x\Config\Io\EtherCAT.

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Participant properties
When the ESI file is imported, e.g. the following information is sent to the configuration program via the
bus node/EtherCAT participant.
Information Description
Vendor name Festo SE & Co. KG
Vendor ID 0000001Dh
Product code 0029BF58h
Product name CPX-FB37
Tab. 4.2 EtherCAT participant properties
Once the ESI file has been imported, i.e. after the participant properties have been added to the config-
uration program, the bus node is included as a possible EtherCAT participant. You can now integrate
the bus node into your EtherCAT network and configure the CPX terminal.
The bus node can access 2 different ESI files:
– an ESI file for the Modular Device Profile (MDP)
– or an ESI file for the CPX-FB38 mode (fixed I/O size)
The bus node accesses the respective ESI file depending on the position of DIL switch 1
( Section 3.2.5).
A requirement is that both ESI files are present in the device directory.

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4.5.2 Configuration in the Modular Device Profile (MDP)
Reading the configuration

The existing configuration can be read automatically.
Fig. 4.3 Automatic reading of the configuration (via the “Scan” command here in TwinCAT 3.x)
Doing this detects the bus node and all CPX modules together with their I/Os.
Fig. 4.4 Detected CPX modules

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Manual configuration
Manual configuration is also possible as an alternative. Here the connected CPX modules are selected
from a module list in the configuration interface.
Fig. 4.5 Manual configuration of the CPX terminal
Adding the bus node

Select the bus node in the configuration and programming software and specify the following:
– the mode in which you want to operate the bus node
– whether, and in what format, the diagnostic messages of the CPX terminal are to be used.
The following options are available:
Module designation 1) Operating mode CPX diagnostics
FB37-RIO-EtherCAT Remote I/O Remote I/O No CPX diagnostics
FB37-RIO-EtherCAT Remote I/O [ST] Remote I/O Display of common
diagnostic messages
FB37-RIO [STI] -EtherCAT remote I/O Remote I/O All diagnostic information is
available
FB37-RC [8 bytes IO] Remote controller –
8 byte I/8 byte O for
communication of the bus
node with the CPX-FEC or
CPX-CEC
1) Module designation in the configuration and programming software

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Module designation 1) Operating mode CPX diagnostics

FB37-RC [16 bytes IO] Remote controller –
16 byte I/16 byte O for
communication of the bus
node with the CPX-FEC or
CPX-CEC
1) Module designation in the configuration and programming software
Tab. 4.3 Diagnostics settings
Note
The setting of DIL switch 2 must correspond to the diagnostics mode selected here
( Section 3.2.6).
Additional information on CPX diagnostics can be found in the CPX system description
(P.BE-CPX-SYS-...).
In the illustration below ( Fig. 4.6) the bus node is added to slot 1 in the Remote I/O mode without
CPX diagnostics (view in TwinCAT 3.x).
Fig. 4.6 Bus node in Remote I/O mode, without CPX diagnostics

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Adding the connected modules

The connected modules of the CPX terminal have been added to the following slots ( Fig. 4.7).
Fig. 4.7 CPX modules
48 slots are available. The CPX modules can be assigned to the individual slots.
4.5.3 Configuration with fixed I/O size (CPX-FB38 mode)

I/O assignment must be performed manually by the user.
4.5.4 Configuration in the remote controller operating mode

If there is a CPX Front End Controller (CPX-FEC) or a CoDeSys controller (CPX-CEC) in your CPX terminal,
you can operate the bus node in the Remote Controller operating mode. In this mode the bus node
provides the control program in the CPX-FEC or CPX-CEC and the EtherCAT master (IPC/PLC) with 8 or 16
byte inputs and 8 or 16 byte outputs.
1. Make sure that DIL switch DIL 1 of the bus node is in the Remote Controller position (DIL 1.1 = ON,
DIL 1.2 = OFF; Section 3.2.4, Tab. 3.1).
The bus node is thus configured as a remote controller.
To configure the CPX-FEC and the CPX terminal, the use of Festo Software Tools Version 4 (FST 4) is
required. To configure the CPX-CEC and the CPX terminal, CODESYS provided by Festo is required
( Step 2.).

4 Commissioning
2. Configure the CPX terminal with the Festo Software Tools FST 4 via the CPX-FEC or with CODESYS
provided by Festo via the CPX-CEC.
3. Start your configuration and programming software, e.g. Beckhoff TwinCAT.
4. Open the hardware configuration (“I/O Configuration”).
5. Configure the EtherCAT network.

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4.6 Parameterisation
4.6.1 Introduction to parameterisation

The system reaction of a CPX terminal can be largely adapted to the relevant application. You can indi-
vidually set the reaction of the entire terminal as well as of individual modules and channels through
parameterisation. A distinction is made between the following parameterisation functions:
– System parameterisation, e.g. switching off fault messages, setting reaction times
– Module parameterisation (module- and channel-specific), e.g. monitoring functions, settings for
error handling, settings for forcing
– Parameterisation of the diagnostic memory.
General information on commissioning the CPX terminal as well as a detailed description
of individual parameters can be found in the CPX system description
(P.BE-CPX-SYS-…).
Information on commissioning the pneumatic interfaces and the digital I/O modules can
be found in the description P.BE-CPX-EA-....
Information on commissioning the analogue I/O modules can be found in the description
P.BE-CPX-AX-....
Instructions on commissioning the pneumatic components can be found in the corres-
ponding description of pneumatics.
Caution
Changes in parameterisation or application-specific parameter settings result in
changes to the module or system behaviour.
• Check especially when replacing CPX terminals to see which settings are necessary
and make sure that these are restored, if necessary (e.g. in the commissioning
phase by appropriate system-start parameterisation).
Warning
Danger of injury to people, damage to the machine and system resulting from uncon-
trolled movements of the actuators and undefined switching states
• During the parameterisation process make sure that nobody is within the sphere of
influence of moving parts of your system.
• It is imperative that you observe the instructions on “Force”, “Idle mode” and “Fail
safe” in the CPX system description (P.BE-CPX-SYS-…), as well as in the description
of the CPX-MMI and in the online help of the CPX-FMT.
The CPX terminal is supplied from the factory with preset parameters. These parameters
are saved in the bus node.
A CPX terminal can only be parameterised if the function “System start with default para-
meterisation and current CPX expansion” is activated (set the “System start” system
parameter accordingly).

4 Commissioning
If the parameterisation is not changed, the factory settings are used.
4.6.2 Methods of parameterisation

A CPX terminal with the bus node can be parameterised using various methods. A brief explanation of
the available methods can be found in Tab. 4.4 and the following sections.
Method Description Benefits Disadvantages
Parameterisation with Parameterisation is Comfortable Parameterisation of
the operator unit carried out via parameterisation via the CPX terminal is
CPX-MMI menu-driven entries. the menu navigation saved locally in the bus
Section 4.6.3 Start with saved (plain text). node and is lost when
parameters necessary. replaced.1)
Parameterisation with Parameterisation is Fast, simple Parameterisation of
the Festo Maintenance carried out via parameterisation the CPX terminal is
Tool (CPX-FMT) menu-driven entries. during commissioning saved locally in the bus
Section 4.6.4 Start with saved for testing the node and is lost when
parameters necessary. parameters. replaced.1)
Parameterisation via Parameterisation is Parameterisation in —
EtherCAT carried out with plain text via CoE.
Section 4.6.5 configuration software
(e.g. TwinCat).
1) Copying and saving of parameter settings is possible, for example, for transferring parameter data as part of a module exchange.
Tab. 4.4 Methods of parameterisation
4.6.3 Parameterisation with the operator unit CPX-MMI

The Festo operator unit (CPX-MMI) offers menu-driven access for parameterisation without configura-
tion software.
Information about using the operator unit can be found in the corresponding description
(P.BE-CPX-MMI-1-…).
4.6.4 Parameterisation with the Festo Maintenance Tool (CPX-FMT)

With the PC software Festo Maintenance Tool (CPX-FMT), you can easily parameterise the CPX terminal
over a USB connection.
The current version of the PC software CPX Festo Maintenance Tool (CPX-FMT) can be
found on the Festo website ( www.festo.com/sp).
To operate the PC software (CPX-FMT) on the bus node, you will need the USB adapter
(connecting cable) NEFC-M12G5-0.3-U1G5.

4 Commissioning
4.6.5 Parameterisation via EtherCAT in the Modular Device Profile (MDP)
Parameterisation of the connected modules

The parameters of the individual modules are available as objects. In contrast to the CPX-FB38 mode,
the parameters in the MDP can be accessed individually and are represented accordingly.
The parameters (objects) can be set, for example, with TwinCAT 3.x under the tab “CoE-Online”
( Fig. 4.8).
In the CPX system description and the descriptions for the I/O modules you will find:
– an explanation of the individual parameters
– the range of values of the individual parameters.

4 Commissioning
Example: Parameterisation of an I/O module

Parameters (objects) of the multi I/O module CPX-8DE-8DA
– Monitoring short circuit/overload of sensor supply: On (TRUE)
– Monitoring short circuit/overload of outputs: On (TRUE)
– Monitoring undervoltage of outputs on: (TRUE)
– USEN after short circuit/overload of sensor supply: (Switch on again)
– UOUT after short circuit/overload of outputs: (Leave switched off )
– Debounce time: 3 ms
– Signal extension time: 15 ms
– Inputs CH0-Ch3: With signal extension (TRUE)
– Inputs Ch4-Ch7: Without signal extension (FALSE)
Fig. 4.8 Example: Objects of the I/O module CPX-8DE-8DA

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4.7 Remarks on parameters of the CPX system settings
4.7.1 Sequence of start parameterisation during switch-on (system start)

The parameterisation during system start of the CPX terminal is dependent on the setting of the system
start parameter stored in the bus node.
System start with default parameters

– System start with default parameterisation (factory setting) and current CPX expansion
– External parameterisation possible
System start with saved parameters

– System start with saved parameterisation and saved CPX expansion
– Parameters and CPX expansion are saved remanently
– External parameterisation is blocked
– LED “M” on the CPX bus node illuminates
Fig. 4.9 Setting system start parameters (TwinCAT 3.x)

4 Commissioning
In the Festo Maintenance Tool, you will find the corresponding setting under:
CPX “System Settings” Tab “System Parameters” “System start”.
Fig. 4.10 Setting system start parameters (FMT)
Note
Loss of settings
If the LED “M” of the bus node is permanently lit, parameterisation of the CPX terminal
is saved locally in the bus node. In this case, parameterisation is lost if the bus node is
replaced.
• Save the required settings before replacing the bus node and restore the settings
after replacement.
4.7.2 Parameterisation of the fail-safe mode

This operating mode defines the status which digital output signals (outputs and valves) are to assume
in the event of field bus communication faults.
You can determine the status to be assumed for each output channel (output or solenoid coil or valve)
separately. The standard setting is “Reset of the output channel”.
Without parameterisation of the output channels, the following communication condition applies:
– Input signals are transferred
– Output signals are reset (factory setting); note that the analogue value 0 is set for analogue out-
puts.
If necessary, parameterise the required status of individual or all output channels (outputs or solenoid
coils).

4 Commissioning
Example: Parameterisation of the fail-safe mode with TwinCat 3.x
Fig. 4.11 Parameterisation of the fail-safe mode for all outputs (output signals are reset)
Additional information can be found in the CPX system description (P.BE-CPX-SYS…).

4 Commissioning
4.8 Web server

A web server is integrated in the bus node. The web server makes available the most important para-
meters and diagnostic functions.
4.8.1 Configuration
In order to access the web server of the bus node, the network settings must be configured.
Example
– A PC is connected (via a server) to the EtherCAT control system via Ethernet.
– The EtherCAT control system has a second Ethernet port that is activated for EtherCAT communica-
tion. The CPX terminal is connected to this Ethernet port via the bus node.
Procedure
1. Specify a fixed IP address on the PC:
Fig. 4.12 Specifying a fixed IP address on the PC

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2. Specify a fixed IP address on the EtherCAT control system using network adapter 1 (connection to
the PC).
Fig. 4.13 Specifying a fixed IP address on network adapter 1 of the control system

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3. Specify a fixed IP address and subnet mask on the EtherCAT control system using network adapter 2
(connection to the bus node).
Fig. 4.14 Specifying a fixed IP address and subnet mask on network adapter 2 of the control system

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4. Enable EoE communication and the IP routing function on the EtherCAT control system.
Fig. 4.15 Settings under “EtherCAT” “Advanced Settings” “EoE-Support” (TwinCAT 3.x)
5. Assign the bus node IP address and subnet mask. The subnetwork of the bus node must match the
subnetwork of network adapter 2 used by the control system (same subnet ID).
Fig. 4.16 Settings under “EtherCAT” “Advanced Settings” “Mailbox” “EoE” (TwinCAT 3.x)

4 Commissioning
To enable the bus node to be reached via the PC, the routing settings need to be added.
6. Start the Windows program “cmd.exe” on the PC.
7. Enter the following information: “route add 172.16.0.0 mask 255.255.0.0 192.168.2.10”.
Fig. 4.17 Adding routing settings
8. Open an Internet browser of your choice on the PC.

9. In the address bar of the Internet browser enter the assigned IP address of the bus node as follows:
http://172.16.1.100.

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Fig. 4.18 Web server of the bus node

4 Commissioning
4.9 Firmware update/restoring the firmware
4.9.1 Updating the firmware via FoE (File Access over EtherCAT)
The bus node supports FoE. It is possible to load the firmware onto the module via the EtherCAT master
(provided that it supports this function).
The current firmware version can be found on the Festo website
( www.festo.com/sp).
Note
Loss of function of the device
If the supply voltage fails while the firmware is being written, it will result in a loss of
function of the bus node.
• Do not interrupt the firmware download and writing process under any circum-
stances.
When using the TwinCAT 3.x configuration software proceed as follows:

1. Copy the new firmware into a directory.
2. Switch the bus node to the status BOOTSTRAP.
The “RUN” LED on the bus node flickers; the “Current State” in the TwinCAT 3.x configuration
program changes to “BOOT”.
Fig. 4.19 Activating BOOTSTRAP

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3. Load the new firmware from the directory (click the “Download...” button).
Fig. 4.20 Downloading the firmware
The firmware version is displayed:
Fig. 4.21 Display of the firmware version
4. Confirm by pressing “OK”.

After downloading the firmware the bus node restarts automatically and switches to the status
OPERATIONAL (OP). The “RUN” LED illuminates permanently.
Note
In the event of a firmware update in the Remote Controller (RC) mode, the CPX terminal
switches to an unsafe status.
After the automatic restart of the bus node it is no longer recognised by the CPX-FEC or
CPX-CEC.
• Switch off the power supply to the CPX terminal briefly and then switch it on again
(cold start).

4 Commissioning
4.9.2 Restoring the firmware with the Festo Field Device Tool (FFT)
The Festo Field Device Tool enables you to restore the operational capability of the bus node (e.g. after
a failed firmware update via FoE).
The FFT software can be found on the Festo website ( www.festo.com/sp).
Install the FFT software on a PC or notebook.

1. Disconnect the power supply of the CPX terminal and, if relevant, the compressed air supply.
2. Remove the bus node from the EtherCAT network.
3. Connect your PC directly to the bus node via the network connection.
4. Set both switching elements on DIL switch 2 of the bus node to ON ( Section 3.2).
5. Start the “Recovery” function in the FFT under the “Actions” tab and select the corresponding com-
mand in the “General” group of instructions.
Fig. 4.22 Selection of the bus node
6. Click the bus node CPX-FB37 in the selection list.

The following message appears:

4 Commissioning
Fig. 4.23 FFT message
7. Confirm the message by pressing “OK”.

8. Switch on the power supply for the bus node.
The bus node switches to the status “Bootloader mode”.
9. Follow the instructions of the software.
Further information can be found in the online help of the Festo Field Device Tool (FFT).
4.10 Checklist for commissioning a CPX terminal

• Please observe the general commissioning instructions in the CPX system description.
• Check the DIL switch settings and the network configuration before using and replacing CPX termin-
als.
• Check the configured address range. If necessary, test the I/Os.
• Check the address assignment of the I/Os on the CPX terminal. For this purpose you can, if neces-
sary, force the I/Os ( CPX system description).
• Make sure that the desired parameterisation of the CPX terminal in the commissioning phase or
after network interruptions is restored by the higher-order controller. This ensures that if the CPX
terminal is replaced, the new terminal will also be operated with the desired parameter settings.
• Use spot checks if necessary to check the parameterisation, either with a configuration program
(e.g. TwinCAT), the Festo Maintenance Tool (FMT) or an operator unit (CPX-MMI).

4 Commissioning
4.11 Replacing the bus node

When replacing a bus node with the setting “System start with saved parameterisation
and saved CPX expansion”, the parameterisation of the CPX terminal is not restored auto-
matically by the higher-order controller.
1. Before replacing the bus node save the parameterisation of the CPX terminal in a CPX-FMT file.
2. After replacing the bus node transfer the parameterisation to the new bus node. Use the command
“Load settings…” in the CPX menu.
3. Enable all settings in the “Load” window and start the transfer to the bus node by pressing “OK”.

5 Diagnostics
5 Diagnostics
5.1 Summary of diagnostics options

The CPX terminal provides comprehensive and user-friendly options for diagnostics and error handling.
The following options are available, depending on the configuration:
Diagnostics op- Brief description Benefits Detailed description
tion
LED display The LEDs directly display Fast “on-site” error Section 5.2
hardware faults, configuration detection
errors, bus errors, etc.
Status bits Internal inputs, which supply Fast access to error Section 5.3
coded common diagnostic messages, irrespective of
messages; the 8 status bits the module and master.
are cyclically transmitted to
the controller as “inputs” with
the normal inputs.
I/O diagnostics Bus-independent diagnostic Detailed error recognition; Section 5.4
interface interface at I/O level which the diagnostic data can be
enables access to the internal processed further, e.g.
data of the CPX terminal; for with a PLC user program.
this function, 16 inputs and 16
outputs (2 byte) are available.
Diagnostics via Diagnostics via Detailed error detection Section 5.5
EtherCAT – SDO access
– Diagnostics history
– Emergency message
Diagnostics via Diagnostic information can be Fast “on-site” error Operator unit
the operator displayed with the operator detection description
unit CPX-MMI unit CPX-MMI in a convenient (P.BE-CPX-MMI-1-…)
and menu-driven manner.
Diagnostics via The CPX-FMT offers the option Fast “on-the-spot” error Online help for the
the Festo to display diagnostic detection CPX-FMT
Maintenance information at a PC.
Tool (CPX-FMT)
Tab. 5.1 Diagnostics options
Note that the diagnostic information is dependent on the DIL switch settings on the bus
node, ( Section 3.2) as well as on the parameterisation of the CPX terminal.

5 Diagnostics
5.2 Diagnostics via LEDs

LEDs for the diagnostics of the CPX terminal are available on the bus node as well as on the individual
modules.
The meaning of the LEDs on the electric modules can be found in the description for the
relevant module.
5.2.1 LEDs at the bus node CPX-FB37
Run PS
1
Error PL
LA X1 SF
LA X2 M
Run PS 2
Error PL
LA X1 SF
LA X2 M
1 CPX-specific LEDs 2 EtherCAT-specific LEDs

PS: Power system Run: EtherCAT operating status
PL: Power Load Error: EtherCAT error
SF: System Failure LA X1: Connection status (link activity) X1 In
M: Modify LA X2: Connection status (link activity) X2 Out
Fig. 5.1 LEDs

5 Diagnostics
In this chapter the LEDs are depicted in their various states as follows:
illuminated, flashes or flickers, off
5.2.2 Normal operating status

LED display in normal operating status
The following green LEDs illuminate:
Run PS – Run
– PS
Error PL – PL
The following green LEDs illuminate or flicker if a network cable is
LA X1 SF
connected:
– LA X11)
LA X2 M
– LA X21)
The following red LEDs do not illuminate:
– Error
– SF
The yellow LED is illuminated, flashes or is dark:
– M2)
1) Continuous light: Connection is active; flickering: Data transmission is running
2) Dependent on the configuration
Tab. 5.2 LED display in normal operating status

5 Diagnostics
5.2.3 CPX-specific LEDs

PS (power system) – power sensor/logic supply
LED (geen) Sequence Status Significance / error handling
No error, operating —
ON
OFF voltage/sensor supply
LED illuminated applied
ON Operating voltage/sensor • Eliminate undervoltage
OFF supply outside the
LED flashes tolerance range
ON Internal fuse for the 1. Eliminate short circuit/overload
OFF operating voltage/sensor 2. Depending on the
supply has responded parameterisation:
– The sensor supply voltage will
be switched on again
automatically after the short
circuit has been eliminated
(factory setting)
– Power OFF/ON required
ON The operating • Check the operating voltage con-
OFF voltage/sensor supply is nection of the electronics
LED not illuminated not applied
Tab. 5.3 LED display “PS”
PL (power load) – power load supply (outputs/valves)

LED (geen) Sequence Status Significance / error handling
No error, load voltage —
ON
OFF applied
LED illuminated
ON Load voltage outside • Eliminate undervoltage
OFF tolerance range
LED flashes
Tab. 5.4 LED display “PL”

5 Diagnostics
SF (system failure) – system fault

LED (red) Sequence1) Status Significance / error handling
ON No error —
OFF
LED
not illuminated
ON Minor error or information Description of error numbers in the
OFF (error class 1) CPX system description
LED flashes 1 × (P.BE-CPX-SYS…)
ON Error
OFF (error class 2)
LED flashes 2 ×
ON Serious error
OFF (error class 3)
LED flashes 3 ×
1) The “SF” LED flashes depending on the error class.
Error class 1 (minor error): 1 x flash, pause time
Error class 2 (error): 2 x flashes, pause time
Error class 3 (serious error): 3 x flashes, pause time
Tab. 5.5 LED display “SF”

5 Diagnostics
M (modify) – parameterisation, forcing

LED (yellow) Sequence Status Significance / error handling
ON “System start with default —
OFF parametrisation and
LED current CPX expansion” is
not illuminated set (factory setting);
external parameterisation
is possible
ON “System start with saved Caution when replacing bus nodes
OFF parameterisation and with saved parametrisation:
LED illuminated saved CPX expansion” is When using these bus nodes,
set; parameters and CPX parameterisation of the CPX terminal
expansion are saved is not automatically restored by the
remanently; external higher-order controller during
parameterisation is replacement.
blocked1) • Save the required settings before
replacing the bus node and restore
the settings after replacement.
ON Force is active1) The Force function is enabled ( CPX

OFF system descriptionP.BE-CPX-SYS…).
LED flashes
1) The display of the Force function (LED flashes) has priority over the display of the setting for the system start (LED lights up).
Tab. 5.6 LED display “M”

5 Diagnostics
5.2.4 EtherCAT-specific LEDs

Run – EtherCAT operating status (communication status)
LED (green) Sequence Status Significance / error handling
ON Init Bus node is in the Init status (normal
OFF state after switch-on or after a restart
LED or reboot).
not illuminated
ON Bootstrap Bus node is in the correct status to
OFF receive a firmware update.
LED flickers
A firmware update is received.
ON Pre-operational Bus node is in the Pre-operational
OFF status (configuration of the EtherCAT
LED flashes network).
ON Safe-operational Bus node is in the safe-operational
OFF status (e.g. due to a network fault).
LED Only the input signals (e.g. sensor
flashes 1 ×1) data) are updated. Outputs and valves
remain in the current state (signal is
“frozen”).
ON Operational Bus node is in the Operational status
OFF (normal operating status).
LED illuminated
1) A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.
Tab. 5.7 LED display “Run”

5 Diagnostics
Error – EtherCAT error (communication error)

LED (red) Sequence Status Significance / error handling
ON No error EtherCAT communication of the bus
OFF node is in a normal operating status.
LED
not illuminated
ON Application controller Serious communication fault
OFF failure Possible causes:
– Application controller does not
LED illuminated
respond
– Watchdog timeout through ESC
• Contact Festo.
ON Configuration error (invalid • Check:
OFF configuration) – the network connection
(interrupted, short-circuited or
LED flashes
No connection to EtherCAT disturbed network connection)
network – the configuration, in particular
the physical and logical
Possible causes: position and addressing of the
– Cable/connection bus node.
disconnected
(interrupted)
– Device has no
connection to the
EtherCAT master (for
control)
– Master is not active
ON EtherCAT status change The bus node changes its EtherCAT
OFF due to an error status due to a synchronisation error
LED (Unsolicited state change) (Status change from Operational to
flashes 1 ×1) Safe-operational).
ON Application watchdog Watchdog timeout through the sync
OFF timeout manager
LED
flashes 2 ×2)
ON Reserved –
OFF
LED
flashes 3 ×3)
ON Booting error Error (checksum) in the application
OFF controller flash memory
LED flickers
1) A singular brief flash (1 x flash, pause, 1 x flash, etc.) is designated a single flash.
2) Two brief flashes (2 x flashes, pause, 2 x flashes, etc.) is designated a double flash.
3) Three brief flashes (3 x flashes, pause, 3 x flashes, etc.) is designated a triple flash.
Tab. 5.8 LED display “Error”

5 Diagnostics
LA X1, LA X2 – Connection status (link activity) X1 In/X2 Out

LED (green) Sequence Status Significance / error handling
ON No physical network • Check network connection /
OFF connection network cable
LED
not illuminated
ON Network connection OK —
OFF
LED illuminated
ON Flickering: Data transmission —
OFF is running (traffic)
LED flickers1)
1) Rapid flickering gives an impression the LED is illuminated; the intensity of the light depends on the data traffic
Tab. 5.9 LED display “LA X1” and “LA X2”

5 Diagnostics
5.3 Diagnostics via status bits

The CPX terminal provides 8 status bits if this function is activated using DIL switches
( Section 3.2.6).
The status bits are used for displaying common diagnostic messages (“global” error messages). Status
bits are configured like inputs. If the status bits function is activated, 16 inputs are occupied in the
address range (8 inputs or 8 bits remain unused); ( Tab. 3.3).
Note the instructions on addressing and configuration in the sections 4.3 and 4.5.
The following table provides an overview of the available diagnostic information.

Bit Diagnostic information with logic 1 Description
0 Error on valve or pneumatic module Module type in which an error has oc-
1 Error on output module curred
2 Error on input module
3 Error on analogue module or technology module
4 Undervoltage Error type
5 Short circuit/overload
6 Wire break
7 Other errors
Tab. 5.10 Overview of diagnostic information: Status bits of the CPX bus node (optional)
If all status bits supply a 0-signal, no fault will be registered . If, in contrast, a status bit supplies a 1 -signal,
there is a fault.
If various faults occur simultaneously on various types of modules, these faults cannot be assigned via
the status bits. In contrast, faults can be uniquely determined via the I/O diagnostics interface.
Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can
be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the
EtherCAT network.
Further notes on the function and content of the status bits can be found in the CPX sys-
tem description (P.BE-CPX-SYS…) in the section “Diagnostics and error handling”.

5 Diagnostics
5.4 Diagnostics via the I/O diagnostic interface (STI)

The CPX terminal provides a bi-directional 16 bit I/O diagnostic interface (System Table Interface, STI) if
this function is activated using DIL switches ( Section 3.2.6).
Detailed diagnostic information can be accessed via the I/O diagnostic interface. You can ascertain this
exactly, e.g. by noting on which module and channel a fault has occurred. System diagnostics are re-
trieved by means of 16 input bits and 16 output bits, through which all diagnostics data can be read.
If the I/O diagnostic interface is active, it will occupy 16 inputs and outputs in the address range
( Tab. 3.3).
Note the instructions on addressing and configuration in the sections 4.3 and 4.5.
The following table provides an overview of the available diagnostic information.

Diagnostic data Contents/description
Global diagnostic data – General overview of errors
Module diagnostics data – Detail diagnostics per module
Status of diagnostic memory – Number of entries in the diagnostic memory
– Operating mode
Diagnostic memory data – Long-term memory
– Detail diagnostics + relative time stamp per error event
Tab. 5.11 Overview of diagnostics data I/O diagnostic interface (optional)
Diagnostic information or error messages of the status bits functions (or I/O diagnostic interface) can
be read out using the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) and via the Eth-
erCAT network.
Additional information about the I/O diagnostics interface (diagnostic information, func-
tion numbers) can be found in the CPX system description (P.BE-CPX-SYS…) in the section
“Diagnostics and error handling”.

5 Diagnostics
5.5 Diagnostics via EtherCAT
5.5.1 Basic information

Availability of diagnostic information via the EtherCAT network
– Note that the diagnostic information shown depends on the settings ( Section 3.2.6)
and the parameterisation ( Section 4.6) of the CPX terminal ( Section 5.1).
– Activate the I/O diagnostics interface to ensure that error messages of the CPX
terminal are automatically displayed in the EtherCAT configuration software,
e.g. Beckhoff TwinCAT.
5.5.2 Diagnostics via SDO access

The higher-order controller can request diagnostic information from the bus node via SDO access. The
corresponding objects can be found in the object directory in section A.2.
5.5.3 Diagnostics via diagnostics history

The 20 most recent diagnostics messages can be called up with the help of the diagnostics object
0x10F3. For every event stored in the device (warning, error, information), an error message referenced
with a code is displayed. Diagnostics messages are decoded via the ESI file and can be read e.g. by the
TwinCAT system manager. The following table shows the structure of the diagnostics object 0x10F3.
The following abbreviations are used:

RO = read only
RW = read/write
RO P = read only (PDO mappable)
Index Sub- Description Type Values Access

(hex.) index
0x10F3 0 Diagnostics history U8 RO
1 Maximum messages U8 20 RO
2 Newest message U8 RO
3 Newest acknowledged U8 RW
message
4 New message available BOOL RO P
5 Flags U16 0x0000 RW
6 … 26 Sub-index 006 … 026 BYTE [23] RO
Tab. 5.12 Structure of the diagnostics object

5 Diagnostics
Diagnostics message
The diagnostics message of the bus node is stored in the diagnostics history.
1 Values of the diagnostics message

Fig. 5.2 Diagnostics message
The following table provides a brief description of the individual values of the diagnostics message 1
from Fig. 5.2.
Value (hex) Designation Explanation
according to
ETG.1020
02 00 00 E1 Diag Code CPX error number 2 (short circuit)
E1=CPX error number ( CPX system description)
E8=Error code according to DS401
02 02 Flags Number of parameters in the diagnostics message (2)
and diagnostics type 2 (error message)
02 37 Text-ID Reference to the ESI file with the plain text of the
diagnostics message (<TextId>#x3702)
1F C5 9D61 31 00 00 00 Time Stamp Local time stamp (time since the start of the bus
node)
05 00 Flags Parameter 1 Type of parameter 1 (UNSIGNED8)
02 Parameter 1 CPX module number 2 (in TwinCAT 3.x corresponds to
module 3)
05 00 Flags Parameter 2 Type of parameter 2 (UNSIGNED8)
80 Parameter 2 Channel 80h (channel 128 decimal)
Tab. 5.13 Values of the diagnostics message

5 Diagnostics
Text ID 3700h to 37FFh corresponds to the CPX error numbers (0 to 255).

Additional information can be found in the CPX system description in the chapter
“Diagnostics and error handling”.
In addition to the CPX-specific text IDs, there are also EtherCAT-specific text IDs in the ESI file.
Text ID Plain text (German) Plain text (English)
(hex)
3800 Modulidentifikation fehlgeschlagen Ident check failed for configured module
3801 Modulidentifikation-Überprüfung nicht Ident check skiped - PLC has not written to
durchgeführt - Steuerung hat Objekt Object 0xF030
0xF030 nicht geschrieben
000F Berechnung Buszykluszeit fehlgeschlagen Calculate bus cycle time failed (Local timer
(lokaler Timer zu langsam) too slow)
0011 Sync Manager ungültige Adresse Sync Manager invalid address
0012 Sync Manager ungültige E/A Größe Sync Manager invalid size
0013 Sync Manager ungültige Konfiguration Sync Manager invalid settings
Tab. 5.14 EtherCAT-specific text IDs in the ESI file
The diagnostics messages with their text ID and plain text can be found in the TwinCAT 3.x configuration
software under the tab “Diag History”.
Fig. 5.3 Diag History in TwinCAT 3.x
Diagnostics messages are written to a data buffer (20 bytes). Two operating modes are available for
handling diagnostics messages:
Overwrite mode
When the number of diagnostics messages reaches 20, the oldest diagnostics messages are overwrit-
ten.
Acknowledge mode
An existing diagnostics message must first be acknowledged before it can be overwritten with a new
diagnostics message. If the number of unconfirmed diagnostics messages reaches 20, subsequent
diagnostics messages will not be saved and will be lost.

5 Diagnostics
Specifying the operating mode of the diagnostics message

The operating mode of the diagnostics message can be read and written in Index 0x10F3, Subindex 5,
Bit 4.
Value of bit 4 Operating mode
0 Overwrite mode
1 Acknowledge mode
Tab. 5.15 Specifying the operating mode
Fig. 5.4 Example: Specifying the operating mode in TwinCAT 3.x

5 Diagnostics
Mapping the message “New Message Available”

To simplify the diagnostic evaluation, the bus node offers the option of signaling the existence of a new
diagnostic message via process data. The object “New Message Available” can be optionally mapped
to the process data here. The object can be activated in the PDO Assignment of the inputs.
Fig. 5.5 Mapping “New Message Available”

5 Diagnostics
After activation, the object will be available in the “Diag History”.
Fig. 5.6 New message available
Disabling the emergency message

The emergency message ( Section 5.5.4) can be disabled via the diagnostic object
10F3:05 ( Tab. 5.12).
• Set bit 0 to the value 0.
In TwinCAT 3.x you can disable the emergency message under the tab “Diag History” ( Fig. 5.7).

5 Diagnostics
Fig. 5.7 Disabling the emergency message in TwinCAT 3.x

5 Diagnostics
5.5.4 Die Emergency Message

If there is an error, the CPX terminal will transmit an Emergency Message, which consists of the follow-
ing:
– Byte 0, 1: Error Code in accordance with DS301/DS401
– Byte 2: Error Register (Index 1001)
– Byte 3 … 7: Manufacturer Specific Error Field (contains device-typical error messages).
Bytes 3 … 6 form the manufacturer status register (index 1002).
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Error code Error Status bits CPX CPX error reserved additional
register module no. no. error inf.
Index 1001 Index 1002 (manufacturer status register)
Tab. 5.16 Composition of the emergency message (additional information in Tab. 5.17 … Tab. 5.22)
Composition of the emergency message – error code (byte 1, byte 0)

Byte 1 Byte 0 Explanation
00 00 No error
10 00 General error
23 20 Short circuit at outputs
23 30 Load dump (wire break)
31 20 Input voltage too low
33 20 Output voltage too low
50 00 Hardware error (all errors > 128)
Tab. 5.17 Error code

5 Diagnostics
Composition of the emergency message – error register (byte 2)

Bit1) Meaning Explanation
0 Generic error Bit is set for each error
1 Current – Short circuit/overload in sensor supply
– Short circuit/overload at the outputs
2 Voltage – UOUT (undervoltage of outputs)
– UVAL (undervoltage of valves)
– Failure of load voltage at CPX output module or
input module
3 — —
4 Communication error Node guard, heartbeat, fieldbus-specific only
5…6 — —
7 Manufacturer specific – Wire break
– other error
1) Bold = Bit is used by CPX terminal
Tab. 5.18 Error register (index 1001 with bit assignment according to DS301/401)
Further diagnostic information is provided by the CPX terminal in bytes 3 … 6 of the emergency object
(manufacturer status register, index 1002).
Composition of the emergency message – status bits (byte 3)

Bit Meaning Explanation
0 Error at valve Module type in which an error has occurred
1 Error at output
2 Error at input
3 Error on analogue
module/function module
4 Undervoltage Error type
5 Short circuit/overload
6 Wire break
7 other error
Tab. 5.19 Manufacturer status register – status bits
Composition of the emergency message – CPX module number (byte 4)

0…7 CPX module number Number of the module with diagnostic message
Tab. 5.20 Manufacturer status register – CPX module number

5 Diagnostics
Composition of the emergency message – CPX error number (byte 5)

0…7 CPX error number CPX error number ( CPX system description in
chapter “Diagnostics and error handling”.)
Tab. 5.21 Manufacturer status register – CPX error number
Composition of the emergency message – additional error information (byte 7)

0…7 Additional information on the e.g.
fault – Node ID with Heart Beat error (which slave has
caused the Time out?)
– Channel number of the first channel with fault
Tab. 5.22 Manufacturer status register – CPX error number (byte 7)
5.5.5 Error characteristics (fail-safe mode)

The reaction of the CPX terminal to the following malfunctions is dependent on the parameterised fail-
safe setting and the (configured) reaction of the controller, i.e. of the PLC, the IPC or the user program:
– Stop of the controller (of the master)
– Network interruption
– Telegram failure
Depending on the parameterisation, the outputs (valves and electrical outputs) will be:
– switched off (output signal reset, in the case of analogue outputs to 0; factory setting)
– switched on (output signal set, in the case of analogue outputs to the parameterised value)
– kept in the same state (“freezing” of output signal)
Additional information about the fail-safe setting can be found in section 4.7.2 and the
CPX system description (P.BE-CPX-SYS-...).
You can define two types of error reaction for the controller (or the application program):
– Hard error reaction:
The controller switches to the “STOP” or pre-operational mode if an error occurs.
– Soft error reaction:
The controller remains in the “RUN” or safe-operational (or, if relevant, the operational) mode if an
error occurs.

5 Diagnostics
Warning
Accidental activation of actuators!
An incorrect status of the valves and outputs can lead to dangerous situations!
• Make sure that valves and outputs are put into a safe state when malfunctions oc-
cur.
• Check within the framework of your EMERGENCY OFF concept and the fail-safe set-
ting to ascertain the measures necessary for putting your machine or system into a
safe state.
Note
Take into account valve behaviour as part of the EMERGENCY OFF concept or of the
fail-safe setting!
If the outputs are reset when the controller stops or in case of network interruption,
telegram failure or a terminal malfunction, the valves will behave as follows:
– Monostable valves will move to their normal position
– Bistable valves remain in the current position
– Mid-position valves will move to their neutral position (pressurised, exhausted or
closed, depending on valve type)
5.5.6 Error types

A list of all error types as well as additional diagnostics information can be found in the CPX system
description (P.BE-CPX-SYS...).

A Technical appendix
A.1 Technical data

General
General technical data CPX system description P.BE-CPX-SYS-...
Degree of protection through housing1) IP65/IP67
in accordance with IEC/EN 60529, completely
mounted, plug connector inserted or provided with
cover cap
Protection against electric shock through the use of PELV circuits
Protection against direct and indirect contact as (Protected Extra Low Voltage)
per IEC/DIN 60204-1
Module code (CPX-specific)
– Remote I/O 224/2
– Remote controller 171/2
Module code (in operator unit MMI)
– Remote I/O FB37-RIO EtherCAT remote I/O
– Remote controller FB37-RC EtherCAT remote controller
1) Note that connected devices might only satisfy a lower degree of protection, a smaller temperature range, etc.
Tab. A.1 Technical data, general
Power supply
Bus node intrinsic current consumption typically 100 mA at 24 V (internal electronics)
from operating voltage supply for electronics/
sensors (UEL/SEN)
Separation galvanically separated
EtherCAT interfaces for UEL/SEN
Tab. A.2 Technical data: Voltage supply

Communication
Fieldbus protocol EtherCAT, based on the Ethernet protocol
(IEEE 802.3), optimised for process data,
real-time capable
Specification Standards and norms containing reference to
EtherCAT:
– IEC 61158
– IEC 61784
– IEC 61918
– ISO/IEC 8802-3
Additional information:
http://www.ethercat.org
Transmission rate 100 MBit/s
Cross-over detection Auto-MDIX

Tab. A.3 Technical data: Voltage supply
A.2 Object directories

The following tables list the objects of the communication profile (CoE communication protocol). These
objects are described in the EtherCAT configuration file (ESI file). The following abbreviations are used:
RO = read only
RO P = read only (PDO mappable)
RW = read/write
RW P = read/write (PDO mappable)
A.2.1 Object directory CPX-FB37 mode (Modular Device Profile)

Index Subindex Name Data Default value Access
(hex) type
0x1000 0 Device type U32 0x04561389 RO
0x1001 0 Error register U8 RO
0x1008 0 Device name String CPX-FB37 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


(hex) type
0x10F1 0 Error settings U8 2 RO
1 Local error reaction U32 RO
2 Sync error counter limit U32 RO
3 Newest acknowledged message U8 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 ? depends
on para-
meter
0x21xx 0 Fail-safe values —module xx U8 xy RO
yy Channel yy ? 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
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


(hex) type
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
… Subindex …. U32 RO
48 Subindex 048 U32 RO
Tab. A.4 Object directory FB37 mode

A.2.2 Object directory CPX-FB38 mode (fixed I/O size)

Index Subindex Name Data type Default value Access
(hex)
0x1000 0 Device type U32 0x04561389 RO
0x1001 0 Error register U8 RO
0x1008 0 Device name String CPX-FB38 RO
0x1009 0 Hardware version String RO
0x100A 0 Software version String R9 RO
0x1018 0 Identify U8 4 RO
1 Vendor ID U32 0x0000001D RO
2 Product code U32 0x00000026 (38) RO
3 Revision U32 0x00000009 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
3 Newest acknowledged message U8 RW
6 … 26 Subindex 006 … 026 BYTE[23] RO
0x1600 0 Outputs - RxPDO U8 64 RO
1 Output mapping 1 U32 0x3001:00,08 RO
… Output mapping … U32 0x3001:…,08 RO
64 Output mapping 64 U32 0x3001:3F,08 RO
0x1A00 0 Inputs - TxPDO U8 64 RO
1 Input mapping 1 U32 0x3101:00,08 RO
… Input mapping … U32 0x3101:…,08 RO
64 Input mapping 64 U32 0x3101:3F,08 RO
0x3001 0 DO outputs U8 64 RO
1 QB 0 U8 RO P
… QB … U8 RO P
64 QB 63 U8 RO P
0x3101 0 DI inputs U8 64 RO
1 IB 0 U8 RO P
… IB … U8 RO P
64 IB 63 U8 RO P

Index Subindex Name Data type Default value Access

(hex)
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
0x8000 0 Settings module 0 U8 64 RO
1 Settings byte 0 U8 RW
… Settings byte … U8 RW
…
0x8013 0 Settings module 19 U8 64 RO
… Settings byte … U8 RW
0x8100 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
0x8200 0 Fail safe - output mask U8 64 RO
1 Fail safe - output mask - byte 0 U8 RW
… Fail safe - output mask - byte … U8 RW
64 Fail safe - output mask - byte 63 U8 RW
0x8201 0 Fail safe - output U8 64 RO
1 Fail safe - output - byte 0 U8 RW
… Fail safe - output - byte … U8 RW
64 Fail safe - output - byte 63 U8 RW
0xA000 0 Global diagnosis U8 2 RO
1 Module number U8 RO
2 CPX error number U8 RO
Tab. A.5 Object directory FB38 mode

B Glossary
B Glossary
Term/abbreviation Meaning
A0h Hexadecimal numbers are identified by a subscript “h”
Bus node Connects the CPX terminal to the fieldbus or network; it transmits control
signals to the connected CPX and pneumatic modules and monitors their
functional capability
CEC CoDeSys controller, e.g. CPX−CEC/CPX−CEC..., applicable for configuration,
commissioning and programming of CPX terminals
CODESYS Controller Development System
CoE CANopen over EtherCAT (mailbox protocol)
CPX module Collective term for the electrical modules which can be integrated into a CPX
terminal ( Pneumatics module)
CPX terminal Modular terminal, available in different variants:
– CPX…: Standard design with plastic linking
– CPX-M: Standard design with metal linking
– CPX-L: Standard design for control cabinet installation
– CPX-P: Optimised for use in process automation
DIL switch Miniature switches; dual-in-line switches usually consist of several switch
elements which can be used to implement settings
EoE Ethernet over EtherCAT (mailbox protocol)
ESI EtherCAT slave information
EtherCAT An industrial Ethernet based fieldbus system for data exchange between the
system controller (PLC/IPC), equipment controller (e.g. CPX-FEC) and field
devices (I/O devices) or drives; transmission of process data in data objects
(based on the CANopen fieldbus protocol); embedding of process data in
Ethernet frames (Frames) or datagrams (via UDP/IP); additional information:
www.ethercat.org
FEC Front End Controller, e.g. CPX-FEC, can be used as:
– stand-alone system controller (PLC, stand alone operating mode)
– system controller (PLC, remote controller operating mode)
– fieldbus slave (remote I/O operating mode)
FFT Festo Field Device Tool (software for service and commissioning)
The Festo Field Device Tool contains various services for all Ethernet-based
field devices from Festo. It supports, among other things, the loading of
firmware files to selected Festo devices.
Fieldbus Data bus, via which the control device (PLC or IPC) communicates with the
CPX terminal or other field devices
FMT Festo Maintenance Tool (CPX-FMT); configuration and programming software
for CPX modules for commissioning and service purposes
Tab. B.1 Terms and abbreviations (part 1)

B Glossary
Term/abbreviation Significance
FoE File Access over EtherCAT (mailbox protocol)
Function module Collective term for modules with additional functions, e.g. CP-interface, Front
End Controller (CPX-FEC) and CoDeSys controller (CPX-CEC); function
modules are also known as technology modules
I Input
I/O Input and output
I/O module Collective term for CPX modules that provide analogue or digital inputs and
outputs
IPC Industrial PC
MDP Modular Device Profile, according to EtherCAT specification ETG.5001
O Output
Operator unit (MMI) Handheld terminal (handheld, CPX-MMI) for CPX modules for commissioning
and service purposes (man-machine interface, MMI)
PLC Programmable logic controller, also designated fieldbus master, system
controller or higher-order controller ( Also PLC)
PLC Programmable Logic Controller (German: Speicherprogrammierbare
Steuerung (SPS))
Pneumatics interface Interface between CPX modules and pneumatics modules
STI I/O diagnostic interface (System Table Interface)
Technology module Function module
TwinCAT Beckhoff configuration and programming software
(TwinCAT: The Windows Control and Automation Technology)
Tab. B.2 Terms and abbreviations (part 2)

CPX-FB37
Index
A – Error reaction . . . . . . . . . . . . . . . . . . . . . . . . 75
Acknowledge mode . . . . . . . . . . . . . . . . . . . . . 68 – Error types . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Address assignment . . . . . . . . . . . . . . . . . . . . . 26 – Fail-safe setting . . . . . . . . . . . . . . . . . . . . . . 75
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . 27, 28 – I/O diagnostics interface . . . . . . . . . . . . . . . 65
– Address assignment . . . . . . . . . . . . . . . . . . . 26 – LA X1, LA X2 . . . . . . . . . . . . . . . . . . . . . . . . . 63
Auto increment address . . . . . . . . . . . . . . . . . . 28 – LED Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
– LED M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
B – LED PL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 – LED PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
– Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 – LED Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Bus configuration . . . . . . . . . . . . . . . . . . . . . . . 30 – LED SF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Bus node, replacing . . . . . . . . . . . . . . . . . . . . . 54 – Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
– Status bits . . . . . . . . . . . . . . . . . . . . . . . . . . 64
C – via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . 66
CEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 – via LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Commissioning Diagnostics history . . . . . . . . . . . . . . . . . . . . . 66
– Address assignment . . . . . . . . . . . . . . . . . . . 26 Diagnostics message, Operating mode . . . . . . 69
– Addressing . . . . . . . . . . . . . . . . . . . . . . . 27, 28
– Configuration . . . . . . . . . . . . . . . . . . . . . . . . 30 E
– Parameterisation . . . . . . . . . . . . . . . . . . . . . 37 Emergency Message . . . . . . . . . . . . . . . . . . . . 73
– Preparation (general instructions) . . . . . . . . 26 Error
– Remote controller . . . . . . . . . . . . . . . . . . . . . 35 – -Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 30 – Reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Configuring, EtherCAT addressing type . . . . . . 17 Error code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Connecting EtherCAT
– EtherCAT network . . . . . . . . . . . . . . . . . . . . . 22 – Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . 66
– Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 – Fail-safe setting . . . . . . . . . . . . . . . . . . . . . . 75
CPX system settings, parameterisation . . . . . . 41 EtherCAT addressing type . . . . . . . . . . . . . . . . 17
CPX-CEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 – Configuring . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CPX-FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
F
D Fail-safe mode . . . . . . . . . . . . . . . . . . . . . . . . . 75
Data field size . . . . . . . . . . . . . . . . . . . . . . . . . . 19 – Parameterisation . . . . . . . . . . . . . . . . . . . . . 42
Data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 – Settings (parameterisation) . . . . . . . . . . . . . 75
Degree of protection IP65/IP67 . . . . . . . . . . . 24 FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Device address . . . . . . . . . . . . . . . . . . . . . . . . . 28 Firmware update . . . . . . . . . . . . . . . . . . . . . . . 50
Device position . . . . . . . . . . . . . . . . . . . . . . . . . 28
Diagnostics H
– Diagnostic data (I/O diagnostics interface) . 65 Heart beat . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
– Diagnostic information (status bits) . . . . . . 64

CPX-FB37
I PELV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
I/O bytes, Setting the number . . . . . . . . . . . . . 19 Pin allocation, Fieldbus interface . . . . . . . . . . . 23
I/O diagnostics interface . . . . . . . . . . . . . . . . . 65 Plug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Power supply, switch on . . . . . . . . . . . . . . . . . . 26
IP65/IP67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
R
L Remote controller . . . . . . . . . . . . . . . . . . . 17, 35
LED display, in normal operating status . . . . . . 57 Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Restore
– Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 – Bus node . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
– LA X1, LA X2 . . . . . . . . . . . . . . . . . . . . . . . . . 63 – with FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
– M .................................. 60
– Normal operating status . . . . . . . . . . . . . . . . 57 S
– PL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Safety instructions, General . . . . . . . . . . . . . . . 7
– PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
– Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Setting
– SF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 – Device Identification Value . . . . . . . . . . . . . . 20
– Diagnostics mode . . . . . . . . . . . . . . . . . . . . . 18
N – EtherCAT address . . . . . . . . . . . . . . . . . . . . . 20
Node guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 – Operating mode . . . . . . . . . . . . . . . . . . . . . . 17
Notes on the documentation . . . . . . . . . . . . . . . 6 Station features . . . . . . . . . . . . . . . . . . . . . . . . 31
Status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
O Strain relief . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Operating mode . . . . . . . . . . . . . . . . . . . . . 17, 35 Switch cover, Remove and mount . . . . . . . . . . 15
Operating voltage, switch on . . . . . . . . . . . . . . 26
Overwrite mode . . . . . . . . . . . . . . . . . . . . . . . . 68 T
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . 77
P
Parameterisation . . . . . . . . . . . . . . . . . . . . . . . 37 W
– Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 37 Web server, parameterisation . . . . . . . . . . . . . 44
– Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
– via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . 39
– with the Festo Maintenance Tool (FMT) . . . . 38
– with the operator unit (CPX-MMI) . . . . . . . . 38

Copyright:
Festo SE & Co. KG
Postfach
73726 Esslingen
Germany
Phone:
+49 711 347-0
Fax:
+49 711 347-2144
e-mail:
service_international@festo.com
Reproduction, distribution or sale of this document or communica-
tion of its contents to others without express authorization is Internet:
prohibited. Offenders will be liable for damages. All rights re- www.festo.com
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Terminal CPX

Bus node CPX-FB37

Translation of the original instructions

Identification of hazards and instructions on how to prevent them:

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

2 Festo – P.BE-CPX-FB37-EN – 1406NH –

Table of Contents – CPX-FB37

1.1 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 Function range (brief overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 Mounting and installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.1 Dismantling and mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Festo – P.BE-CPX-FB37-EN – 1406NH – English 3

4.3 Addressing the inputs and outputs, data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.1 Summary of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4 Festo – P.BE-CPX-FB37-EN – 1406NH – English

5.5 Diagnostics via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

A.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Festo – P.BE-CPX-FB37-EN – 1406NH – English 5

Notes on this documentation

CPX-FB37 Description Connection technology

Additional information regarding EtherCAT can be found online ( www.ethercat.org).

6 Festo – P.BE-CPX-FB37-EN – 1406NH – English

1.1 General safety information

1.2 Intended use

Festo – P.BE-CPX-FB37-EN – 1406NH – English 7

8 Festo – P.BE-CPX-FB37-EN – 1406NH – English

1.3 Requirements for product use

1.3.1 Technical requirements

1.3.2 Qualification of specialists (personnel requirements)

1.3.3 Range of application and certifications

Festo – P.BE-CPX-FB37-EN – 1406NH – English 9

2.1 Function range (brief overview)

10 Festo – P.BE-CPX-FB37-EN – 1406NH – English

2.2 Connections and display components

1 EtherCAT-specific network status LEDs and 4 Cover for DIL switches

Festo – P.BE-CPX-FB37-EN – 1406NH – English 11

3 Mounting and installation

3.1 Dismantling and mounting

12 Festo – P.BE-CPX-FB37-EN – 1406NH – English

1 Bus node 3 Contact rails

3.1.1 Dismantling the bus node

Festo – P.BE-CPX-FB37-EN – 1406NH – English 13

3.1.2 Mounting the bus node

14 Festo – P.BE-CPX-FB37-EN – 1406NH – English

3.2 Setting the DIL switches on the bus node

Festo – P.BE-CPX-FB37-EN – 1406NH – English 15

3.2.2 Arrangement of the DIL switches

3.2.3 Setting the DIL switches

16 Festo – P.BE-CPX-FB37-EN – 1406NH – English

3.2.4 Setting the operating mode

3.2.5 Configuring the EtherCAT addressing type

Fixed I/O size active (64 byte I/O) DIL 1.2: ON

Tab. 3.2 Configuring the EtherCAT addressing type

Festo – P.BE-CPX-FB37-EN – 1406NH – English 17

3.2.6 Setting the diagnostics mode (Remote I/O operating mode)