P.BE-CP-CO-FR - Unspecified Festo - Free user manual and instructions

USER MANUAL P.BE-CP-CO-FR Festo

Black-and-white photo of industrial battery modules with no visible text or symbols

FESTO

Description Electronic

CPVvalveterminal withdirectlink

TypeCPV-GE-CO-8

Fieldbusprotocol - CANopen

Isometric line drawing of a mechanical or electrical component with no visible text or symbols

Description 175580 en0009b

Contentsandgeneralinstructions

Author H.-J.Drung, H.Hohner....

EditorsH.-J.Drung, M.Holder.

Originalde.

TranslationtranslineDeutschlandGmbH.

Layout ...... Festo SE & Co. KG, Abtl. KG-GD

...TypesettingDUCOM

Edition ...... en 0009b

Title ...... MANUAL-EN

Designation P.BE-CP-CO-EN

Order no. 175 580

© (Festo SE & Co. KG, D-73726 Esslingen, Federal Republic of Germany 2000)

Internet: http://www.festo.com

E-Mail: [e-mail]

The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registration.

Contentsandgeneralinstructions

Contents

DesignateduseV.

TargetgroupV.

Service V

InformationonthismanualInformationonthismanualVI. . . . . . . . . . . . . . . . . . . .

Important user instructions VII

1. Installation 1-1

1.1 General instructions on installation 1-3

1.2 Configuring the CPV valve terminal 1-4

1.2.1 Opening and closing the switch cover 1-5

1.2.2 Setting the CPV valve terminal 1-5

1.3 Connecting the CPV valve terminal 1-9

1.3.1 Connecting cable 1-9

1.3.2 Preparing the connecting cables 1-10

1.3.3 Selecting the power unit 1-12

1.3.4 Connecting the load voltage for the CPV valves 1-13

1.4 Connecting to the field bus 1-17

1.4.1 Installing the terminating resistor 1-22

2. Commissioning 2-1

2.1 Commissioning a CANopen master 2-3

2.1.1 Number of outputs 2-3

2.1.2 General information on CANopen 2-4

2.2 Summaries 2-5

2.2.1 Brief summary of the scope of functions 2-5

2.2.2 Summary of the object directory 2-6

2.2.3 COB identifierCOB identifier 2-7

2.2.4 Start-up reaction of the CPV valve terminal 2-8

2.2.5 Default identifier distribution 2-10

2.3 Summary of the object directory 2-11

2.3.1 PDO communication parameter record 2-12

2.3.2 PDO communication mapping parameter 2-13

2.3.3Digitaloutputs2-14.....
2.3.4Reactionofthedigitaloutputstoafault2-15.....
2.4 Structure of emergency object 2-17.....
2.5 Basic rules for addressing 2-18
2.5.1 Addressing the CPV valve terminal 2-19
2.6 Examples: communication run 2-20
3.1 Summary of diagnostic possibilities 3-3
3.2 Diagnosis via LEDs 3-4
3.2.1 Normal operating status 3-4
3.2.2 Error display 3-5
3.2.3 LED for the switching status of the valve solenoid coil 3-6
3.3 Testing the valves 3-7
3.3.1 Starting the test routine 3-8
3.3.2 Stopping the test routine 3-8
3.4 Diagnosis via the field bus 3-9
3.5 Error treatment 3-10
3.5.1 Reaction to faults in the control system 3-10

3. Diagnosis 3-1

A. Technical Appendix ...... A-1

A.1 Technical specifications of the valve terminal with CANopen direct link ... A-3
A.2 Accessories A-5
B.1 Index B-3

B. Index B-1

Designateduse

TheCPVvalveterminalwithdirectlinktotheCANopendocumentedinthismanualisdesignatedexclusivelyforuseas aslaveontheCANopen.TheFestoCPVvalveterminalmay onlybeusedasfollows:

- a s d e s i g n a t e d

-inoriginalcondition

-withoutunauthorizedmodifications

-infaultlesstechnicalcondition.

Thespecifiedlimitvaluesforpressures,temperatures,electricaldata,moments,etc.mustbeobservedwhenadditionalcommercially-availablecomponentssuchassensorsand actuatorsareconnected.

Pleasecomplyalsowithnationalandlocalsafetylawsand regulations.

Warning

Ifusedasanexplosion-protectedoperatingmedia, donot disconnectwhenundertension!

Targetgroup

Thismanualisdirectedexclusivelyattechnicianswhoare trainedincontrolandautomationtechnologyandwhohave experienceininstalling,commissioning,programmingand diagnosingnetworkmodulesontheCANopen.

Service

Please consult your local Festorepair service if you have any technical problems.

InformationonthismanualInformationonthismanual

Pleasenote

This manual describes the function of the CPV valveter- minal with CANopendirect link with

-softwareversion1.2

–hardwarestatusasfrom0198.

This manual contains specific information on the installation, commissioning, programming and diagnosis of the CPV valve terminal with direct link to the CANopen.

Informationonthepneumaticmodulescanbefoundinthe "Pneumaticsmanual,P.BE-CPV-...".

Importantuserinstructions

Dangercategories

This manual contains instructions on the possible dangers which may occur if the product is not used correctly. These instructions are remarked (Warning, Caution, etc), printed on a shaded background and marked additionally with a pictogram. Adistinctionism made between the following danger warnings:

Warning

...Thismeansthatfailuretoobservethisinstructionmay resultinseriouspersonalinjuryordamagetoproperty.

Caution

...Thismeansthatfailuretoobservethisinstructionmay resultinpersonalinjuryordamagetoproperty.

Pleasenote

...Thismeansthatfailuretoobservethisinstructionmay resultindamagetoproperty.

The following pictogram markspassages in the text which describe activities with the electrostatically sensitive components.

Electrostaticallysensitivecomponentsmaybedamaged if they are nothandled correctly.

Markingspecialinformation

The following pictograms mark passages in the text containings special information.

Pictograms

Information:

Recommendations, tips and reference to other information sources.

Accessories:

Informationonnecessaryorsensibleaccessoriesforthe Festoproduct.

Environment:

Informationonenvironment-friendlyuseofFestoproducts.

Textmarkings

- Thebulletindicatesactiviteswhichmaybecarriedoutin anyorder.

1. Figuresdenoteactivitieswhichmustbecarriedoutinthe numericalorderspecified.

-Hyphensindicategeneralactivities.

i ..

Installation

Chapter1

1. Installation

Contents

1.Installation1-1.....

1.1 Generalinstructionsoninstallation1-3.
1.2ConfiguringtheCPVvalveterminal1-4.....
1.2.1 Opening and closing the switch cover 1-5
1.2.2 Setting the CPV valve terminal 1-5
1.3 Connecting the CPV valve terminal 1-9
1.3.1 Connecting cable 1-9
1.3.2 Preparing the connecting cables 1-10
1.3.3 Selecting the power unit 1-12
1.3.4 Connecting the load voltage for the CPV valves 1-13
1.4 Connecting to the field bus 1-17
1.4.1 Installing the terminating resistor 1-22

1. Installation

1.1 Generalinstructionsoninstallation

Warning

Switchoffthefollowingbeforeundertakinginstallation and/ormaintenancework:

• thecompressedairsupply
•theoperatingvoltagesupplyforthelogic
•theoperatingvoltagesupplyforthevalves

Youcantherebyavoid:

-uncontrolled movementsofloosetubing
—undesiredmovementsoftheconnectedactuators
-undefinedswitchingstatesoftheelectroniccomponents.

Caution

The CPV valveterminal contain selectrostatically vulnerable components.

• Donotthereforetouchanycomponents.
• Observetheregulationsforhandlingelectrostatically vulnerablecomponents.

Youcantherebypreventdamagetotheelectroniccomponents.

1. Installation

1.2ConfiguringtheCPVvalveterminal

The following connecting and display elements can be found on the CPVvalveterminal with CANopendirect connection:

Technical diagram of an electrical contactor with numbered components labeled 1 through 8

1 LoadvoltageconnectionforCPVVvalves
2 Error/statusLED
3 Fieldbusconnection
4 Switchcoveronthesub-base

Fig.1/1: Connectinganddisplayelements

5 Indentificationlabels
6 Earthing/groundconnection
7 Singalstatusdisplayofpilotsolenoids
8Typeplate

1. Installation

1.2.1 Opening and closing the switch cover

- Opening Unscrewandremovethe4screwsintheswitch cover.Pullthecoverupwards.

- Closing Replacethecover.Insertandtightenthe4screwsin diagonallyoppositesequence.

1.2.2 Setting the CPV valveterminal

The following setting possibilities can be found in the CPV valveterminal together with an LED for displaying any faults as well as the status:

- the station number ( C

-thefieldbusbaudrate

1 Addressselector switch (station-number)

2 DIL-switchfor baudrate

1 2 12 12 12 12 12 12 12 14 14 14 14 14 14

Fig.1/2: Settingelements

1. Installation

1 Addressselector switchforUNITS figure
2 Addressselector switchforTENS figure

1 2

Fig.1/3:Addressselectorswitches

Pleasenote

StationnumbersmayonlybeassignedonceperCANopen interface.

Recommendation

Assignthestationnumbersinascendingorder.Ifnecessary, takeintoaccountthemachinestructureofyoursystemwhen assigningthenumbers.

1. Installation

The following station numbers are permitted: 1;...;98

Warning

Youmustobserveanypossiblelimitationsimposedbythe CANopenmasterinrespectofthestationnumbers.

Proceedasfollows:

1.Switchoftheoperatingvoltage.
2. AssignnanunassignedstationnumbertotheCPVvalve terminal.
3. Useascrewdrivertosetthearrowsoftheaddressselectorswitchestotheunitsortensfigureofthedestationnumber.

7 8 9 6 5 0 4 1 3 2 1 2

Settingfor fieldbusaddress:05

7 8 9 6 5 0 4 1 3 2 1 2 7 8 9 6 5 0 4 1 3 2

Settingfor fieldbusadresse:38

1 UNITS
2 TENS

1 UNITS

2 TENS

Fig.1/4:Examplesofaddresssettings

1. Installation

Settingthefieldbusbaudrate

Warning

SetthefieldbusbaudrateoftheCPVvalveterminalso thatitisthesameasthebaudrateonthemasterinterface.

Fig.1/5: Setting the field bus baud rate

1. Installation

1.3 Connecting the CPV valveterminal

1.3.1 Connectingcable

FieldbuscableUseatwistedscreened4-corecableforthefieldbus.Thebus

interface and the internal logic of the CPV valvete supplied with powerviathefieldbuscable.

Warning

• YoumustrefertothePLCmanualortheusermanualfor yourbusinterfaceforinstructionsregardingthechoice ofcable.Alsotakeintoaccountthedistanceandthe baudrateselected.
• Selectalsotheappropriatecablecrosssections.
• Notealsothedropinvoltage:
• in the supply line for the bus interface and
• of the internal logic of the CPV valveterminal.

BuslengthThetablebelowshowstheguidevaluesforthemaximumbus

cablelengthdependingonthebaudrateselected.Exactdetailscanbefoundinthemanualsforyourcontrolsystemor bus interface.

Baudrate	Maximum bus length	Maximum branch line length
1000kBaud	10-40m	0.3m
500kBaud	50-100m	0.75m
125kBaud	500m	3 m
20kBaud	1000m	7.5m

1. Installation

Load voltage cable

• Use an load voltage cable with sufficient cross section.
• AvoidlongdistancesbetweenthepowerunitandtheCPV terminal. Longloadvoltagecablesreducethevoltagesuppliedby thepowerunit.
• If necessary, calculate the suitable cable cross section and the maximum permitted cable length.

1.3.2 Preparing the connecting cables

The connection so the fieldbus interface and those for the load voltage are in the form of plugs. The pin assignment of the fieldbus interface and that of the load voltage connection are shown on the following pages.

Inordertoconnecttheloadvoltage, useplugsfromtheFesto rangewhichcorrespondtotheouterdiameterofthecables used(seeAppendixA,Accessories).

loadvoltage connection

Ready-to-usecableswithplugsforthefieldbusconnection areavailablefromvariousmanufacturers(seeAppendixA, Accessories).

FieldbusplugsWhenyouhaveselectedsuitablecables,connectthemas follows:

1. Installation

1 Cable
2Housing
3 Connectingpart
4 Strainrelief

1 2 3 4

Fig.1/6:Preparingtheconnectingcable

Preparingthecables

1. Loosenthecentreknurlednuttoopenthesocket.
2. Open the strain relief on therear of the housing. Then passthe cable through as described below.
3. Remove 5 mm of the insulation from the cable and fit ends sleeve to the wirestrands.
4. Connect the end so fthe conductors.
5. Replacetheconnectingpartonthehousingofthesocket. Pullthecablebacksothatitisnotloopedinsidethe housing.
6. Tightenthestrainrelief.

1.3.3 Selecting the power unit

Warning

Useonlypowerunitswhichguaranteeereliableelectrical isolationoftheoperatingvoltagesinaccordancewithIEC 742/EN60742/VDE0551withatleast4kVisolation resistance.Switchpowerpacksarepermitted,providing theyguaranteeereliableelectricalisolationasper EN60950/VDE0805.

The current consumption of a CPV valveterminal dependence then number of valvecoils.

• Alwaysuseclosed-loopcontrolledpowerunits.
• Whenselecting the power unit, check that it provides enough power. Include in your calculation the complete current requirements as shown in the following table.
• Connect the operating voltage for the CPV valve coils, the EMERGENCY STOP circuit.

Completecurrentconsumptionet

ThetablebelowshowshowtocalcullatethecompletecurrentconsumptionforaCPVvalveterminal.Thevaluesspecifiedhavebeenroundedup.

CurrentconsumptionofbusinterfaceandlogicSums
CPVvalveterminal50mA		1)
Currentconsumptionofvalvesupply
Currentconsumptionofallvalve coilssuppliedsimultaneouslywith powe 1)	_x__mA=___mA
1) Currentconsumptiondependsonvalvetype (seetechnicalspecificationsofthevalves)

1. Installation

1.3.4 Connecting the load voltage for the CPV valves

Caution

ProtecttheloadvoltagecircuitfortheCPVvalvecoilswith anexternalfusemax.2A.

Withtheexternalfuseyoucanavoidfunctionaldamageto theCPVvalveterminalintheeventofashortcircuit.

Theloadvoltageissuppliedviathe4-pinM12plugonthe CPVvalveterminal.

1 Loadvoltage connection

1 12 12 12 12 12 12 12 12 12 14 14 14 14 14 14 14 14

Fig.1/7:Connectionforthe24VDCloadvoltage

The current consumption depends on the type of valve coil. Pleaserefertothe "Pneumaticsmanual, P.BE-CPV--" for the values.

1. Installation

Recommendation:

• ConnecttheloadvoltagefortheCPVvalves(pin2)viathe EMERGENCYSTOPcircuit.
• Checkthe24Vloadvoltagewhilethesystemisoperating.Makesurethattheloadvoltagestilllieswithinthe permittedtolerancesevenduringfulloperation.

Pinassignmentoftheloadvoltageconnectionfor theCPVvalves

1

1 Pinassignment

1:n.c.(notconnected)
2:24VDCloadvoltageforCPVvalves
3:0VloadvoltageforCPVvalves
4:n.c.(notconnected)

Fig.1/8: Pinassignmentofloadvoltageconnection

1. Installation

EarthconnectionTheCPVvalveterminalhasanearthconnectionontheend plate.

Pleasenote

- Connecttheearthconnectionoftheendplatewithlow impedance(shortcablewithlargediameter).

You will thereby avoid interference caused by electromagnetic influences.

Remark:

Protectionagainstelectricshock(protectionagainstdirect andindirectcontact)isguaranteedonFestovalveterminals bytheuseofPELVpowerunitsinaccordancewithEN 60204-1/IEC204.Thevalveterminalsmustbeearthedin ordertoensuretheirfunction(e.g.EMC).

1. Installation

ConnectionexamplePleaseobservethefollowingwhenconnectingthe24Vsupply(pin2):

• Maintainthetoleranceof24VDC+10/-15%.
• Useacableofsufficientcrosssectionwhenconnecting theearthcabletotheCPVvalveterminal.

AC DC 0 V 24 V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 1 2 3

1 Potentialcompensation
2 The24Vloadvoltagesupplyforthevalvescanbe switched offseparately.Thebusinterfaceandtheinternallogic aresuppliedwithpowerviathefieldbusconnection
3 Connectionforearth/groundontheendplate

Fig.1/9:Example-connectingthe24Vsupplyandearth cable

1. Installation

1.4 Connectingtothefieldbus

There is a field bus plug on the CPV val v terminal f necting it to the field bus. The following must be connected to this plug:

- t h e t w o b u s c a b l e s

-thevoltagesupply(+24VDCund0V)forthebusinterfaceandtheinternallogic

-thecablescreening/shield.

ThehardwarebasisofthebusinterfaceistheCANbus.A typicalfeatureofthisbusisthatthebusinterfaceissupplied withvoltageviathefieldbusplug.

Fieldbussocket

The bus connectionism made via a branch line with M12 socket with a PG9 screw connector. These can be obtained from Festo (type FBSD-GD-9-5POL, partno.18324).

Alternativelyyoucanusetheready-to-usebuscablessuppliedbyvariousmanufacturers(seealsoAppendixA,Accessories).

Pleasenote

RefertoyourPLCmanualorbusinterfacemanualtoascertainwhichT-adapterandmaximumbranchlinelengthare permittedforyourcontroller.

1. Installation

Basicstructureofthebusinterface

1 2 3 4 5 6 7 8 + 24 V 0 V

1 Fieldbus
2 Voltagesupply
3 Screening/shield
4 Branchline

5 T-adapter

6Bus

7 Microprocessor

8 Valvedriver

Fig.1/10: Basic structure of the bus interface

1. Installation

BussupplyAvoidlongdistancesbetweenthebusinterfacesupplyand thelogicsupplyandtheCPVvalveterminal.

Pleasenote

Thetolerancesinrespectoftheinterfacesupplyonbus slavesvariesaccordingtothemanufacturer.Youmusttake thisintoaccountwhenplanningthebuslengthandplacing thepowerunit.

Recommendation

Placethepowerunitapproximatelyinthecentreofthebus.

The following tolerance in the bus interfaces supply appliesto the Festo CPV valveterminals:

$$ V _ {\max} = 2 5. 0 \mathrm{V} $$

$$ V _ {\min} = 1 1. 5 \mathrm{V} $$

1. Installation

Pinassignmentofthefield businterface

Connectthefieldbuscablecorrectlytotheterminalsofthe buscablesocket.Observealsotheconnectioninstructions belowaswellastheinformationinthemanualforyou trollerorbusinterface.

Caution

- Makesureofthecorrectpolaritywhenyouconnectthe fieldbusinterfaceandthevoltagesupplyforthebus interface/internallogic.

- Connectthescreening/shield.

3 2 + 5 + 4 1 1 3 220nF 1MΩ 2

1 Pinassignment 1: Schirm(CAN_SHLD) 2: DC+24Vbusinterface/logic(CAN_V+) 3: 0Vbusinterface/logic(CAN_GND) 4: Data+(CAN_H) 5: Data-(CAN_L)

2 Nodehousing(PE)

3 Internalscreening/shieldconnectionintheCPVvalve terminal

Fig.1/11:InternalRCnetwork

1. Installation

ThediagrambelowshowstheconnectionoftheCPVvalve terminaltoaCANopenmasterwithabusinterfaceinaccordancewithDS102.

PLC/PC/IPCpinassignmentPlugPinPin			Valveterminalpinassignmentoffieldbusinterface
	1	n.c.
	2	CAN_L	—— Data-/CAN_L	5
	3	CAN_GND	—— GNDBus	3
	4	n.c.
	5	CAN_SHLD	—— Screening/shield	1
	6	GND
	7	CAN_H	—— Data+/CAN_H	4
	8	n.c.
	9	CAN_V+	—— 24VBus	2
nc=notconnected

Fig.1/12: PinassignmentasperDS102

1. Installation

1.4.1 Installingtheterminatingresistor

If the CPV valveterminaltobe connected dissituated at the endofthefieldbus, aiterminating resistor (120 Ohm, 0.25 Watt) must be fitted in the fieldbus socket.

If you are using T-adapters, were recommend that you fit the terminating resistortotheunusedoutputoftheT-adapter.

TerminatingresistorCrimpthewiresoftheresistortogetherwiththoseofthefield buscablebetweenthecoresData+(pin4)andData-(pin5) ofthebuscablesocket.

Pleasenote

Inordertoguaranteereliablecontact, were recommend that the wires of the resistor and those of the buscable be crimped together in common connectors sleeves.

1 120Ω 4 5 2 1

1 Terminatingresistor120Ohm,0.25W

Fig.1/13:Installingtheterminatingresistor

Commissioning

Chapter2

Contents

2. Commissioning2-1....

2.1 CommissioningaCANopenmaster2-3.....

2.1.1 Numberofoutputs2-3.....

2.1.2 General information on CANopen 2-4

2.2 Summaries 2-5

2.2.1 Brief summary of the scope of functions 2-5

2.2.2 Summary of the object directory 2-6

2.2.3 COB identifierCOB identifier 2-7

2.2.4 Start-up reaction of the CPV valve terminal 2-8

2.2.5 Default identifier distribution 2-10

2.3 Summary of the object directory 2-11

2.3.1 PDO communication parameter record 2-12

2.3.2 PDO communication mapping parameter 2-13

2.3.3 Digital outputs 2-14

2.3.4 Reaction of the digital outputs to a fault 2-15

2.4 Structure of emergency object 2-17

2.5 Basic rules for addressing 2-18

2.5.1 Addressing the CPV valve terminal 2-19

2.6 Examples: communication run 2-20

2. Commissioning

2.1 CommissioningaCANopenmaster

Thischapterdealswiththeconfigurationandaddressingofa CPVvalveterminalonaCANopeninterfaceorCANopen master.

The followingstandardshavebeentakenintoaccount:

Followingstandards
DS 301	Draft Standard 301 is based on the CAL communication profile
DSP 401	Draft Standard Propsal 401 defines the device profiles forinputandoutputmoduleswithinCANopen
DS201Ds207	CANApplicationLayerCAL

Inordertounderstandthischapteryoushouldbefamiliar withCANopenaswellasthespecificationsDS301andDSP 401.

2.1.1 Numberofoutputs

Pleasenote

Thesumoftheoutputsisalways2bytes,irrespectiveoftheextentandoftheequipmentfittedontheCPV valveterminal.

2. Commissioning

2.1.2 GeneralinformationonCANopen

CANopendeviceshaveanobjectdirectorywhichprovides accessinastandardformtoallimportantslaveparameters. ACANopensystemisconfiguredprincipallybyaccesstothe objectdirectoryoftheindividualslaves.Theaccessmechanismisprovidedbyservicedataobjects(SDOs).

There are twodifferentcommunicationmechanismsforcommunicationinaCANopensystem.

The Process Data Objects (PDOs) provide the fast transfer of processingdataandaretransmittedbysimpleCANmessageswithoutprotocoloverhead.Processdataobjectscanbe transmittedevent-controlled,synchronoustoasystemtime sequenceorondemand.

The Service Data Objects (SDOs) form a point-to-point connection and permit access to every entry in the object directory of anode.

2. Commissioning

2.2 Summaries

2.2.1 Brief summary of the scope of functions

-Modulestatesandboot-upaspercommunicationprofile DS301
-Allentriesinthecommunicationpartoftheobjectdirectoryareincluded
- Aservicedataobjectforreadandwriteaccesstotheobjectdirectory
-Aprocessdataobjectforaccesstodigitaloutputs
-PDO-COBidentifierforwriteaccessnotvariable
-PDOtransmissiontypeforwriteaccessfirmlyimplementedasasynchronous(255)
-PDOemergencytelegramforerrormessagestothe master
-Nodeguarding
-DefaultsettingofallidentifiersasperDS301andthe nodeaddress

2. Commissioning

2.2.2 Summaryoftheobjectdirectory

The followingtableshowstheimplementedobjectsofthe FestoCPVvalveterminal.Thetableisbasedonstandard DS-301.

Index(hex)	Objecte
1000-100ECommunicationpartoftheobjectdirectories
1400CommunicationparametersforreceivePDO
1600MappingparametersforreceivePDO(variablemappingnotimplemented)
6200Outputarray
6206Faultmodearrayfortheoutputlines
6207Faultstatearrayfortheoutputlines

2.Commissioning

2.2.3COBidentifierCOBidentifier

The FestoCPVvalveterminalwithCANopenisa"minimum capabilitydevice"(minimumdevice).ThePDO-COBidentifier canbeselectedindividuallyforwriteaccess.

Bit10Bit7Bit6Bit0

Functioncode Modul-ID

Fig.2/1: StructureofCOBidentifier

Maximum127slavescanbeaddressedwiththemoduleID. Theaddressisalsoreferredtoasthestationnumber,MAC-ID orMESSAGE-ID.Bymeansoftheaddressselectorswitchesof theCPVvalveterminalyoucansetaddressesfrom1...98.

-Address99isreservedfortheselftest.

- Address 00 is not valid.

Example

COB-IDforCPVvalveterminal.Setaddress(rotaryswitch): 10D.

Bit10Bit7Bit6Bit0

0 0 0 1 0 1 0 Functioncode Modul-ID

Fig.2/2: StructureofCOBidentifierforvalveterminalno.10

2. Commissioning

2.2.4 Start-up reaction of the CPV valveterminal

ThediagrambelowshowsthestatusdiagramoftheFesto CPVvalveterminal.

graph TD
    A["Power-on"] --> B["Hardware-initialisierung"]
    B --> C["Communicationinitialization"]
    C --> D["Pre-operational"]
    D --> E["Operational"]
    E --> F["Prepared"]
    F --> G["Operational"]
    G --> H["Operational"]
    H --> I["Operational"]
    I --> J["Operational"]
    J --> K["Operational"]
    K --> L["Operational"]
    L --> M["Operational"]
    M --> N["Operational"]
    N --> O["Operational"]
    O --> P["Operational"]
    P --> Q["Operational"]
    Q --> R["Operational"]
    R --> S["Operational"]
    S --> T["Operational"]
    T --> U["Operational"]
    U --> V["Operational"]
    V --> W["Operational"]
    W --> X["Operational"]
    X --> Y["Operational"]
    Y --> Z["Operational"]
    Z --> AA["Operational"]
    AA --> AB["Operational"]
    AB --> AC["Operational"]
    AC --> AD["Operational"]
    AD --> AE["Operational"]
    AE --> AF["Operational"]
    AF --> AG["Operational"]
    AG --> AH["Operational"]
    AH --> AI["Operational"]
    AI --> AJ["Operational"]
    AJ --> AK["Operational"]
    AK --> AL["Operational"]
    AL --> AM["Operational"]
    AM --> AN["Operational"]
    AN --> AO["Operational"]
    AO --> AP["Operational"]
    AP --> AQ["Operational"]
    AQ --> AR["Operational"]
    AR --> AS["Operational"]
    AS --> AT["Operational"]
    AT --> AU["Operational"]
    AU --> AV["Operational"]
    AV --> AW["Operational"]
    AW --> AX["Operational"]
    AX --> AY["Operational"]
    AY --> AZ["Operational"]
    AZ --> BA["Operational"]
    BA --> BB["Operational"]
    BB --> BC["Operational"]
    BC --> BD["Operational"]
    BD --> BE["Operational"]
    BE --> BF["Operational"]
    BF --> BG["Operational"]
    BG --> BH["Operational"]
    BH --> BI["Operational"]
    BI --> BJ["Operational"]
    BJ --> BK["Operational"]
    BK --> BL["Operational"]
    BL --> BM["Operational"]
    BM --> BN["Operational"]
    BN --> BO["Operational"]
    BO --> BP["Operational"]
    BP --> BQ["Operational"]
    BQ --> BR["Operational"]
    BR --> BS["Operational"]
    BS --> BT["Operational"]
    BT --> BU["Operational"]
    BU --> BV["Operational"]
    BV --> BW["Operational"]

Fig.2/3:StatusdiagramoftheCPVvalveterminal

Descriptionofthestatustransitions

Status transition	DesignationCommand specifier(cs)		Function
0			Autom.BootupnachPowerOn
1	Start_Remote_Node_Indication	01_H	StartstheCPVvalveterminal (operationalmode), SDOtransmissionvalid-PDOtransmissionvalid (outputsactive)-Nodeguardingvalid (response:toggle+05 H)
2	Enter_Pre_Opera-tion_State_Indication	80_H	CPVvalveterminalinpre-operational mode: SDOtransmissionvalid-PDOtransmissionnotvalid(out-putsassumeerrorstatus*)-Nodeguardingvalid (response:toggle+7F H)
3	Stop_Node_Indication	02_H	Stopp communication:-SDOtransmissionnotvalid-PDOtransmissionnotvalid (outputsassumeerrorstatus*)-Nodeguardingvalid(response: toggle+04 H)
4	Reset_Communication_Indication	82_H	Resetsthecommunicationfunctions:-Outputsarereset-Maskingoftheoutputsresetto default
5	Reset_Node_Indication	81_H	Moduleresetincl.application:-Outputsarereset-SDOre-initialized, modifiedvaluesarereset
*)Onlyaftertransferfromoperationalmodetopreparedorpre-operationalmode

2.2.5 Defaultidentifierdistribution

The followingtableshowstheidentifierdistribution.

		Peer-to-peer objects
ObjectnameObject	designation	Functioncode (binary)	CMSpriority group	Valuerangeof COBidentifier withFestoCPV valveterminals
EMERGENCYForhigh-priority processese.g.un-dervoltage		00010,1129		D ...226 D 081H... 0E2H
Recive-PDO01002513				D ... 610D 201H 262H
Send-SDO		101161409		D ... 1506D 581H 5E2H
Recive-SDO		11006,7	1537	D ... 1634D 601H 662H
Nodeguarding		111071793		D ... 1890D 701H 762H

2.3 Summary of the object directory

The communication part of the objects contains the following objects (values and examples: ModuleID=1).

		Communicationsprofile
Index (hex)	Object name symbolic	Object designation	Object type	Object attributes	Valves/subindex	Explanationofvalues
1000	VAR	device type	U32	ro	91 01 02 00	0191 = Deviceprofile forl/Omodulex: 0200=Digitaleoutputs available
1001VARmanufacturer errorfield			U8	ro	xx	00 = No error 81= Generic/manu facturer error
1002	VAR	predef_status	U32	ro	00 00 00 00	Not defined at present
1003ARRAY	predef_error field [2]		U16ro“0”=0x00		“1”=2033	Numberoferrors(0or1) Standarderrorfield 3320= voltagefor valves <20,4 V
1004ARRAY	number of PDOs[3] supported		U32	ro	“0”=00 00 0100 “1”=00 00 0000 “2”=00 00 0100	Numberoftransmit-PDOs Numberofreceive-PDOs Numberlofsyn.trans.-PDOs Numberofsyn.rec.-PDOs Number ofasync. trans.-PDOs Number ofasync. rec.-PDOs
1008ARRAY	manufacturer devicename		String	ro4350434F	CPCO
1009ARRAY	manufacturer hardwareversion		String	ro	30 31 39 38	at least 0198
U=Unsigned,ro=readonly,rw=read/write
Index (hex)	Object name symbolic	Object designation	Ob-ject type	Object at-tributes	Valves/subindex	Explanationofvalues
100AAR	RAYmanufacturer softwareversion	Stringro	56312E32	atleastV1.2
100B	VAR	node-ID	U32	ro	01 00 00 00	Node adress
100C	VAR	guard time	U16	rw	E8 03	1000 ms
100D	VAR	lifetime factor	U8	rw	03	Life time for the node guardingprotocol
100E	VAR	nodeguard_id	U32	ro	01 07 00 00	Nodeguard Identifier
U=Unsigned,ro=readonly,rw=read/write

2.3.1 PDO communication parameter record

The following objects are defined in the "Receive" PDO communication parameter

(values and examples: module ID = 1).

		Communicationsprofile
Index (hex)	Object name symbolic	Object designation	Object type	Object attributes	Valves/subindex	Explanationof values
1400RECORD	Communicationsparameter for receive-PDO	PDOComm parameter	ro"0"=02	"1"=01 02 00 00"2"=FF		=Numberof entries=COB-ID200+ module-IDTransmiss.typeFF= acyclic,asynchron

2. Commissioning

2.3.2 PDO communication mapping parameter

Pleasenote Variablemappingisnotsupported.

The following objects are defined in the Receive PDO mapping parameter.

		Communicationsprofile
Index (hex)	Object name symbolic	Object designation	Object type	Object attributes	Valves/subindex	Explanationof values
1600AR	RAYMapping	parameterfor receivePDO	PDOComm parameter	ro"0"=02	"1"=0 1 0 2 0 0 0 0"2"=FF	=Numberof available outputbytes=coils0-7=coils8-15

2. Commissioning

2.3.3 Digitaloutputs

FestosupportstheOUTPUTARRAYforthe8-bitcommands.

The following table applies as per DSP401:

		Communicationsprofile
Index (hex)	Object name symbolic	Object designation	Object type	Object attributes	Valves/subindex	Explanationof values
6200AR	RAYWriteState8OutputLines[3]		Unsigned 8	rw	"0" = 02"1" = x x"2" = x x	=Numberof available outputbytes=coils0-7=coils8-15

2. Commissioning

2.3.4 Reaction of the digital output to a fault

FestosupportstheFAULTMODEARRAYforthe8-bitcommands.

The following table applies as per DSP401:

		Communicationsprofile
Index (hex)	Object name symbolic	Object designation	Object type	Object attributes	Valves/subindex	Explanationof values
6206AR	RAYFaultMode8	OutputLines [3]Maskierung definieren	Unsigned 8	rw	"0" = 02"1" = xx"2" = xx	=Numberof available outputbytes = M a s k i n g coils0-7Default:FF = M a s k i n g coils8-15Default:FF
6207AR	RAYFaultState8	OutputLines [3]Maskierung definieren	Unsigned 8	rw	"0" = 02"1" = xx"2" = xx	=Numberof available outputbytes =Faultstate coils0-7Default:00 =Faultstate coils8-15Default:00

Pleasenote

Index6206determineswhichoutputsaretoassumea defaultstateifthereisafault.

Index6207determineswhichstatethefixedoutputsareto assumeifthereisafault.

ThesettingsbecomeactivewhentheCPVvalveterminalis putintotheoperationalmode.

Afterswitchingonorresetting(hardwareinitialization, communicationinitialization), thedefaultvaluesareaautomaticallyassumed.Anymaskingswillbeoverwritten.

The followingthenapplies:

Index	Definition
6206Subindex 1, 2Bit0...7	0=definiertenStatusofoutputismaintained
	1=Outputassumesthestatusdefinedinindex6207
6207Subindex 1, 2Bit0...7	0=Outputisreset
	1=Outputisset

2.Commissioning

2.4 Structure of emergency object

FestosupportsaPDOemergencyobject. The following table applies in accordance with standard DS401.

ThePDOemergencyobjectissentbytheCPVvalveterminal inthefollowingcase:

-Undervoltageatthevalves(<20.4V)

The emergency PDOissentoncewhentheundervoltageoccursandwhenthefaultisrectified.

Byte 0 1 6 54327 EmergencyErrorcode 3320=U Ven <20,4V Errorregister 00=Noerror 81=GenericandManufacturererror Manufacturerspecificerrorfieldreserviert

Fig.2/4: Structure of emergency object

2.Commissioning

2.5 Basicrulesforaddressing

ACPVvalveterminalalwaysoccupies16outputs,irrespective ofthenumberofvalvesolenoidcoilsfitted.Thediagram belowshowstheaddressingsequenceoftheindividualCPV valveplates.

0-1 2-3 4-5 6-7 8-9 10-11 12-13 14-15

Fig.2/5:AddressassignmentofaCPVvalveterminal

2.Commissioning

2.5.1 Addressing the CPV valveterminal

AssignmentoftheCPVvalvecoilstothedatabytes

12 LED-rowforpilot solenoid12

14 LED-rowforpilot solenoid14

12 14 12 12 12 12 12 12 12 12 12 14 14 14 14 1 3 5 7 1 3 5 7 0 2 4 6 0 2 4 6 14

Fig.2/6:Assignmentofvalvecoilstodatabytes

Avalvelocationalwaysoccupies2addresseevenwhenitis fittedwithablankingplateorpressureisolatingplate bestücktist.Ifavalvelocationisfittedwithadoublesolenoid valve,thefollowingassignmentapplies:

--pilotsolenoid14occupiesthelowervalueaddress,
--pilotsolenoid12occupiesthehighervalueaddress.

Withsinglesolenoidvalves, the high value address remains unused.

2. Commissioning

2.6Examples:communicationrun

AllexamplesrefertomoduleID=1,i.e.setCPVvalveter- minaladdress1.

graph LR
    A["1 PLC/PC/IPC Data(valueinhex)"] --> B["COB-ID 000 01 xx"]
    B --> C["2 Data(valueinhex)"]
    C --> D["xx:00=allbusslaves; xx=stationno."]

Fig.2/7:Example1:StartCANopennetwork

graph LR
    A["1 PLC/PC/IPC Data"] --> B["201 COB-ID"]
    A --> C["01 00"]
    D["Data"] --> E["PLC/PC/IPC Data (valuesinhex)"]

Fig.2/8:Example2:Setoutput0ontheCPVvalveterminal,setcoil0(1st.valve)

InordertosetvalvesontheCPVvalveterminal,thereceive PDOmustbesentbythemaster.Intheexampleonlyoutput Oisset.Anyoutputsalreadysetwillbereset.

2. Commissioning

graph LR
    A["1 PLC/PC/IPC"] --> B["COB-ID"]
    C["2 Bit7=togglebit"] --> B
    D["3 Data(valuesinhex)"] --> B
    E["4 Nodeguardresponse"] --> B
    B --> F["701 05 2 3 701"]

Fig.2/9:Example3:Startnodeguardmonitoring

Thenode guard monitoring of the CPV valvetermin CANopendirectlink starts when the first node guard telegram is received. This telegram must be cyclically repeated in the following time: guardtimex lifetime factor (index100C index100D)

If thistimeisexceeded, the valves will beswitched off for they will assumethedefault status.

Pleasenote

The timeout monitoring remains inactive in the CPV valve terminal until the first Node guard telegram is received. Valves which a reswitched on remain set even after loss of communication, bus interruption, etc.

2. Commissioning

1 PLC/PC/IPC
2 Initiatedomainuploadrequest
3Index

4 Subindex
54databytes(valuesinhex)
6 Initiatedomainuploadresponse

InordertuploadobjectsofaCPVvalveterminal,theSDO mustbeloadedwiththeUploadcommand,theindexandthe subindex.TheCPVvalveterminalthensendsthenumberof databytes,theindex,thesubindexandthedatabytes.

2. Commissioning

graph TD
    A["1"] --> B["COB-ID 601"]
    B --> C["2B 0C 10 00 04 7F 00 00"]
    B --> D["581"]
    D --> E["6 0C 10 00 xx xx xx xx"]
    E --> F["7"]

1 PLC/PC/IPC

5 With2databytes(valuesinhex)

2 Initiatedomaindownloadrequest

6 Initiatedomaindownloadresponse

3Index

7 Valuesinhex

4 Subindex

xxValueisundefined

Fig.2/11:Example5:Downloadindex100C

H,subindex0(guardtime)

InordertodownloadobjectsofaCPVvalveterminal,theSDO mustbeloadedwiththeDownloadcommand,theindex,the subindexandthevalue.TheCPVvalveterminalthensends theindex,thesubindexandadatabyteasacknowledgement.

1. Commissioning

Diagnosis

Chapter3

3.Diagnosis

Contents

3.Diagnosis3-1.

3.1 Summary of diagnostic possibilities 3-3.
3.2DiagnosisviaLEDs3-4.
3.2.1 Normal operating status 3-4
3.2.2 Error display 3-5
3.2.3 LED for the switching status of the valve solenoid coil 3-6
3.3 Testing the valves 3-7
3.3.1 Starting the test routine 3-8
3.3.2 Stopping the test routine 3-8
3.4 Diagnosis via the field bus 3-9
3.5 Error treatment 3-10
3.5.1 Reaction to faults in the control system 3-10

3.Diagnosis

3.1 Summary of diagnostic possibilities

TheCPVvalveterminaloffersthefollowingpossibilities of diagnosisanderrortreatment:

-Diagnosisviathebuilt-inLEDs

-valveterminalstatus

-valveterminalstatusdisplay

-Valvetest

-Diagnosisviathefieldbus.

Diagnosis via LEDs Green: Status display of operating mode

(pre-operationalmode, preparedmode, operationalmode)

Red:Errordisplay

-undervoltageatCPVvalvesor

-incorrectstationaddress(setting0)

Yellow:Valvestatusdisplay

ValvetestIntegratedtestroutineforvalves

Diagnosis via fieldbus The CPV valveterminals sends an emergency message if there is an error.

3.Diagnosis

3.2DiagnosisviaLEDs

LED display The LED on the cover of the CPV valveterminal indicate the operating status of the CPV valveterminal.

1 Module-/Network-status (red/green)
12 YellowLEDrow forpilot solenoid12
14 YellowLEDrow forpilot solenoid14

1 12 14 12 12 12 12 12 12 12 14 14 14 14

Fig.3/1:LEDsoftheCPVvalveterminalwithCANopen

3.2.1 Normaloperatingstatus

InthenormaloperatingstatustheLEDDIAGlightsupgreen.

LED	Colour	Signal	Operating status	Error treatment
	green		normal; operational mode	none

3.Diagnosis

3.2.2 Errordisplay

Reaction	Signal	Colour	Operating status	Error treatment
		green/red	Operatingstatusnormalbut:-Selftestactive(LEDflashesred/geenalternately)-CPVvalveter-minalinpreoperationalmode-overrunCANerrorcounter	•Completeselftest•PutCPVvalveterminialintooperationalmode•Checkcables/plugs,reducebuslengthorbaudrate
		greenCPVval	valveterminalinpreparedmode	None
		red	-Stationnumber99 setor-Errorinstartingselftestor-Selftestactive(LEDflashesred/greenalternately)	•Correctstationnumber•Repeattest
[SHOA]		red	Undervoltageinvalvesupply(< 20,4V)	•Checkvoltagesupply

3.Diagnosis

3.2.3 LED fortheswitching status of the valvesolenoid coil

ThereisayellowLEDforeachvalvesolenoidcoil. This LED indicates the switching status of the valvesolenoid coil.

LED	Switchposition ofvalvesolenoidcoil	Meaning
YellowoutBasicpositionLogic0(nosignal)
Yellowalight•Switchpositionor•basicpositionbasic positionor		Logic1(signalpresent)Logic1but:-operatingvoltageofvalvesliesbelowthe permittedtolerancerange(DC <20,4V) or-faultincompressedairsupply or-pilotexhaustblocked or-servicingrequired

3.Diagnosis

3.3 Testingthevalves

Warning

Beforestartingthetestswitchoffthecompressed airsupplyfortheCPVvalveterminal.

You will thereby avoid undesired or dangerous movements of the actuators.

Caution

-ThetestfunctionrunsautomaticallyintheCPVvalve terminal.Allthevalvesareswitchedon/offcyclically.
-Program-technicallockingsorfurtherswitchingconditionswillnotbetakenintoaccount.

TheCPVvalveterminaloffersthefollowingtestroutines:

Testroutine	Meaning
ParallelAllthevalves	vesofabyteareswitchedon/offatonesecondintervals.Switchingismadecontinuouslyfrombyte0tobyte1andviceversa.
SerialAllthevalves	sofabyteareswitchedon/offoneaftertheotheratonesecondintervals.
Switchonall valves	Allvalvesareswitchedon.

3.Diagnosis

3.3.1 Startingthetestroutine

1. Switchofftheoperatingvoltagesuppliesforthebusinterfaceandtheinternallogic.
2. Removethecover(seealsoChapter2, Configuration).
3. Notethesettingoftheaddresss selectorswitchandDIL switchelements.
4. Setaddress99 and DIL switches1 and 2 to OFF.
5. Switchontheoperatingvoltagesuppliesforthebusinterface, theinternallogicandtheCPVvalves.
6. Set the desired test routine on the address selector switches as follows:

Testroutine	Addresstobeset
Parallel0
Seriell1
Switchonallvalves2

7. Start: set DIL switches 1 and 2 to ON.

Iferrorsoccurwhentetestroutineisstarted,theredLED willflashquickly.Theprocessmustberepeated.

3.3.2 Stoppingthetestroutine

1. Switchofftheoperatingvoltagesuppliesforthebusinterfaceandtheinternallogic.
2. Resettheaddresss selectorswitchandtheDILswitchelementstotheiroriginalpositions.

3.Diagnosis

3.4Diagnosisviathefieldbus

The CPVvalveterminalsendstheemergencyPDOifthevoltagesupplyforthevalvesdropsbelow20.4V.

Details, structureoftheemergencyPDOetc.canbefoundin Chapter2, Commissioning.

3.5 Error treatment

3.5.1 Reaction of faults in the control system

Thevalvesreactdifferentlytoafault.Adistinctionismade betweena:

—resetbythemaster

-communicationfailure.

Fault	Reaction
Reset by the master	Outputs are switched off immediately
Communicationfailure(bus interfaceisstillsupplied with24V)	Outputsassumethedefaultstatus afterexpiryoftime:guardtimex lifetimefactor(index100Cxindex 100D).Thedefaultstatusisdeterminedby index6206and6207.
Communicationfailure(bus interfaceisnolongersup- pliedwith24V)	Outputsareswitchedoffimmediately

Pleasenote

If outputsareresetorsettothedefaultstatuswhenthere isaPLCstop,fieldbusinterruptionorfieldbusfault,the following "pneumatic rules" must be observed:

•unilaterally-actuatedvalvesmovetothebasicposition
- double-solenoidvalvesremaininthecurrentposition
- mid-positionvalvesmovetothemid-positionandare pressurized, exhaustedorblocked(dependingonvalve type).

TechnicalAppendix

AppendixA

A. Technical Appendix

Contents

A. TechnicalAppendixA-1.....

A.1 Technical specifications of the valveterminal with CANopendirectlinkA-3...

A.2 Accessories.... A-5

A.1 Technical specifications of the valveterminal with CANopendirect link

General
Temperaturerange:-operation-storage/transport	-5 °C ... +50 °C
Relativehumidity95%,noncondensing
ProtectionclassasperEN60529Plugconnectorpluggedinorfittedw tectivecap	IP65with pro -
ProtectionagainstelectricshockProtectionagainstdirectandindirectcontactasperEN60204-1/IEC204	bymeansofPELVpower units(ProtectedExtra-Low Voltage)
Protectionagainstexplosion(perEUguideline94/9/EG,EN50021 andEN50281-1-1)Donotdisconnect whenundertension!	II3G/DEExnAII T5 -5 °C ≤ Ta ≤ +50 °C T 80 °C(yearofmanufacturesee ExmarkonProduct)
Valves	see CPV Pneumatics manualtypeP.BE-CPV-...

OperatingvoltageofCPsolenoidvalves
Pin2Operatingvoltageconnection-ratedvalue-tolerance	DC24V21,0...26,4V
Currentconsumption-Pin2	sumofallswitchedCPvalves;seeCPVPneumaticsmanual
Residualripple	4Vpp(withintolerance)
Powerfailurebridgingtimeduringdropinlogicvoltage	20ms
Operatingvoltageforelectronicsandinputmodules
Pin2,3;businterface-ratedvalue-Tolerance-Currentconsumption(24V)	externalfuserequiredDC24V;notprotectedagainstincorrectpolarity11.5...25V50mA
Residualripple4Vpp(withintolerance)
Powerfailurebridgingtimeduringdropinlogicvoltage	20ms

Electromagneticcompatibility
-interferenceemission	testedasperEN55011LimitvalueclassA*
-resistancetointerference	testedasperEN50082-2
*) The CPV valve terminal CPV..-GE-CO-8 with CANopen can also be usedwithindividualpermissioninresidentialareas(residential, businessandcommercialareas,smallfirms).

Informationonthepneumaticmodulescanbefoundinthe "Pneumaticsmanual,P.BE-CPV-...".

A. Technical Appendix

A.2Accessories

Thissectionprovidesasummaryofthenecessaryaccessories.

Pleasenote

The followingsummariesdonotclaimtobecomplete. The addressesofthefirmsnamedcanbefoundattheendof thesection.

Operating voltage con-nectionofCPvalves

TheoperatingvoltageconnectionoftheCPvalvesismade by a 4-pin M12 socket with PG7 or PG9 screw connected TheseconnectorscanbeorderedfromFesto:

Design	TypePartno.
PG7straight	FBSD-GD7	18497
PG9straight	FBSD-GD9	18495
PG7angled	FBSD-WD7	18524
PG9angled	FBSD-WD9	18525

BusconnectionThebusmustbeconnectedviaabranchlinebymeansofa

5-pinM12socketwithPG9screwconnector.TheseconnectorscanbeorderedfromFesto:

Design	TypePartno.
PG9straightFBSD-GD9	-5POL18324

Alternatively, you can use buscables (dropcable, M12/7/8") from the following manufacturers:

Manufacturer	TypeLength
LumbergRS50RKT5	614/1.5F	1.5F
	RS50RKT5-614/3F	3.0F
	RS50RKT5-614/6F	6.0F
	RS50RKT5-614/9F	9.0F
Turck	RSM 572-*M-RKC 4.5T/S630	x m
*)Lengthinmetres

Thebranchlinecanbeconnectedtothebusbymeansofa T-adapterAccessories;T-adapter(T-tap).ThefollowingT-taps areavailabletosuitthebuscablesnamed.

Manufacturer	Type
LumbergTAP50-RK
Turck	RSM-2RKM 57
Woodhead	DN3000

The following manufacturers offer T-adapters with screw terminals.

Manufacturer	Type
Phillips	BR50
Selectron	CTA701

FestooffersapowerboxwithprotectionclassIP65asaT adapter:CP-FB-TBOX-SUBD9,partno.183590.

24 VDC OUT IN

Fig.A/1:PowerboxCP-FB-TBOX-SUBD9

The following accessories are available:

Accessory	TypePartno.
Sub-Dplug,9pin,IP65	S-SUB-9-GS-9S-SUB-9-BU9-GS-9	171171171172
Powerconnection socketPG9-angled-straight	NTSD-WD-9NTSD-GD-9	1852718493

ConnectioncableforCANopen

Accessory	TypePartno.
Cable:Terminalconnectionangledplugtoangledsocket	KVI-CP-1WS-WD-0,5178564

Pleasenote

Theready-made connection cable must be adapted to the specific connection of the power box.

Adaptionoftheterminalconnection

1. Loosenthesocketfromthecable.
2. Substitutethesocketbya5-pinM12socket(seeChapter 1, Connectingthebusandoperatingvoltage).
3. Connect thecores as follows: 24Vbusinterface/operating voltage = yellowcore 0Vbusinterface/operating voltage = greencore CAN_h = whitecore CAN_L = browncore

Addresses:

Manufacturer	Addresses
WoodheadIndustriesInc.	UnitedStatesDanielWooheadCompany3411WoodheadDriveNorthbrook,Illinois60062
	CanadaWoodheadCanadaLtd.1090BrevikPlaceMississauga,OntarioCanadaL4W3Y5
	UnitedKingdomAero-Motive(U.K.)Ltd.9,RassauIndustrialEstateEbbwVale,Gwent,NP35SD
	GermanyH.F.VogelGmbHTullastraße975196Remchingen
LumbergUnitedStates	LumbergInc.11351BusinessCenterDriveUSA-Richmond,VA23236
	UnitedKingdomLumberg(U.K.)Ltd.TheMount,HighclereGB-Newbury,Berkshire,RG209QZ
	GermanyLumbergGmbH & Co.Hälverstraße 9 4D-58579Schalksmühle
ManufacturerAddresses
TurckUnitedStates	Turcknc.3000CampusDriveUSA-Plymouth,MN55441-2656
	UnitedKingdomMTETurckLtd.StephensonRoadLeigh-on-Sea,EssexSS95LS
	GermanyHans Turck Gmbh & Co. KGWitzlebenstraße7D-45472MülheimanderRuhr
PhilipsNiederlande	PMANederlandGebouwTQIII-4Postbus80025NL-5600JZEindhoven
	GermanyPhilipsIndustrialElectronicsMiramstraße87D-34123Kassel
SelectronSwiss	SelectronLyssAGIndustrielleElektronikBernstrasse70CH-3250Lyss
	GermanySelectronSystemGmbHSchupferStraße1Postfach310262D-90202Nürnberg

Index

AppendixB

B. Index

B.IndexB-1.

B.1Index

A

Accessories

BuscablesA-5.

ManufacturerA-7.

T-adapterA-6.

C

CANopen

COBidentifier2-7.

Defaultidentifierdistribution2-10

General information 2-4

PDO communication parameter record 2-12

Summary of object directory 2-6

COB identifier 2-7

D

Designateduse V.....

|

Important user instructions ..... VII

Information on this manual ...... VI

P

PDO, Communication parameter record 2-12

S

Service V

B. Index

T

TargetgroupV.

TechnicalspecificationsA-3.