FST + CAN-BUS

Handbook FST + CAN-BUS 1

Handbook

FST + CAN-BUS


FESTO Belgium 1998

Author : Serge Vinck


TABLE OF CONTENTS

TABLE OF CONTENTS......................................................................................................3

1. HARDWARE CONNECTIONS. ....................................................................................4

a. With Festo T-Box (IP65) ............................................................................................... 4

b. With IP20 T-Box ........................................................................................................... 4

2. CONFIGURING THE CP81. ........................................................................................5

a. Creation of the project ................................................................................................. 5

b. Configuration of the driver .......................................................................................... 5

c. Making the driver datafile with the can configurator .................................................. 7

d. Load the project in the IPC........................................................................................... 9

e. Rebooting the IPC ...................................................................................................... 11

3. CONFIGURATION OF THE SLAVES. .........................................................................12

a. IPC online................................................................................................................... 12

b. Start the CAN configurator ........................................................................................ 13

c. Disconnect all slaves ................................................................................................. 14

d. Connect slaves and give them parameters................................................................ 14

e. Testing the inputs and outputs in the configurator................................................... 17

4. CONFIGURE YOUR SLAVES FOR FST. ......................................................................20

a. The configuration....................................................................................................... 20

b. Load the configuration............................................................................................... 22

c. Testing with FST......................................................................................................... 23

5. TESTING THE PROGRAM AND ERROR TREATMENT. ................................................27

a. Writing the program .................................................................................................. 27

b. Working with the hard-error reaction (default mode) ............................................... 27

c. Working with soft-error reaction ............................................................................... 28


1. Hardware connections.

a. With Festo T-Box (IP65)

IN DB9-M

Power supply1 = 24 V2 = 24 V (valves)3 = 0 V

Festo CPE

Festo CPconnector

2 Can L7 Can H3 GND5 PE

Can L 2Can H 7GND 3

24V 0V PE

Festo T-Box (183590)CP-FB-TBOX-SUB-9

Festo CP81>=S4.00

120 Ohm (*)

Festo CPV

2 Can L7 Can H3 GND5 PE

OUT DB9-F

(*) Number and value of resistance depends on the length of the bus. Please refer to manual CP81.

• After putting the power on the system, there is no led on, not on the CP81(can card), not on theCPV (valve terminal) and not on the CPE (input block).

• Note : the length of the cables and/or the network configuration are not discussed in this

handbook.

b. With IP20 T-Box

T-Box (271109)


2. Configuring the CP81.

a. Creation of the project

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement ¦ Utilities +-[Project management]+¦¦ diagram ¦ list ¦ ¦ Select project ¦¦¦-------------------------------------------------------¦ Create project ¦¦¦ ¦ Delete project ¦¦¦ ¦ Print project ¦¦¦ ¦ Load project ¦¦¦ ¦ Upload project ¦¦¦+------------------[ Project selection [ Esc ]-----------------+rogram ¦¦¦¦ Project Description ¦ Restore ¦¦¦¦ can testing the fstcan CP81 - power box ¦ile ¦¦¦¦ ¦------------+¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦+---------------------------------------------------------------+ ¦+------------------------------------------------------------------------------+

F Confirm F Change F F F F F F Exit1 <-- 2 comment 3 4 5 6 7 8

b. Configuration of the driver

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement +----[ Utilities ]----+ Project ¦¦ diagram ¦ list ¦ Allocation list ¦ management ¦¦-------------------------------------¦ Text editor ¦------------------¦¦ ¦ Function key editor ¦ ¦¦ ¦ Title page ¦ ¦¦ ¦ Page header ¦ ¦¦ ¦ Configuration ¦ ¦¦ ¦ I/O configuration ¦ ¦¦ ¦ Driver configuration¦ <-- ¦¦ ¦ IPC online mode ¦ ¦¦ ¦ Program execution ¦ ¦¦ ¦ Printing ¦ ¦¦ +---------------------+ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+

F Ladder F STL F Util F Project F F F --> F FST1 2 3 4 manag. 5 6 7 FEC 8 end

+------------------------[ Driver configuration (IPC) ]------------------------+¦ Driver status ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+No drivers in project.F Insert F Delete F Edit F F F FInstall F Termi-1 <-- 2 3 4 5 6 7driver 8 nate


+------------------------[ Driver configuration (IPC) ]------------------------+¦ Driver status ¦¦ ¦¦ +--[ Select [ Esc ]-+ ¦¦ ¦ ASI ¦ ¦¦ ¦ CP <-- ¦ ¦¦ ¦ DRAD ¦ ¦¦ ¦ FBSLAVE ¦ ¦¦ ¦ FESTOBUS ¦ ¦¦ ¦ FPCNIPX ¦ ¦¦ ¦ FPCNIPXN ¦ ¦¦ ¦ FPCNMSG ¦ ¦¦ ¦ IBSMASTR ¦ ¦¦ ¦ PROFIBUS ¦ ¦¦ ¦ PROFI_DP ¦ ¦¦ ¦ SCREEN ¦ ¦¦ ¦ SCREEN0 ¦ ¦¦ ¦ SERIALDR ¦ ¦¦ ¦ STRINGS ¦ ¦¦ ¦ TSR_COMX ¦ ¦¦ +-------------------+ ¦+------------------------------------------------------------------------------+Select driver with cursor keys and Enter or Spacebar.F F F F F F F Driver F Abort1 2 3 4 5 6 7 help 8

+------------------------[ Driver configuration (IPC) ]------------------------+¦CP field bus ¦¦ ¦¦ Destination Drive C ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F Enter F F F F F F Edit F Abort1 <-- 2 3 4 5 6 7 help 8

+------------------------[ Driver configuration (IPC) ]------------------------+¦ Driver status ¦¦ CP edited ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F Insert F Delete F Edit F F F FInstall F Termi-1 2 3 4 5 6 7driver 8 nate <--


+------------------------[ Driver configuration (IPC) ]------------------------+¦ Driver status ¦¦ CP edited ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +-------[ File operations [ Esc ]------+¦ ¦ Save and quit editor <-- ¦¦ ¦ Save and continue ¦¦ ¦ Abort ¦+--------------------------------------+---------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8

c. Making the driver datafile with the can configurator

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement +----[ Utilities ]----+ Project ¦¦ diagram ¦ list ¦ Allocation list ¦ management ¦¦-------------------------------------¦ Text editor ¦------------------¦¦ ¦ Function key editor ¦ ¦¦ ¦ Title page ¦ ¦¦ ¦ Page header ¦ ¦¦ ¦ Configuration ¦ ¦¦ ¦ I/O configuration ¦ ¦¦ ¦ Driver configuration¦ ¦¦ ¦ IPC online mode ¦ ¦¦ ¦ Program execution <-- ¦¦ ¦ Printing ¦ ¦¦ +---------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+


+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦+-----[ Program execution [ Esc ]-----+--[ Utilities ]----+ Project ¦¦¦ File operations ¦ Allocation list ¦ management ¦¦¦ ASI Configurator ¦ Next editor ¦----------------¦¦¦ CP-CAN Configurator <-- ¦ Function key editor ¦ ¦¦¦ FESTO Fieldbus Configurator ¦ Title page ¦ ¦¦¦ Profibus-DP Configurator ¦ Page header ¦ ¦¦¦ OWS Editor Software ¦ Configuration ¦ ¦¦¦ LNK Linker Program ¦ I/O configuration ¦ ¦¦¦ ABG EEprom Loader ¦ Driver configuration¦ ¦¦¦ Display Test Program ¦ IPC online mode ¦ ¦¦¦ Load IPC ABG-1 TSR Emulator ¦ Program execution ¦ ¦¦¦ Load IPC ABG-80 TSR Emulator ¦ Printing ¦ ¦¦¦ Unload Resident TSR Emulator ¦-------------------+ ¦¦¦ Field PC Net configuration ¦ ¦¦¦ Field PC Net display ¦ ¦¦¦ Field PC Net print-out ¦ ¦¦¦ Field PC Net Configuration ¦ ¦¦¦ Field PC Net Display ¦ ¦¦+--------------------------------------+ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8


+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FCP- FBus <-- FModule FOn-line F F F FFile1config. 2values 3progr. 4 5 6 7 8commands

+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ +------------[ Global settings / Bus parameter ]------------+ ¦¦ ¦ Parameter: Actual value: ¦ ¦¦ ¦ CP81 modul address (0..3) : 0 ¦ ¦¦ ¦ CP81 hardware interrupt (2,3,5) : 2 ¦ ¦¦ ¦ CAN bus baud rate (0..2) : 0 ¦ ¦¦ ¦ Basis FST I-Word (0..255) : 10 ¦ ¦¦ ¦ Basis FST O-Word (0..255) : 10 ¦ ¦¦ +-----------------------------------------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FProcess F F F F F F FExit1 <-- 1 2 3 4 5 6 7 8 <-- 2

Process : changing a bus parameterCP81 module address (0..3) : 0 = address of the module, see hardware descriptionCP81 hardware interrupt (2,3,5) : 2 = please check that this is free on the busboard.CAN bus baudrate (0..2) : 0 = 0: 1 Mbit // 1: 500 kbit // 2: 250 kbitBasis FST I-Word (0..255) : 10 = inputs in FSTBasis FST O-Word (0..255) : 10 = outputs in FST

Note : the standard baudrate for the CP-valves is 1 Mbit. It is possible to change it later, but first you have to try to make contact with the 1 Mbit.

+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FCP- FBus FModule FOn-line F F F Ffile <--1config. 2values 3progr. 4 5 6 7 8commands


+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +--------[ File commands [ Esc ]--------+¦ ¦ Save and quit project designing <-- ¦¦ ¦ Save and continue ¦¦ ¦ Abort project designing ¦+--------------------------------------+---------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8

+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +---------------------------------------------------------+ ¦¦ ¦Configuration was changed. Project download is required. ¦ ¦¦ ¦[ Esc ] ¦ ¦¦ +---------------------------------------------------------+ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8

d. Load the project in the IPC+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement ¦ Utilities +-[Project management]+¦¦ diagram ¦ list ¦ ¦ Select project ¦¦¦-------------------------------------------------------¦ Create project ¦¦¦ ¦ Delete project ¦¦¦ ¦ Print project ¦¦¦ ¦ Load project <-- ¦¦¦ ¦ Upload project ¦¦¦ ¦ Delete program ¦¦¦ ¦ Backup / Restore ¦¦¦ ¦ Import file ¦¦¦ +---------------------+¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+



+-------------------------------[ Load project ]-------------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ +---------------------[ Download [ Esc ]--------------------+ ¦¦ ¦ ¦ ¦¦ ¦ Load project, no programs found. ¦ ¦¦ ¦ Loading I/O configuration and/or drivers. ¦ ¦¦ ¦ ¦ ¦¦ +-----------------------------------------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F Execute F F F F F F F Exit1 <-- 2 3 4 5 6 7 8

+-------------------------------[ Load project ]-------------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +---------[ Warning ]---------+ ¦¦ ¦ no IO scan table, no program¦ ¦¦ +-----------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

Fcontinue F F F F F F F Abort1 <-- 2 3 4 5 6 7 8

+-------------------------------[ Load project ]-------------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ +--------[ Target and start drives [ Esc ]--------+ ¦¦ ¦ ¦ ¦¦ ¦ Target drive for project A: ¦ ¦¦ ¦ Target drive for start batch file C: ¦ ¦¦ ¦ Drive of run-time main program A: ¦ ¦¦ ¦-------------------------------------------------¦ ¦¦ ¦ Load source? N ¦ ¦¦ ¦ ¦ ¦¦ +-------------------------------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

Fcontinue F F F F F F F Abort1<-- 2 3 4 5 6 7 8


e. Rebooting the IPC+-------------------------------[ Load project ]-------------------------------+¦ ¦¦ ¦¦ +--------------------[ Question ]--------------------+ ¦¦ ¦Project start only possible after rebooting the IPC.¦ ¦¦ ¦Reboot? Y <-- ¦ ¦¦ ¦ ( Y / N ) ¦ ¦¦ +----------------------------------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

Fcontinue F F F F F F F Abort1 2 3 4 5 6 7 8

The system is now rebooting.If you have a screen connected to the IPC, you will see that the CAN-driver is started.

If there is no slave connected you will see that the yellow light is on, if there are one or moreslaves connected the 2 green leds from the CP81 are on.Also the leds on the connected slaves are on (try it by connecting and deconnecting the slaves andswitching the power supply off and on).


3. Configuration of the slaves.

a. IPC online

To be sure that the communication is established, please go the first time in online mode and exitthis mode just after.

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder +--[ Statement list ]-+ Utilities ¦ Project ¦¦ diagram ¦ STL editor ¦ ¦ management ¦¦-----------------¦ STL online display ¦--------------------------------------¦¦ ¦ STL function keys ¦ ¦¦ ¦ Syntax test ¦ ¦¦ ¦ Load project ¦ ¦¦ ¦ Load program ¦ ¦¦ ¦ Print program ¦ ¦¦ ¦ Error list ¦ ¦¦ ¦ IPC online mode <-- ¦ ¦¦ +---------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+


+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ S Y S T E M C O N F I G U R A T I O N ¦¦ ======================================== ¦¦ Controller type................FESTO IPC ¦¦ Software version...................V2.20 ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+Please press a function key to select desired function ( F9=Help )FDisplay F Macro FTerminal F IPC F F FIPC DIR FExit to1IPC-Info 2 mode 3 mode 4 reset 5 6 7 8 FST <--


b. Start the CAN configurator

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement +----[ Utilities ]----+ Project ¦¦ diagram ¦ list ¦ Allocation list ¦ management ¦¦-------------------------------------¦ Text editor ¦------------------¦¦ ¦ Function key editor ¦ ¦¦ ¦ Title page ¦ ¦¦ ¦ Page header ¦ ¦¦ ¦ Configuration ¦ ¦¦ ¦ I/O configuration ¦ ¦¦ ¦ Driver configuration¦ ¦¦ ¦ IPC online mode ¦ ¦¦ ¦ Program execution ¦ <-- ¦¦ ¦ Printing ¦ ¦¦ +---------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+


+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦+-----[ Program execution [ Esc ]-----+--[ Utilities ]----+ Project ¦¦¦ File operations ¦ Allocation list ¦ management ¦¦¦ ASI Configurator ¦ Next editor ¦----------------¦¦¦ CP-CAN Configurator <-- ¦ Function key editor ¦ ¦¦¦ FESTO Fieldbus Configurator ¦ Title page ¦ ¦¦¦ Profibus-DP Configurator ¦ Page header ¦ ¦¦¦ OWS Editor Software ¦ Configuration ¦ ¦¦¦ LNK Linker Program ¦ I/O configuration ¦ ¦¦¦ ABG EEprom Loader ¦ Driver configuration¦ ¦¦¦ Display Test Program ¦ IPC online mode ¦ ¦¦¦ Load IPC ABG-1 TSR Emulator ¦ Program execution ¦ ¦¦¦ Load IPC ABG-80 TSR Emulator ¦ Printing ¦ ¦¦¦ Unload Resident TSR Emulator ¦-------------------+ ¦¦¦ Field PC Net configuration ¦ ¦¦¦ Field PC Net display ¦ ¦¦¦ Field PC Net print-out ¦ ¦¦¦ Field PC Net Configuration ¦ ¦¦¦ Field PC Net Display ¦ ¦¦+--------------------------------------+ ¦¦CAN testing the fstcan CP81 - power box ¦+------------------------------------------------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8


c. Disconnect all slaves

Disconnect all slaves, the CP81 gives his yellow led, choose the following :

+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FCP- FBus FModule FOn-line F F F FFile1config. 2values 3progr.<--4 5 6 7 8commands

The CAN configurator will check for modules on the bus and because they are not any, he will notfind one.

d. Connect slaves and give them parameters

Next, you will be asked to connect a new module, so go on, and do the following :

+----------------------------[ Modul programming ]--------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+Please connect new module with the bus! -> <F1>FSearch FUpdate F F F F F FExit1module<--2list 3 4 5 6 7 8


As soon as a module is found, you can change the parameters of this by <F1> “process” ” ” ” andafterwards you can program the module by <F2> “program”.

+----------------------------[ Modul programming ]--------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ ¦¦ ¦¦ +----------------[ Programming new module ]-----------------+ ¦¦ ¦ Parameter: Actual value: ¦ ¦¦ ¦ Modul ID (1..63) : 1 ¦ ¦¦ ¦ Modul timeout : 8 ¦ ¦¦ ¦ CAN bus baud rate (0..2) : 0 ¦ ¦¦ +-----------------------------------------------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FProcess FModule F F F F F FExit1 <--1 2program.<--2 4 5 6 7 8

+----------------------------[ Modul programming ]-----------------------------+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------+Please connect new module with the bus! -> <F1>FSearch<--FUpdate F F F F F FExit1module 2list 3 4 5 6 7 8

The green leds on the CP81 and on the CPV are on. The module is added to the list and you canconnect a second one and go on with pressing <F1> “Search module”.


+----------------------------[ Modul programming ]-----------------------------+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦¦ ¦¦¦ +----------------[ Programming new module ]-----------------+ ¦¦¦ ¦ Parameter: Actual value: ¦ ¦¦¦ ¦ Modul ID (1..63) : 2 ¦ ¦¦¦ ¦ Modul timeout : 8 ¦ ¦¦¦ ¦ CAN bus baud rate (0..2) : 0 ¦ ¦¦¦ +-----------------------------------------------------------+ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------+

FProcess FModule F F F F F FExit1 2program.<-- 4 5 6 7 8

+----------------------------[ Modul programming ]-----------------------------+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦¦02 I 2 008 241 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------+Please connect new module with the bus! -> <F1>FSearch FUpdate F F F F F FExit1module 2list 3 4 5 6 7 8 <--

And the configurator has now 2 modules addressed.


e. Testing the inputs and outputs in the configurator

To achieve this, we go first in online mode by pressing <F4>.


FCP- FBus FModule FOn-line F F F FFile1config. 2values 3progr. 4 <-- 5 6 7 8commands

Changing the outputs

+--------------------------------[ CP Online ]------------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦ 02 I 2 008 241 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------¦¦ Inputs : (hex) 7 6 5 4 3 2 1 0 Outputs : (hex) 7 6 5 4 3 2 1 0 ¦¦ 0 0 00 0 0 0 0 0 0 0 0 ¦¦ 1 1 00 0 0 0 0 0 0 0 0 ¦¦ 2 2 ¦¦ 3 3 ¦¦ 4 4 ¦¦ 5 5 ¦¦ 6 6 ¦¦ 7 7 ¦+------------------------------------------------------------------------------+Select moduleFUpdate F F F F F FChange FExit1list 2 3 4 5 6 7 8

Note : by changing the outputs you will activate your valves.

←←←← Select first the module

then press <F7> “Change”

“00” means all your outputs are down.


+--------------------------------[ CP Online ]------------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦ 03 I 2 008 241 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------¦¦ Inputs : (hex) 7 6 5 4 3 2 1 0 Outputs : (hex) 7 6 5 4 3 2 1 0 ¦¦ 0 0 FF 1 1 1 1 1 1 1 1 ¦¦ 1 1 00 0 0 0 0 0 0 0 0 ¦¦ 2 2 ¦¦ 3 3 ¦¦ 4 4 ¦¦ 5 5 ¦¦ 6 6 ¦¦ 7 7 ¦+------------------------------------------------------------------------------+Please enter hex value.F F F F F FUp _ FDown _ FExit1 2 3 4 5 6 7 8<--2

Reading the inputs

+--------------------------------[ CP Online ]------------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦ 03 I 2 008 241 <-- ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------¦¦ Inputs : (hex) 7 6 5 4 3 2 1 0 Outputs : (hex) 7 6 5 4 3 2 1 0 ¦¦ 0 00 0 0 0 0 0 0 0 0 0 ¦¦ 1 00 0 0 0 0 0 0 0 0 1 ¦¦ 2 2 ¦¦ 3 3 ¦¦ 4 4 ¦¦ 5 5 ¦¦ 6 6 ¦¦ 7 7 ¦+------------------------------------------------------------------------------+Select moduleFUpdate F F F F F F FExit1list 2 3 4 5 6 7 8

Now change with FF (means all outputs are up)


Now put one of the inputs on 24 VDC and you get the following :

+--------------------------------[ CP Online ]------------------------- CAN ---+¦ CAN- Modul- Input- Output- Time- FESTO- ¦¦ ID type bytes bytes out Type ¦¦ 01 O 2 008 112 ¦¦ 03 I 2 008 241 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------¦¦ Inputs : (hex) 7 6 5 4 3 2 1 0 Outputs : (hex) 7 6 5 4 3 2 1 0 ¦¦ 0 01 0 0 0 0 0 0 0 1 0 ¦¦ 1 00 0 0 0 0 0 0 0 0 1 ¦¦ 2 2 ¦¦ 3 3 ¦¦ 4 4 ¦¦ 5 5 ¦¦ 6 6 ¦¦ 7 7 ¦+------------------------------------------------------------------------------+Select moduleFUpdate F F F F F F FExit1list 2 3 4 5 6 7 8 <--


4. Configure your slaves for FST.

a. The configuration

The next step is to configure the modules; we have to give them a FST address, and let FST knowwhich slaves are on the bus (i.e. the nominal configuration).


FCP- <-- FBus FModule FOn-line F F F FFile1config. 2values 3progr. 4 5 6 7 8commands

+------------------[ FST-IPC project designing CP modules ]----------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

FAdd F F FAct/nom F F F FExit1module 2 3 4comp.<-- 5 6 7 8

We ask the CP81 card to read the actual configuration on the bus and copy it as nominal (theseare the slaves which must be on the bus at runtime).


+------------------[ FST-IPC project designing CP modules ]----------- CAN ---+¦ CAN- Modul- Input- Output- FST- FST- Time- FESTO- ¦¦ ID type bytes bytes I-Adr O-Adr out Type design. ¦¦ 01 O 2 010 008 112 ¦¦¦02 I 2 010 008 241 ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦¦¦ ¦+------------------------------------------------------------------------------+Actual status is transferred from CP bus.FAdd FProcess FDelete FAct/nom F FPrint F FExit1module 2 3 4comp. 5 6config. 7 8 <--

Note : if you change an existing address please delete the slave from the nominal configurationlist and do the “act/nom comp” again.

+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +--------[ File commands [ Esc ]--------+¦ ¦ Save and quit project designing <-- ¦¦ ¦ Save and continue ¦¦ ¦ Abort project designing ¦+--------------------------------------+---------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8


+-----------------------[ FST-IPC CP bus configurator ]---------------- CAN ---+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ +---------------------------------------------------------+ ¦¦ ¦Configuration was changed. Project download is required. ¦ ¦¦ ¦[ Esc ] ¦ ¦¦ +---------------------------------------------------------+ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F F F F F F F F1 2 3 4 5 6 7 8

b. Load the configuration

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement ¦ Utilities +-[Project management]+¦¦ diagram ¦ list ¦ ¦ Select project ¦¦¦-------------------------------------------------------¦ Create project ¦¦¦ ¦ Delete project ¦¦¦ ¦ Print project ¦¦¦ ¦ Load project <-- ¦¦¦ ¦ Upload project ¦¦¦ ¦ Delete program ¦¦¦ ¦ Backup / Restore ¦¦¦ ¦ Import file ¦¦¦ +---------------------+¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan81 -power box ¦+------------------------------------------------------------------------------+


If you have forgotten what you have to do here, please refer to point 2.d.

After loading the project, switch the power off and on.


c. Testing with FST

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder +--[ Statement list ]-+ Utilities ¦ Project ¦¦ diagram ¦ STL editor ¦ ¦ management ¦¦-----------------¦ STL online display ¦--------------------------------------¦¦ ¦ STL function keys ¦ ¦¦ ¦ Syntax test ¦ ¦¦ ¦ Load project ¦ ¦¦ ¦ Load program ¦ ¦¦ ¦ Print program ¦ ¦¦ ¦ Error list ¦ ¦¦ ¦ IPC online mode <--¦ ¦¦ +---------------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan81 -power box ¦+------------------------------------------------------------------------------+


+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ ¦¦ ¦¦ S Y S T E M C O N F I G U R A T I O N ¦¦ ======================================== ¦¦ Controller type................FESTO IPC ¦¦ Software version...................V2.20 ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+Please press a function key to select desired function ( F9=Help )FDisplay F Macro FTerminal F IPC F F FIPC DIR FExit to1IPC-Info<-- mode 3 mode 4 reset 5 6 7 8 FST

+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+- Display IPC information - Format: Sig.FInputs/ F Flags F Timers FCounters F Regis- F Error F System F Exit1outputs<-- 3 4 5 ters 6 status 7 status 8


+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+- Display IPC information - Format: Sig.Flocal Flocal<-- FFieldbus FFieldbus F F F F Exit1inputs 2outputs 3inputs 4outputs 5 6 7 8

+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ Local outputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit ¦¦ ¦¦ 0.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 1.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 2.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 3.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 4.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 5.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 6.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 7.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 8.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 9.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 10.x = 0 <-- = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 11.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 12.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 13.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 14.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 15.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ ¦+------------------------------------------------------------------------------+- Modify mode - change column: [Tab] Format: Sig.F Page _ F Page _ FDynamic F Mini Fgoto F Display F F Exit1 2 3display 4terminal 5FU 6 format 7 8

Go with the cursor to OW10, and type -1, enter (be careful all the valves switch to on).

+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ Local outputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit ¦¦ ¦¦ 0.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 1.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 2.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 3.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 4.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 5.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 6.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 7.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 8.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 9.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 10.x = -1 = 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ¦¦ 11.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 12.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 13.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 14.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 15.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ ¦+------------------------------------------------------------------------------+- Modify mode - change column: [Tab] Format: Sig.F Page _ F Page _ FDynamic F Mini Fgoto F Display F F Exit1 2 3display 4terminal 5FU 6 format 7 8 <--


+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+- Display IPC information - Format: Sig.Flocal<-- Flocal FFieldbus FFieldbus F F F F Exit1inputs 2outputs 3inputs 4outputs 5 6 7 8

+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ Local inputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit ¦¦ ¦¦ 0.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 1.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 2.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 3.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 4.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 5.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 6.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 7.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 8.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 9.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 10.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 11.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 12.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 13.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 14.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 15.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ ¦+------------------------------------------------------------------------------+- Modify mode - change column: [Tab] Format: Sig.F Page _ F Page _ FDynamic<--F Mini Fgoto F Display F F Exit1 2 3display 4terminal 5FU 6 format 7 8

Connect 1 of the input to 24 Volt.

+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ Local inputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit ¦¦ ¦¦ 0.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 1.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 2.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 3.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 4.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 5.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 6.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 7.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 8.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 9.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 10.x = 1 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 ¦¦ 11.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 12.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 13.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 14.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 15.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ ¦+------------------------------------------------------------------------------+- Dynamic display - x Scanning rate: 50 Format: Sig.F Display F Display F F Mini F F Display F F Exit1 faster 2 slower 3 4terminal 5 6 format 7 8 <--


+----------------------------[ FST IPC online mode ]---------------------------+¦ ¦¦ Local inputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit ¦¦ ¦¦ 0.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 1.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 2.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 3.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 4.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 5.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 6.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 7.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 8.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 9.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 10.x = 1 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 ¦¦ 11.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 12.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 13.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 14.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ 15.x = 0 = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ¦¦ ¦+------------------------------------------------------------------------------+- Modify mode - change column: [Tab] Format: Sig.F Page _ F Page _ FDynamic F Mini Fgoto F Display F F Exit1 2 3display 4terminal 5FU 6 format 7 8 <--

Go back to FST and you can start writing your program.

Testing the program.

You can write your program with I/O in the FST configuration, we chose output word 10 and inputword 10.

An OM20 IPC-module is also configured as output word 0 and input word.


5. Testing the program and error treatment.

a. Writing the program

You can write your program with I/O chosen in the FST configuration, we chose for the CPV (valveterminal) output word 10 and for the CPE (input module) input word 10.I also used a OM20 configured as output word 0 and input word 0.

+-------------------[ FST IPC Statement list editor V3.2 ]------------------+¦ Alloc.list ON Line : 18 Col : 1 P0 V1 ¦¦STEP 10 ¦¦ IF NOP ¦¦ THEN LOAD V0 ¦¦ TO OW10 'valves ¦¦ TO OW0 'om20 module ¦¦ ¦¦STEP 20 ¦¦ IF N T0 'timer switch on/off valves ¦¦ THEN LOAD OW10 'valves ¦¦ + V1 ¦¦ TO OW10 'valves ¦¦ TO OW0 'om20 module ¦¦ SET T0 'timer switch on/off valves ¦¦ WITH 0.1s ¦¦ ¦¦ IF NOP ¦¦ THEN JMP TO 20 ¦+------------------------------------------------------------------------------+

F STL F STL F STL FExtended F Edit FGeneral FExtended F File1commands 2condit. 3 action 4 STL 5commands 6 help 7commands 8 operat.

b. Working with the hard-error reaction (default mode)

When we run normal, we get the following results :

• Display master address !6DMA = 00,00,02 00 = address 00 = baudrate 1000 kbits 02 = interrupt 2

• Display master state !6DMS = 18 (bit 1 and bit 4) bit 0 = no passive error bit 1 = bus is off bit 2 = configuration detection in progress bit 3 = I/0 in progress bit 4 = nominal configuration = actual configuration

• Display list of detected modules!6DLES = 81028381

8 : output module1 : address of the output module

022 : address of the input module

8381 + 02 = Checksum

If you disconnect the input module while the PLC is running, the actual configuration is differentfrom the nominal configuration and you get error = 604

604 = Module failed at runtime!6DMS = 00

When you disconnect the input module while the PLC is in stop mode,you get error = 603 when you try to start.

603 = start configuration invalid!6DMS = 00


When you also take the output module from the bus,you get error = 602 when you try to start.

602 = No modules on the bus!6DMS = 01

You have 2 other possible error messages :600 : No configuration on start.601 : No CP81 module present.

For clearing these errors you can do the following :power off power onpush the reset button on the HC16

Never clear the error in FST and restart the program because it does not work properly.The PLC will restart with the OM20, the CP81 (the bus) does not work.

What happens to the outputs when there is an error ?When an error occurs, the outputs from the OM20 and these on the CPV (valve terminal) are reset.

Emergency stopYou can (must) reset all outputs on hardware, when an emergency stop is pressed.This can be done by cutting the 24 V load on the power box (pin 2 on the Festo connector)Be aware that you cannot see this in the PLC, you also have to bring this voltage to an input.

c. Working with soft-error reaction

For working with the soft-error reaction you have to import some modules.

CP_MODE : Set reaction of the CP driver to configuration errorsCP_MSTAT : Interrogation master status.

We will import the CP_MODE in B00 (CMP 0) and the CP_MSTAT in B01 (CMP 1).

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder ¦ Statement ¦ Utilities +-[Project management]+¦¦ diagram ¦ list ¦ ¦ Select project ¦¦¦-------------------------------------------------------¦ Create project ¦¦¦ ¦ Delete project ¦¦¦ ¦ Print project ¦¦¦ ¦ Load project ¦¦¦ ¦ Upload project ¦¦¦ ¦ Delete program ¦¦¦ ¦ Backup / Restore ¦¦¦ ¦ Import file <-- ¦¦¦ +---------------------+¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦CAN testing the fstcan81 -power box ¦+------------------------------------------------------------------------------+



+--------------------------------[ FST import ]--------------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ +[ Source path ]+ ¦¦ ¦Drive C <-- ¦ ¦¦ +---------------+ ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F F F F F F F F Abort1 2 3 4 5 6 7 8

+--------------------------------[ FST import ]--------------------------------+¦ Search path ->C:\FST\FSTIPC\FBLIB\*.* ¦¦ .. AMXX ASI_MODE ASI_PARA ASI_RES ¦¦ ASI_STAT BLINK CHECKSUM CLOSECOM COPY ¦¦ CP_MODE CP_MSTAT CP_RKNF CP_SSTAT DINDEXMW ¦¦ DP_BOOT.BIN DP_CONTR DP_GETDG DP_GETSL DP_USIF ¦¦ F10 F11 F12 F13 F21 ¦¦ F22 F23 F25 F26 F30 ¦¦ F31 F32 F34 F35 F4 ¦¦ F40 F41 F42 F43 F44 ¦¦ F47 F48 F71 F76 F77 ¦¦ F8 F85 F87 F88 F89 ¦¦ F9 F90 F92 F96 FBSLAVE ¦¦ FCLOSALL FCLOSE FCREATE FDELETE FIFO ¦¦ FLAG2STR FOPEN FPCNME FPCNRCV FPCNREGT ¦¦ FPCNSTAT FPCNSUCC FPCNVER FPCNXMIT FREAD ¦¦ FREADSTR FSEEK FSEEKX FWRITE FWRITSTR ¦¦ GETCOM IBSFLAGS IBSINIT IBSLBINF IBSMODFL ¦¦ IBSMODID IBSMODSZ IBSRESET IBSSTAT IBSUPDAT ¦¦ IBSVERSN IINDEXMW IM2X LADD LCMP ¦¦ LDIV LMUL LNEG LOADSYNC LSUB ¦+------------------------------------------------------------------------------+

F Execute F F F F F F F Abort1 2 3 4 5 6 7 8

With the <Enter> button of your keyboard you can add the “*” to the files which you wish toimport.

+--------------------------------[ FST import ]--------------------------------+¦ Search path ->C:\FST\FSTIPC\FBLIB\*.* ¦¦ .. AMXX ASI_MODE ASI_PARA ASI_RES ¦¦ ASI_STAT BLINK CHECKSUM CLOSECOM COPY ¦¦*CP_MODE <--1 *CP_MSTAT <--2 CP_RKNF CP_SSTAT DINDEXMW ¦¦ DP_BOOT.BIN DP_CONTR DP_GETDG DP_GETSL DP_USIF ¦¦ F10 F11 F12 F13 F21 ¦¦ F22 F23 F25 F26 F30 ¦¦ F31 F32 F34 F35 F4 ¦¦ F40 F41 F42 F43 F44 ¦¦ F47 F48 F71 F76 F77 ¦¦ F8 F85 F87 F88 F89 ¦¦ F9 F90 F92 F96 FBSLAVE ¦¦ FCLOSALL FCLOSE FCREATE FDELETE FIFO ¦¦ FLAG2STR FOPEN FPCNME FPCNRCV FPCNREGT ¦¦ FPCNSTAT FPCNSUCC FPCNVER FPCNXMIT FREAD ¦¦ FREADSTR FSEEK FSEEKX FWRITE FWRITSTR ¦¦ GETCOM IBSFLAGS IBSINIT IBSLBINF IBSMODFL ¦¦ IBSMODID IBSMODSZ IBSRESET IBSSTAT IBSUPDAT ¦¦ IBSVERSN IINDEXMW IM2X LADD LCMP ¦¦ LDIV LMUL LNEG LOADSYNC LSUB ¦+------------------------------------------------------------------------------+

F Execute F F F F F F F Abort1 <--3 2 3 4 5 6 7 8


and select the project where you want to get these 2 modules.

+--------------------------------[ FST import ]--------------------------------+¦ Search path ->C:\FST\FSTIPC\FBLIB\*.* ¦¦ .. AMXX ASI_MODE ASI_PARA ASI_RES ¦¦ ASI_STAT BLINK CHECKSUM CLOSECOM COPY ¦¦*CP_MODE *CP_MSTAT CP_RKNF CP_SSTAT DINDEXMW ¦¦ DP_BOOT.BIN DP_CONTR DP_GETDG DP_GETSL DP_USIF ¦¦ F10 F11 F12 F13 F21 ¦¦ F22 F23 F25 F26 F30 ¦¦+------------------[ Target project selection ]-----------------+F4 ¦¦¦ Task Commentary ¦F44 ¦¦¦ CAN testing the fstcan81 -power box <-- ¦F77 ¦¦¦ TEST2 no comment ¦F89 ¦¦¦ TCAN no comment ¦FBSLAVE ¦¦¦ AM20 Servo motordriver ¦FIFO ¦¦¦ P974266A Schneider MGTE:lasautomaat (DGEL) ADR ¦FPCNREGT ¦¦¦ 97-4327A THYCO zetelovertrek SOGEDAC ORB ¦FREAD ¦¦¦ AM11 testen van de stappen motor ¦FWRITSTR ¦¦¦ ASITEST test van de asi configurator ¦IBSMODFL ¦¦¦ VERHEUST can program ¦IBSUPDAT ¦¦¦ ABGTEST E.ABG via COM1 ¦LCMP ¦¦+---------------------------------------------------------------+LSUB ¦+------------------------------------------------------------------------------+

Please select with RETURN keyF F F F F F F F Abort1 2 3 4 5 6 7 8

+--------------------------------[ FST import ]--------------------------------+¦ ¦¦ ¦¦ File no.:1 CP_MODE ¦¦ ¦¦ ¦¦ ¦¦ Program identifier P/B/F B <--1 ¦¦ Program number 00 <--2 ¦¦ ¦¦ ¦¦ Version 1 ¦¦ File extension OBJ ¦¦ Commentary CP_MODE ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F Execute FScroll FScroll F F F F F Abort1 2forward<--3 rd 4 5 6 7 8

+--------------------------------[ FST import ]--------------------------------+¦ ¦¦ ¦¦ ¦¦ ¦¦ File no.:2 CP_MSTAT ¦¦ ¦¦ ¦¦ ¦¦ ¦¦ Program identifier P/B/F B <--1 ¦¦ Program number 01 <--2 ¦¦ ¦¦ ¦¦ ¦¦ Version 1 ¦¦ File extension OBJ ¦¦ Commentary CP_MSTAT ¦¦ ¦¦ ¦¦ ¦+------------------------------------------------------------------------------+

F Execute FScroll FScroll F F F F F Abort1 <--3 2forward 3backward 4 5 6 7 8


You will see that the 2 modules are added in your project.

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder +--[ Statement list ]-+ Utilities ¦ Project ¦¦ diagram ¦ STL editor ¦ ¦ management ¦¦-----------------¦ STL online display ¦--------------------------------------¦¦ ¦ STL function keys ¦ ¦¦ ¦ Syntax test ¦ ¦¦ ¦ Load project ¦ ¦¦ ¦ Load program ¦ ¦¦+------------------[ Program selection [ Esc ]-----------------+ ¦¦¦ FPC P/B Ver Type Description ¦ ¦¦¦ IPC B00 1 OBJ CP_MODE ¦ ¦¦¦ IPC B01 1 OBJ CP_MSTAT ¦ ¦¦¦ * IPC P00 1 AWL cyclus ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦+---------------------------------------------------------------+ ¦+------------------------------------------------------------------------------+

F New F Modify F F F F F F Exit1 program 2 descrip 3 4 5 6 7 8

Make 2 new programs :

+-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+¦ Ladder +--[ Statement list ]-+ Utilities ¦ Project ¦¦ diagram ¦ STL editor ¦ ¦ management ¦¦-----------------¦ STL online display ¦--------------------------------------¦¦ ¦ STL function keys ¦ ¦¦ ¦ Syntax test ¦ ¦¦ ¦ Load project ¦ ¦¦ ¦ Load program ¦ ¦¦+------------------[ Program selection [ Esc ]-----------------+ ¦¦¦ FPC P/B Ver Type Description ¦ ¦¦¦ * IPC B00 1 OBJ CP_MODE ¦ ¦¦¦ * IPC B01 1 OBJ CP_MSTAT ¦ ¦¦¦ IPC P00 1 AWL cyclus ¦ ¦¦¦ * IPC P00 2 AWL organisation ¦ ¦¦¦ * IPC P01 1 AWL cyclus working with P0 V2 ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦¦ ¦ ¦¦+---------------------------------------------------------------+ ¦+------------------------------------------------------------------------------+

F New F Modify F F F F F F Exit1 program 2 descrip 3 4 5 6 7 8


These programs are :• organisation

P00 V2 : new program• cycle working with organisation

P01 V1 : copy from P00 V1 : cycle +---------------[ FST IPC Statement list online display V3.2 ]--------------+ ¦ +/-DEC STEP 20 (2) Line : 1/17 Active P0 V2 ¦ ¦STEP 10 (1) ¦ ¦"" configer the CP_mode as soft reaction ¦ ¦ THEN CMP 0 'CP_MODE ¦ ¦ WITH V0 ¦ ¦"" starting the cyclus ¦ ¦ SET P1 ON ¦ ¦ ¦ ¦STEP 20 (2) ¦ ¦""reading out the masterstatus ¦ ¦ IF NOP ¦ ¦ THEN CMP 1 'CP_MSTAT ¦ ¦ LOAD FU32 -1 'output parameter 1 ¦ ¦ TO FW0 -1 'output parameter 1 master status ¦ ¦ LOAD FU33 24 'output parameter 2 ¦ ¦ TO FW1 24 'output parameter 2 master status ¦ ¦ JMP TO 20 (2) ¦ ¦ ¦ ¦ ¦ ¦ ¦ +------------------------------------------------------------------------------+ Scanning rate: 50 * F Display F Display F Modify F F Mini F Display F F Stop 1 faster 2 slower 3 FU 4 5terminal 6 format 7 8display

In the organisation program we will do 3 things : • First we will set the soft-error reaction, by sending V0 to the CP_MODE, if you send V1 to the

CP_MODE the hard-error reaction is again on.

• Starting de cycle program

• Reading the master status master status : parameter 1 :

0 = Driver not loaded -1 = OK

parameter 2 : bit 0 : passive error bit 1 : bus off bit 2 : configuration detection in progress bit 3 : I/O active bit 4 : configuration actual = nominal

results : When we work and everything is OK, = 24 (bit 3 + bit 4) Disconnect the input module = 8 (bit 3) Disconnect the input and output module = 9 (bit 1 + bit 3)

After an error, the program is still running, but if we connect the modules again on the bus, theywill not work. The only way to let them work again is to switch the power off/on or to reset the HC16 with thereset button.


Asking the status of the slaves You can also ask the status of the different slaves on the bus, if you remember we have2 different slaves, slave with address 1 CPV (Valve terminal) and slave with address 2 which is aCPE (input module). First import following module, and call it B03 (CMP 3) +--------------------------------[ FST import ]--------------------------------+ ¦ Search path ->C:\FST\FSTIPC\FBLIB\*.* ¦ ¦ .. AMXX ASI_MODE ASI_PARA ASI_RES ¦ ¦ ASI_STAT BLINK CHECKSUM CLOSECOM COPY ¦ ¦ CP_MODE CP_MSTAT CP_RKNF *CP_SSTAT DINDEXMW ¦ ¦ DP_BOOT.BIN DP_CONTR DP_GETDG DP_GETSL DP_USIF ¦ ¦ F10 F11 F12 F13 F21 ¦ ¦ F22 F23 F25 F26 F30 ¦ ¦ F31 F32 F34 F35 F4 ¦ ¦ F40 F41 F42 F43 F44 ¦ ¦ F47 F48 F71 F76 F77 ¦ ¦ F8 F85 F87 F88 F89 ¦ ¦ F9 F90 F92 F96 FBSLAVE ¦ ¦ FCLOSALL FCLOSE FCREATE FDELETE FIFO ¦ ¦ FLAG2STR FOPEN FPCNME FPCNRCV FPCNREGT ¦ ¦ FPCNSTAT FPCNSUCC FPCNVER FPCNXMIT FREAD ¦ ¦ FREADSTR FSEEK FSEEKX FWRITE FWRITSTR ¦ ¦ GETCOM IBSFLAGS IBSINIT IBSLBINF IBSMODFL ¦ ¦ IBSMODID IBSMODSZ IBSRESET IBSSTAT IBSUPDAT ¦ ¦ IBSVERSN IINDEXMW IM2X LADD LCMP ¦ ¦ LDIV LMUL LNEG LOADSYNC LSUB ¦ +------------------------------------------------------------------------------+ F Execute F F F F F F F Abort 1 2 3 4 5 6 7 8 Now we make the following program : P0 V3 organisation. +-----------------------[ FST IPC / V 3.2 ( IPC ) ]-----------------------+ ¦ Ladder +--[ Statement list ]-+ Utilities ¦ Project ¦ ¦ diagram ¦ STL editor ¦ ¦ management ¦ ¦-----------------¦ STL online display ¦--------------------------------------¦ ¦ ¦ STL function keys ¦ ¦ ¦ ¦ Syntax test ¦ ¦ ¦ ¦ Load project ¦ ¦ ¦ ¦ Load program ¦ ¦ ¦+------------------[ Program selection [ Esc ]-----------------+ ¦ ¦¦ FPC P/B Ver Type Description ¦ ¦ ¦¦ * IPC B00 1 OBJ CP_MODE ¦ ¦ ¦¦ * IPC B01 1 OBJ CP_MSTAT ¦ ¦ ¦¦ * IPC B03 1 OBJ CP_SSTAT ¦ ¦ ¦¦ IPC P00 1 AWL cyclus ¦ ¦ ¦¦ IPC P00 2 AWL organisation ¦ ¦ ¦¦ * IPC P00 3 AWL organisation ¦ ¦ ¦¦ * IPC P01 1 AWL cyclus working with P0 V2 ¦ ¦ ¦¦ ¦ ¦ ¦¦ ¦ ¦ ¦+---------------------------------------------------------------+ ¦ +------------------------------------------------------------------------------+ F F F F F F F F Exit 1 2 3 4 5 6 7 8


+---------------[ FST IPC Statement list online display V3.2 ]--------------+ ¦ +/-DEC STEP 20 (2) Line : 1/19 Active P0 V3 ¦ ¦STEP 10 (1) ¦ ¦"" configure the CP_mode as soft reaction ¦ ¦ THEN CMP 0 'CP_MODE ¦ ¦ WITH V0 ¦ ¦"" starting the cyclus ¦ ¦ SET P1 ON ¦ ¦ ¦ ¦STEP 20 (2) ¦ ¦""reading out the masterstatus ¦ ¦ IF NOP ¦ ¦ THEN CMP 1 'CP_MSTAT ¦ ¦ LOAD FU32 -1 'output parameter 1 ¦ ¦ TO FW0 -1 'output parameter 1 master status ¦ ¦ LOAD FU33 32 'output parameter 2 ¦ ¦ TO FW1 24 'output parameter 2 master status ¦ ¦""reading out the input module with address 2 ¦ ¦ CMP 3 'CP_SSTAT ¦ ¦ WITH V$2 ¦ ¦ LOAD FU32 -1 'output parameter 1 ¦ ¦ TO FW10 -1 'output parameter 1 input module CPE ¦ LOAD FU33 0 'output parameter 2 ¦ ¦ TO FW11 0 'output parameter 2 input module CPE ¦""reading out the output module with address 1 ¦ ¦ CMP 3 'CP_SSTAT ¦ ¦ WITH V$81 ¦ ¦ LOAD FU32 -1 'output parameter 1 ¦ ¦ TO FW20 -1 'output parameter 1 output module CPV ¦ LOAD FU33 32 'output parameter 2 ¦ ¦ TO FW21 0 'output parameter 2 output module CPV ¦ JMP TO 20 (2) ¦ ¦ ¦ ¦ ¦ ¦ ¦ +------------------------------------------------------------------------------+ Scanning rate: 50 F Display F Display F Modify F F Mini F Display F F Stop 1 faster 2 slower 3 FU 4 5terminal 6 format 7 8display The CP_STAT module asks the status of a slave, you have only to give the address of the slavefrom which you wish the status. CPE (input module Festo) with V$2 $ = hex notation 2 = for address 2 CPV (valve terminal Festo) with V$81 $ = hex notation 8 = for output module 1 = for address 1 the module gives us 2 parameters back,

parameter 1 : 0 = Driver not loaded -1 = OK parameter 2 :

bit 0 : output module can not be addressed bit 1 : input module can not be addressed bit 2 : short-circuit/overload CP output module bit 3 : output module load voltage failure bit 4 : input module sensor supply short circuit bit 5 : valve voltage below tolerances bit 6 : load voltage failure on CP line bit 7 : reserved


Result of some tests : When we work and everything is OK output parameter input module : FW11 = 0 output parameter output module : FW21 = 0 Disconnect the input module output parameter input module : FW11 = 2 (bit 1) output parameter output module : FW21 = 0 Disconnect the input and output module output parameter input module : FW11 = 2 (bit 1) output parameter output module : FW21 = 1 (bit 0) Emergency stop (no 24 V on the power box Festo pin 2 from the Festo connector) output parameter input module : FW11 = 0 output parameter output module : FW21 = 32 (bit 5)

This gives us possibilities to work with the following :

• Always asking the status of all the slaves. This can take some time but we can detect an emergency stop directly on the Power Box.

• Only asking the master status and if the master tells us that there is a problem, we go tocheck all slaves.This is the fastest way, but the emergency detection must be done by a input.

Working with an error program in FST

The hard-error reaction gives an error that invokes the error program, the soft-error reaction doesnot.

Date post:	10-Apr-2015
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FST + CAN-BUS

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