EMCA-EC-SY_BES_E_ a_ z1
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- 端汶 浑
- 5 years ago
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1 EMCA-EC CO/-EP EMCA-EC-...-CO CANopen EMCA-EC-...-EP EtherNet/IP a [ ]
2 EMCA-EC CO/-EP GDCE-EMCA-EC-SY-ZH Adobe Reader, CANopen, CiA, EtherNet/IP, Firefox, Internet Explorer, JST Tyco Electronics : : : 1. / 2 Festo GDCE-EMCA-EC-SY-ZH 1605a
3 EMCA-EC CO/-EP EMCA-EC CO/-EP () FCT (Festo Configuration Tool) (FHPP FCT) (FHPP FCT) / (),Quick-Stop (EMCA-EC B) () Festo GDCE-EMCA-EC-SY-ZH 1605a 3
4 EMCA-EC CO/-EP [X1] ( ) [X2] [X3] () STO[X6] / EMCA-EC CO EMCA-EC EP EMC [X1] [X2] [X3] EMCA-...-CO (CANopen) EMCA-...-EP(EtherNet/IP) [X4]... [X10] [X4] [X5] STO[X6] [X7] [X8] I/O[X9] [X10] IP FCT (Festo Configuration Tool) FCT FCT FCT Festo GDCE-EMCA-EC-SY-ZH 1605a
5 EMCA-EC CO/-EP STO ( I/O) / () () , : LED LED , A A A A Festo GDCE-EMCA-EC-SY-ZH 1605a 5
6 EMCA-EC CO/-EP A A A A A.1.7 (EMCA-EC B) A.1.8 [X1] A.1.9 [X2] [X3] A.1.10 [X4] A.1.11 [X5] A.1.12 STO[X6] A.1.13 [X7] [X8] A.1.14 I/O [X9] A.1.15 [X10](EMCA-EC TM) A B Festo GDCE-EMCA-EC-SY-ZH 1605a
7 EMCA-EC CO/-EP (GDCE-EMCA-EC-SY-...) EMCA () : EMCA-, A EC- EC mm ( ) M- S V DC T E M - B- / CO EP CANopen EtherNet/IP IP - (IP54) S1 IP65 Tab. 1 ( :EMCA-EC-67-M-1TEB-CO) Festo GDCE-EMCA-EC-SY-ZH 1605a 7
8 EMCA-EC CO/-EP EMCA-EC-67-S-1TE-CO FN n G : 3100 rpm M N : 0.37 Nm U N : 24 V DC I N : 5.7 A IP54 EMCA-EC-67-S-1TE-CO Serial Number FN98 ( ) Product Key () n G [rpm] 3100 M N [Nm] 0.37 U N [V DC] 24 I N [A] 5.7 IP Tab. 2 EMCA-EC-67-S-1TE-CO FCT :: EMCA Tab FCT-PlugIn EMCA Festo, ( FCT- PlugIn ( 2 (Tab. 2), () 8 Festo GDCE-EMCA-EC-SY-ZH 1605a
9 EMCA-EC CO/-EP X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029 Tab. 3 (20) O N D Tab. 4 Festo GDCE-EMCA-EC-SY-ZH 1605a 9
10 EMCA-EC CO/-EP : EMCA-... GDCE-EMCA-EC-SY-... GDCE-EMCA-EC-S1-... GDCE-EMCA-EC-C-HP-... GDCE-EMCA-EC-C-CO-... FCT (PlugIn EMCA) EMCA-EC_UL-... () (Safe torque off/sto) FHPP (Festo Handling and Positioning Profile) CiA 402 Festo(FCT), Underwriters Laboratories Inc. (UL) Tab. 5,Festo ( Festo, () 10 Festo GDCE-EMCA-EC-SY-ZH 1605a
11 ,,,!,, 4,,,,, Festo GDCE-EMCA-EC-SY-ZH 1605a 11
12 1,,, () (EMCA-EC B) / : ; ( A.1),:,, (Safe torque off/sto) STO (Safe torque off) GDCE-EMCA-EC-S1-... STO STO,GDCE-EMCA-EC-S Festo GDCE-EMCA-EC-SY-ZH 1605a
13 1 1.2 : (: ) : STO : GDCE-EMCA-EC-S ,:, : ( A.1), () : : Festo GDCE-EMCA-EC-SY-ZH 1605a 13
14 ( A.1) Underwriters Laboratories Inc. UL UL Recognized Component Mark for Canada and the United States Only for connection to a NEC Class 2 supply. Raccorder Uniqement a un circuit de Class 2. UL UL 2006/42/EG 2014/30/EU DIN EN : DIN EN : Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
15 : (EC ), () EC Fig. 2.1 ( EMCA-EC CO) ( ) (X1) (X2 X3) (Fig. 2.3) ( ) (:FHPP CiA 402), (Tab. 2.3) Festo GDCE-EMCA-EC-SY-ZH 1605a 15
16 EC,: () () 24 V DC 1) (),,: () EMCA-...-CO:CAN (; CANopen; FHPP CiA 402) EMCA-...-Ep:(; ; FHPP) STO (Safe torque off) 24 V DC,FCT LED FCT / Web : I/O, (Internet ExplorerFirefox) 1) ( Tab. 2.1 EMCA 16 Festo GDCE-EMCA-EC-SY-ZH 1605a
17 EMCA EMCA-EC CO EMCA-EC EP UL : EMCA-EC_UL NEKM-C ( ) Tab. 2.2 EMCA, : EAMM-A EADA-A-9 ( EMCA-EC-67-1TM) CACR-LE2-6-W60 ( -) EADS-F EAMF-A EAMM-U EMGC NEBC-D12G Festo GDCE-EMCA-EC-SY-ZH 1605a 17
18 EMCA 5 / Fig. 2.2 () 6 ( ESBF) 7 / () 8 Festo(FCT) PC 9 / 18 Festo GDCE-EMCA-EC-SY-ZH 1605a
19 FCT (Festo Configuration Tool) Festo(FCT) Windows, Festo FCTEMCA FCT:, PlugIn(:EMCA), PlugIn EMCA (EMCA)PC,: FCT : ()/: () (Firmware Download) ( : ) Festo - - FCT 5 FCT : (: ) I/O FHPP I/O (Upload) :PC (Download) : LED,,DHCP(DHCP Dynamic Host Configuration Protocol), IP : Festo GDCE-EMCA-EC-SY-ZH 1605a 19
20 2 2.3 EMCA-EC CO(CANopen ) aj [X1]:(M12 ) 2 LED (6x) 3 3 [X3]: CAN OUT ( M12 ) 4 ( ) 5 (4x) Fig. 2.3 EMCA-EC CO 6 (Fig. 2.5) 7 (4x) M4 8 9 aj [X2]: CAN IN ( M12 ) 20 Festo GDCE-EMCA-EC-SY-ZH 1605a
21 2 EMCA-EC EP ( EtherNet/IP) aj [X1]:(M12 ) 2 LED (6x) 3 [X3]:EtherNet/IP 1 ( M12,) 4 () 5 (4x) Fig. 2.4 EMCA-EC EP 6 (Fig. 2.5) 7 (4x) M4 8 9 aj [X2]:EtherNet/IP 2 ( M12,) Festo GDCE-EMCA-EC-SY-ZH 1605a 21
22 2 : [X4]: 2 [X5]: 3 DIP (CAN) 4 [X10]:(EMCA-EC-...-1TM) 5 [X6]: STO(Safe torque off) 6 [X7]:1 1) 7 [X8]:2 1) 8 [X9]:I/O 9 ( ) 1) FCT() () Fig Festo GDCE-EMCA-EC-SY-ZH 1605a
23 2 2.4 EMCA, (: ) EMCA( : )( ), ; / Tab. 2.3 PlugIn EMCA FCT Festo GDCE-EMCA-EC-SY-ZH 1605a 23
24 ( ): (+) (-) FCT(FCT Application Data Environment Inverse Rotation Polarity ) : REF 2 1 AZ PZ M d a b c TP/AP 3 ( ) (+) SLN e SLP LSN LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (Software limit negative) SLP (Software limit positive) LSN ()(Limit switch negative) LSP ()(Limit switch positive) TP (Target position) AP / (Actual position) a (AZ) b (PZ) c /(TP/AP) d : (SLN) 1) e : (SLN) 1) 1 2 () 3, 1), Tab. 2.4 : (:) 24 Festo GDCE-EMCA-EC-SY-ZH 1605a
25 2 :,, (FCT Application Data Environment Inverse Rotation Polarity ) : 2 1 d a b c e LSN REF SLN AZ PZ TP/AP, (+) SLP LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (Software limit negative) SLP (Software limit positive) LSN ()(Limit switch negative) LSP ()(Limit switch positive) TP (Target position) AP / (Actual position) a (AZ) b (PZ) c /(TP/AP) d (SLN) 1) e (SLN) 1) 1 () 2 () 1), Tab. 2.5 : Festo GDCE-EMCA-EC-SY-ZH 1605a 25
26 2 AZ = REF a PZ = AZ b = REF a + b SLN = AZ d = REF a d SLP = AZ e = REF a e / TP/AP = PZ c = AZ b c = REF a b + c Tab. 2.6 LSN/LSP(), NC NO FCT : ( 07 h ) ( 08 h ), SLN/SLP AZ SLN/SLP,,,,,,,,,, :11 h, 12 h, 13 h, 14 h, 29 h, 2A h 26 Festo GDCE-EMCA-EC-SY-ZH 1605a
27 , (2.4.1), (:) (Tab. 2.15) (EMCA-EC-...-1TE) (EMCA-EC-...-1TM),,,, 7( 24 ) FestoEADA-A-9,6,, Tab. 2.7 : ( ) FCT(FCT ) Motion Complete, Motion Complete, Motion Complete, (2.7.1), ( ), Festo GDCE-EMCA-EC-SY-ZH 1605a 27
28 2 :FCT(FCT Homing ) REF 3 2 Fig. 2.6 REF CiA 402 1) DD h -35 EE h -18 EF h h h h h h 23 1B h h 7 0B h 11 1) CANopenCiA 402 V 3.0 Tab. 2.8 ( / ),,,,,,, 28 Festo GDCE-EMCA-EC-SY-ZH 1605a
29 2 () : (Tab. 2.16) ( DD h ;-35) Tab. 2.9,, ( ),,,, ( ), /(: 3 mm) ()() (), (: ), : Festo GDCE-EMCA-EC-SY-ZH 1605a 29
30 2 1. : 1) ( ): :EMCA, 2. : 3. 2) :( EE h ;-18) :( EF h ;-17) 1) 2), (Tab. 2.16) Tab :, (2.), (2.) : : :,,0x22 (FCT ) 2. :, 3. : (Tab. 2.16) :( 12 h ;18) :( 11 h ;-17) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
31 2 1. :, (2.), (2.) : : :,,0x22 (FCT ) 2. :,, 3. : (Tab. 2.16) :( 02 h ;02) :( 01 h ;01) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a 31
32 2 1. :, (2.), (2.) : : :,, :,0x22(FCT ) 2. :, 3. : (Tab. 2.16) :( 17 h ;23) :( 1B h ;27) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
33 2 1. :, (2.), (2.) : : :,, :,0x22(FCT ) 2. :,, 3. : (Tab. 2.16) :( 07 h ;7) :( 0B h ;11) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a 33
34 2,: (Target) (Tab. 2.8) (Direction) (Search Velocity) (Crawling Velocity) (Drive Velocity) (Acceleration) (Axis Zero Point) ( ) (Force Limit/Torque Limit) (Message Delay) Tab ( ), ( ) ( ),,,,, 1), 1), Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
35 (FHPP FCT),,, : (:) (: ) () : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay), Tab (Fig. 2.7): ( +-),,,,, Festo GDCE-EMCA-EC-SY-ZH 1605a 35
36 2 t1 (+ -) t v Motion Complete a t t t t1: Fig (FHPP FCT), : ; PA ( ) PLC EMCA, FCT,FCT : 1. ( : 2.4.3) 2., 36 Festo GDCE-EMCA-EC-SY-ZH 1605a
37 2 FCT FCT PlugIn FHPP FHPP, GDCE-EMCA-EC-C-HP-... FCTPlugIn 2.4.5,,:,(:) : (Position) ( (Tab. 2.19) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) 1)2) (Jerk for deceleration) 1),FCT 2) [m/s³] Tab. 2.18,,, (2.7.1,) Tab. 2.19,,,() Festo GDCE-EMCA-EC-SY-ZH 1605a 37
38 2 a t v t s t Fig. 2.8 Motion Complete :0 mm/s t (2.6,, ), 0 0, 38 Festo GDCE-EMCA-EC-SY-ZH 1605a
39 2 Motion Complete() = 0 0,,, (2.7.1), Tab (Start Condition) (Extra Load) (Torque Feed Forward) / (Force Limit/ Torque Limit) (Max. Following Error) (Position Comparator) (Velocity Comparator) (TimeComparator), ( Tab. 2.33),( ) ( ) ( ), (Fig. 2.17) (2.7.2) (2.7.2),(2.7.2) Festo GDCE-EMCA-EC-SY-ZH 1605a 39
40 2 / (Force Comparator/ Torque Comparator) (Condition) (Start Delay) MC (MC visible) (Final Velocity) (Following Set) (2.7.2) (2.6.2), (2.6.2) Motion Complete ; (2.6.2), ; (2.6.2) Tab : ( )( ) : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) 1) (Jerk for Deceleration) (Force Limit) 1),FCT Tab. 2.22,, (2.4.5),, (2.7.1,) (2.6,, ), Festo GDCE-EMCA-EC-SY-ZH 1605a
41 2 Motion Complete(),, Tab. 2.23,, : (Stroke Limit) Tab. 2.24,, : Quick-Stop, Motion Complete ( Fig. 2.9 Fig. 2.11), Festo GDCE-EMCA-EC-SY-ZH 1605a 41
42 2 :- s v t t Fig. 2.9 Motion Complete () - t t 42 Festo GDCE-EMCA-EC-SY-ZH 1605a
43 2 :- s v t t Motion Complete () Fig t t Festo GDCE-EMCA-EC-SY-ZH 1605a 43
44 2 :- s v t t Motion Complete () Fig t t Tab / / ( ), 44 Festo GDCE-EMCA-EC-SY-ZH 1605a
45 2 / : (Force) (%,) (Velocity) (Acceleration) (Deceleration) 1) 1),FCT Tab /,, 0 0 Motion Complete(),/ Tab / / / : /, /, (Stroke Limit) Tab. 2.27,,, : Quick-Stop,, Motion Complete Festo GDCE-EMCA-EC-SY-ZH 1605a 45
46 2 Tab (),Quick-Stop (),, (): ( ) Stop ()( /) ()... / Tab. 2.28, () : Motion Complete () ( ),, ( ) : Motion Complete, /,() : Motion Complete, Quick-Stop () Quick-Stop, Quick-Stop Quick-Stop : Quick-Stop,( ) Quick-Stop- () ( /) Quick-Stop 46 Festo GDCE-EMCA-EC-SY-ZH 1605a
47 (EMCA-EC B) EMCA-EC-...-BEC /,,,,, EMCA-EC-...-B,,, : FCT( ) Brake ( ) ( FCT Motor Brake control ) Festo GDCE-EMCA-EC-SY-ZH 1605a 47
48 2 : 1. ( = ) 2.,, 3. : 1.,Quick Stop 0, 2., 3. Tab. 2.29, 48 Festo GDCE-EMCA-EC-SY-ZH 1605a
49 2 2.5 () FCT,(X1), (X2 X3) FHPP CiA 402 ( EMCA-...-CO) Tab FCT FHPP(Festo, ), Festo (8 ) FHPP : :64() I/O :( )I/O FPC (: ) : 8 I/O (FestoFPC) 3 I/O(FHPP+) SDO(Service Data Objects) (), CAN in Automation (CiA Draft Standard SDOs/PDOs (Process Data Objects) : ( ) ( )... FHPP ( 0 = )... CiA 402 (EMCA-...-CO) Tab PlugIn EMCA FCT Festo GDCE-EMCA-EC-SY-ZH 1605a 49
50 2 2.6 CiA ( 1 64) 0, PLC,, : (:FCT),, ( Tab. 2.33) () MC Tab. 2.32, ( Tab. 2.34) :,, (Tab. 2.33) (Ignore) (Delay) (Interrupt) MC () ( Motion Complete ) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
51 2 : ( B) (A) A t O B t Motion Complete Fig t : ( B C) (A) (C), C A t O B C t Motion Complete Fig t Festo GDCE-EMCA-EC-SY-ZH 1605a 51
52 2 : (A)(B) B A t O B t Motion Complete Fig t 52 Festo GDCE-EMCA-EC-SY-ZH 1605a
53 , ( ),, : : Parameter (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) (),, Motion Complete, 0, Motion Complete, 1) Tab. 2.34,: : (Condition) Motion Complete...,... Motion Complete /... Tab (Condition) Festo GDCE-EMCA-EC-SY-ZH 1605a 53
54 2 : 0 () A, B A,Motion Complete, v B A s t B A t Motion Complete (MC ) t t Fig Festo GDCE-EMCA-EC-SY-ZH 1605a
55 2 2.7,EMCA,: 2.7.1, [X9.2] (Tab. 2.50) Motion Complete () (Following error) (Standstill monitoring) (Comparator) () : (Fig. 2.17) (Fig. 2.18), : 0, : (2.7.2) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a 55
56 2 Motion Complete () Motion Complete () ( ), Motion Complete () 2 v t1 1 Motion Complete t1: Motion Complete 1 2 Fig Motion Complete t t 56 Festo GDCE-EMCA-EC-SY-ZH 1605a
57 2,, (Fig. 2.17, 1 ), ( ) ( ),, s t t Start t 2F h () t t1: Fig : FCT,(2F h )(FCT ) Festo GDCE-EMCA-EC-SY-ZH 1605a 57
58 2 (Fig. 2.18) Motion Complete :, : EMCA ( = 1: ; = 0:) s t1 t2 t2 1 2 t Motion Complete () t t t t1: Motion Complete t2: 1 2 Fig , FCT,(37F h )(FCT ) 58 Festo GDCE-EMCA-EC-SY-ZH 1605a
59 CiA 402, :,,, ( :), (2.6, ),( ) (Tab. 2.48),,,, 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator), 1), Tab () Festo GDCE-EMCA-EC-SY-ZH 1605a 59
60 2 2,: ( š) (),, / ( ) 1) ( ) 1), 1) (), : : mm, 50 mm, 40 mm Tab. 2.38, 2, : ( š) (),, / ( ) 1) ( ) 1), 1), Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
61 2 2, : ( š) (),, / ( ) 1) ( ) 1), 1), Tab. 2.40, : ( š ), ( ) 1) ( ) 1) 1), Tab Festo GDCE-EMCA-EC-SY-ZH 1605a 61
62 EMCA, ( ) : 07 h, 08 h (2.4.1) 11 h, 12 h, (2.4.1) 29 h, 2A h (I²t ) 0E h ;, 17 h, 18 h 1A h, 1B h 15 h, 16 h CPU, 30 h EMCA, ( [X5]) EMCA,EMCA (FCT ),, (Tab ), Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
63 FCT,(FCT Error Management ), (Error) (Warning) (Information) ( :Quick-Stop ), LED (6.2) FCT ( FCT),, LED (6.2), ( ) LED, Tab (Free-wheeling) Quick-Stop (QS deceleration) (Record deceleration) (Finish record) Quick-Stop(- ) 1) : (Output stage on)(off) 1) : (Output Stage on)(off) ( ) 1) : (Output Stage on)(off) 1) ( FCT ) Tab (Save Diagnosis) FCT Festo GDCE-EMCA-EC-SY-ZH 1605a 63
64 EMCA, FCT( 2.7.4), 200, (FIFO ) : ( ) FCT( FCT) ( ) 64 Festo GDCE-EMCA-EC-SY-ZH 1605a
65 2 2.8 (2.8.1) : EMCA-EC...-CO: CANopen EMCA-EC...-EP:EtherNet/IP [X1] ( ) [X1]: FCT (5.2FCT ) ( ),FCT(5.7) : PC Tab IP( IPv4): DHCP () IP (DH CP) IP IP DHCP PC, PCIP DHCPIP : IP : : : ( ) DHCP- IP DHCP IP- IP-PC IP-, Tab IP Festo GDCE-EMCA-EC-SY-ZH 1605a 65
66 2 FCT(),, IP, FCT IP IP PC IP, IP ( LED ),, [X2] [X3] () Control enable [X9.4], EMCA-...-CO (CANopen) [X2] [X3] (4.4) : FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... EMCA-...-EP(EtherNet/IP) 22 [X2] 2,[X3] 1 ( 4.4) : FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... CAN(EMCA-...-CO) CAN DIP(Fig. 2.5, 3 ) Tab STO[X6] STO[X6]2 ( (Safe torque off/sto)) STO (Safe torque off) GDCE-EMCA-EC-S1-... STO STO,GDCE-EMCA-EC-S Festo GDCE-EMCA-EC-SY-ZH 1605a
67 / (6) [X6.4] STO 1 (Safe torque off channel 1) [X6.5] STO 2 (Safe torque off channel 2) STO, 1 ( STO,GDCE-EMCA-EC-S1-... ) STO, 2 ( STO,GDCE-EMCA-EC-S1-... ) [X7.2] Switch 1 1 1, / 1) [X8.2] Switch 2 2 2, / 1) [X9.4] Control enable :, (Fig. 2.19) : ; (Fig. 2.19) [X9.5] Sample () (Tab. 2.49) 2 1) FCT( ) () Tab [X6] [X7] [X8] [X9] Festo GDCE-EMCA-EC-SY-ZH 1605a 67
68 2 (2) [X9.1] Ready : (/ );, : Control enable, 1) :, 2: (: ) () [X9.2] configurable FCT, Tab ), PlugIn EMCA Tab [X9], Control enable [X9.4], () FCT,, PlugIn EMCA,, ( = ), (Quick Stop) v = 0, Ready,, 68 Festo GDCE-EMCA-EC-SY-ZH 1605a
69 2 Control enable EMCA, Ready, Control enable [X9.4],( ) (EMCA PlugIn ) Control enable (DIN) Quick-Stop V = 0, Ready (DOUT) t1 t2 : t1: t2: Fig : 4 (Quick-Stop) 5 6 Festo GDCE-EMCA-EC-SY-ZH 1605a 69
70 2 (EMCA-EC B): (2.4.9):, Brake,, : ( FHPP), Sample (), : FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... Sample : (Deactivated) (After read out) (Immediately) Sample ( ),, ( ) Tab Sample (),,8.4 μs, 70 Festo GDCE-EMCA-EC-SY-ZH 1605a
71 2 [X9.2] : (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete ( ) Motion Complete ( ),,,, 1) 2.7.2,,,,, 1) (),, 2) I²t I²t 2) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a 71
72 EMCA-EC CO L1 L2 L3 L4 L5 L6 EMCA-...-S / ± ± ± EMCA-...-M / ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] ± ,2 M4x5 Tab. 3.1 EMCA-EC CO [mm] 72 Festo GDCE-EMCA-EC-SY-ZH 1605a
73 3 3.2 EMCA-EC EP L1 L2 L3 L4 L5 L6 EMCA-...-S / ± ± ± EMCA-...-M / ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] 113 ± M4x5 Tab. 3.2 EMCA-EC EP [mm] Festo GDCE-EMCA-EC-SY-ZH 1605a 73
74 3 3.3 :,:, : 4 M6 4 M4 ( [mm]:5) EMCA-EC mm (4 x) 2 M4 x 5 (4 x) Fig Festo GDCE-EMCA-EC-SY-ZH 1605a
75 3 (A.1.5) (: ), EMCA( ) 3. (4x) Festo GDCE-EMCA-EC-SY-ZH 1605a 75
76 , EN (Protective Extra-Low Voltage) EN (PELV) EN :,,, (EMV) (Tab. 4.1), 76 Festo GDCE-EMCA-EC-SY-ZH 1605a
77 4 4.2 EMC :, ( ),( ) : EMV,:, 90 (Tab. 4.1) [m] [X1] 100 1),4; (Tab. 4.4) [X2] EMCA-...-CO: CAN IN 40, 1 Mbit/s 2) 3) EMCA-...-EP: IN 100 [X3] EMCA-...-CO: CAN OUT 40, 1 Mbit/s 2) EMCA-...-EPOUT 100 [X4] 30, (Tab. 4.13) [X5] 3 [X6] STO 30 [X7] [X8] / 3 [X9] I/O 30 [X10] 3 1) 2) 1 Mbit/s 3) Tab. 4.1 EMV Festo GDCE-EMCA-EC-SY-ZH 1605a 77
78 4 4.3 [X1] ( ), PC :,: Intrusion Prevention System ( IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC [X1]: M12,5,D M12,4 5,D Tab. 4.2 [X1] 1 1 [X1] [X1] 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 Shield/FE / Tab. 4.3 [X1] ( ) 78 Festo GDCE-EMCA-EC-SY-ZH 1605a
79 4 ( ) : Festo NEBC-D12G4-... EMCA/ PC, (Shielded Twisted Pair/STP) Cat 5 [mm] 6 [mm 2 ] (22 AWG) 1) [m] 100 1) :22 AWG Tab. 4.4 [X1] Festo GDCE-EMCA-EC-SY-ZH 1605a 79
80 4 4.4 [X2] [X3] EMCA-...-CO (CANopen) EMCA-...-COCAN, [X2]: CAN IN, [X3]: CAN OUT, : FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... [X2]: (CAN IN) (CAN IN) [X3]: (CAN OUT) (CAN OUT) M12,5,A M12,5,A M12,5,A M12,5,A Tab. 4.5 [X2] [X3](EMCA-...-CO) CAN IN [X2]() 2 CAN OUT [X3]() [X2] CAN IN 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.6 [X2] CAN IN(EMCA-...-CO) 80 Festo GDCE-EMCA-EC-SY-ZH 1605a
81 4 [X3] CAN OUT 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.7 [X3] CAN OUT(EMCA-...-CO) CAN CAN DIPS1.1 (Fig. 2.5, 3 ) DIP S1.1 (120 Ω);ON =,OFF = S1.2 ( ) Tab. 4.8 (EMCA-...-CO) FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO EMCA-...-EP(EtherNet/IP) EMCA-...-EP1 2EtherNet/IP [X2]: 2 [X3]: 1 : FHPP, GDCE-EMCA-EC-HP-... [X2] (EtherNet/IP, 2) [X3] (EtherNet/IP, 1) M12,5-,D M12,5-,D Tab. 4.9 [X2] [X3](EMCA-...-EP) Festo GDCE-EMCA-EC-SY-ZH 1605a 81
82 EtherNet/IP, 2 [X2] 2 EtherNet/IP, 1 [X3] [X2] [X3] Pin 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 nc Shield/FE / Tab [X2] [X3] M12,5,D-( EMCA-...-EP) 82 Festo GDCE-EMCA-EC-SY-ZH 1605a
83 4 4.5 [X4]... [X10] [X4] [X10], 1)2) [X4] [X5] [X6] [X7] [X8] [X9] [X10] STO (Safe torque off) / I/O 3) JST Tyco Electronics AMP JST B2P-VH-FB- B-C B2P-VH- FB-B B2B-ZR- SM4-TF VHR-2N-BK () VHR-2N () SVH-41T-P1.1 AWG24... AWG20: ( ) ( ) AWG30... AWG26: ( ) ( ) [mm] [mm²] WC-930 YC-930R ZHR (AWG24... AWG20) (AWG30... AWG26) SZH-002T-P 0,5 YRS-491, WC-491 WC-ZH2632 /! (AWG20... AWG16) (AWG24... AWG20) (AWG30... AWG26) : mm mm mm 4) 1) 2) /! 3) 4) :( Tab. 4.1) Tab (AWG28... AWG26) Festo GDCE-EMCA-EC-SY-ZH 1605a 83
84 4, / (Tab. 4.11), 1., (/) 2.,( ) 2 2,( Fig. 4.1, 1 ) ( 1 ) Fig ( 1) : 5 2, mm 2, mm 2, mm ( 84 Festo GDCE-EMCA-EC-SY-ZH 1605a
85 4 : EMCA,, : 1.,( (SW) 2.5 mm), (Fig. 4.1, 3 ) ( ) 6., :,, Nm Festo GDCE-EMCA-EC-SY-ZH 1605a 85
86 [X4], EN (Protective Extra-Low Voltage) EN (PELV) EN ,IEC/EN (, ) ( ) 24 V EN ( ) [X4] V DC ( ) 19.2 V DC 28.8 V DC 2 0 V GND Tab [X4],( ) Tab (FE) - FE, :(6.3 x 0.8 mm²) 86 Festo GDCE-EMCA-EC-SY-ZH 1605a
87 4, 1 EMCA V DC 0 V [X4] EMCA 2 24 V DC Fig. 4.2 Festo GDCE-EMCA-EC-SY-ZH 1605a 87
88 [X5] EMCA,, (Tab. 2.42), [X5] 1 ZK + R BR 6 Ω 2 BR-CH Tab [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W) 88 Festo GDCE-EMCA-EC-SY-ZH 1605a
89 STO[X6] STO (Safe torque off) GDCE-EMCA-EC-S1-... STO [X6] 1 NC1 : 2 NC2 STO, V DC LOGIC OUT ([X4]) (0V) [X6.6] [X4.2]()! 100 ma 4 STO 1 STO 1) 5 STO 2 6 GND 0 V 1) Basic IO Interface( ) Tab STO(Safe torque off) [X6] Festo GDCE-EMCA-EC-SY-ZH 1605a 89
90 [X7] [X8] [X7] [X8]3(Tab Tab. 4.17), 2 11 [X7] V DC 24 V,1 ( FCT, ) 2 Switch GND 0 V Tab [X7] [X8] V DC 24 V,2 ( FCT, ) 2 Switch GND 0 V Tab [X8] 90 Festo GDCE-EMCA-EC-SY-ZH 1605a
91 I/O[X9] I/O [X9] [X9] 1) 1 DOUT Ready 2 DOUT configurable FCT V DC 24 V DC,[X4.1] 4 DIN Control enable / 5 DIN Sample () 6 GND 0 V 1) DIN = ;DOUT = Tab I/O(PNP ) Festo GDCE-EMCA-EC-SY-ZH 1605a 91
92 [X10] (EMCA-EC-...-1Tm), ( 7) EADA-A-96 (Tab. 2.7) [X10] (GND) Tab [X10],(EMCA-EC-...-1TM) FestoEADA-A-9 92 Festo GDCE-EMCA-EC-SY-ZH 1605a
93 4 4.6 IP IP ( O, IP( ): [X1] [X3]: ISK-M12 [X2]:M12, ( [X4] [X10]),,! Festo GDCE-EMCA-EC-SY-ZH 1605a 93
94 ,,, 5.2 FCT (Festo Configuration Tool) FCT FCT FCT FCT-PlugIn EMCA V 1.0.0V 1.0.x, PlugIn ( 94 Festo GDCE-EMCA-EC-SY-ZH 1605a
95 5 FCTWindows FCTPC (Setup_EMCA...exe) 3. FCT FCT FCT: FCT Windows : [] [Festo Software] [Festo Configuration Tool],FCT FCT FCT FCT-Framework( [Help] [Contens FCT general]) PlugIn EMCA FCT PlugIn EMCA PC,,: FCT PlugIn [Help] [Contents of installed PlugIns] [Festo] [EMCA],FCT FCT, PDF : FCT () PlugIn (EMCA) (FCT-Installationsverzeichnis)\Help\ (FCT-Installationsverzeichnis)\HardwareFamilies\ Festo\EMCA\V \Help\ FCT_en.pdf EMCA_en.pdf Festo GDCE-EMCA-EC-SY-ZH 1605a 95
96 5 Adobe Reader PDF Festo(FCT) Festo( ( ) FCT,,,,,, FCT,,IP FCT (FCT [Component] [Firmware Download]) 96 Festo GDCE-EMCA-EC-SY-ZH 1605a
97 5 5.3,DHCP (Dynamic Host Configuration Protocol) DHCP, 2DHCP, (DHCP)! DHCP! FCT IP DHCP() DHCP IP () Tab. 5.1 DHCP() TCP/IPv4 PC,IP PC PC,DHCP (2.8.1) : Festo NEBC-D12G4-... ( Fig. 5.1 DHCP DHCPPC PC ()Windows : IP DNS Festo GDCE-EMCA-EC-SY-ZH 1605a 97
98 5 PC, DHCPPC IP DHCPIP IP : IP : : : ( ) : PC DHCP( PC) EMCA DHCP() 1. EMCA PC ( ) 2.,DHCPPCIP 1. PC ( Internet Explorer > 6;Firefox > 3;JavaScript) 2. IP ( : ) (5.5) : FCT(FCT [Component] [Online] [Login]) PCTCP/IPv4 (Windows ): IP DNS FCTIP,FCT(),, IP,FCT (FCT [Component] [FCT Interface] Scan... ) 98 Festo GDCE-EMCA-EC-SY-ZH 1605a
99 5 : 1., 2. [Network], 3.,OK : 1. [Component] [Online] [Setup Network Settings...], 2.,OK, (2.8.1) DHCP(,Tab. 5.1) DHCP( IP ):EMCADHCP IP IP : IP :,: Intrusion Prevention System ( IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC :, (FCT [Component] [Online] [Password]), FCT (FCT ) Festo GDCE-EMCA-EC-SY-ZH 1605a 99
100 5... FCT,,FCT,, FCT FCT Web Tab. 5.2, HTTP, (Cache) 100 Festo GDCE-EMCA-EC-SY-ZH 1605a
101 5 5.4 : () ( ),,: FCT, (),,, :, : FCT,,, 3: FCT2 1 FCT 2,,,, Tab. 5.3 FCT,, Festo GDCE-EMCA-EC-SY-ZH 1605a 101
102 5,, (Quick-Stop) FCT (Device Control: FCT ),,, Tab. 5.4,FCT: Device Control Operate FCT FCT, Enable FCT, (FHPP) /Time-out FCT,FCT, FCT Error Management ( 0x32) 1 s, 102 Festo GDCE-EMCA-EC-SY-ZH 1605a
![5 5.5 IP (2.8.1, Tab. 2.46) PC() IP, IP :192.168.178.1 IP, FCT IP (FCT [Component] [FCT Interface] Scan... ) 1.](/docs-images/80/81543932/images/103-0.jpg ",: 6Internet Explorer3 Firefox 2. IP Fig. 5.")
103 5 5.5 IP (2.8.1, Tab. 2.46) PC() IP, IP : IP, FCT IP (FCT [Component] [FCT Interface] Scan... ) 1.,: 6Internet Explorer3 Firefox 2. IP Fig. 5.2 (Status) I/O (Basic I/O Interface) FHPP (FHPP Interface) I/O FHPP I/O Festo GDCE-EMCA-EC-SY-ZH 1605a 103
104 5 / (Parameter Up-/Download) (Diagnostic Memory) (5.7) (6.1) Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
105 (3) 2. DIL( ) 3. (4) 4. FCT (PlugIn EMCA) 5. PC, (5.3) : 1. FCT ( )(5.6.1 PlugIn EMCA ) 2. STO: STO ( GDCE-EMCA-EC-S1-...) 3. I/O(:/ ) 4. (5.6.4) 5. /(:),, ( FCT [Application Data] [Environment] Inverse Rotation Polarity ) 6. (2.4.2) 7. ( PlugIn EMCA) 8. (, PlugIn EMCA) 9., ( ) 10. (PlugIn EMCA) Festo, PlugIn, :, FCT PlugIn Festo GDCE-EMCA-EC-SY-ZH 1605a 105
106 5 (*.fpf), : (5.7) FCT, (FCT ) STO STO [X6]: ()STO Safe torque off/sto GDCE-EMCA-EC-S , ( ), () (: ) FCT, (FCT Axis Axis Options ) ( I/O), I/O STO: STO ( ): STO 1 STO 2STO,GDCE-EMCA-EC-S1-... I/O : Control enable 106 Festo GDCE-EMCA-EC-SY-ZH 1605a
107 5 GDCE-EMCA-EC-S1-... STO 1 STO 2 [X6] 4 5 EMCA 24 V DC 1) Control enable (DIN) Ready (DOUT) configurable (DOUT) 2) [X9] ) 2) ;Festo(FCT) (: ) Fig. 5.3 :/ / FCT Manual Move,, ( FCT ) : STO Control enable EMCA FCT (FCT Device Control FCT ) (FCT Device Control Enable ) ( ) ( FCT Application Data Environment Inverse Rotation Polarity ) Festo GDCE-EMCA-EC-SY-ZH 1605a 107
108 :,, FCT Homing : STO Control enable EMCA FCT (FCT Device Control FCT ) (FCT Device Control Enable ),FHPPCiA () FCT, FCT,: PlugIn EMCA () Festo: FCT-PlugIn,: PlugIn EMCA(PlugIn EMCA) 5.6.9, PlugIn EMCA 108 Festo GDCE-EMCA-EC-SY-ZH 1605a
109 ,, (FCT: Store) FCT(Download),, : :(PlugIn EMCA) (PlugIn EMCA) :(5.7) Festo GDCE-EMCA-EC-SY-ZH 1605a 109
![5 5.7, *.fpf : () (): FCT(FCT [Component] [Online] [Backup Recovery.](/docs-images/80/81543932/images/110-0.jpg "..] :,,(Upload) (Download) Parameter Up-/Download (Fig. 5.")
110 5 5.7, *.fpf : () (): FCT(FCT [Component] [Online] [Backup Recovery...] :,,(Upload) (Download) Parameter Up-/Download (Fig ): Fig. 5.4 / EMCA PC, PC Tab. 5.6 / FCT, (FCT [Component] [Import/Export]) 110 Festo GDCE-EMCA-EC-SY-ZH 1605a
111 5 5.8, CANopen FHPP CiA 402, FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO :,:, 100,000 : Store FCT St / FCT Festo GDCE-EMCA-EC-SY-ZH 1605a 111
112 FCT, Error Management,, Ready Low,:,, :,,: : Festo (FCT ) ( ), (Power OFF/ON), 6.1 (2.7.5): FCT (FCT Diagnosis ) ( ) 1) 1) 5.5 Tab. 6.1 Diagnostic Memory ( ) 112 Festo GDCE-EMCA-EC-SY-ZH 1605a
113 6 Fig. 6.1 (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) () (2.7.4) 2.7.4, (0x = hex-prefix).,hh.mm.ss:nnn(hh =,MM =, SS =,nnn = ) Festo Tab. 6.2 : FCT, (FCT ) () (Start-up event,3dh ), Festo GDCE-EMCA-EC-SY-ZH 1605a 113
114 6 6.2 LED EMCA-EC-...-CO (CANopen) LED OK 2 LED ERROR 1) LED (CANopen) Fig. 6.2 LED(:EMCA-EC-...-CO) 3 LED () 1) LED( LED) (FHPP CiA 402) EMCA-EC-...-EP(EtherNet/IP) LED ACT/LINK, 2 (/) 1) 2 LED OK 3 LED ERROR 1) LED (EtherNet/IP) Fig. 6.3 LED(:EMCA-EC-...-EP) 4 LED MS() 1) 5 LED NS() 1) 6 LED ACT/LINK, 1 (/) 1) LED (MS, NS, ACT/LINK) FHPP 114 Festo GDCE-EMCA-EC-SY-ZH 1605a
115 LED LED / OK, ERROR Tab LED LED / OK,, Control enable,, Control enable ERROR, Tab LED LED / OK () ERROR Tab LED LED / OK, ERROR 1) 1) 10 Tab. 6.6,Festo Festo GDCE-EMCA-EC-SY-ZH 1605a 115
116 LED EMCA-EC-...-CO (CANopen) LED(/) LED: FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... EMCA-EC-...-EP(EtherNet/IP) LED (MS, NS, ACT/LINK) FHPP, GDCE-EMCA-EC-HP Festo GDCE-EMCA-EC-SY-ZH 1605a
117 6 6.3 FCT, (2.7.4) (6.3.2) : No....,(FCT ) F/W/I = //( 2.7.4) ( F), : F/ /,FCT (/) (, FCT(FCT [Component] [Online] [Restart Controller]) (A G) (Tab. 6.8) Tab. 6.7 (6.3.2) O - B C D, Motion Complete (MC) E F G, Motion Complete (MC) Tab. 6.8 ( ) Festo GDCE-EMCA-EC-SY-ZH 1605a 117
118 , 01h (Software error) Festo :, :A 02h (Default parameter file invalid) :F/-/- : :F/-/- :,, :, :A 03h CPU (Internal communication error CPUs), :, :A 04h (Non-permitted hardware) :, :A 06h (Encoder) :, :A :F/-/- : :F/-/- : :F/-/- : 118 Festo GDCE-EMCA-EC-SY-ZH 1605a
119 6 07h (Limit switch positive) :F/-/- :,,, (?),: FCT : :A, B, C, E, F 08h (Limit switch negative) :F/-/- :,,, (?),: FCT : :A, B, C, E, F 09h (Offset determination for current measurement) :, :A 0Bh (Parameter file invalid) :F/-/- : :F/-/- :,:,, : :A Festo GDCE-EMCA-EC-SY-ZH 1605a 119
120 6 0Ch (Firmware update execution error) :F/-/- : PC,, :, :A 0Dh (Overcurrent) :F/-/- :, FCT ( ) : : () : :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B, C 120 Festo GDCE-EMCA-EC-SY-ZH 1605a
121 6 0Fh (Hardware error interface) :F/-/- : FCT :, :B, C, E, F 11h (Softwarelimit positive) :F/-/- :, : :A, B, C, E, F 12h (Softwarelimit negative) :F/-/- :, : :A, B, C, E, F 13h (Positive direction locked) :F/-/- :,, : :A, B, C, E, F Festo GDCE-EMCA-EC-SY-ZH 1605a 121
122 6 14h (Negative direction locked) :F/-/- :,, : :A, B, C, E, F 15h (Output stage temperature exceeded) :F/-/- :,, : :A, B, C, D 16h (Output stage temperature too low) :F/-/- :, : :A, B, C, D 17h (Logic voltage exceeded), : :A, B :F/-/- : 122 Festo GDCE-EMCA-EC-SY-ZH 1605a
123 6 18h (Logic voltage too low) :F/-/- :, :, :A 19h LM-CPU (Real time error LM-CPU) :F/-/- : LM-CPU, :, : :A, B 1Ah (Intermediate circuit voltage exceeded),, : :A, B 1Bh (Intermediate circuit voltage too low) :F/-/- : :F/W/- : :,,?, : :A :, Festo GDCE-EMCA-EC-SY-ZH 1605a 123
124 6 1Ch CAN, FB (CAN Node Guarding, FB has master control) :F/-/- :, PLC,PLC :?,,, : :B, C, E, F 1Dh CAN,FB (CAN bus comm. stopped by master, FB has master control) CAN : :B, C, E, F 1Eh NetX (NetX configuration error) : :B C D E F G 1Fh NetX (NetX network error) :F/-/- : :F/-/- : :F/-/- :, :????? () : :E 124 Festo GDCE-EMCA-EC-SY-ZH 1605a
125 6 20h FHPP+ (FHPP+ incorrect parameterisation) :F/W/- : FHPP +- PNU, 16 PUN,FHPP : :B C D E F G :, 21h FHPP+ (FHPP+ incorrect value) :F/W/I : PNU, : :B, C, D, E, F, G :, 22h (Homing) :F/-/- : /, (?), : :B, C, E, F 23h (No index pulse found) :, :, :B, C, E, F :F/-/- : Festo GDCE-EMCA-EC-SY-ZH 1605a 125
126 6 25h (Path calculation) :F/-/- : : : :A 26h CAN (CAN fieldbus parameters missing) CAN, : :B, C, D, E, F, G 27h (Save parameters) :F/-/- : :F/-/- : :?, Festo : :F G 28h (Homing required) :F/W/- : (:),, : :B, C, D, E, F, G :, 126 Festo GDCE-EMCA-EC-SY-ZH 1605a
127 6 29h (Target position behind negative software limit), (/?) : :B, C, E, F 2Ah (Target position behind positive software limit), (/?) : :B, C, E, F 2Bh, (Firmware update, invalid firmware) :F/-/- : :F/-/- : :F/W/- : Festo : :A :, 2Ch FHPP (FHPP incorrect record number) :F/W/I : : :F G :, 2Dh I²t (I²t warning motor) :-/W/I : I²t :I²t80 %, Festo GDCE-EMCA-EC-SY-ZH 1605a 127
128 6 2Eh (Index pulse too close on proximity sensor) :F/-/- : / FCT : :B, C, E, F 2Fh (Following error) :F/W/I :?? ( I²t?) : :B, C, E, F :, 30h (Braking resistor) :F/W/I : 1Ah,,,, : :A :, 32h FCT, (FCT connection with master control) FCT, : :B, C, D, E, F, G :F/-/- : 128 Festo GDCE-EMCA-EC-SY-ZH 1605a
129 6 33h (Output stage temperature warning) :-/W/I :,, :, 34h (STO) (Safe Torque Off (STO)) :F/W/I : Safe Torque Off STO : :0 :STO, 35h CAN, FB (CAN Node Guarding, FB does not have master control) :-/W/I : CAN CAN PLC,PLC :?,,, : CAN, 36h CAN,FB (CAN bus comm. stopped by master, FB does not have master control) CAN CAN :, :-/W/I : Festo GDCE-EMCA-EC-SY-ZH 1605a 129
130 6 37h (Standstill monitoring) :-/W/I : :, 38h (Parameter file access) :F/-/- :, 23 s : :F G 39h (Trace warning) :, 3Dh (Start-up event) :-/W/- : :-/-/I : 48, 3Eh (Diagnostic memory) :F/-/- :,, : :F G 3Fh (Record invalid) :F/-/- : : :B, C, D, E, F, G 130 Festo GDCE-EMCA-EC-SY-ZH 1605a
131 6 40h (Last teaching not successful) :-/W/I : : TEACH( 1) ( 0), 41h (System reset) Festo : :A 42h (ACD) (Address Conflict Detection (ACD)) ( FCT) : :E 43h FCT, (FCT connection without master control) FCT,:, : FCT, 44h (Parameter file not compatible with firmware) :F/-/- : :F/-/- : :-/W/I : :-/W/I :,, :, 49h CAN, (CAN message overflow or message lost) :F/-/- : CAN,,: : :B, C, E, F Festo GDCE-EMCA-EC-SY-ZH 1605a 131
132 6 4Ah (STO) (Safe Torque Off (STO) discrepancy time ) :F/W/I : STO1 STO2, : :0 :STO, 4Bh (Interpolated Positioning Mode stopped while error occurred on control unit) :F/-/- : CANopen, : :B 4Ch (Value is out of range), : :B, C, D, E, F, G 4Dh (Bootloader memory error) :F/-/- : :F/-/- :, :, :A 4Eh 24V (Overload 24V Outputs) 24 V STO : :A, B :F/-/- : 132 Festo GDCE-EMCA-EC-SY-ZH 1605a
133 6 6.4, EMCA IPPC IP FCT : EMCA IP IP FCT 1. FCT-PlugIn [Component] [FCT Interface], Scan [Network] Network properties IP (Tab. 2.46) PC IP Windows(:Windows 7) 1. [] [] [] [ ] [] 2. [] [] 3. [Internet4] 4., Internet4 PC IP 5. EMCA IP () : IP IP DHCP (Tab. 2.46),IP (IP ;: ) PC,PC [ IP ],IP (:IP ;: ;: ( )) PC Windows( Windows 7) 1. [] [()] [] [ ] 2. ipconfig ipconfig /all 3. Ping 1. [] [()] [] [ ] 2. :ping ( IP ) Festo GDCE-EMCA-EC-SY-ZH 1605a 133
134 6 6.5 EMCA EMCA EMCA () EMCA FCT-PlugIns Tab Festo GDCE-EMCA-EC-SY-ZH 1605a
135 ,,,,, :, Festo GDCE-EMCA-EC-SY-ZH 1605a 135
136 7 EMCA-EC TM...(), : EMCA-EC , : 7.2 ( ),,FCT (Upload), FCT (Download) ( 3) [X4] [X10], (SW) 2.5 mm (:) 7.,- 1.5 Nm Festo GDCE-EMCA-EC-SY-ZH 1605a
137 7 7.3, RoHS Festo GDCE-EMCA-EC-SY-ZH 1605a 137
138 A A A.1 A.1.1 EMCA-EC EMCA PWM-MOSFET-, P PI PI, TCP/IP EMCA-...-CO: CANopen EMCA-...-EP:EtherNet/IP I²t Tab. A.1 : A.1.2 EMCA-EC CE ( EU2006/42/EC 2014/30/EU 1) RCM 2) c UL us Recognized (OL) 2) 1),:, 2) Tab. A.2 : 138 Festo GDCE-EMCA-EC-SY-ZH 1605a
139 A A.1.3 EMCA-EC-67-S-... EMCA-EC-67-M-... ( * * ) 3.1 EMCA,[B], [g] [M] [M] [g] 25 [B] [g] 350 Tab. A.3 : A.1.4 EMCA-EC [ C] % C: [ C] [ C] C [%] 0 95 ( ) EMCA-...(S1) IP54 EMCA-...-S1 IP65;IP54 ( DIN EN 60068) 1) 3.5 mm (2 9 Hz); 1 g(9 200 Hz) (2 6 ) (2-27 ) ( 2-29 ) 1) - Tab. A.4 : 1) 2 1) 2 - Festo GDCE-EMCA-EC-SY-ZH 1605a 139
140 A [Hz] [m/s 2 ] [mm] SG1 SG2 SG1 SG2 SG1 SG ±3.5 ± ±0.15 ± [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ± [m/s 2 ] [ms] ± A.1.5 EMCA-EC-67-S-... EMCA-EC-67-M-... [W] [Nm] [1/min] [1/min] [kg cm²] [N] [N] Tab. A Festo GDCE-EMCA-EC-SY-ZH 1605a
141 A A.1.6 EMCA-EC TE... EMCA-EC TM... [Bit] 12( 4096 ) [ ] ( ) 7 6,, [h] 24 Tab. A.6 A.1.7 (EMCA-EC B) () 1) [Nm] 1 [W] 9 [kg cm²] EMCA-EC B 1) (:), Tab. A.7 A.1.8 () [X1] EMCA-EC M12,5,D [Mbit/s] 100 TCP/IP Tab. A.8 : [X1] Festo GDCE-EMCA-EC-SY-ZH 1605a 141
142 A A.1.9 [X2] [X3] CANopen (EMCA-...-CO) EMCA-EC CO [X2] (In) M12,5,A [X3] (Out) M12,5,A CANopen CiA 402 FHPP [m] 40, 1 Mbit/s 50,800 Kbit/s 100,500 Kbit/s 250,250 Kbit/s 500,125 Kbit/s 500,100 Kbit/s 1000,50 Kbit/s 2500,20 Kbit/s [Mbit/s] 1 [Ω] 120(DIP ) Tab. A.9 : [X2] [X3], EMCA-...-CO EtherNet/IP (EMCA-...-EP) EMCA-EC EP [X2] (In) M12,5-,D [X3] (Out) M12,5-,D FHPP [m] < 100 ; 100BaseTXIEEE [Mbit/s] 10/100( / ) Auto-MDI/MDI-X Tab. A.10 : [X2] [X3], EMCA-...-EP A.1.10 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab [V DC] 24 [%] ±20 [A] [A] (Protected Extra-Low Voltage) Tab. A.11 : [X4] 142 Festo GDCE-EMCA-EC-SY-ZH 1605a
143 A A.1.11 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-...,:CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.12 : [X5] A.1.12 STO[X6] STO[X6]STO,GDCE-EMCA-EC-S1-... A.1.13 [X7] [X8] [X7] [X8] EMCA-EC [m] l 3 Tab [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC Tab. A.13 [X7] [X8] Festo GDCE-EMCA-EC-SY-ZH 1605a 143
144 A A.1.14 I/O [X9] I/O [X9] EMCA-EC [m] l 30 Tab [V DC] 24 [X9] [ma] [V DC] 24 PNP() IEC [ma] 100 PNP() Tab. A.14 :I/O[X9] 144 Festo GDCE-EMCA-EC-SY-ZH 1605a
145 A A.1.15 [X10](EMCA-EC TM) [X10] EMCA-EC [m] 3 Tab [V DC] 9 Tab. A.15 [X10]] A EMCA-EC ()3 2 NBR Tab. A.16 : Festo GDCE-EMCA-EC-SY-ZH 1605a 145
146 B B / AZ (= Axis Zero point) DIN DOUT EMC FCT FHPP FPC I/O( ) MC() PLC/IPC PZ (= Project Zero point) REF (= REFerence point) (Jog Mode) (digital input) (digital output) (FCT = Festo Configuration Tool) Festo Handling and Positioning Profile (); Festo Festo Parameter Channel FHPP, (input/output) Motion Complete() / PC ,( ) Tab. B Festo GDCE-EMCA-EC-SY-ZH 1605a
147 EMCA-EC CO/-EP Festo GDCE-EMCA-EC-SY-ZH 1605a 147 C CAN CiA D DHCP E EMC EtherNet/IP F FCT 8, 19, Festo Configuration Tool (Festo ) 19, FHPP I I²t IP 97, L LED M Motion Complete P Product Key() 8... Q Quick-Stop 46, S Serial Number( ) 8... SPS STO (Safe torque off) W Web 19, 102, EMC , ,
148 EMCA-EC CO/-EP 148 Festo GDCE-EMCA-EC-SY-ZH 1605a , , , , , / 44,
149 EMCA-EC CO/-EP , Motion Complete , , , , Festo GDCE-EMCA-EC-SY-ZH 1605a 149
150 Copyright: Festo AG & Co. KG Postfach Esslingen Phone: Fax: Internet: Original: de
EMCA-EC-SY_BES_E_ b_ z1
EMCA-EC-67-...-CO/-EP EMCA-EC-...-CO CANopen EMCA-EC-...-EP EtherNet/IP 8069252 1702b [8069259] EMCA-EC-67-...-CO/-EP GDCE-EMCA-EC-SY-ZH Adobe Reader, CANopen, CiA, EtherNet/IP, Firefox, Internet Explorer,
EMCA-EC-CO_SY_BES_E_ _ z1
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CMMO-ST-C5-1-LKP IO-Link I-Port Modbus TCP 8071685 2017-05b [8071691] CMMO-ST-C5-1-LKP GDCP-CMMO-ST-LK-SY-ZH Adobe Reader, Firefox, Internet Explorer, IO-Link, Microsoft, MODBUS, Windows. : : : 1. :
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OVEM zh 8068021 1702e [8068028] OVEM-DE : : : 1. / 2 Festo OVEM 1702e 1... 5 1.1... 5 1.2... 6 2... 7 2.1... 7 2.2... 7 2.3... 8 3... 9 3.1... 9 3.2... 10 3.3... 11 3.4... 13 3.5... 14 3.6... 14 3.7...
CMMO-ST_BES_D_ z1_ b
CMMO ST-...-DION/DIOP I/O CMMO-ST-C5-1-DIOP CMMO-ST-C5-1-DION 8039014 1506b [8039020] CMMO ST-...-DION/DIOP GDCP-CMMO-ST-EA-SY-ZH Adobe Reader, Firefox, Internet Explorer, Microsoft, Windows : : : 1. :
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/ MS6-SV-...-D-10V24 zh 8043786 1702a [8068989] : : : 1. / 2 Festo MS6-SV-...-D-10V24 1702a 1... 5 2... 5 2.1... 5 2.2... 6 2.3... 6 2.4... 7 2.5 EN ISO 13849... 7 3... 8 3.1... 8 3.2 (Common Cause Failure
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CMMO-ST q/w : : : Festo 80% Festo q24 Festo 3 2200 w 5 4 6x0 2 -V- CMMO-ST CMMO-ST (STO) : I/O I-Port Modbus TCP H : FCT (Festo ) Festo I-Port I/O (IEC 63-9) FHPP I-Port Festo FHPP Modbus TCP Modbus TCP
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CMMP-AS q/w : : : Festo 80% Festo q24 Festo 13 2200 w 5 4 6x10 12 CMMP-AS USB, Ethernet CANopen CE EN ( 6) (EnDat/HIPERFACE) S 255 I/O 16 I/O CAMC-D-8E8A 18 I/O (STO) 1 (SS1) (SBC) (SOS) 2 (SS2) (SLS)
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CMMP-AS CMMP-AS USB CANopen EMC CE EN ( 6) (EnDat/HIPERFACE) S 255 / I/O 16 / I/O / I/O CAMC-D-8E8A 20 (STO) 1 (SS1) (SBC) (SOS) 2(SS2) (SLS) (SSR) (SSM) CMMP-AS CANopen EtherCAT PROFIbus,PROFINET, DeviceNet,CANopen,EtherCAT,
裁剪 上 下 左 右 61.5 61.5 43.5 43.5 mm mm mm mm 马达控制器 CMMS/CMMD 的 DeviceNet 连接 说明 DeviceNet CMMS-ST CMMS-AS CMMD-AS 说明 zh 1103a [757 728] 版 本 zh 1103a 名 称 P.BE-CMMS-FHPP-DN-SW-ZH 订 货 号 757 728 (Festo AG &
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\ \ \ DOP11B 06/2011 16929837 / ZH SEW-EURODRIVE Driving the world 1 5 1.1 5 1.2 5 1.3 6 1.4 6 1.5 6 1.6 6 1.7 6 2 7 2.1 7 2.2 7 2.3 8 2.4 8 2.5 8 2.6 9 2.7 / 11 2.8 11 2.9 11 2.10 11 2.11 12 3 (DOP11B-10
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Compact performance CPV CPV CPV...-VI zh 1609j [8064945] ... de... zh 1609j... P.BE-CPV-ZH (Festo AG & Co. KG, Postfach, 73726 Esslingen, 2016) : http://www.festo.com :service_international@festo.com,
00 sirius 3R SIRIUS 3R 3RV1 0A 1 3RT1 3RH1 3 3RU11/3RB SIRIUS SIRIUS TC= / 3RV1 A 1 IEC6097- IP0 ( IP00) 1/3 IEC6097- (VDE0660) DIN VDE 06 0 AC690V, I cu 00V 1) P A n I n I cu A kw A A ka S00 0.16 0.0
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Sartorius LMA200PM LMA200PM 8%100% 40120 GLP LMA200PM 2 3 3 4 6 9 16 18 24 26 28 28 29 30 30 32 LMA200PM LMA200PM LMA200PM 22kg LMA200PM LMA200PM LMA200PM LMA200PM 20 1 pin sartorius sartorius LMA200PM
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User ID 150 Password - User ID 150 Password Mon- Cam-- Invalid Terminal Mode No User Terminal Mode No User Mon- Cam-- 2
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CPX CPX-FB14 CANopen 8041142 zh 1411d ... de... zh 1411d... P.BE-CPX-FB14-ZH... 8041142 (Festo AG & Co. KG,:73726 Esslingen,,2013) : http://www.festo.com : service_international@festo.com,, Festo P.BE-CPX-FB14-ZH
目 录 1. 关 于 本 文 档... 4 1.1. 适 用 范 围... 4 1.2. 目 标 群 体... 4 1.3. 图 例 说 明... 4 1.4. 补 充 文 档... 4 2. 正 确 使 用... 5 3. 安 全 功 能 说 明... 6 4. 免 责 和 质 保... 6 5.
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0000137925 REV 1.0 ... 4... 5... 6... 7... 8... 9... 11... 12... 13... 14... 15... 17... 18... 20... 22 ( 1)... 25... 26 ( 2)... 28 \ 1 ( 2A)... 29 \ 2 ( 2B)... 30 SSR ( 2C)... 31 \ ( 2D)... 32 \ ( 3A)...
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0.37kW 250kW D11.7 2009 SINAMICS G120 0.37kW 250kW SINAMICS G120 Answers for industry. SINAMICS G120 0.37kW 250kW SINAMICS G110 D 11.1 0.12 kw 3 kw CA01 MC CA01 MC CD : E20001-K20-C-V2-5D00 141-P90534-09020
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9 VPN VPN Novell BorderManager Windows NT PPTP V P N L A V P N V N P I n t e r n e t V P N 9.1 V P N Windows 98 Windows PPTP VPN Novell BorderManager T M I P s e c Wi n d o w s I n t e r n e t I S P I
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PROKIN 3.0 软 件 操 作 手 册 TecnoBody S.r.l. Published: Luglio 2006 Code-Version: 1 目 录 第 一 节... 7 介 绍... 7 手 册 中 使 用 的 安 全 标 志 和 符 号... 8 概 述... 10 安 全 规 则... 11 PROKIN 系 统 安 装... 11 系 统 组 成... 13 系 统 安 装
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DGC q/w : : : Festo 80% Festo q24 Festo 13 2200 w 5 4 6x10 12 DGC : : :NSF-H1 www.festo.com/sp Certificates. : DGC- -GP ( ) DGC- DGC-K DGC-G 18 80 mm 1 8500 mm DGC-G 30% 8 63mm 1 8500mm =0.2mm = DGC-GF
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1 Main H/W Monitor Boot Security Exit System Overview System Time System Date [ 17:00:09] [Wed 12/22/2004] BIOS Version : P4V88+ BIOS P1.00 Processor Type : Intel (R) Pentium (R) 4 CPU 2.40 GHz Processor
TH2512/TH2512A Tonghui Electronics reserves the right to make changes at any time without notice in order to improve design and supply the best possib
TH2512/TH2512A 2 3 SPECFICATIONS 5 6 6 8 Handler 9 10 11 12 14 17 17-1 - TH2512/TH2512A Tonghui Electronics reserves the right to make changes at any time without notice in order to improve design and
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Chroma 61500/ bit / RMS RMS VA ()61500 DSP THD /61508/61507/61609/61608/ (61500 ) Chroma STEP PULSE : LISTLIST 100 AC DC
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1 C H R I S T A L P H A 1-4 LSC 型 Part. No. 102041 A L P H A 2-4 LSC 型 Part. No. 10204 冷 冻 干 燥 机 操 作 说 明 新 研 制 的 LSC-8 控 制 器, 具 备 图 形 显 示 功 能, 能 以 数 据 表 形 式 显 示 参 数, 并 可 选 配 控 制 软 件 LSC-8 1/4 VGA 大 屏 幕
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EDM12864-GR 1 24 1. ----------------------------------------------------3 2. ----------------------------------------------------3 3. ----------------------------------------------------3 4. -------------------------------------------------------6
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MSE6-E2M 8041744 1411a [8041750] MSE6-E2M GDCB-MSE6-E2M-PB-ZH PROFIBUS : : : 1. 2 Festo GDCB-MSE6-E2M-PB-ZH 1411a MSE6-E2M MSE6-E2M 1... 8 1.1... 8 1.1.1... 8 1.1.2... 8 1.1.3... 9 1.2... 9 1.2.1... 9
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产 品 目 录 :192-5511 N13/UK 版 本 :24 年 9 月 13 日 192-5511N13 ET系列电动缸 派克汉尼汾 由遍布世界各地的公司组成的强大集团 自动化工业需要有竞争力的合作伙 机电自动化欧洲 (EME) 伴 对于高质量的电气和机械组件的 派克自动化集团的机电自动化欧洲 EME开发和制造的机械和电气组件之间 供应商来说尤其如此 派克汉尼汾公 EME 部由分别位于Offenburg
描 述 安 装 以 及 结 构 具 有 抵 抗 能 力 的 编 码 器 外 壳 的 法 兰 尺 寸 为 58 mm, 标 配 产 品 是 由 阳 极 氧 化 铝 制 成 标 配 的 绝 对 值 编 码 器 GEL 2035 带 有 夹 紧 法 兰 重 型 夹 紧 法 兰 或 带 有 齿 轮 适 配
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SLT/SLS/SLF SLT/SLS/SLF SLT : : SLS : SLF : Internet: www.festo.com/catalogue/... Subject to change 07.05 SLT/SLS/SLF 5 4 3 3 4 4 /Internet drive gripper 3 40 gripper 4 basic component 5 installation component
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员工签到录
Archivist 2002 Eletech Enterprise Co., Ltd. All Rights Reserved. 1-1 ELETECH VOICE SYSTEMS INC 2 / 2 VLR, 1-1-1 VP894AS-M11 1. VP894AS-M11 1 2. Y 4 3. RJII 4 4. 2-PIN 1 5. VLR 1 2 3 4 ELETECH VOICE SYSTEMS
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Network Guide Guide Réseau Netzwerkbetrieb Guía de red Guida alla rete Netwerkhandleiding Guia de Rede Nätverksguide Руководство по работе в сети Regulatory models: W60, W61 010-0756-00 DISPERINDAG No.
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83 84 EKI-1526 EKI-1528 EKI-1524 EKI-1522 EKI-1521 2 2 2 2 2 16 8 4 2 1 10/100 Mbps 10/100 Mbps 10/100 Mbps 10/100 Mbps 10/100 Mbps RS-232/422/485 RS-232/422/485 RS-232/422/485 RS-232/422/485 RS-232/422/485
1.pdf
2003 3 simodrive 611 UNIVERSAL SIMODRIVE 611 3 SIMODRIVE SIMODRIVE 611 I/RF SIMODRIVE 611 SIMODRIVE SIMODRIVE 611 120 kw SIMODRIVE 611 universal 1FK7 1FT6 1PH7 1FN3 2 SIMODRIVE 611 SIMODRIVE 611 SIMODRIVE
MESSAGE LG LG 900 Cleveland Motion HORNER APG % LG ( 900 Cleveland Motion Controls HORNER APG % 2
http://www.lgis.com.cn 2003.09.15 LG Tel: 010-64623254 Fax: 010-64623236 Tel: 021-62784371 Fax: 021-62784301 Tel: 020-87553412 Fax: 020-87553408 Homepage: Http://www.lgis.com.cn LG MASTER-K120s 2003 04
行业
PCI-1710 1.1...2 1.1.1...2 1.1.2...2 1.1.3 FIFO( )...2 1.1.4...2 1.1.5...2 1.1.6 16 16...3 1.1.7...3 1.2...3 1.3...3 2.1...3 2.2...4 2.2.1...4 2.2.2...5 2.3...9 2.3.1...10 2.3.2... 11 2.3.3...12 2.3.4...12
版权声明
SG3124 http://www.utt.com.cn 2000-2008 URL Internet Web EULA EULA UTT HiPER PN 0901-0003-001 DN PR-PMMU-1180.03-PPR-CN-1.0A ...1 1...2 1.1...2 1.2...2 1.3...3 1.4...3 2 1.4.1...3 1.4.2...4...5 2.1...5
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TD3200 V1.3 2005-02-25 BOM 31050155 518057 www.emersonnetworkpower.com.cn 800-820-6510 800021-230171410755-86010800 E-mailinfo@emersonnetwork.com.cn ... 1 1.1...1 1.2...2 1.3...4... 5 2.1...5 2.2...5
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