EMCA-EC-CO_SY_BES_E_ _ z1

EMCA-EC-67-...-CO, CANopen 8039971 1603 [8039922]

EMCA-EC-67-...-CO GDCE-EMCA-EC-SY-ZH Adobe Reader, CANopen, CiA, Firefox, Internet Explorer, JST Tyco Electronics : : : 1. / 2 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO EMCA-EC-67-...-CO... 7... 7... 7... 8... 8... 8... 10 1... 11 1.1... 11 1.1.1... 11 1.1.2... 12 1.2... 13 1.2.1... 13 1.2.2... 13 1.2.3 ()... 13 1.2.4... 14 2... 15 2.1... 15 2.1.1... 16 2.1.2... 17 2.1.3... 18 2.2... 19 2.2.1 FCT (Festo Configuration Tool)... 19 2.2.2... 19 2.3... 20 2.4... 22 2.4.1... 23 2.4.2... 26 2.4.3 ( FHPP FCT)... 34 2.4.4 ( FHPP FCT)... 35 2.4.5... 36 2.4.6... 39 2.4.7 /... 43 2.4.8 (),Quick-Stop... 45 2.4.9 ( EMCA-EC-...-...-B)... 46 2.5 ()... 48 2.6... 49 2.6.1... 49 2.6.2... 52 Festo GDCE-EMCA-EC-SY-ZH 1603 3

EMCA-EC-67-...-CO 2.7... 54 2.7.1... 54 2.7.2... 58 2.7.3... 61 2.7.4... 62 2.7.5... 63 2.8... 64 2.8.1 [X1] ( )... 64 2.8.2 [X2] [X3] ()... 65 2.8.3 STO [X6]... 65 2.8.4 /... 66 3... 71 3.1... 71 3.2... 72 4... 74 4.1... 74 4.2 EMC... 75 4.3 [X1]... 76 4.4 [X2] [X3]... 78 4.4.1 EMCA-...-CO (CANopen)... 78 4.5 [X4]... [X10]... 80 4.5.1 [X4]... 83 4.5.2 [X5]... 85 4.5.3 STO [X6]... 86 4.5.4 [X7] [X8]... 87 4.5.5 I/O [X9]... 88 4.5.6 [X10]... 89 4.6 IP... 90 5... 91 5.1... 91 5.2 FCT (Festo Configuration Tool)... 91 5.2.1 FCT... 91 5.2.2 FCT... 92 5.2.3 FCT... 92 5.3... 94 5.3.1... 95 5.3.2... 96 5.4... 98 5.5... 100 4 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO 5.6... 102 5.6.1... 102 5.6.2 STO... 103 5.6.3... 103 5.6.4 ( I/O)... 103 5.6.5 /... 104 5.6.6... 105 5.6.7 ()... 105 5.6.8 ()... 105 5.6.9,... 105 5.6.10... 106 5.7... 107 5.8... 108 5.8.1 :... 108 6... 109 6.1... 109 6.2 LED... 111 6.2.1... 111 6.2.2... 111 6.2.3... 112 6.2.4... 112 6.2.5 LED... 112 6.3... 113 6.3.1... 113 6.3.2,... 114 6.4... 129 6.5... 130 7... 131 7.1... 131 7.2... 132 7.3... 133 7.4... 133 7.4.1... 133 A... 134 A.1... 134 A.1.1... 134 A.1.2... 134 A.1.3... 135 A.1.4... 135 Festo GDCE-EMCA-EC-SY-ZH 1603 5

EMCA-EC-67-...-CO A.1.5... 136 A.1.6... 137 A.1.7 ( EMCA-EC-...-...-B)... 137 A.1.8 [X1]... 137 A.1.9 [X2] [X3]... 138 A.1.10 [X4]... 138 A.1.11 [X5]... 138 A.1.12 STO [X6]... 139 A.1.13 [X7] [X8]... 139 A.1.14 I/O [X9]... 140 A.1.15 [X10]( EMCA-EC-67-...-1TM)... 141 A.1.16... 141 B... 142... 143 6 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO (GDCE-EMCA-EC-SY-...) EMCA () : EMCA-, A EC- EC 67-67 mm ( ) M- S- 1 24 V DC T E M - B- / CO CANopen IP - (IP54) S1 IP65 Tab. 1 ( :EMCA-EC-67-M-1TEB-CO) Festo GDCE-EMCA-EC-SY-ZH 1603 7

EMCA-EC-67-...-CO EMCA-EC-67-S-1TE-CO 8034238 FN98 123456789... 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 8034238 Serial Number( ) FN98 Product Key() 123456789... n G [rpm] 3100 M N [Nm] 0.37 U N [V DC] 24 I N [A] 5.7 IP54 Tab. 2 EMCA-EC-67-S-1TE-CO www.festo.com/pk FCT www.festo.com/sp : 1.0.0 EMCA Tab. 1 1.0 1.0 FCT-PlugIn EMCA Festo, ( www.festo.com/sp) FCT-PlugIn ( www.festo.com/sp), Festo 2 ( Tab. 2), () 8 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO 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 ) 1 2 3 4 5 6 7 8 9 O N D Tab. 4 Festo GDCE-EMCA-EC-SY-ZH 1603 9

EMCA-EC-67-...-CO www.festo.com/pk : 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 ( www.festo.com/sp) Festo CoDeSys, () www.festo.com/catalogue 10 Festo GDCE-EMCA-EC-SY-ZH 1603

1 1 1.1 1.1.1,,,!,, 4,,,,, Festo GDCE-EMCA-EC-SY-ZH 1603 11

1,,, 1.1.2 () (EMCA-EC-...-...B) / : ; ( A.1),:,, (Safe torque off/sto) STO(Safe torque off) GDCE-EMCA-EC-S1-... STO STO,GDCE-EMCA-EC-S1-... 12 Festo GDCE-EMCA-EC-SY-ZH 1603

1 1.2 : (: ) : STO : GDCE-EMCA-EC-S1-... 1.2.1,:, 1.2.2 : ( A.1), 1.2.3 () : : Festo GDCE-EMCA-EC-SY-ZH 1603 13

1 1.2.4 ( A.1) www.festo.com/sp 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/EC DIN EN 60068-2-6:2008-10 2014/30/EU DIN EN 60068 2 27:2010 02 Tab. 1.1 14 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2 2.1 : (EC ), () 6 1 2 5 4 3 1 2 3 EC Fig. 2.1 ( EMCA-EC-67-...-CO) 4 5 6 ( ) (X1) (X2 X3) ( Fig. 2.3) ( ) (:FHPP CiA 402), ( Tab. 2.3) Festo GDCE-EMCA-EC-SY-ZH 1603 15

2 2.1.1 EC,: () () 24 V DC 1) (), :: () EMCA-...-CO:CAN (; CANopen; FHPP CiA 402) STO (Safe torque off) 24 V DC, FCT LED FCT / Web : I/O, (Internet Explorer Firefox) 1) ( www.festo.com/catalogue) Tab. 2.1 EMCA 16 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.1.2 1 EMCA-... 1 EMCA-EC-67-...-CO UL : EMCA-EC_UL-... 1 1 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-D12G4-... www.festo.com/catalogue Festo GDCE-EMCA-EC-SY-ZH 1603 17

2 2.1.3 9 1 8 2 3 4 5 7 6 1 2 3 4 EMCA 5 / Fig. 2.2 () 6 ( ESBF) 7 / () 8 Festo (FCT) PC 9 / 18 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.2 2.2.1 FCT (Festo Configuration Tool) Festo (FCT) Windows, Festo FCT EMCA FCT :, PlugIn (:EMCA), PlugIn EMCA ( EMCA) PC,: FCT : ()/: () (Firmware Download) ( : ) Festo - - FCT 5 FCT 2.2.2 : ( : ) I/O FHPP I/O (Upload) : PC (Download) : LED,, DHCP (DHCP Dynamic Host Configuration Protocol), IP :192.168.178.1 Festo GDCE-EMCA-EC-SY-ZH 1603 19

2 2.3 EMCA-EC-67-...-CO(CANopen ) aj 1 2 3 4 5 9 6 8 7 1 [X1]:(M12 ) 2 LED (6x) 3 3 [X3]: CAN OUT ( M12 ) 4 ( ) Fig. 2.3 EMCA-EC-67-...-CO 5 (4x) 6 ( Fig. 2.4) 7 (4x) M4 8 9 aj [X2]: CAN IN ( M12 ) 20 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : 3 4 5 6 7 2 1 9 8 1 [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. 2.4 Festo GDCE-EMCA-EC-SY-ZH 1603 21

2 2.4 EMCA ( :FHPP CiA 402) ( 2.4.2) ( 2.4.3) ( 2.4.4) ( 2.4.5) ( 2.4.6) / ( 2.4.7), FHPP CiA 402 FHPP (: ) FHPP EMCA ( : )( ), ; FHPP CiA 402 FHPP CiA 402 FHPP CiA 402 Tab. 2.3 PlugIn EMCA FCT 22 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.4.1 ( ): (+) (-) 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 : (:) Festo GDCE-EMCA-EC-SY-ZH 1603 23

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 : 24 Festo GDCE-EMCA-EC-SY-ZH 1603

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 Festo GDCE-EMCA-EC-SY-ZH 1603 25

2 2.4.2, ( 2.4.1), (:) ( Tab. 2.15) (EMCA-EC-...-1TE) (EMCA-EC-...-1TM),,,, 7 ( 24 ) Festo EADA-A-9, 6, :, Tab. 2.7 : ( ) FCT( FCT ) Motion Complete, Motion Complete, Motion Complete, ( 2.7.1), ( ), :FCT ( FCT Homing ) 26 Festo GDCE-EMCA-EC-SY-ZH 1603

2 1 2 3 1 REF 3 Fig. 2.5 2 REF CiA 402 1) DD h -35 EE h -18 EF h -17 12 h 18 11 h 17 02 h 02 01 h 01 17 h 23 1B h 27 07 h 7 0B h 11 1) CANopen CiA 402 V 3.0 Tab. 2.8 ( / ),,,,,,, Festo GDCE-EMCA-EC-SY-ZH 1603 27

2 () 1. 2. : ( Tab. 2.16) ( DD h ;-35) Tab. 2.9,, ( ),,,, ( ), /(: 3 mm) ()() (), (: ), : 28 Festo GDCE-EMCA-EC-SY-ZH 1603

2 1. : 1) ( ): :EMCA, 2. : 3. 2) :( EE h ;-18) :( EF h ;-17) 1) 2), ( Tab. 2.16) Tab. 2.10 1. :, ( 2.), ( 2.) : : :,, 0x22(FCT ) 2. :, 3. : ( Tab. 2.16) :( 12 h ;18) :( 11 h ;-17) Tab. 2.11 Festo GDCE-EMCA-EC-SY-ZH 1603 29

2 1. :, ( 2.),( 2.) : : :,, 0x22(FCT ) 2. :,, 3. : ( Tab. 2.16) :( 02 h ;02) :( 01 h ;01) Tab. 2.12 30 Festo GDCE-EMCA-EC-SY-ZH 1603

2 1. :, ( 2.),( 2.) : : :,, :, 0x22(FCT ) 2. :, 3. : ( Tab. 2.16) :( 17 h ;23) :( 1B h ;27) Tab. 2.13 Festo GDCE-EMCA-EC-SY-ZH 1603 31

2 1. :, ( 2.),( 2.) : : :,, :, 0x22(FCT ) 2. :,, 3. : ( Tab. 2.16) :( 07 h ;7) :( 0B h ;11) Tab. 2.14 32 Festo GDCE-EMCA-EC-SY-ZH 1603

2,: (Target) ( Tab. 2.8) (Direction) (Search Velocity) (Crawling Velocity) (Drive Velocity) (Acceleration) (Axis Zero Point) ( ) (Force Limit/Torque Limit) (Message Delay) Tab. 2.15 ( ), ( ) ( ),,,,, 1), 1), Tab. 2.16 Festo GDCE-EMCA-EC-SY-ZH 1603 33

2 2.4.3 ( FHPP FCT),,, : (:) ( :) () : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay), Tab. 2.17 ( Fig. 2.6): ( + -),,,,, 34 Festo GDCE-EMCA-EC-SY-ZH 1603

2 t1 (+ -) t v a Motion Complete () t t t t1: Fig. 2.6 2.4.4 ( FHPP FCT), : ; PA ( ) PLC EMCA, FCT, FCT : 1. ( : 2.4.3) 2., Festo GDCE-EMCA-EC-SY-ZH 1603 35

2 FCT FCT PlugIn FHPP FHPP, GDCE-EMCA-EC-C-HP-... FCT PlugIn 2.4.5,,:,(:) : (Position) ( ( Tab. 2.19) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) (Jerk for 1)2) deceleration) 1), FCT 2) [m/s³] Tab. 2.18,,, ( 2.7.1,) Tab. 2.19,,,() 36 Festo GDCE-EMCA-EC-SY-ZH 1603

2 a Start t v t s t Motion Complete () Fig. 2.7 : 0 mm/s t ( 2.6,, ), 0 0, Festo GDCE-EMCA-EC-SY-ZH 1603 37

2 Motion Complete () = 0, 0 Tab. 2.20,, ( 2.7.1), (Start Condition) (Extra Load) (Torque Feed Forward) /(Force Limit/ Torque Limit) (Max. Following Error) (Position Comparator) (Velocity Comparator) (Time Comparator) / (Force Comparator/ Torque Comparator) (Condition) (Start Delay), ( Tab. 2.33),( ) ( ) ( ), ( Fig. 2.16) ( 2.7.2) ( 2.7.2),( 2.7.2) ( 2.7.2) ( 2.6.2), ( 2.6.2) 38 Festo GDCE-EMCA-EC-SY-ZH 1603

2 MC (MC visible) (Final Velocity) (Following Set) Motion Complete ; ( 2.6.2), ; ( 2.6.2) Tab. 2.21 : 2.4.6 ( )( ) : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) (Jerk for 1) Deceleration) (Force Limit) 1), FCT Tab. 2.22,, ( 2.4.5),, ( 2.7.1,) ( 2.6,, ), 0 0 Festo GDCE-EMCA-EC-SY-ZH 1603 39

2 Motion Complete (),, Tab. 2.23,, : (Stroke Limit) Tab. 2.24,, : Quick-Stop, Motion Complete ( Fig. 2.8 Fig. 2.10), 40 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : - s v t t Motion Complete () () Fig. 2.8 - t t Festo GDCE-EMCA-EC-SY-ZH 1603 41

2 : - s v t t Motion Complete () () Fig. 2.9 - t t 42 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : - s v t t Motion Complete () () Fig. 2.10 - t t Tab. 2.21 2.4.7 / / (), / : Festo GDCE-EMCA-EC-SY-ZH 1603 43

2 (Force) ( %,) (Velocity) (Acceleration) (Deceleration) 1) 1), FCT Tab. 2.25 /,,0 0 Motion Complete (),/ Tab. 2.26 / / / : /, /, (Stroke Limit) Tab. 2.27,,, : Quick-Stop,, Motion Complete 44 Festo GDCE-EMCA-EC-SY-ZH 1603

2 Tab. 2.21 2.4.8 (),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 Festo GDCE-EMCA-EC-SY-ZH 1603 45

2 2.4.9 ( EMCA-EC-...-...-B) EMCA-EC-...-B besit EC /, ( : 1 x ),,,,, EMCA-EC-...-B,,, : FCT( ) Brake ( ) ( FCT Motor Brake control ) 46 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : 1. ( = ) 2.,, 3. : 1., Quick Stop 0, 2., 3. Tab. 2.29, Festo GDCE-EMCA-EC-SY-ZH 1603 47

2 2.5 () FCT, (X1), (X2 X3) FHPP CiA 402 FHPP(Festo, ), Festo (8 ) FHPP : : 64 () I/O :( ) I/O FPC (: ) : 8 I/O (Festo FPC) 3 I/O (FHPP+) SDO (Service Data Objects) (), CAN in Automation (CiA Draft Standard 402 www.can-cia.de) SDOs / PDOs (Process Data Objects) Tab. 2.30...... FCT : ( ) ( )... FHPP ( 0 = )... CiA 402 Tab. 2.31 PlugIn EMCA FCT 48 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.6 CiA 402 64 ( 1 64) 0, PLC,, : ( : FCT) Die,, ( Tab. 2.33) () MC Tab. 2.32, ( Tab. 2.34) 2.6.1 :,, ( Tab. 2.33) (Ignore) (Delay) (Interrupt) MC () ( Motion Complete ) Tab. 2.33 Festo GDCE-EMCA-EC-SY-ZH 1603 49

2 : ( B) ( A) A t O B t Motion Complete () Fig. 2.11 t : ( B C) ( A) ( C), C A t O B C t Motion Complete () Fig. 2.12 t 50 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : ( A)( B) B A t Motion Complete () Fig. 2.13 O B t t Festo GDCE-EMCA-EC-SY-ZH 1603 51

2 2.6.2, ( ),, : : (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) 1) Tab. 2.34 (),, Motion Complete, 0, Motion Complete,,: : (Condition)..., Motion Complete() Tab. 2.35 (Condition)... Motion Complete........./... 52 Festo GDCE-EMCA-EC-SY-ZH 1603

2 : 0 () A, B A, Motion Complete, v B A s t B A t Motion Complete (MC ) t t Fig. 2.14 0 Festo GDCE-EMCA-EC-SY-ZH 1603 53

2 2.7,EMCA,: 2.7.1, [X9.2] ( Tab. 2.50) Motion Complete () (Following error) (Standstill monitoring) (Comparator) () : ( Fig. 2.16) ( Fig. 2.17), : 0, : ( 2.7.2) Tab. 2.36 54 Festo GDCE-EMCA-EC-SY-ZH 1603

2 Motion Complete () Motion Complete () ( ), Motion Complete () 2 v t1 1 Motion Complete () t1: Motion Complete 1 2 Fig. 2.15 Motion Complete() t t Festo GDCE-EMCA-EC-SY-ZH 1603 55

2,, ( Fig. 2.16, 1 ), ( ) ( ),, s t1 2 1 3 t Start t 2F h () t t1: 1 3 2 Fig. 2.16 : FCT, (2F h ) ( FCT ) 56 Festo GDCE-EMCA-EC-SY-ZH 1603

2 ( Fig. 2.17) Motion Complete :, : EMCA ( = 1: ; = 0:) s t1 t2 t2 1 2 t Motion Complete () () t t t t1: Motion Complete t2: 1 2 Fig. 2.17 0, FCT, (37F h ) ( FCT ) Festo GDCE-EMCA-EC-SY-ZH 1603 57

2 2.7.2 CiA 402, :,,, ( :), ( 2.6, ),( ) ( Tab. 2.48),,,, 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator), 1), Tab. 2.37 () 58 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2, : ( š ) (),, / ( ) 1) ( ) 1), 1) (), : : 50 40 mm 50 mm, 40 mm Tab. 2.38, 2, : ( š ) (),, / ( ) 1) ( ) 1), 1), Tab. 2.39 Festo GDCE-EMCA-EC-SY-ZH 1603 59

2 2, : ( š ) (),, / ( ) 1) ( ) 1), 1), Tab. 2.40, : ( š ), ( ) 1) ( ) 1) 1), Tab. 2.41 60 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.7.3 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. 2.43), Tab. 2.42 Festo GDCE-EMCA-EC-SY-ZH 1603 61

2 2.7.4 FCT,( FCT Error Management ), (Error) (Warning) (Information) ( :Quick-Stop ), LED ( 6.2) FCT ( FCT ),, LED ( 6.2), ( ) LED, Tab. 2.43 (Free-wheeling) Quick-Stop (QS deceleration) (Record deceleration) (Finish record) 1) ( FCT ) Tab. 2.44 Quick-Stop (- ) 1) : (Output stage on) (off) 1) : (Output Stage on) (off) ( ) 1) : (Output Stage on) (off) (Save Diagnosis) FCT 62 Festo GDCE-EMCA-EC-SY-ZH 1603

2 2.7.5 EMCA, FCT ( 2.7.4), 200, (FIFO ) : ( ) FCT( FCT ) ( 5.5 6.1) Festo GDCE-EMCA-EC-SY-ZH 1603 63

2 2.8 ( 2.8.1) : EMCA-EC...-CO: CANopen 4 2.8.1 [X1] ( ) [X1] : FCT ( 5.2 FCT ) ( 5.5 6.1), FCT ( 5.7) : PC Tab. 2.45 3 IP ( IPv4): DHCP () IP (DHCP ) IP IP DHCP PC, PC IP DHCP IP : IP :192.168.178.1 :255.255.255.0 : () DHCP- IP DHCP IP- IP- PC IP-, Tab. 2.46 IP 64 Festo GDCE-EMCA-EC-SY-ZH 1603

2 FCT (),, IP, FCT IP IP PC IP, IP ( LED ),, 2.8.2 [X2] [X3] () Control enable [X9.4], [X2] [X3] ( 4.4) : FHPP,GDCE-EMCA-EC-HP-... CiA 402,GDCE-EMCA-EC-CO-... CAN ( EMCA-...-CO) CAN DIP ( Fig. 2.4, 3 ) Tab. 4.8 2.8.3 STO [X6] STO [X6] 2 ( (Safe torque off/ STO)) STO (Safe torque off) GDCE-EMCA-EC-S1-... STO STO,GDCE-EMCA-EC-S1-... Festo GDCE-EMCA-EC-SY-ZH 1603 65

2 2.8.4 / (6) [X6.4] [X6.5] STO 1 (Safe torque off channel 1) 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. 2.18) : ; ( Fig. 2.18) [X9.5] Sample () ( Tab. 2.49) 1) FCT ( ) () Tab. 2.47 [X6] [X7] [X8] [X9] (2) [X9.1] Ready :(/ );, : Control enable, 1) : / [X9.2] configurable FCT, Tab. 2.50 1), PlugIn EMCA Tab. 2.48 [X9] 66 Festo GDCE-EMCA-EC-SY-ZH 1603

2, Control enable [X9.4],() FCT,, PlugIn EMCA,, ( = ), (Quick Stop) v = 0, Ready,, Festo GDCE-EMCA-EC-SY-ZH 1603 67

2 Control enable EMCA, Ready, Control enable [X9.4],( ) ( EMCA PlugIn ) 1 2 3 4 5 6 Control enable (DIN) Quick-Stop V = 0, Ready (DOUT) t1 t2 : t1: t2: 1 2 3 Fig. 2.18 - : 4 (Quick-Stop) 5 6 68 Festo GDCE-EMCA-EC-SY-ZH 1603

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. 2.49 Sample (),, 8.4 μs, Festo GDCE-EMCA-EC-SY-ZH 1603 69

2 [X9.2] : (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete ( ) Motion Complete ( ),,,, 1) 2.7.2,,,,, 1) ( ),, 2) I²t I²t 2) 2.7.3 Tab. 2.50 70 Festo GDCE-EMCA-EC-SY-ZH 1603

3 3 3.1 L1 L2 L3 L4 L5 L6 EMCA-...-S-... [mm] 169.9 +0.8/-1.1 25 ±0.5 117.2-0.3 52.7 ±0.8 4.7 ±0.3 3-0.1 EMCA-...-M-... 187.4 +0.8/-1.1 70.2 ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 [mm] 121.1 ±0.5 67 67 @ 9-0.009 @ 40-0.039 @ 81 ±0.2 @ 50 ±0.2 @ 6.3 ±0.2 Tab. 3.1 Festo GDCE-EMCA-EC-SY-ZH 1603 71

3 3.2 :,:, www.festo.com/catalogue,( ), : 4 M6 4 M4 ( [mm]:5) EMCA-EC-67-... 2 1 1 6.3 mm (4 x) 2 M4 x 5 (4 x) Fig. 3.1 1. 2. 3. 72 Festo GDCE-EMCA-EC-SY-ZH 1603

3 ( A.1.5) (: ), 1. 2. EMCA ( ) 3. (4x) Festo GDCE-EMCA-EC-SY-ZH 1603 73

4 4 4.1, EN 60204-1 (Protective Extra-Low Voltage) EN 60204-1 (PELV) EN 60204-1 :,,, (EMV) ( Tab. 4.1), 74 Festo GDCE-EMCA-EC-SY-ZH 1603

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) [X3] EMCA-...-CO: CAN OUT 40, 1 Mbit/s 2) [X4] 30, ( Tab. 4.11) [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 1603 75

4 4.3 [X1] ( ), PC :,: Intrusion Prevention System ( IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001 [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] ( ) 76 Festo GDCE-EMCA-EC-SY-ZH 1603

4 ( ) : Festo NEBC-D12G4-... EMCA / PC, (Shielded Twisted Pair/STP) Cat 5 [mm] 6 [mm 2 ] 0.14... 0.75 (22 AWG) 1) [m] 100 1) :22 AWG Tab. 4.4 [X1] Festo GDCE-EMCA-EC-SY-ZH 1603 77

4 4.4 [X2] [X3] 4.4.1 EMCA-...-CO (CANopen) EMCA-...-CO CAN, [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) 2 1 1 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) 78 Festo GDCE-EMCA-EC-SY-ZH 1603

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 DIP S1.1 ( Fig. 2.4, 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-... Festo GDCE-EMCA-EC-SY-ZH 1603 79

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 3-794636-6 2-1445053-3 3-794636-6 B2B-ZR- SM4-TF VHR-2N-BK () VHR-2N () SVH-41T-P1.1 AWG24... AWG20: 794606-1( ) 794610-1( ) AWG30... AWG26: 794607-1( ) 794611-1( ) [mm] [mm²] WC-930 YC-930R 794617-6 1445022-3 794617-6 ZHR-2 91501-1 (AWG24... AWG20) 91502-1 (AWG30... AWG26) SZH-002T-P 0,5 YRS-491, WC-491 WC-ZH2632 /! 1.7... 3 0.89... 1.53 0.8... 1.1 0.5... 1.25 (AWG20... AWG16) 0.2... 0.5(AWG24... AWG20) 0.05... 0.12(AWG30... AWG26) : 2.9 3.0 mm 6.5 7.1 mm 9.1 9.6 mm 4) 1) 2) /! 3) 4) : ( Tab. 4.1) Tab. 4.9 0.08... 0.13 (AWG28... AWG26) 80 Festo GDCE-EMCA-EC-SY-ZH 1603

4, /( Tab. 4.9), 1., ( /) 2.,( 4.5.1 4.5.5) 2 2, ( Fig. 4.1, 1 ) 2 1 3 1 1 ( 1 ) Fig. 4.1 2 3 ( 1 ) : 5 2, 2.9... 3.1 mm 2, 6.5... 7.1 mm 2, 9.1... 9.6 mm ( www.festo.com/catalogue) Festo GDCE-EMCA-EC-SY-ZH 1603 81

4 : 1. 2. EMCA,, : 1.,( (SW) 2.5 mm), 2. 3. ( Fig. 4.1, 3 ) 4. - 5. ( 4.5.1 4.5.5) 6., :,, 7. 8. 9. 4 1.5 Nm 82 Festo GDCE-EMCA-EC-SY-ZH 1603

4 4.5.1 [X4], EN 60204-1 (Protective Extra-Low Voltage) EN 60204-1 (PELV) EN 60204-1, IEC/EN 60204-1(, ) ( ) 24 V EN 60204-1 ( ) [X4] 1 +24 V DC ( ) 19.2 V DC 28.8 V DC 2 0 V GND Tab. 4.10 [X4],( ) Tab. 4.11 (FE) - FE, : (6.3 x 0.8 mm²) Festo GDCE-EMCA-EC-SY-ZH 1603 83

4, 1 EMCA 2 +24 V DC 0 V [X4] 1 2 1 EMCA 2 24 V DC Fig. 4.2 84 Festo GDCE-EMCA-EC-SY-ZH 1603

4 4.5.2 [X5] EMCA,, ( Tab. 2.42), [X5] 1 ZK + R BR 6 Ω 2 BR-CH Tab. 4.12 [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W) Festo GDCE-EMCA-EC-SY-ZH 1603 85

4 4.5.3 STO [X6] STO (Safe torque off) GDCE-EMCA-EC-S1-... STO [X6] 1 NC1 : 2 NC2 STO, 3 +24 V DC LOGIC OUT ([X4] ) (0 V) [X6.6] [X4.2]()! 100 ma 4 STO 1 STO 1) 5 STO 2 6 GND 0 V 1) Basic IO Interface( ) Tab. 4.13 STO (Safe torque off) [X6] 86 Festo GDCE-EMCA-EC-SY-ZH 1603

4 4.5.4 [X7] [X8] [X7] [X8] 3 ( Tab. 4.14 Tab. 4.15), 2 1 1 [X7] 1 +24 V DC 24 V, 1 ( FCT, ) 2 Switch 1 1 3 GND 0 V Tab. 4.14 1 [X7] [X8] 1 +24 V DC 24 V, 2 ( FCT, ) 2 Switch 2 2 3 GND 0 V Tab. 4.15 2 [X8] Festo GDCE-EMCA-EC-SY-ZH 1603 87

4 4.5.5 I/O [X9] I/O [X9] [X9] 1) 1 DOUT Ready 2 DOUT configurable FCT 3 +24 V DC 24 V DC, [X4.1] 4 DIN Control enable / 5 DIN Sample () 6 GND 0 V 1) DIN = ;DOUT = Tab. 4.16 I/O (PNP ) 88 Festo GDCE-EMCA-EC-SY-ZH 1603

4 4.5.6 [X10] (EMCA-EC-...-1TM), ( 7 ) EADA-A-9 6 ( Tab. 2.7) [X10] 1 + 2 (GND) Tab. 4.17 [X10],( EMCA-EC-...-1TM) Festo EADA-A-9 Festo GDCE-EMCA-EC-SY-ZH 1603 89

4 4.6 IP IP ( www.festo.com/catalogue)! M12 O, IP ( ): [X1] [X3]: ISK-M12 [X2]: M12, ( [X4] [X10]),,! www.festo.com/catalogue 90 Festo GDCE-EMCA-EC-SY-ZH 1603

5 5 5.1,,, 5.2 FCT (Festo Configuration Tool) FCT FCT 5.2.1 FCT FCT-PlugIn EMCA V 1.0.0 V 1.0.x, PlugIn ( www.festo.com/sp) Festo GDCE-EMCA-EC-SY-ZH 1603 91

5 FCT Windows FCT PC 1. 2. (Setup_EMCA...exe) 3. FCT 5.2.2 FCT FCT: FCT Windows : [] [Festo Software] [Festo Configuration Tool], FCT 5.2.3 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 Adobe Reader PDF 92 Festo GDCE-EMCA-EC-SY-ZH 1603

5 Festo (FCT) Festo ( www.festo.com/sp), ( ) FCT,,,,,, FCT,, IP FCT ( FCT [Component] [Firmware Download]) Festo GDCE-EMCA-EC-SY-ZH 1603 93

5 5.3, DHCP (Dynamic Host Configuration Protocol) DHCP, 2 DHCP, (DHCP )! DHCP! FCT IP DHCP () DHCP IP 192.168.178.1 255.255.255.0 () Tab. 5.1 DHCP () TCP/IPv4 PC, IP PC PC, DHCP ( 2.8.1) : Festo NEBC-D12G4-... ( www.festo.com/catalogue) Fig. 5.1 DHCP DHCP PC PC () Windows : IP DNS 94 Festo GDCE-EMCA-EC-SY-ZH 1603

5 PC, DHCP PC IP DHCP IP IP : IP :192.168.178.110 192.168.178.209 :255.255.255.0 : () : PC DHCP ( PC ) EMCA DHCP () 1. EMCA PC ( ) 2., DHCP PC IP 1. PC ( Internet Explorer > 6;Firefox > 3;JavaScript) 2. IP ( :192.168.178.1) ( 5.5) : FCT ( FCT [Component] [Online] [Login]) PC TCP/IPv4 ( Windows ): IP DNS 5.3.1 FCT IP,FCT (),, IP, FCT ( FCT [Component] [FCT Interface] Scan... ) Festo GDCE-EMCA-EC-SY-ZH 1603 95

5 : 1., 2. [Network], 3., OK : 1. [Component] [Online] [Setup Network Settings...], 2., OK, ( 2.8.1) DHCP (, Tab. 5.1) DHCP ( IP ):EMCA DHCP IP IP : IP 5.3.2 :,: Intrusion Prevention System ( IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001 :, ( FCT [Component] [Online] [Password]), FCT ( FCT ) 96 Festo GDCE-EMCA-EC-SY-ZH 1603

5... FCT,,FCT,, FCT FCT Web Tab. 5.2, HTTP, (Cache) Festo GDCE-EMCA-EC-SY-ZH 1603 97

5 5.4 : () ( ),,: FCT, (),,, :, : FCT,,, 3 : FCT 2 1 FCT 2,,,, Tab. 5.3 FCT,, 98 Festo GDCE-EMCA-EC-SY-ZH 1603

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, Festo GDCE-EMCA-EC-SY-ZH 1603 99

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.,: 6 Internet Explorer 3 Firefox 2. IP Fig. 5.2 100 Festo GDCE-EMCA-EC-SY-ZH 1603

5 (Status) I/O (Basic I/O Interface) FHPP (FHPP Interface) / (Parameter Up-/Download) (Diagnostic Memory) I/O FHPP I/O ( 5.7) ( 6.1) Tab. 5.5 Festo GDCE-EMCA-EC-SY-ZH 1603 101

5 5.6 1. ( 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 ) 5.6.1 Festo, PlugIn, :, FCT PlugIn 102 Festo GDCE-EMCA-EC-SY-ZH 1603

5 (*.fpf), : ( 5.7) FCT, ( FCT ) 5.6.2 STO STO [X6] : () STO Safe torque off/sto GDCE-EMCA-EC-S1-... 5.6.3, ( ), () (: ) FCT, ( FCT Axis Axis Options ) 5.6.4 ( I/O), I/O STO : STO ( ): STO 1 STO 2 STO, GDCE-EMCA-EC-S1-... I/O : Control enable Festo GDCE-EMCA-EC-SY-ZH 1603 103

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] 4 1 2 1) 2) ; Festo (FCT) (: ) Fig. 5.3 :/ 5.6.5 / FCT Manual Move,, ( FCT ) : STO Control enable EMCA FCT ( FCT Device Control FCT ) ( FCT Device Control Enable ) ( ) ( FCT Application Data Environment Inverse Rotation Polarity ) 104 Festo GDCE-EMCA-EC-SY-ZH 1603

5 5.6.6 :,, FCT Homing : STO Control enable EMCA FCT ( FCT Device Control FCT ) ( FCT Device Control Enable ), FHPP CiA402 5.6.7 () FCT, FCT,: PlugIn EMCA 5.6.8 () Festo : FCT-PlugIn,: PlugIn EMCA ( PlugIn EMCA ) 5.6.9, PlugIn EMCA Festo GDCE-EMCA-EC-SY-ZH 1603 105

5 5.6.10,, (FCT: Store) FCT (Download),, : :( PlugIn EMCA ) ( PlugIn EMCA ) :( 5.7) 106 Festo GDCE-EMCA-EC-SY-ZH 1603

5 5.7, *.fpf : () (): FCT( FCT [Component] [Online] [Backup Recovery...] :,, (Upload) (Download) Parameter Up-/Download ( Fig. 5.4 5.5): Fig. 5.4 / Download parameter set to EMCA PC, PC Tab. 5.6 / FCT, ( FCT [Component] [Import/Export]) Festo GDCE-EMCA-EC-SY-ZH 1603 107

5 5.8, CANopen FHPP CiA 402, FHPP, GDCE-EMCA-EC-HP-... CiA 402, GDCE-EMCA-EC-CO-... 5.8.1 :, :, 100,000 : Store FCT St / FCT 108 Festo GDCE-EMCA-EC-SY-ZH 1603

6 6 2.7.4 FCT, Error Management,, Ready Low,:,, :,,: 6.3.2 : Festo ( FCT ) ( ), (Power OFF/ON), 6.1 ( 2.7.5): FCT ( FCT Diagnosis ) ( ) 1) 1) 5.5 Tab. 6.1 Diagnostic Memory ( ) Festo GDCE-EMCA-EC-SY-ZH 1603 109

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 ), 110 Festo GDCE-EMCA-EC-SY-ZH 1603

6 6.2 LED EMCA-EC-...-CO (CANopen) 3 2 1 1 LED OK 2 LED ERROR 1) LED (CANopen) Fig. 6.2 LED(:EMCA-EC-...-CO) 3 LED () 1) LED ( LED) (FHPP CiA 402) 6.2.1 LED LED / OK, ERROR Tab. 6.3 6.2.2 LED LED / OK,, Control enable,, Control enable ERROR, Tab. 6.4 Festo GDCE-EMCA-EC-SY-ZH 1603 111

6 6.2.3 LED LED / OK (,) ERROR Tab. 6.5 6.2.4 LED LED / OK, ERROR 1) 1) 10 Tab. 6.6, Festo 6.2.5 LED EMCA-EC-...-CO (CANopen) LED(/) LED : FHPP,GDCE-EMCA-EC-HP-... CiA 402,GDCE-EMCA-EC-CO-... 112 Festo GDCE-EMCA-EC-SY-ZH 1603

6 6.3 FCT, ( 2.7.4) 6.3.1 ( 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 1603 113

6 6.3.2, 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/-/- : 114 Festo GDCE-EMCA-EC-SY-ZH 1603

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 1603 115

6 0Ch (Firmware update execution error) :F/-/- : PC,, :, :A 0Dh (Overcurrent) :F/-/- :, FCT ( ) : : () : :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B, C 116 Festo GDCE-EMCA-EC-SY-ZH 1603

6 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 1603 117

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), : :A, B, C, D 17h (Logic voltage exceeded), : :A, B :F/-/- : :F/-/- : 118 Festo GDCE-EMCA-EC-SY-ZH 1603

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 1603 119

6 1Ch CAN Node Guarding, 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 20h FHPP+ (FHPP+ incorrect parameterisation) :F/-/- : :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 :, 120 Festo GDCE-EMCA-EC-SY-ZH 1603

6 22h (Homing) :F/-/- : /, (?), : :B, C, E, F 23h (No index pulse found) :, :, :B, C, E, F 25h (Path calculation) :F/-/- : :F/-/- : : : :A 26h CAN (CAN fieldbus parameters missing) CAN, : :B, C, D, E, F, G :F/-/- : Festo GDCE-EMCA-EC-SY-ZH 1603 121

6 27h (Save parameters) :F/-/- : :?, Festo : :F, G 28h (Homing required) :F/W/- : (:),, : :B, C, D, E, F, G :, 29h (Target position behind negative software limit), (/?) : :B, C, E, F 2Ah (Target position behind positive software limit), (/?) : :B, C, E, F :F/-/- : :F/-/- : 122 Festo GDCE-EMCA-EC-SY-ZH 1603

6 2Bh, (Firmware update, invalid firmware) :F/W/- : Festo : :A :, 2Ch FHPP (FHPP incorrect record number) :F/W/I : : :F, G :, 2Dh I²t (I²t warning motor) :-/W/I : I²t : I²t 80 %, 2Eh (Index pulse too close on proximity sensor) :F/-/- : / FCT : :B, C, E, F Festo GDCE-EMCA-EC-SY-ZH 1603 123

6 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 33h (Output stage temperature warning) :F/-/- : :-/W/I :,, :, 124 Festo GDCE-EMCA-EC-SY-ZH 1603

6 34h (STO) (Safe Torque Off (STO)) :F/W/I : Safe Torque Off STO : :0 : STO, 35h CAN Node Guarding, 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 :, 37h (Standstill monitoring) :-/W/I : :-/W/I : :, 38h (Parameter file access) :F/-/- :, 2 3 s : :F, G Festo GDCE-EMCA-EC-SY-ZH 1603 125

6 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 40h (Last teaching not successful) :-/W/I : : TEACH ( 1) ( 0), 41h (System reset) Festo : :A :F/-/- : 126 Festo GDCE-EMCA-EC-SY-ZH 1603

6 43h FCT, (FCT connection without master control) FCT,:, : FCT, 44h (Parameter file not compatible with firmware) :-/W/I : :-/W/I :,, :, 49h CAN, (CAN message overflow or message lost) :F/-/- : CAN,,: : :B, C, E, F 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 Festo GDCE-EMCA-EC-SY-ZH 1603 127

6 4Ch (Value is out of range), : :B, C, D, E, F, G 4Dh (Bootloader memory error) :F/-/- : :F/-/- :, :, :A 128 Festo GDCE-EMCA-EC-SY-ZH 1603

6 6.4, EMCA IP PC IP FCT : EMCA IP IP FCT 1. FCT-PlugIn [Component] [FCT Interface], Scan... 2. [Network] Network properties IP ( Tab. 2.46) PC IP Windows(:Windows 7) 1. [] [] [] [ ] [] 2. [] [] 3. [Internet 4] 4., Internet 4 PC IP 5. EMCA IP ( ) : IP IP DHCP ( Tab. 2.46), IP (IP 192.168.178.1; :255.255.255.0) PC, PC [ IP ], IP (:IP 192.168.178.110;:255.255.255.0;: ( )) PC Windows( Windows 7) 1. [] [()] [] [ ] 2. ipconfig ipconfig /all 3. Ping 1. [] [()] [] [ ] 2. :ping 192.168.178.1( IP ) Festo GDCE-EMCA-EC-SY-ZH 1603 129

6 6.5 EMCA EMCA EMCA ( ) EMCA FCT-PlugIns Tab. 6.9 130 Festo GDCE-EMCA-EC-SY-ZH 1603

7 7 7.1,,,,, :, Festo GDCE-EMCA-EC-SY-ZH 1603 131

7 EMCA-EC-67-...-1TM... (), : EMCA-EC-67-..., : 7.2 ( ),, FCT (Upload), FCT (Download) ( 3) [X4] [X10], 1. 2. 3. - (SW) 2.5 mm 4. 5. 6. (:) 7., - 1.5 Nm 1. 4 2. 132 Festo GDCE-EMCA-EC-SY-ZH 1603

7 7.3, 7.4 7.2 7.4.1 RoHS Festo GDCE-EMCA-EC-SY-ZH 1603 133

A A A.1 A.1.1 EMCA-EC-67-... EMCA PWM-MOSFET-, P PI PI, TCP/IP CANopen I²t Tab. A.1 : A.1.2 EMCA-EC-67-... CE ( www.festo.com/sp) 2006/42/EG EU 2014/30/EU 1) RCM 2) c UL us Recognized (OL) 2) 1),:, 2) Tab. A.2 : 134 Festo GDCE-EMCA-EC-SY-ZH 1603

A A.1.3 EMCA-EC-67-S-... EMCA-EC-67-M-... ( * * ) 3.1 EMCA, [B], [g] 1900 2260 [M] [M] [g] 25 [B] [g] 350 Tab. A.3 : A.1.4 EMCA-EC-67-... [ C] 0 +20 1.75 % C: [ C] 20... 50 [ C] -25 +70 25 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 1603 135

A [Hz] [m/s 2 ] [mm] SG1 SG2 SG1 SG2 SG1 SG2 2 8 2 8 ±3.5 ±3.5 8 27 8 27 10 10 27 58 27 60 ±0.15 ±0.35 58 160 60 160 20 50 160 200 160 200 10 10 [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ±300 11 11 5 5 [m/s 2 ] [ms] ±150 6 1000 A.1.5 EMCA-EC-67-S-... EMCA-EC-67-M-... [W] 120 150 [Nm] 0.37 0.45 [rpm] 3100 3150 [rpm] 3500 3300 [kg cm²] 0.175 0.301 [N] 60 60 [N] 100 100 Tab. A.5 136 Festo GDCE-EMCA-EC-SY-ZH 1603

A A.1.6 EMCA-EC-67-...-1TE... EMCA-EC-67-...-1TM... [Bit] 12( 4096 ) [ ] 0.088 ( ) 7 6,, [h] 24 Tab. A.6 A.1.7 ( EMCA-EC-...-...-B) () EMCA-EC-67-...-...B 1) [Nm] 1 [W] 9 [kg cm²] 0.021 1) (:), Tab. A.7 A.1.8 () [X1] EMCA-EC-67-... M12,5,D [Mbit/s] 100 TCP/IP Tab. A.8 : [X1] Festo GDCE-EMCA-EC-SY-ZH 1603 137

A A.1.9 [X2] [X3] CANopen (EMCA-...-CO) EMCA-EC-67-...-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 A.1.10 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab. 4.9 [V DC] 24 [%] ±20 [A] 6.9 7.2 [A] 10.2 10.3 (Protected Extra-Low Voltage) Tab. A.10 : [X4] A.1.11 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-..., :CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.11 : [X5] 138 Festo GDCE-EMCA-EC-SY-ZH 1603

A A.1.12 STO [X6] STO [X6] STO,GDCE-EMCA-EC-S1-... A.1.13 [X7] [X8] [X7] [X8] EMCA-EC-67-... [m] l 3 Tab. 4.9 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC 61131-2 Tab. A.12 [X7] [X8] Festo GDCE-EMCA-EC-SY-ZH 1603 139

A A.1.14 I/O [X9] I/O [X9] EMCA-EC-67-... [m] l 30 Tab. 4.9 [V DC] 24 [X9] [ma] 100 2 [V DC] 24 PNP() IEC 61131-2 2 [ma] 100 PNP() Tab. A.13 :I/O [X9] 140 Festo GDCE-EMCA-EC-SY-ZH 1603

A A.1.15 [X10]( EMCA-EC-67-...-1TM) [X10] EMCA-EC-67-... [m] 3 Tab. 4.9 [V DC] 9 Tab. A.14 [X10]] A.1.16 6 1 2 5 4 2 2 3 EMCA-EC-67-... 1 ()3 2 NBR 4 5 6 Tab. A.15 : Festo GDCE-EMCA-EC-SY-ZH 1603 141

B B / AZ (= Axis Zero point) DIN DOUT EMC FCT FHPP FPC I/O( ) MC() PLC/IPC PZ (= Project Zero point) REF (= REFerence point) 2.4.1 (digital input) (digital output) (FCT = Festo Configuration Tool) Festo Handling und Positioning Profil ( ); Festo Festo Parameter Channel FHPP, (input/output) Motion Complete() / PC 2.4.1 2.4.1 2.4.1,( ) 2.4.1 (Jog Mode) 2.4.3 2.4.4 Tab. B.1 142 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO C CAN... 78 CiA 402... 48 D DHCP... 64 E EMC... 142... 75... 75 F FCT... 8, 19, 142 Festo Configuration Tool(Festo )... 19, 142 FHPP... 48 I I²t... 61 IP... 94, 129 L LED... 111 M Motion Complete... 54 P Product Key()... 8 Q Quick-Stop... 45, 62 S Serial Number( )... 8 SPS... 142 STO (Safe torque off)... 86 W Web... 19, 99, 100... 103... 11... 73 EMC... 75... 12... 8... 61... 133... 54... 141... 23, 24... 87... 27... 80... 8... 71... 93... 62... 113... 75... 22, 34 Festo GDCE-EMCA-EC-SY-ZH 1603 143

EMCA-EC-67-...-CO... 89... 75... 80... 61... 102... 36... 23, 24... 8... 20... 8... 62... 114... 22, 26... 134... 103... 93... 62... 62... 54, 57... 98 /... 43, 44... 69... 61... 81... 96... 75... 22... 25... 108... 48... 60... 80... 59... 39... 26... 137 144 Festo GDCE-EMCA-EC-SY-ZH 1603

EMCA-EC-67-...-CO... 95... 133... 59... 61... 7... 25... 87... 23, 24... 62 Motion Complete... 55... 57... 56... 40... 133... 23... 80... 105... 13... 63, 109... 113... 52... 48... 85... 138... 61... 8... 56... 54... 45... 65, 79... 23, 24... 62... 60... 76 Festo GDCE-EMCA-EC-SY-ZH 1603 145

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