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, JST Tyco Electronics. : : : 1. / 2 Festo GDCE-EMCA-EC-SY-ZH 1702b
EMCA-EC-67-...-CO/-EP EMCA-EC-67-...-CO/-EP... 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... 23 2.4.1... 24 2.4.2... 27 2.4.3 (FHPP FCT)... 36 2.4.4 (FHPP FCT)... 37 2.4.5... 38 2.4.6... 41 2.4.7 /... 45 2.4.8 (),Quick-Stop... 47 2.4.9 (EMCA-EC-...-...-B)... 48 2.5 ()... 50 2.6... 51 2.6.1... 51 2.6.2... 54 Festo GDCE-EMCA-EC-SY-ZH 1702b 3
EMCA-EC-67-...-CO/-EP 2.7... 56 2.7.1... 56 2.7.2... 60 2.7.3... 63 2.7.4... 64 2.7.5... 65 2.8... 66 2.8.1 [X1] ( )... 66 2.8.2 [X2] [X3] ()... 67 2.8.3 STO[X6]... 67 2.8.4 /... 68 3... 74 3.1 EMCA-EC-67-...-CO... 74 3.2 EMCA-EC-67-...-EP... 75 3.3... 76 4... 78 4.1... 78 4.2 EMC... 79 4.3 [X1]... 80 4.4 [X2] [X3]... 82 4.4.1 EMCA-...-CO (CANopen)... 82 4.4.2 EMCA-...-EP(EtherNet/IP)... 83 4.5 [X4]... [X10]... 85 4.5.1 [X4]... 88 4.5.2 [X5]... 90 4.5.3 STO[X6]... 91 4.5.4 [X7] [X8]... 92 4.5.5 I/O[X9]... 93 4.5.6 [X10]... 94 4.6 IP... 95 5... 96 5.1... 96 5.2 FCT (Festo Configuration Tool)... 96 5.2.1 FCT... 96 5.2.2 FCT... 97 5.2.3 FCT... 97 5.3... 99 5.3.1... 100 5.3.2... 101 4 Festo GDCE-EMCA-EC-SY-ZH 1702b
EMCA-EC-67-...-CO/-EP 5.4... 103 5.5... 105 5.6... 107 5.6.1... 107 5.6.2 STO... 108 5.6.3... 108 5.6.4 ( I/O)... 108 5.6.5 /... 109 5.6.6... 110 5.6.7 ()... 110 5.6.8 ()... 110 5.6.9,... 110 5.6.10... 111 5.7... 112 5.8... 113 5.8.1 :... 113 6... 114 6.1... 114 6.2 LED... 116 6.2.1... 117 6.2.2... 117 6.2.3... 117 6.2.4... 117 6.2.5 LED... 118 6.3... 119 6.3.1... 119 6.3.2,... 120 6.4... 135 6.5... 136 7... 137 7.1... 137 7.2... 138 7.3... 139 7.4... 139 7.4.1... 139 A... 140 A.1... 140 A.1.1... 140 A.1.2... 140 Festo GDCE-EMCA-EC-SY-ZH 1702b 5
EMCA-EC-67-...-CO/-EP A.1.3... 141 A.1.4... 141 A.1.5... 142 A.1.6... 143 A.1.7 (EMCA-EC-...-...-B)... 143 A.1.8 [X1]... 143 A.1.9 [X2] [X3]... 144 A.1.10 [X4]... 144 A.1.11 [X5]... 145 A.1.12 STO[X6]... 145 A.1.13 [X7] [X8]... 145 A.1.14 I/O [X9]... 146 A.1.15 [X10](EMCA-EC-67-...-1TM)... 147 A.1.16... 147 B... 148... 149 6 Festo GDCE-EMCA-EC-SY-ZH 1702b
EMCA-EC-67-...-CO/-EP (GDCE-EMCA-EC-SY-...) EMCA () : EMCA-, A EC- EC 67-67 mm ( ) M- S- 1 24 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 1702b 7
EMCA-EC-67-...-CO/-EP EMCA-EC-67-S-1TE-CO 8034238FN98 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 () n G [rpm] 3100 M N [Nm] 0.37 U N [V DC] 24 I N [A] 5.7 IP54 123456789... Tab. 2 EMCA-EC-67-S-1TE-CO www.festo.com/pk FCT www.festo.com/sp :: 1.0.0 EMCA Tab. 1 1.2.0 1.2.0 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 1702b
EMCA-EC-67-...-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) 1 2 3 4 5 6 7 8 9 O N D Tab. 4 Festo GDCE-EMCA-EC-SY-ZH 1702b 9
EMCA-EC-67-...-CO/-EP 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, () www.festo.com/catalogue 10 Festo GDCE-EMCA-EC-SY-ZH 1702b
1 1 1.1 1.1.1,,,!,, 4,,,,, Festo GDCE-EMCA-EC-SY-ZH 1702b 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 1702b
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 1702b 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/EG 2014/30/EU DIN EN 60068-2-6:2008-10 DIN EN 60068227:201002 Tab. 1.1 14 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 15
2 2.1.1 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) ( www.festo.com/catalogue) Tab. 2.1 EMCA 16 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 2.1.2 1 EMCA-... 1 EMCA-EC-67-...-CO EMCA-EC-67-...-EP 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-... NEBM-L4G2-... STO IO NEBM-L5G6-... www.festo.com/catalogue Festo GDCE-EMCA-EC-SY-ZH 1702b 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 1702b
2 2.2 2.2.1 FCT (Festo Configuration Tool) Festo(FCT) Windows, Festo FCTEMCA 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 1702b 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 ( ) 5 (4x) Fig. 2.3 EMCA-EC-67-...-CO 6 (Fig. 2.5) 7 (4x) M4 8 9 aj [X2]: CAN IN ( M12 ) 20 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 EMCA-EC-67-...-EP ( EtherNet/IP) aj 1 2 3 4 5 9 6 8 7 1 [X1]:(M12 ) 2 LED (6x) 3 [X3]:EtherNet/IP 1 ( M12,) 4 () 5 (4x) Fig. 2.4 EMCA-EC-67-...-EP 6 (Fig. 2.5) 7 (4x) M4 8 9 aj [X2]:EtherNet/IP 2 ( M12,) Festo GDCE-EMCA-EC-SY-ZH 1702b 21
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. 2.5 22 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 2.4 EMCA, 2.4.2 2.4.3 (: ) 2.4.4 EMCA( : )( ), 2.4.5 ; 2.4.6 / 2.4.7 Tab. 2.3 PlugIn EMCA FCT Festo GDCE-EMCA-EC-SY-ZH 1702b 23
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 : (:) 24 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 25
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 1702b
2 2.4.2, (2.4.1), (:) (Tab. 2.16) (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 1702b 27
2 :FCT(FCT Homing ) 1 2 3 1 REF 2 3 Fig. 2.6 28 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 REF CiA 402 1) DD h -35 22 h 34, 21 h 33 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) CANopenCiA 402 V 3.0 Tab. 2.8 ( / ),,,,,,, () 1. 2. : (Tab. 2.17) ( DD h ;-35) Tab. 2.9 Festo GDCE-EMCA-EC-SY-ZH 1702b 29
2 1. 2. : ( Tab. 2.17) :( 22 h ;34) :( 21 h ;33) Tab. 2.10,, ( ),,,, ( ), /(: 3 mm) ()() (), (: ), : 30 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 1. : 1) ( ): :EMCA, 2. : 3. 2) :( EE h ;-18) :( EF h ;-17) 1) 2), (Tab. 2.17) Tab. 2.11 1. :, (2.), (2.) : : :,,0x22 (FCT ) 2. :, 3. : (Tab. 2.17) :( 12 h ;18) :( 11 h ;-17) Tab. 2.12 Festo GDCE-EMCA-EC-SY-ZH 1702b 31
2 1. :, (2.), (2.) : : :,,0x22 (FCT ) 2. :,, 3. : (Tab. 2.17) :( 02 h ;02) :( 01 h ;01) Tab. 2.13 32 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 1. :, (2.), (2.) : : :,, :,0x22(FCT ) 2. :, 3. : (Tab. 2.17) :( 17 h ;23) :( 1B h ;27) Tab. 2.14 Festo GDCE-EMCA-EC-SY-ZH 1702b 33
2 1. :, (2.), (2.) : : :,, :,0x22(FCT ) 2. :,, 3. : (Tab. 2.17) :( 07 h ;7) :( 0B h ;11) Tab. 2.15 34 Festo GDCE-EMCA-EC-SY-ZH 1702b
2,: (Target) (Tab. 2.8) (Direction) (Search Velocity) (Crawling Velocity) (Drive Velocity) (Acceleration) (Axis Zero Point) ( ) (Force Limit/Torque Limit) (Message Delay) Tab. 2.16 ( ), ( ) ( ),,,,, 1), 1), Tab. 2.17 Festo GDCE-EMCA-EC-SY-ZH 1702b 35
2 2.4.3 (FHPP FCT),,, : (:) (: ) () : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay), Tab. 2.18 (Fig. 2.7): ( +-),,,,, 36 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 t1 (+ -) t v Motion Complete a t t t t1: Fig. 2.7 2.4.4 (FHPP FCT), : ; PA ( ) PLC EMCA, FCT,FCT : 1. ( : 2.4.3) 2., Festo GDCE-EMCA-EC-SY-ZH 1702b 37
2 FCT FCT PlugIn FHPP FHPP, GDCE-EMCA-EC-C-HP-... FCTPlugIn 2.4.5,,:,(:) : (Position) ( (Tab. 2.20) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) 1)2) (Jerk for deceleration) 1),FCT 2) [m/s³] Tab. 2.19,,, (2.7.1,) Tab. 2.20,,,() 38 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 a t v t s t Fig. 2.8 Motion Complete :0 mm/s t (2.6,, ), 0 0, Festo GDCE-EMCA-EC-SY-ZH 1702b 39
2 Motion Complete() = 0 0,,, (2.7.1), Tab. 2.21 (Start Condition) (Extra Load) (Torque Feed Forward) / (Force Limit/ Torque Limit) (Max. Following Error) (Position Comparator) (Velocity Comparator) (TimeComparator), ( Tab. 2.34),( ) ( ) ( ), (Fig. 2.17) (2.7.2) (2.7.2),(2.7.2) 40 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 2.22 : 2.4.6 ( )( ) : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) 1) (Jerk for Deceleration) (Force Limit) 1),FCT Tab. 2.23,, (2.4.5),, (2.7.1,) (2.6,, ),0 0 Festo GDCE-EMCA-EC-SY-ZH 1702b 41
2 Motion Complete(),, Tab. 2.24,, : (Stroke Limit) Tab. 2.25,, : Quick-Stop, Motion Complete ( Fig. 2.9 Fig. 2.11), 42 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 :- s v t t Fig. 2.9 Motion Complete () - t t Festo GDCE-EMCA-EC-SY-ZH 1702b 43
2 :- s v t t Motion Complete () Fig. 2.10 - t t 44 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 :- s v t t Motion Complete () Fig. 2.11 - t t Tab. 2.22 2.4.7 / / ( ), Festo GDCE-EMCA-EC-SY-ZH 1702b 45
2 / : (Force) (%,) (Velocity) (Acceleration) (Deceleration) 1) 1),FCT Tab. 2.26 /,, 0 0 Motion Complete(),/ Tab. 2.27 / / / : /, /, (Stroke Limit) Tab. 2.28,,, : Quick-Stop,, Motion Complete 46 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 Tab. 2.22 2.4.8 (),Quick-Stop (),, (): ( ) Stop ()( /) ()... / Tab. 2.29, () : 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 1702b 47
2 2.4.9 (EMCA-EC-...-...-B) EMCA-EC-...-BEC /,,,,, EMCA-EC-...-B,,, : FCT( ) Brake ( ) ( FCT Motor Brake control ) 48 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 : 1. ( = ) 2.,, 3. : 1.,Quick Stop 0, 2., 3. Tab. 2.30, Festo GDCE-EMCA-EC-SY-ZH 1702b 49
2 2.5 () FCT,(X1), (X2 X3) FHPP CiA 402 ( EMCA-...-CO) Tab. 2.31...... 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 402 www.can-cia.de) SDOs/PDOs (Process Data Objects) : ( ) ( )... FHPP ( 0 = )... CiA 402 (EMCA-...-CO) Tab. 2.32 PlugIn EMCA FCT 50 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 2.6 CiA 402 64( 1 64) 0, PLC,, : (:FCT),, ( Tab. 2.34) () MC Tab. 2.33, ( Tab. 2.35) 2.6.1 :,, (Tab. 2.34) (Ignore) (Delay) (Interrupt) MC () ( Motion Complete ) Tab. 2.34 Festo GDCE-EMCA-EC-SY-ZH 1702b 51
2 : ( B) (A) A t O B t Motion Complete Fig. 2.12 t : ( B C) (A) (C), C A t O B C t Motion Complete Fig. 2.13 t 52 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 : (A)(B) B A t O B t Motion Complete Fig. 2.14 t Festo GDCE-EMCA-EC-SY-ZH 1702b 53
2 2.6.2, ( ),, : : Parameter (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) (),, Motion Complete, 0, Motion Complete, 1) Tab. 2.35,: : (Condition) Motion Complete...,... Motion Complete........./... Tab. 2.36 (Condition) 54 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 : 0 () A, B A,Motion Complete, v B A s t B A t Motion Complete (MC ) t t Fig. 2.15 0 Festo GDCE-EMCA-EC-SY-ZH 1702b 55
2 2.7,EMCA,: 2.7.1, [X9.2] (Tab. 2.52) Motion Complete () (Following error) (Standstill monitoring) (Comparator) () : (Fig. 2.17) (Fig. 2.18), : 0, : (2.7.2) Tab. 2.37 56 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 Motion Complete () Motion Complete () ( ), Motion Complete () 2 v t1 1 Motion Complete t1: Motion Complete 1 2 Fig. 2.16 Motion Complete t t Festo GDCE-EMCA-EC-SY-ZH 1702b 57
2,, (Fig. 2.17, 1 ), ( ) ( ),, s t1 2 1 3 t Start t 2F h () t t1: 1 3 2 Fig. 2.17 : FCT,(2F h )(FCT ) 58 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 2.18 0, FCT,(37F h )(FCT ) Festo GDCE-EMCA-EC-SY-ZH 1702b 59
2 2.7.2 CiA 402, :,,, ( :), (2.6, ),( ) (Tab. 2.49),,,, 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator), 1), Tab. 2.38 () 60 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 2,: ( š) (),, / ( ) 1) ( ) 1), 1) (), : : 50 40 mm, 50 mm, 40 mm Tab. 2.39, 2, : ( š) (),, / ( ) 1) ( ) 1), 1), Tab. 2.40 Festo GDCE-EMCA-EC-SY-ZH 1702b 61
2 2, : ( š) (),, / ( ) 1) ( ) 1), 1), Tab. 2.41, : ( š ), ( ) 1) ( ) 1) 1), Tab. 2.42 62 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 2.44.), Tab. 2.43 Festo GDCE-EMCA-EC-SY-ZH 1702b 63
2 2.7.4 FCT,(FCT Error Management ), (Error) (Warning) (Information) ( :Quick-Stop ), LED (6.2) FCT ( FCT),, LED (6.2), ( ) LED, Tab. 2.44 (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. 2.45 (Save Diagnosis) FCT 64 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 2.7.5 EMCA, FCT( 2.7.4), 200, (FIFO ) : ( ) FCT( FCT) (5.5 6.1) Festo GDCE-EMCA-EC-SY-ZH 1702b 65
2 2.8 (2.8.1) : EMCA-EC...-CO: CANopen EMCA-EC...-EP:EtherNet/IP 4 2.8.1 [X1] ( ) [X1]: FCT (5.2FCT ) (5.5 6.1),FCT(5.7) : PC Tab. 2.46 3 IP( IPv4): DHCP () IP (DH CP) IP IP DHCP PC, PCIP DHCPIP : IP :192.168.178.1 :255.255.255.0 : ( ) DHCP- IP DHCP IP- IP-PC IP-, Tab. 2.47 IP 66 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 FCT(),, IP, FCT IP IP PC IP, IP ( LED ),, 2.8.2 [X2] [X3] () 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. 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 1702b 67
2 2.8.4 / (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 DIN +, ( Tab. 2.50) :, ( Fig. 2.19) :: ; (Fig. 2.19) [X9.5] Sample () (Tab. 2.51) 2 1) FCT( ) () Tab. 2.48 [X6] [X7] [X8] [X9] 68 Festo GDCE-EMCA-EC-SY-ZH 1702b
2 (2) [X9.1] Ready : (/ );, :, 1) :, 2: (: ) () [X9.2] configurable FCT, Tab. 2.52 1), PlugIn EMCA Tab. 2.49 [X9] Festo GDCE-EMCA-EC-SY-ZH 1702b 69
2 ( 5.4), Control enable 1) ( 5.4) Control enable, DIN + Control enable (DIN Control enable) : FCT, FHPP CiA 402,, 1) FCT [Controller] Tab. 2.50,, ( = ), (Quick Stop) v = 0, Ready,, 70 Festo GDCE-EMCA-EC-SY-ZH 1702b
2, : [X6.4/5] STO 1 STO 2 (24 V) DIN +,[X9.4] Control enable ( FHPP FCT), Ready 1 2 3 4 5 6 Control enable (DIN) Quick-Stop V = 0, Ready (DOUT) t1 t2 : t1: t2: 1 2 3 Fig. 2.19 - : + DIN 4 (Quick-Stop) 5 6 Festo GDCE-EMCA-EC-SY-ZH 1702b 71
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. 2.51 Sample (),,8.4 μs, 72 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 2.52 Festo GDCE-EMCA-EC-SY-ZH 1702b 73
3 3 3.1 EMCA-EC-67-...-CO L1 L2 L3 L4 L5 L6 EMCA-...-S-... 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 D6 [mm] 121.1 ±0.5 67 67 @ 9-0.009 @ 40-0.039 @ 81 ±0.2 @ 50 ±0.2 @ 6.3 +0,2 M4x5 Tab. 3.1 EMCA-EC-67-...-CO [mm] 74 Festo GDCE-EMCA-EC-SY-ZH 1702b
3 3.2 EMCA-EC-67-...-EP L1 L2 L3 L4 L5 L6 EMCA-...-S-... 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 D6 [mm] 113 ±0.5 67 67 @ 9-0.009 @ 40-0.039 @ 81 ±0.2 @ 50 ±0.2 @ 6.3 +0.2 M4x5 Tab. 3.2 EMCA-EC-67-...-EP [mm] Festo GDCE-EMCA-EC-SY-ZH 1702b 75
3 3.3 :,:, 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. 76 Festo GDCE-EMCA-EC-SY-ZH 1702b
3 (A.1.5) (: ), 1. 2. EMCA( ) 3. (4x) Festo GDCE-EMCA-EC-SY-ZH 1702b 77
4 4 4.1, EN 60204-1 (Protective Extra-Low Voltage) EN 60204-1 (PELV) EN 60204-1 :,,, (EMV) (Tab. 4.1), 78 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 79
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] ( ) 80 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 81
4 4.4 [X2] [X3] 4.4.1 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) 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) 82 Festo GDCE-EMCA-EC-SY-ZH 1702b
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-... 4.4.2 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 1702b 83
4 2 1 1 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. 4.10 [X2] [X3] M12,5,D-( EMCA-...-EP) 84 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 4.11 0.08... 0.13 (AWG28... AWG26) Festo GDCE-EMCA-EC-SY-ZH 1702b 85
4, / (Tab. 4.11) : Festo NEBM-... ( www.festo.com/catalogue), 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) :, 2.9... 3.1 mm, 6.1... 7.1 mm, 8.5... 9.6 mm ( www.festo.com/catalogue) 86 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1.5Nm Festo GDCE-EMCA-EC-SY-ZH 1702b 87
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. 4.12 [X4],( ) Tab. 4.13 (FE) - FE, :(6.3 x 0.8 mm²) 88 Festo GDCE-EMCA-EC-SY-ZH 1702b
4, 1 EMCA 2 +24 V DC 0 V [X4] 1 2 1 EMCA 2 24 V DC Fig. 4.2 Festo GDCE-EMCA-EC-SY-ZH 1702b 89
4 4.5.2 [X5] EMCA,, (Tab. 2.43), [X5] 1 ZK + R BR 6 Ω 2 BR-CH Tab. 4.14 [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W) 90 Festo GDCE-EMCA-EC-SY-ZH 1702b
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]) (0V) [X6.6] [X4.2]()! 100 ma 4 STO 1 STO 1) 5 STO 2 6 GND 0 V 1) Basic IO Interface( ) Tab. 4.15 STO(Safe torque off) [X6] Festo GDCE-EMCA-EC-SY-ZH 1702b 91
4 4.5.4 [X7] [X8] [X7] [X8]3(Tab. 4.16 Tab. 4.17), 2 11 [X7] 1 +24 V DC 24 V,1 ( FCT, ) 2 Switch 1 1 3 GND 0 V Tab. 4.16 1 [X7] [X8] 1 +24 V DC 24 V,2 ( FCT, ) 2 Switch 2 2 3 GND 0 V Tab. 4.17 2 [X8] 92 Festo GDCE-EMCA-EC-SY-ZH 1702b
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. 4.18 I/O(PNP ) Festo GDCE-EMCA-EC-SY-ZH 1702b 93
4 4.5.6 [X10] (EMCA-EC-...-1Tm), ( 7) EADA-A-9 6 ( Tab. 2.7) [X10] 1 + EADA-A-9 2 (GND) Tab. 4.19 [X10],(EMCA-EC-...-1TM) FestoEADA-A-9 94 Festo GDCE-EMCA-EC-SY-ZH 1702b
4 4.6 IP IP ( www.festo.com/catalogue)!m12 O, IP( ): [X1] [X3]: ISK-M12 [X2]:M12, ( [X4] [X10]),,! www.festo.com/catalogue Festo GDCE-EMCA-EC-SY-ZH 1702b 95
5 5 5.1,,, 5.2 FCT (Festo Configuration Tool) FCT FCT 5.2.1 FCT FCT-PlugIn EMCA V 1.0.0V 1.0.x, PlugIn ( www.festo.com/sp) 96 Festo GDCE-EMCA-EC-SY-ZH 1702b
5 FCTWindows FCTPC 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 Festo GDCE-EMCA-EC-SY-ZH 1702b 97
5 Adobe Reader PDF Festo(FCT) Festo( www.festo.com/sp), ( ) FCT,,,,,, FCT,,IP FCT (FCT [Component] [Firmware Download]) 98 Festo GDCE-EMCA-EC-SY-ZH 1702b
5 5.3,DHCP (Dynamic Host Configuration Protocol) DHCP, 2DHCP, (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 DHCPPC PC ()Windows : IP DNS Festo GDCE-EMCA-EC-SY-ZH 1702b 99
5 PC, DHCPPC IP DHCPIP IP : IP :192.168.178.110 192.168.178.209 :255.255.255.0 : ( ) : PC DHCP( PC) EMCA DHCP() 1. EMCA PC ( ) 2.,DHCPPCIP 1. PC ( Internet Explorer > 6;Firefox > 3;JavaScript) 2. IP ( :192.168.178.1) (5.5) : FCT(FCT [Component] [Online] [Login]) PCTCP/IPv4 (Windows ): IP DNS 5.3.1 FCTIP,FCT(),, IP,FCT (FCT [Component] [FCT Interface] Scan... ) 100 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 5.3.2 :,: Intrusion Prevention System ( IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001 :, (FCT [Component] [Online] [Password]), FCT (FCT ) Festo GDCE-EMCA-EC-SY-ZH 1702b 101
5... FCT,,FCT,, FCT FCT Web Tab. 5.2, HTTP, (Cache) 102 Festo GDCE-EMCA-EC-SY-ZH 1702b
5 5.4 : s () ( ),,: FCT, (),,, :, : FCT,,, 3: FCT2 1 FCT 2,,,, Tab. 5.3 FCT,, Festo GDCE-EMCA-EC-SY-ZH 1702b 103
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, 104 Festo GDCE-EMCA-EC-SY-ZH 1702b
5 5.5 IP (2.8.1, Tab. 2.47) PC() IP, IP :192.168.178.1 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 1702b 105
5 / (Parameter Up-/Download) (Diagnostic Memory) (5.7) (6.1) Tab. 5.5 106 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 Festo GDCE-EMCA-EC-SY-ZH 1702b 107
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),: STO 1 STO 2 STO,GDCE-EMCA-EC-S1-... DIN + ( Tab. 2.50): Control enable (I/O-) 108 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 :/ - :DIN + 5.6.5 / FCT Manual Move,, ( FCT ) : STO DIN + : 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 1702b 109
5 5.6.6 :,, FCT Homing : STO DIN + : Control enable EMCA FCT (FCT Device Control FCT ) (FCT Device Control Enable ),FHPPCiA402 5.6.7 () FCT, FCT,: PlugIn EMCA 5.6.8 () Festo: FCT-PlugIn,: PlugIn EMCA(PlugIn EMCA) 5.6.9, PlugIn EMCA 110 Festo GDCE-EMCA-EC-SY-ZH 1702b
5 5.6.10,, (FCT: Store) FCT(Download),, : :(PlugIn EMCA) (PlugIn EMCA) :(5.7) Festo GDCE-EMCA-EC-SY-ZH 1702b 111
5 5.7, *.fpf : () (): FCT(FCT [Component] [Online] [Backup Recovery...] :,,(Upload) (Download) Parameter Up-/Download (Fig. 5.45.5): Fig. 5.4 / EMCA PC, PC Tab. 5.6 / FCT, (FCT [Component] [Import/Export]) 112 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 Festo GDCE-EMCA-EC-SY-ZH 1702b 113
6 6 2.7.4FCT, 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 ( ) 114 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 115
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) EMCA-EC-...-EP(EtherNet/IP) 6 5 4 3 2 1 1 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 116 Festo GDCE-EMCA-EC-SY-ZH 1702b
6 6.2.1 LED LED / OK, ERROR Tab. 6.3 6.2.2 LED LED / OK,, Control enable,, Control enable ERROR, Tab. 6.4 6.2.3 LED LED / OK () ERROR Tab. 6.5 6.2.4 LED LED / OK, ERROR 1) 1) 10 Tab. 6.6,Festo Festo GDCE-EMCA-EC-SY-ZH 1702b 117
6 6.2.5 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-... 118 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 119
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/-/- : 120 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 0Ah (General error) :F/-/- : :F/-/- :, Festo : :B 0Bh (Parameter file invalid) :F/-/- :,:,, : :A Festo GDCE-EMCA-EC-SY-ZH 1702b 121
6 0Ch (Firmware update execution error) :F/-/- : PC,, :, :A 0Dh (Overcurrent) :F/-/- :, FCT ( ) : : () : :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B, C 122 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 123
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/-/- : 124 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 125
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 126 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 127
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 :, 128 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 129
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/-/- : 130 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 131
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 132 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 133
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 4Fh (System information) :F/-/- : :-/-/I : 134 Festo GDCE-EMCA-EC-SY-ZH 1702b
6 6.4, EMCA IPPC IP FCT : EMCA IP IP FCT 1. FCT-PlugIn [Component] [FCT Interface], Scan... 2. [Network] Network properties IP (Tab. 2.47) PC IP Windows(:Windows 7) 1. [] [] [] [ ] [] 2. [] [] 3. [Internet4] 4., Internet4 PC IP 5. EMCA IP () : IP IP DHCP (Tab. 2.47),IP (IP192.168.178.1;: 255.255.255.0) PC,PC [ IP ],IP (:IP192.168.178.110;: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 1702b 135
6 6.5 EMCA EMCA EMCA () EMCA FCT-PlugIns Tab. 6.9 136 Festo GDCE-EMCA-EC-SY-ZH 1702b
7 7 7.1,,,,, :, Festo GDCE-EMCA-EC-SY-ZH 1702b 137
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. 138 Festo GDCE-EMCA-EC-SY-ZH 1702b
7 7.3, 7.4 7.2 7.4.1 RoHS Festo GDCE-EMCA-EC-SY-ZH 1702b 139
A A A.1 A.1.1 EMCA-EC-67-... EMCA PWM-MOSFET-, P PI PI, TCP/IP EMCA-...-CO: CANopen EMCA-...-EP:EtherNet/IP I²t Tab. A.1 : A.1.2 EMCA-EC-67-... CE ( www.festo.com/sp) EU2006/42/EC 2014/30/EU 1) RCM 2) c UL us Recognized (OL) 2) 1),:, 2) Tab. A.2 : 140 Festo GDCE-EMCA-EC-SY-ZH 1702b
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 1702b 141
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 [1/min] 3100 3150 [1/min] 3500 3300 [kg cm²] 0.175 0.301 [N] 60 60 [N] 100 100 Tab. A.5 142 Festo GDCE-EMCA-EC-SY-ZH 1702b
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) () 1) [Nm] 1 [W] 9 [kg cm²] 0.021 EMCA-EC-67-...-...B 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 1702b 143
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 EtherNet/IP (EMCA-...-EP) EMCA-EC-67-...-EP [X2] (In) M12,5-,D [X3] (Out) M12,5-,D FHPP [m] < 100 ; 100BaseTXIEEE 802.3 [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. 4.11 [V DC] 24 [%] ±20 [A] 6.9 7.2 [A] 10.2 10.3 (Protected Extra-Low Voltage) Tab. A.11 : [X4] 144 Festo GDCE-EMCA-EC-SY-ZH 1702b
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-67-... [m] l 3 Tab. 4.11 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC 61131-2 Tab. A.13 [X7] [X8] Festo GDCE-EMCA-EC-SY-ZH 1702b 145
A A.1.14 I/O [X9] I/O [X9] EMCA-EC-67-... [m] l 30 Tab. 4.11 [V DC] 24 [X9] [ma] 100 2 [V DC] 24 PNP() IEC 61131-2 2 [ma] 100 PNP() Tab. A.14 :I/O[X9] 146 Festo GDCE-EMCA-EC-SY-ZH 1702b
A A.1.15 [X10](EMCA-EC-67-...-1TM) [X10] EMCA-EC-67-... [m] 3 Tab. 4.11 [V DC] 9 Tab. A.15 [X10]] A.1.16 6 1 2 5 4 2 2 3 EMCA-EC-67-... 1 ()3 2 NBR 4 5 6 Tab. A.16 : Festo GDCE-EMCA-EC-SY-ZH 1702b 147
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) 2.4.1 (digital input) (digital output) (FCT = Festo Configuration Tool) Festo Handling and Positioning Profile (); Festo Festo Parameter Channel FHPP, (input/output) Motion Complete() / PC 2.4.1 2.4.1 2.4.1,( ) 2.4.1 2.4.3 2.4.4 Tab. B.1 148 Festo GDCE-EMCA-EC-SY-ZH 1702b
EMCA-EC-67-...-CO/-EP C CAN... 82 CiA 402... 50 D DHCP... 66 E EMC... 148... 79... 79 EtherNet/IP... 83 F FCT... 8, 19, 148 Festo Configuration Tool (Festo )... 19, 148 FHPP... 50 I I² t... 63 IP... 99, 135 L LED... 116 M Motion Complete... 56 P Product Key()... 8 Q Quick-Stop... 47, 64 S Serial Number( )... 8 SPS... 148 STO (Safe torque off)... 91 W Web... 19, 104, 105... 108... 11... 77 EMC... 79... 12... 8... 63... 56... 147... 24, 25... 92... 29... 85... 8... 74, 75... 98... 64... 119... 79... 23, 36 Festo GDCE-EMCA-EC-SY-ZH 1702b 149
EMCA-EC-67-...-CO/-EP... 94... 63... 79... 85... 63... 107... 38... 24, 25... 8... 139... 20, 21... 8... 64... 120... 23, 27... 140... 108... 98... 64... 64... 56, 59... 103 /... 45, 46... 72... 86... 101... 79... 23... 26... 113... 50... 62... 85... 61... 41... 27... 143... 100... 139 150 Festo GDCE-EMCA-EC-SY-ZH 1702b
EMCA-EC-67-...-CO/-EP... 61... 63... 7... 26... 92... 24, 25... 64 Motion Complete... 57... 59... 58... 42... 24... 85... 80... 110... 13... 65, 114... 119... 54... 50... 90... 145... 63... 8... 56, 58... 47... 67, 83... 24, 25... 64... 62 Festo GDCE-EMCA-EC-SY-ZH 1702b 151
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