EMCA-EC-67-...-DIO I/O 8069260 1702a [8069267]
EMCA-EC-67-...-DIO GDCE-EMCA-EC-DIO-ZH Adobe Reader, CANopen, CiA, Firefox, Internet Explorer, JST Tyco Electronics : : : 1. / 2 Festo GDCE-EMCA-EC-DIO-ZH 1702a
EMCA-EC-67-...-DIO EMCA-EC-67-...-DIO... 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... 35 2.4.4... 36 2.4.5... 37 2.4.6... 40 2.4.7 /... 44 2.4.8 (),Quick-Stop... 46 2.4.9 ( EMCA-EC-...-...-B)... 47 2.5... 49 2.5.1... 49 2.5.2... 52 Festo GDCE-EMCA-EC-DIO-ZH 1702a 3
EMCA-EC-67-...-DIO 2.6... 54 2.6.1... 54 2.6.2... 58 2.6.3... 61 2.6.4... 62 2.6.5... 63 2.7... 64 2.7.1 [X1] ( )... 64 2.7.2 STO [X6]... 65 2.7.3 /... 65 2.7.4 /( 0/1)... 67 2.8 /... 70 2.8.1... 70 2.8.2 I/O... 71 2.8.3... 72 2.8.4... 73 2.8.5... 74 2.8.6,( 1)... 75 2.8.7 ( 0)... 76 2.8.8 ( 0)... 77 2.8.9,( 0))... 78 2.8.10... 79 2.8.11... 80 2.8.12 ( EMCA-EC-...-...-B)... 81 3... 82 3.1... 82 3.2... 83 4... 85 4.1... 85 4.2 EMC... 86 4.3 [X1]... 87 4.4 [X4]... [X10]... 89 4.4.1 [X4]... 92 4.4.2 [X5]... 94 4.4.3 STO [X6]... 95 4.4.4 [X7] [X8]... 96 4.4.5 I/O [X9]... 97 4.4.6 [X10]... 98 4.5 IP... 99 4 Festo GDCE-EMCA-EC-DIO-ZH 1702a
EMCA-EC-67-...-DIO 5... 100 5.1... 100 5.2 FCT (Festo Configuration Tool)... 100 5.2.1 FCT... 100 5.2.2 FCT... 101 5.2.3 FCT... 101 5.3... 103 5.3.1... 104 5.3.2... 105 5.4... 107 5.5... 109 5.6... 111 5.6.1... 111 5.6.2 STO... 112 5.6.3... 112 5.6.4 ( I/O)... 112 5.6.5 /... 114 5.6.6... 114 5.6.7 ()... 114 5.6.8 ()... 114 5.6.9... 115 5.7... 116 5.8... 117 5.8.1 :... 117 6... 118 6.1... 118 6.2 LED... 120 6.2.1... 120 6.2.2... 120 6.2.3... 120 6.2.4... 121 6.3... 122 6.3.1... 122 6.3.2,... 123 6.4... 135 6.5... 136 7... 137 7.1... 137 7.2... 138 7.3... 139 Festo GDCE-EMCA-EC-DIO-ZH 1702a 5
EMCA-EC-67-...-DIO 7.4... 139 7.4.1... 139 A... 140 A.1... 140 A.1.1... 140 A.1.2... 140 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 [X4]... 144 A.1.10 [X5]... 144 A.1.11 STO [X6]... 144 A.1.12 [X7] [X8]... 145 A.1.13 I/O [X9]... 146 A.1.14 [X10]( EMCA-EC-67-...-1TM)... 147 A.1.15... 147 B... 148... 149 6 Festo GDCE-EMCA-EC-DIO-ZH 1702a
EMCA-EC-67-...-DIO (GDCE-EMCA-EC-SY-...) EMCA () : EMCA-, A EC- EC 67-67 mm ( ) M- S- 1 24 V DC T E M - B- DIO I/O IP - (IP54) S1 IP65 Tab. 1 ( :EMCA-EC-67-M-1TEB-DIO ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 7
EMCA-EC-67-...-DIO EMCA-EC-67-S-1TE-DIO 8061196 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-DIO 8061196 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-DIO 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-DIO-ZH 1702a
EMCA-EC-67-...-DIO 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-DIO-ZH 1702a 9
EMCA-EC-67-...-DIO www.festo.com/pk : EMCA-... GDCE-EMCA-EC-DIO-... GDCE-EMCA-EC-S1-... FCT (PlugIn EMCA ) EMCA-EC_UL-... () (Safe torque off/sto) Festo (FCT), Underwriters Laboratories Inc. (UL) Tab. 5, Festo ( www.festo.com/sp) Festo, () www.festo.com/catalogue 10 Festo GDCE-EMCA-EC-DIO-ZH 1702a
1 1 1.1 1.1.1,,,,, 4,,,,, Festo GDCE-EMCA-EC-DIO-ZH 1702a 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-DIO-ZH 1702a
1 1.2 : (: ) : STO : GDCE-EMCA-EC-S1-... 1.2.1,:, 1.2.2 : ( A.1), 1.2.3 () : : Festo GDCE-EMCA-EC-DIO-ZH 1702a 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 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-DIO-ZH 1702a
2 2 2.1 : (EC ), () 6 1 2 5 4 3 1 2 3 EC Fig. 2.1 (EMCA-EC-67-...-DIO) 4 5 6 ( ) () ( Fig. 2.3) I/O Festo GDCE-EMCA-EC-DIO-ZH 1702a 15
2 2.1.1 EC,: () () 24 V DC 1) (), :: () I/O () 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-DIO-ZH 1702a
2 2.1.2 1 EMCA-... 1 EMCA-67-...-DIO 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 NEBM-L5G6-... IO NEBM-L5G18-... www.festo.com/catalogue Festo GDCE-EMCA-EC-DIO-ZH 1702a 17
2 2.1.3 1 9 2 8 3 4 5 7 6 1 2 3 4 EMCA 5 / Fig. 2.2 () 6 ( ESBF) 7 / () 8 Festo (FCT) PC 9 (PLC/IPC) 18 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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 (Upload) : PC (Download) : LED,, DHCP (DHCP Dynamic Host Configuration Protocol), IP :192.168.178.1 Festo GDCE-EMCA-EC-DIO-ZH 1702a 19
2 2.3 1 2 3 4 8 5 7 6 1 [X1]: ( M12) 2 LED (6x) 2 3 4 (4x) Fig. 2.3 5 ( Fig. 2.4) 6 (4x) M4 7 8 20 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 : 3 4 5 6 2 1 8 7 1 [X4]: 2 [X5]: 3 [X10]:( EMCA-EC-...-1TM) 4 [X6]: STO (Safe torque off) 5 [X7]: 1 1) 6 [X8]: 2 1) 7 [X9]:I/O 8 FE 1) FCT ( ) () Fig. 2.4 Festo GDCE-EMCA-EC-DIO-ZH 1702a 21
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 22 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 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-DIO-ZH 1702a
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-DIO-ZH 1702a 25
2 2.4.2, ( 2.4.1 ), (:) ( Tab. 2.16) (EMCA-EC-...-1TE) (EMCA-EC-...-1TM),,,, 7 ( 24 ) Festo EADA-A-9, 6, :, Tab. 2.7 : I/O ( 0 ) FCT( FCT ) Motion Complete, Motion Complete, Motion Complete, ( 2.6.1 ), ( ), 26 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 :FCT ( FCT Homing ) 1 2 3 1 REF 2 3 Fig. 2.5 Festo GDCE-EMCA-EC-DIO-ZH 1702a 27
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) CANopen CiA 402 V 3.0 Tab. 2.8, ( / ),,,,,,, () 1. 2. : ( Tab. 2.17) ( DD h ;-35) Tab. 2.9 28 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 1. 2. : ( Tab. 2.17) :( 22 h ;34) :( 21 h ;33) Tab. 2.10,, ( ),,,, ( ), / (: 3 mm) ()() (), (: ), : Festo GDCE-EMCA-EC-DIO-ZH 1702a 29
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 30 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 1. :, ( 2.), ( 2.) : : :,, 0x22 (FCT ) 2. :,, 3. : ( Tab. 2.17) :( 02 h ;02) :( 01 h ;01) Tab. 2.13 Festo GDCE-EMCA-EC-DIO-ZH 1702a 31
2 1. :, ( 2.), ( 2.) : : :,, :, 0x22(FCT ) 2. :, 3. : ( Tab. 2.17) :( 17 h ;23) :( 1B h ;27) Tab. 2.14 32 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 1. :, ( 2.), ( 2.) : : :,, :, 0x22(FCT ) 2. :,, 3. : ( Tab. 2.17) :( 07 h ;7) :( 0B h ;11) Tab. 2.15 Festo GDCE-EMCA-EC-DIO-ZH 1702a 33
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 34 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.4.3,,, : (:) (: ) () : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay), Tab. 2.18 ( Fig. 2.6): ( + -),,,,, Festo GDCE-EMCA-EC-DIO-ZH 1702a 35
2 t1 (+ -) t v Motion Complete a t t t t1: Fig. 2.6 2.4.4, I/O, PA ( ) FCT, : ; PA ( ) PLC EMCA, I/O FCT FCT, FCT : 1. ( : 2.4.3 ) 2., 36 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 FCT FCT PlugIn FCT PlugIn 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,,, ( 2.6.1,) Tab. 2.20,,,() Festo GDCE-EMCA-EC-DIO-ZH 1702a 37
2 a Start t v t s t Fig. 2.7 Motion Complete : 0 mm/s t ( 2.5,, ), 0 0, 38 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 Motion Complete() = 0, 0,, ( 2.6.1 ), Tab. 2.21 (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) MC (MC visible), ( Tab. 2.32), () ( ) ( ), ( Fig. 2.16) ( 2.6.2 ) ( 2.6.2 ), ( 2.6.2 ) ( 2.6.2 ) ( 2.5.2 ), ( 2.5.2 ) Motion Complete ; ( 2.5.2 ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 39
2 (Final Velocity) (Following Set), ; ( 2.5.2 ) 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 ),, ( 2.6.1,) ( 2.5,, ), 0 0 40 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 Motion Complete (),, Tab. 2.24,, : (Stroke Limit) Tab. 2.25,, : Quick-Stop, Motion Complete ( Fig. 2.8 Fig. 2.10), Festo GDCE-EMCA-EC-DIO-ZH 1702a 41
2 : - s v t t Fig. 2.8 Motion Complete () - t t 42 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 : - s v t t Fig. 2.9 Motion Complete () - t t Festo GDCE-EMCA-EC-DIO-ZH 1702a 43
2 : - s v t t Motion Complete () Fig. 2.10 - t t Tab. 2.22 2.4.7 / / ( ), 44 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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 Festo GDCE-EMCA-EC-DIO-ZH 1702a 45
2 Tab. 2.22 2.4.8 (),Quick-Stop (),, (): Stop [X9.15] Stop ()( /) ()... /, () : Motion Complete () ( 2.8.8 ), ( 2.8.9 ) : Motion Complete, /, () : Motion Complete, Tab. 2.29 Quick-Stop () Quick-Stop, Quick-Stop Quick-Stop : Quick-Stop,( ) Quick-Stop- ( ) ( /) 46 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.4.9 ( EMCA-EC-...-...-B) EMCA-EC-...-B EC /,,,,, EMCA-EC-...-B,,, : FCT( ) Brake control/delete remaining path ( FCT Motor Brake control ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 47
2 : 1. ( = ) 2.,, 3. : 1., Quick Stop 0, 2., 3. Tab. 2.30, Tab. 2.22 48 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.5 64 ( 1 64) 0, PLC,, : (: FCT),, ( Tab. 2.32) () MC Tab. 2.31, ( Tab. 2.33) 2.5.1 :,, ( Tab. 2.32) (Ignore) (Delay) (Interrupt) MC () ( Motion Complete ) Tab. 2.32 Festo GDCE-EMCA-EC-DIO-ZH 1702a 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-DIO-ZH 1702a
2 : ( A)( B) B A t O B t Motion Complete Fig. 2.13 t Festo GDCE-EMCA-EC-DIO-ZH 1702a 51
2 2.5.2, ( ),, : : (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) 1) Tab. 2.33 (),, Motion Complete, 0, Motion Complete,,: : (Condition)..., Motion Complete Tab. 2.34 (Condition)... Motion Complete........./... 52 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 53
2 2.6,EMCA,: 2.6.1 [X9.8] ( Tab. 2.55) Motion Complete () (Following error) (Standstill monitoring) (Comparator) () : ( Fig. 2.16) ( Fig. 2.17), : 0, : ( 2.6.2 ) Tab. 2.35 54 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 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-DIO-ZH 1702a
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-DIO-ZH 1702a 57
2 2.6.2, :,,, ( :), ( 2.5, ),( ) ( Tab. 2.47),,,, 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator), 1), Tab. 2.36 () 58 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2,: ( š ) (),, / ( ) 1) ( ) 1), 1) (), : : 50 40 mm, 50 mm, 40 mm Tab. 2.37, 2, : ( š ) (),, / ( ) 1) ( ) 1), 1), Tab. 2.38 Festo GDCE-EMCA-EC-DIO-ZH 1702a 59
2 2, : ( š ) (),, / ( ) 1) ( ) 1), 1), Tab. 2.39, : ( š ), ( ) 1) ( ) 1) 1), Tab. 2.40 60 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.6.3 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. 2.42.), Tab. 2.41 Festo GDCE-EMCA-EC-DIO-ZH 1702a 61
2 2.6.4 FCT,( FCT Error Management ), (Error) (Warning) (Information) ( :Quick-Stop ), LED ( 6.2 ) FCT ( FCT ),, LED ( 6.2 ) LED Tab. 2.42 (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. 2.43 (Save Diagnosis) FCT 62 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.6.5 EMCA, FCT ( 2.6.4 ), 200, (FIFO ) : FCT( FCT ) ( 5.5 6.1 ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 63
2 2.7 ( 2.7.1 ) : EMCA-EC...-DIOI/O 4 2.7.1 [X1] ( ) [X1] : FCT ( 5.2 FCT ) ( 5.5 6.1 ), FCT ( 5.7 ) : PC Tab. 2.44 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. 2.45 IP 64 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 FCT (),, IP, FCT IP IP PC IP, IP ( LED ),, 2.7.2 STO [X6] STO [X6] 2 ( (Safe torque off/ STO)) STO (Safe torque off) GDCE-EMCA-EC-S1-... STO STO,GDCE-EMCA-EC-S1-... 2.7.3 / (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) [X9.16] Control enable/ Acknowledge error [9.17] (do not connect) :, ( 2.8.3 ) :( 2.8.4 ) : ; ( 2.8.3 ) 1) FCT ( ) () Tab. 2.46 [X6] [X7] [X8] [X9] Festo GDCE-EMCA-EC-DIO-ZH 1702a 65
2 (2) [X9.7] Ready :(/ );, : Control enable/acknowledge error : Stop :, 2 : (: ) () [X9.8] configurable FCT, Tab. 2.55 Tab. 2.47 [X9] I/O, Control enable/acknowledge error,, Control enable/acknowledge error FCT,,, ( = ), (Quick Stop) v = 0, Ready,, 66 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.7.4 /( 0/1) EMCA-...-DIO [X9] (DIN) (DOUT) / Control mode 0/1 ( 2.8.2 ) : (10) [X9.x] 0 1 ( ) / [X9.12] Control mode 0/1 = 0 Control mode 0/1 = 1 [X9.1] Record selection 1 [X9.2] Record selection 2 [X9.3] Record selection 4 [X9.4] Record selection 8 [X9.5] Record selection 16 [X9.6] Record selection 32 Jog+ [X9.13] Start Teach [X9.14] Brake control/delete remaining path Jog [X9.15] Stop Tab. 2.48 [X9] : (2) [X9.x] 0 1 ( ) / [X9.10] Acknowledge Setpoint Acknowledge [X9.11] Motion Complete Tab. 2.49 [X9] Festo GDCE-EMCA-EC-DIO-ZH 1702a 67
2 ( 0)/ [X9.12] Control mode 0/1 : 0() [X9.1] [X9.6] Record selection 1 32 ( ) 6 64 ( 0 63) 0 [X9.13] Start : [X9.14] Brake control/delete remaining path : : : : [X9.15] Stop : / : (/) [X9.10] Acknowledge [X9.13] : : : [X9.11] Motion Complete (): : : Tab. 2.50 ( 0) ( 0) Record selection 1... 32... 32 (2 5 )... 16 (2 4 )... 8 (2 3 )... 4 (2 2 )... 2 (2 1 )... 1 (2 0 ) 0 0 0 0 0 0 0 1) 0 0 0 0 0 1 1 0 0 0 0 1 0 2 0...... 0 1 1 1 1 1 31...... 1 1 1 1 1 0 62 1 1 1 1 1 1 63 1) (Homing) Tab. 2.51 0() 68 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 / ( 1)/ [X9.12] Control mode 0/1 : 1(/) [X9.1] [X9.5] Record selection 1 16 ( ) 5 31 ( 1 31) [X9.6] Jog+ : : : [X9.13] Teach : ( [X9.10]) : ( [X9.10]) [X9.14] Jog : : : [X9.15] Stop : : [X9.10] Setpoint Acknowledge [X9.13] : : : [X9.11] Motion Complete (): : : Tab. 2.52 1 /( 1) Record selection 1... 16... 16 (2 4 )... 8 (2 3 )... 4 (2 2 )... 2 (2 1 )... 1 (2 0 ) 0 0 0 0 1 1 0 0 0 1 0 2...... 1 1 1 1 1 31 Tab. 2.53 1(/) Festo GDCE-EMCA-EC-DIO-ZH 1702a 69
2 2.8 / 2.8.1, 1 s (t1), ( 2.8.4) 1 2 3 Stop (DIN) Control enable/acknowledge error (DIN) t1 Ready (DOUT) t2 t1 1s : t2: 1 2 Fig. 2.18 3 70 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.2 I/O Control mode 0/1 I/O : [X9.12] Control mode 0/1 0; 1;/ Tab. 2.54 I/O, (Quick Stop), t Control mode 0/1 (DIN) 1 0 t t t 2ms Fig. 2.19 : I/O Festo GDCE-EMCA-EC-DIO-ZH 1702a 71
2 2.8.3 Control enable/acknowledge error ( EMCA-EC-...-...-B): ( 2.4.9 ) 2.4.9 2.8.12 1 2 3 4 5 Stop (DIN) Control enable/acknowledge error (DIN) Quick-Stop V = 0 Ready (DOUT) t1 t2 : t1: t2: 1 2 3 () Fig. 2.20 : 4, 5 72 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.4, Ready Low : Festo Configuration Tool (FCT) FCT ( 2.6.4),:,(: ) : Festo ( FCT ) Control enable/acknowledge error 1 2 3 4 Control enable/acknowledge error (DIN) Ready (DOUT) 1 2 Fig. 2.21 3 4, (Power OFF/ON), Festo GDCE-EMCA-EC-DIO-ZH 1702a 73
2 2.8.5, Record selection 1 32 0 Start, Motion Complete 1 2 Ready (DOUT) Control mode 0/1 (DIN) Record selection 1 32 (DIN) 0 = t Start (DIN) Acknowledge (DOUT) t () Motion Complete (DOUT) t : t 2 ms 1 2 Fig. 2.22 0; 74 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.6,( 1) I/O 31,, 1 2 3 4 Control enable/acknowledge error (DIN) Stop (DIN) Ready (DOUT) Control mode 0/1 (DIN) Jog+ (DIN) Motion Complete (DOUT) Record selection 1 16 (DIN... ) t Teach (DIN) Setpoint Acknowledge (DOUT) t t 2 ms 1 2 Fig. 2.23, 3 4 Festo GDCE-EMCA-EC-DIO-ZH 1702a 75
2 2.8.7 ( 0) Record selection 1 32 0 Start () Acknowledge MC Motion Complete ( 2.5.2), (Start Condition) ( Tab. 2.32) 0, 1 2 Ready (DOUT) Control mode 0/1 (DIN) Record selection 1 32 (DIN...) t Start (DIN) Acknowledge (DOUT) Motion Complete (DOUT) t 2 ms 1 2 (Motion Complete) Fig. 2.24 ( 0) 76 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.8 ( 0) 1 2 3 4 Control enable/acknowledge error (DIN) Stop (DIN) Ready (DOUT) Control mode 0/1 (DIN) Record selection 1 32 (DIN...) t Start (DIN) Acknowledge (DOUT) Motion Complete (DOUT) t 2 ms 1 2 () Fig. 2.25 : 3 4 (Motion Complete) Festo GDCE-EMCA-EC-DIO-ZH 1702a 77
2 2.8.9,( 0)) 1 2 3 4 Control enable/acknowledge error (DIN) Stop (DIN) Ready (DOUT) Brake control/delete remaining path (DIN) Control mode 0/1 (DIN) Record selection 1 32 (DIN...) t Start (DIN) Acknowledge (DOUT) Motion Complete (DOUT) t 2 ms 1 2 () Fig. 2.26 :, 3 4 (Motion Complete) 78 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.10 1 2 3 Control enable/acknowledge error (DIN) Stop (DIN) Ready (DOUT) Control mode 0/1 (DIN) Record selection 1 32 (DIN ) x t y t Start (DIN) Acknowledge (DOUT) Motion Complete (DOUT) t 2 ms 1 x 2 x y y : Fig. 2.27 = 3 ( y) Festo GDCE-EMCA-EC-DIO-ZH 1702a 79
2 2.8.11 [X9.8] : (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete ( ) Motion Complete ( ),,,,,,,,, 1) ( ),, 2) I²t I²t 1) 2.6.2 2) 2.6.3 Tab. 2.55 80 Festo GDCE-EMCA-EC-DIO-ZH 1702a
2 2.8.12 ( EMCA-EC-...-...-B),, Brake control/delete remaining path,: ( 2.4.9) 2.4.9 Festo GDCE-EMCA-EC-DIO-ZH 1702a 81
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 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. 3.1 82 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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. Festo GDCE-EMCA-EC-DIO-ZH 1702a 83
3 ( A.1.5) (: ), 1. 2. EMCA ( ) 3. (4x) 84 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 4 4.1, EN 60204-1 (Protective Extra-Low Voltage) EN 60204-1 (PELV) EN 60204-1 :,,, (EMV) ( Tab. 4.1), Festo GDCE-EMCA-EC-DIO-ZH 1702a 85
4 4.2 EMC :, ( ),( ) : EMV,:, 90 ( Tab. 4.1) [m] [X1] 100 1),4 ; ( Tab. 4.4) [X4] 30, ( Tab. 4.7) [X5] 3 [X6] STO 30 [X7] [X8] / 3 [X9] I/O 30 [X10] 3 1) Tab. 4.1 EMV 86 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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] ( ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 87
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] 88 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 4.4 [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 4-794636-8 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 1-794617-8 ZHR-2 91501-1 (AWG24... AWG20) 91502-1 (AWG30... AWG26) SZH-002T- P0,5 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. 4.5 0.08... 0.13 (AWG28... AWG26) Festo GDCE-EMCA-EC-DIO-ZH 1702a 89
4, / ( Tab. 4.5) : Festo NEBM-... ( www.festo.com/catalogue), 1., ( /) 2.,( 4.4.1 4.4.5 ) 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) 90 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 : 1. 2. EMCA,, : 1.,( (SW) 2.5 mm), 2. 3. ( Fig. 4.1, 3 ) 4. - 5. ( 4.4.1 4.4.5 ) 6., :,, 7. 8. 9. 4 1.5 Nm Festo GDCE-EMCA-EC-DIO-ZH 1702a 91
4 4.4.1 [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. 4.6 [X4],( ) - FE, : (6.3 x 0.8 mm²) Tab. 4.7 (FE) 92 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 93
4 4.4.2 [X5] EMCA,, ( Tab. 2.41), [X5] 1 ZK + R BR 6 Ω 2 BR-CH Tab. 4.8 [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W) 94 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 4.4.3 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. 4.9 STO (Safe torque off) [X6] Festo GDCE-EMCA-EC-DIO-ZH 1702a 95
4 4.4.4 [X7] [X8] [X7] [X8] 3 ( Tab. 4.10 Tab. 4.11), 2 1 1 [X7] 1 +24 V DC 24 V, 1( FCT, ) 2 Switch 1 1 3 GND 0 V Tab. 4.10 1 [X7] [X8] 1 +24 V DC 24 V, 2( FCT, ) 2 Switch 2 2 3 GND 0 V Tab. 4.11 2 [X8] 96 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 4.4.5 I/O [X9] I/O [X9] [X9] 1) 0 1 1 DIN Record selection 1 2 DIN Record selection 2 3 DIN Record selection 4 4 DIN Record selection 8 5 DIN Record selection 16 6 DIN Record selection 32 Jog+ 7 DOUT Ready 8 DOUT configurable 9 24 V DC, [X4.1] 10 DOUT Acknowledge Setpoint Acknowledge 11 DOUT Motion Complete 12 DIN Control mode 0/1 = 0 Control mode 0/1 = 1 13 DIN Start Teach () 14 DIN Brake control/delete remaining Jog path 15 DIN Stop 16 DIN Control enable/acknowledge error 17 (do not connect) 18 GND() 1) DIN = ;DOUT = Tab. 4.12 I/O (PNP ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 97
4 4.4.6 [X10] (EMCA-EC-...-1Tm), ( 7 ) EADA-A-9 6 ( Tab. 2.7) [X10] 1 + EADA-A-9 2 (GND) Tab. 4.13 [X10],( EMCA-EC-...-1TM) Festo EADA-A-9 98 Festo GDCE-EMCA-EC-DIO-ZH 1702a
4 4.5 IP IP ( www.festo.com/catalogue)! M12 O, IP ( ): [X1]: ISK-M12 ( [X4] [X10]),,! www.festo.com/catalogue Festo GDCE-EMCA-EC-DIO-ZH 1702a 99
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) 100 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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 Festo GDCE-EMCA-EC-DIO-ZH 1702a 101
5 Adobe Reader PDF Festo (FCT) Festo ( www.festo.com/sp), ( ) FCT,,,,,, FCT,, IP FCT ( FCT [Component] [Firmware Download]) 102 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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 ( 2.7.1 ) : Festo NEBC-D12G4-... ( www.festo.com/catalogue) Fig. 5.1 DHCP DHCP PC PC () Windows : IP DNS Festo GDCE-EMCA-EC-DIO-ZH 1702a 103
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... ) : 1., 2. [Network], 3., OK : 1. [Component] [Online] [Setup Network Settings...], 104 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 2., OK, ( 2.7.1 ) 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 ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 105
5... FCT,,FCT,, FCT FCT Web, Tab. 5.2 HTTP, (Cache) 106 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 5.4 : () ( ),,: FCT, (),,, :, : FCT,,, 3 : FCT 2 1 FCT 2,,, Tab. 5.3, FCT,, Festo GDCE-EMCA-EC-DIO-ZH 1702a 107
5,, (Quick-Stop) FCT (Device Control: FCT ),,, Tab. 5.4, FCT: Device Control Operate FCT FCT, Enable FCT, /Time-out FCT, FCT, FCT Error Management ( 0x32) 1 s, 108 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 5.5 IP ( 2.7.1, Tab. 2.45) 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 (Status) I/O (Basic I/O Interface) I/O (I/O Interface) I/O I/O Festo GDCE-EMCA-EC-DIO-ZH 1702a 109
5 / (Parameter Up-/Download) (Diagnostic Memory) ( 5.7 ) ( 6.1 ) Tab. 5.5 110 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 5.6 1. ( 3 ) 2. ( 4 ) 3. FCT ( PlugIn EMCA ) 4. 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. /(:),, 1. ( FCT [Application Data] [Environment] Inverse Rotation Polarity ) 2. ( 2.4.2 ) 3. ( PlugIn EMCA ) 4. (, PlugIn EMCA ) 5. ( PlugIn EMCA ) 5.6.1 Festo, PlugIn, :, FCT PlugIn Festo GDCE-EMCA-EC-DIO-ZH 1702a 111
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 112 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 GDCE-EMCA-EC-S1-... STO 1 STO 2 [X6] EMCA 4 5 24 V DC 1) Control enable/acknowledge error (DIN) Control mode 0/1 (DIN) Stop (DIN) Brake control/delete remaining path Jog (DIN) Record selection 1 (DIN) Record selection 2 (DIN) Record selection 4 (DIN) Record selection 8 (DIN) Record selection 16 (DIN) Record selection 32/Jog+ (DIN) Start/Teach (DIN) [X9] 16 12 15 14 1 2 3 4 5 6 13 Acknowledge/Setpoint Acknowledge (DOUT) Motion Complete (DOUT) 2) Ready (DOUT) configurable (DOUT) 2) 10 11 7 8 1) 2) ; Festo (FCT) (: ) Fig. 5.3 :/ Festo GDCE-EMCA-EC-DIO-ZH 1702a 113
5 5.6.5 / FCT Manual Move,, ( FCT ) : STO Control enable/acknowledge error EMCA FCT ( FCT Device Control FCT ) ( FCT Device Control Enable ) ( ) ( FCT Application Data Environment Inverse Rotation Polarity ) 5.6.6 :,, FCT Homing : STO Control enable/acknowledge error EMCA FCT ( FCT Device Control FCT ) ( FCT Device Control Enable ) 5.6.7 () FCT,, FCT,: PlugIn EMCA 5.6.8 () Festo : FCT-PlugIn,: PlugIn EMCA ( PlugIn EMCA ) 114 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 5.6.9 : FCT [...] [Controller] [I/O Configuration],, (FCT: Store) FCT (Download),, : :( PlugIn EMCA ) ( PlugIn EMCA ) :( 5.7 ) Festo GDCE-EMCA-EC-DIO-ZH 1702a 115
5 5.7, *.fpf : () (): FCT( FCT [Component] [Online] [Backup Recovery...] :,, (Upload) (Download) Parameter Up-/Download ( Fig. 5.4 5.5 ): Fig. 5.4 / EMCA PC, PC Tab. 5.6 / FCT, ( FCT [Component] [Import/Export]) 116 Festo GDCE-EMCA-EC-DIO-ZH 1702a
5 5.8 I/O 2.8 5.8.1 :, :, 100,000 : Store FCT / FCT I/O,, FCT ( FCT, [Controller] [I/O Configuration]) Festo GDCE-EMCA-EC-DIO-ZH 1702a 117
6 6 2.6.4 FCT, Error Management,, Ready Low,:,, :,,: 6.3.2 : Festo ( FCT ) Control enable, (Power OFF/ON), 6.1 ( 2.6.5 ): FCT ( FCT Diagnosis ) 1) 1) 5.5 Tab. 6.1 Diagnostic Memory ( ) 118 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 Fig. 6.1 (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) () ( 2.6.4 ) 2.6.4, (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-DIO-ZH 1702a 119
6 6.2 LED 2 1 1 OK-LED () 2 ERROR LED () Fig. 6.2 LED(:EMCA-EC-67-S-1TE-DIO ) 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. 6.5 120 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 6.2.4 LED LED / OK, ERROR 1) 1) 10 Tab. 6.6, Festo Festo GDCE-EMCA-EC-DIO-ZH 1702a 121
6 6.3 FCT, ( 2.6.4 ) 6.3.1 ( 6.3.2 ) : No....,(FCT ) F/W/I = //( 2.6.4 ) ( 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 ( ) 122 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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/-/- : Festo GDCE-EMCA-EC-DIO-ZH 1702a 123
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 124 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 0Ch (Firmware update execution error) :F/-/- : PC,, :, :A 0Dh (Overcurrent) :F/-/- :, FCT ( ) : : () : :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B, C Festo GDCE-EMCA-EC-DIO-ZH 1702a 125
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 126 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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/-/- : Festo GDCE-EMCA-EC-DIO-ZH 1702a 127
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 :, 128 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 22h (Homing) :F/-/- : /, (?), : :B, C, E, F 23h (No index pulse found) :, :, :B, C, E, F 25h (Path calculation) :F/-/- : :F/-/- : : : :A 27h (Save parameters) :F/-/- : :?, Festo : :F,G Festo GDCE-EMCA-EC-DIO-ZH 1702a 129
6 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 2Bh, (Firmware update, invalid firmware) :F/-/- : :F/-/- : :F/W/- : Festo : :A :, 130 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 2Dh I²t (I²t warning motor) :-/W/I : I²t : I²t 80 %, 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 :, Festo GDCE-EMCA-EC-DIO-ZH 1702a 131
6 32h FCT, (FCT connection with master control) FCT, : :B, C, D, E, F, G 33h (Output stage temperature warning),, :F/-/- : :-/W/I : :, 34h (STO) (Safe Torque Off (STO)) :F/W/I : Safe Torque Off STO : :0 : STO, 37h (Standstill monitoring) :-/W/I : :, 38h (Parameter file access) :F/-/- :, 2 3 s : :F,G 39h (Trace warning) :, :-/W/- : 132 Festo GDCE-EMCA-EC-DIO-ZH 1702a
6 3Dh (Start-up event) :-/-/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 43h FCT, (FCT connection without master control) FCT,:, : FCT, :F/-/- : :-/W/I : Festo GDCE-EMCA-EC-DIO-ZH 1702a 133
6 44h (Parameter file not compatible with firmware) :-/W/I :,, :, 4Ah (STO) (Safe Torque Off (STO) discrepancy time ) :F/W/I : STO1 STO2, : :0 : STO, 4Dh (Bootloader memory error) :F/-/- :, :, :A 4Eh 24V (Overload 24V Outputs) 24 V STO : :A, B 4Fh (System information) :F/-/- : :-/-/I : 134 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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. 2.45) PC IP Windows(:Windows 7) 1. [] [] [] [ ] [] 2. [] [] 3. [Internet 4] 4., Internet 4 PC IP 5. EMCA IP ( ) : IP IP DHCP ( Tab. 2.45), 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-DIO-ZH 1702a 135
6 6.5 EMCA EMCA EMCA () EMCA FCT-PlugIns Tab. 6.9 136 Festo GDCE-EMCA-EC-DIO-ZH 1702a
7 7 7.1,,,,, :, Festo GDCE-EMCA-EC-DIO-ZH 1702a 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-DIO-ZH 1702a
7 7.3, 7.4 7.2 7.4.1 RoHS Festo GDCE-EMCA-EC-DIO-ZH 1702a 139
A A A.1 A.1.1 EMCA-EC-67-... EMCA PWM-MOSFET-, P PI PI, TCP/IP I/O I²t Tab. A.1 : A.1.2 EMCA-EC-67-... CE ( www.festo.com/sp) EU 2006/42/EG 2014/30/EU 1) RCM 2) c UL us Recognized (OL) 2) 1),:, 2) Tab. A.2 : 140 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 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 [rpm] 3100 3150 [rpm] 3500 3300 [kg cm²] 0.175 0.301 [N] 60 60 [N] 100 100 Tab. A.5 142 Festo GDCE-EMCA-EC-DIO-ZH 1702a
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-DIO-ZH 1702a 143
A A.1.9 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab. 4.5 [V DC] 24 [%] ±20 [A] 6.9 7.2 [A] 10.2 10.3 (Protected Extra-Low Voltage) Tab. A.9 : [X4] A.1.10 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-...,:CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.10 : [X5] A.1.11 STO [X6] STO [X6] STO,GDCE-EMCA-EC-S1-... 144 Festo GDCE-EMCA-EC-DIO-ZH 1702a
A A.1.12 [X7] [X8] [X7] [X8] EMCA-EC-67-... [m] l 3 Tab. 4.5 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC 61131-2 Tab. A.11 [X7] [X8] Festo GDCE-EMCA-EC-DIO-ZH 1702a 145
A A.1.13 I/O [X9] I/O [X9] EMCA-EC-67-... [m] l 30 Tab. 4.5 [V DC] 24 [X9] [ma] 100 11 [V DC] 24 PNP() IEC 61131-2 4 [ma] 100 PNP() Tab. A.12 :I/O [X9] 146 Festo GDCE-EMCA-EC-DIO-ZH 1702a
A A.1.14 [X10]( EMCA-EC-67-...-1TM) [X10] EMCA-EC-67-... [m] 3 Tab. 4.5 [V DC] 9 Tab. A.13 [X10]] A.1.15 6 1 2 5 4 2 2 3 EMCA-EC-67-... 1 ()3 2 NBR 4 5 6 Tab. A.14 : Festo GDCE-EMCA-EC-DIO-ZH 1702a 147
B B / AZ (= Axis Zero point) DIN DOUT EMC FCT I/O( ) MC() PZ (= Project Zero point) REF (= REFerence point) PLC/IPC (Jog Mode) 2.4.1 (digital input) (digital output) (FCT = Festo Configuration Tool) (input/output) Motion Complete() 2.4.1 2.4.1 2.4.1,( ) 2.4.1 / PC 2.4.3 2.4.4 Tab. B.1 148 Festo GDCE-EMCA-EC-DIO-ZH 1702a
EMCA-EC-67-...-DIO D DHCP... 64 E EMC... 148... 86... 86 F FCT... 8, 19, 148 Festo Configuration Tool (Festo )... 19, 148 I I²t... 61 IP... 103, 135 L LED... 120 M Motion Complete... 54 P PLC... 148 Product Key()... 8 Q Quick-Stop... 46, 62 S Serial Number( )... 8 STO (Safe torque off)... 95 W Web... 19, 108, 109... 112... 11... 84 EMC... 86... 12... 8... 61... 54... 147... 23, 24... 96... 28... 89... 8... 82... 102... 62... 122... 86... 35, 75 /( 1)... 69 /... 69... 22... 98... 61... 86... 89... 61... 111... 37... 23, 24 Festo GDCE-EMCA-EC-DIO-ZH 1702a 149
EMCA-EC-67-...-DIO... 8... 139... 20... 8... 62... 123... 73... 22, 26, 74... 140... 112... 102... 62... 62... 54, 57... 107 /... 44, 45... 90... 105 0/1... 67, 71... 86... 76... 22... 25... 117... 60... 75... 89... 59... 40... 26... 81, 143... 104... 139... 59... 61... 7... 25... 96... 23, 24 150 Festo GDCE-EMCA-EC-DIO-ZH 1702a
EMCA-EC-67-...-DIO... 62 Motion Complete... 55... 57... 56... 41... 23... 89... 87... 114... 13... 63, 118... 122 ( 0)... 68... 68... 52... 94... 144... 61... 8... 54, 56... 46... 23, 24... 62... 60 Festo GDCE-EMCA-EC-DIO-ZH 1702a 151
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