EMCA-EC-DIO_BES_E_ c_ k1
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1 EMCA-EC DIO Modbus TCP c [ ]
2 EMCA-EC DIO EMCA-EC-DIO-KO Adobe Reader, CANopen, CiA, Firefox, Internet Explorer, JST, MODBUS Tyco Electronics ( ). : :, : 1. / 2 Festo EMCA-EC-DIO-KO c
3 EMCA-EC DIO EMCA-EC DIO ( ) FCT(Festo Configuration Tool) / (), (Quick-Stop) (EMCA-EC B ) Festo EMCA-EC-DIO-KO c 3
4 EMCA-EC DIO [X1] STO [X6] I/O I/O , ( 1) ( 0) , ( 0) , ( 0) (EMCA-EC B ) EMV [X1] [X4]... [X10] [X4] [X5] STO [X6] [X7], [X8] I/O [X9] [X10] IP Festo EMCA-EC-DIO-KO c
5 EMCA-EC DIO FCT(Festo Configuration Tool) FCT FCT FCT STO ( I/O) / ( ) () LED , ,, Festo EMCA-EC-DIO-KO c 5
6 EMCA-EC DIO A A A A A A A A A.1.7 (EMCA-EC B ) A.1.8 [X1] A.1.9 [X4] A.1.10 [X5] A.1.11 STO [X6] A.1.12 [X7], [X8] A.1.13 I/O [X9] A.1.14 [X10] (EMCA-EC TM ) A B Festo EMCA-EC-DIO-KO c
7 EMCA-EC DIO (EMCA-EC-DIO-...) EMCA,.,,,.. ( ). : EMCA-, A EC- EC mm ( ) M- S V DC T E M - B- DIO I/O IP - (IP54) S1 IP65 Tab. 1 ( EMCA-EC-67-M-1TEB-DIO) Festo EMCA-EC-DIO-KO c 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 FN98 123456789... n G [rpm] 3100 M N [Nm] 0.](/docs-images/91/106292620/images/8-0.jpg "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 Tab. 1 EMCA 1.2.0 1.2.0 FCT EMCA Festo ( www.festo.com/sp). FCT ( www.festo.com/sp). Festo. ( Tab.")
8 EMCA-EC DIO EMCA-EC-67-S-1TE-DIO FN n G : 3100 rpm M N : 0.37 Nm U N : 24 V DC I N : 5.7 A IP54 EMCA-EC-67-S-1TE-DIO FN 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 FCT : Tab. 1 EMCA FCT EMCA Festo ( FCT ( Festo. ( Tab. 2) ( ). 8 Festo EMCA-EC-DIO-KO c
9 EMCA-EC 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 ) O 10 N 11 D 12 Tab. 4 Festo EMCA-EC-DIO-KO c 9
10 EMCA-EC DIO : EMCA-... EMCA-EC-DIO-... EMCA-EC-S1-... EMCA-EC-C-HP-... FCT (EMCA ) EMCA-EC_UL-... ( ) "(Safe torque off/sto) FHPP (Festo Handling and Positioning Profile) Festo (Festo Configuration Tool, FCT). (UL) Tab. 5 Festo ( Festo, () 10 Festo EMCA-EC-DIO-KO c
11 ,.., Festo EMCA-EC-DIO-KO c 11
12 (),.. (EMCA-EC B). /. : ( A.1).,.,. (Safe torque off/sto). STO(Safe torque off) EMCA-EC-S STO. STO, EMCA-EC-S Festo EMCA-EC-DIO-KO c
13 ( : ). :,, STO : EMCA-EC-S : : ( A.1) ( ) : : Festo EMCA-EC-DIO-KO c 13
14 ( A.1). EU. 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 /42/EG DIN EN : /30/EU DIN EN : Tab Festo EMCA-EC-DIO-KO c
15 : (EC ) ( ), EC Fig. 2.1 (EMCA-EC DIO) ( )... ( Fig. 2.3). FCT. FHPP Modbus TCP I/O. Festo EMCA-EC-DIO-KO c 15
16 EC ( ) () 24 V DC 1) (), :, I/O STO(Safe torque off) 1) ( Tab. 2.1 EMCA 24 V DC FCT LED,, FCT : I/O (Internet Explorer Firefox) 16 Festo EMCA-EC-DIO-KO c
17 EMCA EMCA DIO UL : EMCA-EC_UL Tab. 2.2 EMCA : EAMM-A EADA-A-9(EMCA-EC-67-1TM ) CACR-LE2-6-W60 ( ) EADS-F EAMF-A EAMM-U EMGC NEKM-C( ) NEBC-D12G4-... NEBM-L4G2-... STO NEBM-L5G6-... IO NEBM-L5G Festo EMCA-EC-DIO-KO c 17
18 PELV 3 4 EMCA 5 / Fig. 2.2 ( ) 6 ( ESBF) 7 / ( ) 8 Festo (Festo Configuration Tool, FCT) PC 9 (PLC/IPC) 18 Festo EMCA-EC-DIO-KO c
19 FCT(Festo Configuration Tool) Festo (Festo Configuration Tool, FCT) Festo, windows. FCT EMCA. FCT : ( EMCA),. EMCA,. (EMCA ) PC.. FCT : / ( ): ( ) (Firmware Download) (, ) Festo FCT 5. FCT : (, ) I/O ( ) PC LED DHCP (DHCP, Dynamic Host Configuration Protocol ) IP : Festo EMCA-EC-DIO-KO c 19
20 [X1]: ( M12) 2 LED (6x) (4x) Fig ( Fig. 2.4) 6 (4x) M Festo EMCA-EC-DIO-KO c
21 [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 EMCA-EC-DIO-KO c 21
22 2 2.4 EMCA ( ) EMCA (,, ) ( ) / Tab. 2.3 ; Festo EMCA-EC-DIO-KO c
23 ( ): (+). ( ). 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 : (+) (SLP) 1) 1 2 ( ) 3 1). Tab. 2.4, ( ). Festo EMCA-EC-DIO-KO c 23
24 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 (+) (SLP) 1) 1 ( ) 2 ( ) 1). Tab. 2.5, 24 Festo EMCA-EC-DIO-KO c
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 ) FCT... SLN/SLP. AZ.... SLN/SLP : 11 h, 12 h, 13 h, 14 h, 29 h, 2A h. FCT. Festo EMCA-EC-DIO-KO c 25
26 ( ). (: ). ( Tab. 2.16).. (EMCA-EC-...-1TE) (EMCA-EC-...-1TM) ( 24). Festo EADA-A Tab. 2.7 : I/O ( 0 ) FCT ( FCT ) Motion Complete. Motion Complete. Motion Complete. ( ). ( ).. 26 Festo EMCA-EC-DIO-KO c
27 2 : FCT ( FCT, Homing ) REF 2 3 Fig. 2.5 Festo EMCA-EC-DIO-KO c 27
28 2 REF.. CiA 402 1) DD h (+) 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 ( /, ), ( ) : ( Tab. 2.17). ( DD h ; -35) Tab Festo EMCA-EC-DIO-KO c
29 : ( Tab. 2.17). : (+) ( 22 h ; 34) : (-) ( 21 h ; 33) Tab ( )... (, ). / ( 3 mm)... () ( ).. ( ) ( ). :. Festo EMCA-EC-DIO-KO c 29
30 2 1. : 1) ( ):. : EMCA,. 2. :. 3. 2) : (+) ( EE h ; -18) : (-) ( EF h ; -17) 1). 2) ( Tab. 2.17). Tab :. ( 2.). ( 2.). : :. :,, 0x22(FCT ). 2. :.. 3. : ( Tab. 2.17). : (+) ( 12 h ; 18) : (-) ( 11 h ; 17) (+) (-) Tab Festo EMCA-EC-DIO-KO c
31 2 1. :. ( 2.). ( 2.). : :. :,, 0x22(FCT ). 2. :.. 3. : ( Tab. 2.17). : (+) ( 02 h ; 02) : (-) ( 01 h ; 01) (+) (-) Tab Festo EMCA-EC-DIO-KO c 31
32 2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 17 h ; 23) : (-) ( 1B h ; 27) Tab Festo EMCA-EC-DIO-KO c
33 2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 07 h ; 7) : (-) ( 0B h ; 11) Tab Festo EMCA-EC-DIO-KO c 33
34 2 : (Target) ( Tab. 2.8) (Direction) (Search Velocity) (Crawling Velocity) (Drive Velocity) (Acceleration) (Axis Zero Point) ( ) (Force Limit/Torque Limit) (Message Delay) Tab ( ) (+) (-) ( ) ( ),... 1).. 1). Tab Festo EMCA-EC-DIO-KO c
35 ( ) ( ) ( ) : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay). Tab ( Fig. 2.6): (+ -).... Festo EMCA-EC-DIO-KO c 35
36 2 t1 (+ -) t v Motion Complete a t t t t1 : Fig I/O. PA ( ). FCT : ; PA ( ). PLC EMCA. I/O FCT. FCT FCT. : 1. ( ) Festo EMCA-EC-DIO-KO c
37 2 FCT FCT. FCT : ( ) : (Position) ( Tab. 2.20) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) 1)2) (Jerk for deceleration) 1) FCT 2) [m/s³].. Tab ( 2.6.1, ). Tab ( ) Festo EMCA-EC-DIO-KO c 37
38 2 a t v t s t Fig. 2.7 Motion Complete 0 mm/s t ( 2.5,, ) Festo EMCA-EC-DIO-KO c
39 2 Motion Complete( ) = ( )... Tab (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) ( ) ( ) ( ) ( ) ( ) ( ) Motion Complete ; ( ). Festo EMCA-EC-DIO-KO c 39
40 2 (Final Velocity) (Following Set) ;. ( ) Tab. 2.22, ( ) ( ). : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) 1) (Jerk for Deceleration) (Force Limit) 1) FCT Tab ( ).. ( 2.6.1, ). ( 2.5,, ) Festo EMCA-EC-DIO-KO c
41 2 Motion Complete( ). Tab : (Stroke Limit) Tab : (Quick-Stop). Motion Complete ( Fig. 2.8 Fig. 2.10)... Festo EMCA-EC-DIO-KO c 41
42 2 : s v t t Fig. 2.8 Motion Complete () t t 42 Festo EMCA-EC-DIO-KO c
43 2 : s v t t Fig. 2.9 Motion Complete () t t Festo EMCA-EC-DIO-KO c 43
44 2 : s v t t Motion Complete () Fig t t Tab / K/.. ( ) Festo EMCA-EC-DIO-KO c
45 2 / : (Force) ( % ) (Velocity) (Acceleration) (Deceleration) 1) 1) FCT Tab / Motion Complete( ) /. Tab / / / : / /. (Stroke Limit) Tab :. (Quick-Stop).. Motion Complete. Festo EMCA-EC-DIO-KO c 45
46 2 Tab (), (Quick-Stop) ()... () : Stop [X9.15] Stop() (, / ). () / Tab (). : Motion Complete. ( ). ( ).. ( ). : Motion Complete.. / (). : Motion Complete.. Quick-Stop( ) Quick-Stop (Quick-Stop). Quick-Stop.. (Quick-Stop) ( ).. (Quick-Stop) ( ) (, / ) 46 Festo EMCA-EC-DIO-KO c
47 (EMCA-EC B ) EMCA-EC-...-B EC. / EMCA-EC-...-B... : FCT ( ) Brake control/delete remaining path. ( FCT, Motor, Brake control ). Festo EMCA-EC-DIO-KO c 47
48 2 : 1.. ( = ) : 1. (Quick-Stop) Tab :. Tab Festo EMCA-EC-DIO-KO c
49 ( 1~64). 0.. PLC.. : ( FCT ). ( Tab. 2.32). ( ) MC Tab ( Tab. 2.33) ( Tab. 2.32). (Ignore) (Delay) (Interrupt).. MC ( ).. ( Motion Complete ).. Tab Festo EMCA-EC-DIO-KO c 49
50 2 : ( B ). ( A). A t A B t Motion Complete Fig t : ( B C ). ( A). ( C). C A t A B C t Motion Complete Fig t 50 Festo EMCA-EC-DIO-KO c
51 2 : ( A) ( B). B A t A B t Motion Complete Fig t Festo EMCA-EC-DIO-KO c 51
52 : (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) ( ). Motion Complete... 0 Motion Complete... 1) Tab : (Condition)... Motion Complete... Motion Complete /... Tab (Condition) 52 Festo EMCA-EC-DIO-KO c
53 2 : 0 ( ). A. B A Motion Complete. v B A s t B A t Motion Complete (MC ) t t Fig Festo EMCA-EC-DIO-KO c 53
54 EMCA [X9.8] ( Tab. 2.52). Motion Complete ( ) (Following error) (Standstill monitoring) (Comparator) ( ), : ( Fig. 2.16) ( Fig. 2.17). : 0 ( ). Tab Festo EMCA-EC-DIO-KO c
55 2 M Motion Complete ( ) Motion Complete ( ). (, ). Motion Complete ( ). 2 v t1 1 Motion Complete t1:, Motion Complete 1 2 Fig Motion Complete t t Festo EMCA-EC-DIO-KO c 55
56 2. ( Fig. 2.16, 1 ).. ( ). (, ).. s t t Start t 2F h () t t1:, Fig :, FCT (2F h ) ( FCT ). 56 Festo EMCA-EC-DIO-KO c
57 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 FCT (37 h ) ( FCT ). Festo EMCA-EC-DIO-KO c 57
58 ,..... ( ). ( 2.5, ). ( ). ( Tab. 2.49).... 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator) 1). Tab () 58 Festo EMCA-EC-DIO-KO c
59 2. 2 : ( š ). ( )..., /. () 1) () 1) 1) ( ).. (-) : mm, 50 mm 40 mm. Tab : ( š ). ( )..., /. () 1) () 1) 1) (+) (-).. Tab Festo EMCA-EC-DIO-KO c 59
60 2 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-)... Tab : ( š ).. () 1) () 1) 1) (+).. Tab Festo EMCA-EC-DIO-KO c
61 EMCA,,. ( ).. : (I²t ) 07 h, 08 h ( ) 11 h, 12 h, ( ) 29 h, 2A h 0E h ;., 17 h, 18 h, 1A h, 1B h 15 h, 16 h. CPU.. 30 h EMCA ( [X5]).. EMCA.. EMCA ( FCT ). ( Tab ).. Tab Festo EMCA-EC-DIO-KO c 61
62 FCT ( FCT, Error Management ).,.. (Error) (Warning) (Information) ( (Quick-Stop) )... LED ( 6.2 ). FCT ( FCT )... LED ( 6.2 ). LED.. Tab (Free-wheeling) (Quick-Stop) (QS deceleration) (Record deceleration) (Finish record).. (Quick-Stop) ( ). 1) : (Output stage on) (off). 1) : (Output Stage on) (off) ( ). 1) : (Output Stage on) (off) 1) ( FCT ) Tab (Save Diagnosis). FCT,. 62 Festo EMCA-EC-DIO-KO c
63 EMCA.. FCT ( ) (FIFO ). : FCT(FCT ) ( ). Festo EMCA-EC-DIO-KO c 63
64 2 2.7 I/O.. I/O [X1] [X1] :,,, FCT ( 5.2 FCT ) ( ) FCT ( 5.7 ) FHPP Modbus TCP : PC.. Tab IP (IPv4 ): DHCP ( ) IP (DHCP-Client) IP IP. DHCP-Client PC PC IP.. DHCP IP : IP : : : - (.) : 80, FCT 7508, Modbus: 502 DHCP IP. DHCP. IP. IP PC IP. Tab IP 64 Festo EMCA-EC-DIO-KO c
65 2 FCT IP ( ). IP FCT. IP IP PC IP. (LED ).. Modbus TCP Modbus TCP. Modbus TCP I/O. Modbus Modbus-Client(PC, ) Modbus-Server(EMCA) TCP. Client. Client. Client Client. Modbus : Modbus Read Holding Registers Read Exception Status Write Multiple Registers Read/Write Multiple Registers Read Device Identification 0x03 0x07 0x10 0x17 0x2B Tab Modbus TCP () FHPP+ FPC FHPP 502( ) TCP/IP. FCT. Wert = 0: Wert 0: ( ). Tab Modbus-TCP Modbus EMCA-EC-C-HP STO [X6] STO [X6] 2 ( (Safe torque off/sto)). Festo EMCA-EC-DIO-KO c 65
66 2 STO(Safe torque off) EMCA-EC-S STO. STO, EMCA-EC-S (6) I/O Modbus TCP [X6.4] [X6.5] STO 1(Safe torque off channel 1) STO 2(Safe torque off channel 2) STO 1 ( STO, EMCA-EC-S1-...) STO 2 ( STO, EMCA-EC-S1-...) [X7.2] Switch /. 1) [X8.2] Switch /. 1) [X9.16] Control enable/ Acknowledge error : ( ) : ( ) : ; (Quick-Stop) ( ). DIN + ( Tab. 2.50). : ( Fig. 2.18). : ; (Quick-Stop) ( Fig. 2.18). [9.17]. 1) FCT ( ) ( ). Tab [X6], [X7], [X8] [X9] 66 Festo EMCA-EC-DIO-KO c
67 2 (2) I/O Modbus TCP [X9.7] Ready. : ( / ); : Control enable/ Acknowledge error. :. Stop... 1). : 2 : (. ( ).. [X9.8] configurable FCT ; Tab ) FHPP EMCA. Tab [X9] I/O I/O Control enable/acknowledge error. FCT Control enable/acknowledge error. FCT. Festo EMCA-EC-DIO-KO c 67
68 2 Modbus TCP ( 5.4 ). Control enable. 1) DIN + ( 5.4 ). Control enable.. Control enable(din Control enable) : FCT. FHPP... 1) FCT [Controller]. Tab ( = ). (, Quick-Stop). v = 0, Ready.. 68 Festo EMCA-EC-DIO-KO c
69 2 Modbus TCP : STO 1 STO 2(24 V) [X6.4/5] DIN + Control enable [X9.16] ( FHPP, FCT) Ready Control enable(din) (Quick-Stop) V = 0 Ready(DOUT) t1 t2 t1: t2: (, Quick-Stop) 5 6 Fig : + DIN Festo EMCA-EC-DIO-KO c 69
70 2 (EMCA-EC B ): ( ):.. Modbus TCP Brake ( FHPP ). Flying measurement(modbus TCP ) Sample ( )... FHPP, EMCA-EC-C-HP-... Sample : (Deactivated) (After read out) (Immediately) Sample ( ). ()..... Tab Sample ( ) 8.4 μs.. 70 Festo EMCA-EC-DIO-KO c
71 2 [X9.8] : ( ) High. Low. (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete( ). Motion Complete( ) ) (Low ) 1.. 2) I²t I²t 1) ) Tab Festo EMCA-EC-DIO-KO c 71
72 EMCA-...-DIO [X9] (DIN) (DOUT). Modbus TCP. I/O. Control mode 0/1 ( ). : (10) I/O Modbus TCP 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 Jog path [X9.15] Stop Tab [X9] : (2) I/O Modbus TCP [X9.x] 0 1 ( ) / [X9.10] Acknowledge Setpoint Acknowledge [X9.11] Motion Complete Tab [X9] 72 Festo EMCA-EC-DIO-KO c
73 2 ( 0) [X9.12] Control mode 0/1 : 0 ( ). [X9.1] [X9.6] Record selection 1 32 (2 ) ( 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 ( 0) ( 0) Record selection (2 5 )... 16(2 4 )... 8(2 3 )... 4(2 2 )... 2(2 1 )... 1(2 0 ) ) ) (Homing) Tab ( ) 2 Festo EMCA-EC-DIO-KO c 73
74 2 / ( 1) [X9.12] Control mode 0/1 : 1 (/). [X9.1] [X9.5] Record selection 1 16 (2 ) ( 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 / ( 1) Record selection (2 4 )... 8(2 3 )... 4(2 2 )... 2(2 1 )... 1(2 0 ) Tab (/) 74 Festo EMCA-EC-DIO-KO c
75 2 2.8 I/O (t1).. ( ) Stop(DIN) t1 Control enable/acknowledge error (DIN) Ready(DOUT) t2 t1 1 t2: Fig Festo EMCA-EC-DIO-KO c 75
76 I/O Control mode 0/1 I/O : [X9.12] Control mode 0; 0/1 1: / Tab I/O. (, Quick-Stop).. t.. Control mode 0/1(DIN) 1 0 t t t 2 ms Fig I/O 76 Festo EMCA-EC-DIO-KO c
77 Control enable/acknowledge error.... (EMCA-EC B ): ( ) Stop(DIN) Control enable/acknowledge error (DIN) (Quick-Stop) V = 0 Ready(DOUT) t1 t2 t1: t2: ( ) Fig , 5 Festo EMCA-EC-DIO-KO c 77
78 Ready. : Festo (Festo Configuration Tool, FCT) FCT ( ).. (, ). : Festo (Festo Configuration Tool, FCT) ( FCT ) Control enable/acknowledge error Control enable/acknowledge error (DIN) Ready(DOUT) 1 2 Fig (Power OFF/ON).. 78 Festo EMCA-EC-DIO-KO c
79 Record selection 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 ; Festo EMCA-EC-DIO-KO c 79
80 , ( 1) I/O 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 Fig. 2.24, Festo EMCA-EC-DIO-KO c
81 ( 0) 2 Record selection Start ( ). Acknowledge. MC Motion Complete ( ). (Start Condition) ( Tab ) 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 ( 0) Festo EMCA-EC-DIO-KO c 81
82 , ( 0) 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. 2.26, 3 4 (Motion Complete) 82 Festo EMCA-EC-DIO-KO c
83 , ( 0) 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. 2.27,, 3 4 (Motion Complete) Festo EMCA-EC-DIO-KO c 83
84 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 = 3 ( y) 84 Festo EMCA-EC-DIO-KO c
85 (EMCA-EC B ). Brake control/delete remaining path.. ( ) Festo EMCA-EC-DIO-KO c 85
86 L1 L2 L3 L4 L5 L6 EMCA-...-S-... [mm] / ± ± ± EMCA-...-M / ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] 113 ± ±0.2 M4x5 Tab Festo EMCA-EC-DIO-KO c
87 3 3.2., : , ( )... : M6 4 M4 4 ( [mm]: 5). EMCA-EC mm(4x) 2 M4x5 (4x) Fig Festo EMCA-EC-DIO-KO c 87
88 3. ( A.1.5 ). ( :,,, ) EMCA ( ). 3. (4x).. 88 Festo EMCA-EC-DIO-KO c
89 EN PELV(Protective Extra-Low Voltage). EN PELV. EN , : (EMV). ( Tab. 4.1).. Festo EMCA-EC-DIO-KO c 89
90 4 4.2 EMV : ( ). ( ). : EMV : ( 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 90 Festo EMCA-EC-DIO-KO c
91 4 4.3 [X1] PC.. :. : (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) (, Port Security) IEC 62443, ISO/IEC [X1] M12, 5, D M12, 4 5, D Tab. 4.2 [X1] 1 1 [X1] [X1] Pin 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 Shield/FE / Tab. 4.3 [X1] Festo EMCA-EC-DIO-KO c 91
92 4 : Festo NEBC-D12G EMCA / PC.., (Shielded Twisted Pair/STP) Cat 5 [mm] 6 [mm 2 ] (22 AWG) 1) [m] 100 1) : 22 AWG Tab. 4.4 [X1] 92 Festo EMCA-EC-DIO-KO c
93 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 B2B-ZR- SM4-TF [mm] [mm²] VHR-2N-BK () SVH-41T-P1.1 VHR-2N () WC-930 YC-930R ZHR-2 AWG24... AWG20: ( ) () AWG30... AWG26: ( ) () (AWG24... AWG20) (AWG30... AWG26) /! SZH-002T- P0.5 YRS-491, WC-491 WC- ZH (AWG20... AWG16) (AWG24... AWG20) (AWG30... AWG26) (AWG28... AWG26) mm, mm, mm 4) 1) 2)! 3), 4) : ( Tab. 4.1) Tab. 4.5 Festo EMCA-EC-DIO-KO c 93
94 4 ( Tab. 4.5). : Festo NEBM-... ( 1. ( /). 2. ( ~ )... IP ( Fig. 4.1, 1 ) ( 1 ) Fig ( 1 ) mm mm mm ( 94 Festo EMCA-EC-DIO-KO c
95 4. : EMCA.... :. 1. ( (SW) 2.5 mm) ( Fig. 4.1, 3 ) ( ~ ). 6.. : Nm. Festo EMCA-EC-DIO-KO c 95
96 [X4]. EN PELV(Protective Extra-Low Voltage). EN PELV. EN PELV EN ( ) (, ). 24 V EN ( ). [X4] 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) 96 Festo EMCA-EC-DIO-KO c
97 4. 1 EMCA V DC 0 V [X4] EMCA 2 24 V DC Fig. 4.2 Festo EMCA-EC-DIO-KO c 97
98 [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). 98 Festo EMCA-EC-DIO-KO c
99 STO [X6] STO(Safe torque off) EMCA-EC-S STO. [X6] 1 NC1 : 2 NC2 STO 2, 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 EMCA-EC-DIO-KO c 99
100 [X7], [X8] [X7] [X8] 3 ( Tab Tab. 4.11) [X7] V DC 1 24 V(FCT, ) 2 Switch GND 0 V Tab [X7] [X8] V DC 2 24 V(FCT, ) 2 Switch GND 0 V Tab [X8] 100 Festo EMCA-EC-DIO-KO c
101 I/O [X9] I/O [X9]. [X9] 1) I/O 0 1 Modbus TCP 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 Jog remaining path 15 DIN Stop 16 DIN Control enable/acknowledge error 17 DIN (do not connect) 18 GND( ) 1) DIN = ; DOUT = Tab I/O (PNP ) Festo EMCA-EC-DIO-KO c 101
102 [X10] (EMCA-EC-...-1TM) 7. EADA-A-9 6 ( Tab. 2.7). [X10] 1 + EADA-A-9 2 (GND) Tab [X10] (EMCA-EC-...-1TM ) Festo EADA-A Festo EMCA-EC-DIO-KO c
103 4 4.5 IP IP ( M12 IP O ( ): [X1]: ISK-M12 ( [X4] ~ [X10]...!. Festo EMCA-EC-DIO-KO c 103
104 ,,.., FCT(Festo Configuration Tool) FCT. FCT FCT FCT EMCA V V 1.0.x. ( Festo EMCA-EC-DIO-KO c
105 5 FCT Windows. FCT PC (Setup_EMCA...exe). 3. FCT FCT FCT. FCT Windows : [] [Festo Software] [Festo Configuration Tool]. FCT FCT FCT FCT ( [Help] [Contens FCT general]). EMCA FCT EMCA. PC.. FCT,. [Help] [Contents of installed PlugIns] [Festo] [EMCA] FCT. FCT. PDF : FCT ( ) (EMCA) (FCT-Installationsverzeichnis)\Help\ (FCT-Installationsverzeichnis)\HardwareFamilies\ Festo\EMCA\V \Help\ FCT_en.pdf EMCA_en.pdf Festo EMCA-EC-DIO-KO c 105
106 5 PDF Adobe Reader. Festo (Festo Configuration Tool, FCT). Festo ( ( ). FCT..... FCT.. IP.. FCT ( FCT, [Component] [Firmware Download]). 106 Festo EMCA-EC-DIO-KO c
107 5 5.3 DHCP (Dynamic Host Configuration Protocol). DHCP. 2 DHCP. (DHCP )! DHCP! FCT IP. DHCP ( ) DHCP IP ( ) Tab. 5.1 DHCP ( ) PC TCP/IPv4. IP PC. DHCP PC ( ). : Festo NEBC-D12G4-... ( Fig. 5.1 DHCP DHCP-Client PC. PC () Windows : IP DNS Festo EMCA-EC-DIO-KO c 107
108 5 PC DHCP PC IP. DHCP IP. DHCP IP : IP : : : - (.) : PC DHCP Client ( PC ). EMCA DHCP ( ). 1. EMCA PC ( ). 2.. DHCP PC IP.. 1. PC (Internet Explorer > 6; Firefox > 3; JavaScript ). 2. IP ( : ). ( 5.5 ). : FCT ( FCT, [Component] [Online] [Login]). PC TCP/IPv4 ( Windows ): IP DNS FCT IP. FCT IP ( ). FCT ( FCT, [Component] [FCT Interface], Scan... ).. : context [Network].. 3. OK Festo EMCA-EC-DIO-KO c
109 5 : 1. [Component] [Online] [Setup Network Settings...].. 2. OK.. ( ) DHCP (, Tab. 5.1) DHCP-Client( IP ): EMCA DHCP IP. IP : IP :. : (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) ( ). IEC 62443, ISO/IEC : ( FCT, [Component] [Online] [Password]).. FCT ( FCT ). Festo EMCA-EC-DIO-KO c 109
110 5... FCT Tab FCT. FCT. FCT... HTTPS... (Cache). 110 Festo EMCA-EC-DIO-KO c
111 : (I/O Modbus TCP) (FCT ) FCT.. ( )... :.. FCT. 3 : I/O 1 1 FCT 2 1 Modbus TCP(FHPP) - 1 Modbus TCP Tab. 5.3 FCT 2....,, Tab. 5.4 Festo EMCA-EC-DIO-KO c 111
112 5. FCT.. FCT... ( ). FCT (Device Control: FCT ).... Tab. 5.5 FCT : Device Control Operate FCT. FCT Enable. FCT. (Modbus TCP ) Modbus TCP(FHPP) ( CCON.LOCK). ( FHPP, EMCA-EC-C-HP-... ). FCT FCT. FCT Error Management ( 0x32) Festo EMCA-EC-DIO-KO c
![5 5.5. IP ( 2.7.1, Tab. 2.45). PC ( ). IP IP 192.168.178.1. IP IP FCT ( FCT, [Component] [FCT Interface], Scan... ). 1. Internet Explorer 6 Firefox 3.](/docs-images/91/106292620/images/113-0.jpg "2. IP.. Fig. 5.2.. (Status) I/O (Basic I/O Interface) I/O (I/O Interface) I/O I/O Festo EMCA-EC-DIO-KO 2017-10c 113")
113 IP ( 2.7.1, Tab. 2.45). PC ( ). IP IP IP IP FCT ( FCT, [Component] [FCT Interface], Scan... ). 1. Internet Explorer 6 Firefox IP.. Fig (Status) I/O (Basic I/O Interface) I/O (I/O Interface) I/O I/O Festo EMCA-EC-DIO-KO c 113
114 5 / (Parameter Up-/Download) (Diagnostic Memory) ( 5.7 ) ( 6.1 ) Tab Festo EMCA-EC-DIO-KO c
115 ( 3 ). 2. ( 4 ). 3. FCT ( EMCA ). 4. PC ( 5.3 ).. 1. FCT (, ) ( EMCA ) 2. STO : STO ( EMCA-EC-S1-...) 3. I/O ( / ). 4. ( ). 5. / ( ). ( FCT, [Application Data] [Environment] Inverse Rotation Polarity ). 6. ( ). 7. ( EMCA ). 8. (, EMCA ). 9. ( EMCA ) Festo.... FCT. Festo EMCA-EC-DIO-KO c 115
116 5 (*.fpf) : ( 5.7 ). FCT ( FCT ) STO STO[X6] : STO ( ). Safe torque off/sto EMCA-EC-S ( ). ( ). ( ). CT ( FCT, Axis, Axis Options ). 116 Festo EMCA-EC-DIO-KO c
117 ( I/O) Modbus TCP : STO 1 STO 2(STO ) STO, EMCA-EC-S1-... DIN + ( Tab. 2.50): Control enable (I/O ) EMCA-EC-S1-... STO 1 STO 2 [X6] 4 5 EMCA 24 V DC 1) Control enable(din) Ready(DOUT) configurable(dout) 2) [X9] ) 2) ; Festo (Festo Configuration Tool, FCT) ( ) Fig. 5.3 : : DIN + Festo EMCA-EC-DIO-KO c 117
118 5 I/O I/O STO : STO (2): STO 1 STO 2 STO, EMCA-EC-S1-... I/O : Control enable EMCA-EC- S1-... STO 1 STO 2 [X6] EMCA 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] Acknowledge/Setpoint Acknowledge(DOUT) Motion Complete(DOUT) 2) Ready(DOUT) configurable(dout) 2) ) 2) ; Festo (Festo Configuration Tool, FCT) ( ) Fig. 5.4 : 118 Festo EMCA-EC-DIO-KO c
119 / 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 ) :.. FCT Homing. : STO. Control enable/acknowledge error. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ) ( ) FCT.. FCT. EMCA () Festo : FCT. : EMCA ( EMCA ). Festo EMCA-EC-DIO-KO c 119
120 : FCT [...] [Controller] [I/O Configuration]. (FCT: Store). FCT (Download).. : : ( EMCA ). ( EMCA ). : ( 5.7 ). 120 Festo EMCA-EC-DIO-KO c
![5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig. 5.5 5.5 ): Fig. 5.5 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC).](/docs-images/91/106292620/images/121-0.jpg "PC. Tab. 5.7 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). Festo EMCA-EC-DIO-KO 2017-10c 121")
121 5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig ): Fig. 5.5 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC). PC. Tab. 5.7 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). Festo EMCA-EC-DIO-KO c 121
122 5 5.8 I/O ,000. : FCT Store / FCT I/O... FCT ( FCT, [Controller] [I/O Configuration]). 122 Festo EMCA-EC-DIO-KO c
123 FCT, Error Management.. Ready Low.., : Festo (Festo Configuration Tool) ( FCT ) Control enable (Power OFF/ON) ( ): FCT 1),, ( FCT Diagnosis ).. 1) 5.5. Tab. 6.1 Diagnostic Memory ( ).. Festo EMCA-EC-DIO-KO c 123
124 6 Fig. 6.1 (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info). ( ). ( ) (0x = 16 ). HH.MM.SS:nnn(HH =, mm =, SS =, nnn = ).. Festo Tab. 6.2 : FCT, ( FCT ) (Start-up event, 3Dh) Festo EMCA-EC-DIO-KO c
125 6 6.2 LED OK LED() 2 ERROR LED() Fig. 6.2 LED(, EMCA-EC-67-S-1TE-DIO) LED LED- /, ERROR Tab LED LED- /. Control enable., Control enable ERROR,.. Tab LED LED- / ( ) ERROR Tab. 6.5 Festo EMCA-EC-DIO-KO c 125
126 LED LED- /. ERROR 1) 1) 10. Tab Festo. 126 Festo EMCA-EC-DIO-KO c
127 6 6.3, FCT ( ) ( ) : 16 (FCT ) F/W/I = //(2.6.4 ). ( F).. : F/ /. FCT (/) (Software-Reset) ( FCT ) ( FCT, [Component] [Online] [Restart Controller]). (A ~ G) ( Tab. 6.8). Tab. 6.7 ( ) A B (Quick-Stop) C D Motion Complete(MC) E (Quick-Stop) F G Motion Complete(MC) Tab. 6.8 ( ) Festo EMCA-EC-DIO-KO c 127
128 h (Software error). Festo. :,. : A 02h (Default parameter file invalid) : F/-/- : : F/-/- :.... :,. : A 03h CPUs (Internal communication error CPUs) : F/-/- :... :,. : A 04h (Non-permitted hardware).. :,. : A 06h (Encoder) : F/-/- : : F/-/- :... :,. : A 128 Festo EMCA-EC-DIO-KO c
129 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 EMCA-EC-DIO-KO c 129
130 6 0Ch (Firmware update execution error) : F/-/- :. PC..... :,. : A 0Dh (Overcurrent) : F/-/- :,..... FCT ( ). :.. : ().. :. :,. : A 0Eh I²t (I²t malfunction motor) : F/-/- : I²t.... /.. : B, C 130 Festo EMCA-EC-DIO-KO c
131 6 11h (+) (Softwarelimit positive) : F/-/- :..... (+). :. : A, B, C, E, F 12h (-) (Softwarelimit positive) : F/-/- :..... (-). :. : A, B, C, E, F 13h (+) (Positive direction locked) : F/-/- :..... (+). :. : A, B, C, E, F Festo EMCA-EC-DIO-KO c 131
132 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) : F/-/- :..... : A, B 132 Festo EMCA-EC-DIO-KO c
133 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) : F/-/- :... ;..... : A, B 1Bh (Intermediate circuit voltage too low) : F/W/- :. :?. :. : A :. Festo EMCA-EC-DIO-KO c 133
134 6 20h FHPP+ (FHPP+ incorrect parameterisation) : F/W/- : FHPP+. PNU 16.. PNU 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) : F/-/- : :.... :,. : B, C, E, F 134 Festo EMCA-EC-DIO-KO c
135 6 25h (Path calculation) : F/-/- :. :.... :. : A 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) : F/-/- : (-)... (/?). :. : B, C, E, F Festo EMCA-EC-DIO-KO c 135
136 6 2Ah (+) (Target position behind positive software limit) : F/-/- : (+)... (/?). :. : B, C, E, F 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 136 Festo EMCA-EC-DIO-KO c
137 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 : :. Festo EMCA-EC-DIO-KO c 137
138 6 34h Safe Torque Off(STO) (Safe Torque Off (STO)) : F/W/I : Safe Torque Off. STO. :. : 0 : STO. 37h (Standstill monitoring) : -/W/I :... :. 38h (Parameter file access) : F/-/- : : F, G 39h (Trace warning) : -/W/- :.. :. 3Dh (Start-up event) : -/-/I : Eh (Diagnostic memory) : F/-/- :..... :. : F, G 138 Festo EMCA-EC-DIO-KO c
139 6 3Fh (Record invalid) : F/-/- :... :. : B, C, D, E, F, G 40h (Last teaching not successful) : -/W/I :.. : (Modus 1) (Modus 0). 41h (System reset). Festo. :. : A 43h FCT (FCT connection without master control) : F/-/- : : -/W/I : FCT.. : FCT. 44h (Parameter file not compatible with firmware) : -/W/I :..... :. Festo EMCA-EC-DIO-KO c 139
140 6 47h Modbus (Modbus connection with master control) : F/-/- : Modbus., :. : B, C, D, E, F, G :. 48h Modbus (Modbus connection without master control) : -/W/I :., :. 4Ah Safe Torque Off(STO) (Safe Torque Off (STO) discrepancy time ) : F/W/I : STO1 STO2... :. : 0 : STO. 4Ch (Value is out of range) : F/-/- :.. :. : B, C, D, E, F, G 4Dh Bootloader (Bootloader memory error) : F/-/- :.... :,. : A 140 Festo EMCA-EC-DIO-KO c
141 6 4Eh 24 V (Overload 24V Outputs) : F/-/- : 24 V. STO,.. : A, B 4Fh (System information).. : -/-/I : Festo EMCA-EC-DIO-KO c 141
142 6 6.4 EMCA IP PC IP. FCT : EMCA IP IP FCT 1. FCT [Component] [FCT Interface], Scan [Network]. Network properties. IP ( Tab. 2.45). PC IP Windows (, Windows 7) 1. [] [ ] [ ] [ ] [Local Area Connection] ( ). 2. [Local Area Connection] ( ) [ ]. 3. [ 4] PC IP. 5. EMCA IP ( ). : IP IP. DHCP ( Tab. 2.45). IP (IP ; : ). PC PC [IP ] IP (, IP ; : ; : ( )). PC Windows (, Windows 7) 1. [] [() ] [] []. 2. ipconfig ipconfig /all Ping. 1. [] [() ] [] []. 2. : ping ( IP ) 142 Festo EMCA-EC-DIO-KO c
143 6 6.5 EMCA. EMCA. EMCA.,.. ( ) EMCA.... FCT.. Tab. 6.9 Festo EMCA-EC-DIO-KO c 143
144 7,, 7,, 7.1., , : Festo EMCA-EC-DIO-KO c
145 7,, EMCA-EC TM...( )... :. EMCA-EC :. 7.2 ( ). FCT ( ). FCT. ( 3 ). [X4] ~ [X10] (SW) 2.5 mm ( ) Nm Festo EMCA-EC-DIO-KO c 145
146 7,, RoHS Festo EMCA-EC-DIO-KO c
147 A A A.1 A.1.1 EMCA-EC EMCA PWM-MOSFET P PI PI, TCP/IP, Modbus TCP(FHPP) I/O Modbus TCP FHPP I²t OFF Tab. A.1 : A.1.2 EMCA-EC CE ( EU 2006/42/EC EU-EMV 2014/30/EU 1) RCM 2) c UL us (OL) 2) 1).,. 2) Tab. A.2 : Festo EMCA-EC-DIO-KO c 147
148 A A.1.3 EMCA-EC-67-S-... EMCA-EC-67-M-... (H*W*D) 3.1 [B] [g] [M] EMCA, [g] 25 [M], [B] [g] 350 Tab. A.3 : A.1.4 EMCA-EC [ C] C : 1.75 %: [ C] [ C] C [%] 0 95( ) EMCA-... (S1 ) IP54 EMCA-...-S1 IP65; IP54 (DIN EN ) 1) 2 9 Hz 3.5 mm ; Hz 1 g (2-6) (2-27) (2-29) 1) " Tab. A.4 : 1) 2 1) Festo EMCA-EC-DIO-KO c
149 A - [Hz] [m/s 2 ] [mm] SG1 SG2 SG1 SG2 SG1 SG ±3.5 ± ±0.15 ± [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ± [m/s 2 ] [ms] ± A.1.5 EMCA-EC-67-S-... EMCA-EC-67-M-... [W] [Nm] [1/min] [1/min] [kg cm²] [N] [N] Tab. A.5 Festo EMCA-EC-DIO-KO c 149
150 A A.1.6 EMCA- EC TE... EMCA- EC TM...,, [] 12( 4096 ) [ ] ( ) 7 6 [h] 24 Tab. A.6 A.1.7 (EMCA-EC B ) () EMCA-EC B 1) [Nm] 1 [W] 9 [kg cm²] ). ( ).. Tab. A.7 A.1.8 () [X1] EMCA-EC M12, 5, D [Mbit/s] 100 TCP/IP Tab. A.8 : [X1] 150 Festo EMCA-EC-DIO-KO c
151 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] [A] PELV (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, EMCA-EC-S1-... Festo EMCA-EC-DIO-KO c 151
152 A A.1.12 [X7], [X8] [X7], [X8] EMCA-EC [m] l 3 Tab. 4.5 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC Tab. A.11 [X7], [X8] 152 Festo EMCA-EC-DIO-KO c
153 A A.1.13 I/O [X9] I/O [X9] EMCA-EC [m] l 30 Tab. 4.5 [V DC] 24 [X9] [ma] [V DC] 24 PNP( ) IEC [ma] 100 PNP( ) Tab. A.12 : I/O [X9] Festo EMCA-EC-DIO-KO c 153
154 A A.1.14 [X10] (EMCA-EC TM ) [X10] EMCA-EC [m] 3 Tab. 4.5 [V DC] 9 Tab. A.13 [X10] A EMCA-EC ( ) 3 2 NBR LABS Tab. A.14 : 154 Festo EMCA-EC-DIO-KO c
155 B B / AZ (= Axis Zero point) DIN DOUT EMC FCT I/O MC PLC/IPC PZ(= Project Zero point) REF(= REFerence point) (Jog Mode) (digital input) (digital output) (FCT = Festo Configuration Tool) /(input/output) Motion Complete ( ) / PC ( ) Tab. B.1 Festo EMCA-EC-DIO-KO c 155
156 EMCA-EC DIO D DHCP E EMV EMV F FCT... 8, 19, 155 Festo Configuration Tool... 19, 155 I I²t IP , 142 L LED M Modbus TCP P PLC S STO(Safe torque off) , 26, , /... 44, / , , Festo EMCA-EC-DIO-KO c
157 EMCA-EC DIO , 112, ( 0) , , , /( 1) / , , , (Quick-Stop)... 46, , Festo EMCA-EC-DIO-KO c 157
158 Copyright: Festo AG & Co. KG Ruiter Straße Esslingen Phone: Fax: ,,..,,. Internet:
EMCA-EC-SY_BES_E_ c_ k1
EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-...-CO CANopen EMCA-EC-...-EC EtherCAT EMCA-EC-...-EP EtherNet/IP EMCA-EC-...-PN PROFINET 8074570 1710c [8074576] EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-SY-KO Adobe
EMCA-EC_STO_BES_E_ a_ k1
EMCA-EC-67-... ko STO Safe torque off (STO) 8080389 2017-10a [8080384] EMCA-EC-S1-KO Tyco Electronics ( ). : :, : 1. / 2 Festo EMCA-EC-67-... 2017-10a ... 4... 4... 4 1... 6 1.1... 6 1.1.1 STO (Safe torque
CPX-E-SYS_BES_C_ _ k1
CPX-E 8727 27-7 [875294] CPX-E-SYS-KO CODESYS, PI PROFIBUS PROFINET (). :, 2 Festo CPX-E-SYS-KO 27-7 ... 5.... 5.2... 5.3... 5.4... 5.5... 5 2... 6 2.... 6 2..... 6 2..2 CPX-E... 7 2..3 CPX-E... 9 2..4...
MPAL-VI-Pneu_BES_V_ a_ k1
MPAL-VI 755054 2017-07a [8073531] MPAL-VI MPAL-VI-KO TORX, IO-Link (). : :, : 1. / 2 Festo MPAL-VI-KO 2017-07a MPAL-VI... 7... 7... 8... 8... 8 1... 9 1.1... 9 1.2... 9 1.3... 9 1.3.1... 9 1.3.2... 10
CMSX-C-U-F1_BES_C_ b_ k1
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