EMCA-EC-SY_BES_E_ c_ k1
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1 EMCA-EC CO/-EC/-EP/-PN EMCA-EC-...-CO CANopen EMCA-EC-...-EC EtherCAT EMCA-EC-...-EP EtherNet/IP EMCA-EC-...-PN PROFINET c [ ]
2 EMCA-EC CO/-EC/-EP/-PN EMCA-EC-SY-KO Adobe Reader, CANopen, CiA, EtherCAT, EtherNet/IP, Firefox, Internet Explorer, JST, PI PROFIBUS PROFINET Tyco Electronics ( ). : :, : 1. / 2 Festo EMCA-EC-SY-KO 1710c
3 EMCA-EC CO/-EC/-EP/-PN EMCA-EC CO/-EC/-EP/-PN ( ) FCT(Festo, Festo Configuration Tool) Homing (FHPP FCT ) ( FHPP FCT ) / (), (Quick-Stop) (EMCA-EC B ) () Festo EMCA-EC-SY-KO 1710c 3
4 EMCA-EC CO/-EC/-EP/-PN [X1]( ) [X2], [X3]() STO [X6] EMCA-EC CO EMCA-EC EC/-EP/-PN EMV [X1] [X2], [X3] EMCA-...-CO(CANopen) EMCA-...-EC/-EP/-PN(EtherCAT, EtherNet/IP, PROFINET) [X4]... [X10] [X4] [X5] STO [X6] [X7], [X8] I/O [X9] [X10] IP FCT(Festo Configuration Tool) FCT FCT FCT Festo EMCA-EC-SY-KO 1710c
5 EMCA-EC CO/-EC/-EP/-PN STO ( I/O) / ( ) () LED LED , ,, A A A A Festo EMCA-EC-SY-KO 1710c 5
6 EMCA-EC CO/-EC/-EP/-PN A A A A A.1.7 (EMCA-EC B ) A.1.8 [X1] A.1.9 [X2], [X3] A.1.10 [X4] A.1.11 [X5] A.1.12 STO [X6] A.1.13 [X7], [X8] A.1.14 I/O [X9] A.1.15 [X10](EMCA-EC TM ) A B Festo EMCA-EC-SY-KO 1710c
7 EMCA-EC CO/-EC/-EP/-PN (EMCA-EC-SY-...) EMCA,.,,,.. ( ). : EMCA-, A EC- EC mm ( ) M- S V DC T E M - B- / CO EC EP PN CANopen EtherCAT EtherNet/IP PROFINET IP - (IP54) S1 IP65 Tab. 1 ( EMCA-EC-67-M-1TEB-CO) Festo EMCA-EC-SY-KO 1710c 7
8 EMCA-EC CO/-EC/-EP/-PN EMCA-EC-67-S-1TE-CO FN n G : 3100 rpm M N : 0.37 Nm U N : 24 V DC I N : 5.7 A IP54 EMCA-EC-67-S-1TE-CO 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-CO FCT : Tab. 1 EMCA FCT EMCA Festo ( FCT ( Festo. ( Tab. 2) ( ). 8 Festo EMCA-EC-SY-KO 1710c
9 EMCA-EC CO/-EC/-EP/-PN 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-SY-KO 1710c 9
10 EMCA-EC CO/-EC/-EP/-PN : EMCA-... EMCA-EC-SY-... EMCA-EC-S1-... EMCA-EC-C-HP-... EMCA-EC-C-CO-... FCT (EMCA ) EMCA-EC_UL-... ( ) (Safe torque off/sto) FHPP (FHPP, Festo Handling and Positioning Profile) CiA 402 Festo Configuration Tool(FCT) (UL, Underwriters Laboratories Inc.). (UL) Tab. 5 Festo ( Festo, () 10 Festo EMCA-EC-SY-KO 1710c
11 Power ,..,....., Festo EMCA-EC-SY-KO 1710c 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-SY-KO 1710c
13 ( : ). :, STO : EMCA-EC-S : : ( A.1) ( ) : : Festo EMCA-EC-SY-KO 1710c 13
14 ( A.1). EU. (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... DIN EN : DIN EN : Tab Festo EMCA-EC-SY-KO 1710c
15 : (EC ) ( ), EC Fig. 2.1 ( EMCA-EC CO) ( ).. (X1) (X2, X3). ( Fig. 2.3). ( ). ( FHPP CiA 402). ( Tab. 2.3). Festo EMCA-EC-SY-KO 1710c 15
16 EC ( ) () 24 V DC 1) (), :, ( ) EMCA-...-CO: CAN ( ;, CANopen; FHPP CiA 402) EMCA-...-EC: EtherCAT ( ; EtherCAT, FHPP CiA 402) EMCA-...-EP: EtherNet/IP ( ; EtherNet/IP, FHPP) EMCA-...-PN: PROFINET ( ; PROFINET IO, FHPP) STO(Safe torque off) 1) ( Tab. 2.1 EMCA 24 V DC FCT LED,, FCT, / : I/O (Internet Explorer Firefox) 16 Festo EMCA-EC-SY-KO 1710c
17 EMCA-..., 1 EMCA-EC CO/-EC/-EP/-PN 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 IO NEBM-L5G Festo EMCA-EC-SY-KO 1710c 17
18 PELV 3 4 EMCA 5 / Fig. 2.2 ( ) 6 ( ESBF) 7 / ( ) 8 Festo (Festo Configuration Tool, FCT) PC 9 / 18 Festo EMCA-EC-SY-KO 1710c
19 FCT(Festo, 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 FHPP I/O ( ) PC LED DHCP (DHCP, Dynamic Host Configuration Protocol ) IP : Festo EMCA-EC-SY-KO 1710c 19
20 2 2.3 EMCA-EC CO ( CANopen) aj [X1]: ( M12) 6 ( Fig. 2.5) 2 LED (6x) 3 7 (4x) M4 3 [X3]: CAN OUT ( M12) 8 4 ( 9 ) aj [X2]: CAN IN ( M12) 5 (4x) Fig. 2.3 EMCA-EC CO 20 Festo EMCA-EC-SY-KO 1710c
21 2 EMCA-EC EC/-EP/-PN (EtherCAT EtherNet/IP PROFINET) aj [X1]: ( M12) 2 LED (6 ) 3 [X3]: / OUT 1 ( M12, ) 4 ( ) 5 (4x) Fig. 2.4 EMCA-EC EC/-EP/-PN 6 ( Fig. 2.5) 7 (4x) M4 8 9 aj [X2]: / IN 2( M12, ) Festo EMCA-EC-SY-KO 1710c 21
22 [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 (FE)( ) 1) FCT ( ) ( ) Fig Festo EMCA-EC-SY-KO 1710c
23 2 2.4 EMCA ( ) EMCA (,, ) ( ) / Tab. 2.3 ; FCT EMCA. Festo EMCA-EC-SY-KO 1710c 23
24 ( ): (+). ( ). FCT ( FCT, Application Data, Environment, Inverse Rotation Polarity ). : REF 2 1 AZ PZ M d a b c TP/AP 3 ( ) (+) SLN e SLP LSN LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (-) (Software limit negative) SLP (+) (Software limit positive) LSN () (Limit switch negative) LSP () (Limit switch positive) TP (Target position) AP / (Actual position) a (AZ) b (PZ) c / (TP/AP) d : (-) (SLN) 1) e : (+) (SLP) 1) 1 2 ( ) 3 1). Tab. 2.4, ( ). 24 Festo EMCA-EC-SY-KO 1710c
25 2 :. ( FCT, Application Data, Environment, Inverse Rotation Polarity ). : 2 1 d a b c e LSN REF SLN AZ PZ TP/AP (+) SLP LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (-) (Software limit negative) SLP (+) (Software limit positive) LSN () (Limit switch negative) LSP () (Limit switch positive) TP (Target position) AP / (Actual position) a (AZ) b (PZ) c / (TP/AP) d (-) (SLN) 1) e (+) (SLP) 1) 1 ( ) 2 ( ) 1). Tab. 2.5, Festo EMCA-EC-SY-KO 1710c 25
26 2 \ AZ = REF a PZ = AZ b = REF a + b (-) SLN = AZ d = REF a d (+) SLP = AZ e = REF a e / TP/AP = PZ c = AZ b c = REF a b + c Tab. 2.6 LSN/LSP(). NC NO. FCT.. (+) ( 07 h ) (-) ( 08 h ) FCT... SLN/SLP. AZ.... SLN/SLP : 11 h, 12 h, 13 h, 14 h, 29 h, 2A h. FCT. 26 Festo EMCA-EC-SY-KO 1710c
27 Homing.. ( ). (: ). ( Tab. 2.16).. (EMCA-EC-...-1TE) (EMCA-EC-...-1TM) ( 24). Festo EADA-A Tab. 2.7 : ( ) FCT ( FCT ) Motion Complete. Motion Complete. Motion Complete. ( ). ( ).. Festo EMCA-EC-SY-KO 1710c 27
28 2 : FCT ( FCT, Homing ) REF 2 3 Fig Festo EMCA-EC-SY-KO 1710c
29 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. 2.9 Festo EMCA-EC-SY-KO 1710c 29
30 : ( Tab. 2.17). : (+) ( 22 h ; 34) : (-) ( 21 h ; 33) Tab ( ) homing... (, ). / ( 3 mm)... () ().. ( ) ( ). homing :. 30 Festo EMCA-EC-SY-KO 1710c
31 2 homing 1. : 1) ( ):. : EMCA,. 2. :. 3. 2) : (+) ( EE h ; -18) : (-) ( EF h ; -17) 1). 2) ( Tab. 2.17). Tab :. ( 2.). ( 2.). : :. :,, 0x22(FCT ) homing 2. :.. 3. : ( Tab. 2.17). : (+) ( 12 h ; 18) : (-) ( 11 h ; 17) (-) Tab Festo EMCA-EC-SY-KO 1710c 31
32 2 1. :. ( 2.). ( 2.). : :. :,, 0x22(FCT ) homing 2. :.. 3. : ( Tab. 2.17). : (+) ( 02 h ; 02) : (-) ( 01 h ; 01) Tab Festo EMCA-EC-SY-KO 1710c
33 2 homing homing 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 17 h ; 23) : (-) ( 1B h ; 27) Tab Festo EMCA-EC-SY-KO 1710c 33
34 2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 07 h ; 7) : (-) ( 0B h ; 11) Tab Festo EMCA-EC-SY-KO 1710c
35 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-SY-KO 1710c 35
36 (FHPP FCT )..... ( ) ( ) ( ) : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay). Tab ( Fig. 2.7): (+ -) Festo EMCA-EC-SY-KO 1710c
37 2 t1 (+ -) t v Motion Complete a t t t t1 : Fig ( FHPP FCT ).. ; PA ( ). PLC,, EMCA. FCT FCT. : 1. ( ) Festo EMCA-EC-SY-KO 1710c 37
38 2 FCT FCT. FHPP FHPP, EMCA-EC-C-HP-... FCT : ( ) : (Position) ( Tab. 2.20) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) 1)2) (Jerk for deceleration) 1) FCT 2) [m/s³].. Tab ( 2.7.1, ). Tab ( ) 38 Festo EMCA-EC-SY-KO 1710c
39 2 a t v t s t Fig. 2.8 Motion Complete 0 mm/s t ( 2.6,, ) Festo EMCA-EC-SY-KO 1710c 39
40 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) ( Tab. 2.34) ( ). ( ) ( ) ( Fig. 2.17) ( ) ( ) ( ) ( ) ( ) 40 Festo EMCA-EC-SY-KO 1710c
41 2 (Start Delay) MC (MC visible) (Final Velocity) (Following Set) ( ) Motion Complete ; ( ). ;. ( ) Tab. 2.22, ( ) ( ). : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) (Jerk for Deceleration) (Force Limit) 1) 1) FCT Tab ( ).. ( 2.7.1, ). ( 2.6,, ) Festo EMCA-EC-SY-KO 1710c 41
42 2 Motion Complete( ). Tab : (Stroke Limit) Tab : (Quick-Stop). Motion Complete ( Fig. 2.9 Fig. 2.11) Festo EMCA-EC-SY-KO 1710c
43 2 : s v t t Fig. 2.9 Motion Complete () t t Festo EMCA-EC-SY-KO 1710c 43
44 2 : s v t t Motion Complete () Fig t t 44 Festo EMCA-EC-SY-KO 1710c
45 2 : s v t t Motion Complete () Fig t t Tab / K/.. ( )..... Festo EMCA-EC-SY-KO 1710c 45
46 2 / : (Force) ( % ) (Velocity) (Acceleration) (Deceleration) 1) 1) FCT Tab / Motion Complete( ) /. Tab / / / : / /. (Stroke Limit) Tab :. (Quick-Stop).. Motion Complete. 46 Festo EMCA-EC-SY-KO 1710c
47 2 Tab (), (Quick-Stop) ()... () : ( ) Stop() (, / ). () / Tab (). : Motion Complete. ( ). ( ).. ( ). : Motion Complete.. / (). : Motion Complete.. Quick-Stop( ) Quick-Stop (Quick-Stop). Quick-Stop :. (Quick-Stop) ( ).. (Quick-Stop) ( ) (, / ) Quick-Stop Festo EMCA-EC-SY-KO 1710c 47
48 (EMCA-EC B ) EMCA-EC-...-B EC. / EMCA-EC-...-B... : FCT ( ) Brake ( ). ( FCT, Motor, Brake control ). 48 Festo EMCA-EC-SY-KO 1710c
49 2 : 1.. ( = ) : 1. (Quick-Stop) Tab :. Festo EMCA-EC-SY-KO 1710c 49
50 2 2.5 () (X1) FCT. (X2, X3). FHPP CiA 402 (EMCA-...-CO/-EC ) Tab :... FHPP( Festo ) Fest. (8 ). FHPP : : 64 ( ).. I/O. : (,, ) I/O. FPC ( : ). : 8 I/O (Festo FPC) 3 I/O (FHPP+) SDO (Service Data Objects) CAN in Automation (CiA Draft Standard SDO / PDO(Process Data Objects).... FCT : Homing (, ) (, )... FHPP Homing ( 0 = )... CiA 402 (EMCA-...-CO/-EC ) Homing Tab FCT EMCA. 50 Festo EMCA-EC-SY-KO 1710c
51 2 2.6 CiA ( 1~64). 0.. PLC.. : ( FCT ). ( Tab. 2.34). ( ) MC Tab ( Tab. 2.35) ( Tab. 2.34). (Ignore) (Delay) (Interrupt).. MC ( ).. ( Motion Complete ).. Tab Festo EMCA-EC-SY-KO 1710c 51
52 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 52 Festo EMCA-EC-SY-KO 1710c
53 2 : ( A) ( B). B A t A B t Motion Complete Fig t Festo EMCA-EC-SY-KO 1710c 53
54 : (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) 54 Festo EMCA-EC-SY-KO 1710c
55 2 : 0 ( ). A. B A Motion Complete. v B A s t B A t Motion Complete (MC ) t t Fig Festo EMCA-EC-SY-KO 1710c 55
56 EMCA [X9.2] ( Tab. 2.52). Motion Complete ( ) (Following error) (Standstill monitoring) (Comparator) ( ), : ( Fig. 2.17) ( Fig. 2.18). : homing 0 ( ). Tab Festo EMCA-EC-SY-KO 1710c
57 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-SY-KO 1710c 57
58 2. ( Fig. 2.17, 1 ).. ( ). (, ).. s t t Start t 2F h () t t1:, Fig :, FCT (2F h ) ( FCT ). 58 Festo EMCA-EC-SY-KO 1710c
59 2 ( Fig. 2.18). Motion Complete. : EMCA ( = 1: ; = 0: ).. s t1 t2 t2 1 2 t Motion Complete ( ) t t t t1:, Motion Complete t2:, 1 2 Fig FCT (37 h ) ( FCT ). Festo EMCA-EC-SY-KO 1710c 59
60 CiA ,,..... ( ), ( 2.6, ). ( ). ( Tab. 2.49).... 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator) 1). Tab () 60 Festo EMCA-EC-SY-KO 1710c
61 2. 2 : ( š ). ( )..., /. () 1) () 1) 1) ( ).. (-) : mm, 50 mm 40 mm. Tab : ( š ). ( )..., /. () 1) () 1) 1) (+) (-).. Tab Festo EMCA-EC-SY-KO 1710c 61
62 2 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-)... Tab : ( š ).. () 1) () 1) 1) (+).. Tab Festo EMCA-EC-SY-KO 1710c
63 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 ON.. EMCA ( FCT ). ( Tab ).. Tab Festo EMCA-EC-SY-KO 1710c 63
64 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,. 64 Festo EMCA-EC-SY-KO 1710c
65 EMCA.. FCT ( ) (FIFO ).. ( ) FCT(FCT ) ( ). Festo EMCA-EC-SY-KO 1710c 65
66 ( ). : EMCA-EC...-CO: CANopen EMCA-EC...-EC: EtherCAT EMCA-EC...-EP: EtherNet/IP EMCA-EC...-PN: PROFINET [X1]( ) [X1] :,,, FCT ( 5.2 FCT ) ( ) FCT ( 5.7 ) : PC.. Tab IP (IPv4 ): DHCP ( ) IP (DHCP-Client) IP IP. DHCP-Client PC PC IP.. DHCP IP : IP : : : - (.) DHCP IP. DHCP. IP. IP PC IP. Tab IP 66 Festo EMCA-EC-SY-KO 1710c
67 2 FCT IP ( ). IP FCT. IP IP PC IP. (LED ) [X2], [X3]() EMCA-...-CO (CANopen) [X2]. [X3] ( 4.4 ). : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... EMCA-...-EC/-EP/-PN (EtherCAT, EtherNet/IP, PROFINET) 2 2. [X2] 2, [X3] : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... CAN (EMCA-...-CO ). CAN. DIP ( Fig. 2.5, 3 ). Tab STO [X6] STO [X6] 2 ( (Safe torque off/sto)). STO(Safe torque off) EMCA-EC-S STO. STO, EMCA-EC-S1-... Festo EMCA-EC-SY-KO 1710c 67
68 (6) [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) [X9.4] Control enable DIN + ( Tab. 2.50). : ( Fig. 2.19). : ; (Quick-Stop) ( Fig. 2.19). [X9.5] Sample ( ). ( Tab. 2.51). 2. 1) FCT ( ) ( ). Tab [X6], [X7], [X8] [X9] 68 Festo EMCA-EC-SY-KO 1710c
69 2 (2) [X9.1] Ready. : ( / ); :. 1). : 2 : ( ). ( ).. [X9.2] Configurable FCT ; Tab ) EMCA. Tab [X9] Festo EMCA-EC-SY-KO 1710c 69
70 2 ( 5.4 ). Control enable. 1) DIN + ( 5.4 ). Control enable.. Control enable(din Control enable) : FCT. FHPP CiA ) FCT [Controller]. Tab ( = ). (, Quick-Stop). v = 0, Ready.. 70 Festo EMCA-EC-SY-KO 1710c
71 2 : STO 1 STO 2(24 V) [X6.4/5] DIN + [X9.4] Control enable ( 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-SY-KO 1710c 71
72 2 (EMCA-EC B ): ( ):.., Brake ( FHPP ). Sample ( )... : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... Sample : (Deactivated) (After read out) (Immediately) Sample ( ). ()..... Tab Sample ( ) 8.4 μs.. 72 Festo EMCA-EC-SY-KO 1710c
73 2 [X9.2] : ( ) High. Low. (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete( ). Motion Complete( ) ) (Low ) 1.. 2) I²t I²t 1) ) Tab Festo EMCA-EC-SY-KO 1710c 73
74 EMCA-EC CO L1 L2 L3 L4 L5 L6 EMCA-...-S / ± ± ± EMCA-...-M / ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] ± M4x5 Tab. 3.1 EMCA-EC CO [mm] 74 Festo EMCA-EC-SY-KO 1710c
75 3 3.2 EMCA-EC EC/-EP/-PN L1 L2 L3 L4 L5 L6 EMCA-...-S / ± ± ± EMCA-...-M / ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] 113 ± M4x5 Tab. 3.2 EMCA-EC EC/-EP/-PN [mm] Festo EMCA-EC-SY-KO 1710c 75
76 3 3.3., : , ( )... : M6 4 M4 4 ( [mm]: 5). EMCA-EC mm(4x) 2 M4 x 5 (4x) Fig Festo EMCA-EC-SY-KO 1710c
77 3. ( A.1.5 ). ( :,,, ) EMCA ( ). 3. (4x).. Festo EMCA-EC-SY-KO 1710c 77
78 EN PELV(, Protective Extra-Low Voltage). EN PELV. EN , : (EMV). ( Tab. 4.1).. 78 Festo EMCA-EC-SY-KO 1710c
79 4 4.2 EMV : ( ). ( ). : EMV : ( Tab. 4.1). [m] [X1] 100 1), 4 ; ( Tab. 4.4) [X2] EMCA-...-CO: CAN IN 1 Mbit/s 40 2) 3) EMCA-...-EC/-EP/PN: IN 100 [X3] EMCA-...-CO: CAN OUT 1 Mbit/s 40 2) EMCA-...-EC/-EP/PN: OUT 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 EMCA-EC-SY-KO 1710c 79
80 4 4.3 [X1] ( ) PC.. :.. (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) ( ) IEC 62443, ISO/IEC [X1] M12, 5, D M12, 4 5, D Tab. 4.2 [X1] 1 1 [X1] [X1] 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 Shield/FE / Tab. 4.3 [X1] ( ) 80 Festo EMCA-EC-SY-KO 1710c
81 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] Festo EMCA-EC-SY-KO 1710c 81
82 4 4.4 [X2], [X3] EMCA-...-CO(CANopen) EMCA-...-CO CAN. [X2]: CAN IN [X3]: CAN OUT. : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... [X2](CAN IN) (CAN IN) [X3](CAN OUT) (CAN OUT) M12, 5, A M12, 5, A M12, 5, A M12, 5, A Tab. 4.5 [X2] [X3] (EMCA-...-CO ) CAN IN [X2]( ) 2 CAN OUT [X3]( ) [X2] CAN IN 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN ) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.6 [X2] CAN IN(EMCA-...-CO ) 82 Festo EMCA-EC-SY-KO 1710c
83 4 [X3] CAN OUT 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN ) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.7 [X3] CAN OUT(EMCA-...-CO ) CAN CAN. DIP S1.1 ( Fig. 2.5, 3 ). DIP S1.1 (120Ω); ON =, OFF = S1.2 ( ) Tab. 4.8 (EMCA-...-CO ) : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO EMCA-...-EC/-EP/-PN(EtherCAT, EtherNet/IP, PROFINET) EMCA-...-EC/-EP/-PN 1 2. [X2]: 2 [X3]: 1 : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... [X2]( 2) [X3]( 1) M12, 5, D M12, 5, D Tab. 4.9 [X2] [X3] (EMCA-...-EC/-EP/-PN ) Festo EMCA-EC-SY-KO 1710c 83
84 [X3] 2 2 [X2] [X2], [X3] 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 nc Shield/FE / Tab [X2], [X3] M12, 5, D (EMCA-...-EC/-EP/-PN ) 84 Festo EMCA-EC-SY-KO 1710c
85 4 4.5 [X4]... [X10] [X4] ~ [X10].. 1)2) [X4] [X5] [X6] [X7], [X8] [X9] [X10] STO(Safe torque off) / I/O 3) JST Tyco Electronics AMP JST B2P-VH-FB- B-C B2P-VH- FB-B B2B-ZR- SM4-TF [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-P 0,5 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 Festo EMCA-EC-SY-KO 1710c 85
86 4 / ( Tab. 4.11). : Festo NEBM-... ( 1. ( /). 2. ( ~ )... IP ( Fig. 4.1, 1 ) ( 1 ) Fig ( 1 ) mm mm mm ( 86 Festo EMCA-EC-SY-KO 1710c
87 4. : EMCA.... :. 1. ( (SW) 2.5 mm) ( Fig. 4.1, 3 ) ( ~ ). 6.. : Nm. Festo EMCA-EC-SY-KO 1710c 87
88 [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 [X4] ( ). - FE : (6.3 x 0.8 mm²) Tab (FE) 88 Festo EMCA-EC-SY-KO 1710c
89 4. 1 EMCA V DC 0 V [X4] EMCA 2 24 V DC Fig. 4.2 Festo EMCA-EC-SY-KO 1710c 89
90 [X5] EMCA.. ( Tab. 2.43).... [X5] 1 ZK+ R BR 6 Ω 2 BR-CH Tab [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W). 90 Festo EMCA-EC-SY-KO 1710c
91 STO [X6] STO(Safe torque off) EMCA-EC-S STO. [X6] 1 NC1 STO : 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 STO (Safe torque off) [X6] Festo EMCA-EC-SY-KO 1710c 91
92 [X7], [X8] [X7] [X8] 3 ( Tab Tab. 4.17) [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] 92 Festo EMCA-EC-SY-KO 1710c
93 I/O [X9] I/O [X9]. [X9] 1) 1 DOUT Ready 2 DOUT Configurable FCT V DC 24 V DC; [X4.1] 4 DIN Control enable / 5 DIN Sample ( ) 6 GND 0 V 1) DIN = ; DOUT = Tab I/O (PNP ) Festo EMCA-EC-SY-KO 1710c 93
94 [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-SY-KO 1710c
95 4 4.6 IP IP ( M12 IP O ( ). [X1] [X3]: [X2]: M12, ( [X4] ~ [X10])...!. Festo EMCA-EC-SY-KO 1710c 95
96 ,..,....., FCT(Festo Configuration Tool) FCT. FCT FCT FCT EMCA V V 1.0.x. ( 96 Festo EMCA-EC-SY-KO 1710c
97 5 FCT Windows. FCT PC (Setup_EMCA...exe). 3. FCT FCT FCT. FCT Windows : [] [Festo Software] [Festo Configuration Tool]. FCT FCT FCT FCT ( [Help] [Content FCT general]). EMCA FCT EMCA. PC.. FCT,. [Help] [Content 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-SY-KO 1710c 97
98 5 PDF Adobe Reader. Festo (Festo Configuration Tool, FCT). Festo ( ( ). FCT..... FCT.. IP.. FCT ( FCT, [Component] [Firmware Download]). 98 Festo EMCA-EC-SY-KO 1710c
99 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-SY-KO 1710c 99
100 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... ) Festo EMCA-EC-SY-KO 1710c
101 5 : [Network].. 3. OK.. : 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-SY-KO 1710c 101
102 5... FCT Tab FCT. FCT. FCT... HTTPS... (Cache). 102 Festo EMCA-EC-SY-KO 1710c
103 : ( ) ( ) FCT.. ( )... :.. FCT. 3. FCT 2 1 FCT 2....,, Tab FCT. Festo EMCA-EC-SY-KO 1710c 103
104 5. FCT... ( ). FCT (Device Control: FCT ).... Tab. 5.4 FCT : Device Control Operate" FCT". FCT Enable". FCT. (TCP ).. / FCT FCT. FCT Error Management ( 0x32) Festo EMCA-EC-SY-KO 1710c
![5 5.5. IP ( 2.8.1, Tab. 2.47). PC ( ). IP IP 192.168.178.1. IP IP FCT ( FCT, [Component] [FCT Interface], Scan... ). 1. Internet Explorer 6 Firefox 3.](/docs-images/78/78253624/images/105-0.jpg "2. IP.. Fig. 5.2.. (Status) I/O (Basic I/O Interface) FHPP (FHPP Interface) I/O FHPP I/O Festo EMCA-EC-SY-KO 1710c 105")
105 IP ( 2.8.1, Tab. 2.47). 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) FHPP (FHPP Interface) I/O FHPP I/O Festo EMCA-EC-SY-KO 1710c 105
106 5 / (Parameter Up-/Download) (Diagnostic Memory) ( 5.7 ) ( 6.1 ) Tab Festo EMCA-EC-SY-KO 1710c
107 ( 3 ). 2. DIP ( ). 3. ( 4 ). 4. FCT ( EMCA ). 5. 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. ( ). 10. ( EMCA ) Festo.... FCT. Festo EMCA-EC-SY-KO 1710c 107
108 5 (*.fpf) : ( 5.7 ). FCT ( FCT ) STO STO[X6] : STO ( ). Safe torque off/sto EMCA-EC-S ( ). ( ). ( ). CT ( FCT, Axis, Axis Options ) ( I/O) : STO 1 STO 2(STO ) STO, EMCA-EC-S1-... DIN + ( Tab. 2.50): Control enable (I/O ) 108 Festo EMCA-EC-SY-KO 1710c
109 5 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 / 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 EMCA-EC-SY-KO 1710c 109
110 :.. FCT Homing. : STO. DIN + Control enable. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ). FHPP CiA ( ) FCT.. FCT. EMCA () Festo : FCT. : EMCA ( EMCA ) EMCA. 110 Festo EMCA-EC-SY-KO 1710c
111 (FCT: Store). FCT (Download).. : : ( EMCA ). ( EMCA ). : ( 5.7 ). Festo EMCA-EC-SY-KO 1710c 111
![5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig. 5.4 5.5 ): Fig. 5.4 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC).](/docs-images/78/78253624/images/112-0.jpg "PC. Tab. 5.6 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). 112 Festo EMCA-EC-SY-KO 1710c")
112 5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig ): Fig. 5.4 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC). PC. Tab. 5.6 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). 112 Festo EMCA-EC-SY-KO 1710c
113 5 5.8 CANopen FHPP CiA : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO ,000. : FCT Store / FCT Festo EMCA-EC-SY-KO 1710c 113
114 FCT, Error Management.. Ready Low.., : Festo (Festo Configuration Tool) ( FCT ) ( ) (Power OFF/ON) ( ): FCT 1) 1) 5.5. Tab. 6.1,, ( FCT Diagnosis ). ( ).. Diagnostic Memory ( ) Festo EMCA-EC-SY-KO 1710c
115 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-SY-KO 1710c 115
116 6 6.2 LED EMCA-EC-...-CO (CANopen) LED OK 2 LED ERROR 1) LED(CANopen) Fig. 6.2 EMCA-EC-...-CO LED 3 LED(2 ) 1) LED ( LED) (FHPP CiA 402). EMCA-EC-...-EC (EtherCAT) LED EC LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(EtherCAT) Fig. 6.3 EMCA-EC-...-EC LED 4 LED EC RUN 1) 5 LED EC ERROR 1) 6 LED EC LINK/ACTIVITY, 1 ( / ) 1) LED (EC LINK/ACTIVITY, EC RUN, EC ERROR) FHPP CiA Festo EMCA-EC-SY-KO 1710c
117 6 EMCA-EC-...-EP (EtherNet/IP) LED LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(EtherNET/IP) Fig. 6.4 EMCA-EC-...-EP LED 4 LED MS(Module Status) 1) 5 LED NS(Network Status) 1) 6 LED LINK/ACTIVITY, 1 ( / ) 1) LED (LINK/ACTIVITY, MS, NS) FHPP. EMCA-EC-...-PN (PROFINET) LED LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(PROFINET) Fig. 6.5 EMCA-EC-...-PN LED 4 LED IDENT/STATE(/) 1) 5 LED NF (Network failure) 1) 6 LED LINK/ACTIVITY, 1 ( / ) 1) LED (LINK/ACTIVITY, IDENT, NF) FHPP. Festo EMCA-EC-SY-KO 1710c 117
118 LED LED- /, ERROR Tab LED LED- /. Control enable.,, Control enable ERROR,.. Tab LED LED- / ( ) ERROR Tab LED LED- /. ERROR 1) 1) 10. Tab Festo. 118 Festo EMCA-EC-SY-KO 1710c
119 LED EMCA-EC-...-CO/EC (CANopen, EtherCAT) LED : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... EMCA-EC-...-EP/-PN (EtherNet/IP, PROFINET) LED : FHPP, EMCA-EC-HP-... Festo EMCA-EC-SY-KO 1710c 119
120 6 6.3, FCT ( ) ( ) : 16 (FCT ) F/W/I = //(2.7.4 ). ( 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 ( ) 120 Festo EMCA-EC-SY-KO 1710c
121 h (Software error). Festo. :,. ( ): A 02h (Default parameter file invalid) : F/-/- : : F/-/- :.... :,. ( ): A 03h CPU (Internal communication error CPUs) : F/-/- :... :,. ( ): A 04h (Non-permitted hardware).. :,. ( ): A 06h (Encoder) : F/-/- : : F/-/- :.. homing. :,. ( ): A Festo EMCA-EC-SY-KO 1710c 121
122 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 122 Festo EMCA-EC-SY-KO 1710c
123 6 0Ch (Firmware update execution error) : F/-/- :. PC Ethernet..... :,. ( ): A 0Dh (Overcurrent) : F/-/- :,... FCT ( ). :.. : ().. :. :,. ( ): A 0Eh I²t (I²t malfunction motor) : F/-/- : I²t.... /. :. : B, C Festo EMCA-EC-SY-KO 1710c 123
124 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 124 Festo EMCA-EC-SY-KO 1710c
125 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 Festo EMCA-EC-SY-KO 1710c 125
126 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 :. 126 Festo EMCA-EC-SY-KO 1710c
127 6 1Ch CAN Node Guarding, FB (CAN Node Guarding, FB has master control) : F/-/- :. SPS SPS. :,,,,,?.. :. : B, C, E, F 1Dh CAN, FB (CAN bus comm. stopped by master, FB has master control) : F/-/- : CAN.. :. : B, C, E, F 1Eh NetX (NetX configuration error) : F/-/- :... :. : B, C, D, E, F, G 1Fh NetX (NetX network error) : F/-/- :.... :????? ( ). :. ( ): E Festo EMCA-EC-SY-KO 1710c 127
128 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/-/- : homing... /, (?)... :. : B, C, E, F 23h (No index pulse found) : F/-/- : homing :... :,. : B, C, E, F 128 Festo EMCA-EC-SY-KO 1710c
129 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/- : homing. ( ).. :. : B, C, D, E, F, G : homing. Festo EMCA-EC-SY-KO 1710c 129
130 6 29h (-) (Target position behind negative software limit) : F/-/- :... (/?). :. : B, C, E, F 2Ah (+) (Target position behind positive software limit) : F/-/- :... (/?). :. : B, C, E, F 2Bh, (Firmware update, invalid firmware) : F/W/- :... Festo. :. : A : FW. 2Ch FHPP (FHPP incorrect record number) : F/W/I :.. :. : F, G :. 2Dh I²t (I²t warning motor) : -/W/I : I²t.. : I²t 80 %. 130 Festo EMCA-EC-SY-KO 1710c
131 6 2Eh (Index pulse too close on proximity sensor) : F/-/- : ㅢ.. /. 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/-/- : Festo EMCA-EC-SY-KO 1710c 131
132 6 33h (Output stage temperature warning) : -/W/I :..... :. 34h Safe Torque Off(STO) (Safe Torque Off (STO)) : F/W/I : "Safe Torque Off". STO. :. ( ): 0 : STO. 35h CAN Node Guarding, FB (CAN Node Guarding, FB does not have master control) : -/W/I : CAN. CAN. SPS SPS. :,,,,,?.. : CAN. 36h CAN, FB (CAN bus comm. stopped by master, FB does not have master control) : -/W/I : CAN. CAN.. :. 132 Festo EMCA-EC-SY-KO 1710c
133 6 37h (Standstill monitoring) : -/W/I :... :. 38h (Parameter file access) : F/-/- : s. :. : F, G 39h (Trace warning) : -/W/- :.. :. 3Dh (Start-up event) : -/-/I : 48.. ON ON.. 3Eh (Diagnostic memory) : F/-/- :..... :. : F, G 3Fh (Record invalid) : F/-/- :... :. : B, C, D, E, F, G Festo EMCA-EC-SY-KO 1710c 133
134 6 40h (Last teaching not successful) : -/W/I :.. : ( 1) ( 0). 41h (System reset). Festo. :. ( ): A 42h (Address Conflict Detection (ACD)) : F/-/- : : F/-/- :. ( : FCT ). :. ( ): E 43h FCT (FCT connection without master control) : -/W/I : FCT.. : FCT. 44h (Parameter file not compatible with firmware) : -/W/I :..... :. 49h CAN (CAN message overflow or message lost) : F/-/- : CAN... :. : B, C, E, F 134 Festo EMCA-EC-SY-KO 1710c
135 6 4Ah Safe Torque Off(STO) (Safe Torque Off (STO) discrepancy time) : F/W/I : STO1 STO2... :. ( ): 0 : STO. 4Bh Interpolated Positioning Mode (Interpolated Positioning Mode stopped while error occurred on control unit) : F/-/- : CANOpen Interpolated mode.. :. ( ): B 4Ch (Value is out of range).. :. : B, C, D, E, F, G 4Dh (Bootloader memory error) : F/-/- : : F/-/- :.... :,. ( ): A 4Eh 24 V (Overload 24V Outputs) : F/-/- : 24 V. STO,,. :. : A, B Festo EMCA-EC-SY-KO 1710c 135
136 6 4Fh (System information).. 50h FCT (FCT connection with master control) EtherCAT.. :. : B, C, D, E, F, G 51h EtherCAT (EtherCAT connection without master control) : -/-/I : : F/-/- : : -/W/I :.. :. 52h PROFINET (PROFINET connection with master control) PROFINET.. :. : B, C, D, E, F, G 53h PROFINET (PROFINET connection without master control) : F/-/- : : -/W/I :.. :. 136 Festo EMCA-EC-SY-KO 1710c
137 6 6.4 EMCA IP PC IP. FCT : EMCA IP IP FCT 1. FCT [Component] [FCT Interface], Scan [Network]. Network properties. IP ( Tab. 2.47). PC IP Windows (, Windows 7) 1. [] [ ] [ ] [ ] [ ]. 2. [ ] [ ]. 3. [ 4] PC IP. 5. EMCA IP ( ). : IP IP. DHCP ( Tab. 2.47). IP (IP ; : ). PC PC [IP ] IP (, IP ; : ; : ( )). PC Windows (, Windows 7) 1. [] [() ] [] []. 2. ipconfig ipconfig /all Ping. 1. [] [() ] [] []. 2. : ping ( IP ) Festo EMCA-EC-SY-KO 1710c 137
138 6 6.5 EMCA. EMCA. EMCA.,.. ( ) EMCA.... FCT.. Tab Festo EMCA-EC-SY-KO 1710c
139 7,, 7,, 7.1.,..,....., , :..... Festo EMCA-EC-SY-KO 1710c 139
140 7,, EMCA-EC TM...( )... :. EMCA-EC :. 7.2 ( ). FCT ( ). FCT (). ( 3 ). [X4] ~ [X10] (SW) 2.5 mm ( ) Nm Festo EMCA-EC-SY-KO 1710c
141 7,, RoHS.. Festo EMCA-EC-SY-KO 1710c 141
142 A A A.1 A.1.1 EMCA-EC EMCA PWM-MOSFET P PI PI, TCP/IP EMCA-...-CO: CANopen EMCA-...-EC: EtherCAT EMCA-...-EP: EtherNet/IP EMCA-...-PN: PROFINET I²t OFF Tab. A.1 : A.1.2 EMCA-EC CE ( EU EU 1) RCM 2) c UL us (OL) 2) 1).,. 2) Tab. A.2 : 142 Festo EMCA-EC-SY-KO 1710c
143 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) 2 - Festo EMCA-EC-SY-KO 1710c 143
144 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] [rpm] [kg cm²] [N] [N] Tab. A Festo EMCA-EC-SY-KO 1710c
145 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] Festo EMCA-EC-SY-KO 1710c 145
146 A A.1.9 [X2], [X3] CANopen EMCA-EC CO [X2] (In) M12, 5, A [X3] (Out) M12, 5, A CANopen CiA 402 FHPP [m] 1Mbit/s Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s 2500 [Mbit/s] 1 [Ω] 120(DIP ) Tab. A.9 : EMCA-...-CO [X2], [X3] EtherCAT, EtherNet/IP, PROFINET EMCA-EC EC/-EP/-PN [X2] (In) [X3] (Out) EMCA-...-EC EMCA-...-EP EMCA-...-PN M12, 5, D M12, 5, D CiA 402 FHPP FHPP FHPP [m] < 100 Switched Fast Ethernet; IEEE BaseTX [Mbit/s] 10/100(full/half duplex) Auto-MDI/MDI-X Tab. A.10 : EMCA-...-EC/-EP/-PN [X2], [X3] 146 Festo EMCA-EC-SY-KO 1710c
147 A A.1.10 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab [V DC] 24 [%] ±20 [A] [A] PELV (Protected Extra-Low Voltage) Tab. A.11 : [X4] A.1.11 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-..., CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.12 : [X5] A.1.12 STO [X6] STO [X6] STO, EMCA-EC-S1-... Festo EMCA-EC-SY-KO 1710c 147
148 A A.1.13 [X7], [X8] [X7], [X8] EMCA-EC [m] l 3 Tab [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC Tab. A.13 [X7], [X8] 148 Festo EMCA-EC-SY-KO 1710c
149 A A.1.14 I/O [X9] I/O [X9] EMCA-EC [m] l 30 Tab [V DC] 24 [X9] [ma] [V DC] 24 PNP( ) IEC [ma] 100 PNP( ) Tab. A.14 : I/O [X9] A.1.15 [X10](EMCA-EC TM ) [X10] EMCA-EC [m] 3 Tab [V DC] 9 Tab. A.15 [X10] Festo EMCA-EC-SY-KO 1710c 149
150 A A EMCA-EC ( ) 3 2 NBR LABS Tab. A.16 : 150 Festo EMCA-EC-SY-KO 1710c
151 B B / AZ (= Axis Zero point) DIN DOUT EMV FCT FHPP FPC I/O MC PLC/IPC PZ(= Project Zero point) REF(= REFerence point) (Homing) (Jog Mode) (digital input) (digital output) (FCT = Festo, Festo Configuration Tool) Festo, Festo Festo Parameter Channel FHPP. /(input/output) Motion Complete( ) / PC ( ) Tab. B.1 Festo EMCA-EC-SY-KO 1710c 151
152 EMCA-EC CO/-EC/-EP/-PN C CAN CiA D DHCP E EMV EMV EtherNet/IP F FCT... 8, 19, 151 Festo Configuration Tool... 19, 151 FHPP I I²t IP... 99, 137 L LED , 117 P PLC S STO(Safe torque off) (Homing)... 23, , /... 45, Festo EMCA-EC-SY-KO 1710c
153 EMCA-EC CO/-EC/-EP/-PN , 104, , , , , , , , , (Quick-Stop)... 47, , Festo EMCA-EC-SY-KO 1710c 153
154 Copyright: Festo AG & Co. KG Ruiter Straße Esslingen Phone: Fax: ,,..,,. Internet:
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